检索结果-内蒙古大学图书馆

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

来源：评论

学校读者我要写书评

暂无评论

Experimental Research on the Ultrasound-guided Positioning System of Microwave Ablation Surgical Robot

Experimental Research on the Ultrasound-guided Positioning S...

引用

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

来源：评论

学校读者我要写书评

暂无评论

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

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

引用

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

来源：评论

学校读者我要写书评

暂无评论

Simulation and experiment on automatic polarization alignment of fine polarization maintaining fibers

引用

Zhongguo Jiguang/Chinese Journal of Lasers 2013年第12期40卷

作者： Rong, Weibin Zhang, Wei Wang, Lefeng Cao, Yang Zhao, Lei Sun, Lining State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang 150080 China AVIC Xi'an Fight Automatic Control Research Institute Xi'an Shaanxi 710065 China

To improve the performance of fine polarization maintaining fiber (PMF) couplers, it is necessary to increase the detection accuracy of polarization axis. The mathematical model of panda PMF index is established, and then the side view method is simulated. From the simulation results, the light is transmitted in the optical fiber and is focused on the other side, and the maximum light intensity of the fiber image is related to the rotation angle and the observation distance. When the observation distance is constant, the maximum value of light intensity changes periodically with the PMF rotation angle. When the observation plane is near the focused one of the transmitted light, the highest light intensity of optical image reaches the maximum value, which is the polarization axis detection parameter of PMF. Based on this, detection method which takes the maximum intensity as the feature is proposed. Combining the micro-vision technology, the polarization axis detection system for fine PMF is designed. The image sharpness function which can confirm the position of the detection plane is proposed. The experimental data are processed using the Fourier filtering method. By fitting the experiment data with the cubic spline method, the panda PMF polarization axis is determined. According to the experimental results, the repetitive detection error is 0.61°, which meets the requirements of PMF coupler manufacturing.

关键词： Polarization-maintaining fiber

来源：评论

学校读者我要写书评

暂无评论

Orientation-Singularity Representation and Orientation-Capability Computation of a Special Class of the Gough-Stewart Parallel Mechanisms Using Unit Quaternion

引用

Chinese Journal of Mechanical Engineering 2012年第6期25卷 1096-1104页

作者： LI Baokun1, 2, CAO Yi1, 3, *, ZHANG Qiuju1, and HUANG Zhen4 1 School of Mechanical Engineering, Jiangnan University, Wuxi 214122, China 2 School of Mechanical Engineering, Anhui University of Science and Technology, Huainan 232001, China 3 state key laboratory of Fluid Power Transmission and control, Hangzhou 310027, China 4 robotics Research Center, Yanshan University, Qinhuangdao 066004, China School of Mechanical Engineering Jiangnan University Wuxi China School of Mechanical Engineering Anhui University of Science and Technology Huainan China State Key Laboratory of Fluid Power Transmission and Control Hangzhou China Robotics Research Center Yanshan University Qinhuangdao China

Singular configuration seriously affects the performance of the Gough-Stewart parallel mechanism and has attracted many researchers’ attentions. However, most of existing topics often focus on the position-singularity of the mechanism for a constant-orientation, but few reports research the orientation-singularity for a given position. In order to investigate the orientation-singularity of the Gough-Stewart parallel mechanisms with two dissimilar semi-regular hexagonal platforms for a given position, after constructing the discrimination matrix of the singular configuration of the mechanism and computing the determinant of this matrix by using unit quaternion as the orientation parameters which can avoid the singularities in parameterization, a general symbolic expression representing the three-dimensional orientation-singularity locus for a given position is obtained and the three-dimensional view of the orientation-singularity locus is further described. The orientation-singularity-free void exists inside the orientation-singularity locus, but the shape of the orientation-singularity-free void is irregular and inconvenient for the design of the mechanism. The minimal inscribed sphere of the three-dimensional orientation-singularity locus namely the orientation-singularity-free ball is described. The radius of the ball orientation-capability is used as the measurement for the orientation-singularity-free void size. A new efficient algorithm is proposed for the computation of the orientation-capability. Finally, the influences of the geometry parameters and the different positions of the mechanism on the orientation-capability are discussed. A new method of the singularity analysis of the Gough-Stewart parallel mechanism is advanced based on the unit quaternion, and the research finds have important referential value for the configuration parameters optimization of this class of the parallel mechanisms with the goal of having the maximal singularity-free zone.

关键词： parallel mechanism unit quaternion orientation-singularity orientation-singularity-free void orientation-capability

来源：评论

学校读者我要写书评

暂无评论

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

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

引用

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

来源：评论

学校读者我要写书评

暂无评论

Easy control hydraulic rotary self-servo reconfigurable decoupling hydraulic joint

Easy control hydraulic rotary self-servo reconfigurable deco...

