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检索条件"机构=Tianjin Key Laboratory for Control Theory and Application in Complicated Systems"

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Performance Evaluation of a Magnetically Actuated Microrobot with Screw Jet motion in Vertical Plane

Performance Evaluation of a Magnetically Actuated Microrobot...

引用

IEEE International Conference on Mechatronics and Automation

作者： Qiang Fu Shuxiang Guo Jian Guo Tianjin Key Laboratory for Control Theory & Application in Complicated Systems and Biomedical Robot Laboratory Tianjin University of Technology Tianjin China

Various kinds of magnetically actuated microrobot have been proposed to deal with the performance evaluation in medical application and industry application. In this paper, we discuss the mechanical structure design and the control method for obtaining the optimal performance of the microrobot in fluid condition. We analyzed the magnetic field to obtain the relationship between the magnetic flux density and the region of interest in the three-axis Helmholtz coils to adjust the position and posture of the microrobot which is controlled by our proposed magnetic actuation system. This result indicated that the magnetically microrobot has characteristics of multi-functions” controllability, stability.

关键词： Magnetic flux Conferences Mechatronics Automation Magnetic fields Coils Micromagnetics

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2GHz PLL frequency synthesize 15

2GHz PLL frequency synthesize

引用

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

作者： Li, Guohong Wang, Yaozhong Tianjin Key Laboratory for Control Theory and Applications in Complicated Systems 391Binshui XidaoXiqing District Tianjin300384 China Tianjin University of Technology 391Binshui XidaoXiqing District Tianjin300384 China

ISBN: (纸本)9781538660720

This paper mainly introduces the design, debugging and testing for 2GHz PLL frequency synthesizer, which applied to radar microwave module. The frequency synthesizer adopts the principle of phase-locked, the core component is LMX2430 which is integrated Low-power frequency synthesizer with a high-speed dual-mode front divider. The system equipped with a low noise operational amplifier LM6211 and a high-performance voltage-control oscillator SM2100. The frequency of the 16MHz crystal is selected as the reference frequency of the phase-locked loop. Finally, the frequency synthesizer is tested experimentally, and the result achieved the design goal. © 2018 IEEE.

关键词： Phase locked loops

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Design and implementation of digital sine wave inverter power supply 15

Design and implementation of digital sine wave inverter powe...

引用

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

作者： Fu, Wei Li, Guohong Tianjin Key Laboratory for Control Theory and Applications in Complicated Systems 391Binshui XidaoXiqing District Tianjin300384 China Tianjin University of Technology 391Binshui XidaoXiqing District Tianjin300384 China

ISBN: (纸本)9781538660720

A scheme of digital inverter power supply system is given in this paper. The system input 36VDC, through the Boost circuit, the single-phase inverter turns DC into high frequency alternating current, then the high frequency transformer is isolated by the high frequency transformer, and the high frequency part is filtered through the low pass filter, and the sine wave alternating current of 220VAC 50Hz is obtained. With STM32F103VCT6 as the system controller, through the software programming, through the Boost circuit, the output voltage and current double closed loop PWM soft switch control is carried out, and the system integration is completed. The experimental results show that the system meets the design requirements and the system design is feasible. © 2018 IEEE.

关键词： Low pass filters

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Design of a novel drug-delivery module for active locomotive intestinal capsule endoscopy 15

Design of a novel drug-delivery module for active locomotive...

引用

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

作者： Guo, Jian Bao, Zihong Guo, Shuxiang Fu, Qiang Tianjin Key Laboratory for Control Theory and Applications in Complicated Systems and Biomedical Robot Laboratory Tianjin University of Technology Binshui Xidao Extension 391 Tianjin300384 China Intelligent Mechanical Systems Engineering Department Faculty of Engineering Kagawa University Takamatsu Kagawa Japan

ISBN: (纸本)9781538660720

Current Wireless Capsule Endoscopic systems (WCE) provide only diagnostic tools, but in the future, advanced functionalities such as controllable drug delivery could be available for clinicians. This paper proposes a spiral capsule robot driven by external magnetic field control wireless targeted drug delivery module, the module includes two radial magnetizing magnetic ring and a simple plastic chain, and it has a volume of 1.15 ml medicine cavity integration within the interior space. The control system of the robot including the driven system, motion control and drug release of the robots was presented. The robot module has two spiral grooves outside the module, which can be controlled in the external magnetic field. The inner two ring magnets can be operated and closed under the control of external strong pulse magnetic field. Then the robot was driven by a three-axis Helmholtz coil system. Finally, the feasibility of the function of drug release is verified. The developed capsule robot can be used to improve the capsule robot system, increase the function of the capsule robot, and can be used in the future medical treatment. © 2018 IEEE.

