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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： Si Zhang Yi Liu Zhe Xu Junyao Gao Xingguang Duan Hui Li Zhangguo Yu Xuechao Chen Jing Li Huaxin Liu Xin LI 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

ISBN: (纸本)9781467329705

Quadruped robot is expected to serve in complex conditions such as mountain road,grassland,etc.,therefore we desire a walking pattern generation that can guarantee both the speed and the stability of the quadruped *** order to solve this problem,this paper focuses on the stability for the tort pattern and proposes trot pattern generation for quadruped robot on the basis of ZMP stability *** foot trajectory is first designed based on the work space *** the ZMP and stability margin is computed to achieve the optimal trajectory of the midpoint of the hip joint of the *** angles of each joint are finally obtained through the inverse kinematics ***,the effectiveness of the proposed method is demonstrated by the results from the simulation and the experiment on the quadruped robot in BIT.

关键词： Quadruped robot ZMP stability margin Trot pattern

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Variable Support-Weight Approach for Correspondence Search Based on Modified Census Transform

Variable Support-Weight Approach for Correspondence Search B...

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2012 IEEE 11th International Conference on Signal Processing(ICSP 2012)

作者： Huajian Zhu Junzheng Wang Jing Li Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology

ISBN: (纸本)9781467321969

The computation of stereo depth is a very important field of computer vision. Aiming at solving the problem of low accuracy of traditional Census-based stereo matching algorithm, a variable support-weight approach for visual correspondence search based on modified Census transform is proposed in this paper. On the basis of analyzing defects of the traditional Census transform, a modified Census transform algorithm using average value of minimum evenness sub-area as a reference instead of the center pixel intensity as a reference is raised which enhances robustness of the algorithm. The matching accuracy is improved by weighting the average value and the standard deviation of Hamming distances in a block. The experiment results indicate that the proposed approach works better than traditional ones. Accurate disparities can be obtained even in the depth discontinuities regions.

关键词： stereo matching variable support-weight modified Census transform minimum evenness sub-area

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Dynamic image stabilization precision test system based on the Hessian matrix

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Science China(Information Sciences) 2012年第9期55卷 2056-2074页

作者： LI Jing ,WANG JunZheng,WANG ShouKun,MA LiLing & SHEN Wei key laboratory of complex system intelligent control and decision,School of Automation,Beijing Institute of Technology,Beijing 100081,China 1. Key Laboratory of Complex System Intelligent Control and Decision School of Automation Beijing Institute of Technology Beijing 100081 China

Dynamic image stabilization precision of an optical image-stable device is a key technical ***,a fast dynamic image stabilization precision test system for an optical image-stable device is developed.A large-aperture collimator with a designed cross divisional board is used to simulate the infinity *** image-stable device is installed on the motion simulator with six degrees of freedom which is used to simulate the moving state of the *** CCD camera installed behind the eyepiece lens of the image-stable device acquires images rapidly and in real *** local energy maxima center of the cross light spot can be acquired accurately through the proposed algorithm using the Hessian *** addition,to deal with the CCD non-uniformity,an adaptive non-uniformity correction algorithm based on bi-dimensional empirical mode decomposition is *** actual test results for the proposed method show that the test error of dynamic image stabilization is less than 0.7,and the time for the frame image acquisition and processing is less than 10 ms,which demonstrates the effectiveness of the test system.

关键词： image stabilization precision adaptive non-uniformity correction empirical mode decomposition local energy maxima Hessian matrix

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Hybrid dynamic model of polymer electrolyte membrane fuel cell stack using variable neural network

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Journal of Beijing Institute of Technology 2012年第3期21卷 354-361页

作者：李鹏陈杰蔡涛王光辉 School of Automation Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision Ministry of EducationBeijing Institute of Technology

The polymer electrolyte membrane（PEM） fuel cell has been regarded as a potential alternative power source,and a model is necessary for its design,control and power management.A hybrid dynamic model of PEM fuel cell,which combines the advantages of mechanism model and black-box model,is proposed in this *** improve the performance,the static neural network and variable neural network are used to build the black-box *** static neural network can significantly improve the static performance of the hybrid model,and the variable neural network makes the hybrid dynamic model predict the real PEM fuel cell behavior with required ***,the hybrid dynamic model is validated with a 500 W PEM fuel *** static and transient experiment results show that the hybrid dynamic model can predict the behavior of the fuel cell stack accurately and therefore can be effectively utilized in practical application.

