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IEEE/RAS-EMBS International Conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Mostafa Hadavand Michael D. Naish Rajni V. Patel Biomedical Engineering Graduate Program Western University Canadian Surgical Technologies and Advanced Robotics (CSTAR) Lawson Health Research Institute London Canada Department of Mechanical and Materials Engineering Western University Department of Electrical and Computer Engineering Western University

A novel parallel Remote Center of Motion (RCM) mechanism is proposed for a surgical robot designed to perform minimally invasive needle-based interventions for lung cancer diagnosis and treatment. The proposed robot provides four degrees of freedom (DOFs) to orient and move a surgical needle within a spherical coordinate system. The RCM is beneath the skin surface to minimize the invasiveness of the surgical procedure while providing the required workspace. This compact, patient-mounted robot benefits from a design capable of measuring the pure interaction forces between the needle and the tissue. In this paper, the mechanism design and its specifications are described. The kinematic analysis is presented and isotropy of the mechanism for targeting tumors is studied. Finally, the performance of the proposed robot is evaluated experimentally.

关键词： Needles Kinematics Robot kinematics Legged locomotion Joints Cancer

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Proposed surface to air anti stealth technology for homeland security

Proposed surface to air anti stealth technology for homeland...

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International Conference on engineering and Technology (ICET)

作者： Marwa A. El Diwiny El-Sayed Hassanen Abou-Hashema M. El-Sayed G. Abouelmagd Mechatronics and Industrial Robotics Program Faculty of Engineering Minia University EI Minia Egypt Electrical Engineering Department Faculty of Engineering Minia University EI Minia Egypt Electrical Engineering Department Faculty of Engineering Aswan University Aswan Egypt Minia University El Minia EG

This paper handles a proposed algorithm of surface to air anti stealth technology for homeland security. The paper approach is anti stealth theory and it's application by using fuzzy logic control. the anti stealth is done by exposing stealth EM 3500 wave absorber with non lethal pulsed ND YAG 532 then the electric permittivity enhanced and consequently reflection. The application of surface to air is done by determining important parameters as the borders range and creating virtual shape of laser beam hunter for the target through expecting it's degree of freedom in the free space, fuzzy logic control can control the proposed system by inserting expected range of laser hunter beams finally the desired angle can be obtained for get more contact points on it's surface to be visible of microwave radar.

关键词： Aircraft Reflection Permittivity Materials Impedance Lasers

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CHARM: A Platform for Algorithmic robotics Education & Research

CHARM: A Platform for Algorithmic Robotics Education & Resea...

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Surya P. N. Singh Hanna Kurniawati Kianoosh Soltani Naveh Joshua Song Tyson Zastrow RDL and Mechatronic Program director and coordinates METR4202 (Advanced Controls and Robotics) RDL and coordinates COMP3702 (Artificial Intelligence) Mechatronic Engineering student in the UQ RDL UQ RDL Mechatronic Engineering graduate

ISBN: (纸本)9781479969357

This paper introduces autonomous sorting of moving coins via a robot as a multi-level task that supports the principled study of robotics fundamentals including kinematics, dynamics, perception, motion planning, controls, and optimization based around a widely obtainable, standardized, low-cost object (a coin). The paper also presents a demonstrated solution to this in the form of the CHARM (Coin Handling Arm for robotics Mastery) robot, which addresses the autonomous coin sorting problem using an economical kit made from commodity computing hardware and three Dynamixel servomotors. From a learning perspective, this problem facilitates interdisciplinary practice across subject and grade levels with an algorithmic foundation that is central to modern robotics. Evidence supporting this approach is illustrated from case studies of student projects and, in particular, the CHARM robot. Beyond practice alone, by presenting a challenging (but manageable) research problem, we found that the coin sorting task teaches robotics in a principled way. Further, algorithmic complexity tiers the problem to academic levels. While motivated by robotics education, the (optimal) coin sorting problem may also be seen as an archetype problem for manipulation/motion-planning research. Thus, this also promotes a research foundation supporting later research opportunities.

