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检索条件"机构=Robotics Engineering Program"

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A parallel Remote Center of Motion mechanism for needle-based medical interventions

A parallel Remote Center of Motion mechanism for needle-base...

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

作者： Mostafa Hadavand Michael D. Naish Rajni V. Patel Biomedical Engineering Graduate Program Western University Canadian Surgical Technologies and Advanced Robotics (CSTAR) Lawson Health Research Institute London Canada Department of Mechanical and Materials Engineering Western University Department of Electrical and Computer Engineering Western University

A novel parallel Remote Center of Motion (RCM) mechanism is proposed for a surgical robot designed to perform minimally invasive needle-based interventions for lung cancer diagnosis and treatment. The proposed robot provides four degrees of freedom (DOFs) to orient and move a surgical needle within a spherical coordinate system. The RCM is beneath the skin surface to minimize the invasiveness of the surgical procedure while providing the required workspace. This compact, patient-mounted robot benefits from a design capable of measuring the pure interaction forces between the needle and the tissue. In this paper, the mechanism design and its specifications are described. The kinematic analysis is presented and isotropy of the mechanism for targeting tumors is studied. Finally, the performance of the proposed robot is evaluated experimentally.

关键词： Needles Kinematics Robot kinematics Legged locomotion Joints Cancer

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Proposed surface to air anti stealth technology for homeland security

Proposed surface to air anti stealth technology for homeland...

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International Conference on engineering and Technology (ICET)

作者： Marwa A. El Diwiny El-Sayed Hassanen Abou-Hashema M. El-Sayed G. Abouelmagd Mechatronics and Industrial Robotics Program Faculty of Engineering Minia University EI Minia Egypt Electrical Engineering Department Faculty of Engineering Minia University EI Minia Egypt Electrical Engineering Department Faculty of Engineering Aswan University Aswan Egypt Minia University El Minia EG

This paper handles a proposed algorithm of surface to air anti stealth technology for homeland security. The paper approach is anti stealth theory and it's application by using fuzzy logic control. the anti stealth is done by exposing stealth EM 3500 wave absorber with non lethal pulsed ND YAG 532 then the electric permittivity enhanced and consequently reflection. The application of surface to air is done by determining important parameters as the borders range and creating virtual shape of laser beam hunter for the target through expecting it's degree of freedom in the free space, fuzzy logic control can control the proposed system by inserting expected range of laser hunter beams finally the desired angle can be obtained for get more contact points on it's surface to be visible of microwave radar.

关键词： Aircraft Reflection Permittivity Materials Impedance Lasers

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Design, analysis and simulation of biped running robot

Design, analysis and simulation of biped running robot

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Jongwon Park Young Kook Kim Byungho Yoon Kyung-Soo Kim Soohyun Kim School of Mechanical Aerospace and Systems Engineering Korea Advanced Institute of Science and Technology Daejeon South Korea Robotics Program Korea Advanced Institute of Science and Technology Daejeon South Korea

Legged systems are potentially expected to have outstanding mobility. However, they have shown only modest levels of capability to traverse on flat ground. This paper introduces a biped robot inspired by the hind limbs of cats. We present the characteristics of the system and conduct a position analysis based on vector loop equations. Afterwards, the ground clearance and parallel movement of the robotic leg are shown. We present a speed equation in an effort to verify how the major parameters affect the speed. In addition, we explore control strategies for ground speed matching, acceleration, slip, and speed control. A dynamic simulation shows that the biped robot reached 13.31 leg lengths per second (9.3km/h). This biped robot with the speed equation and its control strategies allow us to understand legged locomotion and can show us how to improve the speed.

关键词： Legged locomotion Mathematical model Equations Acceleration Vectors Joints

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CHARM: A Platform for Algorithmic robotics Education & Research

CHARM: A Platform for Algorithmic Robotics Education & Resea...

