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IEEE International Conference on Automation and Logistics (ICAL)

作者： Duan, Xing-guang Guo, Qing-bo Liu, Tian-bo Zhu, Xiang-yu Chen, Chao Yang, Yang Intelligent Robotics Institute State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Mechatronical Engineering Beijing Institute of Technology 5 Nandajie Zhongguancun Haidian 100081 China

ISBN: (纸本)9781467303644

Combined with modern imaging techniques and minimally invasive treatment techniques, microwave ablation surgeries have become one of the most effective methods in the modern comprehensive treatment of cancer. To solve the problems exist in traditional surgeries, microwave ablation surgical robot has been successfully developed. At first, this paper briefly introduces the robot auxiliary treatment process. Then analyzes the ultrasound-guided positioning system in detail. At last, the paper focuses on experimental research process such as robot localization experiment and precision experiment. The experimental results will verify the effectiveness of the robot system and the accuracy of the treatment. Meanwhile, the problems exist in the system are discussed and he future research direction is demonstrated.

关键词： Surgical Robot Ultrasound-guided localization system Microwave Ablation

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A Model of Collision-Detection for Maxillofacial Multi-arm Surgery Robot

A Model of Collision-Detection for Maxillofacial Multi-arm S...

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IEEE International Conference on Automation and Logistics (ICAL)

作者： Zhu, Xiang-yu Duan, Xing-guang Chen, Chao Liu, Tian-bo Guo, Qing-bo Intelligent Robotics Institute State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Mechatronical Engineering Beijing Institute of Technology 5 Nandajie Zhongguancun Haidian 100081 China

ISBN: (纸本)9781467303644

A maxillofacial Multi-arm surgery robot is employed to assisting maxillofacial surgery, which can improve surgical precision and reduce surgeons' strain. Thus, the safety during the processing of the surgery is necessary for protecting the patient and preventing the quality of the surgery. This paper presents the development of a collision and self-collision-detection scheme, for Maxillofacial Multi-arm Surgery Robot. The method is based on modeling the arm of Multi-arm robot and the obstacle in surgery environment by simple geometric primitives (cylinders and spheres). Methods of detecting collision about the cylinders and the spheres are introduced. By resorting to the pose of cylinder or sphere which presents in the workspace, many different types of collisions are introduced. The performance of the collision-avoidance scheme is demonstrated with Multi-arm robot via experiments.

关键词： Multi-arm robot Collision Avoidance Geometric Primitives Collision Detection

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Kinematics analysis and trajectory planning of a multiarm medical robot assisted maxillofacial surgery

Kinematics analysis and trajectory planning of a multiarm me...

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6th International Conference on Complex Medical Engineering, CME 2012

作者： Chen, Chao Duan, Xing-Guang Wang, Xing-Tao Zhu, Xiang-Yu Li, Meng Intelligent Robotics Institute Key Laboratory of Biomimetic Robots and Systems Ministry of Education State Key Laboratory of Intelligent Control and Decision of Complex System School of Mechatronical Engineering Beijing Institute of Technology #5Zhongguancun South Street Haidian Beijing China China

ISBN: (纸本)9781467316163

As the complex anatomical structure of the maxillofacial region, the surgery in this area is high risk and difficult to implement. Then, a multi-arm medical robot assisted maxillofacial surgery using optical navigation was proposed in this paper, which can improve surgical precision and make the doctors away from the heavy manual work. In this paper, the medical robot system and mechanical structure of the robot were introduced. Forward kinematics and inverse kinematics were analysed. Then trajectory planning using quintic polynomial interpolation for smoothly motion was adopted, and rectilinear motion in Cartesian space was adopted. The kinematics was validated and the workspace of the robot was calculated by simulations. Finally, the robot model was established and an experiment was carried out which proved the robot run smoothly and positioned accurately. © 2012 IEEE.

