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This paper mainly introduces a kind of auxiliary robot for craniofacial plastic surgery. It contains mechanism design of the robot, the design of the control system, and experimental verification in order to prove the effectiveness of drilling bone. The robot make use of the stability and accuracy of the motor movement, combining with the 2D/3D imaging techniques, through the pressure sensor, position...
In this paper, we present a new image preprocessing method which is based on Wavelet Transform. Before we extract expression texture information, Wavelet transform will be applied to remove partial high frequency information. And then Gabor Transform will be used to extract expression information. At last we chose the Support Vector Machine to classify facial expressions. Experiments on the Japanese...
This paper presents a flexible capacitive tactile sensing array based on Flexible Printed Circuit Board(FPCB) technology. Several prototype flexible tactile sensors have been successfully fabricated by using simple processes. The sensing array consists of two flexible printed circuit boards as sensing electrodes and insulation layer between them. This simple design can effectively reduce the complexity...
Recently, many researchers have been studying methods for the stepless slip motion of humanoid robots. However, the control mechanism is not clear. In this paper, we propose a simple feedback control method for slip motion based on the forward and backward tilting of the body. We verified this control method by using a life-size humanoid dynamic simulator that was constructed with Open Dynamics Engine...
In this paper, a nonlinear speed control scheme which combines nonlinear optimal controller, nonlinear disturbance observer and adaptive kalman filter is proposed for Magnetically Suspend Flywheel (MSFW). Firstly, in order to improve the dynamic and steady-stage performances of motor driving system, the state feedback exact linearization model of BUCK converter is derived, and a nonlinear optimal...
Series elastic actuation (SEA) has been widely used for output force/torque regulation, however, the nonlinearity introduced by its torsion spring hysteresis will greatly affect the quality of feedback control. Thus an experimental procedure is conducted for the modeling and identification of spring hysteresis effect, based on which a compensated control scheme is given. Experiment results show that...
Vibration isolation or protection of sensitive electronic devices/units is an ever-increasing demand in engineering practice. This study presents bio-inspired designs for this objective. It is known that, woodpeckers can drum the surface of a trunk at a high speed of 18–22 times per second with an acceleration of more than 1000g, but the damage of woodpecker's brain doesn't occur in this shock. This...
Brain-computer interface (BCI) is currently developed as an alternative technology with a potential to restore lost motor function in patients with neurological injuries. In this paper, we describe an integrated system of a non-invasive electroencephalogram (EEG)-based BCI with a non-invasive functional electrical stimulation (FES). This system enables the direct brain control of upper limbs to achieve...
At small scale, the surface force becomes dominated, which causes difficult to the small object's manipulation. In this paper, we study the effect of the endeffector's contact area on the biological cell's manipulation. First, two endeffectors with different size are fabricated based on focused ion beam (FIB) etching. Then, they are used to detach the single cell from substrate. The maximum detaching...
Recently, the control of telepresence robots is still a challenge for researchers. In this paper, we propose a method to realize a more natural assisted navigation for telepresence robots during teleoperation. Different from existing approaches, the proposed method utilizes an omni-directional chassis which is realized by a three wheels drive (3WD) mechanism. Without using any expensive 3D sensing...
Robot localization is one of the hottest research spots. Many scholars have studied the landmark localization which is cheap, stable, and simple in the indoor environment. This paper presents a low-cost localization system based on the artificial landmarks with two degree of freedom platform camera. The landmarks are put on the ceiling in order to decrease the interference. A 2-DOF pan-tilt has been...
Neurologic examination takes an important role in the physical examination. By now, several methods have been carried out for medical training which bring the benefits for trainee to master the skills and accumulate experiences. However, because of the limits of these methods, the training effectiveness is limited. With the developments of technology, more and more simulators have been launched to...
In this paper, we describe a portable Omnidirectional Vision System for Environment Perception (OVSEP) with 5 Degrees of Freedom (DOFs). OVSEP has a modular design and it is equipped with three main components: hardware, control architecture and visual processing part (omnidirectional vision and stereovision). A face detection algorithm and a method for 3D reconstruction have been used to evaluate...
A novel robot arm called deformable arm for the service robot is presented in this paper. A flexible working space and the ability to deal with multiple tasks are obtained with a single arm by changing the arm shape. However more flexible use brings difficulties in actual use, the arm's parameters will be changed with the different arm structure and cannot be calibrated with conventional methods....
In this paper we propose a service system composed of small robots. These robots are able to do tasks executed by a single human in environments like homes or offices. The goal is that a user will be capable of teaching multiple small robots how to perform tasks. We use kinematic data during the teaching process like the motion and force applied by the hands of the subject during task execution. Based...
This paper presents a novel approach to path planning for the formation of a swarm of autonomous robots to track a moving target in an unknown environment. This approach is based on the traditional potential fields combined with the rotational vector field. The potential field is used to repel the robots away from obstacles while the rotational vector field is added to drive robots to avoid obstacles...
This paper presents a means to approximate an object's pose, suitable for initialization of the Iterative Closest Point algorithm. The class of problems considered is objects lying stably on a planar surface, for which a relatively small number of pose types are possible. Within each pose type, the registration problem is reduced to 3 dimensions. Using contours computed from horizontal slices, it...
Map application has played a more and more important role in today's autonomous drive and navigation techniques. However, most of the existing maps can only reach road-level (meter scale) accuracy, which cannot meet the needs of driving with no hands. Based on this situation, a method to generate lane-level (centimeter scale) orthophoto maps is proposed. This method utilizes a multiple onboard cameras...
Leader-follower based formation control is a promising technique in multi-robot motion planning system. When the pose of leader-robot mutated or disturbed by external disturbance, the follower-robot usually cannot react quickly, resulting in loss tracing. A redundant adaptive robust Kalman filter (RAREKF) is adopted to predict the relative movement parameters between the leader and follower, so that...
This paper presents a novel scheme for Vanishing Points (VPs) estimation and lanes identification through monocular images of mobile robots. VPs detection based on probable vanishing direction hypothesizes and Bayesian posterior probability verification in image Hough space is a foremost contribution. VPs estimation is an optimal resolution based on a weighted objective function. The selected linear...
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