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IEEE International Conference on robotics and Biomimetics

作者： Bo Pan GuoJun Niu YiLi Fu DianGuo Xu Yongsheng Wang School of Electrical Engineering and Automation Harbin Institute of Technology Harbin China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781479973989

Minimally invasive robotic surgery (MIRS), compared to open surgery and traditional minimally invasive surgery, has advantages especially for patients and surgeons. In MIRS the surgeon's capabilities are extended for kinds of dexterous instruments, and surgeons could perform precise and dexterous movements which are difficult to carry out by means of rigid instruments. In this paper, the design of a novel 4DOF dexterous surgical instrument for MIRS is presented. After analyzing feature of surgical instrument for MIRS, a novel 4DOF dexterous surgical instrument based on pulley-tendon mechanism is developed. The end effector of such an instrument is articulated, providing 4DOF without coupled motions. Force limited function is realized by conical axis mechanism, and a new quick change interface is designed based on trapezoidal clutch plate and magnetic sensors to change instruments according to the operation requirement. Strength checking of key parts are also analyzed. The experimental results demonstrate that the proposed surgical instrument can perform 4DOF uncouple motions with 10 mm outer diameter, except that the fast interface meet the fast and reliable requirements. The surgical instrument proposed in this paper has a good motion performance, flexibility and maneuverability. The surgical instrument satisfies the requirements of MIRS, laying a solid technical foundation for clinical application.

关键词： Instruments Grippers Wrist Wires Surgery Wheels Steel

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Optimization and design of remote center motion mechanism of Minimally Invasive Surgical robotics

Optimization and design of remote center motion mechanism of...

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International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)

作者： Bo Pan Yili Fu Guojun Niu Dianguo Xu School of Electrical Engineering and Automation Harbin Institute of Technology Harbin China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781479953349

Minimally Invasive Surgery (MIS) has many advantages and is achieved mainly by Remote Center Motion. In this paper, a new RCM mechanism which is triangle is proposed, this mechanism is simple and high stiffness. Optimization incorporating the requirements for MIS are performed to find the optimal link lengths of the manipulator. The results show that for the serial triangle2-link manipulator used to guide the surgical tool, the optimization link angles are (74°, 51°). Three-dimensional model design is achieved.

关键词： Minimally invasive surgery Optimization Jacobian matrices Medical robotics Service robots

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Study on the extraction method of tool wear symptom based on wavelet packet analysis

Study on the extraction method of tool wear symptom based on...

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IEEE International Conference on Mechatronics and automation

作者： Chongyang Zhao Jun Luo Shaorong Xie Hengyu Li School of mechanical and power engineering Henan Polytechnic University Henan China Shanghai Key Laboratory of Intelligent Manufacturing and Robotics Shanghai China School of Mechatronics Engineering and Automation Shanghai University Shanghai China

ISBN: (纸本)9781479939800

With the emergence of PCBN cutting tools, hard turning technology was used more and more widely in the difficult-to-cut materials. Therefore, it is particularly important to study the tool wear mechanism of ultrasonic hard cutting and intelligent monitoring technology of tool wear. Then, a multisignal intelligent monitoring test platform of tool wear was established through Kistler9257B resistance dynamometer, the INV306DF east vibration isolation system and Japan Roy keane and high-speed microscopic photography system. The test was designed about GCr15 hardened bearing steel machined by PCBN under ultrasonic vibration and tool wear mechanism was analyzed. A special characterization and the influence of cutting conditions on tool wear are obtained under the conditions of ultrasonic cutting. Because the sensor signal information Obtained from can't be directly used to identify the tool wear state a variety of signals collected in different processing time were analyzed and disposed in this paper. And the vibration signal were analyzed by wavelet transform. Then characteristics of the tool wear state were obtained.