关键词： Inverse kinematics

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control system for maxillofacial surgery robot: Master-slave, motion control and safety design

Control system for maxillofacial surgery robot: Master-slave...

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6th International Conference on Complex Medical Engineering, CME 2012

作者： Liu, Tian-Bo Duan, Xing-Guang Huang, Qiang Zhao, Hong-Hua Guo, Qing-Bo Intelligent Robotics Institute Key Laboratory of Biomimetic Robots and Systems Ministry of Education State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Mechatronical Engineering Beijing Institute of Technology 5 Nandajie Zhongguancun Haidian Beijing 100081 China China

ISBN: (纸本)9781467316163

As the complex anatomical structure of the maxillofacial region, operation in this area is of high hazard and difficult to implement. Thus, a multi-arm medical robot assisting maxillofacial surgery, which can improve surgical precision and reduce surgeons' strain, was proposed. Firstly, overview of the whole robot system is introduced. Then this paper focuses on the control system which mainly consists of master-slave, motion control and safety design. Finally, the prototype was established and experiments were carried out to show the robot's smooth running and accurate positioning. © 2012 IEEE.

关键词： Motion control

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A coding style-based plagiarism detection

A coding style-based plagiarism detection

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International Conference on Interactive Mobile and Computer Aided Learning (IMCL)

作者： S. Arabyarmohamady H. Moradi M. Asadpour Advanced Robotics and Intelligent Systems Laboratory & Control and Intelligent Processing Center University of Tehran

In this paper a plagiarism detection framework is proposed based on coding style. Furthermore, the typical style-based approach is improved to better detect plagiarism in programming codes. The plagiarism detection is performed in two phases: in the first phase the main features representing a coding style are extracted. In the second phase the extracted features are used in three different modules to detect the plagiarized codes and to determine the giver and takers of the codes. The extracted features for each code developer are kept in a history log, i.e. a user profile as his/her style of coding, and would be used to determine the change in coding style. The user profile allows the system to detect if a code is truly developed by the claimed developer or it is written by another person, having another style. Furthermore, the user profile allows determining the code giver and code taker when two codes are similar by comparing the codes' styles with the style of the programmers. Also if a code is copied from the internet or developed by a third party, then the style of who claims the ownership of the code is normally less proficient in coding than the third party and can be detected. The difference between the style levels is done through the style level checker module in the proposed framework. The proposed framework has been implemented and tested and the results are compared to Moss which shows comparable performance in detecting plagiarized codes.

关键词： Plagiarism Feature extraction Encoding Vectors Watermarking Internet Conferences

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Slip-based traction control system with an on-line road condition estimation for electric vehicles

Slip-based traction control system with an on-line road cond...

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IEEE Conference on control Technology and Applications (CCTA)

作者： Goran Vasiljevic Karlo Griparic Stjepan Bogdan LARICS - Laboratory for Robotics and Intelligent Control Systems University of Zagreb Zagreb Croatia

In this paper a slip-based traction control system (TCS) with an on-line road condition estimation is presented. The system is designed for a car with in-wheel electric motors, so that estimation and control are implemented independently for each wheel thus enabling the optimal friction coefficient for every wheel, even if they are on different surfaces or have different tire characteristics. A road condition is approximated using a function which is estimated in the real-time and used as the input to the TCS. The design of the presented TCS is based on the wheel slip ratio, controlled to it's optimal value by a PI controller and with the addition of a feedforward branch for the transition response speed up. The non-linear model of a small three-wheeled electric car, comprising the hardware in the loop, is used for the system testing.

关键词： Wheels Torque Roads Mathematical model Estimation Friction Equations

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Matrix model based control of flexible manufacturing systems using banker's algorithm

Matrix model based control of flexible manufacturing systems...

