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2024 International Conference on Next Generation Electronics and Photonics, INGEP 2024

作者： Li, Aomen Hou, Cheng Sun, Yuyang Ji, Tianci Liu, Huicong Li, Dongsheng School of Mechanical and Electrical Engineering Jiangsu Provincial Key Laboratory of Advanced Robotics Robotics and Microsystems Center Soochow University Suzhou215123 China

This study presents a highly sensitive 3D force sensor based on a piezoresistive cantilever with stress concentration. The sensor achieves precise 3D force detection by integrating a polydimethylsiloxane (PDMS) cap with pyramid microstructures and silicon chip containing four piezoresistive cantilevers with a micro-hole at their root. Finite element simulation validates the superior performance of the micro-hole in enhancing the sensitivity of the force sensor. Compared to a traditional sensor based on a piezoresistive cantilever, the microhole design increases strain in the piezoresistive region of the cantilever by 2 times and the stress by 2.72 times. The proposed sensor exhibits promising potential for applications in various fields, including medical devices, robotics, industrial automation, and others. © Published under licence by IOP Publishing Ltd.

关键词： Nanocantilevers

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Research on Fast Shaft Hole Assembly Technology Based on 2D Point Cloud Matching Shape Recognition Method by Industrial Robot 2

Research on Fast Shaft Hole Assembly Technology Based on 2D ...

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2nd International Symposium on Control Engineering and robotics, ISCER 2023

作者： Wu, Xian Lu, Lei Yang, Chengyun Li, Wenjie Wang, Yinan Zhao, Haoran Zhang, Lei Soochow University Jiangsu Provincial Key Laboratory of Advanced Robotics Collaborative Innovation Center of Suzhou Nano Science and Technology Suzhou China

ISBN: (纸本)9798350336405

Precise and rapid shaft hole assembly is important for improving equipment performance and assembly efficiency. As the variety of parts and shapes, the accuracy and efficiency of manual assembly are limited. In this paper, a shaft hole assembly method by using image recognition algorithm and robot is proposed. In the image recognition process, a shape recognition method based on 2D point cloud matching is presented, and combined with robot to realize grasping and assembly movement. In order to improve the recognition accuracy and reduce the real-time computational complexity, the method with binarization, Gauss filtering and shape recognition are provided to process the image obtained from camera. The experiment results show that the proposed image recognition could effectively identify part shape and complete the assembly process accurately, i.e., the method could effectively improve the efficiency and accuracy of shaft hole assembly. © 2023 IEEE.

关键词： Image recognition

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Improved time-optimal B-spline feedrate scheduling for NURBS tool paths in CNC machining

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Advances in Manufacturing 2023年第1期11卷 111-129页

作者： Yang Li Fu-Sheng Liang Lei Lu Cheng Fan School of Mechanic Engineering Northeast Electric Power UniversityJilin132012JilinPeople’s Republic of China Jiangsu Provincial Key Laboratory of Advanced Robotics and Collaborative Innovation Center of Suzhou Nano Science and Technology College of Mechanical and Electrical EngineeringSoochow UniversitySuzhou215021JiangsuPeople’s Republic of China

Feedrate scheduling in computer numerical control(CNC)machining is of great importance to fully develop the capabilities of machine tools while maintaining the motion stability of each *** and time-optimal feedrate scheduling plays a critical role in improving the machining efficiency and precision of complex surfaces considering the irregular curvature characteristics of tool paths and the limited drive capacities of machine *** study develops a general feedrate scheduling method for non-uniform rational B-splines(NURBS)tool paths in CNC machining aiming at minimizing the total machining time without sacrificing the smoothness of feed *** feedrate profile is represented by a B-spline curve to flexibly adapt to the frequent acceleration and deceleration requirements of machining along complex tool *** time-optimal B-spline feedrate is produced by continuously increasing the control points sequentially from zero positions in the bidirectional scanning and sampling *** required number of knots for the time-optimal B-spline feedrate can be determined using a progressive knot insertion *** improve the computational efficiency,the B-spline feedrate profile is divided into a series of independent segments and the computation in each segment can be performed *** proposed feedrate scheduling method is capable of dealing with not only the geometry constraints but also high-order drive constraints for any complex tool path with little computational *** and machining experiments are conducted to verify the effectiveness and superiorities of the proposed method.

