Pub Date : 2011-08-15DOI: 10.1109/ICMA.2011.5985781
Dexin Huang, Ju Ma, Chi He, Chaoyuan Cai, Guangling Dong, Qiang Li
The category of shipborne weapons as well as the importance and effect of naval gun mounting servo system are described. The status and difficulty in type approval test of naval gun mounting servo system are introduced. A shock simulation testing system for shipborne weapons based on electrohydraulic servomotor is put forward, which can simulate all levels of ocean wave shocks, inertia moment and shooting shocks. Performance of hydraulic power is analyzed according to power requirement of simulation system, mechanical structure of subsystem is confirmed, and diameter calculation for hydraulic oil supply pipe as well as type selection for power accumulator are accomplished. Experiment result shows that this simulation system meets with the technical design requirements.
{"title":"Design of hydraulic power subsystem in shock simulation system for shipborne weapons","authors":"Dexin Huang, Ju Ma, Chi He, Chaoyuan Cai, Guangling Dong, Qiang Li","doi":"10.1109/ICMA.2011.5985781","DOIUrl":"https://doi.org/10.1109/ICMA.2011.5985781","url":null,"abstract":"The category of shipborne weapons as well as the importance and effect of naval gun mounting servo system are described. The status and difficulty in type approval test of naval gun mounting servo system are introduced. A shock simulation testing system for shipborne weapons based on electrohydraulic servomotor is put forward, which can simulate all levels of ocean wave shocks, inertia moment and shooting shocks. Performance of hydraulic power is analyzed according to power requirement of simulation system, mechanical structure of subsystem is confirmed, and diameter calculation for hydraulic oil supply pipe as well as type selection for power accumulator are accomplished. Experiment result shows that this simulation system meets with the technical design requirements.","PeriodicalId":317730,"journal":{"name":"2011 IEEE International Conference on Mechatronics and Automation","volume":"78 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":"132002996","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.2011.5986365
Haisheng Shu, S. Liu, Weiyuan Wang, Dan Zhao, Fa Zhang, Enwu Gao
In order to obtain the transfer characteristics of vibration of sonic crystal structure under concentrated mass boundary condition, “epoxy + aluminum” shaft and beam sonic crystals were built and the transmissibility curves of torsional vibration and bending vibration of these structures were calculated under free boundary and concentrated mass boundary conditions respectively. The curves were analyzed together with the band gaps obtained by theoretical calculation and the results showed that: under free boundary condition single material shaft (or beam) hasn't any ability of vibration reduction while shaft (or beam) sonic crystal possessed obvious band gaps in which corresponding vibration could be suppressed distinctly; under concentrated mass boundary condition torsional (or bending) vibration could be reduced within a wide frequency band in single material shaft (or beam) while many resonant peaks could be found in transmissibility curve which would be harmful to vibration reduction. As to shaft and beam sonic crystals, vibration could be suppressed distinctly by the effect of band gaps and the ability of vibration reduction was improved much more than that under free boundary condition. However, owing to the mutual action of “spring-vibrator” system and band gap effect, high resonant peaks may be brought in band gaps evidently which would impair the ability of vibration reduction. Additionally, with the increase of the concentrated mass the vibration reduction ability of the shaft and beam sonic crystals could be enhanced further.
