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IEEE International Conference on robotics and Biomimetics

作者： Guoli Song Jianda Han Yiwen Zhao Chen Chen Zhongxin Yao State Key Laboratory of Robotics Shenyang University of Chinese Academy of Sciences Beijing P. R China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang P. R China School of Mechanical Engineering Yanshan University Qinhuangdao P. R. China State Key Laboratory of Robotics Shenyang Ligong University Shenyang China

ISBN: (纸本)9781479927456

In order to exhibit the surgery instruments in intraoperative image, the tracking system must be introduced so that it may finally achieve the image guide surgery on minimally invasive spine surgery (MISS). To exhibit the tip of the instrument, the transform of the CARM(a device which generates X-ray images) and CT image, the transform of the world and CARM. The more transforms of different space happen, the more errors will be introduced into the system. This paper is focused on the surgery robot tracking problem, especially for the tracking of the position and posture of the surgery instruments. We introduce a method which could establish the robot model of the surgery and show the projection of the surgery instruments on intraoperative images which could help surgeon estimate the relative position of the surgery instrument and patient's spine.

关键词： Surgery Robots Surgical instruments Transforms Instruments X-ray imaging Biomedical optical imaging

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Research on the diagnosis method of the high-speed rolling bearing

Research on the diagnosis method of the high-speed rolling b...

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2012 International Conference on Advances in Mechanics engineering, ICAME 2012

作者： Tian, Yingzhong Zhang, Ming Li, Ming School of Mechatronic Engineering and Automation Key Laboratory of Manufacturing Automation and Robotics Shanghai University Shanghai200072 China

ISBN: (纸本)9783037855287

The rolling bearing is the common component in machinery, especially the high-speed rolling bearing. The running state will influence the performance of the whole machine directly. In this paper, it will analyze the design of filter and the fault characteristics frequency. And, through the examples, the paper designs the testing system and verifies the method effectively and reliably. © (2012) Trans Tech Publications, Switzerland.

关键词： Roller bearings

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A total torque index for dynamic performance evaluation of a radial symmetric six-legged robot

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机械工程前沿 2012年第2期7卷 219-230页

作者： Kejia LI Xilun DING Marco CECCARELL Robotics Institute School of Mechanical Engineering and AutomationBeijing University of Aeronautics and Astronautics Beijing 100191China Laboratory of Robotics and Mechatronics University of Cassino 03043Cassino Italy

This article focuses on the dynamic index and performance of a radial symmetric six-legged *** first the structure of the robot is described in brief and its inverse kinematics is *** the dynamic model is formulated as based on the Lagrange equations.A novel index of total torque is proposed by considering the posture of the supporting *** new index can be used to optimize the leg's structure and operation for consuming minimum power and avoiding unstable postures of the robot.A characterization of the proposed six-legged robot is obtained by a parametric analysis of robot performance through simulation using the presented dynamic *** influences are outlined as well as the usefulness of the proposed performance index.

关键词： six-legged robots dynamic modeling performance index

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Design of karl fischer moisture virtual analyzer based on LABVIEW and MCU

Design of karl fischer moisture virtual analyzer based on LA...

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4th International Conference on Mechanical and Electrical Technology, ICMET 2012

作者： Tian, Yingzhong Jin, Zhixiang Wang, Pengchong School of Mechatronic Engineering and Automation Shanghai Key Laboratory of Manufacturing Automation and Robotics Shanghai University Shanghai 200072 China

ISBN: (纸本)9783037855102

Karl Fischer moisture analysis method is regard as the best way to determine the water content of the substance, which is widely used in industry of petrochemical, food, cosmetic and so on. In order to improve the maneuverability of the method, reducing the costs and improve work efficiency, this paper presents a Karl Fischer moisture virtual analyzer (KFMVA) system, which using STC11F32XE MCU as the core of the system, combined with PC by the LABVIEW serial communication module, realized the data collection, processing, display, storage and print capabilities. © (2012) Trans Tech Publications, Switzerland.

