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World Congress on Intelligent Control and Automation (WCICA)

作者： Letian Liu Xiaorui Zhu Yongsheng Ou State Key Laboratory of Robotics and System (HIT) Harbin Institute of Technology Shenzhen Graduate School Harbin Institute of Technology Shenzhen Graduate School Shenzhen Guangdong China Department of Mechanical Engineering and Mechanics Chinese Academy of Science Bethlehem Guangdong China

This paper proposes a vision-based Semantic Unscented FastSLAM (UFastSLAM) algorithm for mobile robot combing the semantic relationship and the unscented FastSLAM. The landmarks are detected by a binocular vision, and the semantic observation model can be created by transforming the semantic relationships into the semantic metric map. Semantic Unscented FastSLAM can be used to update the localization of the landmarks and robot pose even when the encoders inherits large accummative errors that may not be corrected by the loop closure detection of the vision system Experiments have been carried out to demonstrate that the Semantic Unscented FastSLAM algorithm can achieve much better performance in indoor autonomous survalience than Unscented FastSLAM.

关键词： Semantics Measurement Simultaneous localization and mapping Vectors Estimation

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CT based three dimensional geometric model of cervical spine

CT based three dimensional geometric model of cervical spine

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2nd International Conference on Innovation Manufacturing and Engineering Management, IMEM 2012

作者： Yan, Zhiyuan Wu, Dongmei Zhang, Litao Zhao, Jun State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province 150001 China

ISBN: (纸本)9783037855881

In order to obtain high-quality analytical results of the finite element model, it is essential to construct a three dimensional geometric model. The paper reconstructed an accurate three dimensional geometric model of cervical spine segments (C4-C7). The process of reconstruction included three-dimensional reconstruction, smooth processing, contour generation, grid generation and fitting surface. Moreover, the result of reconstruction was evaluated ultimately. The model was validated to be smooth and reasonable, and could meet the requirements of finite element analysis. The method is not merely applied to reconstruct the geometric model of the cervical spine. It is a way to construct the model of the skeletal system of the human body. © (2013) Trans Tech Publications, Switzerland.

关键词： Three dimensional computer graphics

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Biomechanical analysis of cervical finite element model

Biomechanical analysis of cervical finite element model

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2nd International Conference on Innovation Manufacturing and Engineering Management, IMEM 2012

作者： Wu, Dongmei Zhang, Litao Zhao, Jun State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province 150001 China

ISBN: (纸本)9783037855881

The finite element method is often used in the field of biomechanical analysis. It can study the mechanical response of the internal organization without any experiments on the human body. The paper studies the biomechanics of the cervical spine by the method of finite element analysis. Firstly, the finite element model of the cervical spine including cervical vertebrae and soft tissue is constructed. Secondly, biomechanical analysis of cervical finite element model which is validated to be reasonable and reliable is completed. The results of the control group, the anterior cervical decompression and fusion surgery group, and the artificial cervical disc replacement surgery group are obtained to study the motion degree and ligament force of cervical spine. Thirdly, the summary of the biomechanical analysis of cervical finite element model is concluded. © (2013) Trans Tech Publications, Switzerland.

关键词： Finite element method

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Sliding Mode Control with Nonlinear Disturbance Observer for a Class of Underactuated system

Sliding Mode Control with Nonlinear Disturbance Observer for...

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第三十二届中国控制会议

作者： HUANG Jian DING Feng WANG Yongji State Key Laboratory of Robotics and System Harbin Institute of Technology Department of Control Science and Engineering Huazhong University of Science and Technology

ISBN: (纸本)9781479900305

In this study,a sliding mode controller based on nonlinear distnrbance observer is investigated to control a class of underactnated system which is in cascaded *** using strict feedback,the underactnated system is presented as a special cascade normal form convenient for controller design.A sliding mode controller is designed to stabilize underactnrated plant directly and drive the variables to the sliding *** order to improve performance and robustness,a nonlinear disturbance observer was designed to compensate for external disturbances and model *** theoretical results axe illustrated by simulations on the *** simulation results show that the sliding mode controller with nonlinear disturbance observer can suppress the disturbance effectively.

