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PhaPaM: In Vitro Panoramic Map Using Phase Correlation 42

PhaPaM: In Vitro Panoramic Map Using Phase Correlation

引用

42nd Chinese Control Conference, CCC 2023

作者： Li, Jie Li, Zizhen Zhao, Xin Tianjin300350 China Institute of Intelligence Technology and Robotic Systems Shenzhen Research Institute of Nankai University Shenzhen518083 China

ISBN: (纸本)9789887581543

Studying cells of brain slices under microscopes reveals subtle changes in neuron networks. But the field of view of microscopes is compromised by high-resolution imaging. A post hoc computer vision-aid process can address the problem. Commonly, feature-based stitching methods can be used to obtain large-scale images. They detect and match salient features within an image. However, the success rate of stitching is highly related to the scale of overlapping of two images and feature-rich properties. Unlike the feature-based methods, this paper reports on a method using a Fourier-based domain, PhaPaM, which infers relative motion from a pair of microscopy images by phase correlation. Specifically, we first apply the Fourier transform for microscope images to sequentially estimate the relative movement of an image pair. Then, we use a minimal spanning tree algorithm to minimize the stitching error and obtain the best stitching path. Finally, we apply the liner-blending method to smoothing the panoramic image. This method is evaluated using large-scale images obtained from the visual cortex of rodent animals, which shows great fidelity and satisfying results. © 2023 Technical Committee on Control Theory, Chinese Association of Automation.

关键词： Microscopes

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A Crocodile-Like Pneumatic Soft Crawling Robot with Three-Dimensional Deformation Actuators 42

A Crocodile-Like Pneumatic Soft Crawling Robot with Three-Di...

引用

42nd Chinese Control Conference, CCC 2023

作者： Qiu, Zehao Wu, Qingxiang Liu, Zhuoqing Yang, Tong Sun, Ning Institute of Robotics and Automatic Information Systems Nankai University College of Artificial Intelligence Tianjin300350 China Institute of Intelligence Technology and Robotic Systems Shenzhen Research Institute of Nankai University Shenzhen518083 China

ISBN: (纸本)9789887581543

Pneumatic soft crawling robots (PSCRs) have excellent application prospects in disaster relief and resource exploration due to their adaptability to complex environments. However, the crawling ability of PSCRs, including speed, load capacity, etc., is difficult to meet the requirements of these applications. To this end, a crocodile-like PSCR with three-dimensional deformation actuators is designed. First, based on the analysis of the crocodile structure, four leg actuators and a body actuator are designed, respectively, and their fabrication processes are described in detail. Meanwhile, a complete structure of the crocodile-like PSCR including connectors and air circuits is assembled. Then, the geometric and finite element models of leg actuators are established to analyze bending characteristics. On this basis, according to the relationship among the actuators, different gaits are designed to achieve moving forward, turning, and other movements. Finally, experimental results verify that leg actuators are fabricated accurately and the crocodile-like PSCR has satisfactory crawling ability. © 2023 Technical Committee on Control Theory, Chinese Association of Automation.

关键词： Machine design

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Motion Planning for Wave-Like-Actuated Manta-Inspired Amphibious Robots

Motion Planning for Wave-Like-Actuated Manta-Inspired Amphib...

引用

International Conference on Applied Nonlinear Dynamics, Vibration, and Control, ICANDVC 2023

作者： Wang, Yixuan Wu, Qingxiang Wang, Xuebing Sun, Ning College of Artificial Intelligence Nankai University Tianjin300350 China Institute of Intelligence Technology and Robotic Systems Shenzhen Research Institute of Nankai University Shenzhen518083 China

ISBN: (纸本)9789819705535

Inspired by manta rays, an amphibious robot is designed by utilizing a wave-like mechanism for propulsion. In terms of robot design, the swimming characteristics of the manta ray are analyzed, and mechanical structures such as flexible biomimetic fins and wave-like propulsion mechanisms are designed, enabling the robot to move both in water and on land. Furthermore, the kinematic model of the wave-like-actuated manta-inspired amphibious robot is established. Then, a path planning method based on the improved Rapidly-exploring Random Tree (RRT) algorithm is proposed, and combined with S-curve acceleration and deceleration planning to achieve velocity planning for robots. Experiments are conducted to validate the robot’s motion performance and the effectiveness of the motion planning algorithm. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Motion planning

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Multi-Objective Optimization-Based Active Navigation System for Orthopedic Surgeries

Multi-Objective Optimization-Based Active Navigation System ...

