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Optomechanical dissipative solitons (vol 600, pg 75, 2021)

NATURE 2022年第7896期602卷 E24-E24页

作者： Zhang, Jing Peng, Bo Kim, Seunghwi Monifi, Faraz Jiang, Xuefeng Li, Yihang Yu, Peng Liu, Lianqing Liu, Yu-xi Alu, Andrea Yang, Lan Department of Electrical and Systems Engineering Washington University St. Louis MO USA Department of Automation Tsinghua University Beijing P. R. China Photonics Initiative Advanced Science Research Center City University of New York New York NY USA Physics Program Graduate Center City University of New York New York NY USA State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang P. R. China Institute of Microelectronics Tsinghua University Beijing P. R. China

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Accelerating surgical robotics research: A review of 10 years with the da Vinci research kit

arXiv

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arXiv 2021年

作者： D’Ettorre, Claudia Mariani, Andrea Stilli, Agostino Rodriguez y Baena, Ferdinando Valdastri, Pietro Deguet, Anton Kazanzides, Peter Taylor, Russell H. Fischer, Gregory S. DiMaio, Simon P. Menciassi, Arianna Stoyanov, Danail University College London LondonW1W 7EJ United Kingdom Pisa Italy Mechanical Engineering Department Imperial College London United Kingdom STORM Lab Institute of Robotics Autonomous Systems and Sensing School of Electronic and Electrical Engineering University of Leeds Leeds United Kingdom Johns Hopkins University Baltimore United States Automation and Interventional Medicine Laboratory Worcester Polytechnic Institute WorcesterMA United States Intuitive Surgical Inc SunnyvaleCA United States

Robotic-assisted surgery is now well-established in clinical practice and has become the gold standard clinical treatment option for several clinical indications. The field of robotic-assisted surgery is expected to grow substantially in the next decade with a range of new robotic devices emerging to address unmet clinical needs across different specialties. A vibrant surgical robotics research community is pivotal for conceptualizing such new systems as well as for developing and training the engineers and scientists to translate them into practice. The da Vinci Research Kit (dVRK), an academic and industry collaborative effort to re-purpose decommissioned da Vinci surgical systems (Intuitive Surgical Inc, CA, USA) as a research platform for surgical robotics research, has been a key initiative for addressing a barrier to entry for new research groups in surgical robotics. In this paper, we present an extensive review of the publications that have been facilitated by the dVRK over the past decade. We classify research efforts into different categories and outline some of the major challenges and needs for the robotics community to maintain this initiative and build upon it. © 2021, CC BY.

关键词： Robotic surgery

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Comprehensive Analysis for the Effect of Thermal Barrier Coating Porosity on Ultrasonic Longitudinal Wave Velocity 6th

Comprehensive Analysis for the Effect of Thermal Barrier Coa...

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6th International Conference on Life System Modeling and Simulation, LSMS 2020, and 6th International Conference on Intelligent Computing for Sustainable Energy and Environment, ICSEE 2020

作者： Zhang, Shuxiao Ma, Zhiyuan Lin, Li Feng, Wei Shenzhen Key Laboratory of Smart Sensing and Intelligent Systems Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China NDT & E Laboratory Dalian University of Technology Dalian116000 China Guangdong Ultrasonic Nondestructive Testing Engineering Technology Research Center Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China Shenzhen College of Advanced Technology University of Chinese Academy of Sciences Shenzhen China Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China

ISBN: (纸本)9789813363779

According to SEM photos of ZrO2 coatings prepared by plasma spraying, 24 physical models with different porosities were constructed, and ultrasonic testing was simulated by finite-difference time-domain method, and the change of longitudinal wave velocity under porosities was analyzed according to the ultrasonic reflection coefficient amplitude spectroscopy. The simulation shows that the longitudinal wave velocity and porosity of the coating show a linear correlation given that the pore morphology and distribution state are unchanged. The simulation is verified by experiments, and it is found that the experiments and the simulation are in good agreement. This research work has important value for the determination of longitudinal wave velocity of thermal barrier coating in ultrasonic testing. © 2020, Springer Nature Singapore Pte Ltd.

