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Quadrotor Location-based Target Hunting Strategy for Multiple Amphibious Spherical Robots 17

Quadrotor Location-based Target Hunting Strategy for Multipl...

引用

17th IEEE International Conference on Mechatronics and Automation, ICMA 2020

作者： Xia, Debin Guo, Shuxiang Shi, Liwei Xing, Huiming Hou, Xihuan Li, Zan Zhou, Mugen Beijing Institute of Technology Key Laboratory of Convergence Medical Engineering System and Healthcare Technology Ministry of Industry and Information Technology School of Life Science No.5 Zhongguancun South Street Haidian District Beijing100081 China

ISBN: (纸本)9781728164151

In order to realize the underwater functions of amphibious spherical robots and complete the task in water, a multi-robot cooperative hunting strategy is proposed. With the global observation of the quadrotor, the robots and the target can be found, which meets the conditions for modeling a composite system. In the target hunting process, multiple robots converge uniformly when they are hunting target, and they form a triangle formation. The cost function evaluates the hunting efficiency and energy consumption of the hunting strategy. Finally, the optimal path of each amphibious spherical robot was calculated. The simulation results show the effectiveness of this target hunting method based on ROS/Gazebo simulation platform. © 2020 IEEE.

关键词： Energy utilization

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An interventional surgical robot system with force feedback

An interventional surgical robot system with force feedback

引用

IEEE International Conference on Robotics and Biomimetics

作者： Feiyu Jia Shuxiang Guo Yuan Wang Key Laboratory of Convergence Medical Engineering System and Healthcare Technology Beijing Institute of Technology

ISBN: (纸本)9781467396769

The interventional surgery is a kind of minimally invasive treatment. To achieve the real-time diagnosis and strengthen the doctor operation sense of reality and the operation efficiency, the accurate control of force feedback plays an important role. Based this, we utilize the Phantom Omni as the master manipulator and construct the master-slave robot system with the force feedback closed-loop control. We put forward tracking control strategy and realtime force feedback control strategy. By measuring the proximal guide wire force and the force between the surgeon's hand and the handle used on the Phantom, the force feedback closed-loop control can effectively eliminate the loss of mechanical impedance of force feedback information. And the novel interventional surgical robot system will simulate the procedure of the doctor's hand to operate the guide wire, and providing haptic feedback to the doctor. In this paper, the experimental results show that the accuracy control of force feedback is greatly enhanced in the aspect of security and the operation efficiency.

关键词： Wires Force feedback Catheters Force Medical services Phantoms Robots

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Distributed Edge-based Event-driven Consensus Formation Strategy for Multiple Amphibious Spherical Robots 17

Distributed Edge-based Event-driven Consensus Formation Stra...

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17th IEEE International Conference on Mechatronics and Automation, ICMA 2020

作者： Yin, He Guo, Shuxiang Shi, Liwei Xing, Huiming Hou, Xihuan Li, Zan Xia, Debin Zhou, Mugen Beijing Institute of Technology No.5 Zhongguancun South Street Haidian District Key Laboratory of Convergence Medical Engineering System and Healthcare Technology Ministry of Industry and Information Technology School of Life Science Beijing100081 China

ISBN: (纸本)9781728164151

In order to complete tasks efficiently, multiple robots are usually required to cooperate with each other. This leads to many requirements for the control strategy of multiple robots. In response to these needs, an edge-based event-driven consensus formation control strategy is proposed in this paper. The proposed formation control strategy merges virtual linkage formation control algorithm, edge-based event-driven consensus control algorithm and artificial potential field algorithm together. The virtual linkage formation control algorithm mainly controls the formation of multiple robot formations. The edge-based event-driven consistency control strategy is used to maintain the formation of multiple robots and increase energy utilization. The artificial potential field method is used to ensure the safe distance of each robot. The simulation experiment results prove that the proposed formation control strategy can realize the formation of multiple robots. © 2020 IEEE.

关键词： Energy utilization

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A Novel Wearable Master Manipulator for the Remote Vascular Interventional Surgery 20

A Novel Wearable Master Manipulator for the Remote Vascular ...

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20th IEEE International Conference on Mechatronics and Automation, ICMA 2023

作者： Lin, Zhijun Guo, Shuxiang Yan, Yonggan Li, Chenzhihang Zhao, Duohao Lyu, Chuqiao Beijing Institute of Technology Key Laboratory of Convergence Biomedical Engineering System and Healthcare Technology The Ministry of Industry and Information Technology School of Life Science No.5 Zhongguancun South Street Haidian District Beijing100081 China Southern University of Science and Technology The Department of Electronic and Electrical Engineering Guangdong Shenzhen518055 China

