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ESICM LIVES 2016: part one Milan, Italy. 1-5 October 2016 Abstracts

INTENSIVE CARE MEDICINE EXPERIMENTAL 2016年第SUPPL 1期4卷 1-1页

作者： [Anonymous] Academic Medical Center University of Amsterdam Amsterdam Netherlands UMCU Utrecht Netherlands Autonomous University of Barcelona Barcelona Spain Hospital São Francisco Xavier Lisbon Portugal CHU Henri Mondor Medical ICU Créteil France Université de Paris Est-Créteil Groupe de Recherche Clinique CARMAS Créteil France Hôpital Tenon APHP Medical and Surgical ICU Paris France Université Paris Diderot Sorbonne Paris Cité UMR 1153 Paris France Interdepartmental Division of Critical Care University of Toronto Toronto Canada University Health Network University of Toronto Critical Care Medicine Toronto Canada University of Milan - Bicocca Health Sciences School of Medicine and Surgery Monza Italy St Michael’s Hospital University of Toronto Anesthesia Toronto Canada CHU d’Angers Medical ICU Angers France Interdepartmental Division of Critical Care University of Toronto Saint Michael’s Hospital and Keenan Research Centre Toronto Canada University of Birmingham Institute for Inflammation and Ageing Birmingham UK University of Sheffield Mathematics and Statistics Help Centre Sheffield UK Heart of England NHS Foundation Trust Intensive Care Medicine Birmingham UK Department of Surgery University Hospitals Birmingham NHS Trust Birmingham UK University Hospitals Birmingham NHS Trust Anaesthesia and Critical Care Medicine Birmingham UK Queen’s University of Belfast Wellcome-Wolfson Institute for Experimental Medicine Belfast UK Royal Victoria Hospital Intensive Care Medicine Belfast UK University of Warwick Warwick Clinical Trials Unit Coventry UK University of Bari ‘Aldo Moro’ Bari Italy Hospital Israelita Albert Einstein São Paulo Brazil Mayo Clinic Jacksonville USA Mahidol University Faculty of Tropical Medicine Bangkok Thailand University Medical Center Utrecht Intensive Care Utrecht Netherlands University Medical Center Utrecht Julius Center for Health Sciences and Primary Care Utrecht Netherlands Academic Medical Center University of Amste

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Development of Chinese large-scale space end-effector

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Journal of Central South University 2011年第3期18卷 600-609页

作者：刘宏谭益松刘伊威介党阳高凯蔡鹤皋 State Key Laboratory of Robotics and System Harbin Institute of Technology

In order to achieve large tolerance capture and high stiffness connection for space payload operations,a Chinese large-scale space end-effector (EER) was *** flexible steel cables were adopted to capture the payload with large capture *** screw transmission mechanism and plane shape-constraint four bar linkage mechanism were utilized to connect the payload with high *** experiments show that capture tolerances in X,Y,Z,Pitch,Yaw,Roll directions are 100 mm,100 mm,120 mm,10.5°,10.5°,12°,*** maximum connection stiffness is 4 800 N·*** end-effector could meet the requirements for space large tolerance capture and high stiffness connection in the future.

关键词： large tolerance capture high stiffness connection end-effector flexible steel cable ball screw four bar linkage

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Motion control of an underactuated spherical robot: A hierarchical sliding-mode approach with disturbance estimation

Motion control of an underactuated spherical robot: A hierar...

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

作者： Liu, Baoyin Yue, Ming Liu, Rong School of Automotive Engineering Dalian University of Technology Dalian Liaoning Province 116024 China School of Electronic and Information Engineering Dalian University of Technology Dalian Liaoning Province 116024 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province 150001 China

ISBN: (纸本)9781467312776

The inner suspension of a spherical robot undergoes an underactuated state which will be difficult for the underactuated system control, when the robot is rolling ahead. To resolve this underactuated control problem, an adaptive hierarchical sliding mode control scheme is proposed. The spherical robot system is separated as shell subsystem and inner suspension subsystem according to the movement. Then a pair of first layer sliding surfaces is defined for each subsystem, by which the equivalent control law is derived to ensure states of each subsystem approaching to their own sliding mode surface. Based on the first layer sliding surface, a second layer surface is defined correspondingly, through which a total control law is given to make sure that all states can converge to their desired value via Lyapunov stability theorem. Meanwhile, considering the unavoidable and uncertain disturbance in the unstructured exploration environment, an adaptive hierarchical sliding mode control scheme is adopted to estimate the uncertain disturbances in real-time. Finally, the simulation results demonstrate the controller's adaptability and validity. © 2012 IEEE.

