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IEEE/RAS-EMBS International Conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Jun Ueda L. Odhner Sang-Gook Kim H.H. Asada DArbeloff Laboratory for Information Systems and Technology Massachusetts Institute of Technology Cambridge MA USA Robotics Laboratory Graduate School of Information Science Nara Institute of Science and Technology Ikoma Nara Japan Micro & Nano Systems Laboratory Mechanical Engineering Massachusetts Institute of Technology Cambridge MA USA

A biologically-inspired approach is proposed for the coordination of a vast number of "cellular actuators." Each cellular actuator has a decision-making unit that changes the transition probability depending on the broadcasted control signal from a centralized feedback controller. Although there is no deterministic coordination among the vast number of cellular actuator, the sum of the displacements of the cellular actuators can track a desired trajectory. We propose a design of transition probability that guarantees the convergence of the expectation of this ensemble. We show that broadcast signal needs to contain the positioning error but other information is unnecessary, and robustness against failure is guaranteed for any percentage of inactive (dead) cells. A MEMS-PZT cellular actuator with strain amplifying mechanism is also presented

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An intelligent above-knee prosthesis with EMG-based terrain identification

An intelligent above-knee prosthesis with EMG-based terrain ...

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IEEE International Conference on systems, Man and Cybernetics

作者： Dewen Jin Ruihong Zhang Jichuan Zhang Rencheng Wang W.A. Gruver Department of Precision Instruments Tsinghua University Beijing China Intelligent Robotics and Manufacturing Systems Laboratory School of Engineering Science Simon Fraser University Burnaby BC Canada

Gait analyses show that knee moments are considerably different when walking on different terrain. To accommodate changing conditions, prostheses should provide a means for adjusting the knee moments by identifying conditions of the terrain. In this research, terrain identification is obtained by the use of electromyographic (EMG) signals that are used to control resistive moments of an above-knee prosthesis. Results from laboratory experiments demonstrate that the technique is effective for identification and adaptable to different terrain.

关键词： Prosthetics Knee Legged locomotion Electromyography Hip Acceleration Cameras Laboratories Microcomputers Intelligent robots

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Multi-Objective Optimization of Electromagneticthermal Coupling Performance for High-torquedensity PMSM based on Multi-dimensional Correction Techniques

Multi-Objective Optimization of Electromagneticthermal Coupl...

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International Conference on Electrical Machines, ICEM

作者： Zequan Li Jin Wang Lu Sun Haoyu Kang Liyang Liu Libing Zhou State Key Laboratory of Advanced Electromagnetic Technology Huazhong University of Science and Technology Wuhan China State Key Laboratory of Advanced Electromagnetic Engineering and Technology School of Electrical and Electronic Engineering Huazhong University of Science and Technology Wuhan China State Key Laboratory of Advanced Robotics and Autonomous Systems Thrust The Hong Kong University of Science and Technology (Guangzhou) Guangzhou China Robotics and Autonomous Systems Thrust Hong Kong University of Science and Technology (Guangzhou) Guangzhou China

ISBN: (数字)9798350370607

ISBN: (纸本)9798350370614

To address the precision limitation of traditional thermal models and the computational inefficiency of electromagnetic-thermal coupling finite element models, this work proposes a multidimensional correction-based electromagnetic-thermal coupling design optimization method for electric machines. Firstly, this method corrects the sensitive parameters in the analytical lumped parameters thermal network model (LPNM) based on prior information from historical experimental data to ensure the accuracy for thermal performance analysis. Subsequently, to enhance computational efficiency, a large number of low-fidelity (LF) samples are obtained using the corrected thermal model in a serial electromagnetic-thermal field calculation manner, complemented by a small number of high-fidelity (HF) samples obtained from the electromagnetic-thermal coupling simulation model. Then, by employing a transfer learning technique, the data information from the low- to high-fidelity sample sets is comprehensively utilized to train a multi-fidelity (MF) surrogate model for the final optimization. The proposed method applied to a high-torque-density aerospace propulsion permanent magnet synchronous motor (PMSM) with short-term strong overload capability, it not only significantly improves the accuracy of LPNM, but also reduces the training sample acquisition time by over 50% under the same model accuracy. Finally, a prototype is tested to validate the effectiveness of the proposed method.

关键词： Couplings Accuracy Computational modeling Transfer learning Data models Thermal analysis Computational efficiency Iterative methods Optimization Design optimization

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Design of Capsule Robot for Magnetic Gastric Biopsy and Drug Administration

Design of Capsule Robot for Magnetic Gastric Biopsy and Drug...