关键词： Robots

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application of the hybrid algorithm in path planning of the spherical mobile robot 15

Application of the hybrid algorithm in path planning of the ...

引用

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

作者： Guo, Jian Li, Chunying Guo, Shuxiang Yang, Xujie Tianjin Key Laboratory for Control Theory and Applications in Complicated Systems Biomedical Robot Laboratory Tianjin University of Technology Binshui Xidao Extension 391 Tianjin300384 China Intelligent Mechanical Systems Engineering Department Faculty of Engineering Kagawa University Takamatsu Kagawa Japan

ISBN: (纸本)9781538660720

Genetic algorithms (GA) and ant colony algorithm (ACO) are computational models that simulate the process of biological evolution and are widely applied to problems related to path planning. This paper proposes a path planning algorithm which combines the genetic algorithm and the ant colony algorithm. The hybrid algorithm overcomes the problem of genetic algorithm's poor ability in local search, and overcomes the slow convergence speed, local optimal solution of ant colony algorithm's in the process of convergence. The effectiveness and rapidity of the proposed hybrid algorithm is verified by simulation and experiment. The overall performance is better than the genetic algorithm and the ant colony algorithm. Finally, we carried out the experiments to verify the effectiveness of the proposed hybrid algorithm which could avoid collision and reach the target safely, and the proposed hybrid algorithm was compared with ACO and GA respectively. The experimental results showed that the proposed hybrid algorithm overcame the defects of ACO and GA, verified the effectiveness and rapidity of the proposed hybrid algorithm. © 2018 IEEE.

关键词： Genetic algorithms

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Design of the speech control system for a upper limb rehabilitation robot based on wavelet de-noising 15

Design of the speech control system for a upper limb rehabil...

引用

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

作者： Guo, Shuxiang Wang, Zhi Guo, Jian Fu, Qiang Li, Nan Tianjin Key Laboratory for Control Theory and Applications in Complicated Systems and Biomedical Robot Laboratory Tianjin University of Technology Binshui Xidao Extension 391 Tianjin300384 China Intelligent Mechanical Systems Engineering Department Faculty of Engineering Kagawa University Takamatsu Kagawa Japan

ISBN: (纸本)9781538660720

In order to help stroke patients to go on rehabilitation training, a new type of exoskeleton upper limb rehabilitation robot based on biomechanics has been designed in this paper, and speech control has been implemented. The speech control is suitable for patients who can speak. Doctors or family members can also assist patients in training. The system can help patients with hemiplegia to recover the upper limbs and fingers movement function, at the same time, it has the characteristics of small size, more portable and convenient operation. It can also effectively solve the shortage of traditional doctors and patients' one to one rehabilitation training. It is convenient for patients to use in the family. Anybody can help patients with rehabilitation training and has a broad application prospect in the field of rehabilitation. Finally, the speech control system was tested and the master-slave control experiment was implemented. In order to better perform speech recognition and further reduce the noise in the environment, the original speech signals have been de-noised with wavelet transform . The experimental results showed that the success rate of post-noise speech control system rehabilitation training is higher, and the average correct recognition rate of speech control is 94%, thus the feasibility of the speech control system is verified. © 2018 IEEE.

关键词： control systems

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Research and application of online quality detection system based on 3D vision in rectangular steel production line 15

Research and application of online quality detection system ...

引用

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

作者： Li, Dahua Wang, Shaoyang Yu, Xiao Tianjin Key Laboratory for Control Theory and Applications In Complicated Systems China National Demonstration Center for Experimental mechanical and electrical engineering Education Tianjin University of Technology 391Binshui Xidao Xiqing District Tianjin300384 China

ISBN: (纸本)9781538660720

In order to solve the disadvantages of low efficiency, high labor costs, low precision and low intelligence level, the on-line quality detection system based on three-dimensional vision is designed for the rectangular cold-formed hollow steel. The system applies the machine vision technology, the image processing technology and the automatic control technology. It uses the high-performance PLC controller that can control to acquire the images of four smart sensors and achieve the communication between software and hardware of system. The image processing software is designed to complete the global calibration of four smart sensors thus to realize the three-dimensional reconstruction of point cloud images. Then the measured data of rectangular steel can be obtained by processing the point cloud image of three-dimensional reconstruction and be real-time displayed. Finally, the entire system can be achieved to automated on-line detection. The practical application shows that the system has the advantages of simple operation, short detected time, high precision and stability. It can be applied to detect any steel types of 180*180mm~500*500mm in this production line, and improve the intellectualization of the detected process. Meanwhile, It can greatly reducing labor costs and ensuring the production quality. © 2018 IEEE.

