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Realization of biped robot gait planning based on NAO robot development platform

Realization of biped robot gait planning based on NAO robot ...

引用

IEEE International Conference on Mechatronics and Automation

作者： Enzeng Dong Dandan Wang Chao Chen Jigang Tong Complex system control theory and application key laboratory School of Electrical Engineering Tianjin University of Technology (TJUT)

ISBN: (纸本)9781509023974

In this paper, the research object is NAO robot, and for the instability problem of motion of biped robot, the NAO robot deep development platform is set up, the prototype and simulator are controlled real-time and the data is collected by using the control platform, So many experiments are completed by the development platform, to improve the stability of the simulator and the prototype. The theoretical value are obtained by the variable length inverted pendulum model, and through the comparison of theoretical and actual value of the joints angle sequence, the validity of method is verified. Firstly, the walking process of robot is analysed, the variable length inverted pendulum model is built;Then combined with the geometric constraints method, according to the NAO robot lower leg intrinsic parameters and experiments parameters, the motion trajectories of centroid and joints angle sequence are obtained respectively by using the kinematics, inverse kinematics and smooth function fitting method;Finally, obtained the joint angle sequence is the premise, in this paper, the stable gait walking is realized respectively on the simulator and NAO robot prototype based on the development platform, compared to the joints angle sequence trajectories of the actual waking and the theory calculation, the validity of the above research is verified.

关键词： NAO biped robot deep development platform inverted pendulum model geometric constraint method joint angle sequence

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An EOG Signals Recognition Method Based on Improved Threshold Dual Tree complex Wavelet Transform

An EOG Signals Recognition Method Based on Improved Threshol...

引用

IEEE International Conference on Mechatronics and Automation

作者： Enzeng Dong Changhai Li Chao Chen Complex system control theory and application key laboratory School of Electrical Engineering Tianjin University of Technology (TJUT)

ISBN: (纸本)9781509023974

Human Machine Interface (HMI) system can effectively detect Electrooculogram (EOG) signals of eye movements, extract intension of users, and convert them into control commands of computer or rehabilitation aid devices. Thus, HMI system is easily accepted by the majority of persons with disabilities. Discrete Wavelet Transform (DWT) method was mainly used in feature extraction of EOG signals, but Traditional DWT method was always suffered from severe frequency aliasing and poor shift invariant. In this paper, Dual-tree complex Wavelet Transform (DTCWT) with a novel threshold calculation method was proposed for feature selection of EOG signals. To verify the proposed method, The EOG signal was collected from 5 normal subjects in the laboratory, and featured selected. Then, Support Vector Machine (SVM) was applied for classification. The average correct detection rate of proposed method was 96.11%, which was higher than Traditional DWT method. These results demonstrate that the DTCWT-SVM algorithm provides high classification accuracy, and suitable for clinical medicine field.

关键词： Human Machine Interface (HMI) Electrooculogram (EOG) Discrete Wavelet Transform (DWT) Dual-tree complex Wavelet Transform (DTCWT) Threshold Support Vector Machine (SVM)

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Design of Wireless Power Transfer Device for UAV

Design of Wireless Power Transfer Device for UAV

引用

IEEE International Conference on Mechatronics and Automation

作者： Chunjie Wang Zheng Ma Tianjin Key Laboratory for Control Theory & Application in Complicated Systems Tianjin University of Technology Binshui Xidao 391 Tianjin China

ISBN: (纸本)9781509023974

In recent years, research on wireless power transmission (WPT) technologies has been attracting more attention after MIT introduced the magnetic resonance technology in 2007. Wireless magnetic resonant power transfer is an emerging technology that has many advantages over other wireless power transfer methods due to its safety and flexible comfortable supplying energy needs to electric devices. At the same time, with the constant improvement and extension application rang of unmanned aerial vehicles (UAVs), the main problem of the UAV is that it cannot carry out remote tasks because of its weak cruising ability. In this paper, we develop a wireless magnetic resonant power transfer system that enables UAVs to provide power to, and which can solve the problem of UAV's endurance.

关键词： WPT UAVs cruising ability endurance

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Design and performance evaluation of a novel master manipulator for the robot-assist catheter system

Design and performance evaluation of a novel master manipula...