ISBN: (纸本)9798350320831

Vascular interventional surgery (VIS) mainly relies on the surgeon's clinical experience and the image assistance of digital subtraction angiography (DSA). However, DSA will damage the surgeon's health. A master-slave vascular interventional surgical robotic system averts the threat of the X-ray, whereas most master manipulators of the system still have some problems, such as the different operating modes compared to the convention and the large inertia of the device itself. Therefore, a wearable device with precise measurement function, SurGlove, is developed in this study. The surgeon can wear SurGolve as the common medical glove and handle the catheter and guidewire directly. The film pressure sensor on the glove can judge the grasping signal and enable the optical tracking system to measure the markers on the device. The spatial rotation angle and displacement distance of the SurGolve are calculated in real-time. By wearing SurGlove, the surgeon can manipulate the guidewire and the catheter cooperatively. Furthermore, the evaluation experiments showed that the proposed device had a mean absolute error of 1.88° and a maximum error of less than 3° in rotation angle measurement. The maximum displacement error was less than 5 mm and the mean absolute error was 1.53 mm. This study preliminarily verified the feasibility of the proposed wearable SurGlove for the VIS robotic system. © 2023 IEEE.

关键词： Errors

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A Multi-Binocular Camera-based Localization Method for Amphibious Spherical Robots 17

A Multi-Binocular Camera-based Localization Method for Amphi...

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17th IEEE International Conference on Mechatronics and Automation, ICMA 2020

作者： Zhou, Mugen Guo, Shuxiang Shi, Liwei Xing, Huiming Hou, Xihuan Yin, He Liu, Yu Hu, Yao Xia, Debin Li, Zan Beijing Institute of Technology Key Laboratory of Convergence Medical Engineering System and Healthcare Technology Ministry of Industry and Information Technology School of Life Science No.5 Zhongguancun South Street Haidian District Beijing100081 China

ISBN: (纸本)9781728164151

This paper presents a novel multi-binocular camera based localization method with panoramic view and high precision for amphibious spherical robots. In our previous work, the proposed approach based on RGB-D camera and inertial measurement unit (IMU) realized a cooperative and relatively close-range localization. While, position drifts caused by the rotation movement and short positioning range of RGB-D camera in underwater environments are the drawbacks of the previous approach. This paper designs a multi-binocular camera system on the amphibious spherical robot, which makes the robot observe targets in a nearly 360-degree visual range without rotation movement. Meanwhile, through the stereo vision model, the robot obtains the position information about the target robot. Then, according to the position information and the relative position of the binocular cameras, the cooperative localization model is established. To validate the proposed approach, experiments were performed in gazebo simulator with varying distances and relative degree. Compared with the previous works, the proposed localization method reveals higher accuracy and robustness. © 2020 IEEE.

关键词： Cameras

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Design of Clutch Units of the Propulsion system for the Three-Dimension Triphibian Robot 20

Design of Clutch Units of the Propulsion System for the Thre...

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20th IEEE International Conference on Mechatronics and Automation, ICMA 2023

作者： Chen, Yingduo Guo, Shuxiang Yin, He Li, Ao Liu, Meng Beijing Institute of Technology The Key Laboratory of Convergence Biomedical Engineering System and Healthcare Technology The Ministry of Industry and Information Technology School of Life Science No.5 Zhongguancun South Street Haidian District Beijing100081 China Southern University of Science and Technology The Department of Electronic and Electrical Engineering Guangdong Shenzhen518055 China

ISBN: (纸本)9798350320831

Robots capable of traversing various environments have stringent design requirements for their drive structures. To add flight capabilities to the existing amphibious spherical quadruped robot, enhance its mobility space, and optimize its propulsion strategies, this paper designs a clutch units for the propulsion system of the three-dimension triphibian robot (3DTR). The article first introduces the concept of the 3DTR and its significant importance, and explains the critical role of the clutch units for the propulsion system of the 3DTR. Then, according to the design requirements for functionality upgrade, the types of clutches and motors are selected, and the mechanical model of the clutch units is designed. Subsequently, performance tests and function verification of the clutch units were conducted, demonstrating the effectiveness of the clutch units design, laying the foundation for the subsequent overall design and experiment of the 3DTR propulsion system. © 2023 IEEE.

关键词： Clutches

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Collaborative Searching Strategy for Multi-Amphibious Spherical Robots in 3D underwater environments 20

Collaborative Searching Strategy for Multi-Amphibious Spheri...

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20th IEEE International Conference on Mechatronics and Automation, ICMA 2023

作者： Feng, Shilong Guo, Shuxiang Yang, Dan Li, Ao Yin, He Liu, Meng The Key Laboratory of Convergence Biomedical Engineering System and Healthcare Technology The Ministry of Industry and Information Technology School of Life Science Beijing Institute of Technology No.5 Zhongguancun South Street Haidian District Beijing100081 China Southern University of Science and Technology The Department of Electronic and Electrical Engineering Guangdong Shenzhen518055 China

ISBN: (纸本)9798350320831

An improved multi-robot cooperative strategy based on the improved artificial bee colony algorithm is proposed for the task of underwater multi-robot cooperative area target search. The strategy consists of three stages: cruising stage, building capture alliance stage, and cooperative search stage. In the cruising stage, robot adopts the improved random walk algorithm for aimless cruising. In the building capture alliance stage, robot uses an auction algorithm for the assignment of search tasks. In the cooperative search stage, robot adopts the improved artificial bee colony algorithm for cooperative search of targets. Furthermore, simulations are conducted, and the results demonstrate that the proposed strategy can effectively guide multiple robots to perform area target search in unknown 3D underwater environments. © 2023 IEEE.

