Pub Date : 2011-08-15DOI: 10.1109/ICMA.2011.5986294
Lingjie Kong, Xinjun Zhao, B. Qi
The suspension system with high performances is an important factor ensuring the tracked vehicle mobility and comfortable in different situations. Magneto rheological dampers, which are semi-active suspension equipment that use magneto rheological fluids to produce controllable force, can be used as smart actuators to reduce the vibrations of mechanical systems. An analytical study is performed in this article to examine the effectiveness of this type of actuator in suppressing the vibrations of a tracked vehicle suspension system. Based on the fluid mechanics theory, an amendment dynamic model of magneto rheological damper is derived. Considering the suspension characteristic and uncertainty of a magneto rheological damper, a variable universe fuzzy controller is designed to achieve a control of active variable damping. The results proved that the derived magneto rheological damper dynamic model is correct and indicated that the designed variable universe fuzzy controller could reduce the tracked vehicle vibration, which will further establish the basis of engineering application for a magneto rheological damper on semi-active suspension.
{"title":"Study on semi-active suspension system of tracked vehicle based on variable universe fuzzy control","authors":"Lingjie Kong, Xinjun Zhao, B. Qi","doi":"10.1109/ICMA.2011.5986294","DOIUrl":"https://doi.org/10.1109/ICMA.2011.5986294","url":null,"abstract":"The suspension system with high performances is an important factor ensuring the tracked vehicle mobility and comfortable in different situations. Magneto rheological dampers, which are semi-active suspension equipment that use magneto rheological fluids to produce controllable force, can be used as smart actuators to reduce the vibrations of mechanical systems. An analytical study is performed in this article to examine the effectiveness of this type of actuator in suppressing the vibrations of a tracked vehicle suspension system. Based on the fluid mechanics theory, an amendment dynamic model of magneto rheological damper is derived. Considering the suspension characteristic and uncertainty of a magneto rheological damper, a variable universe fuzzy controller is designed to achieve a control of active variable damping. The results proved that the derived magneto rheological damper dynamic model is correct and indicated that the designed variable universe fuzzy controller could reduce the tracked vehicle vibration, which will further establish the basis of engineering application for a magneto rheological damper on semi-active suspension.","PeriodicalId":317730,"journal":{"name":"2011 IEEE International Conference on Mechatronics and Automation","volume":"137 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":"115035378","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.2011.5986262
He Cunfu, Liu Xiucheng, Wu Bin, F. Hao
A flexible printed meander coil (FPMC)-based magnetostrictive sensor (MsS) which has a central frequency around 1.25 MHz is presented in this paper. The FPMC-based MsS can be easily wrapped onto the twisted strand surface and disassembled from the strand. It can be also installed onto the central rod of the strand after being wrapped into multiple layers. That is, this FPMC-based MsS can fit for the tested sample of different diameters. With the proposed megahertz-range FPMC-based MsS, the rods/strands inspection system is potential to be applied for practical inspections, having higher axial inspection resolution and sensitivity to small defects.
{"title":"Megahertz-range magnetostrictive sensor for exciting longitudinal guided waves in steel rods/strands","authors":"He Cunfu, Liu Xiucheng, Wu Bin, F. Hao","doi":"10.1109/ICMA.2011.5986262","DOIUrl":"https://doi.org/10.1109/ICMA.2011.5986262","url":null,"abstract":"A flexible printed meander coil (FPMC)-based magnetostrictive sensor (MsS) which has a central frequency around 1.25 MHz is presented in this paper. The FPMC-based MsS can be easily wrapped onto the twisted strand surface and disassembled from the strand. It can be also installed onto the central rod of the strand after being wrapped into multiple layers. That is, this FPMC-based MsS can fit for the tested sample of different diameters. With the proposed megahertz-range FPMC-based MsS, the rods/strands inspection system is potential to be applied for practical inspections, having higher axial inspection resolution and sensitivity to small defects.","PeriodicalId":317730,"journal":{"name":"2011 IEEE International Conference on Mechatronics and Automation","volume":"79 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":"115044147","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.2011.5985826
Ma Zhenhe, Su Yixiong
Optical Coherence Tomography is a non-invasive imaging modality with high resolution (5 to 20μm) that can provide flow velocity information by calculating the Doppler frequency shift. In this paper, a high speed spectral domain optical coherence tomography system was demonstrated. An achievable scanning speed of 92k line/sec has been reached by using an ultra-high speed linear array CCD camera. The measurable flow velocity range is [−24, 24]mm/s using this system. Early stage Chicken embryo heart blood flow was measured in vivo.