关键词： PEM fuel cell variable neural network hybrid dynamic model

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Ballistic method based on improved particle swarm optimization algorithm

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Dongnan Daxue Xuebao (Ziran Kexue Ban)/Journal of Southeast University (Natural Science Edition) 2013年第SUPPL.I期43卷 215-218页

作者： Cui, Jing Deng, Fang Fang, Hao School of Automation Beijing Institute of Technology Beijing 100081 China Key Laboratory of Complex System Intelligent Control and Decision of Ministry of Education Beijing Institute of Technology Beijing 100081 China

In order to improve real-time performance of the fire control system, a ballistic resolving method based on the improved particle swarm optimization (PSO) algorithm is proposed, which improves the response speed of the system and provides a convenient extension to parallel computing on multicore platforms. First, particles are generated and initialized around the pre-estimated aiming angle. Then each particle is evaluated by an objective function composed of the ballistic differential equation etc. Finally, the position and velocity of particle swarm are updated. In order to accelerate the convergence speed, the correction angle of the global best particle obtained by Zhou's iterative and correction formula is used to guide the update of particle swarm. Experimental results show that the calculation speed is twice that of the iterative and correction method, and the convergence speed of particle swarm is 1.5 times that of the conventional PSO algorithm. Moreover, the proposed method is fully compatible with parallel computing and can further shorten execution time on multicore platforms.

关键词： Ballistics

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Unsupervised robust adaptive filtering against impulsive noise

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Journal of systems Engineering and Electronics 2012年第1期23卷 32-39页

作者： Tao Ma Jie Chen Wenjie Chen Zhihong Peng School of Automation Beijing Institute of Technology Beijing 100081 R R. China Key Laboratory of Complex System Intelligent Control and Decision （Ministry of Education） Beijing Institute of Technology Beijing 100081 P. R. China

An implementation of adaptive filtering, composed of an unsupervised adaptive filter （UAF）, a multi-step forward linear predictor （FLP）, and an unsupervised multi-step adaptive predictor （UMAP）, is built for suppressing impulsive noise in unknown circumstances. This filtering scheme, called unsupervised robust adaptive filter （URAF）, possesses a switching structure, which ensures the robustness against impulsive noise. The FLP is used to detect the possible impulsive noise added to the signal, if the signal is ＂impulse-free＂, the filter UAF can estimate the clean sig- nal. If there exists impulsive noise, the impulse corrupted samples are replaced by predicted ones from the FLP, and then the UMAP estimates the clean signal. Both the simulation and experimental results show that the URAF has a better rate of convergence than the most recent universal filter, and is effective to restrict large disturbance like impulsive noise when the universal filter fails.

关键词： adaptive filtering unsupervised form impulse insen- sitive switching structure.

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A Model of Collision-Detection for Maxillofacial Multi-arm Surgery Robot

A Model of Collision-Detection for Maxillofacial Multi-arm S...

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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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Kinematics analysis and trajectory planning of a multiarm medical robot assisted maxillofacial surgery

Kinematics analysis and trajectory planning of a multiarm me...

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6th International Conference on complex Medical Engineering, CME 2012

作者： Chen, Chao Duan, Xing-Guang Wang, Xing-Tao Zhu, Xiang-Yu Li, Meng Intelligent Robotics Institute Key Laboratory of Biomimetic Robots and Systems Ministry of Education State Key Laboratory of Intelligent Control and Decision of Complex System School of Mechatronical Engineering Beijing Institute of Technology #5Zhongguancun South Street Haidian Beijing China China

ISBN: (纸本)9781467316163

As the complex anatomical structure of the maxillofacial region, the surgery in this area is high risk and difficult to implement. Then, a multi-arm medical robot assisted maxillofacial surgery using optical navigation was proposed in this paper, which can improve surgical precision and make the doctors away from the heavy manual work. In this paper, the medical robot system and mechanical structure of the robot were introduced. Forward kinematics and inverse kinematics were analysed. Then trajectory planning using quintic polynomial interpolation for smoothly motion was adopted, and rectilinear motion in Cartesian space was adopted. The kinematics was validated and the workspace of the robot was calculated by simulations. Finally, the robot model was established and an experiment was carried out which proved the robot run smoothly and positioned accurately. © 2012 IEEE.

关键词： Inverse kinematics

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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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