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IEEE International Conference on robotics and automation

作者： Anzhu Gao John P. Carey Ryan J. Murphy Iulian Iordachita Russell H. Taylor Mehran Armand the State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Department of Otolaryngology - Head and Neck Surgery Johns Hopkins University School of Medicine Baltimore MD 21287 USA the Research and Engineering Development Department Johns Hopkins University Applied Physics Laboratory Laurel MD 20723 USA Laboratory for Computational Sensing and Robotics (LCSR) Johns Hopkins University Baltimore MD 21218 USA

ISBN: (纸本)9781467380270

Lesions of the lateral skull base in the petrous apex present unique surgical challenges because of the proximity of critical structures, including the inner ear, carotid artery, jugular bulb, facial nerve, lower cranial nerves, dura and brain. Currently, there are few appropriate surgical devices that can reach and remove these lesions, each with their own disadvantages. Here we investigate the feasibility of a dexterous continuum manipulator (DCM) capable of C-& S-shaped bends enabling dissection with remote center of motion (RCM) deep to the intact inner ear. A dedicated borescope channel provides the necessary visualization, while a flexible ring curette pre-shaped with a nitinol strip is designed to work through the instrument lumen for curettage of a cystic lesion. The kinematics of the DCM with the ring curette subject to an RCM constraint are investigated to explore the boundaries of a typical cyst cavity. Experiments in the planar phantom are carried out to validate feasibility, and results show that the proposed solution is practicable, accomplishing 80% and 83% removal of cysts for two kinds of boundaries.

关键词： Dexterous Continuum Manipulator Flexible Ring Curette RCM

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Output Feedback Control of a Robotic Exoskeleton with Input Deadzone via Neural Networks

Output Feedback Control of a Robotic Exoskeleton with Input ...

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IEEE International Conference on Cyber Technology in automation, Control, and Intelligent Systems

作者： Ziting Chen Wei He Yiting Dong Zhijun Li College of Automation Science and Engineering South China University of Technology Center for Robotics and School of Automation Engineering University of Electronic Science and Technology of China

ISBN: (纸本)9781479987313

In this paper, adaptive output feedback control via neural networks is designed for a robotic exoskeleton with unknown dynamics. Neural networks are used to compensate for the unknown deadzone effect induced by the actuators and the unknown dynamics of the robot. High-gain observer is employed to estimate the velocity information and then integrated in the design of output feedback controller. The deadzone effect is approximated by a Radial Basis Function Neural Network (RBFNN) and the tracking error for the deadzone effect is bounded and converging. The unknown dynamics of the robotic exoskeleton are estimated with another RBFNN. The proposed control is able to compensate for the estimated deadzone effect and track the desired trajectory. Finally, numerical simulation and experiment on a two-joint rigid exoskeleton demonstrate the effectiveness of the proposed method.

关键词： Neural network control Deadzone Adaptive control Robotic exoskeleton neural network control Output Feedback Control Neural network adaptive control Robotic Exoskeleton Radial basis function networks Unknown Output feedback

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Size-dependent bistability of an electrostatically actuated arch NEMS based on strain gradient theory?

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Journal of Physics D: Applied Physics 2015年第24期48卷

作者： Tajaddodianfar, Farid Pishkenari, Hossein Nejat Yazdi, Mohammad Reza Hairi Miandoab, Ehsan Maani School of Mechanical Engineering College of Engineering University of Tehran Tehran Iran Center of Excellence in Design Robotics and Automation School of Mechanical Engineering Sharif University of Technology Tehran Iran

This paper deals with the investigation of the size-dependent nature of nonlinear dynamics, in a doubly clamped shallow nano-arch actuated by spatially distributed electrostatic force. We employ strain gradient theory together with the Euler-Bernoulli and shallow arch assumptions in order to derive the nonlinear partial differential equation governing the transverse motion of the arch with mid-plane stretching effects. Using the Galerkin projection method, we derive the lumped single degree of freedom model which is then used for the study of the size effects on the nonlinear snap-through and pull-in instabilities of the arch nano-electro-mechanicalsystem (NEMS). Moreover, using strain gradient theory, the size-dependent bistability and fundamental frequencies of the nano-arch are scrutinized, revealing that, despite what is predicted by the classical theory, the bistability region in the parameter space of the nanostructure shrinks as the structure scales down. Also, we show that the minimum initial elevation, required for bistability, increases as the nano-arch scales down. © 2015 IOP Publishing Ltd Printed in the UK.