{"title":"Flow measurement using high speed spectral optical coherence tomography","authors":"Ma Zhenhe, Su Yixiong","doi":"10.1109/ICMA.2011.5985826","DOIUrl":"https://doi.org/10.1109/ICMA.2011.5985826","url":null,"abstract":"Optical Coherence Tomography is a non-invasive imaging modality with high resolution (5 to 20μm) that can provide flow velocity information by calculating the Doppler frequency shift. In this paper, a high speed spectral domain optical coherence tomography system was demonstrated. An achievable scanning speed of 92k line/sec has been reached by using an ultra-high speed linear array CCD camera. The measurable flow velocity range is [−24, 24]mm/s using this system. Early stage Chicken embryo heart blood flow was measured in vivo.","PeriodicalId":317730,"journal":{"name":"2011 IEEE International Conference on Mechatronics and Automation","volume":"11 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":"115329403","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.2011.5986339
S. U. Ahmed, U. Malik, Fahad Iqbal Khawaja, Y. Ayaz, F. Kunwar
One of the main problems associated with mobile intelligent agents is path planning. Numerous approaches have been presented for path planning of mobile robots. One of the most efficient methods is Pulse Coupled Neural Network (PCNN). This paper presents a novel approach we call the Sparsed Potential PCNN method for real time path planning for mobile robots. In the proposed method a Potential Field approach is used to limit the propagation of the autowave only in the direction of the destination rather than propagating in all directions. This increases the efficiency of the PCNN algorithm. Furthermore a sparsing technique is applied to make the algorithm even more time efficient. The algorithm has proven to be a robust and time efficient path planning scheme. The Sparsed Potential-PCNN plans the shortest path in the shortest possible time. The algorithm is also capable of avoiding obstacles in its path. Simulation results in Player/Stage for Pioneer 3 AT mobile robot navigating among obstacles in an indoor environment are also presented to demonstrate the effectiveness of the proposed algorithm.
{"title":"Sparsed potential-PCNN for real time path planning and indoor navigation scheme for mobile robots","authors":"S. U. Ahmed, U. Malik, Fahad Iqbal Khawaja, Y. Ayaz, F. Kunwar","doi":"10.1109/ICMA.2011.5986339","DOIUrl":"https://doi.org/10.1109/ICMA.2011.5986339","url":null,"abstract":"One of the main problems associated with mobile intelligent agents is path planning. Numerous approaches have been presented for path planning of mobile robots. One of the most efficient methods is Pulse Coupled Neural Network (PCNN). This paper presents a novel approach we call the Sparsed Potential PCNN method for real time path planning for mobile robots. In the proposed method a Potential Field approach is used to limit the propagation of the autowave only in the direction of the destination rather than propagating in all directions. This increases the efficiency of the PCNN algorithm. Furthermore a sparsing technique is applied to make the algorithm even more time efficient. The algorithm has proven to be a robust and time efficient path planning scheme. The Sparsed Potential-PCNN plans the shortest path in the shortest possible time. The algorithm is also capable of avoiding obstacles in its path. Simulation results in Player/Stage for Pioneer 3 AT mobile robot navigating among obstacles in an indoor environment are also presented to demonstrate the effectiveness of the proposed algorithm.","PeriodicalId":317730,"journal":{"name":"2011 IEEE International Conference on Mechatronics and Automation","volume":"10 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":"115352826","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.2011.5985974
Qi Sun, Hui Liu, Qiang Yang, W. Yan
Intelligent warehouse becomes a key component of logistics process automation, which essentially promotes the productivity and cost reduction. This paper presents a novel design solution of an Automated Guided Vehicles (AGVs) system for intelligent warehouse. An improved version of classical Dijkstra shortest-path algorithm is proposed for efficient global path planning. In the case of multi-AGV, the time windows method is used to address the issue of conflict and deadlock. In addition, the local path planning and auto-localization is addressed by using a heuristics-based algorithm and Monte Carlo Localization algorithm respectively. Extensive numerical experiments based on Player/Stage simulator are carried out to assess the suggested algorithms, for a range of scenarios and the result well validates its effectiveness. Currently the proposed design solution is adopted in developing the prototype of AGVs to be deployed in practice.
