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6th International Forum on Strategic Technology, IFOST 2011

作者： Hu, Haiyan Li, Weida Li, Juan Li, Mantian Sun, Lining School of Mechanical and Electric Engineering Soochow University Suzhou China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781457703966

Continuum robots feature continuously deformable backbone as opposed to traditional robots featuring rigid links and identifiable rotational joints. Due to their compliance and high dexterity, continuum robots have good potential application in minimally invasive surgery(MIS). In order to develop a colonoscopic robot which can perform inspection of human colon and do MIS but much less discomfort for the patient, a novel continuum robot for colonoscopy is designed. The robot consists of 5 sections, and each section has 2 degrees of freedom(DOF) and is 12mm in diameter and 120mm in length. This paper briefly introduces the mechanical structure and kinematics of colonoscopic robot first. For simplicity but without loss of generality, a 2-D model of human colon is built according to the anatomy of human colon. In order to achieve a semiautomatic guidance, the guidance control algorithm and implemention method for single section and multiple section colonoscopic robot is developed based on the 2-D colon model. Finally, the simulation is carried out to verify the kinematics and guidance control algorithm. This study lays a foundation for the clinic application of robotic colonoscopy. © 2011 IEEE.

关键词： Degrees of freedom (mechanics)

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Simulation of near-field optical manipulator using the combination of a near-field scanning optical microscope probe and an atomic force microscope metallic probe

Simulation of near-field optical manipulator using the combi...

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作者： Liu, Binghui Yang, Lijun Wang, Yang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China School of Mechatronics Engineering Harbin Institute of Technology Harbin 150001 China

We propose a physical model to calculate the trapping force on a nanoparticle trapped by the system using the combination of a near-field scanning optical microscope (NSOM) probe and an atomic force microscope (AFM) metallic probe. Such a near-field trap is produced by evanescent illumination from the NSOM probe and light scattering at the tip of the AFM metallic probe. By using the Maxwell stress tensor through the electric field distribution obtained with the three-dimensional finite difference time domain (3-D FDTD) method, the dependence of the trapping force on the system parameters is discussed, and trapping properties including near-field distribution, trapping position, and the role of other forces versus trapping force are revealed. The results indicate that a particle down to tens of nanometers in size can be trapped toward the tip of an AFM probe with a lower laser intensity (∼1040 W/mm2) than that required by conventional optical manipulators (∼105 W/mm2). © 2011 American Institute of Physics.

关键词： Probes

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Study of gait symmetry quantification and its application to intelligent prosthetic leg development

Study of gait symmetry quantification and its application to...

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2011 IEEE International Conference on robotics and Biomimetics, ROBIO 2011

作者： Wang, Fei Kim, Kijun Wen, Shiguang Wang, Yaning Wu, Chengdong College of Information Science and Engineering Northeastern University Shenyang 110819 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

ISBN: (纸本)9781457721373

Human bipedal walking is symmetrical, stable and efficiency optimal. To clarify the essential relationship in human gait, accelerometers and rate gyroscopes are mounted on waist and lower extremities of subject to acquire kinematics information during walking. By employing Principal Component Analysis (PCA), kinematics signals of one side are reconstructed using that of opposite side. The reconstructed signals match the acquired ones very well, which verifies the existence of strong linear correlations in healthy human gait. To evaluate the symmetry of gait quantitatively, several classical temporal-spatial features for gait calculated by algorithms involving autocorrelation function are selected for construction of quantitative criterions by combining with symmetry indices. For the validation of gait symmetry quantification scheme, level walking experiments including healthy human subjects and human-intelligent prosthetic leg coupling system are conducted. Results indicate the correctness and effectiveness of the proposed scheme and gait symmetry analysis shows great potential in the field of bio-medical rehabilitation. © 2011 IEEE.

关键词： Principal component analysis

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Study on the hydrodynamics and kinematics of a biomimetic fin propulsor actuated by SMA wires

Study on the hydrodynamics and kinematics of a biomimetic fi...