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IEEE Conference on control Technology and Applications (CCTA)

作者： Antonio Krnjak Tamara Petrovic Stjepan Bogdan Laboratory for Robotics and Intelligent Control Systems (LARICS) University of Zagreb Zagreb Croatia

Manufacturing systems belong to a class of discrete-event systems. Main research objectives here include development of suitable models for manufacturing systems and their analysis. Moreover, various control algorithms are being developed to maximize utilization and throughput, while trying to achieve acceptable level of time and space complexity. In general, there is always a trade off between given objectives. In this paper we propose an exact mathematical procedure to relate matrix model of manufacturing systems and control policy based on Banker's algorithm. Matrix model allows straightforward application in industrial systems as well as structural analysis. On the other side, it gives a framework for application of various versions of Banker's algorithm.

关键词： Vectors Manufacturing systems Robots Mathematical model System recovery control systems Resource management

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Potential Function Based Multi-Agent Formation control in 3D Space

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IFAC Proceedings Volumes 2012年第22期45卷 682-689页

作者： Marko Bunic Stjepan Bogdan University of Zagreb Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering LARICS–Laboratory for Robotics and Intelligent Control Systems Zagreb Croatia

This paper presents the extension of the previously proposed method for multi-agent formation control based on potential function. The method derived for 2D space is extended to 3D. It has been shown that the control algorithm keeps all the properties of the original scheme in case of multi-agent formation moving in 3D. An adaptation mechanism that assures avoidance of unwanted stable equilibria, used in 2D, is implemented in the same form for 3D formations. The obtained simulation results demonstrate stable behavior of the system for various sets of parameters - the desired 3D formation is reached in finite time and maintained during trajectory execution.

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Stochastic search strategies in 2D using agents with limited perception

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IFAC Proceedings Volumes 2012年第22期45卷 650-654页

作者： David Puljiz Maja Varga Stjepan Bogdan University of Zagreb Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering LARICS–Laboratory for Robotics and Intelligent Control Systems Zagreb Croatia Laboratory of Intelligent Systems Ecole Polytechnique Federale de Lausanne 1015 Lausanne Switzerland

Animals use stochastic search strategies to find a potential nest or to localize the food source. Animals do not rely much on the environmental cues or their sensory inputs. Since their cognitive capabilities are rather limited, search strategies are usually simplistic and stochastic. And yet such simple search strategies result in high efficiency in finding potential targets in limited time intervals. Similar problems with perception of the environment and limited computational power and sensory inputs are observed on the mobile robots used in search scenarios. In spite of their limitations, such robotic systems usually perform deterministic search strategies which heavily depend on environmental cues and sensory input. The research question we are addressing in this paper is which stochastic search strategy has the best performance in terms of area coverage and can stochastic search strategies outperform deterministic search strategies.

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Wheeled-tip object manipulation: Modeling and motion planning of throwing an object

Wheeled-tip object manipulation: Modeling and motion plannin...

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IEEE International Conference on robotics and Biomimetics

作者： S. Parastegari M. Nili Ahmadabadi E. Noohi H. Moradi Robotics and AI Laboratory Control & Intelligent Processing Center of Excellence University of Tehran Tehran Iran University of Tehran Tehran Iran

ISBN: (纸本)9781467321259

In this paper we address the task of throwing an object on a plane using a wheeled-tip robot. Wheeled-tip robots constitute of one or more artificial fingers with an active wheel at the end of each finger that acts as its fingertip. This class of robots may be used for the task of transfer-throwing objects. In this task, the robot transfers the object for a while, giving it required velocity and then throws it toward a defined goal. The use of wheeled-tip robot in a transfer-throwing task has some advantages in practice and with respect to a typical robot. The wheel at the tip of the robot finger can move independently on the object and gives it the desired velocity at the time of throwing the object. Here we present an algorithm of a planner for throwing objects on a plane using a wheeled-tip robot. We show how using the ability of moving the wheel on the object leads to capability of overcoming joint velocity limits, making this class of robots proper for doing the task.

关键词： Throwing an Object Motion- Planning Wheeled-tip Manipulator

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