关键词： Arches

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Study on Vision based On-machine Micro Tool Measurement Method

Study on Vision based On-machine Micro Tool Measurement Meth...

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2015 Joint International Mechanical,Electronic and Information Technology Conference(JIMET 2015)

作者： Xiaoru LIU Xi ZHANG Bo SHANG Xianliang CHI School of Mechatronic Engineering and Automation Shanghai University Shanghai Key Laboratory of Intelligent Manufacturing and Robotics

ISBN: (纸本)9781510817982

In order to inspect the condition of micro tools automatically and accurately in the micro milling process, a vision based on-machine measurement method is studied in this paper. The proposed methods can measure tool dimension, spindle radial runout and acquire the microscopic image with full depth of focus from both radial and axial direction. Based on the proposed method, a dedicated micro tool measuring system was established, which consists of on-machine measurement unit, control box and software. The measurement experiments on machine tool verified that the proposed methods and the developed measurement system can fulfill the needs of industrial applications.

关键词： Micro tool inspection Dimension measurement Radial runout Machine vision

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Design and Dynamic Analysis of an Underwater Manipulator

Design and Dynamic Analysis of an Underwater Manipulator

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2015年中国智能自动化学术会议

作者： Wuxiang Zhang Hongcheng Xu Xilun Ding School of Mechanical Engineering and Automation Beihang University State Key Laboratory of Robotics and System (HIT)

Underwater Vehicle/Manipulator System(UVMS) is an important equipment for the exploitation of marine resources. The paper introduces a fivefunction manipulator, which is the main operating tool of UVMS and has four DOFs and a claw. All joints are driven by hydraulic cylinders for a better impermeability to seawater. A novel wrist mechanism utilizing groove cam is presented for achieving a rotation motion output. In addition, the dynamics of the manipulator interacting with the UVMS system is analyzed based on Kane's method. The effects from the fluid environment are also taken into consideration, which include added mass, drag force, and buoyancy. Finally, dynamic simulations of UVMS are performed to reveal the effect of the volume ratio between the manipulator and vehicle on the stability of UVMS and a critical ratio is found.

关键词： UVMS Underwater manipulator Wrist mechanism Hydrodynamic forces Volume ratio

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Using a planar snake robot as a robotic arm taking into account the lack of a fixed base: Feasible region

Using a planar snake robot as a robotic arm taking into acco...

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： F. Reyes Wenbin Tang Shugen Ma Department of Robotics Ritsumeikan University Shiga Japan School of Engineering and Automation Tianjin University China

Snake robots are highly redundant robots that could potentially be used as robotic arms, allowing them to interact with the environment. However they do not have a fixed base, making them difficult to control accurately. In this paper, a complete modeling approach and an optimization algorithm are presented that show the torques that allow a snake robot to track a trajectory while keeping one of its links from slipping. To do this, it is essential to consider the static friction between the ground and a snake robot. The forces of static friction are modeled as bounded constraints, in a similar fashion as the constraint forces studied in grasping with robotic hands. Simulations are carried out to analyze the problem.

关键词： Friction Robot kinematics Mobile robots Manipulators Grasping Dynamics

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A system for treatment of diabetic foot ulcers using led irradiation and natural latex

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Research on Biomedical engineering 2016年第1期32卷 3-13页

作者： Nunes, Gustavo Adolfo Marcelino de Almeida dos Reis, Maria do Carmo Rosa, Mário Fabrício Fleury Peixoto, Luciana Roberta Tenório da Rocha, Adson Ferreira Rosa, Suélia de Siqueira Rodrigues Fleury Biomedical Engineering Laboratory – BioEngLab Gama Faculty Universidade de Brasilia – UNB Área Especial de Indústria Projeção A Gama – Setor Leste Brasilia DFCEP 72444-240 Brazil Department of Electrical Engineering Universidade de Brasilia – UnB Brasilia DF Brazil Universidade de Brasilia – UnB Brasilia DF Brazil School of Medicine Universidade de Brasilia – UnB Brasilia DF Brazil Laboratory of Robotics and Automation – LARA Department of Electrical Engineering Universidade de Brasilia – UnB Brasilia DF Brazil

Introduction: We developed and tested a new system for inducing the healing of diabetic foot ulcers. The system relies on the regenerative properties of its two components: an insole with a sheet of natural latex and a device that contains a matrix of light emitting diodes with wavelength of 635 nm. Methods: The electronic and latex based devices were developed, and a four weeks test was performed in one control group (CG) of five ulcers and one experimental group (EG) of eight ulcers. The CG was treated with a standard approach, based on a silver-releasing foam dressing, and the EG was treated with the system under test. For each ulcer, an index for quantifying the percentage ulcer recovery, named CRU(%), has been calculated;a CRU(%) = 0% means no healing, and a CRU(%) = 100% means total healing. Results: There were statistically significant increases of CRU(%) of 51.8% (p = 0.022), for the CG, and of 78.4% (p © 2017, Brazilian Society of Biomedical engineering. All rights reserved.

