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IEEE International Conference on Fuzzy Systems (FUZZ-IEEE)

作者： Dong Hwan Lee Jin Bae Park Young Hoon Joo Hyun Suk Jeong Department of Electrical and Electronic Engineering Yonsei University Seoul South Korea Department of Control Robot and Systems Engineering Kunsan National University Kunsan South Korea

In this paper, stability of continuous-time Takagi-Sugeno (T-S) fuzzy systems is investigated by means of a new fuzzy Lyapunov function which depends on the first-order time-derivative of the fuzzy weighting functions (TDFWF). As a result, both the first and second-order TDFWF appear in the Lyapunov inequality and the stability condition. The additional dependence on the second-order TDFWF makes it possible to reduce the conservativeness of the previous result. The stability condition is formulated in terms of linear matrix inequalities (LMIs). The effectiveness of the proposed analysis approach is demonstrated by numerical examples.

关键词： Lyapunov method Stability analysis Fuzzy systems Numerical stability Solids Upper bound Trajectory

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Experimental evaluation of stent clot retrieval using the confront clot scrambling method with an equitable automatic withdrawal machine

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Asian Journal of Neurosurgery 2022年第4期14卷 1165-1167页

作者： Reo Kawaguchi Tomotaka Ohshima Yoshitaka Nagano Shigeru Miyachi Naoki Matsuo Masakazu Takayasu Department of Neurosurgery Aichi Medical University Aichi Neuroendovascular Therapy Center Aichi Medical University Aichi Department of Electronic Control and Robot Engineering Aichi University of Technology Aichi

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Study on a Novel Voxel-Based 3D Printing Method on Magnetic-controlled Memory Fluid 19

Study on a Novel Voxel-Based 3D Printing Method on Magnetic-...

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19th IEEE International Conference on Automation Science and engineering, CASE 2023

作者： Zhang, Shengjie Sun, Xudong Song, Zhongru Guo, Yifei Qu, Juntian Li, Zhenkun School of Mechanical Electronic and Control Engineering Beijing Jiaotong University Beijing100044 China North China University of Science and Technology Department of Mechanical Engineering Tangshan063210 China Hebei Industrial Robot Industry Technology Research Institute Tangshan063000 China Shenzhen International Graduate School Tsinghua University Shenzhen518055 China

ISBN: (纸本)9798350320695

Combining the 'programmable' characteristics of smart materials with 3D printing technology can realize the integration of structural design and manufacturing. Magnetic controlled smart fluid owns the characteristics of flexible solid-liquid transformation, high driving efficiency and high safety. Soft robot driven by magnetic controlled intelligent fluid can realize a bionic movement similar to that of single-celled organisms. In this paper, we propose a reversible 3D printing method of magnetic phase transformation using a similar mechanism of sol-gel transformation in protoplasm. A magnetically controlled Pickering emulsion system with strong thixotropic properties was constructed and its microscopically self-assembled structure was characterized. The yielding and memory recovery characteristics of the magnetic-controlled memory fluid (MMF) were studied by means of steady-state and dynamic shear measurement, and the optimal rheological parameters suitable for printing were determined. A 3D printing platform and a memory elimination platform for coordinated control of magnetic field and motion system were built to further study and optimize the printing process. Finally, the composite structure is controlled by an array magnetic field to realize an amoeba-like motion. Novel voxel-based 3D printing and its application in soft robots can provide new ideas for space exploration, biomedicine, military reconnaissance and many other fields. © 2023 IEEE.

关键词： Emulsification

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A novel technique of microcatheter shaping using real image display for endovascular aneurysmal coil embolization

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Asian Journal of Neurosurgery 2022年第3期16卷 645-647页

作者： Tomotaka Ohshima Yoshitaka Nagano Shigeru Miyachi Neuroendovascular Therapy Center Aichi Medical University Nagakute Department of Electronic Control and Robot Engineering Aichi University of Technology Gamagori Aichi Department of Neurosurgery Aichi Medical University Nagakute

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Design and control of Bridge Inspection robot System

Design and Control of Bridge Inspection Robot System

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IEEE International Conference on Mechatronics and Automation

作者： Je-Keun Oh An-Yong Lee Se Min Oh Youngjin Choi Byung-Ju Yi Hai Won Yang Bridge Inspection Robot Development Interface (BIRDI) Department of Electronic Electrical Control and Instrumentation Engineering Hanyang University Ansan Gyeonggi South Korea

This paper proposes design and control methods for a bridge inspection robot system. A "bridge inspection robot" has been developed with the aim of checking the safety status of a real bridge, gathering accurate data and performing maintenance. The developed robot system is composed of the specially designed car for bridge inspection, the guide rail and the inspection robot. Especially, this paper emphasizes the system integration method to design and control the entire robot system. As a result, this robot has both automatic and manual modes for inspecting a real bridge. In other words, the robot is automatically able to inspect beneath the bridges and manually to inspect them by long-distance user. Also, the users can see the operating conditions of long-distance robot with 3-dimensional graphical user interface. Moreover, the users can feel the operating status of long-distance robot through haptic device.

