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International Competitions and Final Workshop, EvAAL 2013

作者： Imamoglu, Nevrez Wei, Zhixuan Shi, Huangjun Yoshida, Yuki Nergui, Myagmarbayar Gonzalez, Jose Gu, Dongyun Chen, Weidong Nonami, Kenzo Yu, Wenwei Graduate School of Engineering Chiba University Chiba Japan Institute of Robotics and Intelligent Information Processing Department of Automation Shanghai Jiao Tong University Shanghai China Department of Biomedical Engineering Shanghai Jiao Tong University Shanghai China

ISBN: (纸本)9783642410420

Our previous studies demonstrated that the idea of bio-monitoring home healthcare mobile robots is feasible. Therefore, by developing algorithms for mobile robot based tracking, measuring, and activity recognition of human subjects, we would be able to help impaired people (MIPs) to spend more time focusing in their motor function rehabilitation process from their homes. In this study we aimed at improving two important modules in these kinds of systems: the control of the robot and visual tracking of the human subject. For this purpose: 1) tracking strategies for different types of home environments were tested in a simulator to investigate the effect on robot behavior;2) a multi-channel saliency fusion model with high perceptual quality was proposed and integrated into RGB-D based visual tracking. Regarding the control strategies, results showed that, depending on different types of room environment, different tracking strategies should be employed. For the visual tracking, the proposed saliency fusion model yielded good results by improving the saliency output. Also, the integration of this saliency model resulted in better performance of RGB-D based visual tracking application. © Springer-Verlag Berlin Heidelberg 2013.

关键词： Mobile robots

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Dynamical balance optimization and control of quadruped robots under perturbing external force

Dynamical balance optimization and control of quadruped robo...

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3rd IFAC Conference on Intelligent Control and automation Science, ICONS 2013

作者： Li, Zhijun Yu, Sijia Liu, Sibang Key Laboratory of Autonomous Systems and Networked Control College of Automation Science and Engineering South China University of Technology Guangzhou China Robotics Institute School of Mechanical Engineering University of Electronic Science and Technology of China Chengdu 610054 China Robotics Institute University of Electronic Science and Technology of China Chengdu 610054 China

ISBN: (纸本)9783902823458

This paper investigates the optimal feet forces distribution and control of quadruped robots under external disturbance forces. First, we formulate a constrained dynamic model of quadruped robots and derive a reduced order dynamical model of motion/force. Consider an external wrench on quadruped robots, the distribution of required forces and moments on the supporting legs of a quadruped robot is handled as a tip-point force distribution and used to equilibrate the external wrench. Then, a gradient neural network is adopted to minimize the optimized objective function with linear equality and inequality constraints, and hybrid motion/force control based on adaptive neural network is used to compensate for the external perturbation in the environment and approximate feedforward force and impedance of the leg joints on line. The verification of the proposed control is conducted using the extensive simulations. Copyright © 2013 IFAC.

关键词： Adaptive control systems

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End-point regulation of a flexible robotic manipulator under the unknown spatiotemporally varying disturbance

End-point regulation of a flexible robotic manipulator under...

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3rd IFAC Conference on Intelligent Control and automation Science, ICONS 2013

作者： Zhang, Shuang He, Wei Liu, Chang Huang, Deqing Department of Electrical and Computer Engineering National University of Singapore Singapore 117576 Singapore Robotics Institute School of Automation Engineering University of Electronic Science and Technology of China Chengdu 611731 China School of Automation Engineering University of Electronic Science and Technology of China Chengdu 611731 China Department of Aeronautics Imperial College London London SW7 2AZ United Kingdom

ISBN: (纸本)9783902823458

In this paper, the end-point regulation problem is investigated for a flexible robotic manipulator under the spatiotemporally varying disturbance. By using the Hamilton's principle, the dynamics of the flexible robotic manipulator are represented by one partial differential equation (PDE) and five ordinary differential equations (ODEs). Boundary control is developed to drive the manipulator to the desired set-point and simultaneously suppress the vibrations of the flexible link. Considering the unknown spatiotemporally varying disturbance, the developed boundary control schemes achieve uniform boundedness of the steady state error between the boundary payload and the desired position. Simulations are provided to illustrate the applicability and effectiveness of the proposed control. Copyright © 2013 IFAC.