{"title":"On the design for AGVs: Modeling, path planning and localization","authors":"Qi Sun, Hui Liu, Qiang Yang, W. Yan","doi":"10.1109/ICMA.2011.5985974","DOIUrl":"https://doi.org/10.1109/ICMA.2011.5985974","url":null,"abstract":"Intelligent warehouse becomes a key component of logistics process automation, which essentially promotes the productivity and cost reduction. This paper presents a novel design solution of an Automated Guided Vehicles (AGVs) system for intelligent warehouse. An improved version of classical Dijkstra shortest-path algorithm is proposed for efficient global path planning. In the case of multi-AGV, the time windows method is used to address the issue of conflict and deadlock. In addition, the local path planning and auto-localization is addressed by using a heuristics-based algorithm and Monte Carlo Localization algorithm respectively. Extensive numerical experiments based on Player/Stage simulator are carried out to assess the suggested algorithms, for a range of scenarios and the result well validates its effectiveness. Currently the proposed design solution is adopted in developing the prototype of AGVs to be deployed in practice.","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":"115580007","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.2011.5985747
Xiufen Ye, Lei Wang, Tian Wang, G. Wang
This paper proposes a new multiphase level set model. Its energy function is driven by Bidimensional EMD (Empirical Mode Decomposition) to resolve the segmentation problem of sonar image. We introduce the EMD and BEMD, and give the steps of BEMD. It is used to extract intrinsic components of images. Then, we integrate them into the VC's (Vese-Chan) multiphase level set energy functions to resolve the sensitiveness of level set models to noise. Experimental results show that the segmentation results of our method is superior than the VC level set model.
{"title":"A level-set model driven by Bidimensional EMD for sonar image segmentation","authors":"Xiufen Ye, Lei Wang, Tian Wang, G. Wang","doi":"10.1109/ICMA.2011.5985747","DOIUrl":"https://doi.org/10.1109/ICMA.2011.5985747","url":null,"abstract":"This paper proposes a new multiphase level set model. Its energy function is driven by Bidimensional EMD (Empirical Mode Decomposition) to resolve the segmentation problem of sonar image. We introduce the EMD and BEMD, and give the steps of BEMD. It is used to extract intrinsic components of images. Then, we integrate them into the VC's (Vese-Chan) multiphase level set energy functions to resolve the sensitiveness of level set models to noise. Experimental results show that the segmentation results of our method is superior than the VC level set model.","PeriodicalId":317730,"journal":{"name":"2011 IEEE International Conference on Mechatronics and Automation","volume":"24 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":"114225602","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.2011.5985646
Runhuai Yang, Min Xu, Xu Liang, Shiwu Zhang, Yong Cheng, Hongcheng Xu, Jie Yang
An experimental and numerical investigation was carried out on the performance of a single-wheel travelling over various kinds of loose soil, including dry sand, wet sand, and mud. The experiments were conducted using a testbed equipped with a displacement transducer, a torque sensor, etc., to get the information on sinkage, driving torque, and drawbar pull. It was found that within certain water content, the trafficability of wet sand is better than that of the dry sand. On the other hand, the behaviour of a wheel when running over mud is very different comparing to the case of sand, for which the shear force tends to be negligible because of the near-flow property of the mud. It was also demonstrated that the cohesion of the mud can't be ignored since the mud will attach to the wheel so that the shear force is offered by the internal friction angle of mud rather than the friction between wheel and soil. In the numerical work, DEM (discrete element method) was used to simulate the interaction between wheel and sand, and the agreement with the experiments was fairly good.