引用

2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012

作者： Jiang, Lin Zhao, Jie Wu, Wenchao Xiang, Xianbao Chen, Xinyuan Zhao, Hui Zeng, Liangcai State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China Key Laboratory of Metallurgical Equipment and Its Control Ministry of Education Wuhan University of Science and Technology Wuhan 430081 China

ISBN: (纸本)9781467312776

Aiming at the problems in hydraulic rotary self-servo, a easy control hydraulic rotary self-servo technology was proposed. The problems in hydraulic rotary self-servo were just as follows: the hydraulic servo valve radial force is imbalance, the hydraulic spool clamping force and friction are large, and the dynamic properties of the spool become deterioration. Based on easy control hydraulic rotary self-servo technology, the reconfigurable decoupling hydraulic joint was designed. And the decoupling properties of this new joint were analysed. This new joint has reconfigurable performance, omni-directional work space and movement decoupling performance. The omnidirectional work space and movement decoupling performance were verified by simulation experiment. © 2012 IEEE.

关键词： Reels

来源：评论

学校读者我要写书评

暂无评论

Simulation study of an FES-involved control strategy for lower limb rehabilitation robot

Simulation study of an FES-involved control strategy for low...

引用

5th International Conference on Intelligent robotics and Applications, ICIRA 2012

作者： Chen, Yixiong Hu, Jin Zhang, Feng Hou, Zengguang State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China

ISBN: (纸本)9783642335143

This paper proposes a functional electrical stimulation (FES)-involved control strategy for self-made exoskeleton lower limb rehabilitation robot for the training purpose of paraplegic patients caused by spinal cord injury (SCI) or stroke. Two muscles (Vastus Medialis and Riceps Femoris) are stimulated to produce active torque around knee joint which can be considered as a redundant actuator besides electrical motor. During the predefined trajectory tracking task, electrical motors compensate for the gravitational torque of the entire human-robot system, while the muscles provide torque calculated by a PD position/ velocity controller based on the tracking error. The FES-induced torque control is accomplished with combination of feedforward and feedback controller, former of which is obtained by applying off-line trained neural networks to map the relationship between desired active torque and FES parameters. Simulation results obtained by using Simulink toolboxes in Matlab verify the feasibility of this control strategy. © Springer-Verlag Berlin Heidelberg 2012.

关键词： Torque control

来源：评论

学校读者我要写书评

暂无评论

A hierarchical networked urban traffic signal control system based on multi-agent

A hierarchical networked urban traffic signal control system...

引用

2012 9th IEEE International Conference on Networking, Sensing and control, ICNSC 2012

作者： Chen, Cheng Li, Zheng Jiang State Key Laboratory of Intelligent Control and Management of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China

ISBN: (纸本)9781467303880

In this paper, we proposed an architecture of a hierarchical networked urban traffic signal control system Based on Multi-agent. With mobile agent technology, traffic control strategies are designed as traffic control agents, which can move from device to device in a network. The system can reconfigure and replace these agents according to inconstant states of traffic environment and performances of agents. By this way, demand-based control is realized in traffic signal control system. Then we described the details and key technologies in the procession of agent-generation, agent-storage and agent-usage. At last, a prototype of the system is developed and basic functions of this system are tested by simulations. These simulations also confirm extensibility and effectiveness of the system. © 2012 IEEE.

关键词： Hierarchical systems

来源：评论

学校读者我要写书评

暂无评论

Graph-based detection of objects with regular regions 1

引用

5th International Conference on Intelligent robotics and Applications, ICIRA 2012

作者： Shi, Cunzhao Wang, Chunheng Xiao, Baihua Zhang, Yang State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China

ISBN: (数字)9783642335037

ISBN: (纸本)9783642335020

Most objects with regular regions could be detected as Maximally Stable Extremal Regions (MSER) [20]. In this paper, We formulate object detection as a bi-label (object and non-object regions) segmentation problem, and propose a graph-based object detection method using edge-enhanced MSER. Specifically, we focus on detecting text in natural images, which is a special kind of object. First, edge-enhanced MSERs are detected as basic letter components;non-text MSERs are then efficiently eliminated by minimizing the cost function which combines both region-based and context-relevant information;and finally, mean-shift clustering is used to group text components into regions. The proposed method is naturally context-relevant, scale-insensitive and readily to be applied on detecting other objects. Experimental results on the ICDAR 2011 competition dataset show that the proposed approach outperforms state-of-the-art methods both in recall and precision. © Springer-Verlag Berlin Heidelberg 2012.

关键词： Cost functions

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：