Pub Date : 2011-08-15DOI: 10.1109/ICMA.2011.5985767
Zhenyun Shi, Da Liu, Chen Ma, De-peng Zhao
With the development of minimally invasive surgery (MIS), the surgical robot has been required to offer big output with a minimized volume. Shape memory alloys (SMA) Actuator exhibits large strain and high energy density, which shows good potential to be applied in the surgical robot. This paper proposes an accurate controlled SMA actuator with one degree of freedom (DOF). The system is actuated by two SMA springs, angle feedback system is used initially. After the parameters are regulated, PID controller shows very accurate control. To meet the need of demanding miniature applications, it is better to reduce the number of additional sensing devices. Previous research shows the electric resistance of SMA has approximate linear relationship with the strain, which make accurate self sensing become possible. A self-sensing model based on the SMA rotation angle to resistance curve has been established. The curve is modeled by fitted polynomial. Self sensing control is demonstrated through step response, the small pretension stress and the bad consistency of the SMA springs reduced the precision. More modification is worth to be done in the future to improve the self control model.
{"title":"Accurate controlled shape memory alloy actuator for minimally invasive surgery","authors":"Zhenyun Shi, Da Liu, Chen Ma, De-peng Zhao","doi":"10.1109/ICMA.2011.5985767","DOIUrl":"https://doi.org/10.1109/ICMA.2011.5985767","url":null,"abstract":"With the development of minimally invasive surgery (MIS), the surgical robot has been required to offer big output with a minimized volume. Shape memory alloys (SMA) Actuator exhibits large strain and high energy density, which shows good potential to be applied in the surgical robot. This paper proposes an accurate controlled SMA actuator with one degree of freedom (DOF). The system is actuated by two SMA springs, angle feedback system is used initially. After the parameters are regulated, PID controller shows very accurate control. To meet the need of demanding miniature applications, it is better to reduce the number of additional sensing devices. Previous research shows the electric resistance of SMA has approximate linear relationship with the strain, which make accurate self sensing become possible. A self-sensing model based on the SMA rotation angle to resistance curve has been established. The curve is modeled by fitted polynomial. Self sensing control is demonstrated through step response, the small pretension stress and the bad consistency of the SMA springs reduced the precision. More modification is worth to be done in the future to improve the self control model.","PeriodicalId":317730,"journal":{"name":"2011 IEEE International Conference on Mechatronics and Automation","volume":"46 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-08-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128750135","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2011-08-15DOI: 10.1109/ICMA.2011.5985859
T. Okada, Shuxiang Guo, Y. Yamauchi
In recent years, microrobot in medical and industrial fields is developed. In this paper, we developed a wireless in-pipe microrobot with 3 DOFs to implement the locomotion and mechanism of the microrobot in small area such as organ of digestion or small plumbing for medical and industrial applications. Firstly, we developed a novel type hybrid in-pipe microrobot which could swim wirelessly in the liquid by using outside magnetic field. We proposed a hybrid motion composed of spiral motion and fin motion to take advantage of strong point each motion. Secondly, we proposed the 3D magnetic field system to enable multi DOFs locomotion to the microrobot. Therefore, we developed 3 axes helmholtz coil system to implement stability and multi directivity of the magnetic field. Based on the experimental results, we also confirmed the same amount of regular magnetic field even 3 axes coil. Thirdly, we evaluated the mechanism of this microrobot to realize its characteristics. In spiral motion, we evaluated the relationship between limit of rotating speed and operating voltage based on equation of rotating motion. In fin motion, we evaluated the resonance frequency of the fin to confirm the characteristic of frequency. Fourthly, we evaluated swimming speeds for spiral motion, fin motion, and hybrid motion in a pipe filled with water. The results indicated when the microrobot drove at low frequencies in horizontal direction, the fin motion was superior to the spiral motion and when the microrobot drove at high frequencies in the horizontal direction, the spiral motion was superior to the fin motion. Also, we confirmed this hybrid microrobot can move even vertical direction. We need more research to realize the microrobot flourishing medical and industrial fields.
