检索结果-内蒙古大学图书馆

IEEE International Conference on Mechatronics and Automation

作者： Long Yao Shuxiang Guo The Key Laboratory of Convergence Biomedical Engineering System and Healthcare Technology The Ministry of Industry and Information Technology Beijing Institute of Technology Beijing China The Department of Electronic and Electrical Engineering Southern University of Science and Technology Shenzhen Guangdong China

Wireless endoscopic robots, which are often used in gastrointestinal diseases, are difficult to integrate multiple functions simultaneously due to their limited size. Based on the functional modular working concept of capsule robots previously proposed. The drive module supports and navigates the functional modules for specific diagnosis or treatment, and the two can form new structures through docking mechanisms. The drive module developed so far has a simple structure and can realize basic transportation work, but the motion state is only a single axial rotation. In this study, we will introduce a magnetic drive module of a gastrointestinal capsule robot with forward translation movement ability, which can ensure horizontal forward movement under the condition of maintaining stability at one end, and the rotation surface of the external control magnetic field is replaced from a plane perpendicular to the direction of motion to a plane parallel to it, which is conducive to the utilization of the rotation degrees of freedom of the vertical plane by the functional module that matches it. Experiments show that the drive module can advance stably within the error range.

关键词：

来源：评论

学校读者我要写书评

暂无评论

The Performance Evaluation of Static Obstacle Recognition by Underwater Pressure Characteristics for Underwater Spherical Robot

The Performance Evaluation of Static Obstacle Recognition by...

引用

IEEE International Conference on Mechatronics and Automation

作者： Ao Li Shuxiang Guo The Key Laboratory of Convergence Biomedical Engineering System and Healthcare Technology The Ministry of Industry and Information Technology Beijing Institute of Technology Beijing China The Department of Electronic and Electrical Engineering Southern University of Science and Technology Shenzhen Guangdong China

Underwater spherical robots are flexible and often perform tasks in narrow, dark and complex environments. The artificial lateral line system inspired by the lateral line system of fish can recognize obstacles. However, currently, the recognition of obstacles under the artificial lateral line system is mainly based on the vibration characteristics of obstacles. Based on the blank recognition of static obstacles, this paper analyzes the feasibility of recognition static obstacles. A polynomial regression model is proposed to detect static obstacles (walls) by moving robots. Finally, the effectiveness of obstacle recognition is verified by experiment and simulation.

关键词：

来源：评论

学校读者我要写书评

暂无评论

A Novel Steerable Catheter for Vascular Interventional Surgery

A Novel Steerable Catheter for Vascular Interventional Surge...

引用

IEEE International Conference on Mechatronics and Automation

作者： Yonggan Yan Shuxiang Guo Chuqiao Lyu Duohao Zhao Zhijun Lin Key Laboratory of Convergence Biomedical Engineering System and Healthcare Technology The Ministry of Industry and Information Technology Beijing Institute of Technology Beijing China The Department of Electronic and Electrical Engineering Southern University of Science and Technology Shenzhen Guangdong China

To improve the operation success rate, the steerable catheter is theoretically significant and practically valuable to design. However, it is still difficult for most existing catheters to realize this function. In this paper, to steer the catheter head, a novel spring-based tendon-drive structure was proposed with a diameter of 1.5mm. To obtain precise tip poses, based on the local force analysis, it is demonstrated that the contact force at each point between the tendon and spring is equal. And under the premise of frictionless, the curvature at each point of the tendon is equal, which is only related to the tension of the tendon. Then the proposed structure is simplified to a cantilever beam only subjected to bending moment. And the deformation of the catheter tip with the control parameters is expressed. Finally, the experimental setup is established and the experimental results showed that the proposed spring-based tendon-driven catheter deflected in a circular. And the results justified the feasibility of the cantilever beam assumption and the correctness of the deformation formulas. The proposed tendon-driven catheter has the potential in improving the success rate of the vascular approach and operation safety.

