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Design and Characteristic Evaluation of a Novel Clamping Mechanism for Amphibious Spherical Bionic Robots 20

Design and Characteristic Evaluation of a Novel Clamping Mec...

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20th IEEE International Conference on Mechatronics and Automation, ICMA 2023

作者： Gu, Chengchao Guo, Shuxiang Liu, Meng Yin, He Li, Ao Beijing Institute of Technology Key Laboratory of Convergence Medical Engineering System and Healthcare Technology The Ministry of Industry and Information Technology School of Life Science No.5 Zhongguancun South Street Haidian District Beijing100081 China Southern University of Science and Technology The Department of Electronic and Electrical Engineering Guangdong Shenzhen518055 China

ISBN: (纸本)9798350320831

The motion function and control of amphibious robots is a hot topic at present. The multi-function of robot is the development trend of robot. In this paper, based on the existing prototype bionic robot in the laboratory, the structure of the robot's mechanical leg is updated, and the underwater grasping function is successfully added. The new mechanical leg integrates a mechanical claw device, which makes use of the geometric characteristics of the parallelogram to shrink the mechanical claw, maximizes the use of the limited space below the robot, and greatly extends the effective length of the grasping end of the mechanical claw. At the same time, through static stress analysis and motion simulation, the designed structure was evaluated and analyzed, and the appropriate servo specifications and structure size were obtained, which verified that the current designed structure can complete the grasping task of 3kg objects. Finally, 3D printing technology was used to complete the production of the first version of the new mechanical leg, and the functional verification experiment of grasping objects of two different sizes was completed by using the steering gear control. © 2023 IEEE.

关键词： Machine design

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Study on physiological tremor recognition algorithm in the vascular interventional surgical robot 15

Study on physiological tremor recognition algorithm in the v...

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15th IEEE International Conference on Mechatronics and Automation, ICMA 2018

作者： Guo, Shuxiang Shen, Rui Xiao, Nan Bao, Xianqiang Yang, Cheng Cui, Jinxin Key Laboratory of Convergence Medical Engineering System and Healthcare Technology Ministry of Industry and Information Technology School of Life and Science Beijing Institute of Technology No. 5 Zhongguancun South Street Haidian District Beijing100081 China Faculty of Engineering Kagawa University 2217-20 Hayashi-cho Takamatsu Kagawa760-8521 Japan

ISBN: (纸本)9781538660720

With the development of surgical robotic technology, more and more requirements on safety property were raised upon the surgical robots. For master-slave control surgical robots, it's physiological hand tremor that influences the accuracy and success rate of the robot-assisted surgery. Focusing on the physiological tremor recognition and cancelling, this paper proposes a moving-window-least-square-support-vector-machine-based recognition algorithm and adaptive filter method to rectify the wrong operations caused by physiological tremor. The performance assessment was shown with the indicator of accuracy, which implies that the MWLSSVMAF reduces accuracy error of the tremor signal. The comparison between recognition results and surface electromyographic signal is conducted for assessing the classification accuracy rate. Also, some experiments on correction effects are carried out. The results indicate that the method proposed by our research possesses better classifying accuracy rate of 83% and that the secure property requests of vascular interventional surgical robot have been improved obviously. © 2018 IEEE.

关键词： Adaptive filters

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Characteristic evaluation of the mobile acoustic communication for spherical underwater robots (SUR III) 15

Characteristic evaluation of the mobile acoustic communicati...

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15th IEEE International Conference on Mechatronics and Automation, ICMA 2018

作者： Gu, Shuoxin Guo, Shuxiang Zheng, Liang Graduate School of Engineering Kagawa University Takamatsu Kagawa761-0396 Japan Department of Intelligent Mechanical Systems Engineering Kagawa University Takamatsu Kagawa761-0396 Japan Key Laboratory of Convergence Medical Engineering and System and Healthcare Technology Ministry of Industry Information Technology School of Life Science Beijing Institute of Technology Haidian District Beijing100081 China

