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检索条件"机构=State Key Laboratory^of Robotics and System"

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For prostate MRI segmentation: A Prior-shape-based level set model combined with gradient and regional information 15

For prostate MRI segmentation: A Prior-shape-based level set...

引用

15th IEEE International Conference on Mechatronics and Automation, ICMA 2018

作者： Pan, Bo Wang, Weirong Yan, Jiawen Fu, Yili State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781538660720

The contour extraction of prostate in magnetic resonance imaging (MRI) plays a significant role in clinical diagnosis and related medical research. We propose a level set model, which incorporates shape priors and the gradient information of the image into C-V model which was submitted by Chan T F and Vese L for prostate MRI segmentation, and can segment the prostate contour in MRI with high precision. In our model, prior shape information is used as the external force, and the regional information as well as gradient information is used as internal force to drive curve evolution. Then the evolution curve is modified with the information of the image itself under the constraint of prior shape. Due to the addition of local gradient information, this method can better deal with the situation when there only exists small gray-level difference between the background and target area of medical image. Meanwhile, the accuracy and robustness of segmentation are improved. Finally, the experimental results and quantitative analysis show that the level set algorithm with priori shape information can adapt to different forms of the prostate better, and the addition of gradient information avoids the situation that traditional CV model unable to process the images with intensity inhomogeneity, which demonstrate the potential of the approach proposed in the prostate MRI segmentation. © 2018 IEEE.

关键词： Magnetic resonance imaging

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Design and fabrication of a variable stiffness soft pneumatic humanoid finger actuator

Design and fabrication of a variable stiffness soft pneumati...

引用

2018 IEEE International Conference on Information and Automation, ICIA 2018

作者： Yan, Jihong Zhang, Hairong Shi, Peipei Zhang, Xinbin Zhao, Jie State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781538680698

Soft actuators are popular used in bionic robotic hands and grippers due to its flexibility and compliance. However, most of them can't achieve true finger-like motion and have low stiffness. Inspired by the human fingers, this paper introduce a new design of three-joint variable stiffness pneumatic soft finger actuator, which imitate the shape, size, motion pattern and rigid-flexible coupled characteristic of human fingers. The soft finger is designed into four sections and three joints. The metacarpophalangeal joint is driven independently and the other two interphalangeal joints are driven associated. The soft finger actuator uses Low-melting point alloys (LMPA) as a stiffening layer to achieve a controllable and variable functions of stiffness. Motion and stiffening performance of the finger actuator is tested. The result shows that the combination pattern of soft and rigid has an improvement in performance of soft finger actuators. © 2018 IEEE.

关键词： Bionics

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A reconfigurable virtual modeling method for robot simulation 15

A reconfigurable virtual modeling method for robot simulatio...

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15th IEEE International Conference on Mechatronics and Automation, ICMA 2018

作者： Zhao, Jingdong Wang, Yan Jiang, Zainan State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781538660720

Robot simulation is an effective tool in evaluating the performance of robot. In traditional simulation, virtual models of robots are usually determined in advance. To enhance the flexibility and versatility of the simulation, a reconfigurable virtual modeling method for robot simulation is proposed in this paper. Reconfiguration includes addition, removal, and transformation of virtual models, realized with a C++ container. Finally, the reconfiguration simulation result for the typical space manipulator task indicates the effectiveness of the proposed method. © 2018 IEEE.

关键词： Robots

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A control system design for 7-DoF light-weight robot based on EtherCAT bus 15

A control system design for 7-DoF light-weight robot based o...

引用

15th IEEE International Conference on Mechatronics and Automation, ICMA 2018

作者： Zhang, Guojun Ni, Fenglei Li, Zhiqi Liu, Hong State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781538660720

' In order to increase control frequency and expansibility for 7-degree-of-freedom(DoF) light-weight, a novel robot control system based on EtherCAT bus is designed. The control system consists of arm controller and joint controller. The arm controller is implemented by a core-i5 PC, which achieves motion control, trajectory planning and real-time task planning. The joint controller is designed based on Field Programmable Gate Array(FPGA), which achieves sensor samping and motor control. EtherCAT bus achieves data transmission between joint controller and arm controller. The experiment results show that our control system can achieve higher control frequency and better expansibility. © 2018 IEEE.

