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Biennial institute of Electrical and Electronics Engineers Conference on Electomagnetic Field Computation

作者： Qian Wang Jibin Zou Xinghe Fu Xintong Jiang State Key Laboratory of Robotics and System Harbin Institute of Technology

ISBN: (纸本)9781424470594

This paper performs an analysis on the magnetic coupling of phases for a novel transverse flux machine (TFM) by comparison of the values of self- and mutual- inductance. It is shown that the proposed TFM inherits the merit of magnetic decoupling of phases as in traditional TFM, and thus can readily achieve fault-tolerant operation and high-precision control.

关键词： Phase magnetic coupling Inductance Fault tolerance Transverse machine fine control

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Development of a robot system assisting artificial cervical disc replacement surgery

Development of a robot system assisting artificial cervical ...

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IEEE International Conference on robotics and Biomimetics

作者： Heqiang Tian Dongmei Wu Zhijiang Du Junlin Ma Lining Sun State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China State Key Laboratory of Robotics and System (HIT) Harbin 150080 China

ISBN: (纸本)9781424493197

The problems such as inadequate precision, excessive radiation, over fatigue and other issues urgently need to be resolved in the cervical artificial disc replacement surgery. In this paper, a medical robot system has been developed to replace the fixture system used in the cervical artificial disc replacement surgery. Firstly, the medical robot mechanical design with an active parallel head and a passive serial body assisting the artificial cervical disc replacement surgery is proposed. Then, the workspace analysis and control system design of the parallel robot are presented. Finally, the surgical navigation technologies such as surgical planning, surgical navigation and positioning, and the grinding trajectory planning technologies involved in the robot system assisting the cervical artificial disc replacement surgery are described. It can be seen that the robot-assisted cervical artificial disc replacement surgery has opened up a new way for the cervical disease treatment.

关键词： Surgery Robot kinematics Planning Brushless motors Optical imaging Biomedical optical imaging

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Log sensor calibration using M-estimate

Log sensor calibration using M-estimate

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OCEANS - Europe

作者： Ji, Daxiong Liu, Jian Liu, Kaizhou Departmant of Underwater Robotics State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Science Nanta street 114th Shenyang City Liaoning Provice China

ISBN: (纸本)9781424452217

A calibration problem for log sensor of UUV is established and the problem can be divided into two separate parts: misalignment angle and scale factor of log sensor. Instead of using the conventional least square algorithm, a fine calibration approach based on M-estimate is used to suppress the effect of non-white noise. The adaptive factor relation to calibration precision is brought forward which is different from usual forgetting factor. The feasibility of the approach is demonstrated in the test of sea trail. © 2010 IEEE.

关键词： Calibration

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A novel ant-based clustering algorithm with an artificial force field

A novel ant-based clustering algorithm with an artificial fo...

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2010 6th International Conference on Natural Computation, ICNC'10

作者： Zhang, Lei Cao, Qixin State Key Lab of Mechanical System and Vibration Shanghai China Research Institute of Robotics Shanghai Jiao Tong University Shanghai China

ISBN: (纸本)9781424459612

This paper presents a novel ant-based clustering algorithm. In the algorithm, the objects are first preprocessed by Principal Component Analysis(PCA), then their two principal components are retained and processed as the projecting coordinates. Moreover, different from conventional ant-based clustering algorithms in which the objects are picked up or dropped by virtual ants, our proposed algorithm looks each object as an ant. After the objects are projected to the plan, an artificial force field is created. The object (ant) is attracted by the similar and repelled by the dissimilar ones in its local surrounding. The object moves to a certain place at the work of these forces. The moving direction and moving range are determined by the composite of all forces. The clusters are created by this force influence after many iterative cycles. The paper gives the detailed process of the algorithm. The performance of the algorithm is compared with other classic algorithms on synthetic and real datasets. The results are very encouraging in terms of the computation efficiency and clustering quality. © 2010 IEEE.

