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IEEE International Conference on Automation and Logistics (ICAL)

作者： Zhu, Xiang-yu Duan, Xing-guang Chen, Chao Liu, Tian-bo Guo, Qing-bo Intelligent Robotics Institute State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Mechatronical Engineering Beijing Institute of Technology 5 Nandajie Zhongguancun Haidian 100081 China

ISBN: (纸本)9781467303644

A maxillofacial Multi-arm surgery robot is employed to assisting maxillofacial surgery, which can improve surgical precision and reduce surgeons' strain. Thus, the safety during the processing of the surgery is necessary for protecting the patient and preventing the quality of the surgery. This paper presents the development of a collision and self-collision-detection scheme, for Maxillofacial Multi-arm Surgery Robot. The method is based on modeling the arm of Multi-arm robot and the obstacle in surgery environment by simple geometric primitives (cylinders and spheres). Methods of detecting collision about the cylinders and the spheres are introduced. By resorting to the pose of cylinder or sphere which presents in the workspace, many different types of collisions are introduced. The performance of the collision-avoidance scheme is demonstrated with Multi-arm robot via experiments.

关键词： Multi-arm robot Collision Avoidance Geometric Primitives Collision Detection

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Experimental Research on the Ultrasound-guided Positioning System of Microwave Ablation Surgical Robot

Experimental Research on the Ultrasound-guided Positioning S...

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IEEE International Conference on Automation and Logistics (ICAL)

作者： Duan, Xing-guang Guo, Qing-bo Liu, Tian-bo Zhu, Xiang-yu Chen, Chao Yang, Yang Intelligent Robotics Institute State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Mechatronical Engineering Beijing Institute of Technology 5 Nandajie Zhongguancun Haidian 100081 China

ISBN: (纸本)9781467303644

Combined with modern imaging techniques and minimally invasive treatment techniques, microwave ablation surgeries have become one of the most effective methods in the modern comprehensive treatment of cancer. To solve the problems exist in traditional surgeries, microwave ablation surgical robot has been successfully developed. At first, this paper briefly introduces the robot auxiliary treatment process. Then analyzes the ultrasound-guided positioning system in detail. At last, the paper focuses on experimental research process such as robot localization experiment and precision experiment. The experimental results will verify the effectiveness of the robot system and the accuracy of the treatment. Meanwhile, the problems exist in the system are discussed and he future research direction is demonstrated.

关键词： Surgical Robot Ultrasound-guided localization system Microwave Ablation

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Hysteretic optimization for the capacitated vehicle routing problem

Hysteretic optimization for the capacitated vehicle routing ...

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IEEE International Conference on Networking, Sensing and control

作者： Xiaobo Yan Weimin Wu Zhejiang University Hangzhou Zhejiang CN State Key Laboratory of Industrial Control Technology& Institute of Cyber-Systems and Control Zhejiang University Hangzhou China

Hysteretic optimization (HO) is a recently proposed heuristic physical optimization algorithm based on the well-known demagnetization process of magnetic materials in magnetism. The Capacitated Vehicle Routing Problem (CVRP) is an important variant of the vehicle routing problem which is one of the most important and intensively studied combinatorial optimization problems. In this study, we apply HO to the Capacitated Vehicle Routing Problem (CVRP), by generalizing the external field and endowing the configuration space with a proper distance. The experimental results with benchmark problems show the proposed method is competitive with other popular algorithms, such as particle swarm optimization, genetic algorithms.

关键词： Optimization Vehicles Routing Heuristic algorithms Demagnetization Magnetic hysteresis Benchmark testing

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Emergency management of urban rail transit systems using parallel control

Emergency management of urban rail transit systems using par...

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作者： Ning, B. Dong, H. Hu, X. Tang, T. Sun, X. State Key Laboratory of Rail Traffic and Control Beijing Jiaotong University Beijing China Optimization and Systems Theory Royal Institute of Technology Stockholm Sweden

This paper presents a parallel control system designed for managing emergent events in an urban rail transit system (URTS). The key features of the system include cloud computing, information fusion and expert systems. A multiagent approach is used for modeling diversities and interactions in the URTS. Partially due to its ability to interact with the real system via parallel execution, such a parallel control system would provide a cost-effective solution for emergency personnel training, verification of emergency measures, and validation of emergency plans and management policies. © 2012 WIT Press.

关键词： Personnel training

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A novel macroscopic traffic model based on generalized optimal velocity model

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Chinese Physics B 2011年第1期20卷 419-425页

作者：周玄昊吕勇哉 State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and ControlZhejiang University

In this paper, we adopt the coarse graining method proposed by Lee H K et al. to develop a macroscopic model from the microscopic traffic model-GOVM. The proposed model inherits the parameter p which considers the influence of next-nearest car introduced in the GOVM model. The simulation results show that the new model is strictly consistent with the former microscopic model. Using this macroscopic model, we can avoid considering the details of each traffic on the road, and build more complex models such as road network model easily in the future.

关键词： macroscopic model microscopic model traffic flow

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Process pattern construction and multi-mode monitoring

Process pattern construction and multi-mode monitoring

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作者： Zhu, Zhibo Song, Zhihuan Palazoglu, Ahmet State Key Laboratory of Industrial Control Technology Institute of Industrial Process Control Zhejiang University Hangzhou Zhejiang 310027 China Department of Chemical Engineering and Materials Science University of California Davis One Shields Avenue Davis CA 95616 United States

A novel framework for process pattern construction and multi-mode monitoring is proposed. To identify process patterns, the framework utilizes a clustering method that consists of an ensemble moving window strategy along with an ensemble clustering solutions strategy. A new k-independent component analysis-principal component analysis (k-ICA-PCA) modeling method captures the relevant process patterns in corresponding clusters and facilitates the validation of ensemble solutions. Following pattern construction, the proposed framework offers an adjoined multi-ICA-PCA model for detection of faults under multiple operating modes. The Tennessee Eastman (TE) benchmark process is used as a case study to demonstrate the salient features of the method. Specifically, the proposed method is shown to have superior performance compared to the previously reported k-PCA models clustering approach. © 2011 Elsevier Ltd. All Rights Reserved.

