2021 WRC Symposium on Advanced Robotics and Automation (WRC SARA)最新文献_第2页

Development and Test of Spraying Robot for Anti-epidemic and Disinfection in Animal Housing* 畜舍防疫消毒喷雾机器人的研制与试验

2021 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2021-09-11 DOI: 10.1109/WRCSARA53879.2021.9612617

Qingchun Feng, Bowen Wang, Wanhao Zhang, Xiaoming Li

{"title":"Development and Test of Spraying Robot for Anti-epidemic and Disinfection in Animal Housing*","authors":"Qingchun Feng, Bowen Wang, Wanhao Zhang, Xiaoming Li","doi":"10.1109/WRCSARA53879.2021.9612617","DOIUrl":"https://doi.org/10.1109/WRCSARA53879.2021.9612617","url":null,"abstract":"In view of the high-intensity labor required to disinfect for anti-epidemic in the livestock and poultry house, an intelligent disinfection spraying robot system was designed. The robot system was composed of four parts, including a carrying vehicle, spraying unit, environmental sensors and a controller. Two operating modes were supported, fully automatic and remote control. For the low-light and less- irritation conditions in livestock and poultry house, a “Magnet-RFID” path detection navigation method was proposed to achieve autonomous movement along the livestock and poultry cages. The air-assisted liquid spray nozzle was designed to achieve simultaneous atomization and diffusion of the disinfectant liquid. A fluid dynamics simulation of the air flow field in the nozzle cavity was performed to optimize the structural parameters of its components. The inclination angles of the conical infusion block and the atomization grid were determined to be 75° and 90°, respectively. Finally, the robot’s navigation and spraying performance were tested in the livestock and poultry house. The experimental results showed that the robot’s vehicle could automatically navigate at the speed of 0.1~0.5 m/s, and the maximal deviation distance between the actual trajectory and the expected path was 50.8 mm. And the robot can spray liquid disinfectant at a flow rate of 200~400 mL/min, forming droplets with a diameter (DV.9) of 51.82~137.23 μm and a deposition density of 116–149 drop per cm2. The research could be a technical support for smart production in the livestock and poultry house.","PeriodicalId":246050,"journal":{"name":"2021 WRC Symposium on Advanced Robotics and Automation (WRC SARA)","volume":"82 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-09-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124700231","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: 3

Research on dormancy and wake-up control strategy of Chang’e-4 lunar rover 嫦娥四号月球车休眠与唤醒控制策略研究

2021 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2021-09-11 DOI: 10.1109/WRCSARA53879.2021.9612689

Song Peng, Yang Jia, He Tian, Tianyi Zhang

引用次数: 0

Simulation and application of magnesium alloy gap controller based on hybrid prediction model 基于混合预测模型的镁合金间隙控制器的仿真与应用

2021 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2021-09-11 DOI: 10.1109/WRCSARA53879.2021.9612681

Haixia Wang, Bing Zhang, Xiao Cheng, Jin Qiu

引用次数: 1

A method for solving TSP of steel pylon inspection by magnetic adsorption robots based on improved ant colony optimization 基于改进蚁群优化的磁吸附机器人钢塔检测TSP求解方法

2021 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2021-09-11 DOI: 10.1109/WRCSARA53879.2021.9612683

G. Jiang, Peng Wang, Shaobin Wei, Zhihui Tang, Yufang Wen, He Gao, Yong Tao

{"title":"A method for solving TSP of steel pylon inspection by magnetic adsorption robots based on improved ant colony optimization","authors":"G. Jiang, Peng Wang, Shaobin Wei, Zhihui Tang, Yufang Wen, He Gao, Yong Tao","doi":"10.1109/WRCSARA53879.2021.9612683","DOIUrl":"https://doi.org/10.1109/WRCSARA53879.2021.9612683","url":null,"abstract":"For the problem of multi-point inspection of steel pylons by robots for very large bridges, the input inspection path points are abstracted as nodes and the weight of each path point is calculated according to the actual situation of the project, so as to establish a weighted undirected graph of the movement of magnetic adsorption robots between each point. The original problem can then be transformed into the problem of finding the shortest possible path (the minimum cost) for each node in a given group, visiting each node once and returning to the origin, namely the traveling salesman problem (TSP). In this study, a path optimization method for magnetic adsorption robots for steel pylons based on an improved ant colony optimization (ACO) algorithm is proposed, and the Euclidean TSP is solved using the improved ACO approach (IACO). Finally, the simulation results demonstrate that IACO has advantages in convergence speed and stability as compared to conventional ACO, which proves the validity of the proposed method.","PeriodicalId":246050,"journal":{"name":"2021 WRC Symposium on Advanced Robotics and Automation (WRC SARA)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-09-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117196121","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: 0

