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ACM International Conference on Virtual Reality Continuum and its Applications, VRCIA 2006

作者： Zhong, Yongmin Shirinzadeh, Bijan Alici, Gursel Smith, Julian Robotics and Mechatronics Research Laboratory Monash University VIC 3800 Australia School of Mechanical Materials and Mechatronics Engineering University of Wollongong 2522 NSW Australia Monash Medical Centre Department of Surgery Monash University VIC 3800 Australia

ISBN: (纸本)1595933247

In this paper, a new methodology is presented to simulate deformation of soft objects by the reaction-diffusion analogy. The potential energy generated by an external force as a result of a deformation is propagated among mass points by the principle of reaction-diffusion. The novelty of the methodology is that the reaction-diffusion techniques are established to describe the potential energy of deformation and to extrapolate internal forces of a deformed object. An improved reaction-diffusion model is developed for the natural propagation of the energy generated by the external force. A method is presented to derive the internal forces from the potential energy distribution. The proposed methodology not only deals with large-range deformation, but also accommodates both isotropic and anisotropic materials by simply changing diffusion constants. Examples are presented to demonstrate the efficiency of the proposed methodology. © 2006 ACM.

关键词： Deformation

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Design of a differentially flat open-chain space robot with arbitrarily oriented joints and two momentum wheels at the base

Design of a differentially flat open-chain space robot with ...

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IEEE International Conference on robotics and Automation (ICRA)

作者： S.K. Agrawal K. Pathak J. Franch R. Lampariello G. Hirzinger Department of Mechanical Engineering University of Delaware Newark DE USA DLR Institute of Robotics and Mechatronics Wessling Germany

The motion of a free-floating space robot is characterized by the principle of conservation of angular momentum. It is well known that these angular momentum equations are nonholonomic, i.e., are nonintegrable rate equations. If the base of the free-floating robot is partially actuated, it is difficult to attain trajectories of the joints that result in point-to-point motion of the entire robot system in its configuration space. However, if the drift-less system associated with the angular momentum conservation equations is shown to be differentially flat, point-to-point maneuvers of the free-floating robot in its configuration space can be constructed. However, an open research problem in the current literature is to show the property of differential flatness for a general space robot. The primary contributions of this paper are as follows: (i) study systematically the structure of the nonholonomic rate constraint equations of a free-floating open-chain space robot with arbitrarily oriented joints and two momentum wheels; (ii) establish the design conditions under which the system exhibits differential flatness; (iii) exploit these design conditions for point-to-point trajectory planning and control of the space robot

关键词： Mobile robots Orbital robotics Wheels Control systems Differential equations Trajectory Motion planning Mechanical engineering mechatronics Manipulators

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Haptic deformation modelling through cellular neural network

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International Journal of Simulation: Systems, Science and Technology 2006年第8期7卷 1-20页

作者： Zhong, Yongmin Shirinzadeh, Bijan Alici, Gursel Smith, Julian Robotics and Mechatronics Research Laboratory Monash University VIC Australia School of Mechanical Materials and Mechatronics Engineering University of Wollongong NSW Australia Monash Medical Centre Department of Surgery Monash University VIC Australia

This paper presents a new methodology for the deformation of soft objects by drawing an analogy between cellular neural network (CNN) and elastic deformation. The potential energy stored in an elastic body as a result of a deformation caused by an external force is propagated among mass points by nonlinear CNN activities. The novelty of the methodology is that soft object deformation is carried out from the perspective of energy propagation, and nonlinear material properties are modelled with nonlinear CNNs, rather than geometric nonlinearity as in most of the existing deformation methods. Integration with a haptic device has been achieved to simulate soft object deformation with force feedback. The proposed methodology not only predicts the typical behaviors of living tissues, but also easily accommodates isotropic, anisotropic and inhomogeneous materials, and local and large-range deformation. © 2006, UK Simulation Society. All rights reserved.

关键词： Cellular neural networks

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Standardization of data ow for laboratory automation software based on XML technology

Standardization of data ow for laboratory automation softwar...