{"title":"Design of a wireless hybrid in-pipe microrobot with 3 DOFs","authors":"T. Okada, Shuxiang Guo, Y. Yamauchi","doi":"10.1109/ICMA.2011.5985859","DOIUrl":"https://doi.org/10.1109/ICMA.2011.5985859","url":null,"abstract":"In recent years, microrobot in medical and industrial fields is developed. In this paper, we developed a wireless in-pipe microrobot with 3 DOFs to implement the locomotion and mechanism of the microrobot in small area such as organ of digestion or small plumbing for medical and industrial applications. Firstly, we developed a novel type hybrid in-pipe microrobot which could swim wirelessly in the liquid by using outside magnetic field. We proposed a hybrid motion composed of spiral motion and fin motion to take advantage of strong point each motion. Secondly, we proposed the 3D magnetic field system to enable multi DOFs locomotion to the microrobot. Therefore, we developed 3 axes helmholtz coil system to implement stability and multi directivity of the magnetic field. Based on the experimental results, we also confirmed the same amount of regular magnetic field even 3 axes coil. Thirdly, we evaluated the mechanism of this microrobot to realize its characteristics. In spiral motion, we evaluated the relationship between limit of rotating speed and operating voltage based on equation of rotating motion. In fin motion, we evaluated the resonance frequency of the fin to confirm the characteristic of frequency. Fourthly, we evaluated swimming speeds for spiral motion, fin motion, and hybrid motion in a pipe filled with water. The results indicated when the microrobot drove at low frequencies in horizontal direction, the fin motion was superior to the spiral motion and when the microrobot drove at high frequencies in the horizontal direction, the spiral motion was superior to the fin motion. Also, we confirmed this hybrid microrobot can move even vertical direction. We need more research to realize the microrobot flourishing medical and industrial fields.","PeriodicalId":317730,"journal":{"name":"2011 IEEE International Conference on Mechatronics and Automation","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-08-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128251568","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2011-08-15DOI: 10.1109/ICMA.2011.5985725
Jia Xu, Wei Zhang, Lanjiao Liu, Zuobin Wang, Jin Zhang, Zhengxun Song, Z. Weng, Z. Hu, Y. Yue, Dayou Li
This paper presents a method of phase-shift control in two-beam laser interference lithography. In the method, a PZT actuator is used to push a mirror and introduce phase shifts in a He-Ne laser interference lithography simulation system. When different voltages are applied to the PZT actuator, fringe positions are changed accordingly, and the phase shifts are introduced. The phase shifts can be determined by fringe pattern correlation with subpixel accuracy. This method is useful in two-beam laser interference lithography for the control of phase shifts and fringe positions in interference patterns for multi-exposure patterning applications.
{"title":"Phase-shift control in two-beam laser interference lithography","authors":"Jia Xu, Wei Zhang, Lanjiao Liu, Zuobin Wang, Jin Zhang, Zhengxun Song, Z. Weng, Z. Hu, Y. Yue, Dayou Li","doi":"10.1109/ICMA.2011.5985725","DOIUrl":"https://doi.org/10.1109/ICMA.2011.5985725","url":null,"abstract":"This paper presents a method of phase-shift control in two-beam laser interference lithography. In the method, a PZT actuator is used to push a mirror and introduce phase shifts in a He-Ne laser interference lithography simulation system. When different voltages are applied to the PZT actuator, fringe positions are changed accordingly, and the phase shifts are introduced. The phase shifts can be determined by fringe pattern correlation with subpixel accuracy. This method is useful in two-beam laser interference lithography for the control of phase shifts and fringe positions in interference patterns for multi-exposure patterning applications.","PeriodicalId":317730,"journal":{"name":"2011 IEEE International Conference on Mechatronics and Automation","volume":"203 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-08-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128718348","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
To detect and localize objects in a scene is an essential step for many computer vision tasks. Many efforts have been done for detecting and localizing category-specific ojects. However, only few works focused on the generic objectness measure which is more common and important than category-specific object detection. Base on an existing method, in this paper, a novel method by combining a new cue, the depth information, is proposed for detecting and localizing generic objects in the indoor scenes. Through our experiments, we found that by adding depth information cue the performance of detecting and localizing will be better (especially for the closed objects) than the original method. Finally, a method for selecting bounding box which contains a possible object is also introduced and the result is promising by being shown in our experiments.
{"title":"Finding objects at indoor environment combined with depth information","authors":"Yongqiang Gao, Jianhua Zhang, Liwei Zhang, Ying Hu, Jianwei Zhang","doi":"10.1109/ICMA.2011.5985744","DOIUrl":"https://doi.org/10.1109/ICMA.2011.5985744","url":null,"abstract":"To detect and localize objects in a scene is an essential step for many computer vision tasks. Many efforts have been done for detecting and localizing category-specific ojects. However, only few works focused on the generic objectness measure which is more common and important than category-specific object detection. Base on an existing method, in this paper, a novel method by combining a new cue, the depth information, is proposed for detecting and localizing generic objects in the indoor scenes. Through our experiments, we found that by adding depth information cue the performance of detecting and localizing will be better (especially for the closed objects) than the original method. Finally, a method for selecting bounding box which contains a possible object is also introduced and the result is promising by being shown in our experiments.","PeriodicalId":317730,"journal":{"name":"2011 IEEE International Conference on Mechatronics and Automation","volume":"51 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-08-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129424018","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2011-08-15DOI: 10.1109/ICMA.2011.5986287
Qi Li, Yan Liu, Yanfei Liu, Y. Mei
This paper introduces the principle of Audio analyzer, analyses the method of analyzing audio spectrum by Fast Fourier Transform. It puts forward the scheme of audio analysis over the audio signal using ARM7 and UDA1341TS, adopting the technology of double cache and DMA to increase speed of data processing. A system of collecting audio signal and audio analysis is designed based on this scheme.