{"title":"Research on transfer characteristics of vibration of shaft and beam sonic crystals under concentrated mass boundary condition","authors":"Haisheng Shu, S. Liu, Weiyuan Wang, Dan Zhao, Fa Zhang, Enwu Gao","doi":"10.1109/ICMA.2011.5986365","DOIUrl":"https://doi.org/10.1109/ICMA.2011.5986365","url":null,"abstract":"In order to obtain the transfer characteristics of vibration of sonic crystal structure under concentrated mass boundary condition, “epoxy + aluminum” shaft and beam sonic crystals were built and the transmissibility curves of torsional vibration and bending vibration of these structures were calculated under free boundary and concentrated mass boundary conditions respectively. The curves were analyzed together with the band gaps obtained by theoretical calculation and the results showed that: under free boundary condition single material shaft (or beam) hasn't any ability of vibration reduction while shaft (or beam) sonic crystal possessed obvious band gaps in which corresponding vibration could be suppressed distinctly; under concentrated mass boundary condition torsional (or bending) vibration could be reduced within a wide frequency band in single material shaft (or beam) while many resonant peaks could be found in transmissibility curve which would be harmful to vibration reduction. As to shaft and beam sonic crystals, vibration could be suppressed distinctly by the effect of band gaps and the ability of vibration reduction was improved much more than that under free boundary condition. However, owing to the mutual action of “spring-vibrator” system and band gap effect, high resonant peaks may be brought in band gaps evidently which would impair the ability of vibration reduction. Additionally, with the increase of the concentrated mass the vibration reduction ability of the shaft and beam sonic crystals could be enhanced further.","PeriodicalId":317730,"journal":{"name":"2011 IEEE International Conference on Mechatronics and Automation","volume":"95 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":"130851162","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.2011.5986248
S. Jia, Wei Cui, Xiuzhi Li, Hongmin Shen, Jinbo Sheng
In this paper, an effective 3D map building approach based on range data from binocular stereo vision sensor and Laser Range Finder is introduced in detail. First of all, a local map temporal integration approach in which Bayesian filter based dynamic occupancy grid map modeling technique is employed to reasonably deal with measurement uncertainty involved in environment perception. In addition, as stereo vision is unreliable for building map, an effective combination approach is proposed for fusing local stereo data derived map and laser range data derive map together. Finally, a reliable 3D spatial model is built using textures extracted from images. The effectiveness of our proposal is validated by real experimental results carried on Pioneer robot.
{"title":"Mobile robot 3D map building based on laser ranging and stereovision","authors":"S. Jia, Wei Cui, Xiuzhi Li, Hongmin Shen, Jinbo Sheng","doi":"10.1109/ICMA.2011.5986248","DOIUrl":"https://doi.org/10.1109/ICMA.2011.5986248","url":null,"abstract":"In this paper, an effective 3D map building approach based on range data from binocular stereo vision sensor and Laser Range Finder is introduced in detail. First of all, a local map temporal integration approach in which Bayesian filter based dynamic occupancy grid map modeling technique is employed to reasonably deal with measurement uncertainty involved in environment perception. In addition, as stereo vision is unreliable for building map, an effective combination approach is proposed for fusing local stereo data derived map and laser range data derive map together. Finally, a reliable 3D spatial model is built using textures extracted from images. The effectiveness of our proposal is validated by real experimental results carried on Pioneer robot.","PeriodicalId":317730,"journal":{"name":"2011 IEEE International Conference on Mechatronics and Automation","volume":"13 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":"133045141","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.2011.5985615
Liu Zhihui, Shao Chunyan, S. Di
A real-time pedestrian detection approach with two steps is proposed in this paper. The first step is the detection by HOG in combination with the classifier of cascade frame. The weak classifer in cascade is Boosting which corresponds to block features of HOG. To make it more accurate in feature selection we define a model of feature selection to limit the range of feature block to the edge of human in detect window. The second step is to extract the head image in positive window and compute the color histograms as feature. Traditional AdaBoost is used to validate the detection result. Only when a window passes both steps it is judged as a human. The experiment result in the paper shows that the approach is effective and real-time detection is implemented.
{"title":"Real-time human detection based on cascade frame","authors":"Liu Zhihui, Shao Chunyan, S. Di","doi":"10.1109/ICMA.2011.5985615","DOIUrl":"https://doi.org/10.1109/ICMA.2011.5985615","url":null,"abstract":"A real-time pedestrian detection approach with two steps is proposed in this paper. The first step is the detection by HOG in combination with the classifier of cascade frame. The weak classifer in cascade is Boosting which corresponds to block features of HOG. To make it more accurate in feature selection we define a model of feature selection to limit the range of feature block to the edge of human in detect window. The second step is to extract the head image in positive window and compute the color histograms as feature. Traditional AdaBoost is used to validate the detection result. Only when a window passes both steps it is judged as a human. The experiment result in the paper shows that the approach is effective and real-time detection is implemented.","PeriodicalId":317730,"journal":{"name":"2011 IEEE International Conference on Mechatronics and Automation","volume":"266 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":"133377766","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.2011.5985678
R. Tan, Shuoyu Wang, Yinlai Jiang, K. Ishida, T. Chai, M. Fujie
An omni-directional walker (ODW) is being developed for both walking rehabilitation and walking support for people with walking disabilities. The ODW cannot accurately follow a training path planned by a physical therapist for walking rehabilitation due to the center-of-gravity shifts and load changes caused by users. To address this issue, a new center-dynamic model of the ODW is derived considering center-of-gravity shifts and load changes. An adaptive control method is shown. Comparison with a dual-loop proportional-integral (PI) controller in simulations shows that the proposed method improves the path tracking accuracy.