关键词：

来源：评论

学校读者我要写书评

暂无评论

An Optical Tracking system with Defaced Marker Detection 4

An Optical Tracking System with Defaced Marker Detection

引用

4th International Conference on Sensors, Signal and Image Processing, SSIP 2021

作者： Qiu, Yu Zheng, Zhao Ou, Ruidi Hu, Xiaoming Fan, Jingfan Yang, Jian Beijing Engineering Research Center Of Mixed Reality And Advanced Display School Of Optics And Photonics Beijing Institute of Technology China Key Laboratory Of Convergence Medical Engineering System And Healthcare Technology School Of Life Science Beijing Institute of Technology China

ISBN: (纸本)9781450385725

Optical tracking systems (OTSs) have been widely used in clinical practice to fulfill the high precision needs of contemporary surgery. The markers that are defaced in the production or surgery reduce the accuracy and tracking range of OTS. This effect was not considered in current products from either industry or academia. In this paper, we propose an OTS which can detect the defaced markers automatically. A stereo camera module is set to track surgical instruments by locating the markers affixed to them. An adaptive threshold approach is suggested to locate the markers. The typical fiducial localization error of our OTS reaches 0.28 mm, which is totally comparable to commercial devices. A defaced marker detection method based on the luminous energy model of OTS is proposed and can be used to recognize the defaced markers regardless of their relative positions to the OTS. © 2021 ACM.

关键词： Stereo image processing

来源：评论

学校读者我要写书评

暂无评论

A portable illumination device for photodynamic therapy of the oral cavity

引用

Journal of Innovative Optical Health Sciences 2022年第6期15卷 78-86页

作者： Jiyuan Xiong Xu Wang Xiaoming Hu Ying Han Qin Li Key Laboratory of Convergence Medical Engineering System and Healthcare Technology Ministry of Industry and Information Technology School of Life ScienceBeijing Institute of TechnologyBeijing 100081P.R.China Department of Oral Medicine Peking University School of Stomatology Beijing 100081 P.R.China

Photodynamic therapy(PDT)is a minimally invasive method for treating oral leukoplakia In this paper,we propose a portable PDT device consisting of a flexible circuit board with a liquid flow cooling module on the *** light source size was 17 mm×11 mm×4 mm,and the iradiation area of the light source was up to 100mm'.The iradiance range of this device was from 10mW/cm^(2)to 100mW/cm^(2).Simulation and experimental results showed that the irradiance cofficient variation for a treatment area of 81 mm was less than 7%.At an irradiance of 100 mW/cm a device surface temperature of lower than 42℃ can be achieved to satisfy the safety requirements under the con-ditions that the temperature of cooling liquid is 10℃ and the liquid flow speed is above 12 mL/min.

关键词： Photodynamic therapy oral leukoplakia ilumination device iradiance uniformity

来源：评论

学校读者我要写书评

暂无评论

A Fuzzy PID Algorithm for a Novel Miniature Spherical Robots with Three-dimensional Underwater Motion Control

引用

Journal of Bionic engineering 2020年第5期17卷 959-969页

作者： Liwei Shi Yao Hu Shuxiang Su Shuxiang Guo Huiming Xing Xihuan Hou Yu Liu Zhan Chen Zan Li Debin Xia Key Laboratory of Convergence Medical Engineering System and Healthcare Technology the Ministry of Industry and Information TechnologySchool of Life ScienceBeijing Institute of TechnologyBeijing 100081China Faculty of Engineering Kagawa University2217-20 HayashichoTakamatsuKagawa 761-0396Japan

We proposed and developed a small bionic amphibious spherical robot system for tasks such as coastal environment monitoring and offshore autonomous search and *** third-generation bionic small amphibious spherical robots have many disadvantages,such as the lack of maneuverability and a small operating *** is difficult to accomplish underwater autonomous motion control with these ***,we proposed a fourth-generation amphibious spherical ***,the amphibious spherical robot developed in this project has a small and compact design,with limited sensors and external sensing *** means that the robot has weak external information collection *** need to make the real time operation of the robot's underwater motion control system more *** this paper,we mainly used a fuzzy Proportional-Integral-Derivative(PID)control algorithm to design an underwater motion control system for a novel ***,we compared PID with fuzzy PID control methods by carrying out experiments on heading and turning bow motions to verify that the fuzzy PID is more robust and exhibits good dynamic *** also carried out experiments on the three-dimensional(3D)motion control to validate the design of the underwater motion control system.