关键词： Principal component analysis

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An effective algorithm for needle tip displacement compensation in robot-assisted percutaneous surgery

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High Technology Letters 2010年第3期16卷 306-310页

作者： Sun, Yinshan Wu, Dongmei Du, Zhijiang Sun, Lining State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

This paper presents an automatic compensation algorithm for needle tip displacement in order to keep the needle tip always fixed at the skin entry point in the process of needle orientation in robot-assisted percutaneous surgery. The algorithm, based on a two-degree-of-freedom (2-DOF) robot wrist (not the mechanically constrained remote center of motion (RCM) mechanism) and a 3-DOF robot arm, firstly calculates the needle tip displacement caused by rotational motion of robot wrist in the arm coordinate frame using the robotic forward kinematics, and then inversely compensates for the needle tip displacement by real-time Cartesian motion of robot arm. The algorithm achieves the function of the RCM and eliminates many mechanical and virtual constraints caused by the RCM mechanism. Experimental result demonstrates that the needle tip displacement is within 1 mm in the process of needle orientation. © by High Technology Letters Press.

关键词： Needles

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Development of a novel ODEP chip using polymer photoconductive material and FTO electrode

Development of a novel ODEP chip using polymer photoconducti...

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IEEE International Conference on Nano/Micro Engineered and Molecular systems (NEMS)

作者： Shue Wang Zaili Dong Yanli Qu Lei Zhou Zhu Liu Wenli Zhou Shenglin Jiang Yan Yu G. B. Lee Wen J. Li State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy and Sciences Shenyang China Chinese Academy and Sciences Beijing China Department of Electronic Science and Technology Huazhong University of Science and Technology China Wuhan National Laboratory of Optoelectronics Wuhan China Center of Micro Nano Technology Research National Cheng Kung University Taiwan Cent. for Micro and Nano Systems Chinese University of Hong Kong Hong Kong China

A novel ODEP (optical dielectrophoresis) chip using a polymer photoconductive material and fluorine doped tin oxide (FTO) conductive film is demonstrated to manipulate micron-sized polystyrene beads. Instead of using the traditional hydrogenated amorphous silicon (a-Si:H) as photoconductive layers, a thin film of a mixture of poly (3-hexylthiophene) (P3HT) and [6,6]-phenyl C61-butyric acid methylester (PCBM) photoconductive polymer is used in this novel ODEP chip. When the polymer layer is illuminated by a light beam, many electron-hole pairs are created, which increase the conductivity of the polymer. Consequently, localized non-uniform electric field can be generated when an AC bias is applied across the ODEP chip, and localized DEP forces are then generated. The distribution of electrical field induced by a ring-shaped optical electrode is simulated and the maximum trapping velocity is calculated according to Stokes' law for this ODEP chip. The effect of the polymer thickness to the magnitude of the generated DEP force has also been investigated. The maximum trapping velocity and the induced DEP force exerted on 20 μm polystyrene beads are estimated to be 77 μm/s and 15 pN, respectively. Finally, performance of the polymer-based ODEP chip is compared with an a-Si:H-based ODEP chip by trapping and sorting polystyrene beads with identical parameters. The experimental results indicate that the polymer photoconductive material used in our work is promising for rapid fabrication of ODEP chips for microparticles manipulation.

关键词： Force Charge carrier processes Optical imaging Optical films Electric fields Optical polymers

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Research and Development of Micro-instrument for Laparoscopic Minimally Invasive Surgical Robotic system

Research and Development of Micro-instrument for Laparoscopi...

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IEEE International Conference on robotics and Biomimetics

作者： Ruqi Ma Dongmei Wu Zhiyuan Yan Zhijiang Du Gang Li State Key Laboratory of Robotics and System (HIT)

ISBN: (纸本)9781424493197

Because of the fewer degree of freedom (DOF), poor flexibility and the absence of uniform mechanical and electrical interface, the micro instruments used in traditional invasive surgery can not be introduced into the laparoscopic minimally invasive surgical robotic system (LMISRS) directly. So it is very necessary to research and develop a series of new micro instruments for the LMISRS. Having considered the difference of motion flexibility and working space in micro instruments for different use, a novel micro instrument design method was suggested in the paper. By using the method, the DOF of the micro instruments can be configured randomly. By analyzing the requirements of the working space and the DOF configuration in invasive surgery, a ingenious snake-like joint modular was designed, and based on the research of the motion character and topology, a wrist mechanism with four joints and its drive system were also developed;furthermore, the coupling character of the drive system was also analyzed;at last, a dissecting forceps with good flexibility and a fast interface modular were designed. The experiments validated that the dissecting forceps is satisfied to the clinical requirements.

