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Design and evaluation of a bio-inspired robotic hand for percutaneous coronary intervention

Design and evaluation of a bio-inspired robotic hand for per...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Zhen-Qiu Feng Gui-Bin Bian Xiao-Liang Xie Zeng-Guang Hou Jian-Long Hao State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing China

ISBN: (纸本)9781479969241

The percutaneous coronary interventions (PCI) require complex operating skills of the interventional devices and make the surgeons being exposed to heavy X-ray radiation. Accurate delivery of the interventional devices and avoiding the radiation are especially important for the surgeons. This paper presents a novel dedicated dual-finger robotic hand (DRH) and a console to assist the surgeons to deliver the interventional devices in PCIs. The system is designed in the master-slave way which helps the surgeons to reduce the exposure to radiation. The mechanism of the DRH is bio-inspired and motions are decoupled in kinematics. In PCI procedures, the accuracy of the guidewire delivery and the catheter tip placement have significant effects on the surgical results. The performances of the DRH in delivering the guidewire and the balloon/stent catheter were evaluated by three surgical manipulations. The results show that the DRH has the ability to deliver the guidewire and the balloon/stent catheter precisely.

关键词： Catheters Surgery Trajectory Robot sensing systems Magnetic resonance imaging Thumb

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Data-driven virtual reference controller design for high-order nonlinear systems via neural network

Data-driven virtual reference controller design for high-ord...

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International Joint Conference on Neural Networks (IJCNN)

作者： Pengfei Yan Derong Liu Ding Wang The State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Science Beijing China

ISBN: (纸本)9781479919611

This paper is concerned with data-driven methods for virtual reference controller design of high-order nonlinear systems via neural network. Virtual reference feedback tuning (VRFT) is a one-shot direct data-based method to design controller of linear or nonlinear systems. In this paper, we recall the model reference control problem of high-order nonlinear systems and design a new objective function of VRFT. In ideal conditions, the two problems are demonstrated to have the same solution. For the first time, we prove that the value of the optimization problem for model reference control is bounded by that of the objective function of VRFT. A three-layer neural network is employed as a general approximator of the designed controller and two simulations are given to verify the validity of our method.

关键词： Microwave integrated circuits

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Development of a novel robotic jellyfish based on mechanical structure drive and barycenter adjustment

Development of a novel robotic jellyfish based on mechanical...

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IEEE International Conference on Robotics and Biomimetics

作者： Xiangbin Li Junzhi Yu State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing China

ISBN: (纸本)9781467396769

Jellyfish-inspired jet propulsion and robotic implementation have drawn much attention among the scientific community. In this paper, we report a novel robotic jellyfish synthesizing mechanical structure drive and barycenter adjustment mechanism. The robotic jellyfish relies on six-bar linkage mechanisms as actuators to realize the contraction-relaxation jet propulsion motion. To imitate the real jellyfish and to reduce drag, the robotic jellyfish is comprised of a streamlined head, a cavity shell, and a latex skin is enwraped around the drive units. To achieve free switch between different motion modes and transform attitude arbitrarily, a barycenter adjustment mechanism is embedded in the robot body. Through the upward, downward, balancing, as well as leaning-down motion of clump weights, the center of gravity of the robot can enwrap its center of buoyancy. Experimental tests on the actual robotic jellyfish verify the great 3D swimming ability.

关键词： Robots Cavity resonators Gears Servomotors Actuators Gravity Propulsion

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An RBF-based neuro-adaptive control scheme to drive a lower limb rehabilitation robot

An RBF-based neuro-adaptive control scheme to drive a lower ...

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IEEE International Conference on Robotics and Biomimetics

作者： Chengkun Cui Gui-Bin Bian Zeng-Guang Hou Min Tan Dongxu Zhang Xiao-Liang Xie Weiqun Wang State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing China

ISBN: (纸本)9781467396769

In this paper, a novel robust adaptive control scheme is proposed for a lower limb rehabilitation robot designed by our laboratory. The proposed control strategy is based on the radial basis function (RBF) neural networks and the parameters of the system dynamics are unknown. The weights of the RBF neural networks are updated by an adaptive law according to the Lyapunov stability analysis. The robustness against possible variations of the system dynamics and the external disturbance are considered in the control design. The proposed control strategy can not only avoid the complex procedure of system parameters identification, but also guarantee high robustness, small trajectory tracking errors and the assistance of the patient's voluntary participation. Using this control algorithm, the robot can regulate its exerted torque to adapt to the patient's active torque in real time during rehabilitation. The effectiveness of our control method is demonstrated by a simulation.

关键词： Robots Torque Neural networks Robustness Adaptation models Adaptive control Training

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Model-free adaptive algorithm for optimal control of continuous-time nonlinear system

Model-free adaptive algorithm for optimal control of continu...

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Chinese Automation Congress (CAC)

作者： Yuanheng Zhu Dongbin Zhao The State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing China

ISBN: (纸本)9781467371902

Reinforcement learning has provided an efficient approach to solve the optimal control of some complicated systems. In this paper we resort to the idea of off-policy scheme and propose a complete-model-free algorithm to the continuous-time nonlinear optimal control problems. The novel algorithm consists of two neural networks to approximate the value and policy and adapts them with continuous tuning laws. In addition, experience replay technique is employed so that both the instantaneous observations and the past data are utilized. The convergence to the optimal solutions are guaranteed under the Lyapunov analysis. A nonlinear system is simulated to test the learning performance.

