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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： Litao Zhang Weidong Wang Dongmei Wu Zhijiang Du State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province 150001 China

ISBN: (纸本)9781467329705

With the assistance of the surgical navigation system,surgeons could visually operate medical instruments,which are connected to the navigation system,to touch an internal anatomical structure of the *** medical instruments and patients are simultaneously shown on the *** paper researches on the visualization and real-time tracking of bone drill by electromagnetic position ***,the principle and components of the electromagnetic positioning system are *** a plastic structure mounted on the bone drill is designed to reduce registration time of the bone drill after *** an iterative algorithm is developed to calculate the positions of the drill ***,the software based on the VTK (visualization toolkit) is developed to demonstrate the effect of the method for visualization and realtime tracking of bone drill.

关键词： Visualization Real-time Tracking Surgical Navigation Electromagnetic Position Sensors

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Adaptive learning of multi-finger motion recognition based on support vector machine

Adaptive learning of multi-finger motion recognition based o...

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IEEE International Conference on robotics and Biomimetics

作者： Dapeng Yang Li Jiang Rongqiang Liu Hong Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin P. R. China

ISBN: (纸本)9781479927456

A common source for controlling hand prosthesis is the myoelectric signal (MES, also termed electromyography, EMG) that are collected from human body. For a pattern recognition-based EMG control scheme, research has found that the classification accuracy obtained offline may deteriorate owing to signal instinct or changed environment, which results in a reduced system stability. Based on support vector machine (SVM), this paper proposed an adaptive learning procedure intending to keep the classification accuracy. The general idea was to rearrange the training samples of the classifier in real-time by measuring their Kuhn-Tucker (KT) conditions. To regulating the learning effectiveness and system complexity, a forgetting factor was applied to each EMG sample considering its life period. The proposed learning algorithm was validated on a multi-session MES dataset collected from a series of control scenarios, within which the myoelectric signals were collected from two healthy subjects while performing a large variety of finger motions. The experimental results showed that the accuracy of the classifiers could be effectively maintained. In addition, the introduced forgetting factor can effectively confine the classifier's complexity in the long run.

关键词： Accuracy Electromyography Classification algorithms Support vector machines Learning systems Training Thumb

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Structural design of 2D piezoresistive micro-force sensor

Structural design of 2D piezoresistive micro-force sensor

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

作者： Zhou, Jie Rong, Weibin Sun, Lining State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 Heilongjiang Province China Hei Longjiang Institute of Science and Technology Electrical Power Engineering School Harbin 150046 Heilongjiang Province China MOE Key Laboratory of Micro-systems and Micro-structures Manufacturing Harbin 150080 Heilongjiang Province China

ISBN: (纸本)9783037857397

In order to detect the tool-substrate contact force and the tool-target interaction force during nano-manipulation process, a novel MEMS based 2D piezoresistive micro-force sensor structure was proposed. This structure can realize the 3D hardware decoupling for the X,Y and Z axis. Thus, the force detection in the vertical direction (Z axis) and parallel direction reference to base (X axis) can be done simultaneously. Theoretical analysis shows that this structure has a good structural sensitivity. The rationality and feasibility of the structure were confirmed by simulation results. © 2013 Trans Tech Publications Ltd, Switzerland.

关键词： MEMS Nano-manipulation Piezoresistive micro-force sensor

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SEM-based tele-nanomanipulation system with virtual 3D visual and force interaction

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Jiqiren/Robot 2013年第1期35卷 52-59+66页

作者： Li, Dongjie Rong, Weibin Sun, Lining Xiao, Wanzhe Zou, Yu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China Institute of Electrical Control and Automation Technology Harbin University of Science and Technology Harbin 150080 China

In order to increase the interaction of nanomanipulation, a tele-nanomanipulation platform with virtual 3D visual feedback and virtual force sense feedback is built by combining with the virtual reality technology and the force feedback device. To ensure that the virtual environment is able to reflect the real nanomanipulation environment accurately, the collision detection and force sensing rendering of the virtual model is designed in detail. The virtual match link between the force feedback device and virtual environment is introduced to ensure the stability of the force interaction interface and to increase the coordination of the master control module. Aiming at the accurate nanomanipulation, the image characteristics extraction method based on the region of interest is adopted to exact the depth information of probe. Then the relationship of image fuzzy degree and the distance between the probe and the substrate is quickly established, and the closed-loop control of the probe is realized. Finally, with the developed platform and the proposed method, the shift experiments of single ZnO nanowire are completed.