ISBN: (纸本)9781538660720

The wireless communication as a key technology for the underwater robot will implement the underwater observing, cooperation or collaboration. This paper focuses on the Underwater Acoustic Communication (UWAC) for the third-generation spherical underwater robot (SUR III) which has the advantages like good flexibility, convenience and wide spread. An UWAC system is established for the SUR III. Considering that UWAC needs to overcome the multi-path effects, time-varying effects, narrow available bandwidth and doppler effects, a Micron data modem is chosen as the communication module. This modem uses the CHIRP signal which can change the frequency with time to achieve the acoustic communication. The hardware of the UWAC system is established by using the eZdsp board. This system as a subsystem serves the overall control of the SUR III. With the relative movement of the underwater robot in actual work in mind, the mobile acoustic communication is proposed. The influence of the Doppler shift and propagation loss underwater for the SUR III are analyzed. The experiments for the mobile modem underwater and multi-path effect are carried out to verify its communication performance. And there is no Bit Error Rate (BER) in a specific range. © 2018 IEEE.

关键词： Underwater acoustic communication

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A Preliminary Study of Vibration Feedback for Robot-assisted Endovascular Surgery 20

A Preliminary Study of Vibration Feedback for Robot-assisted...

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20th IEEE International Conference on Mechatronics and Automation, ICMA 2023

作者： Li, Xinming Guo, Shuxiang Graduate School of Engineering Kagawa University Hayashi-cho Takamatsu761-0396 Japan Southern University of Science and Technology The Department of Electronic and Electrical Engineering Guangdong Shenzhen518055 China School of Life Science Beijing Institute of Technology Key Laboratory of Convergence Medical Engineering System and Healthcare Technology The Ministry of Industry and Information Technology Haidian District Beijing100081 China

ISBN: (纸本)9798350320831

The study of haptic perception is significant and general for robot-assisted endovascular surgery. During actual surgical procedure, feedback information has advantages in monitoring the insertion process, providing direct instruction for surgeons, and improving operation safety. In this work, a new implementation of haptic perception named vibration feedback is concepted and proposed based on micro vibration motor. Related working principles and kinetic analysis of vibration feedback are descripted based on three kinds of vibration patterns. Two kinds of experiments are conducted to determine suitable parameters of duty cycle for vibration feedback and test the using performance in human model. Experimental results indicate that the proposed vibration feedback is feasible and helpful to offer a haptic perception. Moreover, benefiting from the micro size of vibration motor, this study also has potential value for some research fields like small wearable device, micro haptic feedback, multi-level feedback perception for robotic systems. © 2023 IEEE.

关键词： Vibration analysis

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Premilitary Performance Evaluation of Model-mediated Telerehabilitation system with Task Stiffness Estimation 20

Premilitary Performance Evaluation of Model-mediated Telereh...

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20th IEEE International Conference on Mechatronics and Automation, ICMA 2023

作者： Yang, Ziyi Guo, Shuxiang Kagawa University Graduate School of Engineering Hayashi-cho Takamatsu761-0396 Japan Southern University of Science and Technology The Department of Electronic and Electrical Engineering Guangdong Shenzhen518055 China Beijing Institute of Technology Key Laboratory of Convergence Medical Engineering System and Healthcare Technology The Ministry of Industry and Information Technology School of Life Science Haidian District Beijing100081 China

ISBN: (纸本)9798350320831

For the telerehabilitation robotic system, the stable and transparent remote therapist-patient interaction under the internet communication latency remains an open challenge. In this paper, we proposed a model-mediated telerehabilitation system to avoid the delayed force feedback on the therapist side. Moreover, a variable stiffness robot is employed in the proposed telerehabilitation system to improve the patient-robot interaction on the slave side. On the slave side, a performance-based variable stiffness interactive assistance control law was utilized and the task stiffness estimation method is designed for master-side interaction model updating. On the master side, the master subsystem was implemented by a haptic device with visual and force feedback. The overall telerehabilitation was realized by the TCP/IP internet communication method. From the premilitary experimental results, the therapist subject could conduct the therapy with the aid of visual and force feedback, and the patient subject could complete the training task with their active efforts. © 2023 IEEE.

