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Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)

作者： Anzhu Gao Ryan J. Murphy Hao Liu Iulian Iordachita Mehran Armand State Key Laboratory of Robotics Chinese Academy of Sciences Shenyang China Research and Engineering Development Department Johns Hopkins University Applied Physics Laboratory Laurel MD USA Laboratory for Computational Sensing and Robotics (LCSR) Johns Hopkins University Baltimore MD USA

ISBN: (纸本)9781457702198

Dexterous continuum manipulators (DCMs) offer great potential for increasing instrument reach in minimally-invasive surgical procedures. We previously designed and fabricated a tendon driven DCM with a large instrument channel and evenly distributed compliant joints for minimally-invasive skull base surgery and the treatment of osteolysis during hip revision surgery. The evenly distributed compliant joints, in some cases, may limit the reach of the DCM during lesion removal. In this paper, we propose a finite element analysis (FEA) method for optimizing the distribution of the compliant joints based on treatment space requirements determined preoperatively. After performing experiments to validate the FEA results, we investigated the effects of height and cross distance of unevenly distributed compliant joints on tip trajectories and deflection shapes of DCMs. A boundary exploration for skull base surgery was performed to investigate the improvement in the percent of boundary explored by the optimized DCMs with the unevenly distributed compliant joints. Results show the advantage of using DCMs with unevenly distributed joints in reaching the boundary of the lesion. For a typical lesion in the petrous apex during skull base surgery, simulation results indicates that the design of unevenly distributed compliant joints can increase the reach of the DCM accomplishing 71% lesion removal compared with 59% from the DCM with evenly distributed compliant joints.

关键词： Tendons Lesions Surgery Shape Trajectory Joints Friction

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Development of a dynamics model for the Baxter robot

Development of a dynamics model for the Baxter robot

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IEEE International Conference on Mechatronics and Automation

作者： Alex Smith Chenguang Yang Chunxu Li Hongbin Ma Lijun Zhao Centre for Robotics and Neural Systems Plymouth University Ply-mouth UK Zienkiewicz Centre for Computational Engineering Swansea University UK School of Automation Beijing Institute of Technology Beijing China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781509023974

The dynamics model of a robot is important to find the relation between the joint actuator torques and the resulting motion. There are two common methods to do this: The Lagrange formulation, which gives a closed form of the dynamics equations, and the Newton-Euler method, which uses a recursive form. Presented in this paper is a formulation of the Lagrange-Euler (L-E) equations representing the dynamics of the Baxter manipulator. These equations are then verified against torque trajectories recorded from the Baxter robot. Experimental studies show that torques generated using the L-E method closely match recorded actuator torques. All of Baxter's kinematic and dynamics parameters are presented here for easy future reference, and the full symbolic dynamics are made available online for closed loop analysis by the community.

关键词： Manipulator dynamics Dynamics Gravity Trajectory Mathematical model

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Real-time running detection from a moving camera

Real-time running detection from a moving camera

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International Conference on Information and Automation (ICIA)

作者： Qingtian Wu Huiwen Guo Xinyu Wu Shibo Cai Tao He Wei Feng Guangdong Provincial Key Laboratory of Robotics and Intelligent System Chinese Academy of Sciences Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Ministry of Education (Zhejiang University of Technology) China

ISBN: (纸本)9781509041039

In this paper, we present a real-time running detection system from a moving camera. 11 fps and satisfying detection accuracy in outdoor surveillance environment can be achieved in the system, using only one processing thread without resorting to special hardware like GPU. Real-time and high accuracy detection are made possible by two contributions. First, we use a succession of preprocessing methods to extract regions of interest (ROI), including spatial domain analysis, computing the optical flow of every two consecutive images and predefining a threshold based on optical flow to choose effective areas as ROIs. Second, we use relative small-batch samples to train our 5-layer CNN in order to achieve a satisfying detection rate. Experiments on various videos shot in different time and places have proved that the proposed system can detect running pedestrians in outdoors effectively and robustly and meet the real-time requirement with a high detection rate.

关键词： Optical filters Optical imaging Image motion analysis Computer vision Real-time systems Cameras Object detection

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Development of a hybrid motion capture method using MYO armband with application to teleoperation

Development of a hybrid motion capture method using MYO armb...

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IEEE International Conference on Mechatronics and Automation

作者： Yanbin Xu Chenguang Yang Peidong Liang Lijun Zhao Zhijun Li College of Automation Science and Engineering South China University of Technology Guangzhou China Zienkiewicz Centre for Computational Engineering Swansea University UK State Key Laboratory of Robotics and System Harbin Institute of Technology China

ISBN: (纸本)9781509023974

In this paper, we have developed a motion capture method based on data collected by MYO armband. The method can be applied on any healthy operator wearing two MYO armbands on both upper and lower arms, respectively. The first MYO armband is worn near the centre of the operator's upper arm, the other is worn near the centre of the forearm. MYO armband has built-in eight bioelectrical sensors as well as a 9-axis IMU. The IMU sensors of the MYO are used to detect and reconstruct physical motion of shoulder and elbow joints, while the bioelectrical sensors are used to collect electromyography (EMG) signals associated with wrist motion. This hybrid method enable us to fully capture the motion of the 6-DOF (degree of freedom) of the arm. To test the proposed method, hardware-in-loop simulations studies are performed, with both physiological and physical signals received and processed in MATLAB/Simulink via a low-power bluetooth interface. Results demonstrate the validness and effectiveness of the proposed method.