关键词： B-spline feedrate Non-uniform rational B-splines(NURBS)tool path Knot insertion Bidirectional scanning Computer numerical control(CNC)machining

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A piezoresistive-based 3-axial MEMS tactile sensor and integrated surgical forceps for gastrointestinal endoscopic minimally invasive surgery

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microsystems & Nanoengineering 2024年第5期10卷 71-83页

作者： Cheng Hou Huxin Gao Xiaoxiao Yang Guangming Xue Xiuli Zuo Yanqing Li Dongsheng Li Bo Lu Hongliang Ren Huicong Liu Lining Sun School of Mechanical and Electrical Engineering Jiangsu Provincial Key Laboratory of Advanced RoboticsSoochow UniversitySuzhouChina Faculty of Mechanical and Electrical Engineering Kunming University of Science and TechnologyJingming South RoadKunmingChina Yunnan Key Laboratory of Intelligent Control and Application KunmingChina Department of Electronic Engineering The Chinese University of Hong Kong(CUHK)Hong KongChina. Department of Gastroenterology Qilu HospitalShandong UniversityJinanShandongChina

In robotic-assisted surgery(RAS),traditional surgical instruments without sensing capability cannot perceive accurate operational forces during the task,and such drawbacks can be largely intensified when sophisticated tasks involving flexible and slender arms with small end-effectors,such as in gastrointestinal endoscopic surgery(GES).In this study,we propose a microelectromechanical system(MEMS)piezoresistive 3-axial tactile sensor for GES forceps,which can intuitively provide surgeons with online force feedback during robotic *** MEMS fabrication process facilitates sensor chips with miniaturized *** fully encapsulated tactile sensors can be effortlessly integrated into miniature GES forceps,which feature a slender diameter of just 3.5 mm and undergo meticulous calibration procedures via the least squares *** experiments,the sensor's ability to accurately measure directional forces up to 1.2 N in the Z axis was validated,demonstrating an average relative error of only 1.18%compared with the full-scale *** results indicate that this tactile sensor can provide effective 3-axial force sensing during surgical operations,such as grasping and pulling,and in ex vivo testing with a porcine *** compact size,high precision,and integrability of the sensor establish solid foundations for clinical application in the operating theater.

关键词： axial surgery intensified

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Super-resolution imaging of low-contrast periodic nanoparticle arrays by microsphere-assisted microscopy

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Chinese Physics B 2021年第4期30卷 193-197页

作者： Qin-Fang Shi Song-Lin Yang Yu-Rong Cao Xiao-Qing Wang Tao Chen Yong-Hong Ye Department of Physics Nanjing Normal UniversityNanjing 210023China Advanced Photonics Center Southeast UniversityNanjing 210096China Jiangsu Provincial Key Laboratory of Advanced Robotics Soochow UniversitySuzhou 215123China

We use the label-free microsphere-assisted microscopy to image low-contrast hexagonally close-packed polystyrene nanoparticle arrays with diameters of 300 and 250 *** a nanoparticle array is directly placed on a glass slide,it cannot be *** a 30-nm-thick Ag film is deposited on the surface of a nanoparticle array,the nanoparticle array with nanoparticle diameters of 300 and 250 nm can be *** addition,the Talbot effect of the 300-nm-diameter nanoparticle array is also *** a nanoparticle sample is assembled on a glass slide deposited with a 30-nm-thick Ag film,an array of 300-nm-diameter nanoparticles can be *** propose that in microsphere-assisted microscopy imaging,the resolution can be improved by the excitation of surface plasmon polaritons(SPPs) on the sample surface or at the sample/substrate interface,and a higher near-field intensity due to the excited SPPs would benefit the resolution *** study of label-free super-resolution imaging of low-contrast objects will promote the applications of microsphere-assisted microscopy in life sciences.

