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IEEE Annual Conference on Decision and Control

作者： Pedro Batista Carlos Silvestre Paulo Oliveira Institute for Systems and Robotics Laboratory of Robotics and Systems in Engineering and Science Portugal

ISBN: (纸本)9781467357159

This paper addresses the problems of source localization and navigation based on discrete-time single direction measurements, in 3-D, in addition to relative velocity readings. For source localization, an agent aims at estimating the position of a source relative to itself, while for navigation the agents aims to estimate its own position assuming that it also has access to the position of the source in an inertial frame. Additionally, unknown constant drift velocities are considered and explicitly estimated. The design follows essentially by considering an augmented system, which is linear, and thoroughly address its observability and its relation with the original nonlinear system. The final estimation solution is a Kalman filter, with globally exponentially stable (GES) error dynamics. Simulation results are presented that illustrate the achievable performance with the proposed solution.

关键词： Position measurement navigation Kalman filters discrete-time Observability estimated position

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Thermal Casting for Monolithic Soft Actuators

Thermal Casting for Monolithic Soft Actuators

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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Wang, Huacen Yang, Boyu Mei, Junling Dai, Yujin Xia, Yixuan Wang, Hongqiang Southern University of Science and Technology Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy Engineering Shenzhen518055 China Guangdong Prov. Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and Technology Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy Engineering Shenzhen518055 China Guangzhou510000 China

ISBN: (纸本)9781665481090

Soft robotics has significantly impacted many fields in the last decades. However, their current fabrication methodologies are limited by the assemble complexity, limited materials, or long duration. A monolithic thermal casting method for fabrication of elastomer and soft robotics based on thermoset polymer is introduced. In this work, we used simple heating cores to manufacture elastomers and soft actuators. By controlling the heating current and duration, we can adjust the thermal field and consequently change the configuration of the generated elastomer. Due to its short duration (several minutes), this method can benefit the mass production of soft robots for high efficiency. Also, this work offers a new way to design soft robotics without complex molds. © 2022 IEEE.

关键词： Elastomers

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Droplet-based Microfluidic Platform for High-throughput Formation of Multicellular Spheroids

Droplet-based Microfluidic Platform for High-throughput Form...

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2023 Annual IEEE International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale, 3M-NANO 2023

作者： Zhan, Zhen Xie, Hanhan Hu, Chengzhi Southern University of Science and Technology Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy Engineering Shenzhen China

ISBN: (纸本)9798350344486

Cell culture in vitro is essential for drug screening, disease modeling, and stem cell-related research. Previous studies have indicated that two-dimensional (2D) cellular environments can significantly differ from physiological cells in vivo, leading to a high failure rate when translating therapeutics developed in 2D cell models to clinical applications. Therefore, there is a strong focus on developing three-dimensional (3D) cell culture techniques that more closely mimic in vivo cell microenvironments. These techniques hold great promise for enhancing precision in drug discovery and tissue regeneration. In this study, we introduce a novel microfluidic technique that utilizes droplets to fabricate hydrogel microspheres, each exhibiting a unique internal morphology suitable for 3D cell culture applications. Specifically, we employed this method to cultivate human umbilical vein endothelial cells (HUVECs) within the interior canals of the hydrogel microspheres, forming monolayers on the surfaces of the spiral canals. This setup effectively mimicked the configurations of native blood vessels. Furthermore, we successfully demonstrated the fabrication of heterogeneous spheroids with spiral blood vessel lumens, which can be utilized to construct spiral vascularized bone tissue. © 2023 IEEE.

关键词： Microfluidics

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Attitude and Earth Velocity Estimation - Part II: Observer on the Special Orthogonal Group

Attitude and Earth Velocity Estimation - Part II: Observer o...

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IEEE Annual Conference on Decision and Control

作者： Pedro Batista Carlos Silvestre Paulo Oliveira Institute for Systems and Robotics Laboratory of Robotics and Systems in Engineering and Science Portugal

ISBN: (纸本)9781467360890

This paper presents a novel cascade attitude observer based on measurements of a single body-fixed vector, in addition to high-grade rate gyro readings. First, a second body-fixed vector, related to the angular velocity of the Earth around its own axis, is dynamically estimated. Then, an attitude observer is built based upon the measured body-fixed vector, the estimated one, and the angular velocity provided by the rate gyros. The topological characteristics of the attitude estimates are preserved by construction and the estimation error is shown to converge to zero. The region of convergence is characterized and the result is best described as semi-global. Simulation results are included that show the achievable performance of the proposed solution. Finally, the results and characteristics of the observer are compared with that proposed in a companion paper, which considers attitude estimates on R~(3×3).

