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2013 ICME International Conference on Complex Medical Engineering(2013 ICME复合医学工程国际会议)

作者： Weidong Wang Litao Zhang Junlin Ma State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province 150001 China

ISBN: (纸本)9781467329705

In the applications of parallel robots,Kinematic calibration is one of the most effective methods to improve the accuracy of surgical parallel *** this paper,a brief kinematic calibration method which is used in the 6-UPS (Universal Prismatic Spherical) surgical parallel robot is ***,the primary error factors needed to be identified are proposed based on the kinematic mathematical model of the 6-UPS surgical parallel *** the method of pose measurement is studied,and the definitions of the position deviation and orientation deviation which are used to evaluate the experimental results are ***,an iterative least squares procedure is used to identify the error parameters,and the kinematic calibration experiment is carried *** the statistical analysis of the experimental results,the effect of the method to improve the accuracy of the 6-UPS surgical parallel robot is demonstrated.

关键词： Kinematic Calibration Parallel Robot Pose Measurement Optical Position Sensor

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Study on simulation of multimodule space station intra-vehicular navigation: a survey

Study on simulation of multimodule space station intra-vehic...

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2013 International Conference on Biomedical Engineering and Environmental Engineering (ICBEEE 2013)

作者： Lei Zhu Yingxue Yao State Key Laboratory of Robotics and System (HIT) School of Mechanical and Electrical Engineering Harbin Institute of Technology

Simulation is a reasonable approach and important basis for studies and trainings of astronauts' multimodule space station intra-vehicular navigation. Based on the introduction of the main simulation effect required, the research progress of multimodule space station intra-vehicular navigation simulation was summarized and analyzed from three aspects: limitations of traditional intra-vehicular activity(IVA) simulation methods, development of virtual reality(VR)-based multimodule space station intra-vehicular navigation simulation, and shortcomings existing in the VR-based simulation methods. Research production and deficiency in areas of the obligatory and/or automatic spatial updating verification and the effect of subjects' posture on the navigation simulation were studied emphatically. At last, the research directions in future were pointed out.

关键词： multimodule space station IVA navigation simulation of intravehicular navigation obligatory and/or automatic spatial updating

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Assembly sequence planning based on assembly knowledge database

Assembly sequence planning based on assembly knowledge datab...

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2nd International Conference on Information Engineering and Applications, IEA 2012

作者： Li, Rong Tian, Ying School of Automobile and Traffic Engineering Heilongjiang Institute of Technology Harbin 150050 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150050 China School of Mechanical Engineering Tianjin University Tianjin 300072 China

ISBN: (纸本)9781447148494

An assembly sequence planning method based on assembly knowledge is put forward. Three types of the assembly knowledge were defined, and the knowledge database was established, which include products' part designing knowledge, joining knowledge, and assembly rule knowledge. According to all of the knowledge, assembly model was building and simplified. Supported by above knowledge assembly model, by firing the state matrix, all the feasible sequence can be obtained. Then, the sequences of the joining were acquired from the knowledge database, which were insert into the feasible sequence, and the assembly sequence were obtained. Finally, a simple case is provided to illustrate the effectiveness of the proposed method. © 2013 Springer-Verlag.

关键词： Petri nets

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Visualization and Real-time Tracking of Bone Drill by Electromagnetic Position Sensors

Visualization and Real-time Tracking of Bone Drill by Electr...

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2013 ICME International Conference on Complex Medical Engineering(2013 ICME复合医学工程国际会议)

作者： Litao Zhang Weidong Wang Dongmei Wu Zhijiang Du State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province 150001 China

ISBN: (纸本)9781467329705

With the assistance of the surgical navigation system,surgeons could visually operate medical instruments,which are connected to the navigation system,to touch an internal anatomical structure of the *** medical instruments and patients are simultaneously shown on the *** paper researches on the visualization and real-time tracking of bone drill by electromagnetic position ***,the principle and components of the electromagnetic positioning system are *** a plastic structure mounted on the bone drill is designed to reduce registration time of the bone drill after *** an iterative algorithm is developed to calculate the positions of the drill ***,the software based on the VTK (visualization toolkit) is developed to demonstrate the effect of the method for visualization and realtime tracking of bone drill.

关键词： Visualization Real-time Tracking Surgical Navigation Electromagnetic Position Sensors

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Adaptive learning of multi-finger motion recognition based on support vector machine

Adaptive learning of multi-finger motion recognition based o...

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IEEE International Conference on robotics and Biomimetics

作者： Dapeng Yang Li Jiang Rongqiang Liu Hong Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin P. R. China

ISBN: (纸本)9781479927456

A common source for controlling hand prosthesis is the myoelectric signal (MES, also termed electromyography, EMG) that are collected from human body. For a pattern recognition-based EMG control scheme, research has found that the classification accuracy obtained offline may deteriorate owing to signal instinct or changed environment, which results in a reduced system stability. Based on support vector machine (SVM), this paper proposed an adaptive learning procedure intending to keep the classification accuracy. The general idea was to rearrange the training samples of the classifier in real-time by measuring their Kuhn-Tucker (KT) conditions. To regulating the learning effectiveness and system complexity, a forgetting factor was applied to each EMG sample considering its life period. The proposed learning algorithm was validated on a multi-session MES dataset collected from a series of control scenarios, within which the myoelectric signals were collected from two healthy subjects while performing a large variety of finger motions. The experimental results showed that the accuracy of the classifiers could be effectively maintained. In addition, the introduced forgetting factor can effectively confine the classifier's complexity in the long run.