关键词： super-resolution microsphere optical microscopy surface plasmon polariton

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Research of Binocular Visual Inertial Algorithm Based on Point and Line Features 8

Research of Binocular Visual Inertial Algorithm Based on Poi...

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2022 8th International Symposium on Sensors, Mechatronics and Automation System, ISSMAS 2022

作者： Zhou, Yipeng Li, Maohai Shao, Guowei College of Mechanical and Electrical Engineering Soochow University Jiangsu Suzhou215131 China Key Laboratory of Jiangsu Robotics and Microsystems Research Center Jiangsu Suzhou215131 China

To solve the problem of poor performance of the binocular visual inertial odometer VINS-Fusion in scenes with low texture and large luminosity changes, a binocular visual inertial odometer PLVINS-Fusion is designed that integrates line feature measurement information, which use line features to easy to extract in low-texture scenes, and have the advantage of more robust tracking performance in scenes with large luminosity changes. Point and line features are extracted in the front-end visual extraction at the same time, and line feature residuals are added to the back-end nonlinear optimization, construct a bag-of-words model combining point and line features in the loop detection module. On this basis, a real-time photometric calibration algorithm is adopted to jointly optimize the exposure time, the camera response function and the vignetting factor, and the stability of KLT optical flow tracking is improved by correcting the image brightness. Experiments on benchmark dataset show that the optimized algorithm has higher robustness and effectively improves the positioning accuracy, and meets the real-time performance requirement. © Published under licence by IOP Publishing Ltd.

关键词： Luminance

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Wearable multichannel pulse condition monitoring system based on flexible pressure sensor arrays

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microsystems & Nanoengineering 2022年第1期8卷 249-258页

作者： Jie Wang Yirun Zhu Zhiyong Wu Yunlin Zhang Jian Lin Tao Chen Huicong Liu Fengxia Wang Lining Sun Jiangsu Provincial Key Laboratory of Advanced Robotics School of Mechanical and Electric EngineeringSoochow UniversitySuzhou 215123China Micro Nano System Research Center Key Laboratory of Advanced Transducers and Intelligent Control System of Ministry of Education and Shanxi Province&College of Information EngineeringTaiyuan University of TechnologyTaiyuan 030024China Suzhou Institute of Nano-tech and Nanobionics Chinese Academy of SciencesSuzhou 215123China

Pulse diagnosis is an irreplaceable part of traditional Chinese medical ***,application of the traditional pulse monitoring method was restricted in the modernization of Chinese medical science since it was difficult to capture real signals and integrate obscure feelings with a modern data ***,a novel multichannel pulse monitoring platform based on traditional Chinese medical science pulse theory and wearable electronics was *** pulse sensing platform simultaneously detected pulse conditions at three pulse positions(Chi,Cun,and Guan).These signals were fitted to smooth surfaces to enable 3-dimensional pulse mapping,which vividly revealed the shape of the pulse length and width and compensated for the shortcomings of traditional single-point pulse ***,the pulse sensing system could measure the pulse signals from different individuals with different conditions and distinguish the differences in pulse *** addition,this system could provide full information on the temporal and spatial dimensions of a person’s pulse waveform,which is similar to the true feelings of doctors’*** innovative,cost-effective,easily designed pulse monitoring platform based on flexible pressure sensor arrays may provide novel applications in modernization of Chinese medical science or intelligent health care.

