2018 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)最新文献

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Dynamic Behavior of Running Insect Activated by High-Speed Microdroplets Manipulation* This work was partially supported by the Program to Disseminate Tenure Track System, MEXT, Japan. 高速微滴操纵激活昆虫的动态行为*本研究得到了日本文部省终身跟踪系统传播计划的部分支持。
Belal Ahmad, Daiki Sato, Reo Takemoto, H. Ohtsuka, I. Ishii, T. Kawahara
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引用次数: 1
Magnetic Guidewire Control without Tip-Angle Detection in Sharply Curved Blood Vessel 大弯曲血管中不检测尖角的磁导丝控制
Jayoung Kim, Byungjeon Kang, Phu Bao Nguyen, Eunpyo Choi, Chang-sei Kim, Jong-Oh Park
{"title":"Magnetic Guidewire Control without Tip-Angle Detection in Sharply Curved Blood Vessel","authors":"Jayoung Kim, Byungjeon Kang, Phu Bao Nguyen, Eunpyo Choi, Chang-sei Kim, Jong-Oh Park","doi":"10.1109/MARSS.2018.8481187","DOIUrl":"https://doi.org/10.1109/MARSS.2018.8481187","url":null,"abstract":"Ahstract- This paper proposes a position control algorithm for a magnetic guidewire without detection of tip-angle in sharply curved blood vessels. Key element of the proposed tip positioning control is to track a desired path regenerated in a blood vessel by a feeding control and an electromagnetic actuation (EMA) control. The path-regeneration creates an improved path in terms of properties of a magnetic guidewire and the size of a blood vessel when a magnetic guidewire can not traverse an original path. Based on a desired path, the feeding device and the EMA system make the translational and the rotational motion of a magnet tip, respectively. In this paper, for the EMA system, one pair of Helmholtz coil is employed to steer the magnet tip by adjusting the direction of the magnetic field. For the positioning control, a magnet tip is controlled with a regenerated path in order to follow a desired path without information of tip orientation. The proposed control methodology was verified through experiments on a phantom of sharply curved blood vessels. The experimental results proved that the proposed method could overcome the sharply curved blood vessel by control of the tip position of the guidewire with high accuracy in real-time.","PeriodicalId":118389,"journal":{"name":"2018 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)","volume":"56 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131587230","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}
引用次数: 1
Evaluation of Motion Reliability for Robot Manipulator 机械臂运动可靠性评价
Yanjiang Huang, Changshu Wang, Huaiyan Tang, Yanfeng Shi, Ling Xiong, Lixin Yang, Zhenya He, Xianmin Zhang
{"title":"Evaluation of Motion Reliability for Robot Manipulator","authors":"Yanjiang Huang, Changshu Wang, Huaiyan Tang, Yanfeng Shi, Ling Xiong, Lixin Yang, Zhenya He, Xianmin Zhang","doi":"10.1109/MARSS.2018.8481153","DOIUrl":"https://doi.org/10.1109/MARSS.2018.8481153","url":null,"abstract":"Motion reliability is important in the application of robot manipulator. In this paper, we evaluated the motion reliability of robot manipulator through degree of reliability, process capability index, and process performance index. The repeated positioning accuracy was derived to calculate these three indices. These indices were applied to two robots through experiments. The experimental results showed that the proposed indices can evaluate the motion reliability of robot manipulator. The results can be considered as the criterion in the selection of robot manipulator.","PeriodicalId":118389,"journal":{"name":"2018 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)","volume":"60 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128469591","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}
引用次数: 1
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