关键词： Ordinary differential equations

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A unified language for anthropomorphic arm motion

A unified language for anthropomorphic arm motion

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IEEE International Conference on robotics and Biomimetics

作者： Cheng Fang Xilun Ding The Robotics Institute of School of Mechanical Engineering and Automation Beihang University(BUAA) Beijing China

When abundant humanoid robots are springing up in many application fields, the anthropomorphic arm, which is the most important part of the humanoid robot, is facing numerous complicated manipulation tasks. In order to address two diversity issues of anthropomorphic arm platforms and manipulation tasks, a unified "language", a novel task-motion planning method, for different anthropomorphic arms is developed to describe and plan their motion in this paper for the first time. Firstly, six principal rules of human arm motion are extracted from a lot of literature in Neurophysiology. According to these rules, a general library of movement primitives and a well-defined set of motion grammar rules are designed to form a complete motion language for anthropomorphic arms. The movement primitives in the library can be divided into two categories in terms of different spaces: movement primitives described in the operational space to control the position and orientation of the wrist and primitives described in the human arm triangle space to control the configuration of the whole anthropomorphic arm. Movement primitives are the fundamental motion elements of the motion language. Then, according to the motion grammar, goal tasks can be constituted by some movement primitives and movements in terms of a " movement primitive-movement-task" three-level structure. As the operational space and the human arm triangle space are independent of the structure and dimension of the anthropomorphic arm, the designed primitives in the two spaces exist in all anthropomorphic arms. An interface between the motion language and the anthropomorphic arm is developed to solve for joint trajectories of every movement primitive for a specific arm. Finally, by comparing with a traditional method, the proposed motion language is demonstrated to have several advantages including comprehensive control of motion process, replication of motion, and large range of motion planning.

关键词： Wrist Joints Grammar Vectors Shoulder Libraries Aerospace electronics

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Enhancing Surgical Accuracy Using Virtual Fixtures and Motion Compensation in Robotic Beating Heart Surgery

Enhancing Surgical Accuracy Using Virtual Fixtures and Motio...

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Mediterranean Conference on Control & automation

作者： G. P. Moustris A. I. Mantelos C. S. Tzafestas School of Electrical & Computer Engineering National Technical University of Athens Intelligent Robotics & Automation Laboratory

ISBN: (纸本)9781479909964

This paper proposes a novel technique for applying virtual fixtures in a changing environment. The main targeted application is robotic beating heart surgery, which enables the surgeon to operate directly on a beating heart. Using a motion compensation framework, the motion of the heart surface is stabilized in a virtual space, which is presented to the surgeon to operate in. Consequently, the fixture is implemented in this static space, bypassing problems of dynamic fixtures such as position update, placement and force transients. Randomized experiments were performed using a trained surgeon comparing our approach to simple motion compensation and no compensation at all. The positive effect of the fixture in surgical accuracy for a tracking task is also discussed.

关键词： Surgery Robots Fixtures Force Heart Aerospace electronics Manifolds

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Design of digital interface circuit of resolver based on AD2S1200 in a single supply system

Design of digital interface circuit of resolver based on AD2...

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2013 International Conference on Mechatronic Systems and Materials Application, ICMSMA 2013

作者： Yang, Chun Wei Li, Da Zhai Wang, Wei Zhou Jiang, Zhe Bi, Shu Sheng Robotics Institute School of Mechanical Engineering and Automation BeiHang University No. 37 Xueyuan Road Haidian District Beijing City China Jiangzhen Electromechanical Engineering Institute HeZe University No. 2269 Daxue Road Heze City Shandong Province China

ISBN: (纸本)9783037858158

For applications of single supply, a digital interface circuit of resolver based on AD2S1200 is designed in a single 5V system. According to the given resolver, the amplification factor and driver capability of excitation signal is calculated and verified. In order to adjust the excitation signal's amplitude and provide enough drive current to the resolver's primary winding, an operational amplifier with high current output capability AD8532 is chosen to set an excitation signal buffer circuit which works as a unity gain inverting proportional amplifier. Besides, the design greatly reduces the amount of components which is especially appropriate for the installation in a constriction space. To give a test for the interface circuit, the microcontroller ATmega16 is used to read the 12-bit parallel angle position data of resolver. The test result shows that the interface circuit can not only work well but also obtain an accuracy of angle position within 0.1°. © (2013) Trans Tech Publications, Switzerland.