关键词： Vibrations Monitoring Wavelet packets Wavelet analysis Acoustics Feature extraction

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Design of passive joint in minimally invasive surgical robot

Design of passive joint in minimally invasive surgical robot

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IEEE International Conference on robotics and Biomimetics

作者： Jiawen Yan Bo Pan Guojun Niu Yili Fu Dianguo Xu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China School of Electrical Engineering and Automation Harbin Institute of Technology Harbin China

ISBN: (纸本)9781479973989

Several passive joints are usually needed in surgical robots to decrease the difficulty in doctors' operating, which can be manually rotated without motor pushing. When stopped at a specified position, passive joints should be locked until operation ends, and keep bearing torques. This paper is aimed to design a locking method used in minimally invasive surgical robot. Firstly choose the locking type based on the technical requirements, and then the dimension can be determined using friction theory. Before finishing this design, the structure is verified by simulation. Not only the traditional method is used in the paper, but also new method combined with simulation is applied. As a result, the structure is much more reasonable, and will be the foundation for the following study.

关键词： Friction Force Joints Stress Torque Robots Load modeling

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Hovering control of a nano quadrotor unmanned aerial vehicle using optical flow

Hovering control of a nano quadrotor unmanned aerial vehicle...

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Chinese Control Conference (CCC)

作者： Bin Xian Yang Liu Xu Zhang Meihui Cao Fu Wang The Institute of Robotics and Autonomous System The Tianjin Key Laboratory of Process Measurement and Control School of Electrical Engineering and Automation Tianjin University Tianjin Tianjin CN

In this paper, a PD controller which uses optical flow to obtain position and velocity feedback is proposed for the autonomous hovering flight control of a nano quadrotor unmanned aerial vehicle (UAV). The nano quadrotor UAV has a mass less than 100 g and is comparatively much smaller than the micro vehicles utilized in previous research. Due to the limited size and payload ability, a wireless camera is employed as the onboard visual device to obtain the position and translational velocity of the UAV. Experiment results are included to demonstrate the good control performance of the proposed design.

关键词： Image motion analysis Computer vision Optical imaging Optical sensors Adaptive optics Optical filters Optical feedback

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A sensor skid for precise 3D modeling of production lines

A sensor skid for precise 3D modeling of production lines

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ISPRS Technical Commission V Symposium 2014

作者： Elseberg, Jan Borrmann, Dorit Schauer, Johannes Nüchter, Andreas Koriath, Dirk Rautenberg, Ulrich Informatics VII: Robotics and Telematics Julius-Maximilians-University Würzburg Am Hubland Wüzburg97074 Germany School of Engineering and Science Automation Group Jacobs University of Bremen gGmbH Campus Ring 1 Bremen28759 Germany K-EFP/V group Volkswagen AG Wolfsburg38436 Germany

Motivated by the increasing need of rapid characterization of environments in 3D, we designed and built a sensor skid that automates the work of an operator of terrestrial laser scanners. The system combines terrestrial laser scanning with kinematic laser scanning and uses a novel semi-rigid SLAM method. It enables us to digitize factory environments without the need to stop production. The acquired 3D point clouds are precise and suitable to detect objects that collide with items moved along the production line.

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Model predictive control of Microgrid based on Mixed Logic Dynamic

Model predictive control of Microgrid based on Mixed Logic D...

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World Congress on Intelligent Control and automation (WCICA)

作者： Shigong Jiang Hongpeng Liu Wei Wang State Key Laboratory of Robotics and System (HIT) Harbin Institute of Technology Harbin China School of Mechatronical Engineering Beijing Institute of Technology Beijing China School of Electrical Engineering and Automation Harbin Institute of Technology Harbin China

By analyzing the hybrid property of Microgrid in detail, a mixed logical dynamical model is set up with Hybrid theory. The energy in DC bus capacitor is chosen as state variable, the system functions and constraints with continuous state variables, input control variables, logical variables and auxiliary variables are presented. Based on the MLD model, model predictive control theory is applied for the purpose of reducing the batteries switching times between charge and discharge, the DC bus voltage fluctuation is compressed simultaneously. The quadric form objective function is designed and optimal input control variable sequence is achieved by mixed integer quadratic programming method. A simulation prototype is established, simulation results testify the proposed method can both suppress DC bus voltage fluctuation and decrease switching times of battery energy storage system.

