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检索条件"机构=State Key Laboratory of Robotics and System Harbin institute of technology"

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Force-driven Robotic Drag Control for Freehand 3D Ultrasound-guided Robot-assisted Percutaneous Surgery

Force-driven Robotic Drag Control for Freehand 3D Ultrasound...

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2009 IEEE International Conference on robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

作者： Yinshan Sun Dongmei Wu Zhijiang Du Lining Sun Harbin Institute of Technology State Key Laboratory of Robotics and SystemHarbinChina

ISBN: (纸本)9781424447749

Freehand 3D US-guided robot-assisted percutaneous surgery system, presently under development in our laboratory, has the potential to overcome some drawbacks of current conventional clinical interventions. The robot is commanded to insert accurately the needle into the target in patient's body according to planned path in the 3D model reconstructed by freehand 3D US by several separate steps, one of which is to move the needle tip to the selected insertion point on the surface of the skin. In this paper, we present a force-driven robotic drag control algorithm, designed to transform axial drag force signal of the force sensor mounted approximate to the needle propeller into motor pulse signal of the corresponding axis, to allow the surgeon to drag the robot and lead the needle tip to the entry point manually and flexibly. Experiment has been conducted to validate the algorithm performance.

关键词： drag force sensors NEEDLES Insertion Point Robot three-dimensional displays Three Dimensions Surgeons Surgery pulse signal

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A Comparison between Human Walking and Passive Dynamic Walking

A Comparison between Human Walking and Passive Dynamic Walki...

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IEEE Conference on Industrial Electronics and Applications (ICIEA)

作者： Xiuhua Ni Weishan Chen Junkao Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781424427994

Root mean square error is presented as a quantitative measure for the similarity between human walking and passive dynamic walking. Normalized root mean square error of the hip angle and angular velocity between both walkers in a walking cycle is 6.9% and 12.2% on average, respectively. It shows a strong similarity between human walking and passive dynamic walking. A comparison is made between human walking and passive dynamic walking in four phases divided from a gait cycle. The reasons for resulting in the differences are studied.

关键词： Passive dynamic walking Human walking Comparison

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Hydrodynamic analysis of fishlike robot swimming in the straight forward way

Hydrodynamic analysis of fishlike robot swimming in the stra...

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IEEE International Conference on Mechatronics and Automation

作者： Dan Xia Junkao Liu Weishan Chen Luhui Han State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

This paper investigates the three dimensional hydrodynamics of a fishlike robot swimming in the straight forward way under self-propulsion. The unsteady flow fields associated with swimming robot is computed by using Navier-Stokes equation. Both the user defined function and dynamic mesh technique are applied to track the robot motion. The results show that the mean magnitudes of net thrust force and net lift force approach to zero for one cycle. The variation trends of thrust force, swimming power and propulsive efficiency over time are in sine function. The computed flow fields clearly reveal the evolution of two pairs of pressure cores traveling along the robot as it swims. A positive pressure gradient around the tail is in competition with negative pressure gradient in the head; thrust forces is produced when the positive pressure gradient dominate the negative one. The findings help reveal the propulsive mechanism of the fishlike robot propulsion and benefit the fishlike robot design.

关键词： Hydrodynamics Robot kinematics Computational geometry Shape measurement robotics and automation Laboratories Head Propulsion Mechatronics Tracking

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The effects of Parameters on the Stability of Passive Dynamic Walking

The effects of Parameters on the Stability of Passive Dynami...

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The 3rd International Conference on Bioinformatics and Biomedical Engineering(iCBBE 2009)(第三届生物信息与生物医学工程国际会议)

作者： Xiuhua Ni Weishan Chen Junkao Liu State Key Laboratory of Robotics and System Harbin Institute of Technology HarbinChina

We studied the effects of parameters on the stability of passive dynamic walking by simulations and experiments. For simulations, we quantified the stability as the largest amount of lowing that the virtual prototype could still recover from and continue walking to the end. We used the ADAMS software to obtain this largest amount lowing. For experiments, we quantified the stability of each walker by observing 100 passive walking trials down a gentle slope of finite length and recording the fraction of trials which successfully walked to the end. This study provides a guide for designing passive dynamic walkers with high stability. This might also be used for designing prosthetic legs.

关键词： passive dyanmic walking stability ADAMS

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Motion estimation for a mobile robot based on real-time stereo vision system

Motion estimation for a mobile robot based on real-time ster...

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2009 2nd International Congress on Image and Signal Processing, CISP'09

作者： Zhongli, Wang Xueshan, Gao Baochang, Zhang Hao, Wu State Key Lab. of Robotics and System Harbin Institute of Technology Harbin China School of Computer Science Beijing Institute of Technology Beijing China Intelligent Robotics Institute Beijing Institute of Technology Beijing China School of Automation Science and Electric Engineering Beihang University Beijing China

ISBN: (纸本)9781424441310

Vision-based motion estimation is a key technique in autonomously mobile robot. This paper presents an integrated method for motion estimation of the mobile robot based on floor plane extraction. The whole processes include floor plane extraction, pose estimation of the onboard stereo vision system and motion estimation of the mobile robot. First, based on disparity map obtained from the onboard real-time stereo vision system, a two-stage method is used for fast floor plane extraction. Then all the points belong to the floor plane are transformed from disparity space to Euclidean space, and a simple least squares method is employed to fit the floor plane. The fitting parameters of the floor plane are used for the pose estimation of the onboard stereo vision system. Finally, the motion of the mobile robot is estimated with the tracking results of the points on floor plane. The proposed motion estimation method is intended to be used in the motion control of a wheeled mobile robot. Experimental results in real environments are presented. ©2009 IEEE.