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IEEE International Conference on Mechatronics and Automation

作者： Zhihui Xu Zongze Li Shoubin Liu Chengzhi Hu Department of Mechanical and Energy Engineering Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Southern University of Science and Technology Shenzhen China Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and Technology Shenzhen China School of Mechanical and Electrical Engineering Harbin Institute of Technology Shenzhen China

Capsule robots have emerged as a promising tool for the early diagnosis of gastrointestinal diseases. Unlike conventional gastroscopy, they offer the potential for minimally invasive or even non-invasive treatment, and can alleviate discomfort and pain in patients. However, current capsule robots have some limitations. For instance, they lack stomach tissue biopsy and drug administration functions, and the capsule robot used for biopsy does not consider the tolerance of gastrointestinal tissue. Similarly, the capsule robot used for drug administration does not account for the outlet speed of drug administration. This paper proposes a new biopsy method using a magnetically manipulated capsule robot and analyzes the principles governing the robot's manipulation during the biopsy and drug administration processes. Furthermore, an ANSYS gastric model was established and used to simulate and experimentally analyze damage to the gastric tissue model from different types of biopsy needles and their moving speeds. The appropriate type of biopsy needle and moving speed were determined to prevent damage to the gastric tissue. The study also used FLUENT to determine the appropriate thrust at the entrance of the drug cavity and the impact of the drug density on the drug outlet velocity to ensure complete adherence of the drug to the lesion.

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Magnetically Driven Capsule Robot for Multi-Targeted Biopsy and Drug Delivery in Stomach

Magnetically Driven Capsule Robot for Multi-Targeted Biopsy ...

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IEEE International Conference on robotics and Biomimetics

作者： Zhihui Xu Tanyong Wei Zongze Li Ding Huang Shoubin Liu Chengzhi Hu Department of Mechanical and Energy Engineering Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Southern University of Science and Technology Shenzhen China Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and Technology Shenzhen China School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen China

Capsule robots have emerged as a promising solution for non-invasive and painless screening of gastrointestinal diseases, offering significant advantages in patient comfort and reduced risk of cross-infection. Despite these advantages, existing capsule robots fall short in their ability to conduct targeted biopsies and deliver drugs to specific gastric lesions. To address this limitation, this paper presents the design and development of a magnetically driven capsule robot that leverages visual feedback to achieve accurate targeting for biopsy and drug administration in gastric lesions. Internal magnets, responsive to an external gradient magnetic field, enable the controlled propulsion of the capsule robot. A kinetic model of the capsule robot is analyzed, allowing it to recognize lesion contours through the endoscopic camera. This recognition determines the rotation angle or small adjustments required for the capsule robot's attitude and positioning. Experimental results in a simplified in vitro stomach model showcase the capability of the capsule robot to achieve targeted biopsy and drug delivery. These results highlight the potential feasibility of the proposed capsule robot in enhancing diagnostic accuracy and treatment efficacy with broader applications within the realm of gastric healthcare.

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Development in the application of laser-induced breakdown spectroscopy in recent years:A review

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Frontiers of physics 2021年第2期16卷 45-69页

作者： Lian-Bo Guo Deng Zhang Lan-Xiang Sun Shun-Chun Yao Lei Zhang Zhen-Zhen Wang Qian-Qian Wang Hong-Bin Ding Yuan Lu Zong-Yu Hou Zhe Wang Wuhan National Laboratory for Optoelectronics(WNLO) Huazhong University of Science and TechnologyWuhan 430074China State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesSheyang 110016China School of Electric Power South China University of TechnologyGuangzhou 510640China State Key Laboratory of Quantum Optics and Quantum Optics Devices Institute of Laser SpectroscopyShanxi UniversityTaiyuan 030006China State Key Laboratory of Multiphase Flow in Power Engineering Xi'an Jiaotong UniversityXi'an 710049China Key Laboratory of Photonic Information Technology School of Optics and PhotonicsBeijing Institute of TechnologyBeijing 100081China School of Physics Dalian University of TechnologyNo.2 Linggong RoadGanjingzi DistrictDalian 116024China Optics and Optoelectronics Laboratory Ocean University of ChinaQingdao 266100China State Key Lab of Power Systems Department of Energy and Power EngineeringTsinghua UniversityBeijing 100084China

Laser-induced breakdown spectroscopy(LIBS)has been widely studied due to its unique advantages such as remote sensing,real-time multi-elemental detection and none-to-little *** the efforts of researchers around the world,LIBS has been developed by leaps and ***,in recent years,more and more Chinese LIBS researchers have put tremendous energy in promoting LIBS *** is worth mentioning that the application of LIBS in a specific field has its special application background and technical difficulties,therefore it may develop in different stages.A review summarizing the current development status of LIBS in various fields would be helpful for the development of LIBS technology as well as its applications especially for Chinese LIBS community since most of the researchers in this field work in *** the present work,we summarized the research status and latest progress of main research groups in coal,metallurgy,and water,*** on the current research status,the challenges and opportunities of LIBS were evaluated,and suggestions were made to further promote LIBS applications.

关键词： laser-induced breakdown spectroscopy application

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Development of Kinect based teleoperation of Nao robot

Development of Kinect based teleoperation of Nao robot

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International Conference on Advanced robotics and Mechatronics (ICARM)

作者： Chunxu Li Chenguang Yang Peidong Liang Angelo Cangelosi Jian Wan Center for Robotics and Neural Systems Plymouth University UK Zienkiewicz Centre for Computational Engineering Swansea University UK State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China School of Marine Science and Engineering Plymouth University UK

In this paper, an online tracking system has been developed to control the arm and head of a Nao robot using Kinect sensor. The main goal of this work is to achieve that the robot is able to follow the motion of a human user in real time to track. This objective has been achieved using a RGB-D camera (Kinect v2) and a Nao robot, which is a humanoid robot with 5 degree of freedom (DOF) for each arm. The joint motions of the operator's head and arm in the real world captured by a Kinect camera can be transferred into the workspace mathematically via forward and inverse kinematics, realitically through data based UDP connection between the robot and Kinect sensor. The satisfactory performance of the proposed approaches have been achieved, which is shown in experimental results.