关键词： Spheres

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Illumination invariant algorithm for face image based on tricolor attenuation theory

Illumination invariant algorithm for face image based on tri...

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2012 3rd International Conference on Intelligent Control and Information Processing, ICICIP 2012

作者： Yang, Dawei He, Siyuan Tian, Jiandong Tang, Yandong State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China Graduate School Chinese Academy of Sciences Beijing 100039 China Shenyang Ligong University Shenyang 110159 China

ISBN: (纸本)9781457721427

In the paper, a tricolor attenuation theory is introduced, a new algorithm which transform a color face image into a gray one which is illumination invariant based on the tricolor attenuation theory is proposed. The color face image is segmented into shadow part and non shadow part using tricolor attenuation theory, then computing the change rate between shadow region and non shadow region in each color channel, and structure a operator T with the changed rate. Finally, applying the operator T to the whole face image. The experiments demonstrate the validation of the algorithm. © 2012 IEEE.

关键词： Color

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Generalized Predictive Control for Space Teleoperation systems with Long Time-varying Delays

Generalized Predictive Control for Space Teleoperation Syste...

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IEEE International Conference on systems, Man, and Cybernetics

作者： Yanhua Yang Fangping Yang Jianning Hua Hongyi Li State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Northeastern University

ISBN: (纸本)9781467317139

Prior researches of generalized predictive control (GPC) in teleoperation systems have mainly considered short transmitted time delays or single degree of freedom (DOF) manipulators of master and slave. This paper presents a GPC strategy for space teleoperation systems in which the master and slave manipulators are both multi-DOF and the communication network brings long time-varying delays. The nonlinear dynamics of the multi-DOF slave manipulator is linearized and described by a linear state-space equation. Meanwhile, a nonlinear compensator is used to compensate the nonlinear parts of the slave. Then, based on the equation, a state-space model based GPC controller is designed on the master side to stabilize the system and make the slave manipulator track the master position and velocity no matter whether the manipulator contacts with the environment or not. Finally, a simulation example is given to illustrate the effectiveness of the proposed method.

关键词： Long time-varying delays Generalized predictive control (GPC) Teleoperation Multiple degree of freedom (DOF) generalized predictive control Slaves remote operation Manipulators GYPC gene Mastering Nonlinear Dynamics time varying

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NUMERICAL SIMULATION OF BATOID LOCOMOTION

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Journal of Hydrodynamics 2011年第5期23卷 594-600页

作者： CHEN Wei-shan WU Zhi-jun LIU Jun-kao SHI Sheng-jun ZHOU Yang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

The hydrodynamics of batoid swimming motions is investigated using the three-dimensional simulation of a self-propelled body in still water. The kinematics of batoid swimming is characterized by large amplitude undulations of the pectoral fins while the middle part of the body remains straight. The majority of the thrust is generated by pectoral fins. Linear and quadratic amplitude variations are used for the pectoral fins in analyzing the locomotion of the batoid. Navier-Stokes equations are used to solve the unsteady fluid flow. A user defined function and a dynamic mesh method are applied to track the batoid locomotion. The mean swimming velocities of 1.6 BL/s and 1.3 BL/s are achieved, respectively, with thrust coefficients of 0.13 in and 0.095 in the dynamical simulation, where BL/s is the body length per second. The maximum propulsive efficiency 19% is achieved when the frequency of the undulation is 2.2 Hz in both amplitude variations.

关键词： batoid fish undulation pectoral fin dynamical simulation

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Analysis and Application of the Singularity Locus of the Stewart Platform

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Chinese Journal of Mechanical Engineering 2011年第1期24卷 133-140页

作者： MA Jianming HUANG Qitao XIONG Haiguo HAN Junwei State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

The direct use of the determinant of Jacobian matrix being equal to zero for the singularity analysis is generally difficult which is due to complexity of the Jacobian matrix of 6-DOF parallel manipulators,especially for Stewart ***,several scholars make their great contribution to the effective solution of this problem,but neither of them find the right *** paper gives a brief analysis of the kinematics of the Stewart platform and derives the Jacobian matrices of the system through the velocity *** the basis of the traditional classification of singularities,the second type of singularity is *** assumption of any three of the six variables of the Stewart platform as constant is made,then the analytical expression of singularity locus equation of the second type singularity which contains another three pose variables is *** singularity locus is represented in the three-dimensional space through the derived *** correctness and validity of the proposed method are verified through ***,the singularity analysis of an electric Stewart platform in its desired workspace and reachable workspace is ***,one can easily identify whether singularity exists in a given workspace of a Stewart platform and determine whether the existed singularity can be avoided through the proposed *** proposed method also provides theoretical principle for the design and application of the Stewart platform and has great significance for the trajectory planning and control.