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2011 International Conference on Electronic and Mechanical Engineering and Information Technology, EMEIT 2011

作者： Yang, Zhengbao Wang, Yukui Gao, Fei Wang, Zhenlong Wang, Yangwei State Key Laboratory of Robotics and System at Harbin Institute of Technology Harbin 150001 China School of Mechanical Engineering Harbin Institute of Technology Harbin 150001 China

ISBN: (纸本)9781612840857

A flexible noiseless and high-efficient propulsor plays a prominent role in the performance of underwater vehicles. This paper presents a micro flexible caudal fin propulsor actuated by shape memory alloy (SMA) wires. To improve the responding frequency and fatigue of the SMA wires, a pair of slots is designed. So the SMA wires can be heated in the protection of silica gel layer and cool in the other status, i.e. flowing water. Then the propulsive performance of the biomimetic propulsor is evaluated through thrust measurement experiments. Note that higher undulating frequency does not mean stronger thrust force because the undulating amplitude descends along with the undulating frequency increase for this kind SMA propulsor. Further, the kinematics of the propulsor is analyzed and the corresponding equation of motion is obtained. At last, a three-dimensional numerical simulation on the biomimetic fin was conducted by CFD to investigate the interaction of the propulsor with surrounding water and the thrust production. The CFD results consist with the experimental results well, which verify the kinetic model and the numerical simlation. © 2011 IEEE.

关键词： Kinematics

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Object detection based on shape fragments

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Zidonghua Xuebao/Acta Automatica Sinica 2011年第4期37卷 427-439页

作者： Chen, Guo-Dong Sun, Li-Ning Du, Zhi-Jiang Ji, Jun-Hong State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China Robotics and Microsystems Center Soochow University Suzhou 215021 China

Most of the algorithms for object detection are sensitive to background clutter and occlusion, and cannot localize the edge of the object. In this paper, the authors present an approach based on the local shape fragments. Firstly, the model of the object is learnt from the training set. The model is composed of shape fragments and the model of the object is in multi-scales. In this way, the method is invariant to scale changes. Then, shape fragments are extracted from the test image, which is in the same way at the model shape fragments extracting method. According to the similarity of the shape fragments, candidate shape fragments are got from the test image. After that, according to the rotation relationship between the fragments on the model and the test image, rotation angle between the fragments are estimated. Finally, the object detection problem is casted to the peak detection problem in Hough space by combining the probability Hough transform. After peak positions are achieved in the Hough space, each candidate shape fragment is traced back to verify whether it belongs to the object. Test results show that the proposed method is valid. © 2011 Acta Automatica Sinica.

关键词： Object detection

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Research on state-guided teleoperation assistance method

Research on state-guided teleoperation assistance method

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International Conference on Computer Science and Service system

作者： Zang, Xizhe Zhao, Jie Meng, Qingxin State Key Laboratory of Robotics and System Harbin Institute of Technology Heilongjiang 150080 China School of Mechanical and Electrical Engineering Harbin Engineering University Harbin 150001 China

ISBN: (纸本)9781424497638

Toward the Internet-based robotic tasks, a state-guided teleoperation assistance method is presented. According to this method, the whole task can be identified into several states to direct the execution of teleoperation, through state definition, state recognition and state display. After building up an Internet-based teleoperation system centered on data fusion, the remote manipulations of medical treatment are accomplished finally. The experiment demonstrates that introduction of the assistance method alleviates the difficulties such as network time-delay effectively and operation efficiency, improving the global capacity of system. © 2011 IEEE.