关键词： Buses

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Locally Guided Multiple Bi-RRT∗ for Fast Path Planning in Narrow Passages

Locally Guided Multiple Bi-RRT∗ for Fast Path Planning in N...

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IEEE International Conference on robotics and Biomimetics

作者： Xin Shu Fenglei Ni Zhou Zhou Yechao Liu Hong Liu Tian Zou The State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Department of system dynamics KUKA JV(Shunde) Foshan China

Rapidly-exploring Random Tree Star (RRT * ) and its variants can provide a collision-free and asymptotic optimal solution for many path planning problems. However, it is inefficient for many RRT * based variants to rapidly find one initial solution in a clustered environment with narrow passages, since consuming high memory as well as time, due to a large number of iterations in sampling critical nodes. To overcome this problem, the paper proposes the Locally Guided Multiple Bi-RRT * (LGM-BRRT * ) method, which can provide a fast solution by incorporating an improved bridge-test and a novel search strategy based on local guidance. It ensures an accelerated success rate and more efficient memory utilization compared with Bidirectional RRT * (BRRT * ), and it is easy for implementation as well. It was verified on different types of scenarios in terms of efficiency and success rate. The results demonstrated that LGM-BRRT * is beneficial for fast path planning in a clustered environment with narrow passages.

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A deployable end-effector with caging-based grasp capability for capturing free-floating objects 15

A deployable end-effector with caging-based grasp capability...

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15th IEEE International Conference on Mechatronics and Automation, ICMA 2018

作者： Li, XueAi Zhang, Yuanfei Sun, Kui Liu, Hong State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781538660720

In this paper, based on the caging grasp, a novel deployable end-effector for capturing free-floating objects is proposed, which implements a secure grasp without precise motion tracking and complex feedback control. Three subsystems for capture, transmission and actuation are highly integrated, including mechanics, electronics and sensors. Grippers composed of constant-torque hinges are arranged specifically to endow the mechanism with deployable function and ensure a steady envelope. Gears are widely adopted in a unique manner for synchronous motion of six grippers, with only one actuator. Meanwhile, an optimal design for a larger envelope with weight reduction of the grippers is carried out. The multisensory system and electronics in the actuation subsystem lay the foundation for operational procedure of the end-effector. Additionally, performance of the end-effector is verified in virtual simulation software. © 2018 IEEE.

关键词： Grippers

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Joint design and position servo control of frog inspired robot based on pneumatic muscle and reset spring 15

Joint design and position servo control of frog inspired rob...

引用

15th IEEE International Conference on Mechatronics and Automation, ICMA 2018

作者： Jizhuang, Fan Bowen, Yuan Qilong, Du He, Zhang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang150080 China

ISBN: (纸本)9781538660720

In this paper, a single degree of freedom joint is designed based on pneumatic muscle and reset spring. First of all, through the isobaric experiment, equal length experiment and equal tension experiment, we build a more accurate pneumatic muscle model. Then a three-order affine nonlinear mathematical model is established by studying the characteristics of the high-speed switching valve, the internal pressure changes of the pneumatic muscle, the energy formula of pneumatic muscle during charging and releasing gas and the dynamic formula of joint to describe the relationship between the input of the value of PWM and output of the joint angle. MATLAB S function is used for simulation, and the corresponding static and dynamic response is obtained through different input (PWM). At the same time, the influence of the three main factors is studied. Based on this model, the equivalent sliding mode control law is designed. We prove the stability, verify the static and dynamic control effect of the control law. © 2018 IEEE.

关键词： Pulse width modulation

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Elbow joint angle estimation in wavelet neural network using relieff selected features of sEMG and post filter 15

Elbow joint angle estimation in wavelet neural network using...

