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Study on stiffness and shape deformation of a hyper-redundant robot for robotic interventions

Journal of institute of Control, robotics and systems 2020年第11期26卷 999-1006页

作者： Kim, Kiyoung Woo, Hyunsoo Cho, Jang Ho Shin, Minki Suh, Jungwook Laboratory of Medical Assistant Robotics Korea Institute of Machinery and Materials South Korea Department of Robot and Smart System Engineering Kyungpook National University Korea Republic of

Continuum manipulators or hyper-redundant manipulators are commonly used for steerable endoscopes and robotic catheters. Hyper-redundant manipulators are composed of many rigid links and joints, which can be actuated by embedded motors or by transmission components such as tendons and spring sheaths. This article describes a mathematical model of a hyper-redundant manipulator with rolling contact joints. The position and orientation of each discrete link of the hyper-redundant manipulator is calculated using a transformation matrix, and the moment equations of the joints are solved by numerical analysis. The shape deformation of the manipulator under a lateral force is calculated and the theoretical stiffness on the lateral force is determined. We compare the stiffness obtained by experiments with theoretical values. The lateral deformation has an error of up to 7.1 mm, and the lateral stiffness is within an error range of 9%. Stiffness analysis of the hyper-redundant manipulator is expected to predict the motion of the manipulator during robotic interventions. © ICROS 2020.

关键词： Catheters

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An Efficient Ant Colony system for Multi-Robot Task Allocation with Large-scale Cooperative Tasks and Precedence Constraints

An Efficient Ant Colony System for Multi-Robot Task Allocati...

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IEEE Symposium Series on Computational Intelligence (SSCI)

作者： Xiao-Fang Liu Bo-Cheng Lin Zhi-Hui Zhan Sang-Woon Jeon Jun Zhang Institute of Robotics and Automatic Information System College of Artificial Intelligence Nankai University Tianjin China Tianjin Key Laboratory of Intelligent Robotics Nankai University Tianjin China School of Computer Science and Engineering South China University of Technology Guangzhou China Hanyang University Ansan South Korea Chaoyang University of Technology Taichung Taiwan China

ISBN: (纸本)9781728190495

Multiple heterogeneous robots can work together to execute complex tasks. Given multiple heterogeneous tasks and heterogeneous robots, the allocation of tasks to robots is a challenging optimization problem. Lots of methods have been proposed for the multi-robot task allocation (MRTA) problem. However, most existing methods only consider small-scale tasks without precedence constraints. Hence, this paper tracks the time-extended MRTA problem with large-scale cooperative tasks and precedence constraints, and proposes an efficient ant colony system (ACS) to solve the problem. In the proposed algorithm, we adopt a permutation with task-robot alliance pairs as the encode scheme to represent a feasible solution. A pheromone matrix is initialized by a hierarchical greedy strategy and iteratively updated to record historical experience. Heuristic information related to the optimization objective is also designed to help algorithm find better solutions according to the current state. Through combining pheromone and heuristic information, the ACS is able to search high-quality solutions from a global perspective. Experimental results on multiple problem instances are reported to show the advantage of the proposed method. The proposed ACS method can well solve the MRTA problem with large-scale cooperative tasks and precedence constraints.

关键词： Processor scheduling Heuristic algorithms Resource management Task analysis Robots Optimization Computational intelligence

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A visual calibration method of monocular camera and pan-tilt for mobile robots

A visual calibration method of monocular camera and pan-tilt...

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2019 IEEE International Conference on Real-Time Computing and robotics, RCAR 2019

作者： Sun, Jingwen Zhao, Lijun Wang, Ke Zhao, Yujia Meng, Xiangbo Mao, Chuwei Wang, Jiancheng State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China School of Electrical Engineering Automation Harbin Institute of Technology Harbin China