关键词： underactuated system cascaded form sliding mode control nonlinear disturbance observer

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Force feedback time prediction based on neural network of MIS Robot with time delay

Force feedback time prediction based on neural network of MI...

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IEEE International Conference on robotics and Biomimetics

作者： Y. Ning L. L. Han Z. R. Xiao B. G. Liu Department of Electrical Engineering State Key Laboratory of Robotics and System (HIT) Henan University of Technology Zhengzhou China Department of Mechanical & Electrical Engineering Henan University of Technology Zhengzhou China School of Cicil Engineering & Architecture Henan University of Technology Zhengzhou China

ISBN: (纸本)9781479973989

Robotic technology is enhancing surgery through improved precision, stability, and dexterity. In manual MIS, the surgeon is separated from the operation area, which is reached by long instruments. In image-guided procedures, image prediction technique based on visual reality technology has solved time-delay problem of image information between master and slave manipulator of teleoperation system effectively in many application fields. However, time-delay of force feedback information which is transmitted from communication link is also inconvenient to the operator's working and makes a bad influences on the system's stability and transparency. In this paper, the start and stop time of feedback force torque can be predicted by using RBF neural network technology when the slave manipulator is interacting with the environment, such that the force feedback information can synchronize with the predictive image. Simulation results show excellence of the proposed scheme.

关键词： Manipulators Force feedback Force Biological neural networks Delay effects

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Development of a nanomanipualtion system for handling nanowires

Development of a nanomanipualtion system for handling nanowi...

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

作者： Zhang, Shizhong Rong, Weibin Sun, Lining State Key Laboratory of Robotics and System Robotics Institute Harbin 150080 China MOE Key Laboratory of Micro-systems and Micro-structures Manufacturing Harbin Institute of Technology Harbin 150080 China

ISBN: (纸本)9783037857397

A compact and versatile nanomanipulation platform and its dirve-control system are being developed. This nanomanipulation sytem is aimed to handle nanowires (NWs) and fabricate nanostructures by NWs in a Scanning Electron Microscope (SEM). The excellent performance of the compact manipulator developed with corase and fine positioning in one unit has been demonstrated, which shows that the resolution is 8 nm and the steps are from 50 nm to 0.8 μm. For the power supply of the manipulator, a three-output driver is designed with a high-power integrated operational amplifier based on a mixed approach of voltage control and current control. The planar push-and-lift handling of NWs is carried out by the use of two tips to demonstrate the capability of the nanomanipulation sytem inside SEM. © 2013 Trans Tech Publications Ltd, Switzerland.

关键词： Nanowires

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26th Annual Computational Neuroscience Meeting (CNS*2017): Part 3 Antwerp, Belgium. 15-20 July 2017 Abstracts

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BMC NEUROSCIENCE 2017年第SUPPL 1期18卷 95-176页

作者： [Anonymous] Department of Neuroscience Yale University New Haven CT 06520 USA Department Physiology & Pharmacology SUNY Downstate Brooklyn NY 11203 USA NYU School of Engineering 6 MetroTech Center Brooklyn NY 11201 USA Departament de Matemàtica Aplicada Universitat Politècnica de Catalunya Barcelona 08028 Spain Institut de Neurobiologie de la Méditerrannée (INMED) INSERM UMR901 Aix-Marseille Univ Marseille France Center of Neural Science New York University New York NY USA Aix-Marseille Univ INSERM INS Inst Neurosci Syst Marseille France Laboratoire de Physique Théorique et Modélisation CNRS UMR 8089 Université de Cergy-Pontoise 95300 Cergy-Pontoise Cedex France Department of Mathematics and Computer Science ENSAT Abdelmalek Essaadi’s University Tangier Morocco Laboratory of Natural Computation Department of Information and Electrical Engineering and Applied Mathematics University of Salerno 84084 Fisciano SA Italy Department of Medicine University of Salerno 84083 Lancusi SA Italy Dipartimento di Fisica Università degli Studi Aldo Moro Bari and INFN Sezione Di Bari Italy Data Analysis Department Ghent University Ghent Belgium Coma Science Group University of Liège Liège Belgium Cruces Hospital and Ikerbasque Research Center Bilbao Spain BIOtech Department of Industrial Engineering University of Trento and IRCS-PAT FBK 38010 Trento Italy Department of Data Analysis Ghent University Ghent 9000 Belgium The Wellcome Trust Centre for Neuroimaging University College London London WC1N 3BG UK Department of Electronic Engineering NED University of Engineering and Technology Karachi Pakistan Blue Brain Project École Polytechnique Fédérale de Lausanne Lausanne Switzerland Departement of Mathematics Swansea University Swansea Wales UK Laboratory for Topology and Neuroscience at the Brain Mind Institute École polytechnique fédérale de Lausanne Lausanne Switzerland Institute of Mathematics University of Aberdeen Aberdeen Scotland UK Department of Integrativ