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15th IEEE International Conference on Mechatronics and Automation, ICMA 2018

作者： Luo, Yang Gao, Yongsheng Li, Qiang Zhao, Jie Fei, Xingtong State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang150080 China

ISBN: (纸本)9781538660720

In the control of electromyography-driven exoskeleton, the algorithms must estimate the human motion with fast speed and high accuracy. In this paper, we propose a wavelet neural network (WNN) to estimate the continuous wrist joint angle using the reliefF selected features of surface electromyography (sEMG) and post filter (WNN using RSF&PF). The working process of WNN using RSF&PT can be described as three steps. The candidate sEMG features extracted in time domain are selected according to reliefF theory, and then the selected features are relayed to WNN for angle estimation. In the end, the moving average filter, a post filter, is used to smooth the output curve of the WNN. The estimation performance of WNN using RSF&PF is evaluated via an experimental platform and compared with that of support vector machine as well as that of radial basis function neural network. The average execution time of WNN using RSF&PT in processing 20-s of the sEMG data is 1.104s. The root mean square error and correlation coefficient are 8.73 degree, 0.978 respectively. The comparison results suggest that WNN using RSF&PF achieves the best estimation in terms of accuracy and speed in this work. © 2018 IEEE.

关键词： Radial basis function networks

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Development of an assist upper limb exoskeleton for manual handling task

Development of an assist upper limb exoskeleton for manual h...

引用

2019 IEEE International Conference on robotics and Biomimetics, ROBIO 2019

作者： Yan, Zefeng Yi, Haoyuan Du, Zihao Huang, Tiantian Han, Bin Zhang, Lufeng Peng, Ansi Wu, Xinyu State Key Laboratory of Digital Manufacturing Equipment and Technology School of Mechanical Science and Engineering Huazhong University of Science and Technology China CAS Key Laboratory of Human-Manchine-Intelligence Synergic Systems Shenzhen Institutes of Advanced Technology Chinese Academy of Science Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences China

ISBN: (纸本)9781728163215

In this paper we describe the construction of a wearable upper arm exoskeleton to provide support for industrial workers who engaged in repetitive handling tasks and patients who full or partial loss of function in their upper limb due to accident injuries, spinal cord and strokes. We use flexible rope driven by a motor to realize the shoulder and elbow joints linkage, use ball screw to realize the self-locking in any position to providing assist for users. This novel design not only saves energy but also make the whole system portable. The total weight of the prototype is only 2 kg. The exoskeleton is connected upper limb with 3 bandages, and users take about 30 seconds to put it on and 20 seconds to put the exoskeleton off without any help. The PD adaptive control method is applied to the proposed exoskeleton to track expected trajectories. Five healthy people participated in data acquisition. Upper limb muscle integrated electromyography (IEMG) of the deltoid muscle(DM), the biceps femoris muscle (BFW), the femoral muscle (FM), the femoral wrist flexor (FWF) were compared in continuous handling for four different loads (0, 1.5, 3, 4.5kg). The average assistance efficiency were 39.1%, 41.5%, 36.5% and 40.6% for the DM, BFM, FM and FWF respectively. The experimental data show that the upper limb exoskeleton can provide assist for workers and protect their upper limbs injuries in long-term handling task. © 2019 IEEE.

关键词： Muscle

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A Modified Full-Band Adjustable Bi-Quad Filter for Mechanical Resonance Suppression in Industrial Servo Drive systems

A Modified Full-Band Adjustable Bi-Quad Filter for Mechanica...

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Conference Record of the IEEE Industry Applications Society Annual Meeting (IAS)

作者： Yangyang Chen Ming Yang Yongping Sun Jiang Long Dianguo Xu Frede Blaabjerg IEEE State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Aalborg University Aalborg Denmark

As for mechanical resonance suppression, the online adjustable bi-quad filter is a powerful method and has been widely used in industrial applications. Compared with the notch filter, the bi-quad filter has one more parameter for notch depth design, which is more suitable for servo systems with nature damping coefficient and limited resonant gain. However, this classic method still has room for improvement. Usually, the adjustable bi-quad filter has two steps, including fast Fourier transformation (FFT) analysis, and filter tuning. In this paper, concerning these two steps mentioned above, two targeted modification strategies are proposed. Firstly, a single-phase MIT (SM/T) method is used to remove the certain noise cluster of the FFT result. Then, inspired by the discretization distortion correction of the notch filter, a similar method is designed to avoid that the bi-quad filter becomes inaccurate when the central notch frequency is close to the Nyquist frequency. In the end, the validity and effectiveness of aforementioned analysis and strategies are verified by experimental results.

关键词： Notch filters Resonant frequency Servomotors Optical filters Velocity measurement Service robots

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