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IEEE International Conference on Mechatronics and Automation

作者： Jian Guo Yang Yu Shuxiang Guo Wenxuan Du Tianjin Key Laboratory for Control Theory & Application Tianjin University of Technology Intelligent Mechanical Systems Engineering Department Kagawa University Takamatsu Japan

ISBN: (纸本)9781509023974

According to the world health organization survey, the number of patients died of disease of heart head blood-vessel per year up to 15 million, a serious threat to human health. Vascular Interventional Surgery (VIS) has been an effective method for treatment of vascular diseases. However, the surgeons are exposed to X-ray threatening the surgeons' health due to the depositing which lasts long. It is imperative to protect the surgeons from X-ray during VIS. In this paper, a novel master manipulation system for VIS has been developed. With this system, the surgeon operates a real catheter on the master side, which can make full use of the natural catheter manipulation experience and skills obtained in conventional catheter operation. In order to improve the safety of the vascular surgery, a damper is used to realize the force feedback based on the electro-magnetic induction. The damper contains a bobbin and permanent magnets. It could feedback the force to surgeon's hand through the operating catheter from the master controller, which seems that the surgeon operates the catheter beside the patient. The evaluation experiment for the proposed master manipulator was done. The experimental results show that the stability is high and the error is in the permitted range, so the novel operating system is suitable for the robot-assist catheter system.

关键词： Catheters Surgery Force Manipulators Force feedback Blood vessels

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An EMG-based muscle force evaluation method using approximate entropy

An EMG-based muscle force evaluation method using approximat...

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IEEE International Conference on Mechatronics and Automation

作者： Shuxiang Guo Yuye Hu Jian Guo Weijie Zhang Intelligent Mechanical Systems Engineering Department Kagawa University Takamatsu Kagawa Japan Tianjin Key Laboratory for Control Theory & Application in Complicated Systems and Biomedical Robot Laboratory Tianjin University of Technology Tianjin China

ISBN: (纸本)9781509023974

This paper proposed a novel muscle force evaluation method to evaluate the patient's rehabilitation condition in the process of rehabilitation training. According to the related literature research, the complexity of the electromyography (EMG) signals were different under different muscle force. The physiological features and the state of muscle can be indirectly speculated by detecting the change of the dynamic complexity of EMG signals. The novel ideal of our research is to propose an EMG-based muscle force evaluation method using approximate entropy. The evaluation system consists of two main parts: the EMG acquisition (BIOFORCEN) and the measurement of muscle force (FingerTPS). Experiments were conducted with a healthy male. 15 groups EMG signals of biceps and triceps were acquired under different muscle force. Raw EMG data were recorded for off-line analysis. The approximate entropy (ApEn) and the power of EMG signals aiming at intercept relatively stable 10 section signal in each group were calculated to compose the training set. In addition, the additional 150 groups feature vectors were obtained to compose a sample set. 15 groups muscle force were divided into 6 levels and two classification method (linear discriminate analysis (LDA) and quadratic discriminate analysis (QDA)) were used to classify the feature vector. Experimental results have shown that the discrimination between ApEn and the power were obvious and 65% classification accuracy was got with the QDA method. The research of this paper can be a promising approach for further research in the field of rehabilitation evaluation.

关键词： Muscles Electromyography Force Training Entropy Force measurement Electrodes

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An overview on cloud computing platform spark for Human Genome mining

An overview on cloud computing platform spark for Human Geno...

引用

IEEE International Conference on Mechatronics and Automation

作者： Dongliang Ding Dongyue Wu Fuli Yu Tianjin Key Laboratory for Control Theory & Application in Complicated Systems Tianjin University of Technology Tianjin China Baylor College of Medicine The Human Genome Sequencing Center Houston TX USA

ISBN: (纸本)9781509023974

The development of the Human Genome Project provides the important technical guarantee for people's health. The gene sequencing service plays an important role in the disease prevention or treatment. However, faced with the enormous, unstructured and quick updata human genome, the data mining technology in the traditional computer is helpless. In the paper, we introduced a new kind of the cloud platform Spark. Spark has more advantages over Hadoop in the performance and scalability. In addition, it is becoming the preferred even the only cloud computing platform in the integration and diversification of large data processing center, such as the genetic engineering field. This article is an overview for the cloud computing platform Spark in the human genome data mining.

关键词： Sparks Cloud computing Bioinformatics Genomics Data mining Big data

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Movement characteristics evaluation of the spherical robot actuated by the magnetic field for medical applications

Movement characteristics evaluation of the spherical robot a...