{"title":"Adaptive controller for omni-directional walker: Improvement of dynamic model","authors":"R. Tan, Shuoyu Wang, Yinlai Jiang, K. Ishida, T. Chai, M. Fujie","doi":"10.1109/ICMA.2011.5985678","DOIUrl":"https://doi.org/10.1109/ICMA.2011.5985678","url":null,"abstract":"An omni-directional walker (ODW) is being developed for both walking rehabilitation and walking support for people with walking disabilities. The ODW cannot accurately follow a training path planned by a physical therapist for walking rehabilitation due to the center-of-gravity shifts and load changes caused by users. To address this issue, a new center-dynamic model of the ODW is derived considering center-of-gravity shifts and load changes. An adaptive control method is shown. Comparison with a dual-loop proportional-integral (PI) controller in simulations shows that the proposed method improves the path tracking accuracy.","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":"133298170","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.2011.5985967
S. Nandy, S. N. Shome, G. Chakraborty, C. S. Kumar
Presently, nonholonomic mobile robots driven by wheels are being used for variety of applications where high velocity maneuvering control is very essential. The need for accurate formulation of system dynamics incorporating each & every moving parts of the robot is very important for faster movement & precise applications. This paper represents the detailed dynamic formulation based on overall robot's kinetic energy along with an advanced control scheme. Actuator dynamics have been also considered to achieve precise motion control and to design a simple controller with a low cost sensor suite. A modular approach has been adopted to derive the kinetic energy of the robot accurately & thereafter to evaluate required equations of motion. A feedback linearization based path following controller with online gain scheduling has been designed to control the mobile robot through various paths. The methodology adopted for path following control deals explicitly with detail robot-actuator dynamics and it overcomes stringent initial condition constraints. The simulation has been carried out with the parameters of a real robot and the simulation results illustrate very promising performance due to incorporation of detail robot-actuator dynamics.
{"title":"A modular approach to detailed dynamic formulation and control of wheeled mobile robot","authors":"S. Nandy, S. N. Shome, G. Chakraborty, C. S. Kumar","doi":"10.1109/ICMA.2011.5985967","DOIUrl":"https://doi.org/10.1109/ICMA.2011.5985967","url":null,"abstract":"Presently, nonholonomic mobile robots driven by wheels are being used for variety of applications where high velocity maneuvering control is very essential. The need for accurate formulation of system dynamics incorporating each & every moving parts of the robot is very important for faster movement & precise applications. This paper represents the detailed dynamic formulation based on overall robot's kinetic energy along with an advanced control scheme. Actuator dynamics have been also considered to achieve precise motion control and to design a simple controller with a low cost sensor suite. A modular approach has been adopted to derive the kinetic energy of the robot accurately & thereafter to evaluate required equations of motion. A feedback linearization based path following controller with online gain scheduling has been designed to control the mobile robot through various paths. The methodology adopted for path following control deals explicitly with detail robot-actuator dynamics and it overcomes stringent initial condition constraints. The simulation has been carried out with the parameters of a real robot and the simulation results illustrate very promising performance due to incorporation of detail robot-actuator dynamics.","PeriodicalId":317730,"journal":{"name":"2011 IEEE International Conference on Mechatronics and Automation","volume":"3 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":"132337161","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.2011.5986269
Xinping Ding, Yan Lu, Hong Li, Bo Yu, Jia Liu
This paper proposes a novel PWM current source rectifier — Z-source inverter adjustable-speed system (abbreviated as PWM CSR-qZSI ASD). The operating principle, control strategy and circuit analysis have been given. The benefits of the presented ASD system have been analyzed in detail. The proposed PWM CSR-qZSI ASD system have many advantages, it providing a bidirectional power flow, maintaining the unity power factor, reducing the input line current harmonics, providing ride-through during the voltage sags and voltage swells without any additional circuits, and makes the inverter modulation index high during low-speed operation. Analysis and simulation results will be demonstrate these features.