关键词： Stiffness

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Characteristic evaluation of the shell outlet mechanism for a magnetic-actuated screw jet microrobot in pipe 15

Characteristic evaluation of the shell outlet mechanism for ...

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15th IEEE International Conference on Mechatronics and Automation, ICMA 2018

作者： Wang, Zixu Guo, Shuxiang Wei, Wei Graduate School of Engineering Kagawa University Takamatsu Kagawa761-0396 Japan Key Laboratory of Convergence Medical Engineering System and Healthcare Technology Ministry of Industry and Information Technology School of Life Science and Technology Beijing Institute of Technology Haidian District Beijing100081 China Department of Intelligent Mechanical Systems Engineering Kagawa University Takamatsu Kagawa761-0396 Japan

ISBN: (纸本)9781538660720

This paper carried out series of simulations and experiments for the characteristic evaluation of a Magnetic Actuated Screw Jet Microrobot (SJM), we can get the conclusion and contribution of the best characteristic of shell outlet by this paper, and make a great progress of microrobot design by analyzing the results. The first part in this paper is some information about background and related research of the capsule microrobots, there are some problems or disadvantages of proposed microrobots also the design concept of our research will be put forward, as for the second section, it is introducing the structure design of SJM, we will show the details and give the research purpose of this paper. Then we will introduce the 3-axis Helmholtz coils, it is the power module in this research, the driving principle and propulsive force theory are also been shown in this section. Finally, the last part is about simulation setup and experiment of outlet size, combining the simulation results and experimental results, we will discuss the optimal choice of the design by the simulation in an ideal environment and the comparison of experimental results. © 2018 IEEE.

关键词： Screws

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Rotary encoder-based position transmission and feedback of a novel robotic catheter system for endovascular catheterization

Rotary encoder-based position transmission and feedback of a...

引用

2018 IEEE International Conference on Information and Automation, ICIA 2018

作者： Zhang, Linshuai Guo, Shuxiang Yu, Huadong Song, Yu Song, Dapeng Faculty of Engineering Kagawa University Takamatsu Japan Key Laboratory of Convergence Medical Engineering System and Healthcare Technology Ministry of Industry and Information Technology School of Life Science Beijing Institute of Technology Beijing100081 China Department of Intelligent Mechanical Systems Engineering Kagawa University Takamatsu Kagawa761-0396 Japan School of Mechatronical Engineering Changchun University of Science and Technology Changchun Jilin China

ISBN: (纸本)9781538680698

Robotic catheter systems can obviously reduce the radiation exposure to the surgeon and lessen the fatigue caused by standing for a long time in protective clothing. However, few designs have taken the ergonomic design and convenience of operation into consideration. This paper presents a robotic catheter system based on the pinion and rack mechanism with two rotary encoders. The two rotary encoders are used to transmit and feedback the motion information in the axial and radial directions, respectively. A valuable contribution is that surgeons can operate the master manipulator like operating a catheter in traditional surgery. This can make the operator have a telepresence, thus reducing the physical stress during catheter intervention. Performance evaluation of quantifying accuracy was assessed by bilateral control experiments in axial and radial motion. The results show the system has the ability to sense motion to within 1 mm and 2° in the axial and radial directions, respectively. Therefore, the presented robotic catheter system provides important insights into the development of safe and high-precision robotic catheter systems incorporating ergonomic and convenience design for endovascular catheterization. © 2018 IEEE.

关键词： Feedback

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Research on Target Encirclement Strategy of Amphibious Spherical Robots in 3D Underwater Environments 20

Research on Target Encirclement Strategy of Amphibious Spher...

