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International Conference on Information and automation (ICIA)

作者： Chenguang Yang Junshen Chen Zhijun Li Wei He Chun-Yi Su Center for Robotics and Neural Systems Plymouth University UK College of Automation Science and Engineering South China University of Technology Guangzhou China School of Automation and Electrical Engineering University of Science and Technology Beijing Beijing China Department of Mechanical and Industrial Engineering Concordia University Montreal Canada

In this paper, we have developed a teleoperation method with novel features, such that the human operator could manipulate the telerobot using both physical and physiological means. Physiological studies have shown that our central neural system (CNS) is able to adapt muscle force, stiffness and damping to perform different tasks under various environments. However, there has been very little research in the robotics communities to incorporate human motor skills of muscle force, stiffness and damping adaptation into teleoperation. As a matter of fact, muscle activities regulated by CNS can be represented by surface electromyography (sEMG) measured by electrodes attached on the skin of human limbs. Therefore, sEMG based teleimpedance control has been recently developed to transfer the variable stiffness from human operator to a robot for flexible manipulation [1], [2], [3]. In this paper, we have developed a personalised variable gain control, whereas the control gain is set according to muscle activation extracted from sEMG signals, and force feedback is employed such that human operator is able to sense the circumstance in a haptic manner and to adapt muscle contraction subconsciously as if they are directly interacting with the environment. The proposed method enables an operator to adjust tracking speed and stiffness of the telerobot easily on the fly, and thus greatly improves a user's manipulation ability for delicate tasks, especially in the presence of motion amplification and varying payload on the telerobot. The effectiveness of the proposed approach has been tested and confirmed by comparative experiments, in which a 7-DOF (degrees of freedom) robotic arm of Baxter® robot is employed.

关键词： Force Manipulators Muscles Haptic interfaces Electromyography Robot sensing systems

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Piezoelectrically Actuated Robotic System for MRI-Guided Prostate Percutaneous Therapy

Piezoelectrically Actuated Robotic System for MRI-Guided Pro...

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作者： Su, Hao Shang, Weijian Cole, Gregory Li, Gang Harrington, Kevin Camilo, Alexander Tokuda, Junichi Tempany, Clare M. Hata, Nobuhiko Fischer, Gregory S. Automation and Interventional Medicine Robotics Lab Department of Mechanical Engineering Worcester Polytechnic Institute WorcesterMA101609 United States Philips Research North America Briarcliff ManorNY10510 United States National Center for Image Guided Therapy Brigham and Women's Hospital Harvard Medical School BostonMA02115 United States

This paper presents a fully actuated robotic system for percutaneous prostate therapy under continuously acquired live magnetic resonance imaging (MRI) guidance. The system is composed of modular hardware and software to support the surgical workflow of intraoperative MRI-guided surgical procedures. We present the development of a 6-degree-of-freedom (DOF) needle placement robot for transperineal prostate interventions. The robot consists of a 3-DOF needle driver module and a 3-DOF Cartesian motion module. The needle driver provides needle cannula translation and rotation (2-DOF) and stylet translation (1-DOF). A custom robot controller consisting of multiple piezoelectric motor drivers provides precision closed-loop control of piezoelectric motors and enables simultaneous robot motion and MR imaging. The developed modular robot control interface software performs image-based registration, kinematics calculation, and exchanges robot commands and coordinates between the navigation software and the robot controller with a new implementation of the open network communication protocol OpenIGTLink. Comprehensive compatibility of the robot is evaluated inside a 3-T MRI scanner using standard imaging sequences and the signal-to-noise ratio loss is limited to 15%. The image deterioration due to the present and motion of robot demonstrates unobservable image interference. Twenty-five targeted needle placements inside gelatin phantoms utilizing an 18-gauge ceramic needle demonstrated 0.87-mm root-mean-square (RMS) error in 3-D Euclidean distance based on MRI volume segmentation of the image-guided robotic needle placement procedure. © 1996-2012 IEEE.

关键词： Magnetic resonance imaging

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Designing of 3-Dimensional Underwater Fish Observation System and Experimental Research

Designing of 3-Dimensional Underwater Fish Observation Syste...