关键词： Computer vision

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Zero Energy Consumption LED Intelligent Lighting System Based on the Technology of PoE

Zero Energy Consumption LED Intelligent Lighting System Base...

引用

第37届中国控制会议

作者： Dahua Li Zhang Kun Qiang Gao Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems Tianjin University of Technology

This paper introduces a kind of zero energy consumption LED intelligent lighting system based on the technology of Po E. The system is a new kind of energy-saving innovative LED intelligent lighting control system based on Po E technology,and the only power source is solor energy. It transfers DC power and data on Ethernet at the same time, reduces the data network failure caused by the power adapter failure and promotes the application of the low power network equipment. By sensing the human activity in the current room and lighting intensity, the system determines the indoor lighting requirements automatically to achieve the intelligent control of LED lighting. This paper describes the system architecture based on mesh topology structure, presents the hardware circuit of the key equipment in the system, analyses the experimental process and gives the experimental *** design enbodies the zero energy and intelligent lighting.

关键词： PoE technology LED intelligent lighting solar energy

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Research on visual comfort based on fuzzy neural network 15

Research on visual comfort based on fuzzy neural network

引用

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

作者： Gao, Qiang Zhang, Kun Li, Dahua Tianjin Key Laboratory for Control Theory and Applications in Complicated Systems China National Demonstration Center for Experimental mechanical and electrical engineering Education Tianjin University of Technology 391Binshui XidaoXiqing District Tianjin300384 China

ISBN: (纸本)9781538660720

Based on the typical parameters affecting the visual comfort of LED light source, this paper proposes a method to evaluate the visual comfort of light sources from the frame of physical evaluation parameters measurement. In the standard classroom environment, a comparative light source test system was established to measure the physical parameters of the LED light source under different color temperature conditions during day and night. Aiming at the visual comfort of different positions in standard classrooms, the subjective evaluation experiment based on visual comfort was carried out. an experimental scheme based on fuzzy neural network for visual comfort evaluation was proposed. Combining the subjective evaluation grade with physical parameters, modeling and simulating through fuzzy neural network, using the visual comfort evaluation model to explore the application strategy of the optimal LED light source, and providing data foundation and technical support for the development of human visual comfort evaluation standards. © 2018 IEEE.

关键词： Light emitting diodes

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Vascular environment modeling and verification for the virtual vessel interventional surgery training system 15

Vascular environment modeling and verification for the virtu...

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

作者： Guo, Shuxiang Zhan, Qi Guo, Jian Meng, Cheng Jin, Xiaoliang Tianjin Key Laboratory for Control Theory and Applications in Complicated Systems and Biomedical Robot Laboratory Tianjin University of Technology Binshui Xidao Tianjin391 China Intelligent Mechanical Systems Engineering Department Kagawa University 2217-20 Hayashi-cho Takamatsu761-0396 Japan

ISBN: (纸本)9781538660720

At present, cerebrovascular disease has become the number one killer of endangering human health, and minimally invasive interventional surgery is its main treatment method. However, the vascular intervention surgery places high demands on doctors' surgical procedures, and the actual model and training cost are relatively high. Therefore, the research of vascular interventional surgeon training system based on virtual reality technology becomes more and more important. The quality of a training system depends on whether it can provide a training environment that is close to reality. Based on the study of the training system of vascular interventional surgeons before the laboratory, the concept of blood flow resistance and viscous resistance was increased to improve the authenticity of training system. In this paper, the original vascular model was cut into discrete cylindrical containers, and then the Poiseuille's law and Stokes's law were used to calculate the blood flow resistance and viscous resistance in each container. The blood flow resistance module and the viscous drag module were added to the previous model to simulate blood flow resistance and viscous resistance in a virtual environment. This study helps trained doctors to provide a more realistic training environment. Finally, the relevant verification experiment was carried out in this paper, which proved that the training system with added blood flow resistance and viscous resistance was closer to the real environment. © 2018 IEEE.

关键词： Virtual reality

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