关键词： Robots Shoulder Elbow Electromyography Radio frequency Thorax Sensors

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Fast and robust mapping with low-cost Kinect V2 for photovoltaic panel cleaning robot

Fast and robust mapping with low-cost Kinect V2 for photovol...

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International Conference on Advanced robotics and Mechatronics (ICARM)

作者： Mantian Li Mingming Zhang Yu Fu Wei Guo Xingneng Zhong Xin Wang Fei Chen State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Northeast Forestry University Harbin China Shenzhen Acadamy of Aerospace Technology Shenzhen China Istetuto Italiano di Technologia Italy

ISBN: (纸本)9781509033652

Solar photovoltaic system maybe underperformanned because of too much dust, dirt and bird droppings, etc. 3D mapping for the cleaning robot still remains challenging in this large scale scenario. This paper presents a robust mapping system with Kinect V2 for automated photovoltaic cleaning system. Firstly, Kinect V2 is well-calibrated for a remedy to the production variety and the approach is fast and accurate. Secondly, robust mapping algorithm is proposed with the consideration of vibration, occlusion and loop closure. Globally consistent 3D map will be built after online loop detection. And lastly, 3D pointcloud will be transformed into octree-based data structure. The data is easy to save, reload and more suitable for motion planning problem. Extensive experimental results show that the system is robust with enough accuracy for automated motion planning and navigation.

关键词： Robot sensing systems Three-dimensional displays Calibration Cameras Feature extraction Optimization

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Design and control of a tracked robot for search and rescue in nuclear power plant

Design and control of a tracked robot for search and rescue ...

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International Conference on Advanced robotics and Mechatronics (ICARM)

作者： Pengfei Dong Xuezhu Wang Hongjun Xing Yiqun Liu Meiling Zhang China Nuclear Power Technology Research Institute Shenzhen China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China School of Automotive Engineering Harbin Institute of Technology Weihai China

Environment in some special areas of nuclear power plant is very bad, and is even worse and inaccessible after a nuclear accident. Therefore, a robot developed for special occasions of nuclear plant operation is urgently needed. Different from ordinary robots, nuclear industry robots face even worse environments, such as high radiation, high temperature, high pressure, narrow space, slopes, stairs, and complicated pipeline. This paper designs a tracked mobile robot for search and rescue in nuclear plant. Stair climbing performance of the robot is analyzed. Hardware and software of the control system are designed, and the human-computer interaction interface is developed. Dynamic model of the robot is established, and the trajectory tracking control algorithm of the robot is presented. Finally, simulation experiments using Octave software are finished. Simulation results show that the proposed control algorithm could enable the tracked robot to achieve excellent trajectory tracking of linear and cambered path, and the effectiveness of the proposed method is verified.

关键词： Tracking Service robots Mobile robots Control systems Robot sensing systems Software

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Performance of grid-integrated Wind/Microturbine/battery Hybrid renewable power system 6

Performance of grid-integrated Wind/Microturbine/battery Hyb...

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6th IEEE International Conference on Power and Energy, PECON 2016

作者： Hassan, Syed Zulqadar Li, Hui Kamal, Tariq Arsalan, Ali Lawan, Abdurrahman Umar State Key Laboratory of Power Transmission Equipment and System Security and New Technology School of Electrical Engineering Chongqing University Chongqing China Department of Electrical and Electronics Engineering Sakarya University Faculty of Technology Serdivan/Sakarya Turkey Electrical and Electronic Engineering Department University of Nottingham Malaysia Campus Selangor Darul Ehsan Malaysia

ISBN: (纸本)9781509025473

This paper describes the performance of grid-integrated Hybrid Renewable Power system (HRPS). It establishes a Wind Turbine (WT), a Microturbine (MT) and a battery which support the dump load, Local Grid (LG) and/or grid integrated domestic load. DC/DC converters are used to join WT, MT and battery in a common DC bus. The output of DC bus is synchronized to the local grid through hysteresis controlled three-phase voltage source converter to increase the continuity of power. The proposed HRPS is working under switching control algorithm. According to the proposed algorithm, the wind energy is controlled via optimal torque based maximum power point tracking method, and is used the primary energy source to meet the load demands. The MT is added as a secondary system to confirm continuous power flow. The battery is utilized as a high energy density and/or back device to keep the DC-bus voltage constant. The dump load is used to consume any excess power inside the system. To verify the effectiveness and performance of proposed system, a test bed is created using Matlab/Simulink based on recorded wind speed and load profile of a small community at Peshawar, Pakistan region. Various results are obtained to show proposed power system performance in terms of grid synchronization, voltage and frequency stability, power quality and load tracking. © 2016 IEEE.

