检索结果-内蒙古大学图书馆

Research on signal regenerating algorithm for road-test state used in motion simulation

Zhongguo Gonglu Xuebao/China Journal of Highway and Transport 2010年第4期23卷 121-126页

作者： Kong, Min-Xiu Sui, Xiao-Chuan Fu, Li-Xin You, Wei State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 Heilongjiang China

In order to generate the input signals for motion simulation, a novel signal regenerating algorithm was presented. Through the spectrum analysis, the main frequency components of the initial signal could be selected and were used as the basic frequency of the regenerated signal. Therefore, both the initial and regenerated signals have the same frequency component. Through adjusting phase offset versus each frequency component and using the genetic algorithm, phase offsets for the regenerated signal could be optimized. Finally, expressions of the regenerated signals could be obtained. Result shows that regenerated signals got by the expressions accord with working spatial range and can meet all requirements of the motion simulator.

关键词： Multiobjective optimization

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Registration technology based on ICP algorithm for spinal surgical navigation

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Huanan Ligong Daxue Xuebao/Journal of South China University of Technology (Natural Science) 2010年第11期38卷 141-147页

作者： Tian, He-Qiang Wu, Dong-Mei Du, Zhi-Jiang Sun, Li-Ning State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 Heilongjiang China

This paper deals with the registration between preoperative CT images and intraoperative physical objects in the three-dimension computer-assisted spinal surgical navigation technology, and proposes a two-step registration strategy, which realizes the registration by an electromagnetic positioning system on the three-dimension visualization platform based on Visualization Toolkit(VTK). In this strategy, several feature points are extracted on a spine bone surface respectively in the virtual space and in the physical space for coarse registration, an electromagnetic positioning probe is used to extract points on the spine surface in physical space, and the corresponding points are extracted in the virtual space. Moreover, the ICP(Iterative Closest Point) algorithm is used to complete a fine registration. The ICP algorithm is then validated by simulation and the accuracy of it is also analyzed. Finally, a registration experiment is performed with a spine model to evaluate the accuracy of the proposed method, followed with an error analysis. The results show that the proposed registration method is simple and reliable, and that the final registration accuracy for spine model meets the finical surgery requirements well.

关键词： Image registration

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Development of a robot with jumping legs

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Harbin Gongye Daxue Xuebao/Journal of Harbin Institute of Technology 2010年第1期42卷 69-73页

作者： Wang, Meng Zang, Xi-Zhe Zhao, Jie Cai, He-Gao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

This paper presents a mechanical jumping leg with the capability of jumping, retracting the leg in the air and adjusting the energy of spring. For the purpose of reducing the weight and the energy consumption, the jumping leg is actuated by a single motor. The 5-bar linkage is adopted as the main part of the leg including the foot and the tarsometatarsal joint to enhance the stability during jumping and landing. The key motion of each phase in the whole jump is analyzed by simulation. Experiments are implemented on the jumping leg robot, and the result demonstrates that it has good capability of jumping, shows high jumping efficiency, and can retract the leg in the air for landing steadily. The mechanical leg will be applied to the design of jumping frog robot as hindlimb.

关键词： Robots

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Vibration analysis of mobile manipulator with pseudo-excitation method

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Jilin Daxue Xuebao (Gongxueban)/Journal of Jilin University (Engineering and Technology Edition) 2010年第4期40卷 1081-1085页

作者： Wang, Wei-Dong Sun, Li-Ning Du, Zhi-Jiang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

The dynamic vibration model of a mobile manipulator with suspension system is built with Finite element method (FEM). Using this dynamic model and the pseudo-excitation method (PEM), the transient Power spectral density (PSD) of the mobile manipulator in random vibration is obtained. This result can provide valuable reference for the suspension design of the mobile manipulator.

关键词： Vibration analysis

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Research and Development of Micro-instrument for Laparoscopic Minimally Invasive Surgical Robotic system

Research and Development of Micro-instrument for Laparoscopi...

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IEEE International Conference on robotics and Biomimetics

作者： Ruqi Ma Dongmei Wu Zhiyuan Yan Zhijiang Du Gang Li State Key Laboratory of Robotics and System (HIT)

ISBN: (纸本)9781424493197

Because of the fewer degree of freedom (DOF), poor flexibility and the absence of uniform mechanical and electrical interface, the micro instruments used in traditional invasive surgery can not be introduced into the laparoscopic minimally invasive surgical robotic system (LMISRS) directly. So it is very necessary to research and develop a series of new micro instruments for the LMISRS. Having considered the difference of motion flexibility and working space in micro instruments for different use, a novel micro instrument design method was suggested in the paper. By using the method, the DOF of the micro instruments can be configured randomly. By analyzing the requirements of the working space and the DOF configuration in invasive surgery, a ingenious snake-like joint modular was designed, and based on the research of the motion character and topology, a wrist mechanism with four joints and its drive system were also developed;furthermore, the coupling character of the drive system was also analyzed;at last, a dissecting forceps with good flexibility and a fast interface modular were designed. The experiments validated that the dissecting forceps is satisfied to the clinical requirements.

关键词： Instruments Joints Wrist Robots Surgery Steel Wires

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Speech emotion recognition using improved robust features for intelligent emotional robot

Speech emotion recognition using improved robust features fo...

