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检索条件"机构=Key Laboratory of Networked Control Systems State Key Laboratory of Robotics"

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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...

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

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Easy control hydraulic rotary self-servo reconfigurable decoupling hydraulic joint

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

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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

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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

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

A hierarchical networked urban traffic signal control system...

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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

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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

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Adaptive neural network control of an aerial work platform's arm

Adaptive neural network control of an aerial work platform's...

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10th World Congress on Intelligent control and Automation, WCICA 2012

作者： Jia, Pengxiao Li, En Zizhe Liang Yanhui Qiang State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academic of Sciences Beijing 100190 China

ISBN: (纸本)9781467313988

An aerial work platform (AWP) is a type of off highway vehicle with a long beam to provide temporary access to inaccessible areas [1]. The motivation of the research is to increase its productivity, safety and reduce the manipulation complexity during the operation process. In this paper, a simplified two-link model of AWP's arm is given. The control scheme based on neural network modeling technology is employed to steer the AWP's arm to track the desired trajectories asymptotically, which requires neither the evaluation of inverse dynamical model nor the time-consuming training process. The simulation results validate the effectiveness of the proposed approach. © 2012 IEEE.

关键词： Antennas

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A mobile robot self-localization approach based on unidirectional vision

A mobile robot self-localization approach based on unidirect...

引用

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

作者： Wang, Ke Huo, Guanglei Zhao, Lijun Li, Ruifeng Wang, Wei Key Laboratory of Measurement and Control of CSE Ministry of Education Nanjing 210096 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province 150080 China Research Center of Information and Control Dalian University of Technology Dalian Liaoning Province 116024 China

ISBN: (纸本)9781467312776

This paper presents a self-localization system for mobile robot in large-scale indoor environments. For a structured corridor environment, the vision information is adopted to track the robot pose with a predefined hybrid metric-topological map. A nonlinear unidirectional camera model is developed to project the probabilistic map elements with uncertainty manipulation. Extended Information filters are deployed to estimate the robot pose. The proposed system can perform localization tasks on-the-fly, with the features of efficient map modeling and computational simplicity. Experimental results are provided to demonstrate the performance and effectiveness of the proposed techniques. © 2012 IEEE.

关键词： Mobile robots

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Equivalent circuit simulation model of cantilevered piezoelectric bimorph energy harvester

Equivalent circuit simulation model of cantilevered piezoele...

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2011 International Conference on Mechanical Engineering, Materials and Energy, ICMEME 2011

作者： Wang, Hongyan Shan, Xiaobiao Xie, Tao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China College of Computer and Control Engineering Qiqihar University Qiqihar 161006 China

ISBN: (纸本)9783037853405

This paper presented an equivalent circuit simulation model of the cantilevered piezoelectric bimorph energy harvester for predicting the electrical power output of the energy harvester. The alternating voltage in the equivalent circuit model is identified from FE transducer model and the parameters of the resistance, capacitance and inductance in the equivalent circuit model are identified from FE actuator model. To valid the equivalent circuit simulation model, the power output values are compared with those obtained from the coupled piezoelectric-circuit finite element analysis. The results demonstrate the accuracy of the equivalent circuit simulation model. © (2012) Trans Tech Publications, Switzerland.

关键词： Equivalent circuits

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Complex impedance matching for power improvement of a circular piezoelectric energy harvester

Complex impedance matching for power improvement of a circul...

引用

2011 International Conference on Mechanical Engineering, Materials and Energy, ICMEME 2011

ISBN: (纸本)9783037853405

The impedance matching and the optimization of power from a circular piezoelectric energy harvester with a central-attached mass are studied. A finite element model is constructed to analyze the electrical equivalent impedance of the circular piezoelectric energy harvester. Furthermore, the complex conjugate matching load is used to extract the maximum output power of the energy harvester. The power output from complex conjugate matching load is compared with the power output from the resistive matching load and a constant resistance, separately. The results suggest that the complex conjugate matching can result in a significant increase of the output power for all frequencies. The effective bandwidth of the piezoelectric energy harvester is extended significantly. © (2012) Trans Tech Publications, Switzerland.

关键词： Finite element method

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Point stabilization of mobile robots by genetic sliding mode approach with neural dynamics model on uneven surface

Point stabilization of mobile robots by genetic sliding mode...

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2012 IEEE International Conference on Automation Science and Engineering: Green Automation Toward a Sustainable Society, CASE 2012

作者： Cao, Zhengcai Zhao, Yingtao Fu, Yili College of Information Science and Technology Beijing University of Chemical Technology Beijing China State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China

ISBN: (纸本)9781467304283

In this work, a novel point stabilization control strategy for mobile robots which moves on uneven surface is presented. Firstly, sliding mode method is adopted to extend the nonlinear kenimatic control law to dynamic system, so that the robot is driven by torques. Then, to solve the speed and torque jump problem, the neural dynamics model is integrated into the presented controller. In addition, we utilize genetic algorithm (GA) to optimize the controller parameters for obtaining better stabilization performance. The stability of the proposed control system is analyzed by using Lyapunov theory. Finally, simulation results are given to illustrate the effectiveness of the proposed control scheme. © 2012 IEEE.

关键词： Mobile robots

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