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Surya P. N. Singh Hanna Kurniawati Kianoosh Soltani Naveh Joshua Song Tyson Zastrow RDL and Mechatronic Program director and coordinates METR4202 (Advanced Controls and Robotics) RDL and coordinates COMP3702 (Artificial Intelligence) Mechatronic Engineering student in the UQ RDL UQ RDL Mechatronic Engineering graduate

ISBN: (纸本)9781479969357

This paper introduces autonomous sorting of moving coins via a robot as a multi-level task that supports the principled study of robotics fundamentals including kinematics, dynamics, perception, motion planning, controls, and optimization based around a widely obtainable, standardized, low-cost object (a coin). The paper also presents a demonstrated solution to this in the form of the CHARM (Coin Handling Arm for robotics Mastery) robot, which addresses the autonomous coin sorting problem using an economical kit made from commodity computing hardware and three Dynamixel servomotors. From a learning perspective, this problem facilitates interdisciplinary practice across subject and grade levels with an algorithmic foundation that is central to modern robotics. Evidence supporting this approach is illustrated from case studies of student projects and, in particular, the CHARM robot. Beyond practice alone, by presenting a challenging (but manageable) research problem, we found that the coin sorting task teaches robotics in a principled way. Further, algorithmic complexity tiers the problem to academic levels. While motivated by robotics education, the (optimal) coin sorting problem may also be seen as an archetype problem for manipulation/motion-planning research. Thus, this also promotes a research foundation supporting later research opportunities.

关键词： robotics Coin Computer hardware Robot Grade Level Research Problems sorting programs

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Dynamic analysis of the spinal-pelvic motion match during feline galloping for speed increase into quadruped robotic system

Dynamic analysis of the spinal-pelvic motion match during fe...

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International Conference on Control, Automation and Systems ( ICCAS)

作者： Young Kook Kim Jongwon Park Byungho Yoon Kyung-Soo Kim Soohyun Kim Robotics Program Korea Advanced Institute of Science and Technology (KAIST) Daejeon Republic of Korea Department of Mechanical Engineering Korea Advanced Institute of Science and Technology (KAIST) Daejeon Republic of Korea

ISBN: (纸本)9781479960514

In terms of the speed performance in feline galloping, relative spinal motion is observed as a key role to increase the locomotion speed. In order to prove this, a domestic cat was observed to investigate galloping gait patterns of the feline. Based on the measurement of the dynamic behavior of a domestic cat, we observed a significant increase in speed through correlated angular rate changes of spinal segments. To support the motion into a quadruped system, the hindlimb stance phase was analyzed using a 2 dimensional planar dynamic model to verify that the external torque generated by spinal motion plays an important role in increasing the ground reaction force in the direction of movement. To verify the analysis, the dynamic simulation demonstrating the hindlimb stance was applied with 3 parameter variations: time, phase and the amplitude of the fitted relative angular velocity profile.

关键词： TV Minimization Robots

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Improved performance of a low-cost PDR system through sensor calibration and analysis

Improved performance of a low-cost PDR system through sensor...

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

作者： Yunki. Kim Donghyuk Lee Kijung. Kim Jangmyung. Lee Dept. of Electrical Engineering Pusan National University Busan Korea Dept. Interdisciplinary Program in Robotics Pusan National University Busan Korea Dept. of Electrical Engineering 'Brain Korea 21 Project’ of Pusan National University Busan Korea

ISBN: (纸本)9781479957378

This paper proposes improvement for performance of a low-cost Pedestrian Dead-Reckoning(PDR) System through calibration and analysis of sensor. It is applied that PDR System for estimating pedestrian's position in the area not being able to be received. also sensor's error is removed by using angle compensation technique and performance of system is improved by analysis of PDR system. Consequently, position of pedestrian is estimated by applying the improved value of sensor and result of angle analysis to PDR system. Experiments were conducted to verify the proposed system. Experimental results within 2% of range error, RMS position error of less than 3% showed superior performance.

关键词： Acceleration Mathematical model Equations Length measurement Temperature sensors Estimation Calibration

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New Anti stealth technology for safe piloting of the unmanned aerial vehicle

New Anti stealth technology for safe piloting of the unmanne...

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IEEE International Conference on Mechatronics and Automation

作者： Marwa A. El Diwiny El-Sayed Hassanen Abou-Hashema M. El-Sayed G. Abouelmagd Mechatronics and Industrial Robotics Program Minia University El Minia El Minia Egypt Electrical Engineering Department Minia University El Minia El Minia Egypt Electrical Engineering Department Aswan University Aswan Egypt Production Engineering and Design Department Minia University El Minia El Minia Egypt

This research handles a proposed technology in the defense and security system is Anti stealth technology, This technology supposes increasing radar cross section (RCS) of the stealth system by increasing relative permittivity ε' and decreasing attenuation ε" consequently loss tangent tan(δ e ). Non lethal pulsed ND YAG 532nm laser is the proposed solution for enhancing stealth EM 3500 wave absorber's relative permittivity. This research handles a probabilistic Algorithm for detecting stealth target by using neural network as future implementation for Anti stealth technology.