关键词： Microgrids Batteries Predictive control Switches Discharges (electric) Voltage control

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An adaptive square-root unscented Kalman filter for underwater Vehicle navigation

An adaptive square-root unscented Kalman filter for underwat...

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IEEE International Conference on Mechatronics and automation

作者： Yanping Lin Kaizhou Liu Xiulian Wang School of Information Science and Engineering Shenyang Ligong University Shenyang Liaoning Province China State Key Laboratory of Robotics Shenyang Institute of Automation Shenyang Liaoning Province China

ISBN: (纸本)9781479939800

In order to increase the approximation accuracy of the state estimate of nonlinear systems and to guarantee numerical stability of the unscented Kalman filter (UKF), a novel adaptive square-root unscented Kalman filter (ASRUKF) based on modified Sage-Husa noise statistics estimator is proposed. The new adaptive filter method with adaptability to statistical characteristic of noise is able to compensate the lack of a priori knowledge of the system's noise statistics. A six-degree-of-freedom dynamic model is introduced to denote the motion model of Human Occupied Vehicle (HOV) in the water, while the adaptive SRUKF is employed for off-line estimation of the state of HOV. Tests are conducted with respect to the data obtained from previous sea trial, and the results are compared with those obtained by normal UKF and SRUKF to indicate its effectiveness and improvements.

关键词： Noise Navigation Accuracy Vectors Kalman filters Noise measurement Adaptation models

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Study on the large-scale assembly and fabrication method for SWCNTs nano device

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Science China(Physics,Mechanics & Astronomy) 2013年第3期56卷 556-561页

作者： XU Ke TIAN XiaoJun WU ChengDong LIU Jian LI MengXin DONG ZaiLi State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of Sciences School of Information & Control Engineering Shenyang Jianzhu University School of Information Science and Engineering Northeastern University

The large-scale assembly and fabrication method for single-walled carbon nanotube(SWCNT) nano devices was *** of SWCNT field effect transistor(FET) was realized by floating potential dielectrophoresis *** simulation of floating potential distribution of the chip was performed by comsol multiphysics coupling *** hundred devices were assembled on the area of less than one square *** fabricated devices were characterized by atomic force microscopy and scanning electron *** experimental results showed that large-scale assembly had been realized,and the success rate of ideal assembly for SWCNT FET had been assessed.

关键词： large-scale single-walled carbon nanotube assembly floating potential dielectrophoresis

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Odor-Source Location Estimation and Search Using a Movable Sensor Array

Odor-Source Location Estimation and Search Using a Movable S...

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第三十二届中国控制会议

作者： ZHANG Su-Lin MENG Qing-Hao WU Yu-Xiu ZENG Ming JIA Hua LI Wei Institute of Robotics and Autonomous Systems School of Electrical Engineering and AutomationTianjin University

ISBN: (纸本)9789881563835

Using mobile robot with onboard gas and wind sensors to estimate and search hazardous gas/odor source has great application *** paper presents an odor-source localization(OSL) method using a mobile robot equipped with a gas sensor array(we call it movable sensor array for short) in both indoor and outdoor *** gas sensors and one wind sensor are placed at the circumference and the center of a circle,*** on the assumption that the wind is uniform in a small area,at each iteration cycle,the robot is controlled to move a step toward the source location estimated by fusing the sensors' *** source location is calculated by solving nonlinear least square equation with Levenberg-Marquardt algorithm. The odor source is declared by combing a spiral motion and heuristic *** proposed OSL method has been evaluated in both indoor and outdoor simulation plume *** results show that the movable sensor array is able to find the odor-source location with a small error,but the success rate is related to the arrangement of sensor array and motion step.

关键词： Odor source localization sensor array mobile robot estimation nonlinear least square

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