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International Conference on Information Sciences,Machinery,Materials and Energy（ICISMME 2015）

作者： Minhui Zheng Junyi Yang Dinghao Feng Dongqin Cheng Xi Zhang Faculty of Resource China University of GeosciencesWuhan Second Institute of Oceanography SOA School of Mechatronics Engineering and Automation Shanghai University Shanghai Key Laboratory of Intelligent Manufacturing and Robotics

Underwater imaging is an important method to discover and study deep sea ***,the information obtained from the 2-dimensional imaging materials acquired by the current technological method is too limited to meet the requirements of scientific *** this article,a package of underwater lighting and stereo vision measurement hardware system is designed that could be carried by underwater *** feasibility and accuracy of the proposed methods is proved by the pool principle *** system could provide technological support for the deep sea biology study and the exploitation of deep sea biological resources,and also be used for the 3D reconstruction and measurement of underwater micro topography and targets.

关键词： deep sea 3D vision calibration refraction

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A new method of extracting the altitude curves along chromosomes based on contour line

A new method of extracting the altitude curves along chromos...

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International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale (3M-NANO)

作者： Fengtian Li Li Ma Bo Liu Ruihua Chen Changhai Ru School of Mechatronic Engineering and Automation Shanghai University Shanghai China The First Affiliated Hospital Soochow University Suzhou China Robotics and Microsystems Center Soochow University Svzhou China

This study presented a new way of extracting the altitude curves along the chromosomes by atomic force microscopy. Based on the correspondence between the altitude distribution from chromosomes surface and the band structure along the stained chromosomes, topography analysis of chromosomes using atomic force microscopy has the potential of karyotyping without complex chemical banding process. In the experiment, chromosomes prepared in air condition were imaged by atomic force microscopy and altitude curves extracted in conventional way and proposed way were compared to see the differences, which demonstrates that this new extracting method based on contour line has the advantage of taking the deformation caused by chromosomes contraction into consideration.

关键词： Biological cells Feature extraction Atomic force microscopy Force Nanobioscience Optical microscopy

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Research on tolerance simulation and improvement of gas turbine generator 4

Research on tolerance simulation and improvement of gas turb...

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4th International Workshop of Advanced Manufacturing and automation, IWAMA 2014

作者： Liu, Jing Li, Ming Zhan, Gao Wei School of Mechatronic Engineering and Automation Shanghai Key Laboratory of Manufacturing Automation and Robotics Shanghai University China

ISBN: (纸本)9783038352532

VisVSA is a kind of 3-D tolerance analysis software which offers high reliability calculation based on Monte Carlo simulation. This paper uses VisVSA to improve the design of gas turbine generator. In many factors that affect designing properties, the impact of manufacturing precision and assembly precision through comparative analysis are discussed. © (2014) Trans Tech Publications, Switzerland.

关键词： Monte Carlo methods

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The research on standardization of white light measurement in automotive sheet metal parts measurement

The research on standardization of white light measurement i...

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2014 International Conference on Sensors Instrument and Information Technology, ICSIIT 2014

作者： Zhan, Gao Wei Li, Ming Liu, Jing Xiao, Wu Hua School of Mechatronic Engineering and Automation Shanghai Key Laboratory of Manufacturing Automation and Robotics Shanghai University China

ISBN: (纸本)9783038350392

White light measurement is increasingly applied in automotive sheet metal parts measurement nowadays. Although white light measurement has substantially improved the measuring efficiency, this method has a low precision and poor reproducibility at present stage. This paper firstly analyses the process of white light measurement, then uses DMAIC Method to establish a unified measuring standard for white light measurement, in order to improve the precision and reproducibility of this method and promote the equipment utilization. © (2014) Trans Tech Publications, Switzerland.

关键词： Sheet metal

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Active tension optimal control for WT wheelchair robot by using a novel control law for holonomic or nonholonomic systems

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Science China(Information Sciences) 2014年第11期57卷 208-222页

作者： WANG Jian WANG Ting YAO Chen LI XiaoFan WU ChengDong State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences University of Chinese Academy of Sciences School of Information Science and Engineering Northeastern University

The characteristics of interaction between WT wheelchair robot and stair environments is analyzed and possible patterns of WT wheelchair robot during the stair-climbing process are summarized, with criteria to determine the pattern of the wheelchair robot proposed. Aiming at the complicated mechanism of WT wheelchair robot with holonomic constraints and combining it with the dynamic programming, namely the Hamilton-Jacobi equation, a new control law called active tension optimal control is presented for holonomic or nonholonomic robotic systems, based on which one can make the wheelchair robot with a holonomic or nonholonomic mechanism track the expected reference input of constraint forces of holonomic or nonholinomic constraints as well as track the expected reference input of the generalized coordinate of each joint. The module STATEFLOW in MATLAB is used to simulate the entire stair-climbing process of WT wheelchair robot, and comparison is made between the output curves of each joint and the tension of the track and the expected reference input curves, which verifies the effectiveness of the proposed control law.