关键词： Principal component analysis

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An overview of agent-based evacuation models for building fires

An overview of agent-based evacuation models for building fi...

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2012 9th IEEE International Conference on Networking, Sensing and control, ICNSC 2012

作者： Hu, Yuling Liu, Xiwei Wang, Feiyue Cheng, Changjian Beijing Key Laboratory of Automatic Control System School of Automation Beijing Institute of Technology China School of Electric and Information Engineering Beijing University of Civil Engineering and Architecture China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences China

ISBN: (纸本)9781467303880

Agent-based evacuation modeling approach is gained more and more attention for investigating human cognitive capabilities and social behaviors in building fires. This paper mainly overviews the research about various agent-based evacuation models. For the decision-making reflects the intelligence of agent individual, we define three types of behavior decision-making models for agent individual based on the collected literatures and sum up the characteristics of each type. Aiming at crowd' important influence on evacuation processes, we also sum up two types of agent-based crowd modeling approaches to simulate crowd evacuation processes and give corresponding cases. Finally, after summing up the existing problems, the outlooks of the research from computaional experiments point of view is proposed. © 2012 IEEE.

关键词： Decision making

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Optical measurements of rat muscle samples under treatment with ethylene glycol and glucose

Optical measurements of rat muscle samples under treatment w...

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作者： Oliveira, Luís Carvalho, Maria Inês Nogueira, Elisabete Tuchin, Valery V. Physics Department-Polytechnic of Porto School of Engineering Rua Dr. António Bernardino de Almeida 431 4200-072 Porto Portugal University of Porto Rua Dr. Roberto Frias 4200-465 Porto Portugal CIETI-Centre of Innovation in Engineering and Industrial Technology ISEP Rua Dr. António Bernardino de Almeida 431 4200-072 Porto Portugal DEEC/FEUP and INESC TEC University of Porto Rua Dr. Roberto Frias 4200-465 Porto Portugal Research-Educational Institute of Optics and Biophotonics Saratov State University 83 Astrakhanskaya Str. Saratov 410012 Russia Laboratory of Laser Diagnostics of Technical and Living Systems Institute of Precise Mechanics and Control RAS Saratov 410028 Russia Optoelectronics and Measurement Techniques Laboratory University of Oulu P. O. Box 4500 FIN-90014 Oulu Finland

With the objective to study the variation of optical properties of rat muscle during optical clearing, we have performed a set of optical measurements from that kind of tissue. The measurements performed were total transmittance, collimated transmittance, specular reflectance and total reflectance. This set of measurements is sufficient to determine diffuse reflectance and absorbance of the sample, also necessary to estimate the optical properties. All the performed measurements and calculated quantities will be used later in inverse Monte Carlo (IMC) simulations to determine the evolution of the optical properties of muscle during treatments with ethylene glycol and glucose. The results obtained with the measurements already provide some information about the optical clearing treatments applied to the muscle and translate the mechanisms of turning the tissue more transparent and sequence of regimes of optical clearing. © The Authors.

关键词： Optical data processing

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control system for maxillofacial surgery robot: Master-slave, motion control and safety design

Control system for maxillofacial surgery robot: Master-slave...

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6th International Conference on Complex Medical Engineering, CME 2012

作者： Liu, Tian-Bo Duan, Xing-Guang Huang, Qiang Zhao, Hong-Hua Guo, Qing-Bo Intelligent Robotics Institute Key Laboratory of Biomimetic Robots and Systems Ministry of Education State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Mechatronical Engineering Beijing Institute of Technology 5 Nandajie Zhongguancun Haidian Beijing 100081 China China

ISBN: (纸本)9781467316163

As the complex anatomical structure of the maxillofacial region, operation in this area is of high hazard and difficult to implement. Thus, a multi-arm medical robot assisting maxillofacial surgery, which can improve surgical precision and reduce surgeons' strain, was proposed. Firstly, overview of the whole robot system is introduced. Then this paper focuses on the control system which mainly consists of master-slave, motion control and safety design. Finally, the prototype was established and experiments were carried out to show the robot's smooth running and accurate positioning. © 2012 IEEE.

关键词： Motion control

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Rotation Estimation for Mobile Robot Based on Single-axis Gyroscope and Monocular Camera

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International Journal of Automation and computing 2012年第3期9卷 292-298页

作者： Yang, Ke-Hu Yu, Wen-Sheng Ji, Xiao-Qiang School of Mechanical Electronic and Information Engineering China University of Mining and Technology Beijing 100083 China Shanghai Key Laboratory of Trustworthy Computing East China Normal University Shanghai 200062 China State Key Laboratory of Intelligent Control and Management of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China

The rotation matrix estimation problem is a keypoint for mobile robot localization, navigation, and control. Based on the quaternion theory and the epipolar geometry, an extended Kalman filter (EKF) algorithm is proposed to estimate the rotation matrix by using a single-axis gyroscope and the image points correspondence from a monocular camera. The experimental results show that the precision of mobile robot s yaw angle estimated by the proposed EKF algorithm is much better than the results given by the image-only and gyroscope-only method, which demonstrates that our method is a preferable way to estimate the rotation for the autonomous mobile robot applications.

关键词： Rotation matrix estimation quaternion extended Kalman filter (EKF) monocular camera gyroscope.

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