关键词： robotics Coin Computer hardware Robot Grade Level Research Problems sorting programs

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Design, analysis and simulation of biped running robot

Design, analysis and simulation of biped running robot

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Jongwon Park Young Kook Kim Byungho Yoon Kyung-Soo Kim Soohyun Kim School of Mechanical Aerospace and Systems Engineering Korea Advanced Institute of Science and Technology Daejeon South Korea Robotics Program Korea Advanced Institute of Science and Technology Daejeon South Korea

Legged systems are potentially expected to have outstanding mobility. However, they have shown only modest levels of capability to traverse on flat ground. This paper introduces a biped robot inspired by the hind limbs of cats. We present the characteristics of the system and conduct a position analysis based on vector loop equations. Afterwards, the ground clearance and parallel movement of the robotic leg are shown. We present a speed equation in an effort to verify how the major parameters affect the speed. In addition, we explore control strategies for ground speed matching, acceleration, slip, and speed control. A dynamic simulation shows that the biped robot reached 13.31 leg lengths per second (9.3km/h). This biped robot with the speed equation and its control strategies allow us to understand legged locomotion and can show us how to improve the speed.

关键词： Legged locomotion Mathematical model Equations Acceleration Vectors Joints

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Dynamic analysis of the spinal-pelvic motion match during feline galloping for speed increase into quadruped robotic system

Dynamic analysis of the spinal-pelvic motion match during fe...

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International Conference on Control, Automation and Systems ( ICCAS)

作者： Young Kook Kim Jongwon Park Byungho Yoon Kyung-Soo Kim Soohyun Kim Robotics Program Korea Advanced Institute of Science and Technology (KAIST) Daejeon Republic of Korea Department of Mechanical Engineering Korea Advanced Institute of Science and Technology (KAIST) Daejeon Republic of Korea

ISBN: (纸本)9781479960514

In terms of the speed performance in feline galloping, relative spinal motion is observed as a key role to increase the locomotion speed. In order to prove this, a domestic cat was observed to investigate galloping gait patterns of the feline. Based on the measurement of the dynamic behavior of a domestic cat, we observed a significant increase in speed through correlated angular rate changes of spinal segments. To support the motion into a quadruped system, the hindlimb stance phase was analyzed using a 2 dimensional planar dynamic model to verify that the external torque generated by spinal motion plays an important role in increasing the ground reaction force in the direction of movement. To verify the analysis, the dynamic simulation demonstrating the hindlimb stance was applied with 3 parameter variations: time, phase and the amplitude of the fitted relative angular velocity profile.

关键词： TV Minimization Robots

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Wireless power transmission using electromagnetic inductive coupling and lc resonant

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Transactions of the Korean Institute of Electrical Engineers 2013年第3期62卷 349-354页

作者： Lee, Seung-Hwan Kimm, Hyoen-Min Kim, Hee-Je Kim, Su-Weon Dept. of Interdisciplinary Program in Robotics Pusan National University Korea Republic of Electrical Engineering Pusan National University Korea Republic of

Wireless power transmission introduced by Tesla has instrumented by many scientists of the world. This technique first was utilized as wireless communications such as radio in long range transmission. And contactless transmission using inductive property was used on white goods. In 2007, MIT' lab introduced that new wireless power transmission by magnetic resonance which has about 50% efficiency and 2M transmission distances, it was a chance to refocus a new possibility of wireless power transmission. In this paper, using LC coupling compensate the short distances of contactless transmission, this simple method could transmit about 30cm distances. Using this approach, it can be solved the short transmission distances, a drawback of Electromagnetic inductive coupling method.

关键词： Natural frequencies

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Haptic joystick implementation using vibration pattern algorithm

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Journal of Institute of Control, robotics and Systems 2013年第7期19卷 605-613页

作者： Noh, Kyung-Wook Lee, Dong-Hyuk Han, Jong-Ho Park, Sookhee Lee, Jangmyung Department of Interdisciplinary Program in Robotics Pusan National University Korea Republic of Department of Electrical Engineering Pusan National University Korea Republic of