关键词： wheelchair robot stair-climbing holonomic or nonholonomic systems active tension optimal control

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Research on the decoding method for color pseudo-random coding structured light

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Guangdianzi Jiguang/Journal of Optoelectronics Laser 2015年第3期26卷 548-558页

作者： Tang, Su-Ming Zhang, Xu Tu, Da-Wei School of Mechatronic Engineering and Automation Shanghai University Shanghai China Shanghai Key Laboratory of Manufacturing Automation and Robotics Shanghai China

In coded structured light measurement, color coded structured light possesses a distinct advantage that it has high speed of shape measurement, because it only needs to project one pattern. Encoding and decoding are its two key problems. The captured color stripe is easily affected by many factors, such as the ambient light, the texture, color, discontinuity and steep slope of the object, so the color is often identified incorrectly, thereby the low decoding accuracy is emerged. To improve the decoding accuracy of color stripe structured light which is generated from pseudo-random sequence, this paper proposes a new decoding method. It includes three steps. First, Canny algorithm based on color image is adopted to obtain the location information of the edge feature on the camera image. Second, the color classification of the camera image is conducted through the use of the guiding K-means clustering algorithm on a color invariant that has high discriminating power. Finally, the relations of edge features between the projector image and camera image are directly determined with a multi-step matching method based on the window property. The experimental results show that the proposed decoding method can effectively improve the accuracy of decoding without setting the surface color and texture structure of the measured object. Besides that, the method exhibits strong robustness. ©, 2015, Board of Optronics Lasers. All right reserved.

关键词： Color

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Surface roughness of titanium alloys TA2 and TC4 in high-speed cylindrical grinding

Surface roughness of titanium alloys TA2 and TC4 in high-spe...

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2013 3rd International Conference on Advanced Materials and Information Technology Processing, AMITP 2013

作者： Shen, Nanyan Jia, Yakai Li, Jing Shanghai Key Laboratory of Mechanical Automation and Robotics School of Mechatronics Engineering and Automation Shanghai University Shanghai China

ISBN: (纸本)9781845648534

The grindability of titanium alloys that are classified as "hard-to-machine" materials is studied in high-speed cylindrical grinding by cubic boron nitride (CBN) grinding wheel. The research emphasis is surface roughness, including the simulation of empirical model of surface roughness and the orthogonal experiments using CBN grinding wheel with the speed from 45 to 150 m/s. The results of surface roughness obtained by the grinding experiments and the simulation analysis under nine groups of grinding parameters are compared, which show that the empirical model is partially applicable for titanium (TA2) and titanium alloy (TC4) under the grinding conditions in this paper. To make the calculation results of empirical model close to the actual measurement results, the modified empirical model which illustrates the relationship between surface roughness and three key grinding parameters under the certain grinding conditions is built up by experimental data fitting. © 2014 WIT Press.

关键词： Surface roughness

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Research on the impact of needle valve orifice chamfering on the performance based on fluent 4

Research on the impact of needle valve orifice chamfering on...

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4th International Workshop of Advanced Manufacturing and automation, IWAMA 2014

作者： Tao, Yong Cai, Hong Xia Bai, Yu Jie Yu, Ting Ting Shanghai Key Laboratory of Mechanical Automation and Robotics School of Mechatronics Engineering and Automation Shanghai University Shanghai China

ISBN: (纸本)9783038352532

Needle valve is the key component of diesel engine cylinder. Changing the nozzle Orifice chamferinging will influence the flow coefficient and spray performance. Firstly, we proposed a physical model of abrasive flow field inside the needle valve based on computational fluid dynamics technology. Then, we set the computing method and boundary type. Finally, we simulated the abrasive flow field using fluent software. The result is useful for guidance in the actual grinding process. © (2014) Trans Tech Publications, Switzerland.

关键词： Grinding (machining)

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