关键词： Observers Vectors Angular velocity Earth Convergence Coordinate measuring machines

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Attitude and Earth Velocity Estimation - Part I: Globally Exponentially Stable Observer

Attitude and Earth Velocity Estimation - Part I: Globally Ex...

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IEEE Annual Conference on Decision and Control

作者： Pedro Batista Carlos Silvestre Paulo Oliveira Institute for Systems and Robotics Laboratory of Robotics and Systems in Engineering and Science Portugal

ISBN: (纸本)9781467360890

The main contribution of this paper is the development of a novel attitude observer based on a triaxial high-grade rate gyro and single body-fixed vector measurements of a constant inertial vector, in contrast with typical solutions that require two of these vectors. The proposed structure consists in a cascade observer, where the angular velocity of the Earth around its own axis is extracted in the first block and the attitude is estimated in the second. The stability of the system as a whole is analyzed and the error dynamics are shown to be globally exponentially stable (GES). Simulation results are presented that illustrate the achievable performance of this solution. In a companion paper an alternative observer is proposed on the special orthogonal group and both solutions are compared.

关键词： Observers Earth Vectors Angular velocity Stability analysis Convergence

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An anthropomorphic controlled hand prosthesis system

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Journal of Zhejiang University-science C(Computers and Electronics) 2012年第10期13卷 769-780页

作者： Hai HUANG Hong LIU Nan LI Li JIANG Da-peng YANG Lei WAN Yong-jie PANG Gerd HIRZINGER National Key Laboratory of Science and Technology on Autonomous Underwater Vehicle Harbin Engineering University Harbin 150001 China State Key Laboratory of Robot and Systems Harbin Institute of Technology Harbin 150001 Chin Institute of Robotics and Mechatronics German Aerospace Center DLR Wessling 82230 Germany

Based on HIT/DLR(Harbin Institute of Technology/Deutsches Zentrum für Luft-und Raumfahrt) Prosthetic Hand II,an anthropomorphic controller is developed to help the amputees use and perceive the prosthetic hands more like people with normal physiological *** core of the anthropomorphic controller is a hierarchical control *** is composed of a top controller and a low level *** top controller has been designed both to interpret the amputee's intensions through electromyography(EMG) signals recognition and to provide the subject-prosthesis interface control with electro-cutaneous sensory feedback(ESF),while the low level controller is responsible for grasp *** control strategies include the EMG control strategy,EMG and ESF closed loop control strategy,and voice control *** EMG signal recognition,10 types of hand postures are recognized based on support vector machine(SVM).An anthropomorphic closed loop system is constructed to include the customer,sensory feedback system,EMG control system,and the prosthetic hand,so as to help the amputee perform a more successful EMG *** results suggest that the anthropomorphic controller can be used for multi-posture recognition,and that grasp with ESF is a cognitive dual process with visual and sensory *** process while outperforming the visual feedback process provides the concept of grasp force magnitude during manipulation of objects.

关键词： Anthropomorphic controller Prosthetic hand EMG recognition Electro-cutaneous sensory feedback

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Development and Evaluation of a Robotic System for Safe Cardiac Sheath Delivery

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IEEE Transactions on Biomedical engineering 2025年 PP卷 PP页

作者： Wang, Weizhao Saija, Carlo Xu, Zhouyang Zeidan, Aya Wilcox, Joshua Patterson, Tiffany Redwood, Simon Wang, Shuangyi Rhode, Kawal Housden, Richard King's College London School of Biomedical Engineering and Imaging Sciences LondonWC2R 2LS United Kingdom Guy's and St Thomas' NHS Foundation Trust Cardiovascular Department LondonSE1 7EH United Kingdom King's College London School of Cardiovascular Medicine and Sciences LondonSE1 7EH United Kingdom Institute of Automation Chinese Academy of Sciences State Key Laboratory of Multimodal Artificial Intelligence Systems Beijing100190 China University of Chinese Academy of Sciences School of Artificial Intelligence Beijing101408 China Chinese Academy of Sciences Centre for Artificial Intelligence and Robotics Hong Kong Institute of Science & Innovation Hong Kong