{"title":"A high-performance adjustable-speed system based on Quasi Z-Source inverter","authors":"Xinping Ding, Yan Lu, Hong Li, Bo Yu, Jia Liu","doi":"10.1109/ICMA.2011.5986269","DOIUrl":"https://doi.org/10.1109/ICMA.2011.5986269","url":null,"abstract":"This paper proposes a novel PWM current source rectifier — Z-source inverter adjustable-speed system (abbreviated as PWM CSR-qZSI ASD). The operating principle, control strategy and circuit analysis have been given. The benefits of the presented ASD system have been analyzed in detail. The proposed PWM CSR-qZSI ASD system have many advantages, it providing a bidirectional power flow, maintaining the unity power factor, reducing the input line current harmonics, providing ride-through during the voltage sags and voltage swells without any additional circuits, and makes the inverter modulation index high during low-speed operation. Analysis and simulation results will be demonstrate these features.","PeriodicalId":317730,"journal":{"name":"2011 IEEE International Conference on Mechatronics and Automation","volume":"1 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":"134488204","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.2011.5985709
S. Yue, K. Kitajima
This paper proposes a novel method of simulating the combination of speech and facial expression with anatomical basis, which can cope with any individual faces without any expensive measuring machines. In our previous paper, we presented a method of modeling muscle models around the mouth, especially the orbicularis oris model and the ones supporting it, which play important roles to decide the movement of skin around the mouth when we speak. The facial muscle models are represented as wire-frame models and their vertices play an important role when we treat them as operation points when applying our GFFD (Generalized Free Form Deformation) method. We experimentally decided the position of operation points of those muscle models when we utter the vowel /a/, /i/, /u/, /e/, /o/ and /n/ and consonants on the generic model. In this paper, we first report the improvement on the above method by considering jaw rotation, etc. Then, we present a new method to represent the fusion of the skin motions caused by both speech and facial expression. Some examples will finally be shown.
{"title":"A method of simulating the fusion of speech and facial expression for individuals based on the GFFD method","authors":"S. Yue, K. Kitajima","doi":"10.1109/ICMA.2011.5985709","DOIUrl":"https://doi.org/10.1109/ICMA.2011.5985709","url":null,"abstract":"This paper proposes a novel method of simulating the combination of speech and facial expression with anatomical basis, which can cope with any individual faces without any expensive measuring machines. In our previous paper, we presented a method of modeling muscle models around the mouth, especially the orbicularis oris model and the ones supporting it, which play important roles to decide the movement of skin around the mouth when we speak. The facial muscle models are represented as wire-frame models and their vertices play an important role when we treat them as operation points when applying our GFFD (Generalized Free Form Deformation) method. We experimentally decided the position of operation points of those muscle models when we utter the vowel /a/, /i/, /u/, /e/, /o/ and /n/ and consonants on the generic model. In this paper, we first report the improvement on the above method by considering jaw rotation, etc. Then, we present a new method to represent the fusion of the skin motions caused by both speech and facial expression. Some examples will finally be shown.","PeriodicalId":317730,"journal":{"name":"2011 IEEE International Conference on Mechatronics and Automation","volume":"107 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":"131881385","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.2011.5986264
D. Zhang, Wei Qian, Kun Li, J. Xie
The Ion Beam Enhanced Deposited (IBED) LiTaO3 thin film infrared detectors with Al/LiTaO3/Pt structure were prepared on the Pt/Ti/SiO2/Si(100) substrate. The crystallization, the film thickness, the dielectric properties, the leakage current and the anti-breakdown ability of the IBED LiTaO3 thin film infrared detector samples were investigated by the different annealing processes. The XRD measured results show that, the prepared samples have the polycrystal structure of LiTaO3 with the preferred orientation of <012> and <104> located at the 2theta of 23.6° and 32.7° respectively. The residual Ta2O5 has been existed in the prepared samples owe to the Li volatilization during the high temperature annealing process. The obtained 587nm thick IBED LiTaO3 thin film infrared detector sample annealed at 550°C has the dielectric permittivity of 39.44, the low dielectric loss of 0.045 at the tested frequency of 100 kHz, and the small current leakage of 4.76×10−8A/cm2 when subjected to the tested electrical field of 400kV/cm. The electrical breakdown experimental results show that the prepared detector samples have strong ability of anti-breakdown and can be subjected to the stronggest electrical field of 680kV/cm. The experimental results show that, the dielectric loss and the leakage current of the IBED LiTaO3 thin film infrared detectors are better than those of the Sol-Gel derived LiTaO3 thin film infrared detectors.
