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9th International Conference on Electrical Engineering, Control and robotics, EECR 2023

作者： Shi, Mingsong Hao, Liziyi Zhou, Zhaocheng Liu, Sihui Han, Jianda Yu, Ningbo Nankai University Tianjin Key Laboratory of Intelligent Robotics College of Artificial Intelligence Tianjin300350 China Institute of Intelligence Technology and Robotic Systems Shenzhen Research Institute of Nankai University Guangdong Shenzhen518083 China

ISBN: (纸本)9781665491204

Robot-assisted rehabilitation training for lowerlimb function recovery has gained increasing acceptability, but simultaneous training of gait and balance has not been well explored. In this paper, we propose a novel 5-DOF serial-parallel hybrid end-effort robot to provide gait training, balance training, as well as gait and balance training. Each side of the robot is composed of a 2-DOF gait generator and a 3-DOF parallel balance module. The gait generator takes the H-Bot mechanism, which distributes the heavy load of the patient to the two motors during walking, which are connected in serial. For the balance module, its virtual rotation center of the footplate is designed to be aligned with the ankle joint, enabling natural balance adjustment and training. Further, two displacement sensors and an inclinometer are employed to measure the pose, and closed-loop control of the 2-DOF position and 3-DOF orientation of the robot end-effector is realized. The robotic system has been built up, and achieved good performance on position and pose tracking, promising an effective rehabilitation platform for independent and simultaneous training of gait and balance. © 2023 IEEE.

关键词： End effectors

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Control of the Wheeled Bipedal Robot on Roads with Large and Unknown Inclination 16th

Control of the Wheeled Bipedal Robot on Roads with Large...

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16th International Conference on Intelligent robotics and Applications, ICIRA 2023

作者： Tu, Baining Lu, Biao Piao, Minnan 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 College of Computer Science and Technology Civil Aviation University of China Tianjin300300 China

ISBN: (纸本)9789819964918

To keep the balance and the stable movement of a wheeled bipedal robot (WBR) on a road with large, unknown and continuously variable inclination, a control strategy based on nonlinear sliding mode controller (SMC) and unscented kalman filter (UKF) is proposed in this study. This strategy can directly identify the angle of the slope in real-time based on the nonlinear model, which helps to cope with various unknown road conditions. Simulations have shown that the proposed control architecture can tackle with gentle, sharp and sinusoidal terrains in both small and large scale with the extreme inclination of 47. 5 ∘. Besides, the WBR can start at a slope even exceed 20 ∘ without any prior information about the surroundings, which demonstrates its robustness to the initial terrain condition. Results also show that the proposed strategy works more swift and stable, compared to three other control architectures: single LQR, single SMC and SMC combined with extended kalman filter (EKF). © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd 2023.

关键词： Sliding mode control

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Height Localization of Micropipette in Zebrafish Embryo Penetration Based on Force Sensor 7

Height Localization of Micropipette in Zebrafish Embryo Pene...

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

作者： Li, Sijia Liu, Rongxin Liu, Jiawen Ma, Yize Li, Xinyi Sun, Mingzhu Nankai University Tianjin300000 China Nankai University Tianjin300000 China Institute of Intelligence Technology and Robotic Systems Shenzhen Research Institute of Nankai University Shenzhen518063 China

ISBN: (数字)9781665485197

ISBN: (纸本)9781665485197

As an important step of biological micromanipulation, it is extremely complicated to penetrate the cell at a fixed point after the injection micropipette is in contact with the cell. It is hard to reach the same contact point, especially the height position, by only using computer vision in manual operations. There is also a problem of poor repeatability in practice. In this paper, we proposed a contact height localization method of the micropipette for cell penetration based on force sensor, in which the precise contact time was detected by force sensor to obtain the current horizontal position of the micropipette tip, and then the height of the micropipette tip can be calculated based on image processing, improving the efficiency and accuracy of cell penetration. The system is built based on computer vision, force sensor, and computer control. Experiments performed on zebrafish embryos verify the feasibility of the system and the effectiveness of the proposed approach. © 2022 IEEE.

关键词： Cells

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robotic Picking Up of Polar Body for Biopsy: Localization and Approach 42

Robotic Picking Up of Polar Body for Biopsy: Localization an...