关键词： Instruments Joints Wrist Robots Surgery Steel Wires

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Influence of axial length ratio of stator segment on performance of tubular transverse flux linear machine

Influence of axial length ratio of stator segment on perform...

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14th Biennial IEEE Conference on Electromagnetic Field Computation, CEFC2010

作者： Mei, Zhao Zou, Ji-Bin Jiang, Xin-Tong Fu, Xing-He Sadarangani, Chandur State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China Dept. Electrical Machines and Power Electronics KTH Teknikringen 33 10044 Stockholm Sweden

ISBN: (纸本)9781424470594

In this paper the influence of axial length ratio of stator segment on performance of tubular transverse flux linear machine (TTFLM) is investigated. The following issues have been emphasized: cogging force, winding flux, and back-EMF. The special topology of TTFLM requires 3-D finite element analysis to accurately predict the machine performance. However, equivalent 2-D finite element analysis is performed, which is more visual from physical view and faster from computing time than 3-D finite element analysis. © 2010 IEEE.

关键词： Finite element method

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Active control of adhesion force for pick-and-place of micro objects with compound vibration in micromanipulation

Active control of adhesion force for pick-and-place of micro...

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IEEE International Conference on Automation Science and Engineering (CASE)

作者： Liguo Chen Tao Chen Lining Sun Weibin Rong Bing Shao Qing Yang State Key Laboratory of Robotics and System Robotics Institute Harbin Institute of Technology Harbin China Robotics and Microsystems Center Soochow University Suzhou China

ISBN: (纸本)9781424454471

Due to scale effects, the reliable pick-and-place manipulation of micro objects has been still a long-standing challenge in scientific and technological field. This paper presents an active method to manipulate microobjects, which employs inertia force and compound vibration to overcome adhesion forces. The compound vibration comes from electrostatic actuator and piezoelectrically driven microactuator. A micromanipulation system is set up to test and verify the proposed method. The system consists of a microgripper and a piezoelectric ceramics module. Surface and bulk micromachining technology is employed to fabricate the microgripper used in the system from a single crystal silicon wafer. Theoretical analyses were conducted to understand the release principle. Experiments were carried out through the manipulation of 30-80μm polystyrene spheres under an optical microscope. Experimental results show that this method can achieve a repeatability of 100% with releasing accuracy of 4μm, and is substrate independent. Based on this preliminary study, the system prove to be an effective solution for the active pick-and-place manipulation of microobjects.

关键词： Vibrations Grippers Substrates Adhesives Force Compounds Acceleration

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Micro manipulation based on adhesion control with compound vibration

Micro manipulation based on adhesion control with compound v...

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2010 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Tao Chen Liguo Chen Lining Sun Weibin Rong Qing Yang Robotics and Microsystems Center Soochow University Suzhou China State Key Laboratory of Robotics and System Robotics Institute Harbin Institute of Technology Harbin China

Due to scale effects, the releasing of micro objects has been a long-standing challenge in micromanipulation applications. In this paper a micromanipulation system is presented based on the adhesion control with compound vibration. This adhesion control technique employs inertia force to overcome adhesion force achieving 100% repeatability with releasing accuracy of 4±0.5μm, which was experimentally quantified through the manipulation of 20-100μm polystyrene spheres under an optical microscope. The micromanipulation system consists of a microgripper and a piezoelectric ceramics module. The compound vibration comes from the electrostatic actuator and the piezoelectrically driven actuator. Surface and bulk micromachining technology is employed to fabricate the microgripper used in the system from a single crystal silicon wafer. Experimental results confirmed that this adhesion control technique is independent of substrate. Theoretical analyses were conducted to understand the releasing mechanism. Based on this preliminary study, the micromanipulation system proves to be an effective solution for active releasing of micromanipulation.

关键词： Grippers Vibrations Adhesives Acceleration Substrates Force Compounds

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