{"title":"Experimental study and DEM analysis on rigid driving wheel's performance for off-road vehicles moving on loose soil","authors":"Runhuai Yang, Min Xu, Xu Liang, Shiwu Zhang, Yong Cheng, Hongcheng Xu, Jie Yang","doi":"10.1109/ICMA.2011.5985646","DOIUrl":"https://doi.org/10.1109/ICMA.2011.5985646","url":null,"abstract":"An experimental and numerical investigation was carried out on the performance of a single-wheel travelling over various kinds of loose soil, including dry sand, wet sand, and mud. The experiments were conducted using a testbed equipped with a displacement transducer, a torque sensor, etc., to get the information on sinkage, driving torque, and drawbar pull. It was found that within certain water content, the trafficability of wet sand is better than that of the dry sand. On the other hand, the behaviour of a wheel when running over mud is very different comparing to the case of sand, for which the shear force tends to be negligible because of the near-flow property of the mud. It was also demonstrated that the cohesion of the mud can't be ignored since the mud will attach to the wheel so that the shear force is offered by the internal friction angle of mud rather than the friction between wheel and soil. In the numerical work, DEM (discrete element method) was used to simulate the interaction between wheel and sand, and the agreement with the experiments was fairly good.","PeriodicalId":317730,"journal":{"name":"2011 IEEE International Conference on Mechatronics and Automation","volume":"28 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":"114277578","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}
An actuator system with multidegree-of-freedom (MDOF) motion and complicated action has recently gained interest in the field of robotic technology. In the present paper, a novel rotor-embedded-type MDOF spherical ultrasonic motor (SUSM) is proposed. The MDOF-SUSM consists of a spherical rotor and a stator vibrator with an all-in-one structure. The spherical rotor is embedded in the center of an almost annular stator vibrator with a spherical inner surface, and a motor shaft is mounted on the rotor. The stator vibrator with piezoceramic disks and plates adhered to the surfaces of the vibrator can excite five vibration modes, independently and simultaneously. The spherical rotor can rotate around three axes by combining two of the five vibration modes. The present paper describes the basic construction and the operating principle of the rotor-embedded-type MDOF-SUSM, modal analysis results for the stator vibrator, and some experimental results based on a trial manufacture. The proposed MDOF-SUSM confirmed the operating principle of the design, and it has a simple structure and is compact and lightweight, a large torque-to-weight ratio is expected to be realized.
{"title":"Development of a novel rotor-embedded-type multidegree-of-freedom spherical ultrasonic motor","authors":"B. Lu, M. Aoyagi, H. Tamura, T. Takano","doi":"10.20965/jrm.2012.p0876","DOIUrl":"https://doi.org/10.20965/jrm.2012.p0876","url":null,"abstract":"An actuator system with multidegree-of-freedom (MDOF) motion and complicated action has recently gained interest in the field of robotic technology. In the present paper, a novel rotor-embedded-type MDOF spherical ultrasonic motor (SUSM) is proposed. The MDOF-SUSM consists of a spherical rotor and a stator vibrator with an all-in-one structure. The spherical rotor is embedded in the center of an almost annular stator vibrator with a spherical inner surface, and a motor shaft is mounted on the rotor. The stator vibrator with piezoceramic disks and plates adhered to the surfaces of the vibrator can excite five vibration modes, independently and simultaneously. The spherical rotor can rotate around three axes by combining two of the five vibration modes. The present paper describes the basic construction and the operating principle of the rotor-embedded-type MDOF-SUSM, modal analysis results for the stator vibrator, and some experimental results based on a trial manufacture. The proposed MDOF-SUSM confirmed the operating principle of the design, and it has a simple structure and is compact and lightweight, a large torque-to-weight ratio is expected to be realized.","PeriodicalId":317730,"journal":{"name":"2011 IEEE International Conference on Mechatronics and Automation","volume":"19 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":"114102704","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.2011.5985632
Jing Li, Qiang Huang, Zhangguo Yu, Wei Xu, Xuechao Chen, Gan Ma
Most researchers have focused on biped walking control, gait pattern planning, and high stiffness design of legs especially in early years of humanoid research. In this paper, an anthropomorphic arm is designed in order to realize some complicated manipulations which involves light weight, high stiffness, and enough workspace. Light weight and high stiffness which contributes much to preventing the humanoid from tipping over and to achieving acceptable precision are mainly realized by means of modular design, dynamic simulation, and finite element analysis. Workspace related much to complicated manipulations is analyzed according to robot arm mechanism and the effects on the stability of the humanoid robot. Experiments are finally performed to verify the characteristics of the arm.