关键词： control systems Bridges Inspection robotics and automation Design methodology Safety Rails Automatic control robot control Graphical user interfaces

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Intelligent surveillance system based on network camera

Intelligent surveillance system based on network camera

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Joint 5th International Conference on Soft Computing and Intelligent Systems and 11th International Symposium on Advanced Intelligent Systems, SCIS and ISIS 2010

作者： Kim, Jong Sun Yeom, Dong Hae Park, Jin Bae Joo, Young Hoon School of Control Robot and Systems Engineering Kunsan National University Kunsan Chonbuk 537-701 Korea Republic of PostBK21 Nourishment of Human Resource for Embedded System Kunsan National University Kunsan Chonbuk 573-701 Korea Republic of Department of Electrical and Electronic Engineering Yonsei University Seoul 120-749 Korea Republic of

In this paper, we propose the intelligent surveillance system using network cameras. To do this, we use two Internet Protocol (IP) cameras, which are installed at the inside and the outside of the restricted area. First of all, the external camera is used to monitor a potential intruder entering the restricted area in real time. To detect the potential intruder from sequential images obtained by external IP camera, we propose the robust algorithm combining the background modeling, the hybrid silhouette, the convex summation, the morphology and the smoothing. Once the intruder is detected by the external camera, the internal camera with pan-tilt mechanism is then activated and starts tracking the intruder and monitoring the prescribed valuables registered with some feature points in the database. To track the intruder, we propose the tracking algorithm using the background elimination and the histogram. And then, we completes the proposed surveillance system by using the Scale Invariant Feature Transform (SIFT) algorithm in order to monitor whether the intruder steals the prescribed valuables or not. Finally, we have shown the effectiveness and the applicability of the proposed method through experiments.

关键词： Internet protocols

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QMIX Algorithm for Coordinated Welding of Multiple robots

QMIX Algorithm for Coordinated Welding of Multiple Robots

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作者： Liangchuang Liao Yang-Yang Chen School of Electronic Science & Engineering Southeast University Robot Department Jiangsu Automation Research Institute School of Automation Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Southeast University

This paper considers the coordinated welding control based on deep multi-agent reinforcement *** discrete-time states and actions with local observation for the welding robots and the characteristics of the weld lines(e.g.,the starting points of the weld lines and the ending points of the weld lines) are defined,which is suitable to use the monotonic value function factorisation for deep multi-agent reinforcement learning(QMIX) algorithm.A novel reward composed of trajectory optimization,collision avoidance and the task done is designed,which is proved by the simulation in the grid-world environment.

关键词： Deep multi-agent reinforcement learning Welding robots QMIX

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Remote surgery using a neuroendovascular intervention support robot equipped with a sensing function: Experimental verification

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Asian Journal of Neurosurgery 2022年第2期16卷 363-366页

作者： Shigeru Miyachi Yoshitaka Nagano Reo Kawaguchi Tomotaka Ohshima Hiroki Tadauchi Department of Neurological Surgery Aichi Medical University Nagakute Neuroendovascular Therapy Center Aichi Medical University Nagakute Department of Electronic Control and Robot Engineering Aichi University of Technology Gamagori Aichi Graduation School of System Engineering Aichi University of Technology Gamagori Aichi

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A robot design for trans-oral surgery

A robot design for trans-oral surgery

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International Conference on Ubiquitous robots and Ambient Intelligence (URAI)

作者： Jong-Tae Seo Jaehong Woo Long Kang Wheekuk Kim Byung-Ju Yi Department of Mechatronics Engineering Hanyang University Ansan Korea Department of Intelligent Robot Engineering Hanyang University Ansan Korea Department of Electronic Systems Engineering Hanyang University Ansan Korea Department of Control and Instrumentation Engineering Korea University Chochiwon Korea Department of Mechanical Engineering Hanyang University Ansan Korea

ISBN: (纸本)9781479953349

The objective of this paper is to describe a new design of a trans-oral surgical robot. The trans-oral robotic surgery system consists of a master device and a slave device. Specifically, the concept of stackable mechanism is applied to design both master and slave devices. Using the stackable architecture, counter-balancing can be achieved over the whole workspace and compact design can be made by locating all motors at the base of the robot. Through simulation, the performance of the trans-oral surgical robot is verified.

关键词： Surgery Educational institutions electronic mail Medical robotics Simulation

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Active bending endoscope robot system for navigation through sinus area

Active bending endoscope robot system for navigation through...

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2011 IEEE/RSJ International Conference on Intelligent robots and Systems

作者： Hyun-Soo Yoon Se Min Oh Jin Hyeok Jeong Seung Hwan Lee Kyung Tae Kyoung-Chul Koh Byung-Ju Yi Department of Electronic Electrical Control and Instrumentation Engineering Hanyang University South Korea Department of Intelligent Robot Engineering Hanyang University South Korea Department of Otolaryngology-Head and Neck Surgery College of Medicine Hanyang University South Korea Department of Information and Communication Engineering Sun Moon University South Korea Department of Electronic Systems Engineering Hanyang University South Korea

This work introduces a new endoscope robot system for general sinus surgery. The proposed endoscope can be bent in accordance with a user's intension at the time of inserting the endoscope into the sinus area, and it was designed to be bent up to 180 degrees and its diameter is about 4mm. The design of the proposed endoscope uses a spring backbone, which allows flexibility of the mechanism. A design method to determine design parameters for this device is proposed. The performance of the proposed system is verified by integration of the robot device and simulator.

关键词： Endoscopes robots Surgery Springs Wires Joints Graphics

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