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

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A Kind of Kinematics Modeling of 2 DOFs Notched Continuum Manipulator

A Kind of Kinematics Modeling of 2 DOFs Notched Continuum Ma...

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International Conference on Information Science and Control Engineering (ICISCE)

作者： Xiaolong Wang Zhiyuan Yan Haodong Wang Yongzhuo Gao Zhijiang Du State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

It’s difficult for traditional rigid manipulators to complete relevant operations in the single port laparoscopic. The notched continuum manipulator owns the features of flexibility and biocompatibility which can make it possible applied in the single port laparoscopic. A kinematics modeling similar to the constant-curvature approximations is proposed in this paper. It can be utilized to describe the mapping relationship between the length change value of two driven wires and the end position. This method simplifies the complexity of kinematic modeling. And it makes the control method of the continuum manipulator easier to achieve as well. The accuracy of the model has been verified by the prototype.

关键词： Laparoscopes Information science Control engineering Shape Wires Force feedback Prototypes

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Analysis and Comparison of the Displacement Amplifiers with a Generalized Mathematical Model 9

Analysis and Comparison of the Displacement Amplifiers with ...

引用

9th IEEE International Conference on Cyber Technology in Automation, Control and Intelligent systems, CYBER 2019

作者： Chen, Fangxin Li, Hongwei He, Wenhui Li, Wangyang Dong, Wei State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781728107691

The bridge-type amplifier and the lever-type amplifier are the two frequently used displacement amplifiers in the precision engineering. However, to the knowledge of the authors, the analysis and the performance comparison between the two amplifiers was not frequently reported, which is instrumental in realizing and selecting the displacement amplifiers in the practice application. To this end, the two types mechanisms are analyzed and compared with a compliance matrix based model. Via the analysis and comparison, some interesting results which are significant for the amplifiers are founded: 1). The amplification ratio is related to the input displacement when the elastic load is applied;2) The limited amplification ratio phenomenon is observed in the bridge-type mechanism but also the lever-type one;3) The comparison of the flexure hinges design for the two amplifiers are presented;4) The load capacity of the two amplifiers are first analyzed and compared in this paper. Finally, the accuracy of the modeling is verified by FEA simulation studies. © 2019 IEEE.

关键词： Hinges

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Iterative learning Control of Trajectory Tracking of Robot Manipulator Based the SoC Platform Integrated Motor Drive and Motion Control

Iterative learning Control of Trajectory Tracking of Robot M...

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The 10th International Conference on Power Electronics, Machines and Drives (PEMD 2020)

作者： Y. Sun M. Yang Y. Chen Q. Ni D. Xu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

With the development of SoC technology, the integration of FPGA+ARM has become the development direction of SoC. For the characteristics of integrated multi-axis motion control and motor drive, this paper selects Xilinx ZYNQ-7020 system-onchip (SOC) with integrated dual-core ARM CPU and FPGA as the hardware platform control chip, an arm core motor drive algorithm. Another ARM core completes the interactive function and motion control, and the FPGA to complete the multi-axis hardware current loop and improve the system bandwidth. The iterative learning control (ILC) technology is widely used in robots to reduce the trajectory error of robots performing repetitive tasks. Using P-type iterative learning ILC combined with feedback control , which can compensate for nonrepeating disturbance. Finally, analysis of experimental results shows that iterative learning control combined with feedback control can significantly improve tracking accuracy.

关键词： iterative methods manipulators field programmable gate arrays motion control feedback tracking motor drives system-on-chip control engineering computing iterative learning control machine control

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A New Pressure-adsorption Climbing Robot Realized through Ducted Fan

A New Pressure-adsorption Climbing Robot Realized through Du...

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Artificial Intelligence and Information systems (ICAIIS), 2020 IEEE International Conference on

作者： Weijin Huang Hongzhe Jin Mingda Ge Jie Zhao The State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (数字)9781728165905

ISBN: (纸本)9781728165912

As an important part of the mobile robot, the rod-climbing robot is mainly responsible for reliably carrying cleaning and maintenance equipment. It overcomes the effect of gravity and is attached to high-rise rods such as pipes, utility poles, lighting poles, cable stays of bridge and lightning rods of substation. The tasks such as cleaning, detection, maintenance, etc. can be conducted more safely, efficiently and economically compared with manual work. Though, there exist some types of rod-climbing robots with different mechanical structures, their structures are too heavy or control is too complicated. This paper presents a new pressure-adsorption climbing robot, which is realized through ducted fan. Compared with the existed rod-climbing robots, the presented one have the advantages of simplified structure, easy control, small volume, light weight and strong adaptability. The feasibility of the new designed robot is experimentally verified.