ISBN: (纸本)9781728137261

In the competition of 'RoboMaster', the robot, a mobile platform with a two-axis pan-tilt and a barrel, needs to shoot the target by launching a projectile. In order to detect and shoot the target automatically, we develop a visual system with a monocular camera mounted on the chassis. Based on some target detection algorithms, the target's 3D pose in the camera coordinate system is obtained. As the launching mechanism of the robot is on the two-axis pan-tilt, it demands to further obtain target's pose in the pan-tilt coordinate system to achieve precise shooting. Therefore, how to obtain the relative position between the camera coordinate system and the pan-tilt coordinate system is the main problem in our research. We propose a fast and effective method for the relative position calibration between the camera and two-axis pan-tilt based on specular reflection. We utilize a plane mirror to reflect the laser pointer light path mounted on the barrel. Then, the camera calibration method is applied to obtain the rotation matrix between the camera coordinate system and the world coordinate system. We finally verify the effectiveness of our method through experiments and achieve the first place in the competition. © 2019 IEEE.

关键词： Calibration

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An MR Safe Rotary Encoder Based on Eccentric Sheave and FBG Sensors

An MR Safe Rotary Encoder Based on Eccentric Sheave and FBG ...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Shaoping Huang Anzhu Gao Zicong Wu Chuqian Lou Yanjun Wang Guang-Zhong Yang The Institute of Medical Robotics and School of Biomedical Engineering Shanghai Jiao Tong University Shanghai China Shanghai Jiao Tong University The Key Laboratory of System Control and Information Processing Ministry of Education Shanghai China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai China The Institute of Medical Robotics Shanghai Jiao Tong University Shanghai China The Imperial College London and Empa-Swiss Federal Laboratories for Materials Science and Technology

MRI-guided robotic systems are emerging platforms for minimally invasive intervention because of high positioning accuracy and excellent tissue contrast. MR safe encoders are critical components for closed-loop robotic control. This paper develops an MR safe absolute rotary encoder based on eccentric sheave and FBG sensors. The eccentric sheave transforms the rotational motion of the shaft to the bending deflection of the beam on which FBG sensors are integrated. A model is built by establishing the relationship of the kinematics of the sheave, the mechanical properties of the beam with unknown length, and the strain model of two Fiber Bragg Grating (FBG) sensors. A Pseudo-Rigid Body (PRB) 3R model is used to solve a set of constrained equations for accurate rotary encoding. A prototype is built to calibrate the parameters and validate the accuracy of the encoder and its MR compatibility. Results show that the maximum angular error is 1.6°, and the RMS error is 0.46°. MRI shows that no noticeable artifacts are observed, and the Signal to Noise Ratio (SNR) is not affected. The results demonstrate the potential of the proposed method for it to be integrated with MR safe robots with easy fabrication, compact structures, and continuous measurement.

关键词： Mechanical sensors Shafts Analytical models Kinematics Transforms Fiber gratings Robot sensing systems

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Proximity perception in human-centered robotics: A survey on sensing systems and applications

arXiv

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arXiv 2021年

作者： Navarro, Stefan Escaida Mühlbacher-Karrer, Stephan Alagi, Hosam Zangl, Hubert Koyama, Keisuke Hein, Björn Duriez, Christian Smith, Joshua R. Inria Lille-Nord Europe France JOANNEUM RESEARCH ROBOTICS Institute for Robotics and Mechatronics Klagenfurt Austria Karlsruhe Germany Karlsruhe Institute of Technology IAR - IPR Karlsruhe Germany University of Applied Sciences Karlsruhe Germany Alpen-Adria-Universität Klagenfurt Institute of Smart System Technologies Sensors and Actuators Klagenfurt Austria Osaka University Department of Systems Innovation Graduate School of Engineering Science Osaka Japan University of Washington Allen School of Computer Science and Engineering Department of Electrical Engineering Seattle United States

—Proximity perception is a technology that has the potential to play an essential role in the future of robotics. It can fulfill the promise of safe, robust, and autonomous systems in industry and everyday life, alongside humans, as well as in remote locations in space and underwater. In this survey paper, we cover the developments of this field from the early days up to the present, with a focus on human-centered robotics. Here, proximity sensors are typically deployed in two scenarios: first, on the exterior of manipulator arms to support safety and interaction functionality, and second, on the inside of grippers or hands to support grasping and exploration. Starting from this observation, we propose a categorization for the approaches found in the literature. To provide a basis for understanding these approaches, we devote effort to present the technologies and different measuring principles that were developed over the years, also providing a summary in form of a table. Then, we show the diversity of applications that have been presented in the literature. Finally, we give an overview of the most important trends that will shape the future of this domain. © 2021, CC BY.

