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作者： Teng, Yun Wang, Ting Yao, Chen Li, Xiaofan Graduate School of the Chinese Academy of Sciences Beijing 100049 China State Key Robotics Lab. Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China

ISBN: (纸本)9787894631046

To meet the rapid increasing demand of the equipment assisting the disabled and the old, a novel style transmuting track wheelchair robot is developed. It has the characteristic that the track tension can be determined dynamically. Compared to traditional method that keeps track tension constantly, dynamically determining tension can reduce power consumption obviously. Based on the fact that modeling track tension is complex, a fuzzy logic decision making method is developed to estimate the proportion of various factors that have effect on track tension. Combining with least square method, we get track tension optimal estimation algorithm. Considering the low speed characteristic of the wheelchair as climbing stairs and the track tension got by estimation algorithm, the paper develops a statics model of the wheelchair for the starting stage of stair-climbing. Simulation results prove that the wheelchair can climb stairs stably when it takes advantage of tension estimation algorithm.

关键词： Stairs

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Flexible Ultra High Throughput Screening

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JALA - Journal of the Association for lab.ratory automation 2000年第6期5卷 XXII-XXIII页

作者： Haas, Hansjörg Outhouse, Al CRS Robotics Corporation Canada CRS Robotics Corporation Burlington Ont. L7L 6A6 5344 John Lucas Drive Canada Lab. Automation Division of CRS Canada Biochemical Institute University of Giessen Germany University of Toronto Canada

Recent discussions about HTS approaches seem to concentrate on two extreme positions: workstations or dedicated production line systems. 4,1,3 The stacker technique fills the void between these approaches, providing high flexibility at ultra HTS rates. A stacker-based system provides random access to instruments, very simple scheduling and the ability to run different methods in parallel. The use of stackers also speeds loading and unloading of the system, provides high-density storage, and automatic lidding of the plates. Finally, use of proven instrumentation and the advanced error recovery features of the POLARA software allow high reliability and 24 hour operation. Although optimal automation solutions for HTS and ultra HTS will ultimately depend on the specific needs of a screening operation, CRS stacker technology represents a viable alternative to current ultra HTS screening solutions at lower investment costs.

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Robust Position Control of an Autonomous Underwater Vehicle: A Comparative Study

Robust Position Control of an Autonomous Underwater Vehicle:...

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IEEE International Conference on automation Science and Engineering

作者： Spandan Roy Sambhunath Nandy Sankar Nath Shome Ranjit Ray Scientist Trainee at Robotics and Automation Lab. CSIR-Central Mechanical Engineering Research Institute Durgapur India Principal Scientist at Robotics and Automation Lab. CSIR-Central Mechanical Engineering Research Institute Durgapur India Chief Scientist and Head of Robotics and Automation Lab. CSIR-Central Mechanical Engineering Research Institute Durgapur India Senior Scientist at Robotics and Automation Lab. CSIR-Central Mechanical Engineering Research Institute Durgapur India

ISBN: (纸本)9781479915132

The highly non-linear and coupled dynamics of Autonomous Underwater Vehicles (AUVs), added with modeling errors, parametric uncertainties and payload variations pose a major challenge towards autonomous control of AUVs for various application requirements. Environmental hazards such as ocean currents sometimes dominate and make the control of underwater systems even more complicated. The proposed control technique addresses the design of a robust controller for reasonably accurate path tracking of AUVs incorporating the effects of above uncertain paradigms within some known bounds. It is well-known that measurement noise, which is associated with the navigational sensors, degrades the performance of the controller leading to substantial deviation from the reference path. Incorporation of sensor fusion technique, which is driven by sensors error characteristics, is necessary to improve the controller performance. Performance of the controller is verified using the real-life parameters an AUV, developed at CSIR-CMERI, Durgapur, India considering a few uncertainties.

关键词： AUV developed CSIR-CMERI

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Embedding shape memory alloy actuators in miniature articulating polymer structures using in-mold assembly

Embedding shape memory alloy actuators in miniature articula...