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Dual adaptive control of bimanual manipulation with online fuzzy parameter tuning

Dual adaptive control of bimanual manipulation with online f...

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IEEE International Symposium on Intelligent Control (ISIC)

作者： Alex Smith Chenguang Yang Hongbin Ma Phil Culverhouse Angelo Cangelosi Etienne Burdet Center for Robotics and Neural Systems Plymouth University Devon UK Key Laboratory of Autonomous System and Network Control South China University of Technology Guangzhou P. R. China State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing P. R. China Department of Bioengineering Imperial College London UK

A biomimetic controller with online adaptation of impedance and force is applied to a full kinematic and dynamic model of the Baxter bimanual robot. A set of fuzzy logic engines are proposed to infer the values of tuning gains which affect the control performance and control effort of the controller, which would conventionally be set to a static value based on expert knowledge of the controller; the aim of this being to avoid the use of arbitary values to set these values. A simulated experiment is carried out, where the Baxter robot is required to move an object through a trajectory while subjected to two different disturbance forces in four phases. The controller with fuzzy inferred control gains is compared against the same controller with fixed gains to gauge the effectiveness of the new method. Results show that fuzzy inference of control gains impart an improvement in both tracking error and control effort.

关键词： Trajectory Fuzzy logic Force Dynamics Mathematical model Manipulators

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Two types of coaxial self-balancing robots

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Journal of Central South University 2013年第11期20卷 2981-2990页

作者：高学山戴福全李潮全 School of Mechatronical Engineering Beijing Institute of Technology State Key Laboratory of Robotics and System (Harbin Institute of Technology) School of Mechanical and Automotive Engineering Fujian University of Technology Navigation and Control Institute of China North Industries Group Corporation

Two types of coaxial self-balancing robots(CSBR)were proposed,one can be used as a mobile robot platform for parts transporting in unmanned factory or as an inspector in dangerous areas,and the other can be used as a personal transporter ridden in *** designing and control structures as well as control strategies were described and compared in order to get a general way to develop such robots.A state feedback controller and a fuzzy controller were designed for the robot using DC servo motors and the robot using torque motors,*** experiments indicate that the robots can realize various desired operations smoothly and agilely at the velocity of 0.6 m/s with an operator of 65 ***,the robustness of the controllers is revealed since these controllers can stabilize the robot even with unknown external disturbances.

关键词： mobile robots service robots mechatronic systems robot dynamics control of robotic systems

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Investigation on the data processing method for high-precision alignment of PM fibers

Investigation on the data processing method for high-precisi...

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

作者： Rong, Weibi Zhang, Wei Wang, Lefeng Zhang, Hailing Sun, Lining MOE Key Laboratory of Micro-systems and Micro-structures Manufacturing Harbin Institute of Technology Harbin China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9783037857397

The extinction ratio is the characteristic parameter of polarization-maintaining (PM) fiber couplers. The detection accuracy of polarization angle is related to the extinction ratio, and affects the thin-diameter PM fiber coupler performances greatly. A series of image processing steps including median filtering, adaptive image morphology, and maximum variance threshold segmentation method are used to get the outline of optical fibers. The minimum squares method is used to get the maximum intensity of the light. The experimental data is processed using the Fourier filtering method and influences of the manufacturing error and random errors of fibers are reduced. By fitting the experiment data with cubic spine method, and its mean square error of fitting is 0.05458, then the polarization angle of the PM fiber is determined. Experiments show that this method can precisely determine the fast axis position of PM fibers, and it can achieve the high precision alignment of 80 um PM fibers. © 2013 Trans Tech Publications Ltd, Switzerland.

关键词： Mean square error

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