关键词： Accuracy Electromyography Classification algorithms Support vector machines Learning systems Training Thumb

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Structural design of 2D piezoresistive micro-force sensor

Structural design of 2D piezoresistive micro-force sensor

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14th Annual Conference and the 3rd International Conference of the Chinese Society of Micro-Nano Technology, CSMNT 2012

作者： Zhou, Jie Rong, Weibin Sun, Lining State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 Heilongjiang Province China Hei Longjiang Institute of Science and Technology Electrical Power Engineering School Harbin 150046 Heilongjiang Province China MOE Key Laboratory of Micro-systems and Micro-structures Manufacturing Harbin 150080 Heilongjiang Province China

ISBN: (纸本)9783037857397

In order to detect the tool-substrate contact force and the tool-target interaction force during nano-manipulation process, a novel MEMS based 2D piezoresistive micro-force sensor structure was proposed. This structure can realize the 3D hardware decoupling for the X,Y and Z axis. Thus, the force detection in the vertical direction (Z axis) and parallel direction reference to base (X axis) can be done simultaneously. Theoretical analysis shows that this structure has a good structural sensitivity. The rationality and feasibility of the structure were confirmed by simulation results. © 2013 Trans Tech Publications Ltd, Switzerland.

关键词： MEMS Nano-manipulation Piezoresistive micro-force sensor

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SEM-based tele-nanomanipulation system with virtual 3D visual and force interaction

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Jiqiren/Robot 2013年第1期35卷 52-59+66页

作者： Li, Dongjie Rong, Weibin Sun, Lining Xiao, Wanzhe Zou, Yu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China Institute of Electrical Control and Automation Technology Harbin University of Science and Technology Harbin 150080 China

In order to increase the interaction of nanomanipulation, a tele-nanomanipulation platform with virtual 3D visual feedback and virtual force sense feedback is built by combining with the virtual reality technology and the force feedback device. To ensure that the virtual environment is able to reflect the real nanomanipulation environment accurately, the collision detection and force sensing rendering of the virtual model is designed in detail. The virtual match link between the force feedback device and virtual environment is introduced to ensure the stability of the force interaction interface and to increase the coordination of the master control module. Aiming at the accurate nanomanipulation, the image characteristics extraction method based on the region of interest is adopted to exact the depth information of probe. Then the relationship of image fuzzy degree and the distance between the probe and the substrate is quickly established, and the closed-loop control of the probe is realized. Finally, with the developed platform and the proposed method, the shift experiments of single ZnO nanowire are completed.

关键词： Scanning electron microscopy

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Trajectory control of the articulated robot based on inverse dynamics

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Huazhong Keji Daxue Xuebao (Ziran Kexue Ban)/Journal of Huazhong University of Science and Technology (Natural Science Edition) 2013年第SUPPL.I期41卷 17-20+24页

作者： Chen, Peihua Cao, Qixin Research Institute of Robotics Shanghai Jiao Tong University Shanghai 200240 China The State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University Shanghai 200240 China

The trajectory planning algorithm of the articulated robot based on quintic polynomials in the joint space was studied under the condition of starting point's and ending point's motion parameters known, and the corresponding joint positions, speeds and accelerations at every moment were obtained. Research was also carried out on the robot inverse dynamics based on the iterative Newton-Euler algorithm, and the driven torques for robot control or dynamics simulation were calculated according to the planned robot trajectory. Meanwhile, the robot trajectory control system based on the inverse dynamics was established. Finally, three kinds of articulated robot's trajectory control methods were compared and tested in the dynamics simulation. According to the comparisons of the parameters of trajectory following error and driven torque, it proved that the articulated robot rajectory control system based on the combination of RNEC and acceleration feedback has high following accuracy and obvious trajectory control effect, which is an excellent torque control method.

关键词： Inverse problems

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Dispersion compensation for an ultrathin metal film using LCD-CCD system

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Chinese Physics B 2012年第10期21卷 265-269页

作者：代煜张建勋 Institute of Robotics and Automatic Information System Nankai University State Key Laboratory of Robotics and System Harbin Institute of Technology

A dispersion compensation method is introduced to correct the distorted image passing through an ultrathin metal *** LCD-CCD system is modeled by the back propagation network and used to evaluate the transmittance of the ultrathin metal *** samples for the network come from 729 images captured by shooting test patches,in which the RGB values are uniformity distributed between 0 and *** RGB value of the original image that will be distorted by the dispersion is first transformed by mapping from the LCD to the CCD,multiplied by the inverse matrix of the transmittance matrix,and finally transformed by mapping from the CCD to the LCD,then the corrected image is *** order to verify the effectiveness of the proposed method,ultrathin aluminum films with different thicknesses are evaporated on glass substrates and laid between the CCD and *** results show that the proposed method compensates for the dispersion successfully.

关键词： ultrathin metal film dispersion compensation back propagation network LCD-CCD system

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Indoor surveillance robot controlled by a smart phone

Indoor surveillance robot controlled by a smart phone

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IEEE International Conference on robotics and Biomimetics

作者： Letian Liu Xiaorui Zhu Yi Tang State Key Laboratory of Robotics and System (HIT) Harbin Institute of Technology Shenzhen Graduate School Shenzhen Guangdong China

ISBN: (纸本)9781479927456

As the smart phone becomes a remote processor for more functions in people daily lifes, the operators of the indoor survelience robots can be located anywhere if they have the smart phone. This paper presents the design of a mobile robotic system remotely controlled by a smart mobile phone via the Internet. A control client on the Android smart phone was the command center while the mobile robot was excuted to surveilence. The model predictive control method was applied on the side of the smart phone to generate an optimal sequence of the control commands. A network compensator was embeded on the robot to determine the current action of the robot. Experiments under different netwok conditions were carried out and analyzed for validation of the proposed system.

关键词： Delay effects Delays Smart phones Robot kinematics Mobile robots Trajectory

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