关键词： Scanning electron microscopy

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Trajectory control of the articulated robot based on inverse dynamics

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Huazhong Keji Daxue Xuebao (Ziran Kexue Ban)/Journal of Huazhong University of Science and Technology (Natural Science Edition) 2013年第SUPPL.I期41卷 17-20+24页

作者： Chen, Peihua Cao, Qixin Research Institute of Robotics Shanghai Jiao Tong University Shanghai 200240 China The State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University Shanghai 200240 China

The trajectory planning algorithm of the articulated robot based on quintic polynomials in the joint space was studied under the condition of starting point's and ending point's motion parameters known, and the corresponding joint positions, speeds and accelerations at every moment were obtained. Research was also carried out on the robot inverse dynamics based on the iterative Newton-Euler algorithm, and the driven torques for robot control or dynamics simulation were calculated according to the planned robot trajectory. Meanwhile, the robot trajectory control system based on the inverse dynamics was established. Finally, three kinds of articulated robot's trajectory control methods were compared and tested in the dynamics simulation. According to the comparisons of the parameters of trajectory following error and driven torque, it proved that the articulated robot rajectory control system based on the combination of RNEC and acceleration feedback has high following accuracy and obvious trajectory control effect, which is an excellent torque control method.

关键词： Inverse problems

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Dispersion compensation for an ultrathin metal film using LCD-CCD system

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Chinese Physics B 2012年第10期21卷 265-269页

作者：代煜张建勋 Institute of Robotics and Automatic Information System Nankai University State Key Laboratory of Robotics and System Harbin Institute of Technology

A dispersion compensation method is introduced to correct the distorted image passing through an ultrathin metal *** LCD-CCD system is modeled by the back propagation network and used to evaluate the transmittance of the ultrathin metal *** samples for the network come from 729 images captured by shooting test patches,in which the RGB values are uniformity distributed between 0 and *** RGB value of the original image that will be distorted by the dispersion is first transformed by mapping from the LCD to the CCD,multiplied by the inverse matrix of the transmittance matrix,and finally transformed by mapping from the CCD to the LCD,then the corrected image is *** order to verify the effectiveness of the proposed method,ultrathin aluminum films with different thicknesses are evaporated on glass substrates and laid between the CCD and *** results show that the proposed method compensates for the dispersion successfully.

关键词： ultrathin metal film dispersion compensation back propagation network LCD-CCD system

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Indoor surveillance robot controlled by a smart phone

Indoor surveillance robot controlled by a smart phone

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IEEE International Conference on robotics and Biomimetics

作者： Letian Liu Xiaorui Zhu Yi Tang State Key Laboratory of Robotics and System (HIT) Harbin Institute of Technology Shenzhen Graduate School Shenzhen Guangdong China

ISBN: (纸本)9781479927456

As the smart phone becomes a remote processor for more functions in people daily lifes, the operators of the indoor survelience robots can be located anywhere if they have the smart phone. This paper presents the design of a mobile robotic system remotely controlled by a smart mobile phone via the Internet. A control client on the Android smart phone was the command center while the mobile robot was excuted to surveilence. The model predictive control method was applied on the side of the smart phone to generate an optimal sequence of the control commands. A network compensator was embeded on the robot to determine the current action of the robot. Experiments under different netwok conditions were carried out and analyzed for validation of the proposed system.

关键词： Delay effects Delays Smart phones Robot kinematics Mobile robots Trajectory

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Design and optimization of a novel six-axis force/torque sensor with good isotropy and high sensitivity

Design and optimization of a novel six-axis force/torque sen...