关键词： Data handling

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Lifting platform in jack-up offshore platform based on virtual prototyping

Lifting platform in jack-up offshore platform based on virtu...

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2012 International Applied Mechanics, Mechatronicsautomation and System Simulation Meeting, AMMASS 2012

作者： Bin, He Tao, Cao Jin Lin, He Xiao Xiang, Jin Zhi Lun, Fang Ming Shanghai Key Laboratory of Mechanical Automation and Robotics School of Mechatronics Engineering and Automation Shanghai University Shanghai 200072 China

This paper put forward a systematic design method based on virtual prototyping technology to simulate lifting platform of jacking system in jack-up offshore platform. After the main parameters of lifting platform in jack-up offshore platform were introduced, the 800T offshore platform modeling techniques were put forward, such as rigid body modeling techniques, flexible body modeling techniques, modal analysis techniques and kinematics analysis. The dynamics analysis was present with the simulation results, which demonstrates that this method is obviously helpful to get more accurate simulation results to verify the rationality of lifting platform in jack-up offshore platform. © (2012) Trans Tech Publications, Switzerland.

关键词： Drilling platforms

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Dynamic analysis, optimal planning and composite control for aerial arm-operating with a multi-propeller multifunction aerial robot

Dynamic analysis, optimal planning and composite control for...

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2012 9th IEEE International Conference on Mechatronics and automation, ICMA 2012

作者： Ding, Xilun Yu, Yushu Robotics Institute School of Mechanical Engineering and Automation Beijing University of Aeronautics and Astronautics Beijing 100191 China

ISBN: (纸本)9781467312776

The multi-propeller multifunction aerial robot with two manipulators has the potential to deal with arm-operating in the air. However, the interaction between the main-body and manipulator subsystems make the robot be difficult to accomplish the task of arm-operating. This paper investigates the modeling, planning, and control problem of the robot for arm-operating purposes. The paper presents the dynamic analysis of the aerial robot not contacting with the environment. The dynamics of the whole system are partitioned into several meaningful parts: the main-body dynamics, the manipulator dynamics, and the interaction dynamics. Furthermore, an optimal planning strategy which can minimize the interaction between main-body subsystem and manipulator subsystem is proposed. The paper also investigates a simple composite controller that is composed of main-body controller and manipulator controller. Each subcontroller is designed based on the partitioned dynamics. The simulation results validate the dynamic model, the benefit of the optimal planning approach, and the effectiveness of the composite controller. © 2012 IEEE.

关键词： Manipulators

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Quadratic Programming-based Approach for Autonomous Vehicle Path Planning in Space

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Chinese Journal of Mechanical engineering 2012年第4期25卷 665-673页

作者： CHEN Yang HAN Jianda WU Huaiyu State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China School of Information Science and Engineering Wuhan University of Science and Technology Wuhan 430081 China Graduate School Chinese Academy of Sciences Beijing 100039 China

Path planning for space vehicles is still a challenging problem although considerable progress has been made over the past *** major difficulties are that most of existing methods only adapt to static environment instead of dynamic one,and also can not solve the inherent constraints arising from the robot body and the exterior *** address these difficulties,this research aims to provide a feasible trajectory based on quadratic programming（QP） for path planning in three-dimensional space where an autonomous vehicle is requested to pursue a target while avoiding static or dynamic ***,the objective function is derived from the pursuit task which is defined in terms of the relative distance to the target,as well as the angle between the velocity and the position in the relative velocity coordinates（RVCs）.The optimization is in quadratic polynomial form according to QP ***,the avoidance task is modeled with linear constraints in *** other constraints,such as kinematics,dynamics,and sensor range,are ***,simulations with typical multiple obstacles are carried out,including in static and dynamic environments and one of *** results indicate that the optimal trajectories of the autonomous robot in three-dimensional space satisfy the required ***,the QP model proposed in this paper not only adapts to dynamic environment with uncertainty,but also can satisfy all kinds of constraints,and it provides an efficient approach to solve the problems of path planning in three-dimensional space.