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IEEE International Conference on Mechatronics and Automation

作者： Shuxiang Guo Nan Liang Jian Guo Pengyu Liu Lili Wang Gang Sun Tianjin Key Laboratory for Control Theory & Application in Complicated Systems and Biomedical Robot Laboratory Tianjin University of Technology Tianjin China Intelligent Mechanical Systems Engineering Department Kagawa University Takamatsu Kagawa Japan Internal Medicine-Oncology Tianjin Hospital of ITCWM Naikai Hospital Tianjin China Gastrointestinal Surgery Tianjin Hospital of ITCWM Naikai Hospital Tianjin China

ISBN: (纸本)9781509023974

The capsule microrobot will play an important role in the medical application such as the minimally invasive surgery in the future. In this paper, we proposed the spherical capsule robot system driven by the external magnetic field. And then we did the finite element analysis of the electromagnetic device involved in the system using ANSYS software. In the end, to verify our analysis results and establish relationship with the experimental system, we conducted the comparison between experimental results and theoretical results. In addition, the spherical robot motion was also recorded in the tube and an open plastic sink. Combining with the proposed experimental platform, we can change the orientation of the capsule robot by changing the direction of the external magnetic field and change the moving speed by changing the frequency of the external magnetic field. The driving force of the Helmholtz coil on the capsule robot can be generated along the space any direction by changing the parameters of the input signal in theory. Besides that we found that the variation tendency of the magnetic field is the same between experimental values and simulation results. We can adjust the parameters of the input current on the basis of the simulation results in order to obtain the needed external magnetic field during the actual operation. The capsule robot motion indicated that the capsule robot motion is related to other factors except the external driving force. The experiments in an open plastic cup indicated that the spherical capsule robot can actively motion along the predetermined direction in the plane. The research results in this paper will provide the strong supports for actuating the capsule robot with the external magnetic field for medical applications in the future.

关键词： Magnetic fields Finite element analysis Force Atmospheric modeling Robot motion Permanent magnets

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Industrial Remote control System Based on C8051F120

Industrial Remote Control System Based on C8051F120

引用

2015 International Conference on Mechanical,Electronic and Information Technology Engineering

作者： Hong HE Xiaojun XU Zhi-Hong ZHANG Cheng-qian Mao Tianjin Key Laboratory for Control Theory and Application in Complicated Systems Tianjin University of Technology

In order to solve the potential safety risk of traditional industrial remote control, a deep research on embedded and wireless communication theory has been done and a wireless remote control system with the C8051F120 single chip as the main control chip has been invited. Data can be sent and received steadily between transmitting terminal and receiving terminal in this system even in unfavorable environment, which largely improves the safety and reliability for long-distance operation. This system, with the feature of small size, easy installment, low power consumption and excellent wireless transmission, can be applied to industrial machinery such as pump car and wall-climbing robot.

关键词： Wireless remote control C8051F120 SI4432

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Fuzzy PID control System In Industrial Environment

Fuzzy PID Control System In Industrial Environment

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2015 Information Technology and Mechatronics Engineering Conference (ITOEC 2015)

作者： Hong HE Yu LI Zhi-Hong ZHANG Xiaojun XU Tianjin Key Laboratory for Control Theory and Application in Complicated Systems Tianjin University of Technology

To solve the control problem of industrial pneumatic actuate,this paper makes an in-depth research on fuzzy control theory and PID control theory to propose a fuzzy PID pneumatic control strategy based on the parameter self-tuning and designs a fuzzy PID *** makes a simulation analysis on the pressure control and simulation results show that:the fuzzy PID pneumatic control systems in industrial environment ensures the controlled object with good dynamic and static quality a good prospect for engineering application.

关键词： Industry Pneumatic Fuzzy PID control Simulation

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Vehicle Detection System Based On Magnetoresistive Sensor

Vehicle Detection System Based On Magnetoresistive Sensor

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2015 International Conference on Mechanical,Electronic and Information Technology Engineering

作者： Hong HE Cheng-qian Mao Hong-Yan PAN Yu LI Tianjin Key Laboratory for Control Theory and Application in Complicated Systems Tianjin University of Technology Tianjin Open University

According to the vehicle after geomagnetic disturbances cause of this phenomenon, in-depth theoretical study of the anisotropic magnetoresistance AMR sensors, using triaxial anisotropic magnetoresistive sensor HMC5883 L design a vehicle detection system. The system consists of a sensor module, wireless communication module. Sensor nodes through wireless communication module connected with the host computer, to achieve the detection of vehicle information.

关键词： Magnetoresistive sensor Vehicle detection HMC5883L

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