{"title":"Design and workspace analysis of a light weight and high stiffness arm","authors":"Jing Li, Qiang Huang, Zhangguo Yu, Wei Xu, Xuechao Chen, Gan Ma","doi":"10.1109/ICMA.2011.5985632","DOIUrl":"https://doi.org/10.1109/ICMA.2011.5985632","url":null,"abstract":"Most researchers have focused on biped walking control, gait pattern planning, and high stiffness design of legs especially in early years of humanoid research. In this paper, an anthropomorphic arm is designed in order to realize some complicated manipulations which involves light weight, high stiffness, and enough workspace. Light weight and high stiffness which contributes much to preventing the humanoid from tipping over and to achieving acceptable precision are mainly realized by means of modular design, dynamic simulation, and finite element analysis. Workspace related much to complicated manipulations is analyzed according to robot arm mechanism and the effects on the stability of the humanoid robot. Experiments are finally performed to verify the characteristics of the arm.","PeriodicalId":317730,"journal":{"name":"2011 IEEE International Conference on Mechatronics and Automation","volume":"20 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":"114487395","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}
Conventional vascular interventional surgery (VIS) is performed by surgeons under fluoroscopic X-ray guidance. Catheter operating systems have been developed to reduce physical stress and X-ray irradiation to the interventional radiologists. However, the catheter operating systems are all attached to surgical bed or fixed at the tip of passive manipulator, which is inconvenient to adjust the position and orientation of catheter operating system. Therefore, a novel active supporting medical manipulator was developed to accurately position and firmly hold catheter operating system. The structure was synthesized and optimized according to the clinical VIS requirements. The mechanism was designed and kinematics was analyzed. Finally, the simulations and experiments showed the feasibility of the active supporting medical manipulator, which facilitate the control of catheter operating system in clinical teleoperating.
{"title":"Structure synthesis and optimization of a supporting medical manipulator for vascular interventional surgery","authors":"Xing-tao Wang, Xing-guang Duan, Qiang Huang, Hong-hua Zhao, Yue Chen, Chao Chen","doi":"10.1109/ICMA.2011.5985642","DOIUrl":"https://doi.org/10.1109/ICMA.2011.5985642","url":null,"abstract":"Conventional vascular interventional surgery (VIS) is performed by surgeons under fluoroscopic X-ray guidance. Catheter operating systems have been developed to reduce physical stress and X-ray irradiation to the interventional radiologists. However, the catheter operating systems are all attached to surgical bed or fixed at the tip of passive manipulator, which is inconvenient to adjust the position and orientation of catheter operating system. Therefore, a novel active supporting medical manipulator was developed to accurately position and firmly hold catheter operating system. The structure was synthesized and optimized according to the clinical VIS requirements. The mechanism was designed and kinematics was analyzed. Finally, the simulations and experiments showed the feasibility of the active supporting medical manipulator, which facilitate the control of catheter operating system in clinical teleoperating.","PeriodicalId":317730,"journal":{"name":"2011 IEEE International Conference on Mechatronics and Automation","volume":"19 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":"123367995","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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