引用

2023 IEEE International Conference on Real-Time Computing and robotics, RCAR 2023

作者： Geng, Pengxiu Meng, Yiyang You, Yugen Qin, Yanding Han, Jianda Nankai University College of Artificial Intelligence Tianjin300350 China Shenzhen Research Institute of Nankai University Institute of Intelligence Technology and Robotic Systems Shenzhen518083 China

ISBN: (纸本)9798350327182

Intraoperative navigation is a critical part of robot-assisted orthopedic surgery. The most essential part of intraoperative navigation is the optical tracking system (OTS), which is responsible for intraoperative real-time positioning and tracking. Usually, the OTS is fixed during the surgery after manually adjusting its pose. However, the field of view (FOV) of OTS is finite and there may be visual occlusion between positioning tools, which will cause risk in surgeries. To address these drawbacks of the fixed OTS, this paper proposes an active navigation system for active adjustment of the OTS pose during surgery. The problem of finding the optimal pose of the OTS is summarized as a multi-objective optimization problem in this paper. The observation accuracy of the active navigation system is demonstrated to be reliable, and simulations are conducted to verify that the optimization project is effective in finding the optimal observation pose for OTS to observe multiple positioning tools simultaneously. © 2023 IEEE.

关键词： Navigation systems

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Gait-Planning-Based Path Planning for Crocodile-Inspired Pneumatic Soft Robots

Gait-Planning-Based Path Planning for Crocodile-Inspired Pn...

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International Conference on Applied Nonlinear Dynamics, Vibration, and Control, ICANDVC 2023

作者： Ma, Yize Wu, Qingxiang Qiu, Zehao Sun, Ning College of Artificial Intelligence Nankai University Tianjin300350 China Institute of Intelligence Technology and Robotic Systems Shenzhen Research Institute of Nankai University Shenzhen518083 China

ISBN: (纸本)9789819705535

In many cases, soft robots with their inherent flexibility, ease of interaction, and high adaptability in complex environments, receive widespread attention. Among them, gait planning is a key technology to ensure the performance of soft robots. This paper proposes a gait-planning-based path planning method for crocodile-inspired pneumatic soft robots. Based on the crocodile-inspired pneumatic soft robots, the motion characteristics of the robot with different gaits are analyzed. Then, a path planning method using A* algorithm is proposed according to the environmental characteristics of road width, obstacles, and other road information. The experimental environment is built independently to complete robot path planning and gait selection and verify the effectiveness of the proposed gait-planning-based path planning method. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Motion planning

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Reliable observer-based control against sensor failures for fractional order systems 41

Reliable observer-based control against sensor failures for ...

引用

第41届中国控制会议

作者： Bingxin Li Xiangfei Zhao Yaowei Liu Xin Zhao Institute of Robotics and Automatic Information System and the Tianjin Key Laboratory of Intelligent Robotics Nankai University Institute of Intelligence Technology and Robotic Systems Shenzhen Research Institute of Nankai University

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

In the paper,the state and sensor failure observer for fractional order systems with order 0 <α <1 and 1 <α<2 is proposed to estimate the system state and sensor failures at the same *** general,unbounded sensor faults will inevitably lead to system ***,it is very necessary to study the reliable controller for fractional order systems against sensor *** the linear matrix inequality concept and the augmented system method,the sensor faults can be in any form,even unbounded.A reliable observer-based controller based on the state and sensor failures estimation is proposed,which can make the system work well regardless of whether the sensor *** α=1,methods proposed in the paper are equivalent to these of the integer order systems,scilicet,our methods can be extended to integer order ***,a simulation example is used to demonstrate the efficiency of the present methods.

关键词： Fractional order systems state and sensor failures linear matrix inequality reliable observer-based controller

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Visual Detection for Non-Ferrous Metal Ingots With Wavelet Denoising and Contour Corner Extraction 7

Visual Detection for Non-Ferrous Metal Ingots With Wavelet D...