This research proposes a vibration pattern algorithm to implement the haptic joystick to control a mobile robot at the remote site without watching the navigation environment. When the user cannot watch the navigation environment of the mobile robot, the user may rely on the haptic joystick solely to avoid obstacles and to guide the mobile robot to the target. To generate vibration patterns, there is a vibration motor at the bottom of the joystick which is held by the user to control the motion direction of the mobile robot remotely. When the mobile robot approaches to an obstacle, a pattern of vibration is generated by the motor, and by feeling the vibration pattern which is determined by the relative position of the mobile robot to the obstacle, the user can move the joystick to avoid the collision to the obstacle for the mobile robot. To generate the vibration patterns to convey the relative location of the obstacle near the mobile robot to the user, Fuzzy interferences have been utilized. To measure the distance and location of the obstacle near the mobile robot, ultrasonic sensors with the ring structure have been adopted and they are attached at the front and back sides of the mobile robot. The precise location of the obstacle is obtained by fusing the multiple data from ultrasonic sensors. Effectiveness of the proposed algorithm has been verified through the real experiments and the results are demonstrated. © ICROS 2013.

关键词： Feedback

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Improved performance of a low-cost PDR system through sensor calibration and analysis

Improved performance of a low-cost PDR system through sensor...

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

作者： Yunki. Kim Donghyuk Lee Kijung. Kim Jangmyung. Lee Dept. of Electrical Engineering Pusan National University Busan Korea Dept. Interdisciplinary Program in Robotics Pusan National University Busan Korea Dept. of Electrical Engineering 'Brain Korea 21 Project’ of Pusan National University Busan Korea

ISBN: (纸本)9781479957378

This paper proposes improvement for performance of a low-cost Pedestrian Dead-Reckoning(PDR) System through calibration and analysis of sensor. It is applied that PDR System for estimating pedestrian's position in the area not being able to be received. also sensor's error is removed by using angle compensation technique and performance of system is improved by analysis of PDR system. Consequently, position of pedestrian is estimated by applying the improved value of sensor and result of angle analysis to PDR system. Experiments were conducted to verify the proposed system. Experimental results within 2% of range error, RMS position error of less than 3% showed superior performance.

关键词： Acceleration Mathematical model Equations Length measurement Temperature sensors Estimation Calibration

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Balancing Control of a Ball Robot Based on an Inverted Pendulum

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Journal of Institute of Control, robotics and Systems 2013年第9期19卷 834-838页

作者： Kang, Seok-Won Park, Chan-Ik Byun, Gyu-Ho Lee, Jang-Myung Department of Interdisciplinary Program in Robotics Pusan National University Korea Republic of School of Electronic Engineering Pusan National University Korea Republic of

This paper proposes a new ball robot which has a four axis structure and four motors that directly actuate the ball to move or to maintain the balance of the robot. For the Balancing control, it is possible to use non-model-based controller to control simply without complex formula. All the gains of the controller are heuristically adjusted during the experiments. The tilt angle is measured by IMU sensors, which is used to generate the control input of the roll and pitch controller to make the tilt angle zero. The performance of the designed control system has been verified through the real experiments with the developed ball robot. ©ICROS 2013.

关键词： Inverted pendulum

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Design of a guide vane for improving inside flow uniformity of electrostatic precipitator

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Transactions of the Korean Institute of Electrical Engineers 2013年第4期62卷 523-528页

作者： Noh, Wook Bae, Seong-Jun Park, Sookhee Kang, Sunkyun Lee, Jangmyung Dept. of Interdisciplinary Program in Robotics Pusan National University Korea Republic of Dept of Electrical and Electronic Engineering Pusan National University Korea Republic of

In recent years, many efforts are increasingly being made to conserve the natural environment with enhanced emission standards and air quality standards. Also there are various methods necessary to be researched to minimize the emission of air pollutants. In particular, boilers of industrial facilities are major portions of the air pollution. The front duct which needs to be designed to reduce the gases to the electrostatic precipitator requires a bent tube, a reduction/extend tube and an auxiliary equipment, that is, a guide vane. This paper proposes an optimum design of the guide vane by a case study for electrostatic precipitator's flow uniformity. The operating conditions of this study are as follows: BMCR (Boiler Maximum Continuous Rate) and MGR (Maximum Guaranteed Rate) are 75%, 50%, and 30%;turbulent fluid dynamics model is based upon K- Ε formulation. Presentation of the computed motion of particles is found to be quite useful to predict the precipitator performance by use CFD (Computational Fluid Dynamics).

关键词： Electrostatic precipitators

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