{"title":"Dielectric property of Ion Beam Enhanced Deposited lithium tantalate thin film infrared detector","authors":"D. Zhang, Wei Qian, Kun Li, J. Xie","doi":"10.1109/ICMA.2011.5986264","DOIUrl":"https://doi.org/10.1109/ICMA.2011.5986264","url":null,"abstract":"The Ion Beam Enhanced Deposited (IBED) LiTaO<inf>3</inf> thin film infrared detectors with Al/LiTaO<inf>3</inf>/Pt structure were prepared on the Pt/Ti/SiO<inf>2</inf>/Si(100) substrate. The crystallization, the film thickness, the dielectric properties, the leakage current and the anti-breakdown ability of the IBED LiTaO<inf>3</inf> thin film infrared detector samples were investigated by the different annealing processes. The XRD measured results show that, the prepared samples have the polycrystal structure of LiTaO<inf>3</inf> with the preferred orientation of <012> and <104> located at the 2theta of 23.6° and 32.7° respectively. The residual Ta<inf>2</inf>O<inf>5</inf> has been existed in the prepared samples owe to the Li volatilization during the high temperature annealing process. The obtained 587nm thick IBED LiTaO<inf>3</inf> thin film infrared detector sample annealed at 550°C has the dielectric permittivity of 39.44, the low dielectric loss of 0.045 at the tested frequency of 100 kHz, and the small current leakage of 4.76×10<sup>−8</sup>A/cm<sup>2</sup> when subjected to the tested electrical field of 400kV/cm. The electrical breakdown experimental results show that the prepared detector samples have strong ability of anti-breakdown and can be subjected to the stronggest electrical field of 680kV/cm. The experimental results show that, the dielectric loss and the leakage current of the IBED LiTaO<inf>3</inf> thin film infrared detectors are better than those of the Sol-Gel derived LiTaO<inf>3</inf> thin film infrared detectors.","PeriodicalId":317730,"journal":{"name":"2011 IEEE International Conference on Mechatronics and Automation","volume":"109 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":"115671718","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.2011.5985768
Yu Zhou, K. Thiruvalluvan, Lukasz Krzeminski, W. Moore, Zhigang Xu, Zhengrong Liang
CT-guided needle biopsy is a dominant method of obtaining tissue samples from lung nodules for lung cancer diagnosis. Current practice requires patients to hold their breath during the procedure, which is not applicable to those who have difficulty in holding breath. This paper introduces a CT-guided robotic needle biopsy technique, which adapts to the patient respiratory motion pattern and uses a robot manipulator to drive the biopsy needle towards a target lung nodule with respiratory motion. It enables biopsies on patients who have difficulty in holding breath. An experimental system has been created to facilitate the development and evaluation of the robotic needle placement technique. It consists of three subsystems coordinated by a computer, i.e. a lung nodule phantom subsystem which mimics a lung nodule with respiratory motion, a robotic needle manipulation subsystem which drives the biopsy needle to hit the moving target, and a vision feedback subsystem which tracks the moving lung nodule phantom in real time for controlling the needle placement. The results from a sequence of needle placement tests based on clinically-obtained lung nodule motion paths show that the robotic needle placement technique can provide quick and highly accurate needle placement on moving nodules.
{"title":"An experimental system for robotic needle biopsy of lung nodules with respiratory motion","authors":"Yu Zhou, K. Thiruvalluvan, Lukasz Krzeminski, W. Moore, Zhigang Xu, Zhengrong Liang","doi":"10.1109/ICMA.2011.5985768","DOIUrl":"https://doi.org/10.1109/ICMA.2011.5985768","url":null,"abstract":"CT-guided needle biopsy is a dominant method of obtaining tissue samples from lung nodules for lung cancer diagnosis. Current practice requires patients to hold their breath during the procedure, which is not applicable to those who have difficulty in holding breath. This paper introduces a CT-guided robotic needle biopsy technique, which adapts to the patient respiratory motion pattern and uses a robot manipulator to drive the biopsy needle towards a target lung nodule with respiratory motion. It enables biopsies on patients who have difficulty in holding breath. An experimental system has been created to facilitate the development and evaluation of the robotic needle placement technique. It consists of three subsystems coordinated by a computer, i.e. a lung nodule phantom subsystem which mimics a lung nodule with respiratory motion, a robotic needle manipulation subsystem which drives the biopsy needle to hit the moving target, and a vision feedback subsystem which tracks the moving lung nodule phantom in real time for controlling the needle placement. The results from a sequence of needle placement tests based on clinically-obtained lung nodule motion paths show that the robotic needle placement technique can provide quick and highly accurate needle placement on moving nodules.","PeriodicalId":317730,"journal":{"name":"2011 IEEE International Conference on Mechatronics and Automation","volume":"258 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":"115686942","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}
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