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2010 International Conference on Artificial Intelligence, ICAI 2010

作者： Li Xiang, A. Li Xin, B. School of Mechatronical Engineering and Automation Shanghai University Shanghai China State Key Laboratory of Robotics and System HIT Harbin Heilongjiang China Shanghai Key Laboratory of Power Station Automation Technology Shanghai China

ISBN: (纸本)9781601321480

Speech emotion recognition is an important issue in the development of human-robot interactions (HRI). This paper describes the realization of emotional interaction for an intelligent emotional robot, focusing on speech emotion recognition. Accordingly, a series of novel robust features for emotion recognition is proposed. Those features, which derived from the Hilbert-Huang transform and empirical mode decomposition, have the characteristics of multi-resolution, self-adaptability and high precision of distinguish ability. In the experiments, seven status of emotion were selected to be recognized and the highest 83.57% recognition rate was achieved within the classification accuracy of boredom reached up to 100%. The numerical results indicate that the proposed features are robust and the performance of speech emotion recognition is improved substantially.

关键词： Hilbert-Huang transform

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Research on ODMM obstacle avoidance fuzzy navigation based on ultrasonic-absolute-positioning

Research on ODMM obstacle avoidance fuzzy navigation based o...

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International Conference on Electrical and Control Engineering, ICECE 2010

作者： Lin, Jiang Baiyan, Liu Xinyuan, Chen Hui, Zhao Jie, Zhao Jihong, Yan Key Laboratory of Metallurgical Equipment and its Control of Ministry of Education Wuhan University of Science and Technology Wuhan 430081 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China

ISBN: (纸本)9780769540313

The obstacle avoidance fuzzy navigation strategy based on ultrasonic absolute position was proposed to improve the navigation efficiency and precision of the omni-directional mobile manipulator (ODMM). Comparing with the conventional navigation strategies, the superiority of this strategy is that it can momently get the accuracy positioning of robot and it can adjust posture and speed. The method of fusion redundancy ultrasonic information (FRUI) can improve the absolute positioning accuracy of ODMM. Absolute position based on fusion redundancy ultrasonic information(FRUI) and fuzzy navigation based on driving experience were all applied to the ODMM navigation. This strategies include the move-to-goal behavior based on absolute position and obstacle avoidance fuzzy navigation based on absolute positioning. Finally the experiment had been performed, the experimental result proved that the obstacle avoidance fuzzy navigation algorithm based on ultrasonic absolute positioning was effective and the navigation efficiency and precision of ODMM were greatly improved. © 2010 IEEE.

关键词： Navigation

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A closed-loop intelligent control strategy for precise non-contact liquid dispensing

A closed-loop intelligent control strategy for precise non-c...

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International Conference on Mechatronics and Automation

作者： Liu, Yaxin Yao, Yufeng Chen, Liguo Sun, Lining State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China Instrument Science and Technology Postdoctoral Mobile Station Harbin Institute of Technology

ISBN: (纸本)9781424451418

In biomedical, chemical and pharmacological areas, thousands of reagents with different viscosities need to be dispensed in submicroliter range. Most of the commercial automated liquid dispensing systems need to be calibrated through experiments to accurately dispense liquids when the reagents viscosities change, which is time consuming and less accurate. In this paper, a precise non-contact closed-loop liquid dispensing system with novel adaptive intelligent control method was developed. First, the non-contact liquid dispensing system construction is introduced. Secondly, a MEMS flow sensor was used for closed-loop control the dispensed volume, and the factors that affect dispensing precision are analyzed. Thirdly, a compound intelligent fuzzy control strategy is proposed to calculate valve open-time for each dispensing cycle, which makes the system immune to liquid viscosity, pressure fluctuation and some other disturbances. Finally, experiments results are presented with different dispensing volumes, coefficient of variance (CV) has been shown to be below 3% at 1μl and approach 4% at 100 nl. © 2010 IEEE.

关键词： Liquids

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Multi-objective optimization on dynamic performance for a planar parallel mechanism with NSGA-II algorithm

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Jiqiren/Robot 2010年第2期32卷 271-277页

作者： Kong, Minxiu Chen, Lin Du, Zhijiang Sun, Lining Harbin Institute of Technology Harbin 150080 China State Key Laboratory of Robotics and System Harbin 150080 China

For a high-speed and high-acceleration planar parallel mechanism, a design for control (DFC) approach is proposed for the optimization of the mechanism structure. Several evaluation indexes of kinematics and dynamics performance are established for the object functions and constraints, and then a standard multi-objective optimization problem can be formed. The dimension synthesis is carried out by solving the multi-objective optimization with NSGA-II (non-dominated sorting genetic algorithm-II) algorithm. The final result shows that the mechanism with the optimized parameters can eliminate the systematic coupling and enhance the dynamic performance greatly, which provides a solid mechanism hardware platform for designing the high-speed control system.

关键词： Multiobjective optimization

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Development of a robot system assisting artificial cervical disc replacement surgery

Development of a robot system assisting artificial cervical ...

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IEEE International Conference on robotics and Biomimetics

作者： Heqiang Tian Dongmei Wu Zhijiang Du Junlin Ma Lining Sun State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China State Key Laboratory of Robotics and System (HIT) Harbin 150080 China

ISBN: (纸本)9781424493197

The problems such as inadequate precision, excessive radiation, over fatigue and other issues urgently need to be resolved in the cervical artificial disc replacement surgery. In this paper, a medical robot system has been developed to replace the fixture system used in the cervical artificial disc replacement surgery. Firstly, the medical robot mechanical design with an active parallel head and a passive serial body assisting the artificial cervical disc replacement surgery is proposed. Then, the workspace analysis and control system design of the parallel robot are presented. Finally, the surgical navigation technologies such as surgical planning, surgical navigation and positioning, and the grinding trajectory planning technologies involved in the robot system assisting the cervical artificial disc replacement surgery are described. It can be seen that the robot-assisted cervical artificial disc replacement surgery has opened up a new way for the cervical disease treatment.

关键词： Surgery Robot kinematics Planning Brushless motors Optical imaging Biomedical optical imaging

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