Objective: This study aimed to develop and evaluate a 3-degree-of-freedom (DoF) robotic system for the safe delivery of cardiac sheaths through challenging anatomical structures, including the fossa ovalis and pathways with tight curves. Methods: The robot and its kinematic model were built on a previously proposed single-DoF actuation module and bending model. A sheath delivery strategy (SDS) was developed, combining two control methods: tip position control to approach an optimal entry point and point-constrained control to maintain consistent navigation through this point, minimizing tissue contact. Technical performance was evaluated through trajectory-following and point-crossing tests, followed by feasibility experiments in a simulated scenario. Trials were conducted by three cardiologists using a validated phantom model under fluoroscopic guidance, comparing SDS with joint control (JC) and manual control (MC). Results: Average root mean square errors were 2.10 mm for tip position control and 1.86 mm for point-constrained control. SDS outperformed MC with significantly shorter trajectory lengths and lower root mean square jerk. Compared to JC, SDS reduced sheath-induced movements (an indirect measure of force) and increased retraction success rates at the fossa ovalis. Conclusion: The proposed robotic system reduced tissue wall contact compared to JC and provided smoother, more controlled operations than MC, ensuring safer and more effective delivery through confined pathways. Significance: This work contributes to advancing robotic-assisted cardiac sheath delivery, providing a reliable and safer method for navigating challenging anatomical structures. © 2025 IEEE Computer Society. All rights reserved.

关键词： Medical robotics

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Instability-Induced Origami Design by Topology Optimization

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Acta Mechanica Solida Sinica 2023年第4期36卷 506-513页

作者： Weiwei Wang Ke Liu Meiqi Wu Hongyuan Li Pengyu Lv Huiling Duan State Key Laboratory for Turbulence and Complex Systems Department of Mechanics and Engineering ScienceBIC-ESATCollege of EngineeringPeking UniversityBeijing 100871China Department of Advanced Manufacturing and Robotics College of EngineeringPeking UniversityBeijing 100871China CAPT HEDPS and IFSACollaborative Innovation Center of MoEPeking UniversityBeijing 100871China

Instability-induced wrinkle patterns of thin sheets are ubiquitous in nature,which often result in origami-like patterns that provide inspiration for the engineering of origami *** by instability-induced origami patterns,we propose a computational origami design method based on the nonlinear analysis of loaded thin sheets and topology *** bar-and-hinge model is employed for the nonlinear structural analysis,added with a displacement perturbation strategy to initiate out-of-plane *** ideas from topology optimization,a continuous crease indicator is introduced as the design variable to indicate the state of a crease,which is penalized by power functions to establish the mapping relationships between the crease indicator and hinge *** the structural strain energy with a crease length constraint,we are able to evolve a thin sheet into an origami structure with an optimized crease *** examples with different initial setups are illustrated,demonstrating the effectiveness and feasibility of the method.

关键词： Origami structure Instability Topology optimization Bar-and-hinge model

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Nonconvex Noise-Tolerant Neural Model for Repetitive Motion of Omnidirectional Mobile Manipulators

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IEEE/CAA Journal of Automatica Sinica 2023年第8期10卷 1766-1768页

作者： Zhongbo Sun Shijun Tang Jiliang Zhang Junzhi Yu the Department of Control Engineering Changchun University of TechnologyChangchun 130012China IEEE College of Information Science and Engineering Northeastern UniversityShenyang 110819China the State Key Laboratory for Turbulence and Complex Systems Department of Advanced Manufacturing and RoboticsCollege of EngineeringPeking UniversityBeijing 100871China

Dear Editor,Quadratic programming problems(QPs)receive a lot of attention in various fields of science computing and engineering applications,such as manipulator control[1].Recursive neural network(RNN)is considered t... 详细信息

关键词： directional programming hardware

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Optimal Fuel Feed Strategy for Asymmetric Arranged Multi-tanks Aircraft 3

Optimal Fuel Feed Strategy for Asymmetric Arranged Multi-tan...

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3rd International Conference on Industrial Artificial Intelligence, IAI 2021

作者： Miao, Haoyu Ouyang, Zikai Yang, Shunpeng Yan, Weichao Cao, Mengfan Chen, Shibo Yang, Zaiyue Guangdong Prov. Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and Technology Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy Engineering Shenzhen518055 China

ISBN: (纸本)9781665435178

Aircraft fuel system, which provides a continuous source of fuel to the engine, is an important component of the aircraft. Although the sequential fuel feed strategy for the symmetric arranged multi-tanks aircraft is widely used in today's aircraft, the fuel feed strategy of the asymmetric arranged multi-tanks is still a challenge. In this article, a two layer offline approach is developed to obtain the fuel feed strategy to minimize the difference between the actual center of gravity (CG) and the desired CG. The performance of the proposed approach is tested in a case study based on the test data of aircraft pitch movement. The result indicates that the proposed approach solves the problem with an offline manner from the optimization perspective. © 2021 IEEE.

关键词： Aircraft

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