关键词： path planning in three-dimensional space obstacle avoidance target pursuit relative velocity coordinates quadratic programming

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A binocular vision tracking method based on Gabor filter

A binocular vision tracking method based on Gabor filter

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2012 2nd International Conference on Consumer Electronics, Communications and Networks, CECNet 2012

作者： Jin, Wenjun Luo, Jun Xu, Yuanyu Li, Lei Li, Hengyu Xie, Shaorong School of Mechatronic Engineering and Automation Shanghai University China State Key Laboratory of Robotics Chinese Academy of Sciences China

ISBN: (纸本)9781457714153

To solve the stability and rapidity problem of visual tracking, the paper presents a method that the characteristic points in sequenced images assemblies for target is collected by the Gabor filter, and turned into matching templates. The detection with the Sobel operator is used to get initial points position, to determine each initial point parameter, and in this way we can speed up optimizing for parameters. The experimental result has been verified that the arithmetic is with highly reliability and availability, it can avoid the affection by target feature collecting from background, so the method has the benefit to the real time binocular tracking. © 2012 IEEE.

关键词： Gabor filters

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Towards clinically optimized MRI-guided surgical manipulator for minimally invasive prostate percutaneous interventions: constructive design

Towards clinically optimized MRI-guided surgical manipulator...

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IEEE International Conference on robotics and automation (ICRA)

作者： Sohrab Eslami Gregory S. Fischer Sang-Eun Song Junichi Tokuda Nobuhiko Hata Clare M. Tempany Iulian Iordachita Iulian Iordachita are with the Laboratory for Computational Sensing and Robotics (LCSR) Johns Hopkins University Baltimore MD USA Automation and Interventional Medicine (AIM) Laboratory in the Department of Mechanical Engineering Worcester Polytechnic Institute Worcester MA USA Department of Radiology Brigham and Women's Hospital and Harvard Medical School Boston MA USA

ISBN: (纸本)9781467356404

This paper undertakes the modular design and development of a minimally invasive surgical manipulator for MRI-guided transperineal prostate interventions. Severe constraints for the MRI-compatibility to hold the minimum artifact on the image quality and dimensions restraint of the bore scanner shadow the design procedure. Regarding the constructive design, the manipulator kinematics has been optimized and the effective analytical needle workspace is developed and followed by proposing the workflow for the manual needle insertion. A study of the finite element analysis is established and utilized to improve the mechanism weaknesses under some inevitable external forces to ensure the minimum structure deformation. The procedure for attaching a sterile plastic drape on the robot manipulator is discussed. The introduced robotic manipulator herein is aimed for the clinically prostate biopsy and brachytherapy applications.

关键词： Needles Manipulators Magnetic resonance imaging Biopsy Plastics Kinematics

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Development of a reconfigurable miniature throwable robot for indoor surveillance

Development of a reconfigurable miniature throwable robot fo...

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2012 7th IEEE Conference on Industrial Electronics and Applications, ICIEA 2012

作者： Qu, Yuan Liu, Rong Chen, Rui Cheng, Sheng Wang, Ludan Robotics Institute School of Mechanical Engineering and Automation Beihang University Beijing China Intelligent Robotics Institute Kunshan Industrial Technology Research Institute Kunshan Jiangsu Province China

ISBN: (纸本)9781457721175

This paper presents an innovative mechanical design of a reconfigurable miniature throwable robot. The robot keeps in spherical shape to buffer shock and to protect inner sub-systems in falling, and it transforms to a two-wheeled mobile robot in surveillance via wireless control. Two generations of the robot have been constructed, and details in mechanical design, principle of transformation and a servo-system for adjusting view level of micro-camera are discussed. Experiments are also presented, and effectiveness of the design has been approved. © 2012 IEEE.

关键词： Mobile robots

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