关键词： multichannel system replace

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High Performance Soft Electrochemical Actuators Based on Hierarchical Conductive Polymer Ionogels

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Journal of Bionic Engineering 2023年第6期20卷 2755-2763页

作者： Hongwei Hu Shengtao Zhang Yan Li Xinghao Hu Lin Xu Aixin Feng Guanggui Cheng Jianning Ding Zhejiang Provincial Key Laboratory of Laser Processing Robotics College of Mechanical and Electrical EngineeringWenzhou UniversityWenzhou325035China Institute of Intelligent Flexible Mechatronics Jiangsu UniversityZhenjiang212013China School of Mechanical Engineering Jiangsu University of Science and TechnologyZhenjiang212100China School of Mechanical Engineering Yangzhou UniversityYangzhou225127China Jiangsu Collaborative Innovation Center of Photovoltaic Science and Engineering Changzhou UniversityChangzhou213164China Ruian Graduate School of Wenzhou University Ruian325207ZhejiangChina

Electrochemical actuators based on conductive polymers are emerging as a strong competitive in the field of soft actuators because of their intrinsically conformable/elastic nature,low cost,low operating voltage and air-working *** development has shown that adding electroactive materials,such as CNT and graphene,can improve their actuation *** the complex material systems used,their output strains(one of the key factors)are generally lower than 1%,which limited further applications of them in multiple ***,we report soft electrochemical actuators based on conductive polymer ionogels by embedding polyaniline particles between the PEDOT:PSS *** show that such a hierarchical structure not only leads to a high conductivity(1250 S/cm)but also improved electrochemical *** a low operating voltage of 1 V,the maximum strain of these soft actuators reaches an exceptional value of 1.5%,with a high blocking force of 1.3 *** these high-performance electrochemical actuators,we demonstrate soft grippers for manipulating object and a bionic flower stimulated by an electrical *** work sets an important step towards enabling the enhanced performance of electrochemical actuators based on conductive polymers with designed microstructures.

关键词： Conductive polymer Soft actuator Polyaniline PEDOT:PSS Bioinspired actuator

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Research on Fast Shaft Hole Assembly Technology Based on 2D Point Cloud Matching Shape Recognition Method by Industrial Robot

Research on Fast Shaft Hole Assembly Technology Based on 2D ...

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Control Engineering and robotics (ISCER), International Symposium on

作者： Xian Wu Lei Lu Chengyun Yang Wenjie Li Yinan Wang Haoran Zhao Lei Zhang Jiangsu Provincial Key Laboratory of Advanced Robotics&Collaborative Innovation Center of Suzhou Nano Science and Technology Soochow University Suzhou China

关键词：

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Safety Protection Method of Rehabilitation Robot Based on fNIRS and RGB-D Information Fusion

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Journal of Shanghai Jiaotong university(Science) 2022年第1期27卷 45-54页

作者： LI Dong FAN Yulin LU Na CHEN Guodong WANG Zheng CHI Wenzheng School of Mechanical and Electrical Engineering/Jiangsu Provincial Key Laboratory of Advanced Robotics/Collaborative Innovation Center of Suzhou Nano Science and Technology Soochow UniversitySuzhou 215123JiangsuChina Department of Gerontology Shanghai Jiao Tong University Affiliated Sixth People’s HospitalShanghai 200233China Department of Instrument Science and Engineering Shanghai Jiao Tong UniversityShanghai 200240China

In order to improve the safety protection performance of the rehabilitation robot,an active safety protection method is proposed in the rehabilitation *** oxyhemoglobin concentration information and RGB-D information are combined in this method,which aims to realize the comprehensive monitoring of the invasion target,the patient’s brain function movement state,and the joint angle in the rehabilitation *** main focus is to study the fusion method of the oxyhemoglobin concentration information and RGB-D information in the rehabilitation *** analysis of brain functional connectivity coefficient was used to distinguish the basic motion *** human skeleton recognition algorithm was used to realize the angle monitoring of the upper limb joint combined with the depth *** with speed and separation monitoring,the protection method of multi-information fusion is safer and more comprehensive for stroke *** building the active safety protection platform of the upper limb rehabilitation robot,the performance of the system in different safety states is tested,and the safety protection performance of the method in the upper limb rehabilitation scene is verified.

关键词： upper limb rehabilitation robot safety protection functional near-infrared spectroscopy(fNIRS) multi-information fusion

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