关键词： Wind turbines

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Enhanced corrective security constrained OPF with hybrid energy storage systems 11

Enhanced corrective security constrained OPF with hybrid ene...

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11th UKACC United Kingdom Automatic Control Council International Conference on Control, UKACC Control 2016

作者： Cao, Jun Liu, Yi Ge, Y. Cai, Hui Zhou, B.W. State Key Laboratory of Alternate Electrical Power System with Renewable Energy Sources Northern China Electric Power University Beijing China Institute of Electrical Engineering Chinese Academy of Sciences Beijing China Jiangsu Electric Power Company China Electrical Engineering Department Dongbei University China

ISBN: (纸本)9781467398916

Hybrid Energy Storage systems (HESS) has the ability of providing fast and accurate response to second-to-second changes of the grids for keeping the power system uninterrupted and stable. This paper presents an enhanced Corrective Security Constrained Optimal Power Flow (CSCOPF) model by combining the technical merits of different Energy Storage technologies. The proposed HESS can be employed to take part in not only the traditional long-term rescheduling corrective control actions, but also the short-term post-contingency fast corrective control, which takes into account the current state of charge (SOC) and the energy capacity model of the HESS. An improved Benders decomposition (BD) method is developed to solve the enhanced CSCOPF problem and the effectiveness of the proposed method is evaluated and demonstrated in the paper by standard power systems. © 2016 IEEE.

关键词： Electric load flow

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On-orbit real-time robust cooperative target identification in complex background

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Chinese Journal of Aeronautics 2015年第5期28卷 1451-1463页

作者： Wen Zhuoman Wang Yanjie Arjan Kuijper Di Nan Luo Jun Zhang Lei Jin Minghe Changchun Institute of Optics Fine Mechanics and Physics Chinese Academy of Sciences University of the Chinese Academy of Sciences Fraunhofer Institute for Computer Graphics Research Technische Universitt Darmstadt State Key Laboratory of Robotics and System Harbin Institute of Technology

Cooperative target identification is the prerequisite for the relative position and orientation measurement between the space robot arm and the to-be-arrested object. We propose an on- orbit real-time robust algorithm for cooperative target identification in complex background using the features of circle and lines. It first extracts only the interested edges in the target image using an adaptive threshold and refines them to about single-pixel-width with improved non-maximum suppression. Adapting a novel tracking approach, edge segments changing smoothly in tangential directions are obtained. With a small amount of calculation, large numbers of invalid edges are removed. From the few remained edges, valid circular arcs are extracted and reassembled to obtain circles according to a reliable criterion. Finally, the target is identified if there are certain numbers of straight lines whose relative positions with the circle match the known target pattern. Experiments demonstrate that the proposed algorithm accurately identifies the cooperative target within the range of 0.3 1.5 m under complex background at the speed of 8 frames per second, regardless of lighting condition and target attitude. The proposed algorithm is very suitable for real-time visual measurement of space robot arm because of its robustness and small memory requirement.

关键词： Circle detection Edge extraction Edge tracking Line detection Robot vision Space robot arm

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Risk-based distributionally robust optimal power flow with dynamic line rating

arXiv

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arXiv 2017年

作者： Wang, Cheng Gao, Rui Qiu, Feng Wang, Jianhui Xin, Linwei State Key Laboratory of Alternate Electrical Power System with Renewable Energy Sources North China Electric Power University Beijing102206 China Milton Stewart School of Industrial & Systems Engineering Georgia Institute of Technology AtlantaGA30332 United States Argonne National Laboratory ArgonneIL60439 United States Department of Electrical Engineering Southern Methodist University DallasTX United States Energy Systems Division Argonne National Laboratory ArgonneIL United States Booth School of Business University of Chicago ChicagoIL60637 United States

In this paper, we propose a risk-based data-driven approach to optimal power flow (DROPF) with dynamic line rating. The risk terms, including penalties for load shedding, wind generation curtailment and line overload, are embedded into the objective function. To hedge against the uncertainties on wind generation data and line rating data, we consider a distributionally robust approach. The ambiguity set is based on second-order moment and Wasserstein distance, which captures the correlations between wind generation outputs and line ratings, and is robust to data perturbation. We show that the proposed DROPF model can be reformulated as a conic program. Considering the relatively large number of constraints involved, an approximation of the proposed DROPF model is suggested, which significantly reduces the computational costs. A Wasserstein distance constrained DROPF and its tractable reformulation are also provided for practical large-scale test systems. Simulation results on the 5-bus, the IEEE 118-bus and the Polish 2736-bus test systems validate the effectiveness of the proposed models. Copyright © 2017, The Authors. All rights reserved.

关键词： Acoustic generators

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