关键词： Adsorption Fans Climbing robots Gears Wheels

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Trackerless Freehand Ultrasound with Sequence Modelling and Auxiliary Transformation Over Past and Future Frames

Trackerless Freehand Ultrasound with Sequence Modelling and ...

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IEEE International Symposium on Biomedical Imaging

作者： Qi Li Ziyi Shen Qian Li Dean C Barratt Thomas Dowrick Matthew J Clarkson Tom Vercauteren Yipeng Hu Department of Medical Physics and Biomedical Engineering Centre for Medical Image Computing Wellcome/EPSRC Centre for Interventional and Surgical Sciences University College London London U.K. State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China School of Biomedical Engineering & Imaging Sciences King’s College London London U.K.

Three-dimensional (3D) freehand ultrasound (US) reconstruction without a tracker can be advantageous over its two-dimensional or tracked counterparts in many clinical applications. In this paper, we propose to estimate 3D spatial transformation between US frames from both past and future 2D images, using feed-forward and recurrent neural networks (RNNs). With the temporally available frames, a further multi-task learning algorithm is proposed to utilise a large number of auxiliary transformation-predicting tasks between them. Using more than 40,000 US frames acquired from 228 scans on 38 forearms of 19 volunteers in a volunteer study, the hold-out test performance is quantified by frame prediction accuracy, volume reconstruction overlap, accumulated tracking error and final drift, based on ground-truth from an optical tracker. The results show the importance of modelling the temporal-spatially correlated input frames as well as output transformations, with further improvement owing to additional past and/or future frames. The best performing model was associated with predicting transformation between moderately-spaced frames, with an interval of less than ten frames at 20 frames per second (fps). Little benefit was observed by adding frames more than one second away from the predicted transformation, with or without LSTM-based RNNs. Interestingly, with the proposed approach, explicit within-sequence loss that encourages consistency in composing transformations or minimises accumulated error may no longer be required. The implementation code and volunteer data 1 will be made publicly available ensuring reproducibility and further research.

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Visual-Based Pose Tracking in Weak Light 12

Visual-Based Pose Tracking in Weak Light

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12th International Congress on Image and Signal Processing, BioMedical Engineering and Informatics, CISP-BMEI 2019

作者： Zhang, Longzhi Wu, Dongmei State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781728148526

Visual tracking is a popular topic in computer vision, which has broad application prospects in military guidance, aerospace, video surveillance and analysis, medical diagnosis, intelligent robotics, human-computer interaction, and etc. Current tracking algorithms perform poorly in specific scenes, such as a target in condition of weak light. Thus, a pose tracking method based on visual information is put forward, to implement real-time visual tracking in weak light. More precisely, in proposed method, target pose parameters are known at the first frame in a given video sequence, additionally, edge features and point features are taken as visual features to improve the realtime of tracking. The experimental results demonstrate that our approach has better real-time performance of tracking in weak light. © 2019 IEEE.

关键词： Human computer interaction

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Comparative Study of Voltage Source Inverter Nonlinearity Compensation using different Signal Information for Table look up in PMSM Drives

Comparative Study of Voltage Source Inverter Nonlinearity Co...

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The 10th International Conference on Power Electronics, Machines and Drives (PEMD 2020)

作者： J. Long M. Yang Y. Chen Q. Ni D. Xu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

The inverter nonlinearity compensation has been studied by the researchers widely, however, due to the poor polarity detection ability of the discrete control system and unavoidable noises from current feedback, unideal compensation happens when the motor speed is low and the load is small. In order to tackle with this problem. This paper presents an inverter nonlinearity compensation method in permanent magnet synchronous motor (PMSM) drives. The overall process is achieved by voltage signal injection, the only requirements are stator resistance and the maximum current of a given motor. The corresponding voltage errors are saved in look up table (LUT) and being used together with field-oriented control (FOC). In addition, a comparative study when using phase current feedback, phase current reference and phase voltage reference for compensation voltages look-up in the already established LUT is conducted. A 750-W voltage-source inverter PMSM drive controlled by the FOC algorithm is used for experiment verification, the results show that the phase current reference is the most proper signal for compensation voltages look-up, especially around the current zero-crossing condition. The comparative study in this paper can be easily applied in the real industrial application with no hardware introduction and very little algorithm change.