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20th IEEE International Conference on Mechatronics and Automation, ICMA 2023

作者： Yang, Dan Shi, Liwei Guo, Shuxiang Feng, Shilong Beijing Institute of Technology School of Medical Technology Beijing100081 China Beijing Institute of Technology School of Life Science Beijing100081 China Key Laboratory of Convergence Medical Engineering System and Healthcare Technology Beijing Institute of Technology Ministry of Industry and Information Technology Beijing100081 China Southern University of Science and Technology The Department of Electronic and Electrical Engineering Guangdong Shenzhen518055 China

ISBN: (纸本)9798350320831

The cooperative trapping of multiple amphibious robots in a 3D underwater environment is a comprehensive research topic that mainly includes the generation of dynamic alliances for trapping and path planning. To address this problem, this paper first proposes a 'trap point occupancy strategy' to realize the generation of dynamic alliances among multiple robots during the trapping process. Secondly, based on this, an improved gray wolf algorithm is proposed in this paper to implement robot target guidance and adaptive obstacle avoidance functions, used for the path planning of the robot's arrival at the trapping point during the trapping process, thus completing the entire trapping task. Then, this paper conducts simulation experiments in a 3D underwater environment with static obstacles, and the results confirm that the proposed cooperative trapping algorithm has high efficiency and robustness. Finally, the innovations and all the work in the article are summarized, and prospects are put forward. © 2023 IEEE.

关键词： Motion planning

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YOLOv7-Based Land and Underwater Target Detection and Recognition 20

YOLOv7-Based Land and Underwater Target Detection and Recogn...

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20th IEEE International Conference on Mechatronics and Automation, ICMA 2023

作者： Li, Jieren Shi, Liwei Guo, Shuxiang Beijing Institute of Technology School of Medical Technology Beijing100081 China Beijing Institute of Technology School of Life Science Beijing100081 China Ministry of Industry and Information Technology Key Laboratory of Convergence Medical Engineering System and Healthcare Technology Beijing Institute of Technology Beijing100081 China Southern University of Science and Technology The Department of Electronic and Electrical Engineering Guangdong Shenzhen518055 China

ISBN: (纸本)9798350320831

There is a growing demand for marine resource development. Bionic amphibious robots can replace humans to conduct land and underwater exploration, which has important research significance. Deep learning has developed rapidly in recent years, and many kinds of target detection algorithms have emerged. We select one two-stage target detection algorithm Faster R-CNN, three single-stage target detection algorithms SSD, Centernet, and YOLOv7. We use each of these four algorithms to train the VOC2007 dataset in a deep learning environment. After the training is completed, these four models are evaluated and predicted separately. We find an algorithm that is most suitable for the amphibious robot applicationYOLOv7. Finally, we use the YOLOv7 model to detect the underwater dataset, and the results prove that the model is promising for detecting small underwater targets. © 2023 IEEE.

关键词： Deep learning

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Fatigue Analysis of Leg Structure of a Natatores-Like Amphibious Robot 20

Fatigue Analysis of Leg Structure of a Natatores-Like Amphib...

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20th IEEE International Conference on Mechatronics and Automation, ICMA 2023

作者： Niu, Yan Shi, Liwei Guo, Shuxiang Beijing Institute of Technology School of Medical Technology Beijing100081 China Beijing Institute of Technology School of Life Science Beijing100081 China Key Laboratory of Convergence Medical Engineering System and Healthcare Technology Beijing Institute of Technology Ministry of Industry and Information Technology Beijing100081 China Southern University of Science and Technology The Department of Electronic and Electrical Engineering Guangdong Shenzhen518055 China

ISBN: (纸本)9798350320831

With the increasing demand for ocean exploration and development, the research about the amphibious robot is of great significance. In this paper, a natatores-like amphibious robot was designed by using the driving method of paddling by webbed foot. This mode has the advantages of high propulsion efficiency, good mobility and good stability. Due to the characteristics of this propulsion mode, the leg structure of the robot is often applied with periodic loads. And therefore it is necessary to verify the mechanical performance of the leg structure. The elastoplastic finite element model of the leg structure of the robot was modelled, and the fatigue analysis of the model under the walking gait were carried out. The results showed that the fatigue failure of the thigh and the shank would not occur within the design life, which met the design requirements. The analysis results can provide reference for the material selection and structural optimization design of leg in the subsequent work. © 2023 IEEE.

关键词： Robots

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