关键词： Operational amplifiers

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

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Science China Chemistry 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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Development of robust behaviour recognition for an at-home biomonitoring robot with assistance of subject localization and enhanced visual tracking

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Scientific World Journal 2014年第1期2014卷 280207-280207页

作者： Imamoglu, Nevrez Dorronzoro, Enrique Wei, Zhixuan Shi, Huangjun Sekine, Masashi González, José Gu, Dongyun Chen, Weidong Yu, Wenwei Graduate School of Engineering Chiba University Chiba 263-8522 Japan Research Center for Frontier Medical Engineering Chiba University Chiba 263-8522 Japan Department of Electronic Technology University of Seville Seville 41012 Spain Institute of Robotics and Intelligent Information Processing Department of Automation Shanghai Jiao Tong University Shanghai 200240 China Department of Biomedical Engineering Shanghai Jiao Tong University Shanghai 200030 China Spanish National Research Council Bioengineering Group Madrid 28500 Spain

Our research is focused on the development of an at-home health care biomonitoring mobile robot for the people in demand. Main task of the robot is to detect and track a designated subject while recognizing his/her activity for analysis and to provide warning in an emergency. In order to push forward the system towards its real application, in this study, we tested the robustness of the robot system with several major environment changes, control parameter changes, and subject variation. First, an improved color tracker was analyzed to find out the limitations and constraints of the robot visual tracking considering the suitable illumination values and tracking distance intervals. Then, regarding subject safety and continuous robot based subject tracking, various control parameters were tested on different layouts in a room. Finally, the main objective of the system is to find out walking activities for different patterns for further analysis. Therefore, we proposed a fast, simple, and person specific new activity recognition model by making full use of localization information, which is robust to partial occlusion. The proposed activity recognition algorithm was tested on different walking patterns with different subjects, and the results showed high recognition accuracy. © 2014 Nevrez Imamoglu et al.

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Establishing dynamic model for mobile CARM

Establishing dynamic model for mobile CARM

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2013 IEEE International Conference on Information and automation, ICIA 2013

作者： Song, Guoli Han, Jianda Zhao, Yiwen Chen, Chen State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China University of Chinese Academy of Sciences Beijing 100049 China School of Mechanical Engineering Yanshan University Qinhuangdao 066004 China

ISBN: (纸本)9781479913343

Mobile CARM is a more and more important device for spine surgery navigation. The accuracy of the intraoperative image has a huge influence on the surgery success rate. For the purposes to achieve the surgery, the image capture device should be modeled by an accurate method. This paper describes the problems of establishing the CARM model. By analysis the structure of the mobile CARM, we establish the static model of the CARM. Next by kinematics analysis, we establish the dynamic model which could guarantee the accuracy of the CARM. Last we confirm the deviation of CARM images. © 2013 IEEE.

关键词： Surgery

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Design of Digital Interface Circuit of Resolver Based on AD2S1200 in a Single Supply System

Design of Digital Interface Circuit of Resolver Based on AD2...

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2013 International Conference on Mechatronic Systems and Materials Application (ICMSMA 2013)

作者： Chunwei Yang Dazhai Li Weizhou Wang Zhe Jiang Shusheng Bi Robotics Institute School of Mechanical Engineering and AutomationBeiH ang University Jiangzhen Electromechanical Engineering Institute HeZe University

For applications of single supply,a digital interface circuit of resolver based on AD2S1200is designed in a single 5V *** to the given resolver,the amplification factor and driver capability of excitation signal is calculated and *** order to adjust the excitation signal’s amplitude and provide enough drive current to the resolver’s primary winding,an operational amplifier with high current output capability AD8532 is chosen to set an excitation signal buffer circuit which works as a unity gain inverting proportional ***,the design greatly reduces the amount of components which is especially appropriate for the installation in a constriction *** give a test for the interface circuit,the microcontroller ATmega16 is used to read the 12-bit parallel angle position data of *** test result shows that the interface circuit can not only work well but also obtain an accuracy of angle position within 0.1°.

关键词： Resolver AD2S1200 Digital interface Single supply

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