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IEEE Symposium on Electrical & Electronics Engineering (EEESYM)

作者： Zhijun Wu Weishan Chen Junkao Liu Shengjun Shi Yingxiang Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781467323635

This paper investigates the hydrodynamic performance of flapping caudal fin by means of numerical simulation. Dynamic simulations of caudal fin with heaving and pitching motion are conducted to determine the relationship between the maximum angle of attack and difference of phase angle in terms of thrust coefficient and propulsive efficiency under low frequency. Combing 20°~30°maximum angle of attack with 70°~90° difference of phase angle, outstanding propulsive efficiency can be obtained. In addition, qualitative analyses are made to the wake vortex spacing. This study shows that wake spacing has interaction with the thrust coefficient and the propulsive efficiency.

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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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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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Designing and dynamic modeling of 1D nanopositioner based on stick-slip motion principle

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Jixie Gongcheng Xuebao/Journal of Mechanical Engineering 2012年第19期48卷 29-34页

作者： Zhang, Shizhong Rong, Weibin Tai, Guoan Yu, Miao Sun, Lining State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China Institute of Nanoscience Nanjing University of Aeronautics and Astronautics Nanjing 210016 China

Two stick-slip inertial stages respectively for horizontal and vertical positioning are designed and built particularly for nanomanipulation inside a scanning electron microscope (SEM). The flexible hinges of drive mechanism and rubber ring for finely adjusting friction are applied to assure the entire structure compact. Due to linear dynamics of piezoelectric transducer and nonlinear friction in the stick-slip stage, a dynamical model representation based on LuGre model is presented and verified by being compared with experimental results. With largest sizes of 24 mm×24 mm×17 mm and 24 mm×24 mm×34 mm, both of horizontal and vertical stages have resolutions of 8 nm and strokes of 50 mm, while their abilities to lift up to 66g are also be demonstrated. A two-tip manipulation of nanowires is performed in assistant of the nanopositioners developed, and the excellent performance of the nanopositioner in SEM is demonstrated. © 2012 Journal of Mechanical Engineering.

关键词： Stick-slip

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Optimal design of robotic manipulators based on simultaneously considering links and joints flexibility

Optimal design of robotic manipulators based on simultaneous...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： Yongqiang Xiao Wei Dong Zhijiang Du State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang China

In this paper, a geometrical optimization and reducers selection method is proposed for robotic manipulators design, which considers the flexibility of links and joints simultaneously. The Lagrangian approach is employed in deriving the dynamic model of a two-DOF manipulator. Timoshenko model is used to discretize the dynamic model. Two criteria, i.e. maximization of fundamental frequency and minimization of self-weight/load ratio, are utilized to optimize the manipulators. The NSGA-II (Fast Elitist Nondominated Sorting Genetic Algorithms) is employed to solve the multi-objective optimization problem. The results indicate that simultaneous consideration of the joints and the links flexibility is very necessary for manipulators optimal design. Finally, several optimal combinations are provided and the effectiveness of the optimization is proved.

关键词： Optimization Joints Mathematical model Manipulator dynamics Equations Vectors

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Study on the vibration couplings of a traveling wave piezoelectric stator excited by a longitudinal and bending hybrid transducer

Study on the vibration couplings of a traveling wave piezoel...

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International Conference on Power Electronics and Motion Control (IPEMC)

作者： Yingxiang Liu Weishan Chen Peilian Feng Junkao Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang China

In a previous study, the authors have proposed, designed and fabricated a cylindrical traveling wave piezoelectric motor excited by a longitudinal and bending hybrid composite transducer. This study focuses the research on the vibration coupling problems of the proposed stator. After the introduction of the working principle of the motor, harmonic analysis is developed to gain the input impedance characteristics of the longitudinal and bending vibration modes of single transducer; the electromechanical coupling factors are calculated to evaluate the energy transfer efficiency. Then, the input impedance characteristics of the two vibration modes of the stator are analyzed to gain the corresponding electromechanical coupling factors. At last, the resonance frequencies of the transducer and cylinder are adjusted to obtain their effects on the electromechanical coupling factors. The study results can guide the design of traveling wave motors that utilized sandwich transducers as actuators.