{"title":"The design and implementation of Audio analyzer based on ARM","authors":"Qi Li, Yan Liu, Yanfei Liu, Y. Mei","doi":"10.1109/ICMA.2011.5986287","DOIUrl":"https://doi.org/10.1109/ICMA.2011.5986287","url":null,"abstract":"This paper introduces the principle of Audio analyzer, analyses the method of analyzing audio spectrum by Fast Fourier Transform. It puts forward the scheme of audio analysis over the audio signal using ARM7 and UDA1341TS, adopting the technology of double cache and DMA to increase speed of data processing. A system of collecting audio signal and audio analysis is designed based on this scheme.","PeriodicalId":317730,"journal":{"name":"2011 IEEE International Conference on Mechatronics and Automation","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-08-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129433802","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2011-08-15DOI: 10.1109/ICMA.2011.5985627
Frank L. Hammond
Kinematically redundant robotic manipulators are capable of achieving multiple secondary manipulation goals, including collision avoidance and improved motion economy, by resolving kinematic null spaces. Given specifications for manipulator joint motion resolution and accuracy, null spaces can also be resolved to increase end effector motion precision, which is a critical capability for micromanipulation tasks. This work outlines a heuristic computational method for configuring manipulators to achieve greater effective motion resolution on specific tasks. The efficacy of this method is demonstrated through case studies in workspace planning and morphological design optimization.
{"title":"Configuring kinematically redundant robotic manipulators to increase effective task-specific motion resolution","authors":"Frank L. Hammond","doi":"10.1109/ICMA.2011.5985627","DOIUrl":"https://doi.org/10.1109/ICMA.2011.5985627","url":null,"abstract":"Kinematically redundant robotic manipulators are capable of achieving multiple secondary manipulation goals, including collision avoidance and improved motion economy, by resolving kinematic null spaces. Given specifications for manipulator joint motion resolution and accuracy, null spaces can also be resolved to increase end effector motion precision, which is a critical capability for micromanipulation tasks. This work outlines a heuristic computational method for configuring manipulators to achieve greater effective motion resolution on specific tasks. The efficacy of this method is demonstrated through case studies in workspace planning and morphological design optimization.","PeriodicalId":317730,"journal":{"name":"2011 IEEE International Conference on Mechatronics and Automation","volume":"69 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-08-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129105014","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2011-08-15DOI: 10.1109/ICMA.2011.5986234
Bing Tu, De Li, Enhuai Lin
The well bottom data real time has been transmitted through mud pulse signal in Wireless Measurement Drilling(MWD). The ground of the decoding system to the mud pulse signal detection and identification is the core of the measurement while drilling. However, mud fluid channel has pump noise and mechanical vibration noise serious effect on signal transmission and identification. The paper proposes phase characteristics identification algorithm to the pulse signal identification based on Manchester modulation. Field test results show that this algorithm can correct recognition of mud pulse signal. The decoding system decode process is simple, practical, and has high reliability, low probability and can meet the engineering application requirements.
{"title":"Research on MWD mud pulse signal extraction and recognition","authors":"Bing Tu, De Li, Enhuai Lin","doi":"10.1109/ICMA.2011.5986234","DOIUrl":"https://doi.org/10.1109/ICMA.2011.5986234","url":null,"abstract":"The well bottom data real time has been transmitted through mud pulse signal in Wireless Measurement Drilling(MWD). The ground of the decoding system to the mud pulse signal detection and identification is the core of the measurement while drilling. However, mud fluid channel has pump noise and mechanical vibration noise serious effect on signal transmission and identification. The paper proposes phase characteristics identification algorithm to the pulse signal identification based on Manchester modulation. Field test results show that this algorithm can correct recognition of mud pulse signal. The decoding system decode process is simple, practical, and has high reliability, low probability and can meet the engineering application requirements.","PeriodicalId":317730,"journal":{"name":"2011 IEEE International Conference on Mechatronics and Automation","volume":"502 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-08-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123198046","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2011-08-15DOI: 10.1109/ICMA.2011.5985785
M. Niu, Deyao Li, Baicheng Sheng, Xiaohong Shao, W. Liu, Zhiqiang Wang
Using first-principles calculations, the structural and electronic properties of point defected silicon systems were systematically studied. Based on this, the mobility of pure and defected silicon were calculated by a combination method of first-principles and Boltzmann transport theory. The results indicate that there are some defect bands appear in the band gap of defected Si, and the defect bands increase with the number of defects, resulting in the changes of the density of states (DOS) around Fermi level. The electron mobility increases with the number of defects. However, the hole mobility decreases with the number of defects. In addition, the influence of temperature to mobility was calculated. The results show that both electron and hole mobility decreases with temperature.