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40th Annual North American Manufacturing Research Conference, NAMRC40

作者： Ananthanarayanan, Arvind Ho, Mingyen Ehrlich, Leicester Desai, Jaydev P. Gupta, Satyandra K. Biomimetics Robotics Lab. Department of Mechanical Engineering Massachusetts Institute of Technology Cambridge MA United States Robotics Automation and Medical Systems Lab. Department of Mechanical Engineering University of Maryland College Park MD United States Advanced Manufacturing Lab. Department of Mechanical Engineering University of Maryland College Park MD United States Department of Mechanical Engineering Institute of Systems Research University of Maryland College Park MD United States

ISBN: (纸本)9781622762477

Fabrication and assembly of highly articulating structures has been a challenge for manufacturing engineers for several years. This challenge is further enhanced when the structures are in the miniature size scales. As part of our previous work, we have developed a process called in-mold assembly to tackle this challenging manufacturing and assembly task. However, attaching the actuators to such miniature structures remains a challenging task and can be expensive in terms of costs. In this work, we will demonstrate a single step in-mold assembly method to fabricate miniature multi degree of freedom (DOF) mechanical devices with embedded SMA actuators. We have developed design optimization methods to shield the SMA actuators from the thermal cycles seen during the injection molding process. This is done to minimize thermal impact on the SMA actuators during embedding in in-mold assembled articulating joints. We have also developed experimental methods to calibrate the force and position of the embedded SMA actuators with respect to temperature. Our experimental results indicate that the SMA behavior is very repeatable with respect to temperature. Hence temperature can be used as a sensory feedback for position and force control. Using the approaches developed as part of this work, we have successfully fabricated an in-mold assembled multi DOF miniature robot with embedded SMA actuators.

关键词： Fabrication

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Visual marker localization in robot-assisted stereotactic neurosurgery

Visual marker localization in robot-assisted stereotactic ne...

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2011 IEEE 5th International Conference on robotics, automation and Mechatronics, RAM 2011

作者： Li, Yanjie Meng, Cai Liu, Da Wang, Tianmiao Image Processing Center School of Astronautics Beihang University Beijing 100191 China Social Robotics Lab. Interactive Digital Media Institute National University of Singapore 119613 Singapore Singapore Institute of Robotics School of Mechanics Engineering and Automation Beihang University Beijing 100191 China

ISBN: (纸本)9781612842509

An approach is developed to automatically detect and locate the visual markers glued on the head in robot assisted stereotactic neurosurgery. This approach has four major steps. At first, one special marker, defined as "B" marker, is searched in the entire image. By this the search range can be decreased because the distance of markers between each other cannot exceed the patient's head. Secondly, in the local image the candidate markers are searched which are marker-like connected region. Their features are extracted and the false markers are discarded. Thirdly, the method will try to find the missing markers with epipolar constraint in binocular cameras if some markers are lost. Finally the markers' can be located in space with stereopsis. We use four markers that are glued to the skin of head in our experiment. The markers' features are extracted using 82 pairs of images and the approach is tested on 166 pairs of other images. The false marker rate is only 0.08%. The approach can be used in head motion tracking and automatic image registration in robot-assisted stereotactic neurosurgery. © 2011 IEEE.

关键词： Neurosurgery

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Robot Intelligence and Flexibility for Smooth Finishing of Car Body

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IFAC Proceedings Volumes 1997年第14期30卷 303-311页

作者： Byung-Hoon Kang Jin-Dae Kim Jin-Yang Yoo Jong-Oh Park Kwang-Se Lee Hyun-Oh Shin Advanced Robotics Research Center Korea Institute of Science and Technology Automation Research Lab. Hyundai Motor Co.

Robotic finishing such as car body grinding is one of critical automation processes because of direct influence of robot system capability on final surface quality. Difference of each car surface even in the same car model is also one another critical problem. Here one suggestion on robotic finishing system with intelligence and flexibility. Laser vision scans the local surface of each car body, from sensing data after signal processing surface and bead are modeled, after that exact robot path is generated. All these processes are integrated in one robot finishing system, which is applied in actual production line. Such intelligence and flexibility of robot system shows adaptability even in production line as well as further interesting research topics. Finally technological extension of such system to more complicated workpiece is explained.

关键词： Robotic finishing Laser vision surface modeling Bead modeling Robot path generation Robot intelligence Robot flexibility

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Local Navigation System for a Robot Based on a Network of BLE Beacons

Local Navigation System for a Robot Based on a Network of BL...

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2024 International Russian automation Conference, RusAutoCon 2024

作者： Yukhimets, D.A. Naidanova, I.E. Andrukhovsky, N.V. Institute of Automation and Control processes Robotic Lab. Vladivostok Russia Marine State University Vladivostok Russia Marine State University Named after Admiral G.I. Nevelskoy Uav and Marine Aviation Lab Vladivostok Russia Far East Federal University Department of automation and robotics Vladivostok Russia

The report presents a method for constructing a navigation system for a mobile robot in indoor environments based on a network of beacons using Bluetooth Low Energy (BLE) technology. To determine the position of the mobile robot inside the premises, a network of ESP32 microcontrollers, located at predefined points within the space and operating in BLE beacon mode, is utilized. The position of the robot is calculated based on the analysis of the signal strength from these beacons. This strength is determined by a controller installed on the robot through sequential polling of beacons within its visibility range. To enhance the accuracy of the proposed system, a model was developed using experimental data and constructed with a neural network to describe the dependence of the signal strength (RSSI - received signal strength indicator) on the robot's position relative to the beacon. The resulting model is then used in the Levenberg-Marquardt method for optimal estimation of the robot's position. The main advantages of the system include high accuracy, low energy consumption, affordability, and scalab.lity to environments of various configurations. © 2024 IEEE.