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42nd Chinese Control Conference, CCC 2023

作者： Li, Minghui Qiu, Jinyu Li, Ruimin Zhang, Yidi Sun, Mingzhu Zhao, Xin Zhao, Qili Nankai University Tianjin300350 China Nankai University Tianjin300350 China Institute of Intelligence Technology and Robotic Systems Shenzhen Research Institute of Nankai University Shenzhen518083 China

ISBN: (纸本)9789887581543

Polar body biopsy has been widely applied in the preimplantation genetic diagnosis and oocyte screen for assisted reproductive technology. The key step in the polar body biopsy is picking up the polar body using a micropipette. However, the almost transparent appearance of the polar body and its dynamic motion with the micropipette moving inside the oocyte makes it a challenging task to pick up the polar body. In this paper, a defocus imaging method is proposed to locate the polar body with an almost transparent appearance. Then, the dynamic drift of the polar body with the micropipette moving inside the cell is analyzed to determine a trajectory of the micropipette suitable for picking up the polar body. Finally, a PID-based motion control of the micropipette is developed to move the micropipette tip along the above trajectory to approach the polar body. The experimental results on porcine oocytes show that the success rate of polar body localization based on defocus imaging technology reaches 90%. Moving along the determined trajectory inside the oocyte, the micropipette is capable of approaching the polar body with an average error less than 5 μm, success rate can reach 90% (18/20), paving the solid ground for robotic picking up of the polar body. © 2023 Technical Committee on Control Theory, Chinese Association of Automation.

关键词： Biopsy

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Design of a Surgical Human-Machine Natural Interaction Assistance System based on Holographic Reality

Design of a Surgical Human-Machine Natural Interaction Assis...

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2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Chen, Jianren Liu, Tianzuo Sun, Xiaoxue Wang, Hongpeng 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 Nankai University College of Computer Science Tianjin300350 China

ISBN: (纸本)9798350325706

Ideally, intelligent surgery should allow surgeons to achieve insight, prediction, and assessment of the full range and course of diseased tissue without causing perceptual and interactive inconvenience. However, in the clinical setting, surgeons can only achieve judgment of the condition by continuously exposing patient tissues and organs through dissection, which is risky. To address these issues, this paper proposes a surgical human-machine natural interaction assistance system based on Holographic Reality. First, we annotate and segment the patient's medical images and plan the surgical path to generate a knowledge-based 3D digital human model containing information about the tissue structure of the lesion and the access to the surgical instruments. Secondly, we introduce techniques such as motion recognition and force feedback into the virtual reality environment for holographic display and somatosensory interaction, achieving gesture interaction and virtual surgical instrument manipulation of the digital manikin. This system uses medical image processing and holographic reality technology to help surgeons perform preoperative surgical planning and intraoperative real-time information guidance to obtain accurate and safe surgical results. © 2023 IEEE.

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Robot-camera and Hand-target Calibration in Eye-to-hand Navigation System

Robot-camera and Hand-target Calibration in Eye-to-hand Navi...

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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Geng, Pengxiu Jia, Xiaolong Bie, Dongyang Qin, Yanding 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 Optoelectronic Engineering Guilin University of Electronic Science and Technology Guilin541004 China

ISBN: (纸本)9781665481090

In recent years, robot-assisted surgery systems have developed rapidly, and are widely used in clinics. Ensuring the accuracy of the robot-assisted surgery system is the prerequisite for the safety and stability of the system. Hand-eye calibration is necessary for an eye-to-hand surgical navigation system. However, errors exist in the data of hand-eye calibration, including the positioning error of the robot and the measurement error of the navigation system, which seriously affects the accuracy of the results of hand-eye calibration. In order to unite the coordinate systems of each device to a common coordinate system in the eye-to-hand surgical navigation system, obtain the homogeneous transformation matrix (HTM) from the positioning target to the surgical tool (hand-target), and the HTM from the camera to the base of surgical robot (robot-camera), a novel calibration method is proposed in this paper. The calibration of the HTM of hand-target is divided into the translation part and the rotation part to calibrate respectively: the multi-point method is used to calculate the translation part, and the calibration of the rotation part is summarized as an AX=XB problem. The method solves the rotation part and translation part independently, without the problem of error propagation. And the Least squares method is used to solve the HTM of robot-camera. Experimental analyses have been carried out to verify the accuracy and effectiveness of the proposed method. © 2022 IEEE.