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SICE Annual Conference

作者： Ki Tak Ahn Wan Kyun Chung Pohang Institute of Intelligent Robotics PIRO Pohang South Korea Robotics & Bio-mechatronics Laboratory Department of Mechanical Engineering Pohang University of Science and Technology Pohang South Korea

Analytical information markup language(AnIML) is the developing XML standard for analytical chemistry data. It is a combination of a highly flexible AnlML core schema that defines XML tagging for any kind of analytical information and a set of analytical technique instance documents (ATID) XML files, one per analytical technique, applying tight constraints to the flexible core and which in turn are defined by the technique schema which can be extended for vendor-specific and institutional-specific parameters. This open-source development platform for a new standard can be applied to the lab automation systems. This paper introduces AnlML as a software platforms in the aspect of interchanging data between analytical chemistry instruments, computer applications, and databases with XML (extensible markup language) base. Especially focusing the movement of standardization in the area of lab automation, AnlML deserves to be watched as a new way to interchange and store spectroscopy and chromatography data based on XML. This article presents an overview of AnlML and will look into efforts that have been gaining momentum to develop a new all-embracing data standard for analytical data based on XML applicable to the clinical laboratory

关键词： Standardization Laboratories Automation XML Information analysis Standards development Data analysis Chemistry Open source software Chemical technology

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Cellular neural network based deformation simulation with haptic force feedback

Cellular neural network based deformation simulation with ha...

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International Workshop on Advanced Motion Control (AMC)

作者： Y. Zhong B. Shirinzadeh G. Alici J. Smith Robotics & Mechatronics Research Laboratory Monash University Australia School of Mechanical Materials and Mechatronics Engineering University of Wollongong Australia Department of Surgery Monash Medical Centre Monash University Australia

This paper presents a new methodology for deformable object modelling by drawing an analogy between cellular neural network (CNN) and elastic deformation. The potential energy stored in an elastic body as a result of a deformation caused by an external force is propagated among mass points by the non-linear CNN activity. An improved CNN model is developed for propagating the energy generated by the external force on the object surface in the natural manner of Poisson equation. The proposed methodology models non-linear materials with nonlinear CNN rather than geometric non-linearity in the most existing deformation methods. It can not only deal with large-range deformations, but it can also accommodate isotropic, anisotropic and inhomogeneous materials by simply modifying constitutive constants

关键词： Cellular neural networks Deformable models Haptic interfaces Force feedback Computational modeling Surgery Potential energy Solid modeling Anisotropic magnetoresistance Medical simulation

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Simulation of deformable models with the Poisson equation

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Computer methods in biomechanics and biomedical engineering 2006年第5期9卷 289-304页

作者： Yongmin Zhong Bijan Shirinzadeh Gursel Alici Julian Smith Robotics and Mechatronics Research Laboratory Department of Mechanical Engineering Monash University Clayton VIC 3800 Australia. yongmin.zhong@eng.monash.edu.au

In this paper, we present a new methodology for the deformation of soft objects by drawing an analogy between the Poisson equation and elastic deformation from the viewpoint of energy propagation. The potential energy stored due to a deformation caused by an external force is calculated and treated as the source injected into the Poisson system, as described by the law of conservation of energy. An improved Poisson model is developed for propagating the energy generated by the external force in a natural manner. An autonomous cellular neural network (CNN) model is established by using the analogy between the Poisson equation and CNN to solve the Poisson model for the real-time requirement of soft object deformation. A method is presented to derive the internal forces from the potential energy distribution. The proposed methodology models non-linear materials with the non-linear Poisson equation and thus non-linear CNN, rather than geometric non-linearity. It not only deals with large-range deformations, but also accommodates isotropic, anisotropic and inhomogeneous materials by simply modifying constitutive coefficients. A haptic virtual reality system has been developed for deformation simulation with force feedback. Examples are presented to demonstrate the efficiency of the proposed methodology.

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Computer methods in biomechanics and biomedical engineering

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Computer Methods in Biomechanics and Biomedical engineering 2006年第5期9卷 289-304页

作者： Zhong, Yongmin Shirinzadeh, Bijan Alici, Gursel Smith, Julian Robotics and Mechatronics Research Laboratory Department of Mechanical Engineering Monash University Clayton VIC. 3800 Australia School of Mechanical Materials and Mechatronics Engineering University of Wollongong Wollongong NSW 2522 Australia Department of Surgery Monash Medical Centre Monash University Clayton VIC. 3800 Australia

In this paper, we present a new methodology for the deformation of soft objects by drawing an analogy between the Poisson equation and elastic deformation from the viewpoint of energy propagation. The potential energy stored due to a deformation caused by an external force is calculated and treated as the source injected into the Poisson system, as described by the law of conservation of energy. An improved Poisson model is developed for propagating the energy generated by the external force in a natural manner. An autonomous cellular neural network (CNN) model is established by using the analogy between the Poisson equation and CNN to solve the Poisson model for the real-time requirement of soft object deformation. A method is presented to derive the internal forces from the potential energy distribution. The proposed methodology models non-linear materials with the non-linear Poisson equation and thus non-linear CNN, rather than geometric non-linearity. It not only deals with largerange deformations, but also accommodates isotropic, anisotropic and inhomogeneous materials by simply modifying constitutive coefficients. A haptic virtual reality system has been developed for deformation simulation with force feedback. Examples are presented to demonstrate the efficiency of the proposed methodology. © 2006 Taylor & Francis Ltd.