关键词： Mobile robots

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Motion estimation for a mobile robot based on real-time stereo vision system

Motion estimation for a mobile robot based on real-time ster...

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2009 2nd International Congress on Image and Signal Processing, CISP'09

作者： Zhongli, Wang Xueshan, Gao Baochang, Zhang Hao, Wu State Key Lab. of Robotics and System Harbin Institute of Technology Harbin China School of Computer Science Beijing Institute of Technology Beijing China Intelligent Robotics Institute Beijing Institute of Technology Beijing China School of Automation Science and Electric Engineering Beihang University Beijing China

ISBN: (纸本)9781424441310

Vision-based motion estimation is a key technique in autonomously mobile robot. This paper presents an integrated method for motion estimation of the mobile robot based on floor plane extraction. The whole processes include floor plane extraction, pose estimation of the onboard stereo vision system and motion estimation of the mobile robot. First, based on disparity map obtained from the onboard real-time stereo vision system, a two-stage method is used for fast floor plane extraction. Then all the points belong to the floor plane are transformed from disparity space to Euclidean space, and a simple least squares method is employed to fit the floor plane. The fitting parameters of the floor plane are used for the pose estimation of the onboard stereo vision system. Finally, the motion of the mobile robot is estimated with the tracking results of the points on floor plane. The proposed motion estimation method is intended to be used in the motion control of a wheeled mobile robot. Experimental results in real environments are presented. ©2009 IEEE.

关键词： Mobile robots

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Extraction of a Topological Representation Based on Raw Data Using Voronoi Diagram

Extraction of a Topological Representation Based on Raw Data...

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International Conference on Control, Artificial Intelligence, robotics & Optimization (ICCAIRO)

作者： Marina Galli Ramon Barber Santiago Garrido Luis Moreno Robotics Lab. Department of System and Automation Carlos III University of Madrid Madrid Spain

ISBN: (纸本)9781538695777;9781538695760

The aim of this work is to build a model of the environment that entails both metric and topological information. The creation of the topological map will be extracted from the metric map, exploiting all the individual advantages of each spatial representation. Voronoi Diagram was the selected representation as a link between the two types of maps. The method extracts, from raw sensor data of the environment and using Voronoi Diagrams, specific features useful for navigation to build the topological map. Enabling a spatial representation that provides levels of abstraction that brings closer the maps to the way the humans represent the space and simplify the navigation task. In addition, the proposed method creates a spatial representation that allows the addition of semantic information to the model.

关键词： Measurement Robot sensing systems Navigation Data mining Mobile robots Task analysis

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Novel micro gripping, probing, and sensing devices for single-cell surgery

Novel micro gripping, probing, and sensing devices for singl...

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Conference Proceedings - 26th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2004

作者： Li, Wen J. Xi, Ning Centre for Micro and Nano Systems Chinese University of Hong Kong Shatin N.T. Hong Kong Robotics and Automation Laboratory Department of Electrical Engineering Michigan State University East Lansing MI United States Micro/Nano Robotics Automations Lab. Shenyang Institute of Automation Chinese Academy of Sciences Shenyang Liaoning China Chinese University of Hong Kong Michigan State University Shenyang Institute of Automation

Several novel devices under development in our lab.ratories to ultimately realize a micro robotic system for single cell nano-scale probing, injection, imaging and surgery is described in this paper. Thus far, we have 1) developed MEMS polymer grippers that can be actuated under water with very large deflection and are capable of gripping 500um embryonic cells in water with ∼2V input;2) developed a probe-etching technique to controllab.y shape fiber probes into various tip geometries, Le., fibers with initial diameter of 125um were sharpened into tips with angles ranging from <2.7 - 9.7° and with nano-scale tip diameters of <1um;3) developed a novel PVDF force sensing system with resolution in the sub-uN range for applications in bio-manipulation, bio-injection, and potentially single cell surgery. Details of these technologies are discussed in this paper.

关键词： Medical imaging

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