关键词： Surveys

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Correlating fluorescence microscopy, optical and magnetic tweezers to study single chiral biopolymers such as DNA

arXiv

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arXiv 2024年

作者： Shepherd, Jack W. Guilbaud, Sebastien Zhou, Zhaokun Howard, Jamieson Burman, Matthew Schaefer, Charley Kerrigan, Adam Steele-King, Clare Noy, Agnes Leake, Mark C. School of Physics Engineering and Technology University of York YorkYO10 5DD United Kingdom Department of Biology University of York YorkYO10 5DD United Kingdom Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institute of AdvancedTechnology Chinese Academy of Sciences China The York-JEOL Nanocentre University of York YorkYO10 5BR United Kingdom Bioscience Technology Facility University of York YorkYO10 5DD United Kingdom

Biopolymer topology is critical for determining interactions inside cell environments, exemplified by DNA where its response to mechanical perturbation is as important as biochemical properties to its cellular roles. The dynamic structures of chiral biopolymers exhibit complex dependence with extension and torsion, however the physical mechanisms underpinning the emergence of structural motifs upon physiological twisting and stretching are poorly understood due to technological limitations in correlating force, torque and spatial localization information. We present COMBI-Tweez (Combined Optical and Magnetic BIomolecule TWEEZers), a transformative tool that overcomes these challenges by integrating optical trapping, time-resolved electromagnetic tweezers, and fluorescence microscopy, demonstrated on single DNA molecules, that can controllably form and visualise higher order structural motifs including plectonemes. This technology combined with cutting-edge MD simulations provides quantitative insight into complex dynamic structures relevant to DNA cellular processes and can be adapted to study a range of filamentous biopolymers. © 2024, CC BY.

关键词： Fluorescence microscopy

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A legged device based on active buffering for probe landing on micro-gravitational asteroid

A legged device based on active buffering for probe landing ...

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2019 IEEE International Conference on robotics and Biomimetics, ROBIO 2019

作者： Yin, Canhui Shen, Yilin Zhang, Xiaolin Guo, Fan Quan, Qiquan Tang, Dewei Deng, Zongquan Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin Heilongjiang Province China Beijing Institute of Spacecraft System Engineering Beijing China China Academy of Space Technology Beijing China

ISBN: (纸本)9781728163215

The landing of the probe on the asteroid surface provides the technical basis for in-situ exploration and sampling return and promotes to maximize the value of the probe. The micro-gravitation and the uncertainty in topography and geology on the asteroid surface pose challenges to the landing of the probe. To develop the asteroid landing technology, the legged landing device of asteroid probe based on active buffering mode is studied in this paper. The landing device adopts a three-legged structure to possess higher adaptability to the surface topography of asteroids and get the light and simple configuration. Besides, a buffering unit is designed based on the active mode of the damping motor which has obvious advantages in self-adaptability and autonomy. Through the comparison of various schemes, the slider-legged landing device is determined and designed in detail. On this basis, the co-simulation of the probe landing on the asteroid surface is completed, which shows the satisfaction of this device to reliability and efficiency. Finally, a prototype of the landing device is constructed and the micro-gravitational simulated test platform is developed to implement the landing buffering test of asteroid probe. The test results validate the performance of the landing device. © 2019 IEEE.