关键词： Adaptation models Tuning

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Dynamic modeling and control of a parallel upper-limb rehabilitation robot

Dynamic modeling and control of a parallel upper-limb rehabi...

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IEEE International Conference on Rehabilitation Robotics (ICORR)

作者： Liang Peng Zeng-Guang Hou Weiqun Wang State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing China

ISBN: (纸本)9781479918096

This paper aims at dynamic modeling and control of a new upper-limb rehabilitation robot which has a parallel structure. Dynamic modeling of parallel robot is a complicated problem, and the dynamics and voluntary force of the patient arm increase the difficulty of dynamic analysis and control in rehabilitation training. The novelties of this study are: (1) dynamics of the robot and the patient are considered together, and this human-robot interaction system is modeled as a redundantly actuated closed-chain system (2 DOFs, 4 active joints); (2) the system dynamics are derived in workspace using a new method based on the dynamics of its three serial open-chain branches, and both kinematic constrains and interaction forces are considered during the derivation. Compared with the other two previous methods reviewed in this paper, the proposed method is easier to derive, more computationally efficient, and it can be used in both redundant and non-redundant cases. Besides, a model based PD-computed torque controller is designed and the simulation of passive training task along a circular path is presented to prove the effectiveness of this method.

关键词： Joints Dynamics Robot kinematics Force Mathematical model Training

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Constructing Topic Hierarchies from Social Media Data

Constructing Topic Hierarchies from Social Media Data

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IEEE International Conference on Data Mining Workshops (ICDM Workshops)

作者： Yuhao Zhang Wenji Mao Daniel Zeng State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing China

ISBN: (纸本)9781467384940

Constructing topic hierarchies from the data automatically can help us better understand the contents and structure of information and benefit many applications in security informatics. The existing topic hierarchy construction methods either need to specify the structure manually, or are not robust enough for sparse and noisy social media data such as microblog. In this paper, we propose an approach to automatically construct topic hierarchies from microblog data in a bottom up manner. We detect topics first and then build the topic structure based on a tree combination method. We conduct a preliminary empirical study based on the Weibo data. The experimental results show that the topic hierarchies generated by our method provide meaningful results.

关键词： Media Matrix decomposition Noise measurement Conferences Security Informatics Ontologies

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Continuous-time group consensus using distributed event-triggered control

Continuous-time group consensus using distributed event-trig...

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International Workshop on Advanced Computational Intelligence (IWACI)

作者： Hongwen Ma Ding Wang Derong Liu Chao Li State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing China

Group consensus has both positive and negative communication weights, which is an extension to traditional consensus problem. Additionally, distributed event-triggered control has advantages over periodic control considering energy consumption and communication constraints. Thus, it is important to study group consensus using event-triggered control. Moreover, by calculating the maximum and minimum of the corresponding parameters, we can simplify the event-triggered function. The implementation will validate the effectiveness of our distributed control protocol.

关键词： Nickel Switches Gold

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An sEMG-driven musculoskeletal model of shoulder and elbow based on neural networks

An sEMG-driven musculoskeletal model of shoulder and elbow b...

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International Workshop on Advanced Computational Intelligence (IWACI)

作者： Liang Peng Zeng-Guang Hou Long Peng Jin Hu Weiqun Wang The State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing China

In this paper, an sEMG-driven musculoskeletal model of human shoulder and elbow joints is built based on time delay neural network (TDNN). Six principal muscles of the upper arm and forearm are included, and the experiment was conducted under isometric contractions with the aid of a planar haptic interface. Both force amplitude and direction were regulated continuously, and the experiment results proved the effectiveness and performance of this modeling method. The model was proved to have less overfitting risk than the most-used basic multilayer forward networks, and the isometric model was proved to be still effective in estimation of slow movement cases.

关键词： Joints Dynamics Force Muscles Training Standards

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Design and Simulation of a Robotic Jelly sh Based on Mechanical Structure Drive and Adjustment

Design and Simulation of a Robotic Jelly sh Based on Mechani...

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第三十四届中国控制会议

作者： LI Xiangbin YU Junzhi State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences

This paper presents a novel jelly sh-inspired swimming robot whose mechanical design, control algorithm, and motion analysis are discussed and manifested in detail. In consideration of few research on robotic jelly sh capable of threedimensional movement with mechanical drive and actuator, we propose an improved design mainly featuring six-bar linkage mechanisms as the actuators and a barycenter adjustment mechanism as an attitude regulator. To imitate the real jelly sh and to reduce drag, the robotic jelly sh is comprised of a streamlined head, a cavity shell, and an elastic rubber skin around the drive units. Meanwhile a bio-inspired central pattern generators control model is imported. To validate the feasibility of the maneuverability with designed motion mechanism and free attitude regulation, dynamic analysis and simulation experiment are conducted. The obtained results show the conceived novel robotic jelly sh can accomplish all motion tasks desired.

关键词： Robotic jelly sh,Linkage mechanisms,Barycenter adjustment mechanism,Simulation

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