关键词： Mobile robots

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Development of a Low-Cost High-Fidelity Simulator for Search and Rescue Robot

Development of a Low-Cost High-Fidelity Simulator for Search...

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WRI World Congress on Software Engineering, WCSE

作者： Zhenfeng Han Jie Zhao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang China

ISBN: (纸本)9781424435661

This paper describes a simulator which is used to study the motion plan of search and rescue robot on bumpy road. The simulator, written in C++, is composed of Newton physics engine system and OGRE based 3D environment. All libraries used are free and the program can be compiled cross-platforms. Virtual sensors such as camera and motor coded disc are developed. Behavior-based programming interface are developed so it is easy to realize and test complex motion plan. This simulator is also a motion virtual guide to robot. Together with the help of data post processing system, difficult climbing task can be finished easily and rapidly in teleoperating way.

关键词： Computational modeling Robot sensing systems Engines Physics Mobile robots Costs Graphical user interfaces Testing Linux Computer simulation

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Real-time Image Processing system Based on Multi-core Processor

Real-time Image Processing System Based on Multi-core Proces...

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International Symposium on Intelligent Information technology Application, IITA

作者： Jie Zhao Yongmin Yang Ge Li State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang China

This paper proposed a real-time image processing system based on multi-core processor, which is used in the cold rolling surface defect inspection system for enhancing system's real-time performance. Based on analyzing the application demand of inspection system image processing module, the image processing system is designed that is the combination of RT-Linux real-time operation system and multi-core processor hardware platform. Taking advantage of RT-Linux multi-task scheduling mechanism based on priority, the PCI device driver is developmented to ensure receiving and saving image data in real-time. At the same time, multi-core processor makes multi-task parallel processing to be possible. Two parallelism types are analyzed, including task-level parallelism and data-level parallelism. Finally the combination of thread-level and data-level parallelism of image segmentation based on Ostu method is implemented, verifying performance of real-time image processing system based on multi-core processor. Segmentation algorithm can efficiently utilize the multi-core processor, 3.2 times faster than a single core.

关键词： Real time systems Image processing Multicore processing Inspection Image segmentation Image analysis Process design Hardware Processor scheduling Parallel processing

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Gold wire stress analysis of wire feed system in automatic wire bonder

Gold wire stress analysis of wire feed system in automatic w...

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IEEE International Conference on Mechatronics and Automation

作者： Yuetao Liu Yanjie Liu Lining Sun Ji Li State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang China

The wire feed system is an important subsystem of typical automatic wire bonder. The resistance control of wire transmission and tensile force control are the key technologies of the wire feed system, which has a strong impact on the bonding quality. This paper describes the stress analysis of gold wire in the automatic wire bonder. The analysis is useful in the low friction wire feed system and the low resistance transmission. Two stress models of gold wire are developed in the air guide and vacuum tensioner. The relationships between the control parameters of air guide and vacuum tensioner and the stress on gold wire are found out. Results of the experiments of this stress analysis procedure are given to illustrate the proposed models. Emphasis is placed on the construction of the mathematical models of air guide and vacuum tensioner by which the stress of gold wire is evaluated.

关键词： Wire Gold Feeds Tensile stress Automatic control Force control Control systems Bonding forces Friction Stress control

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Path planning for minimizing base reaction of space robot and its ground experimental study

Path planning for minimizing base reaction of space robot an...

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IEEE International Conference on Mechatronics and Automation

作者： Jianwei Wu Shicai Shi Bin Wang Zainan Jiang Hong Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang China

In free-flying space robotic system, the thruster jets will compensate the disturbances induced by manipulator to keep the attitude of the robot base invariable. For saving the expensive fuel that thruster jets cost, point-to-point path planning method in joint space for minimizing base reaction is proposed in this paper. The sinusoidal and polynomial functions are used here to parameterize the joint motion. This parameterization method can satisfy the kinematical constraints. The optimal object of base reaction is computed by inverse dynamics. In order to limit the joint velocity, an objective function including the constraint of joint velocity is defined. Genetic algorithm is introduced to solve the optimized problem, and the parameters for the minimum objective function value are found. The path planned is very smooth, and it can be applied in practical. According to the experiment on the zero gravity system, the effectiveness of the algorithm is proved.

关键词： Path planning Orbital robotics Manipulator dynamics Space technology Equations Space stations Satellites robotics and automation Fuels Genetic algorithms

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A dynamic model for the active catheter actuated by the shape memory alloy coil spring

A dynamic model for the active catheter actuated by the shap...

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IEEE International Conference on Mechatronics and Automation

作者： Hao Liu Yili Fu Zengyi Yan Peng Wang Shuguo Wang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang China

This paper focuses on the transient behavior of a simple active catheter composed of a bias stainless steel spring and a one-way SMA coil spring. We combine the bending mechanics derived using a circular arc model, the SMA actuator characteristic described by Liang's model, and a heat transfer model to form the dynamics of the catheter. The phase transformation condition is modified according to whether there is overlapping between two phase transform bands. The response of derived dynamic model is simulated and verified for both complete and incomplete phase transformation. A self-tuning fuzzy PID controller is also designed to be used for such a SMA structure, which exhibits effective performance through simulations.

关键词： Catheters Shape memory alloys Coils Springs Actuators Heat transfer Hysteresis Minimally invasive surgery Blood vessels Steel

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