关键词： Multipurpose robots

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A Phase-Dependent and EMG-Driven Variable Stiffness Control Strategy for Upper Limb Rehabilitation Robot

A Phase-Dependent and EMG-Driven Variable Stiffness Control ...

引用

2024 IEEE International Conference on Robotics and Biomimetics, ROBIO 2024

作者： Li, Pengcheng Guo, Shuxiang Li, Chunying Southern University of Technology and Science Department of Electronic and Electrical Engineering Shenzhen China Aerospace Center Hospital School of Life Science Key Laboratory of Convergence Medical Engineering System and Healthcare Technology Ministry of Industry and Information Technology Beijing Institute of Technology Beijing China

ISBN: (纸本)9781665481090

Bilateral training is a widely adopted approach in upper limb rehabilitation due to its effectiveness and ease of implementation. Variable stiffness actuators enhance this approach by facilitating compliant human-machine interaction, ensuring both comfort and safety. However, optimizing stiffness levels for individual subjects to maximize training effectiveness remains a significant challenge. The difficulty of different task phases varies across subjects, necessitating customized robotic assistance. This paper proposes an adaptive stiffness modulation strategy that leverages the cyclic nature of rehabilitation tasks. An adaptive frequency oscillator is employed for real-time phase detection, while a tuning rule, based on motion tracking error and muscular activation, dynamically adjusts stiffness levels. Experimental validation with two participants demonstrated that the proposed strategy effectively promotes affected arm motion and tailors assistance to the user's specific needs. © 2024 IEEE.

关键词： Human robot interaction

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Embedded system-based a portable upper limb rehabilitation robot 15

Embedded system-based a portable upper limb rehabilitation r...

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15th IEEE International Conference on Mechatronics and Automation, ICMA 2018

作者： Gao, Baofeng Wei, Chao Guo, Shuxiang Xiao, Nan Bu, Dongdong Xu, Hao Ma, Hongdao Key Laboratory of Convergence Biomedical Engineering System and Healthcare Technology Ministry of Industry and Information Technology School of Life Science Beijing Institute of Technology No.5 Zhongguancun South Street Haidian District Beijing100081 China Faculty of Engineering Kagawa University 2217-20 Hayashi-cho Takamatsu Kagawa760-8521 Japan

ISBN: (纸本)9781538660720

As the third disease of death and disability in the world, stroke makes a huge difficulty to patients for activities of daily living. Traditional therapies not only is expensive but also caused a shortage of physiotherapist. Currently, the majority of multi-degree-of-freedom rehabilitation robot of upper limb are not suitable for home rehabilitation due to their heavy or bulky problems. We designed an upper limb rehabilitation robot based on embedded system. The rehabilitation robot can achieve three degrees of freedom motion including elbow flexion/extension, wrist rotation and wrist flexion/extension. And it uses a bilateral rehabilitation strategy. The mechanical structure of this rehabilitation device is a lightweight and portable exoskeleton. The sensor system uses a small gyroscope, and the part of control system uses an embedded system. It is very suitable for home rehabilitation. Finally, two experiments were carried out to test the stability and accuracy of the control system. The experimental result shows that the device is safe and reliable for rehabilitation therapy. © 2018 IEEE.

关键词： Embedded systems

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Magnetic driven wireless multiple capsule robots with different structures 15

Magnetic driven wireless multiple capsule robots with differ...

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15th IEEE International Conference on Mechatronics and Automation, ICMA 2018

作者： Guo, Shuxiang Yang, Qiuxia Bai, Luchang Zhao, Yan Key Laboratory of Convergence Biomedical Engineering System and Healthcare Technology Ministry of Industry and Information Technology School of Life Science Beijing Institute of Technology No.5 Zhongguancun South Street Haidian District Beijing100081 China Faculty of Engineering Kagawa University 2217-20 Hayashi-cho Takamatsu Kagawa760-8521 Japan

ISBN: (纸本)9781538660720

Magnetic driven microrobots, which travel in water or other aqueous mediums, have provided great potential and are urgently demanded in the biomedical field. Many advances in the self-propulsion mechanism suggest that these small robots are very suitable for using in channels. However, the spatial limitations of the internal environment and the size constraint of the millimeter robots are huge challenges in the medical applications. In this paper, a driven approach for multiple capsule robots with screw structure and propeller structure is explored. The two robots can be controlled by a rotational electromagnetic field generated by two pairs of three-axis Helmholtz coils. Mechanical model is set and hydrodynamics of multiple capsule robots is analyzed. Based on the non-overlapping driven frequencies, these robots are able to set off at different start frequencies and stop at different step-out frequencies. The verified experiments are conducted in pipe filled with water. Different movements such as docking and release are verified. The experimental results indicate that the multiple capsule robots would be a promising way to accomplish multifunctional manipulation and perform complex surgeries. © 2018 IEEE.

关键词： Screws

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