Fault Detection of Stochastic Systems via Adaptive Event Triggering 基于自适应事件触发的随机系统故障检测

2021 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2021-09-11 DOI: 10.1109/WRCSARA53879.2021.9612674

Lina Chen, Yang Yang, Wendi Zhu, Mingsheng Li, Hongxi Guo

引用次数: 0

Micro vibrations-based Friction Reduction Evaluation of Guide Wire for Endovascular Interventional Application 基于微振动的导丝在血管内介入应用中的减摩擦评价

2021 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2021-09-11 DOI: 10.1109/WRCSARA53879.2021.9612693

Chaonan Zhang, Yuqing Cao, Shuzhang Liang, Lin Feng

{"title":"Micro vibrations-based Friction Reduction Evaluation of Guide Wire for Endovascular Interventional Application","authors":"Chaonan Zhang, Yuqing Cao, Shuzhang Liang, Lin Feng","doi":"10.1109/WRCSARA53879.2021.9612693","DOIUrl":"https://doi.org/10.1109/WRCSARA53879.2021.9612693","url":null,"abstract":"In endovascular interventional surgery, doctors usually experience high friction resistance when operating the guide wire in blood vessels, resulting from direct contact with vascular wall, which reduces operational efficiency. Improper operation can cause vascular injuries and reduce the surgical safety greatly, sometimes leading to the death of the patient. This paper presents a new method that applies radial micro vibrations at the proximal end of a conventional passive guide wire, to reduce the friction resistance. The mechanical model of guide wire vibration is established and the kinematics characteristics of the radial micro-vibration guide wire is analyzed, thus the drag reduction mechanism of guide wire assisted by ultrasonic vibration is obtained. The effect of proposed method on reducing the friction resistance is studied in the simulation blood vessel environment, and the influences of the applied vibration frequency on the friction force are investigated. The experimental study shows that the effect of exerted ultrasonic micro-vibration drag reduction is significant and the influence law is obvious. It offers a new thinking and way to improve the fluency and safety of vascular interventional surgery.","PeriodicalId":246050,"journal":{"name":"2021 WRC Symposium on Advanced Robotics and Automation (WRC SARA)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-09-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130848330","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: 0

Non-contact Massively Parallel Manipulation of Micro-objects by Optoelectronic Tweezers* 基于光电镊子的微物体非接触大规模并行操纵*

2021 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2021-09-11 DOI: 10.1109/WRCSARA53879.2021.9612697

Chunyuan Gan, Shuzhang Liang, Fenghui Wang, Yuqing Cao, Yiming Ji, J. Lina, Li Song, Lin Feng

{"title":"Non-contact Massively Parallel Manipulation of Micro-objects by Optoelectronic Tweezers*","authors":"Chunyuan Gan, Shuzhang Liang, Fenghui Wang, Yuqing Cao, Yiming Ji, J. Lina, Li Song, Lin Feng","doi":"10.1109/WRCSARA53879.2021.9612697","DOIUrl":"https://doi.org/10.1109/WRCSARA53879.2021.9612697","url":null,"abstract":"Optoelectronic tweezers (OET) system is a novel platform, by changing the projection pattern it can achieve the real-time precise control of the micro-objects. Due to its outstanding biocompatibility to cells and other biological materials, such as no damage, less heat generation, no contact and other characteristics, it has attracted wide attention in the field of micro-nano robots and micro-operation. Here we present a low power, high precision operation control method which can achieve a large operating range. Firstly, the properties of dielectrophoresis (DEP) force were calculated by using polarization theory and Maxwell stress tensor (MST) method, and the precise control of the single particle of polystyrene beads was completed by transforming and upgrading the projection light path and observation light path and using visual feedback control method. In addition, a custom-designed pattern scheme was used to achieve the rapid aggregation of polystyrene beads in a short time according to the image model and the classification of different particle sizes. This study provides a very effective technical method for precise single particle operation and large-scale parallel operation at micro-nano scale.","PeriodicalId":246050,"journal":{"name":"2021 WRC Symposium on Advanced Robotics and Automation (WRC SARA)","volume":"98 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-09-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133336566","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: 3