引用

7th Asia-Pacific Conference on Intelligent Robot systems, ACIRS 2022

作者： Qiu, Zehao Sun, Ning Zhang, Chenglin Sang, Wenchuang Fang, Yongchun Institute of Robotics and Automatic Information Systems College of Artificial Intelligence Nankai University Tianjin300350 China Institute of Intelligence Technology and Robotic Systems Shenzhen Research Institute of Nankai University Shenzhen518083 China

ISBN: (数字)9781665485197

ISBN: (纸本)9781665485197

To realize the intelligent grinding of non-ferrous metal ingots, visual detection algorithms are required to provide the information of metal ingots for robotic manipulators. However, metal ingots in moving molds on ingot casting lines are accompanied by complicated backgrounds and continuous changes, which demands higher accuracy and stronger robustness of visual detection. Based on two kinds of metal ingots and the analysis of metal ingot images, a wavelet-based method with an improved threshold and threshold function is utilized to reduce noises. Afterward, the edge information of metal ingots is obtained by edge line segment detection, and the detected edges are selected according to their positions and lengths. Moreover, in order to extract the contour corners of metal ingots, basic contours are detected and further fitted into metal ingot contours. Finally, experimental results verify that the proposed metal ingot detection algorithm achieves satisfactory accuracy, robustness, and real-time performance for different images and metal ingots. © 2022 IEEE.

关键词： Metals

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Design and Optimization of a 6-RUHU Parallel Robot for Accelerating Tibial Fracture Healing

Design and Optimization of a 6-RUHU Parallel Robot for Accel...

引用

2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Zhou, Zhaocheng Hao, Liziyi Zheng, Honghao Yu, Ningbo College of Artificial Intelligence Nankai University Tianjin300350 China Institute of Intelligence Technology and Robotic Systems Shenzhen Research Institute of Nankai University Shenzhen518083 China

ISBN: (纸本)9781665481090

robotics has been widely used in orthopaedic surgery and correction of bone deformities, but there are no specific robotic aids for fracture rehabilitation to promote fracture healing. It has been demonstrated that mechanical stimulation can accelerate fractured bone healing by promoting osteoblast division and differentiation. However, the fracture section is complex and requires high precision in mechanical regulation. To solve this problem, a modular 6-DOF parallel robot is proposed. An improved snake optimization algorithm is used to optimize the force transfer performance of the robot. And a virtual prototype was designed based on the optimised results. © 2024 IEEE.

关键词： Machine design

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Modeling and Linear Active Disturbance Rejection Control of a New Morphing Quadrotor

Modeling and Linear Active Disturbance Rejection Control of ...

引用

International Conference on Guidance, Navigation and Control, ICGNC 2022

作者： Sun, Haosheng He, Chunhui Wu, Qingxiang Chen, He Sun, Ning Institute of Robotics and Automatic Information Systems College of Artificial Intelligence Nankai University Tianjin300350 China Institute of Intelligence Technology and Robotic Systems Shenzhen Research Institute of Nankai University Shenzhen518083 China School of Artificial Intelligence Hebei University of Technology Tianjin300401 China

ISBN: (纸本)9789811966125

In many practical applications like rescues, the morphing quadrotors perform better than conventional quadrotors in complex and variable environments, such as traveling through narrow gaps. However, their dynamic properties are more complicated. In this paper, a new morphing quadrotor with foldable arms is presented. Then, the dynamic model of the morphing quadrotor is established. Moreover, the linear active disturbance rejection control (LADRC) method is used to achieve stable flight during morphing, and its performance is compared with the PID method with the simulations. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Disturbance rejection

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Dynamic Modeling and Analysis for Parallel Robots Actuated by Pneumatic Artificial Muscles 1

引用

3rd International Conference on Control, Instrumentation and Mechatronics Engineering, CIM 2022

作者： Wang, Qihang Liu, Gendi Yang, Tong Chen, He Qin, Yanding Sun, Ning Institute of Robotics and Automatic Information Systems College of Artificial Intelligence Nankai University Tianjin300350 China Institute of Intelligence Technology and Robotic Systems Shenzhen Research Institute of Nankai University Shenzhen518083 China School of Artificial Intelligence Hebei University of Technology Tianjin300401 China

ISBN: (数字)9789811939235

ISBN: (纸本)9789811939228

As a kind of pneumatic actuators, pneumatic artificial muscles (PAMs) possess remarkable merits, such as lightweight, compliance, higher security. However, with significant characteristics, e.g., strong bearing capacity, satisfactory dynamic performance, parallel robots used in industry are mostly actuated by traditional actuators. In this case, the compliance of PAMs is missing from parallel robots actuated by traditional actuators;thus, combining parallel robots with PAMs can make full use of the advantages of flexible structures and operation reliability. However, due to the complicated characteristics of PAMs and complex structures of parallel robots, the modeling of PAM-actuated parallel robots is an intractable problem. Therefore, in this paper, we use Lagrange’s method and the three-element model to obtain the dynamic model of PAM-actuated parallel robots. Then, by utilizing a proportional derivative (PD) control method with gravity compensation, simulation results validate the feasibility of the proposed model. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Pneumatic actuators

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