关键词： stators machine vector control compensation synchronous motor drives invertors permanent magnet motors voltage-source convertors table lookup

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Development of a novel hand-eye coordination algorithm for robot assisted minimally invasive surgery

Development of a novel hand-eye coordination algorithm for r...

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2019 IEEE International Conference on robotics and Biomimetics, ROBIO 2019

作者： Sun, Yanwen Pan, Bo Fu, Yili Niu, Guojun Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China

ISBN: (纸本)9781728163215

The minimally invasive surgical robot greatly improved surgical OR efficiency, and surgeon manipulates the surgical instruments through master-slave control under the guidance of laparoscope vision. As a mapping of the surgeon's hand-eye coordination, the coordination between surgical instruments and laparoscope has an important impact on the surgical efficiency and the ergonomics. In this paper, a novel hand-eye coordination algorithm is proposed for the robot -assisted minimally invasive surgery (RMIS). Firstly, a novel cascade-calibration (CC) algorithm structure is proposed to determine the pose relationship between the robot laparoscope arm coordinate system and the robot instruments arm coordinate system. A hand-eye coordination algorithm is also proposed, which provides accurate master-slave control and improves the surgical operation room (OR) efficiency. We validate the proposed algorithm through two experiments with our minimally invasive surgical robot system. Our experiments demonstrate that the proposed method is competitively effective to induce the hand-eye coordination for the RMIS. © 2019 IEEE.

关键词： Laparoscopy

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An adaptable robotic system for assembling irregular earphone parts on factory automation

An adaptable robotic system for assembling irregular earphon...

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2019 IEEE International Conference on robotics and Biomimetics, ROBIO 2019

作者： Zhang, Guiwei Li, Changle Zhang, Xuehe Liu, Gangfeng Liu, Yubin Zhao, Jie Xu, Shuo Harbin Institue of Technology State Key Laboratory of Robotics and System Harbin China

ISBN: (纸本)9781728163215

The assembly of earphone parts in electro acoustic factory automation is a challenging problem for industrial robots. The main difficulties come from the fact that conventional industrial robots perform poorly on rapid-updated earphone parts, which are characterized by small size, variety and irregular shapes. What's worse, the robot cannot adapt to the earphone parts with different poses effectively. In order to tackle above problems, an adaptable robotic system guided by the 3D laser triangulation sensor and six-axis F/T sensor is built in this paper. In addition, to reduce position errors caused by the 3D sensor accidently, an assembly strategy which is implemented by the admittance controller learned from human teaching, is proposed for assembling earphone parts. Specifically, AdaBoost-based GPR method is applied to derive the admittance gain, so that the controller perform effectively. A series of comparative experiments prove that the established system could demonstrate superior performance on the earphone parts with small size, variety and irregular shapes. Furthermore, it is also validated that the assembly strategy could be executed effectively on the earphone parts with different poses. © 2019 IEEE.

关键词： Controllers

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Video Text Processing Method Based on Image Stitching 4

Video Text Processing Method Based on Image Stitching

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4th IEEE International Conference on Image, Vision and Computing, ICIVC 2019

作者： Zhou, Tianxiang Wang, Ke Wu, Jun Li, Ruifeng Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China

ISBN: (纸本)9781728123257

This paper studies the video of text with large field of view, solves the problem of text acquisition when a single frame cannot obtain complete text information. This paper proposes a method for acquiring video text panoramas, which automatically processes video text content by natural scene text positioning, text tracking, image stitching and other methods. First, the text is detected using the YOLO target detection framework. Second, use ECO tracking method to keep track of text. Finally, the local matching and global stitching method are used to obtain a text panorama. Experiments show that the proposed method can automatically process video and obtain high-resolution panoramic images with text parts, which greatly improves the text processing speed and effect of video content. © 2019 IEEE.

关键词： Text processing

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