关键词： Remote control

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Global Model of PMLSM Drive system Using Bond Graph Method

Global Model of PMLSM Drive System Using Bond Graph Method

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The 2011 International Conference on Electric and Electronics(EEIC 2011)

作者： Teng Li Yanjie Liu Lining Sun State Key Laboratory of Robotics and System Harbin Institute of Technology

Global model of permanent magnet linear synchronous motor(PMLSM) drive system is built in this paper by bond graph method. In the global model each component of PMLSM drive system are concerned, which include motor driver, PMLSM, mechanism structure and sensor. 20-sim software is used to simulate the global model and do analysis of system's character. Simulation results illustrate that time constant of inverter in motor driver results in response lag, and sensor resolution influences the following accuracy. The process of modeling and analyzing fully shows the superiority of bond graph method and 20-sim software in multi domain system.

关键词： PMLSM global model bond graph motor driver sensor quantitative error

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Rotary Ultrasonic Motor Using Longitudinal and Bending modes and Its Analysis

Rotary Ultrasonic Motor Using Longitudinal and Bending modes...

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2011 International Conference on Advanced Materials and Computer Science(ICAMCS 2011)

作者： Junkao Liu Yingxiang Liu Weishan Chen Shengjun Shi State Key Laboratory of Robotics and System Harbin Institute of Technology

A rotary ultrasonic motor using longitudinal and bending vibration modes is proposed in this study. The proposed motor contains two exponential shape horns located on two ends, and the end tips of the horns are used as the driving feet. Two groups of PZT elements(Longitudinal PZT and Bending PZT) are clamped in the middle of the motor by a double head flange bolt to excite the longitudinal vibration mode and bending vibration mode of the motor, respectively. By the composing of the longitudinal and bending vibration modes, elliptical trajectory vibrations can be generated on the end tips of the horns, which have the same rotation directions and can driving the rotor together by frictional force. After the introducing of the working principle, modal analysis is developed to tune the resonant frequencies of the longitudinal and bending vibration modes to be close with each other. At last, transient analysis is developed to gain the vibration characteristics of the motor, and the gained elliptical trajectory motions of particles on the driving parts verify the feasibility of the proposed design.

关键词： ultrasonic motor rotary longitudinal and bending transducer FEM

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A Standing Wave Ultrasonic Motor Using Longitudinal Vibration Transducers

A Standing Wave Ultrasonic Motor Using Longitudinal Vibratio...

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2011 International Conference on Advanced Materials and Computer Science(ICAMCS 2011)

作者： Junkao Liu Tao Xie Weishan Chen Changhua Jia State Key Laboratory of Robotics and System Harbin Institute of Technology

A new type standing wave ultrasonic motor is proposed in this studyIn this design,three longitudinal vibration transducers are clamped on the inner side of a ring with driving teeth by screwsBending standing wave can be generated in the ring by the longitudinal vibrations of the transducersThus,oblique linear simple harmonic vibrations are formed on the teeth,which can drive the rotor by frictional forceThe structure and working principle of the proposed design are introducedThe motor is designed and analyzed by using FEM methodA standing wave is gained after the degeneration between the bending vibration of the ring and the longitudinal vibration of the transducerThe test results of the prototype motor verify the feasibility of the proposed design

关键词： ultrasonic motor standing wave longitudinal transducer FEM

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Research on Locomotive Evolution Based on Worm-Shaped Configuration of Self-reconfigurable Robot Hit MSR II

Research on Locomotive Evolution Based on Worm-Shaped Config...

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The 2011 International Conference on Electric and Electronics(EEIC 2011)

作者： Yanhe Zhu Xiaolu Wang Xindan Cui Jingchun Yin Jie Zhao State Key Laboratory of Robotics and System Harbin Institute of Technology

In this paper, we constructed a three-dimensional dynamic simulator for Hit MSR II which is a module self-reconfigurable robot system composed of single-rotational-freedom modules. Downhill Simplex Optimization Algorithm were used to evolve the locomotion of the robot ensuring that it is possible to get access to the relatively more optimized locomotion gaits parameters after large enough numbers of iterative calculations under a certain evaluation function. What's more. We selected worm-shaped configuration to research on the validation of locomotive evolution both in simulation and experiment.

关键词： self-reconfigurable robot 3D control simulator worm locomotive evolution Downhill Simplex Algorithm

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