关键词： Cellular neural networks

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Special class of positive definite functions for formulating adaptive micro/nano manipulator control

Special class of positive definite functions for formulating...

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International Workshop on Advanced Motion Control (AMC)

作者： Hwee Choo Liaw D. Oetomo G. Alici B. Shirinzadeh Robotics and Mechatronics Research Laboratory Department of Mechanical Engineering Monash University Clayton VIC Australia School of Mechanical Materials and Mechatronic Engineering University of Wollongong NSW Australia

This paper presents a special class of positive definite functions for the formulation of adaptive control strategies, specifically in the research of an effective control algorithm for piezoelectric actuation systems in micro/nano manipulation. To deal with the control problems of unknown system parameters, nonlinear hysteresis effects, and disturbances in the piezoelectric actuation systems, an adaptive control methodology is proposed. Using the saturation function derived from a positive definite function to formulate the control methodology, the closed-loop system stability can be guaranteed. Furthermore, the control methodology is proposed to track a desired motion trajectory in position, velocity, and acceleration. In this paper, a special positive definite function is introduced and a control formulation as well as a stability analysis is detailed. Implementation of the control methodology is practical and requires only a knowledge of the initial estimate of the system parameters. In this study, control experiments conducted using the proposed control approach on a piezoelectric actuation system has demonstrated a promising ability in tracking a specified motion trajectory. With this control capability in the presence of unknown system parameters, hysteresis, and external disturbance, the adaptive methodology is very attractive in the field of micro/nano manipulation in which high performance control applications could be realised

关键词： Programmable control Adaptive control Control systems Motion control Hysteresis Tracking Trajectory Nonlinear control systems Stability Velocity control

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Nanorobot Communication Techniques: A Comprehensive Tutorial

Nanorobot Communication Techniques: A Comprehensive Tutorial

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International Conference on Control, Automation, robotics and Vision (ICARCV)

作者： Adriano Cavalcanti Tad Hogg Bijan Shirinzadeh Hwee C. Liaw Robotics and Mechatronics Research Laboratory Department of Mechanical Engineering Monash University Melbourne VIC Australia Hewlett Packard Laboratories Palo Alto CA USA

This work presents chemical communication techniques for nanorobots foraging in fluid environments relevant for medical applications. Unlike larger robots, viscous forces and rapid diffusion dominate their behaviors. Examples range from modified microorganisms to nanorobots using ongoing developments in molecular computation, sensors and motors. The nanorobots use an innovative methodology to achieve decentralized control for a distributed collective action in the combat of cancer. A communication approach is described in the context of recognize a single tumor cell in a small venule as a target for medical treatment. Thus, a higher gradient of signal intensity of E-cadherin is used as chemical parameter identification in guiding nanorobots to identify malignant tissues. A nanorobot can effectively use chemical communication to improve intervention time to identify tumor cells

关键词： Tutorial Cancer Tumors Medical services Biomedical equipment Robot sensing systems Medical robotics Microorganisms Chemical sensors Micromotors

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Virtual modelling of solid objects with constraint-based manipulations

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International Journal of Modelling and Simulation 2006年第3期26卷 212-218页

作者： Zhong, Y. Yuan, X. Ma, W. Shirinzadeh, B. Robotics and Mechatronics Research Laboratory Department of Mechanical Engineering Monash University Clayton Vic. 3800 Australia School of Computer Science University of Windsor Canada Department of Manufacturing Engineering and Engineering Management City University of Hong Kong Hong Kong Hong Kong

This paper presents an intuitive approach to precise solid modelling in virtual reality environments. A hierarchically structured model is established to handle the tasks of object definition, object creation, and object rendering with an integrated data structure. Constraints are organized at different levels on different objects and are embedded in the data structure. A constraint reasoning engine is developed to automatically determine allowable motions for precise manipulation of virtual objects with online assistance from constraints. Examples are presented to demonstrate the advantage of precise solid modelling through constraint-based manipulations in virtual environments.

关键词： Virtual reality

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