关键词： bionic amphibious spherical robot fuzzy PID control underwater motion control system underwater three-dimensional motion water-jet thruster

来源：评论

学校读者我要写书评

暂无评论

Study on a Two-layer Path Planning Method of Spherical Multi-robot 20

Study on a Two-layer Path Planning Method of Spherical Multi...

引用

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

作者： Li, Chenqi Guo, Jian Guo, Shuxiang Fu, Qiang Tianjin University of Technology Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems Intelligent Robot Laboratory BinshuiXidao Extension 391 Tianjin300384 China Shenzhen Institute of Advanced Biomedical Robot Co. Ltd. No.12 Ganli Sixth Road Jihua Street Longgang District Shenzhen518100 China Key Laboratory of Convergence Medical Engineering Systems and Healthcare Technology The Ministry of Industry and Information Technology School of Life Science Beijing Institute of Technology No.5 Zhongguancun South Street Beijing100081 China

ISBN: (纸本)9798350320831

A path planning method based on a two-layer coordination system is proposed for the compatibility requirement of path planning global optimum and local coordination in a spherical multi-robot system. In the first layer of the algorithm, the global path quality is improved by proposing a nonlinear sine factor and a sparrow search algorithm with improved levy flight strategy to plan the global collision-free optimal path for each robot. In the second layer, a rolling window method is used to determine the possible collision positions of each robot in the system, and a priority-based conflict resolution strategy is proposed to complete the local coordination of the path near the corresponding position. The experimental results show that the path planning method enables the robots to drive along the global optimal path, but still can carry out flexible and orderly local path coordination, which effectively improves the path planning performance of the system. © 2023 IEEE.

关键词： Multipurpose robots

来源：评论

学校读者我要写书评

暂无评论

Design and Static Analysis of Feet-legs Device of a Natatores-like Amphibious Robot

Design and Static Analysis of Feet-legs Device of a Natatore...

引用

IEEE International Conference on Mechatronics and Automation

作者： Xinru Lin Liwei Shi Shuxiang Guo School of Medical Technology Beijing Institute of Technology Beijing China Key Laboratory of Convergence Medical Engineering System and Healthcare Technology (Beijing Institute of Technology) Ministry of Industry and Information Technology Beijing China School of Life Science Beijing Institute of Technology Beijing China The Department of Electronic and Electrical Engineering Southern University of Science and Technology Shenzhen Guangdong China

With the increased demand for the exploration of the ocean, the focus of research in the field of robotics has changed. Amphibious robots show broad application prospects. In order to design an amphibious robot adapted to multiple environments, a feet-legs device inspired by natatores was designed. Each webbed foot is made up of three sets of four-linked rods that allow the toe bones to fold and shrink, enabling better imitation of the webbed feet motion of natatores paddling. In order to analyse and optimize the mechanical strength of the critical components of the device during operation, static analysis and structural improvements are made to the webbed feet and the roller of the cylindrical cam. The results show that the static strength of improved webbed feet and the cam roller meet the requirements.

关键词：

来源：评论

学校读者我要写书评

暂无评论

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

Research on Target Encirclement Strategy of Amphibious Spher...

引用

IEEE International Conference on Mechatronics and Automation

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

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.

关键词：

来源：评论

学校读者我要写书评

暂无评论

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

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

引用

IEEE International Conference on Mechatronics and Automation

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

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.

关键词：

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：