关键词： Transducers Couplings Stators Vibrations Resonant frequency Acoustics Impedance

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Stiffness analysis and modal analysis of precision parallel manipulator with flexure hinge

Stiffness analysis and modal analysis of precision parallel ...

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International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale (3M-NANO)

作者： Weibin Rong Yuliang Luan Limin Qi Hui Xie Lining Sun State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang China

According to a 3-PPSR flexible parallel manipulator with specific structure, through theoretical calculation and finite element analysis of the whole robot, stiffness analysis and modal analysis were made and it was o... 详细信息

关键词： Manipulators Vibrations Modal analysis Shape Finite element methods Analytical models

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Static stiffness analysis of a novel parallel manipulator

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key Engineering Materials 2012年 522卷 703-707页

作者： Li, Yunfeng Li, Changfeng Qu, Dongsheng Zou, Ling State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China Robotics Institute of Changzhou University Changzhou University Changzhou Jiangsu Province China

One novel 6-DOF parallel manipulator with hooke hinges is presented to provide precision positioning in this paper. The geometric parameters and spatial architecture of kinematic pairs will influence the system stiffness directly, which impact indirectly the characteristics such as supporting capacity, driving burden and so on. The elastic model of the single chain based on the stiffness equation is presented and the stiffness model of the whole structure is constructed via the principle of virtual work. The static stiffness properties of the manipulator are discussed and the problem of finding the minimum and maximum stiffness and the directions in which they occur for a manipulator in a given posture is addressed. An example is given and the results show that static stiffness properties can be used to guide the optimal design of the structure. © (2012) Trans Tech Publications, Switzerland.

关键词： Manipulators

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Feedback-induced nonlinearity and superconducting on-chip quantum optics

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Physical Review A 2013年第6期88卷 063851-063851页

作者： Zhong-Peng Liu Hui Wang Jing Zhang Yu-xi Liu Re-Bing Wu Chun-Wen Li Franco Nori Department of Automation Tsinghua University Beijing 100084 People's Republic of China Center for Quantum Information Science and Technology TNList Beijing 100084 People's Republic of China Center for Emergent Matter Science RIKEN Saitama 351-0198 Japan Institute of Microelectronics Tsinghua University Beijing 100084 People's Republic of China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China Physics Department University of Michigan Ann Arbor Michigan 48109-1040 USA

Quantum coherent feedback has been proven to be an efficient way to tune the dynamics of quantum optical systems and, recently, those of solid-state quantum circuits. Here, inspired by the recent progress of quantum feedback experiments, especially those in mesoscopic circuits, we prove that superconducting circuit QED systems, shunted with a coherent feedback loop, can change the dynamics of a superconducting transmission line resonator, i.e., a linear quantum cavity, and lead to strong on-chip nonlinear optical phenomena. We find that bistability can occur under the semiclassical approximation and photon antibunching can be shown in the quantum regime. Our study presents alternate perspectives for engineering nonlinear quantum dynamics on a chip.

关键词： Quantum optics

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On the role of motion element on the thrust contribution for fishlike swimming

On the role of motion element on the thrust contribution for...

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2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012

作者： Xia, Dan Chen, Weishan Liu, Junkao School of Mechanical Engineering Southeast University Jiangning Jiangning Nanjing 211189 China State Key Laboratory of Robotics and System Harbin Institute of Technology No.92 West Da-Zhi Street Harbin 150001 China

ISBN: (纸本)9781467312776

The swimming performance is numerical simulated for three dimensional fishlike robot. To study the thrust contribution, this work considers the robot divided into seven motion elements along the fish axis from head to tail, executing the heave and pitch motion respectively. The results show that each motion element is found to yield thrust and the thrust takes on sinusoidal periodic variation. During a motion cycle, the value increases with the motion elements close to the tail, while a phase delay of thrust generation is found. Due to the thrust contribution by each motion element accompany with the phase difference existence, the total thrust may be adjusted to a reasonable value. © 2012 IEEE.

关键词： Robots Kinematics Force Drag Hydrodynamics Mathematical model Marine animals

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