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IEEE International Conference on robotics and Biomimetics

作者： Yongjun Sun Yiwei Liu Minghe Jin Hong Liu School of Mechanics Harbin Institute of Technology(HIT) State Key Laboratory of Robotics and System Harbin Institute of Technology(HIT)

Six-axis force/torque sensor plays an important role in many fields. A novel six-axis force/torque sensor based on strain gauge was designed and optimized with design of experiments (DOE) approach and response surface methodology. In order to reduce the errors bonding strain gauges, we adopted strain distribution analysis to acquire the accurately positions. The strain compliance matrix was attained by the signals from strain gauges bonded on the elastic body of the sensor. According to strain compliance matrix of the sensor we can obtain a sensor with rather good measurement isotropy, high sensitivity and natural frequency which is nearly as bandwidth of commercial six-axis sensor.

关键词： Strain Robot sensing systems Force Torque Sensitivity Bridge circuits

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Adaptive visual servoing using common image features with unknown geometric parameters

Adaptive visual servoing using common image features with un...

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作者： Liu, Yun-Hui Wang, Hesheng Chen, Weidong Zhou, Dongxiang Department of Mechanical and Automation Engineering Chinese University of Hong Kong Hong Kong Hong Kong Department of Automation Shanghai Jiao Tong University China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai 200240 China State Key Laboratory of Robotics Technology and System Harbin Institute of Technology Harbin 150001 China Joint Center for Intelligent Sensing and Systems National University of Defense Technology China

This paper generalizes the concept of the depth-independent interaction matrix, developed for point and line features in our early work, to generalized image features. We derive the conditions under which the depth-independent interaction matrix can be linearly parameterized by the geometric parameters of the generalized image features, and propose an adaptive visual servo controller for robot manipulators using the generalized image features whose geometric parameters are unknown. To estimate the unknown parameters on-line, we propose new error functions that are linear to estimation errors of the parameters and an algorithm that minimizes the error functions using multiple images. The Lyapunov theory is used to prove asymptotic stability of the proposed controller based on the nonlinear dynamics of the manipulator. It is also shown that in addition to points and lines, other common image features like distances, angles, areas, and centroids all satisfy the conditions for the linear parameterization. Experiments have been conducted to validate the proposed control method. © 2013 Elsevier Ltd. All rights reserved.

关键词： Controllers

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Design Schemes and Comparison Research of the End-effector of Large Space Manipulator

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Chinese Journal of Mechanical Engineering 2012年第4期25卷 674-687页

作者： FENG Fei LIU Yiwei LIU Hong CAI Hegao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China

The end-effector of the large space manipulator is employed to assist the manipulator in handling and manipulating large payloads on ***,there are few researches about the end-effector,and the existing end-effectors have some disadvantages,such as poor misalignment tolerance capability and complex mechanical *** to the end positioning errors and the residual vibration characters of the large space manipulators,two basic performance requirements of the end-effector which include the capabilities of misalignment tolerance and soft capture are *** the end-effector should accommodate the following misalignments of the mechanical *** translation misalignments in axial and radial directions and the angular misalignments in roll,pitch and yaw are ±100 mm,100 mm,±10°,±15°,±15°,*** end-effector schemes are presented and the capabilities of misalignment tolerance and soft capture are analyzed *** three fingers-three petals end-effector and the steel cable-snared end-effector are the most feasible schemes among the seven schemes,and they are designed in *** capabilities of misalignment tolerance and soft capture are validated and evaluated,through the experiment on the micro-gravity simulating device and the dynamic analysis in ADAMS *** results show that the misalignment tolerance capabilities of these two schemes could satisfy the *** the translation misalignment tolerances in axial and radial directions and the angular misalignment tolerances in roll,pitch and yaw of the steel cable-snared end-effector are 30mm,15mm,6°,3° and 3° larger than those of the three fingers-three petals end-effector,*** the contact force of the steel cable-snared end-effector is smaller and smoother than that of the three fingers-three petals *** end-effector schemes and research methods are beneficial to the developments of the large space manipulator end-effctor and t

关键词： end-effector large space manipulator docking mechanism soft capture misalignment tolerance passive compliance active compliance

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