关键词： Damping

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The energy-saving advantages of burst-and-glide mode for thunniform swimming

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Journal of Hydrodynamics 2018年第6期30卷 1072-1082页

作者： Dan Xia Wei-shan Chen Jun-kao Liu Xiang Luo School of Mechanical Engineering Southeast University State Key Laboratory of Robotics and System Harbin Institute of Technology

This paper explores the energy-saving advantages of the burst-and-glide swimming and compares it with the normal self-swimming for a thunniform swimmer. The virtual swimmer allows us to perform controlled numerical experiments by varying the swinging tail number and the duty cycle while keeping the other parameters fixed. 3-D Navier-Stokes equations are used to compute the viscous flow over the swimmer. The user-defined functions and the dynamic mesh technology are used to simulate the burst-and-glide swimming. The results show that with the increase of the swinging tail number or the duty cycle, the swimming velocity, the power and the efficiency all increase, but the velocity-power ratio decreases somewhat. Therefore, choosing smaller swinging tail number and duty cycle is beneficial in reducing the power and increasing the velocity-power ratio, and thus to obtain the same velocity, less power is consumed. And to swim the same distance, the energy can significantly be saved. The power consumption, the efficiency and the velocity-power ratio in the burst-and-glide case are 43.9%, 40.6% and 1.15 times of those in the normal swimming case, respectively. The flow structures clearly show the evolution process around the fish in the burst-and-glide swimming. The findings can be used to reasonably plan the swimming action and to take the advantage of the external flow field energy for the fishlike robot, to be more efficient and energy-saving.

关键词： Energy-saving advantages burst-and-glide mode normal self-swimming thunniform swimmer

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Improved Template Matching Based Stereo Vision Sparse 3D Reconstruction Algorithm

Improved Template Matching Based Stereo Vision Sparse 3D Rec...

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Chinese Control and Decision Conference, CCDC

作者： Zhiyuan Liu Bin Song Yanning Guo Hang Xu Dept. of Control Science and Engineering Harbin Institute of Technology Harbin Aerospace System Engineering Shanghai Shanghai Engieering Research Center of Space Robotics Shanghai

ISBN: (数字)9781728158556

ISBN: (纸本)9781728158563

Stereo vision 3D reconstruction using keypoints matching methods can bring up problems, such as uneven distribution of points, or even mismatches. To solve the problems, we proposed a novel stereo vision 3D reconstruction algorithm based on template matching. First, considering that the similarity between left and right image of binocular camera can be high, template matching can be brought in to minify the searching range of every keypoint, thus enhance the accuracy of matches and make the reconstruction result more complete. The specific process of the proposed method includes the following steps: templates extraction, keypoint density index calculation, template matching, keypoint matching within template matched areas, point cloud generation, and point cloud stitching. Furthermore, a simulation environment was built up in Gazebo, and 3D reconstruction was carried out using the proposed method. Comparison experiment was carried out using brute force keypoint matching method and FLANN. Simulation results showed that the proposed method performed better and improved in both utilization of keypoints and reconstruction result.

关键词： Three-dimensional displays Cameras Stereo vision Mathematical model Indexes Solid modeling Image reconstruction

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Gridless Sparsity-Based Localization for Near-Field Sources with Symmetric Linear Array

Gridless Sparsity-Based Localization for Near-Field Sources ...

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Sensor Array and Multichannel Signal Processing Workshop

作者： Weiliang Zuo Jingmin Xin Tong Xiao Nanning Zheng Akira Sano Institute of Artificial Intelligence and Robotics Xi’an Jiaotong University Xi’an China Department of System Design Engineering Keio University Yokohama Japan

ISBN: (数字)9781728119465

ISBN: (纸本)9781728119472

In this paper, we investigate the problem of estimating the directions-of-arrival (DOAs) and ranges of multiple nearfield narrowband sources impinging on a symmetric uniform linear array (ULA). By forming a Toeplitz-like correlation matrix from the anti-diagonal elements of the array covariance matrix, a convex optimization problem for the resultant Toeplitz-like matrix reconstruction is established and further a gridless sparsity-based localization for near-field sources is proposed. The DOAs can then be retrieved by using the recovered correlation matrix according to root-MUSIC or Vandermonde decomposition theorem. Additionally, the ranges are obtained through a subspace-based estimator with the corresponding estimated DOAs, while the association of the estimated DOAs and ranges are completed at the same time. Finally, the numerical examples are provided to substantiate the performance of our proposed method, and the simulation results demonstrate that the proposed method provides remarkable and satisfactory estimation performance.

关键词： Location awareness Direction-of-arrival estimation Symmetric matrices Correlation Simulation Estimation Convex functions

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