关键词： Light emitting diodes

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Effects of carbon dioxide on different PSK modulation formats of Optical Wireless Communications using USRP

Effects of carbon dioxide on different PSK modulation format...

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International Conference on Transparent Optical Networks

作者： Jan Vitasek Radek Martinek Ales Vanderka Lukas Hajek Jan Latal Zhenli Lu Bin Li Department of Telecommunications VSB-Technical University of Ostrava Ostrava Czech Republic Department of Cybernetics and Biomedical Engineering VSB-Technical University of Ostrava Ostrava Czech Republic Department of Telecommunications Faculty of Electrical Engineering and Computer Science VSB-Technical University of Ostrava 17. listopadu 15 708 33 Czech Republic State key Laboratoryof Robotics Chinese Academy of Sciences Shenyang China School of Electrical Engineering and Automation Changshu Instituteof Technology Changshu China

ISBN: (纸本)9781509014682

This article explores the influence of the concentrated carbon dioxide (CO 2 ) gas on the different Phase Shift Keying (PSK) modulations used for Optical Wireless Communication (OWC) links. In this work, the OWC consisted of a laser diode, a photodetector, and a transmission medium. The Universal Software Radio Peripheral (USRP) unit created and evaluated the PSK modulations. This unit modulated the laser diode on the transmitter side and demodulated the data which were received by the photodetector on the receiver side. The CO 2 gas was emitted as a consequence of sublimation of the solid carbon dioxide in hot water. The measurements were done in a closed box in laboratory. The CO 2 gas is a one element of smog which pollutes cities now and then. Our experimental results with CO 2 gas could help to choose a suitable modulation scheme for OWC which are installed in cities with smog-polluted atmospheric conditions.

关键词： Phase shift keying Carbon dioxide Optical receivers Diode lasers Integrated optics Optical transmitters

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Interactive volumetric fog display 15

Interactive volumetric fog display

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SIGGRAPH Asia, SA 2015

作者： Lam, Miu-Ling Huang, Yaozhun Chen, Bin School of Creative Media City University of Hong Kong Hong Kong Centre for Robotics and Automation City University of Hong Kong Hong Kong Department of Mechanical and Biomedical Engineering City University of Hong Kong Hong Kong

ISBN: (纸本)9781450339254

Traditional fog screens are 2D. We propose a new design of fog screen that can generate fog at different depth positions and at only where necessary. Our approach applies projection mapping onto a non-planar and reconfigurable fog screen, thus enabling interactive visual contents to be displayed at multiple depth levels. Viewers can perceive the three-dimensionality naturally, and interact with the unencumbered images by touching them directly in mid-air. The display can be used in mixed reality settings where physical objects co-exist and interact with the 3D imagery in physical space.

关键词： Fog

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Application and research of the refilling process with Clip Type Manipulator

Application and research of the refilling process with Clip ...

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IEEE International Conference on robotics and Biomimetics

作者： Hui Jin Chao Yun XiaoShan Gao Robotics Institute Beihang University Bei Jing China School of Mechanical Engineering & Automation Beihang University

ISBN: (纸本)9781467396769

The Clip Type Manipulator, which includes moving unit and clip type manipulator unit, is designed for the Fast Medicine Dispensing System (FMDS). The modularization design technique is in favour of coordinated control among units and system maintenance. The permutation order of storage containers in the automatic refilling mode has been observed to have significant influence on the dispensing efficiency of the FMDS. Ant colony optimization (ACO) is used to simulate the picking route of the FMDS and optimized the picking order in practical operation. Test results show the picking route value simulated by ACO more than 43% compared with the commonly used picking route simulated by order-picking mode (OPM) in 20 picking points. According to the picking points resulting from simulation, theoretical optimization time calculated by ACO is over 50% better than that calculated by OPM. Operational test results show the optimization time of a route simulated by ACO had been optimized by more than 40% By increasing the picking point intensity, accelerating and decelerating processes existing in the short distance between picking points has a much more significant influence on optimized results.

关键词： Conferences Robots Biomimetics

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