Improved Design and Dynamic Analysis of Ophthalmic Surgical Robot 眼科手术机器人的改进设计与动力学分析

2021 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2021-09-11 DOI: 10.1109/WRCSARA53879.2021.9612675

Ning Wang, Xiaodong Zhang, Mingyang Li, Hongbing Zhang, Xiaojing Feng

{"title":"Improved Design and Dynamic Analysis of Ophthalmic Surgical Robot","authors":"Ning Wang, Xiaodong Zhang, Mingyang Li, Hongbing Zhang, Xiaojing Feng","doi":"10.1109/WRCSARA53879.2021.9612675","DOIUrl":"https://doi.org/10.1109/WRCSARA53879.2021.9612675","url":null,"abstract":"At present, manual peeling is often used in clinics to remove the inner limiting membrane around the macular hole to achieve the purpose of treatment. However, this method usually affects the quality of operation due to the small size of the eyeball, poor visibility, natural jitter of the doctor’s arm, and high mental stress during long-term operations. In this article, a 5 degrees of freedom(DOF) ophthalmic surgical robot with RCM (Remote Center of Motion) mechanism and a line-driven end effector to replace the pure manual operation mode were deeply designed to improve its design level and solve the problems in surgery. Then, on the basis of expounding the necessity and importance of dynamic analysis, the dynamic equations of the body structure and the end effector of the ophthalmic surgical robot were obtained. Finally, the range of motion, the maximum torque of the joint, the joint torque under the preset trajectory, and the torque changes of the end effector drive motor under different working conditions of the ophthalmic surgical robot are simulated and analyzed, which verifies the effectiveness of the improved design and mathematical modeling of the ophthalmic surgical robot. The research results are of great significance to guide the follow-up ophthalmic surgery robot motion shutdown control, standardized operation in the operation process and innovative structure design.","PeriodicalId":246050,"journal":{"name":"2021 WRC Symposium on Advanced Robotics and Automation (WRC SARA)","volume":"114 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-09-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131997553","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

Electromagnetic Actuation Based Swimming Robot with Semi-Flexible Fins 基于电磁驱动的半柔性鳍游泳机器人

2021 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2021-09-11 DOI: 10.1109/WRCSARA53879.2021.9612684

Zakir Ullah, Chen Dixiao, Oksana Tovmachenko, Lin Feng

{"title":"Electromagnetic Actuation Based Swimming Robot with Semi-Flexible Fins","authors":"Zakir Ullah, Chen Dixiao, Oksana Tovmachenko, Lin Feng","doi":"10.1109/WRCSARA53879.2021.9612684","DOIUrl":"https://doi.org/10.1109/WRCSARA53879.2021.9612684","url":null,"abstract":"In this paper, A miniature (120 mm) bio-inspired underwater robot is presented which employs labriform or drag-based swimming and is capable of moving at an average speed of 2.7 cm/s (0.25 BL/s). The robot is equipped with a novel electromagnet-based actuator, and when coupled with a permanent magnet, it actuates the fins of the robot thus producing net propulsion. Traditional Contact-based actuators, that are employed for propulsion in the robots’ fins are prone to accidents and require waterproofing, hence a contactless actuator has been developed, which eliminates the need for waterproofing of the actuator and is best suited for underwater applications as the excess heat, generated by the electromagnets is dissipated into the surrounding water. A concave-shaped semi-flexible fin has been designed, which changes its geometry in recovery and power stroke to minimize the hydrodynamic drag force and increase the thrust. This reduced the design complexities of the robot and allowed more room for sensors and other equipment. The designed robot has the potential to form the basis for underwater swarm robots for exploration of seabed, natural resources, inspection of underwater cables, academic research and military applications.","PeriodicalId":246050,"journal":{"name":"2021 WRC Symposium on Advanced Robotics and Automation (WRC SARA)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-09-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128814490","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: 0

Event-triggered Global Adaptive Dynamic Programming for Multi-agent Consistency 多智能体一致性的事件触发全局自适应动态规划

2021 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2021-09-11 DOI: 10.1109/WRCSARA53879.2021.9612665

Guangyue Zhao, Yang Yang, Jinrong Ma

引用次数: 0