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During endoscopic sinus surgery, to perform complex surgical procedures in the delicate nasal cavity, endoscope holding devices are needed. This paper presents a novel robotic system with safe locking and easy to release system that assists surgeons in holding the endoscope. The presented robotic system has eleven degrees of freedom (DOF). The robot consists of an elevator mechanism, a positioning...
Although Ilizarov technique and external fixators have been popular applied in bone fractures and orthopaedic surgery currently, there are few literatures about laws of bone-remodelling after osteotomy when applied external fixation system based on Wolff's law. However, Wolff's law is one of the most basic theories in bone biomechanics and fracture healing Therefore, exploring the healing mechanism...
Fin stabilizers are often used at high speed of ship, however they also can produce effective lift through pitching actively at low speed. The lift model of fin stabilizer at low forward speed is proposed based on the fluid changing on fin stabilizer's surface. Then the lift model is applied to the ship roll stabilization system. From simulation data, it can be seen that the roll of ship is reduced...
Bone milling is one of the most common operations in various kinds of orthopedical surgeries, such as laminectomy surgery. For safety issue and efficacy, it is very important to recognize the states in milling operation. In this paper, an approach to recognize the states of bone milling is proposed, which identify the cortical tissue layer and cancellous tissue layer. Hilbert-Huang Transform (HHT)...
High-rise tasks such as cleaning, painting, inspection, and maintenance on walls of large buildings or other structures require robots with climbing and manipulating skills. Motivated by these potential applications and inspired by the climbing motion of inchworms, we have developed a biped wall-climbing robot—W-Climbot. Built with a modular approach, the robot consists of five joint modules connected...
State-of-the-art snake methods for object segmentation fail in the presence of strong clutter. Here, we present a dynamic programming (DP) setup to combat strong clutter. Our solution maximizes a score function known as gradient inverse coefficient of variation (GICOV). GICOV cannot be directly used in DP, because it does not have an additive form. We derive a set of DP-friendly necessary conditions...
W-Climbot is an inchworm-like biped wall-climbing robot we developed with a modular approach. Consisting of five joint modules and two suction modules, the robot is actually a mobile 5-DoF manipulator with dual sucking end-effectors at the two ends. With this kinematic structure and biped climbing mode, W-Climbot has superior wall-climbing function (great ability to omni-directional locomotion, to...
Stationkeeping system of deep-water drilling device is essential for offshore drilling; the choice of positioning methods is related to the security, stability and engineering costs of the drilling. Mooring positioning system is commonly used in deepwater drilling device. How to choose the positioning means of deepwater drilling device and taut-wire mooring system which is suitable for deep-water...
A novel biped robot that can climb poles, trusses and trees for high-rise missions has been recently developed. Consisting of an arm as the main body and two grippers mounted at the two ends as the end-effectors, the robot has both climbing function and manipulating function. One key issue with the robot is that its gripper must grasp the object firmly to support the whole robot when it performs climbing...
Based on flexibility and converse piezoelectric effect of PVDF, a laminated PVDF actuator (LPA) with hyperbolical surface is designed and attached on a paraboloidal shell partially. Models of control forces are established according to thin flexible shell theory and membrane approximation, respectively. Analytical expressions of actuating forces and moments are derived and detailed parametric study...
Although a large number of wall-climbing robots have been developed in the past decades, most of them suffer from shortcomings such as poor ability to omni-directional locomotion, lower capability to transit between walls and to negotiate obstacles on the walls. To overcome these drawbacks, we have developed a novel biped wall-climbing robot - W-Climbot using modularization method. Consisting of an...
Biomimetic flapping-wing robot is a new type of miniature air vehicle mimicking birds or insects to fly, with many unique advantages that traditional fixed-wing and rotary-wing aircrafts do not possess. Unsteady aerodynamics at low Reynolds number is the main theory applied to the flight analysis of such air vehicles with flapping-wings, and it is still a big challenge. Various models have recently...
Nano technology and nano material were widely applied to solve the problem of water pollution. It is known that on their way forward, people are bound to run into lake's eutrophication in the world, owing to pollution source not being controlled. Among all pollution sources, agricultual widespread pollution, such as fertilizer's nutrient to wash away, and inner pollution in the lake, such total nitrogen...
This paper presents a novel approach of using stereovision or pseudo-stereovision to generate touch screen experience. A pair of digital cameras or a set of a digital camera and a mirror is mounted at the corners of a computer display. Algorithms are presented to generate the positions of the pointers when they are close to the screen. The paper also proposes to use positions, velocities and accelerations...
This paper presents a novel automatic 3D hybrid segmentation approach based on free-form deformation. The algorithms incorporate boosting and deformation gradients to achieve reliable liver segmentation of Computed Tomography (CT) scans. A free-form deformable model is deformed under the forces originating from boosting and deformation gradients. The basic idea of the scheme is to combine information...
Actuating characteristic of laminated PVDF actuator (LPA) partially covered on a beam is studied in this paper. Considering large deformation of the beam, coupled dynamic equations of the system are derived based on Hamilton principle. The formulas of nonlinear actuating forces are obtained and the parametric study is then conducted to evaluate the effects of geometric and physical properties of the...
Cutting force and vibration are two major characteristics that reflect the tool state in the milling process. Measurement of vibration on the workpiece or the fixture of the workpiece is one of the indirect methods to evaluate the effects of the cutting force. Currently, there is a lack of tool breakage monitoring solutions using vibration sensor in ball end milling operation. The work described in...
The knowledge of the workspace of a robotic multifingered hand is crucial in order to plan grasp and dexterous manipulation, as in the cases of other robotic systems. In this paper, we propose a numerical approach to compute and visualize the workspace of a multifingered robotic hand manipulating an object in the planar case. Based on feasibility analysis of grasps, the proposed approach uses a numerical...
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