关键词： Thermal barrier coatings

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Adaptive tracking control of flapping wing micro-air vehicles with averaging theory

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CAAI Transactions on Intelligence Technology 2018年第1期3卷 18-27页

作者： Chen Qian Yongchun Fang Institute of Robotics and Automatic Information Systems College of Computer and Control Engineering Tianjin 300353People's Republic of China Tianjin Key Laboratory of Intelligent Robotics Nankai University Tianjin 300353 People's Republic of China

An input constrained adaptive tracking controller is designed for flapping micro aerial vehicles, wherein the moving averaging filter is adopted to estimate the averaged states of the system. Specifically, in the outer loop controller, an observer is constructed to estimate the disturbances within the system. Moreover, the constrained thrust is designed to keep the frequency in a proper region so as to meet the requirement of average estimation. Then, a tracking differentiator is used to provide trackable trajectories for the inner loop. Subsequently, a new quaternion- based hybrid attitude tracking controller is designed which successfully deals with high-frequency noises and avoids possible chattering. As supported by mathematical analysis, the proposed control strategy guarantees the uniform ultimate boundedness of the closed-loop system, and it keeps the control torques within the permitted range to meet the application requirement. At last, numerical simulations are carried out to support the validity of the proposed controller, whose results are satisfactory even when the thrust and torques are saturated.

关键词：飞行器跟踪器人工智能发展现状

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A Piecewise-Markovian Lyapunov Approach to Reliable Output Feedback Control for Fuzzy-Affine systems With Time-Delays and Actuator Faults

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IEEE TRANSACTIONS ON CYBERNETICS 2018年第9期48卷 2723-2735页

作者： Wei, Yanling Qiu, Jianbin Shi, Peng Wu, Ligang State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China School of Electrical and Electronic Engineering University of Adelaide Adelaide SA Australia Research Institute of Intelligent Control and Systems Harbin Institute of Technology Harbin China

This paper addresses the problem of delay-dependent robust and reliable H-infinity static output feedback (SOF) control for a class of uncertain discrete-time Takagi-Sugeno fuzzy-affine (FA) systems with time-varying delay and actuator faults in a singular system framework. The Markov chain is employed to describe the actuator faults behaviors. In particular, by utilizing a system augmentation approach, the conventional closed-loop system is converted into a singular FA system. By constructing a piecewise-Markovian Lyapunov-Krasovskii functional, a new H-infinity performance analysis criterion is then presented, where a novel summation inequality and S-procedure are succeedingly employed. Subsequently, thanks to the special structure of the singular system formulation, the piecewise-affine SOF controller design is proposed via a convex program. Lastly, illustrative examples are given to show the efficacy and less conservatism of the presented approach.

关键词： Piecewise Markovian Lyapunov functional reliable output feedback control time-varying delay T-S fuzzy-affine (FA) systems

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Compliant net for AUV retrieval using a UAV

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IFAC-PapersOnLine 2018年第29期51卷 431-437页

作者： Ivanovic, Antun Polic, Marsela Salah, Omar Orsag, Matko Bogdan, Stjepan Laboratory for Robotics and Intelligent Control Systems Faculty of Electrical Engineering and Computing University of Zagreb Unska 3 Zagreb10 000 Croatia Mechanical Engineering Department Faculty of Engineering Assiut University Assiut Egypt

This paper addresses the problem of retrieving an autonomous underwater vehicle (AUV) with an unmanned aerial vehicle (UAV). The design of the compliant net that naturally adapts to the payload morphology is proposed as a retrieval tool. We constructed the proposed compliant net and conducted experiments with an underwater vehicle model as payload. Furthermore, mathematical model of a system comprised of the UAV and the payload is presented and a mid-ranging controller is utilized for such a system. We also present simulation results and analyze the stability of the UAV with the cable attached payload. © 2018

关键词： Autonomous underwater vehicles Antennas Unmanned aerial vehicles (UAV) Autonomous underwater vehicles (AUV) Marine systems Mechanical design Retrieval tool Soft robotics Underwater vehicles

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A Sextuple Cross-Coupled SRAM Cell Protected against Double-Node Upsets

A Sextuple Cross-Coupled SRAM Cell Protected against Double-...

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Asian Test Symposium (ATS)

作者： Aibin Yan Yan Chen Jun Zhou Jie Cui Tianming Ni Xiaoqing Wen Patrick Girard School of Computer Science and Technology Anhui University Hefei China College of Electrical Engineering Anhui Polytechnic University Wuhu China Graduate School of Computer Science and Systems Engineering Kyushu Institute of Technology Fukuoka Japan Laboratory of Informatics Robotics and Microelectronics of Montpellier University of Montpellier / CNRS Montpellier France

ISBN: (数字)9781728174679

ISBN: (纸本)9781728174686

In this paper, we propose a sextuple cross-coupled SRAM cell, namely SCCS18T, protected against double-node upsets. Since the proposed SCCS18T cell forms a large feedback loop for value retention and error interception, the cell can provide self-recoverability from any single-node upsets (SNUs) and partial double-node upsets (DNUs). Moreover, the proposed cell has optimized operation speed due to the use of six access transistors. Simulation results show that the SCCS18T cell can save approximately 65% read access time at the cost of 49% power dissipation and 50% silicon area on average, compared with typical hardened SRAM cells.