关键词： Laser beams Materials Permittivity Aircraft Radar Masers Laser applications

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De sign of a dual lens of a dual lens system for a micromachined system for a micromachined system for a micromachined system for a micromachined system for a micromachined system for a micromachined system for a micromachined system for a micromachined system for a micromachined optical setup optical setup optical setup

De sign of a dual lens of a dual lens system for a micromach...

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Microelectronics Technology and Devices (SBMicro)

作者： Thiago D. O. Moura Takashiro Tsukamoto Shuji Tanaka Daniel Filgueiras Davies W. de Lima Monteiro Graduate Program in Electrical Engineering PPGEE Universidade Federal de Minas Gerais Belo Horizonte Brazil Department of Bioengineering and Robotics Tohoku University Sendai Japan Mediphacos Belo Horizonte MG Brazil Department of Electrical Engineering OptMA_lab - DEE/UFMG Belo Horizonte MG Brazil

This paper presents the design of a dual-lens system capable of adjusting its focus by changing the distance between the lenses with a microfabricated supporting structure. The dimensions and displacement range were based on the needs of an accommodative intraocular lens (AIOL), but the concept can be extended to any other optical system that requires focal tuning.

关键词： Optical modulation Biomedical optical imaging Tuning Reliability Actuators Metals Radio access networks

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Body machine interfaces for neuromotor rehabilitation: A case study

Body machine interfaces for neuromotor rehabilitation: A cas...

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Annual International Conference of the IEEE engineering in Medicine and Biology Society (EMBC)

作者： Camilla Pierella Farnaz Abdollahi Ali Farshchiansadegh Jessica Pedersen David Chen Ferdinando A. Mussa-Ivaldi Maura Casadio Department of Physiology Northwestern University Evanston IL Department of Informatics Bioengineering Robotics and Systems Engineering University of Genoa Genoa Italy Sensory Motor Performance Program Rehabilitation Institute of Chicago Chicago IL 60611 Department of Biomedical Engineering Northwestern University Evanston IL Rehabilitation Institute of Chicago Chicago Illinois

High-level spinal cord injury (SCI) survivors face every day two related problems: recovering motor skills and regaining functional independence. Body machine interfaces (BoMIs) empower people with sever motor disabilities with the ability to control an external device, but they also offer the opportunity to focus concurrently on achieving rehabilitative goals. In this study we developed a portable, and low-cost BoMI that addresses both problems. The BoMI remaps the user's residual upper body mobility to the two coordinates of a cursor on a computer monitor. By controlling the cursor, the user can perform functional tasks, such as entering text and playing games. This framework also allows the mapping between the body and the cursor space to be modified, gradually challenging the user to exercise more impaired movements. With this approach, we were able to change the behavior of our SCI subject, who initially used almost exclusively his less impaired degrees of freedom - on the left side - for controlling the BoMI. At the end of the few practice sessions he had restored symmetry between left and right side of the body, with an increase of mobility and strength of all the degrees of freedom involved in the control of the interface. This is the first proof of concept that our BoMI can be used to control assistive devices and reach specific rehabilitative goals simultaneously.

关键词： Sensors Shoulder Training Aerospace electronics Wireless communication Standards Spinal cord injury

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GPU based real-time trinocular stereovision

GPU based real-time trinocular stereovision

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Intelligent Robots and Computer Vision XXX: Algorithms and Techniques

作者： Yao, Yuanbin Linton, R.J. Padir, Taskin Robotics Engineering Program Electrical and Computer Engineering Department Worcester Polytechnic Institute 100 Institute Road Worcester MA 01609 United States

ISBN: (纸本)9780819494351

Most stereovision applications are binocular which uses information from a 2-camera array to perform stereo matching and compute the depth image. Trinocular stereovision with a 3-camera array has been proved to provide higher accuracy in stereo matching which could benefit applications like distance finding, object recognition, and detection. This paper presents a real-time stereovision algorithm implemented on a GPGPU (General-purpose graphics processing unit) using a trinocular stereovision camera array. Algorithm employs a winner-take-all method applied to perform fusion of disparities in different directions following various image processing techniques to obtain the depth information. The goal of the algorithm is to achieve real-time processing speed with the help of a GPGPU involving the use of Open Source Computer Vision Library (OpenCV) in C++ and NVidia CUDA GPGPU Solution. The results are compared in accuracy and speed to verify the improvement. © 2013 SPIE-IS&T.

关键词： Graphics processing unit

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