关键词： parallel manipulator Stewart platform Jacobian matrix singularity locus workspace

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Development of the Ground Control Station for a quadrotor unmanned aerial vehicle based on Java programming

Development of the Ground Control Station for a quadrotor un...

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31st Chinese Control Conference, CCC 2012

作者： Yang, Liu Bin, Xian Fu, Wang Shibo, Liu Xun, Gu Tianjin Key Laboratory of Process Measurement and Control Institute of Robotics and Autonomous System Tianjin University Tianjin 300072 China

ISBN: (纸本)9789881563811

The four-rotor unmanned aerial vehicle (UAV), known as quadrotor UAV, has been a hot area for the research of unmanned aerial vehicles. Ground Control Station (GCS), as an essential part of quadrotor UAV system, plays a very important role in applications of quadrotor UAV. Most ordinary GCS are stand alone ones, and lack extending abilities. Considering this defect and the real requirements of monitoring and control of UAV, this paper provides a new GCS based on VC++ and Java programming techniques. The major novelty of this GCS is of the Web access to real-time flight data. Plus, the proposed GCS posses the standard functions, such as data receiving in real time, storing the data and displaying the data. Experiment results are provided to show that the GCS operates well, with good human-machine interaction and extending abilities. © 2012 Chinese Assoc of Automati.

关键词： Unmanned aerial vehicles (UAV)

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Optimal measurement configurations for kinematic calibration of six-DOF serial robot

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Journal of Central South University 2011年第3期18卷 618-626页

作者：黎田孙奎谢宗武刘宏 State Key Laboratory of Robotics and System Harbin Institute of Technology Institute of Robotics and Mechatronics G erman Aerospace Center

An optimal measurement pose number searching method was designed to improve the pose selection *** optimal robot measurement configurations were added to an initial pre-selected optimal configuration set to establish a new configuration set for robot calibration one by *** root mean squares (RMS) of the errors of each end-effector poses after being calibrated by these configuration sets were *** optimal number of the configuration set corresponding to the least RMS of pose error was then *** based on those poses selected by this algorithm can get higher end-effector accuracy,meanwhile consumes less *** optimal pose set including optimal 25 measurement configurations is found during the *** errors after calibration by using these poses are 1.54,1.61 and 0.86 mm,and better than those before calibration which are 7.79,7.62 and 8.29 mm,even better than those calibrated by the random method which are 2.22,2.35 and 1.69 mm in directions X,Y and Z,respectively.

关键词： serial robot pose selection pose number kinematic calibration observability index

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Planar region alignment based ego-motion estimation for mobile robot

Planar region alignment based ego-motion estimation for mobi...

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IEEE International Conference on Mechatronics and Automation

作者： Z. L. Wang B. G. Cai F. Z. Yi Y. Liu J. Zhao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China School of Electronic Information and Engineering Beijing Jiaotong University Beijing China

ISBN: (纸本)9781467312752

The ego-motion estimation is a basic task in many operations of a mobile robot. An accurate and robust result of motion estimation can greatly improve the operation. In this paper, we assume the mobile robot with visual observer is moved on flat ground and a constrained camera-robot configuration is used to simplify the camera motion model. Based on the assumption and simplified camera-robot configuration, the 3D camera motion can be separately estimated by planar region alignment between two frames. Firstly, a detected 2D motion between two frames is used to align corresponding planar regions, such an alignment or registration removes the effects of camera rotation, and the resulting residual parallax displacement field between the two region-aligned images is an epipolar field centered at the FOE (Focus-of-Expansion). Then the camera translation can be recovered from the epipolar field. The camera rotation is recovered from the computed 3D translation and the detected 2D motion. The camera motion model is derived and expressed by two parts, the multistage process for ego-motion estimation is introduced. Some experiments with real images demonstrate the robustness of the motion estimation. And the factors which may affect the results are discussed.

关键词： Cameras Robot vision systems Motion estimation Robustness Mobile robots Transmission line matrix methods Computer vision

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