关键词： Calibration

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Sliding mode-based adaptive tube model predictive control for robotic manipulators with model uncertainty and state constraints

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Control Theory and technology 2023年第3期21卷 334-351页

作者： Erlong Kang Yang Liu Hong Qiao State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China Beijing Key Laboratory of Research and Application for Robotic Intelligence of Hand-Eye-Brain Interaction Beijing 100190China The School of Mechanical Engineering University of Science and Technology BeijingBeijing 100083China University of Chinese Academy of Sciences Beijing 100049China CAS Center for Excellence in Brain Science and Intelligence Technology Shanghai 200031China

In this paper,the optimal tracking control for robotic manipulators with state constraints and uncertain dynamics is investigated,and a sliding mode-based adaptive tube model predictive control method is ***,utilizing the high-order fully actuated system approach,the nominal model of the robotic manipulator is constructed as the predictive *** on the nominal model,a nominal model predictive controller with the sliding mode is designed,which relaxes the terminal constraints,and realizes the accurate and stable tracking of the desired trajectory by the nominal ***,an auxiliary controller based on the node-adaptive neural networks is constructed to dynamically compensate nonlinear uncertain dynamics of the robotic ***,the estimation deviation between the nominal and actual states is limited to the tube invariant *** the same time,the recursive feasibility of nominal model predictive control is verified,and the ultimately uniformly boundedness of all variables is proved according to the Lyapunov ***,experiments show that the robotic manipulator can achieve fast and efficient trajectory tracking under the action of the proposed method.

关键词： Tube-based model predictive control-robotic manipulator Sliding mode Node-adaptive neural networks Model uncertainty

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Dynamic Fluorescent Imaging for robotic Patch Clamp in vivo: Modeling and Control 42

Dynamic Fluorescent Imaging for Robotic Patch Clamp in vivo:...

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42nd Chinese Control Conference, CCC 2023

作者： Li, Ruimin Qiu, Jinyu Li, Minghui Sun, Mingzhu Zhao, Xin Zhao, Qili Nankai University Tianjin300350 China Tianjin300350 China Institute of Intelligence Technology and Robotic Systems Shenzhen Research Institute of Nankai University Shenzhen518083 China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of Technology Beijing100081 China

ISBN: (纸本)9789887581543

Fluorescent imaging through fluorescent dye injection is the key technique for lighting the in vivo environment and localizing the target cell in it for patch clamp operation in vivo. At present, manual fluorescent imaging is usually a labor-intensive high-skill requisite work, significantly limiting the application of patch clamp operation in vivo. In this paper, a computational modeling of the diffusion process of the injected fluorescent dye is established using the commercial ANSYS Fluent software. Based on this model, the distribution of the mass fraction, proven to be linearly related to fluorescence intensity, was calculated to simulate the fluorescent field formed by fluorescent dye injection. Further, an ADRC controller was developed to generate feedback-controlled fluorescent fields. With the above model and controller, a mobile fluorescent field, and varying fluorescent field with constant mass fraction at the target position are generated to fulfill the requirement of in vivo environment observation, search and localization of the target cell in patch clamp operation, respectively. The above results prove the feasibility of ADRC-controlled dynamic fluorescent imaging in the patch clamp operation in vivo. © 2023 Technical Committee on Control Theory, Chinese Association of Automation.

关键词： robotics

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Combine Neural Radiance Fields in Different Reference Coordinates

Combine Neural Radiance Fields in Different Reference Coordi...

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2023 China Automation Congress, CAC 2023

作者： Zhang, Weili Li, Zhongheng Guo, Yu Wang, Fei Institute of Artificial Intelligence and Robotics Xi'An Jiaotong University Xi'an China Beijing Institute of Spacecraft System Engineering Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing China

ISBN: (纸本)9798350303759

Neural Radiance Fields (NeRF) leverage deep learning networks to restore high-quality implicit representations of 3D scenes from 2D images, surpassing traditional texture mapping in rendering quality. Typically, reconstructed images by NeRF exist in a reference coordinate system, necessitating consideration of each surface's information in a single shot. Overlapping parts in adjacent images are addressed by obtaining the camera pose through sparse COLMAP reconstruction. However, occluded regions, caused by contact with support surfaces, pose challenges for complete reconstruction. To address this, we propose a scene fusion algorithm based on NeRF, facilitating the amalgamation of neural radiance fields under different reference coordinate systems. This reduces data requirements and shooting conditions, enhancing the implicit 3D reconstruction of real objects. By estimating the translation and rotation relationship between image capture angles and the NeRF model, we fuse neural radiance fields in distinct reference coordinate systems, completing object surface information. Evaluation is conducted on both NeRF synthetic dataset and real objects. © 2023 IEEE.

关键词： Cameras

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

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

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第42届中国控制会议

作者： Zehao Qiu Qingxiang Wu Zhuoqing Liu Tong Yang Ning Sun Institute of Intelligence Technology and Robotic Systems Shenzhen Research Institute of Nankai University

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.

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