关键词： Cameras Robot kinematics Image color analysis Head Robot vision systems

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Cooperative range-based navigation using a beacon with circular motion installed on board the support platform

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IFAC-PapersOnLine 2019年第21期52卷 390-395页

作者： Santiago Rúa Naveen Crasta Rafael E. Vásquez Manuel J. Betancur Antonio M. Pascoal Universidad Pontificia Bolivariana Circular 1 # 70-01 School of Engineering 050031 Medellín Colombia Laboratory of Robotics and Systems in Engineering and Science (LARSyS) IST/University of Lisbon Av. Rovisco Pais 1 1049-001 Lisbon Portugal

This work addresses the observability analysis for a cooperative range-based navigation system that uses a beacon with circular motion installed on board the support platform to find the location of an underwater vehicle. A nonlinear model is first obtained in order to describe the motion of the vehicle and the beacon, that is attached to the tip of a 1 DoF rotating arm (deployed from a stationary support platform or vessel). A state-space realization is obtained and augmented in order to convert the nonlinear system into a Linear Time Varying (LTV) system. Then, the observability analysis is performed for the new system considering its equivalence since the state trajectories of the LTV system have one-to-one correspondence to the state trajectories of the nonlinear system. We show that, when the vehicle moves in circles or in straight lines, it is possible to ensure observability by rotating the arm that has the beacon attached. This result is important from a theoretical point of view, and represents a new way of implementing range-based navigation systems, without relying on deviation of the vehicle’s mission or the need of another vehicle to ensure observability.

关键词： Vehicle guidance navigation Underwater vehicles Control system design applications Cooperative control Acoustic-Based Networked Control Navigation

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Output synchronization of heterogeneous LTI plants with event-triggered communication

Output synchronization of heterogeneous LTI plants with even...

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IEEE Annual Conference on Decision and Control

作者： Joao Almeida Carlos Silvestre Antonio M. Pascoal Laboratory for Robotics and Systems in Engineering and Science (LARSyS) Instituto Superior Tecnico Universidade de Lisboa Av. Rovisco Pais 1 1049-001 Lisboa Portugal

ISBN: (纸本)9781467360890

This paper proposes a control architecture to achieve output synchronization of a group of heterogeneous LTI plants. To each plant, we associate a local controller that comprises a dynamic output feedback controller and a reference generator. The local dynamic output feedback controller is designed such that the output of the plant tracks the output of the reference generator. The reference generator includes an internal state that should be synchronized across all reference generators. The decision to broadcast this synchronization state to its neighbors is done by employing an event-triggered communication protocol. It is shown that, with the proposed control architecture, the solutions of the closed-loop system are globally bounded and that there exist positive lower bounds for the inter-event intervals generated the by event-triggered mechanism associated with the broadcast of synchronization states. A self-triggered implementation of the proposed event-triggered communication protocol is also presented.

关键词： reference generator Event trigger Control Architecture Communication protocols LTI local controller Output Lower bound feedback controller

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Online Collision Avoidance for Human-Robot Collaborative Interaction Concerning Safety and Efficiency

Online Collision Avoidance for Human-Robot Collaborative Int...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： Guoliang Liu Haoyang He Guohui Tian Jianhua Zhang Ze Ji School of Control Science and Engineering Shandong University Jinan China School of Mechanical Engineering Hebei University of Technology Tianjin China Robotics and Autonomous Systems Laboratory School of Engineering Cardiff University Cardiff UK

ISBN: (数字)9781728167947

ISBN: (纸本)9781728167954

With the development of robot technology and the arrival of industry 4.0 era, society pays more attention to collaboration and interaction between human and robots. However, safety is still main concern in the development of human-robot collaboration. In this paper, a novel real-time collision avoidance approach for manipulator is proposed by considering the motion status of the human, which includes the relative minimum distance and velocity (both magnitude and direction) between the robot and the human. The distance and velocity of the human hand are first estimated online using a vision sensor, and then defined as danger factors in the potential function of the potential field. The novel potential function proposed in this paper considers not only the safety problem, but also the efficient problem, i.e., the manipulator can make smart control decision to avoid the collision according to the relative velocity in case of the cross over. To overcome the local minimum problem and choose a best motion direction, we propose a motion sampling mechanism for motion planning. For each sample, the robot calculates the potential function to evaluate the safety and efficiency, and chooses a direction which is best for avoidance. We finally demonstrate our idea on a real manipulator platform in a human co-existance environment.

关键词： Collision avoidance Force Manipulators Robot kinematics Safety Collaboration

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