关键词： Transistors SRAM cells Simulation Radiation hardening (electronics) Power dissipation Latches Integrated circuit reliability

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Dual-Interlocked-Storage-Cell-Based Double-Node-Upset Self-Recoverable Flip-Flop Design for Safety-Critical Applications

Dual-Interlocked-Storage-Cell-Based Double-Node-Upset Self-R...

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IEEE International Symposium on Circuits and systems (ISCAS)

作者： Aibin Yan Zhelong Xu Jie Cui Zuobin Ying Zhengfeng Huang Huaguo Liang Patrick Girard Xiaoqing Wen School of Computer Science and Technology Anhui University / Anhui Engineering Laboratory of IoT Security Technologies Hefei China School of Electronic Science & Applied Physics Hefei University of Technology Hefei China Laboratory of Informatics Robotics and Microelectronics of Montpellier University of Montpellier / CNRS Montpellier France Graduate School of Computer Science and Systems Engineering Kyushu Institute of Technology Fukuoka Japan

ISBN: (数字)9781728133201

ISBN: (纸本)9781728133218

This paper presents a novel dual-interlocked storage-cell (DICE)-based double-node-upset (DNU) self-recoverable, namely DURI-FF, in the nano-scale CMOS technology. The master latch of the DURI-FF cell consists of three transmission gates (TGs) and three interlocked DICEs with three common nodes. The common nodes are connected to TGs for value initialization. The slave latch of the DURI-FF cell comprises six TGs, six inverters and three interlocked DICEs. The outputs of the inverters respectively feed the internal nodes of the slave latch. The interlocked DICEs make the master latch and the slave latch DNU self-recoverable. Simulation results validate the DNU self-recoverability of the proposed DURI-FF cell. Moreover, compared with the state-of-the-art hardened flip-flop cells, the proposed DURI-FF cell achieves roughly 43% delay reduction at the cost of moderate silicon area and power dissipation.

关键词： Latches Inverters Flip-flops Logic gates CMOS technology Simulation Reliability

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Workshop Heterogeneous Equipment Information Perception Analysis System

Workshop Heterogeneous Equipment Information Perception Anal...

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International Conference on Intelligent Human-Machine systems and Cybernetics, IHMSC

作者： Pengfei Wu Mengjia Qi Lingyan Gao Wei Zou Qiang Miao Li-lan Liu Shanghai Key Laboratory of Intelligent Manufacturing and Robotics Shanghai University Shanghai Aerospace Systems Engineering Institute Shanghai China

In order to meet the high requirements of the shop management system for device data-aware interaction, in the traditional data-aware mode, this paper proposes a development platform based on Kepware as a perceptual software, through the combination of heterogeneous device network design and wireless network (AP), using OPC The interface technology realizes the parallel acquisition of multi-channel data of heterogeneous devices, and verifies the feasibility of the data acquisition method through experiments. The results of the research show that the information of real-time perception and production status monitoring based on Kepware can quickly process, analyze, real-time display and store the data of each channel. This scheme has certain reference value for the data collection of heterogeneous equipment in digital workshop.

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Hand tracking accuracy enhancement by data fusion using leap motion and myo armband

Hand tracking accuracy enhancement by data fusion using leap...

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2019 IEEE International Conference on Unmanned systems and Artificial Intelligence, ICUSAI 2019

作者： Chen, Jingxiang Liu, Chao Cui, Rongxin Yang, Chenguang Key Laboratory of Autonomous Systems and Networked Control College of Automation Science and Engineering South China University of Technology Guangzhou China LIRMM CNRS-University of Montpellier France School of Marine Engineering Northwestern Polytechnical University Xi'an China Bristol Robotics Laboratory University of the West of England BristolBS16 1QY United Kingdom

ISBN: (纸本)9781728158594

In this paper, by using the combination of Leap Motion and Myo armband, two methods for hand tracking and online hand gesture identification are proposed. With the proposed methods, We have improved the measurement accuracy of the palm direction and solved the problem of insufficient accuracy when the palm is at the limit of the measurement range. We use the Kalman filter algorithm and the neural network classification method to process the data measured by Leap Motion and Myo, so that the tracking of the operator's hand gesture is more accurate and robust even when the hand is at positions close to the measurement limit of one single sensor. The methods, which improve the hand tracking accuracy, can be used for robotic control, demonstration or teleoperation. The effectiveness of the proposed methods has been demonstrated through comparative experiments. © 2019 IEEE.

关键词： Palmprint recognition

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