{"title":"First principles calculations in silicon: Structural and electronic properties of point defect","authors":"M. Niu, Deyao Li, Baicheng Sheng, Xiaohong Shao, W. Liu, Zhiqiang Wang","doi":"10.1109/ICMA.2011.5985785","DOIUrl":"https://doi.org/10.1109/ICMA.2011.5985785","url":null,"abstract":"Using first-principles calculations, the structural and electronic properties of point defected silicon systems were systematically studied. Based on this, the mobility of pure and defected silicon were calculated by a combination method of first-principles and Boltzmann transport theory. The results indicate that there are some defect bands appear in the band gap of defected Si, and the defect bands increase with the number of defects, resulting in the changes of the density of states (DOS) around Fermi level. The electron mobility increases with the number of defects. However, the hole mobility decreases with the number of defects. In addition, the influence of temperature to mobility was calculated. The results show that both electron and hole mobility decreases with temperature.","PeriodicalId":317730,"journal":{"name":"2011 IEEE International Conference on Mechatronics and Automation","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-08-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126370274","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2011-08-15DOI: 10.1109/ICMA.2011.5985625
H. Koshimizu, S. Hata
In the real world of production systems, researches on Human Factors should be involved at the center within the scope of several research subjects as the Science and Technology. In this paper, in order to prospect IMS (Intelligent Manufacturing System) with Human Factor (HF), we would survey the steps of the past HUTOP/IMS project and a related research activity of HF in IES (IEEE), and we discuss through the speculations of Henri Bergson how strongly HF researches be based on the Mind Science rather than Matter Science.
{"title":"On IMS with Human Factor — From HUTOP to new field","authors":"H. Koshimizu, S. Hata","doi":"10.1109/ICMA.2011.5985625","DOIUrl":"https://doi.org/10.1109/ICMA.2011.5985625","url":null,"abstract":"In the real world of production systems, researches on Human Factors should be involved at the center within the scope of several research subjects as the Science and Technology. In this paper, in order to prospect IMS (Intelligent Manufacturing System) with Human Factor (HF), we would survey the steps of the past HUTOP/IMS project and a related research activity of HF in IES (IEEE), and we discuss through the speculations of Henri Bergson how strongly HF researches be based on the Mind Science rather than Matter Science.","PeriodicalId":317730,"journal":{"name":"2011 IEEE International Conference on Mechatronics and Automation","volume":"15 Suppl 5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-08-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125784923","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2011-08-15DOI: 10.1109/ICMA.2011.5985717
Xiaochen Zhang, Yi Sun, Jizhong Xiao
The indoor radio source search using received signal strength (RSS) is difficult due to the multipath propagation effects. Robots driven by the ordinary gradient searching methods are always stuck in local maxima. Chemotaxis search and theseus gradient search can overcome local extreme traps, however they are inefficient in terms of travel distance. In this study, we propose a force field searching algorithm which is efficient in travel distance and invulnerable to RSS local maxima. A virtual attraction force weighted by RSS gradient from each possible location of the radio source is modeled, by gradually discard the impossible radio source locations eventually the robot can reach the true location of the radio source. Force field search is robust and fast even when the RSS readings are highly influenced by multipath effects. Simulation results driven by real data show the high efficiency of this method.
{"title":"Radio source search using force field vectors weighted by received signal strength gradients","authors":"Xiaochen Zhang, Yi Sun, Jizhong Xiao","doi":"10.1109/ICMA.2011.5985717","DOIUrl":"https://doi.org/10.1109/ICMA.2011.5985717","url":null,"abstract":"The indoor radio source search using received signal strength (RSS) is difficult due to the multipath propagation effects. Robots driven by the ordinary gradient searching methods are always stuck in local maxima. Chemotaxis search and theseus gradient search can overcome local extreme traps, however they are inefficient in terms of travel distance. In this study, we propose a force field searching algorithm which is efficient in travel distance and invulnerable to RSS local maxima. A virtual attraction force weighted by RSS gradient from each possible location of the radio source is modeled, by gradually discard the impossible radio source locations eventually the robot can reach the true location of the radio source. Force field search is robust and fast even when the RSS readings are highly influenced by multipath effects. Simulation results driven by real data show the high efficiency of this method.","PeriodicalId":317730,"journal":{"name":"2011 IEEE International Conference on Mechatronics and Automation","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-08-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127953800","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
京公网安备 11010802042870号
京ICP备2023020795号-1
扫码关注我们
求助内容：
应助结果提醒方式：