2013 IEEE International Conference on Mechatronics and Automation最新文献_第3页

High-speed multiple spatial band-pass filtering using a resistive network 使用电阻网络的高速多空间带通滤波

2013 IEEE International Conference on Mechatronics and Automation Pub Date : 2013-10-03 DOI: 10.1109/ICMA.2013.6618101

S. Yasukawa, H. Okuno, S. Kameda, T. Yagi

引用次数: 3

Experimental validation of load estimation method from the back-EMF for amplitude control method of linear resonant actuator 基于反电动势的负载估计方法用于线性谐振作动器的幅值控制方法的实验验证

2013 IEEE International Conference on Mechatronics and Automation Pub Date : 2013-10-03 DOI: 10.1109/ICMA.2013.6617959

Y. Asai, K. Hirata, T. Ota

引用次数: 2

Neural network based adaptive stability control scheme for teleoperation under asymmetric time delays 基于神经网络的非对称时滞遥操作自适应稳定控制方案

2013 IEEE International Conference on Mechatronics and Automation Pub Date : 2013-10-03 DOI: 10.1109/ICMA.2013.6618025

Yong Liu, Xulong Zhang, Wusheng Chou

引用次数: 2

A method of decreasing transmission time of visual feedback for the Internet-based surgical training system 一种减少基于网络的外科训练系统视觉反馈传输时间的方法

2013 IEEE International Conference on Mechatronics and Automation Pub Date : 2013-10-03 DOI: 10.1109/ICMA.2013.6618037

Jin Guo, Shuxiang Guo, Nan Xiao

{"title":"A method of decreasing transmission time of visual feedback for the Internet-based surgical training system","authors":"Jin Guo, Shuxiang Guo, Nan Xiao","doi":"10.1109/ICMA.2013.6618037","DOIUrl":"https://doi.org/10.1109/ICMA.2013.6618037","url":null,"abstract":"The Internet-based robotic catheter operating system for Vascular Interventional Surgery (VIS) provides a promising way to enhance emergency medical care and to train novice doctors to learn basic wire or catheter handling skills across the whole world. However, variable and unpredictable transmission time delay of visual feedback is always associated with the significant deterioration of the operability and may result in damage to organs in actual surgery. In this paper, we proposed a new method to reduce transmission time of visual feedback effectively based on image processing technique. At surgical site, the shape of active catheter is tracked in real time to provide coordinates of catheter in real vascular structure. And at operation site, position of catheter is reconstructed in 2-dimensional and 3-dimensional blood vessel model which has the same geometrical structure with that at surgical site according to the coordinate values received from surgical site. Transmission time of visual feedback is therefore decreased due to significant reduction of data volume. Finally, we present results from a visually guided tele-operative experiment where show that the proposed method makes a significant performance improvement for tele-operation with delays corresponding to inter-country distances.","PeriodicalId":335884,"journal":{"name":"2013 IEEE International Conference on Mechatronics and Automation","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132961342","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: 5

Dynamic performance analysis of a robotic catheter manipulating system 机器人导管操纵系统的动态性能分析

2013 IEEE International Conference on Mechatronics and Automation Pub Date : 2013-10-03 DOI: 10.1109/ICMA.2013.6618015

Xu Ma, Shuxiang Guo

{"title":"Dynamic performance analysis of a robotic catheter manipulating system","authors":"Xu Ma, Shuxiang Guo","doi":"10.1109/ICMA.2013.6618015","DOIUrl":"https://doi.org/10.1109/ICMA.2013.6618015","url":null,"abstract":"Manual operation of steerable catheter is inaccurate in minimally invasive surgery, requires dexterous and efficient manipulation for the catheter and exposes the surgeons to intense radiation. A novel robotic catheter manipulating system has been developed to reduce the performance error and irradiation to surgeons. In addition, unlike the conventional technique which requires surgeons to manipulate the catheter using their hands, remote systems always have removed surgeons' hands and replaced from joystick and handle, thus withdrawing their unique skills and experience. The novel robotic catheter manipulating system proposed that surgeon could manipulate the catheter that is same to the surgeries' often use. The surgeon console (the master side) used to measure the axial and radial motions of input catheter and the catheter manipulator (the slave side) used to implement to patients. Performance evaluation of system was conducted to test both the dynamic and static performance of manipulation. The experimental results showed the system has the ability to be a training system for surgeons and also facilitate the interventional surgery in the future.","PeriodicalId":335884,"journal":{"name":"2013 IEEE International Conference on Mechatronics and Automation","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129401084","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

A cross structured light sensor for weld line detection on wall-climbing robot 一种用于爬壁机器人焊缝检测的交叉结构光传感器

2013 IEEE International Conference on Mechatronics and Automation Pub Date : 2013-10-03 DOI: 10.1109/ICMA.2013.6618081

Liguo Zhang, Wei Ke, Zhenjun Han, Jianbin Jiao

引用次数: 11

Modeling and control of a novel Hybrid Ground Aerial Robot 一种新型混合地面航空机器人的建模与控制

2013 IEEE International Conference on Mechatronics and Automation Pub Date : 2013-10-03 DOI: 10.1109/ICMA.2013.6618146

M. Elsamanty, M. Fanni, A. Ramadan, A. Abo-Ismail

{"title":"Modeling and control of a novel Hybrid Ground Aerial Robot","authors":"M. Elsamanty, M. Fanni, A. Ramadan, A. Abo-Ismail","doi":"10.1109/ICMA.2013.6618146","DOIUrl":"https://doi.org/10.1109/ICMA.2013.6618146","url":null,"abstract":"This paper presents the dynamic modeling and control simulation of a novel robot that combines flying motion and on ground motion into an integrated single robot. The ground motion is based on four wheels configuration that provides more stability. The flying motion is depending on the flying mechanism of quadrotor system. Smart transformation mechanism is developed to switch the robot from the ground motion configuration to the flying motion configuration and vice versa without adding any additional actuators. A manipulator with 3 DOF is added to handle an object during the ground motion and it is useful to hold this object during the flying motion. A CAD model is developed using SOLIDWORKS. The dynamic model of this robot is derived to achieve the eccentricity of the payload, the weight of the eccentric manipulator and managing the variation of the payload in the dynamic model. The derived robot dynamics are highly nonlinear. A controller is designed based on feedback linearization technique to stabilize the robot attitude and altitude. Controlling the horizontal movements' nonholonomic constraints is used to generate the desired trajectories of robot attitudes. Another dynamic model and controller have been established for the transformation mechanism. Finally, the simulation results using MATLAB/SIMULINK show that the controller successfully vanish the eccentric effect and stabilize the robot attitude.","PeriodicalId":335884,"journal":{"name":"2013 IEEE International Conference on Mechatronics and Automation","volume":"44 4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128877600","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: 6

Robust μ control and repetitive control for dynamic tracking control of a pneumatic actuating table 气动作动台动态跟踪控制的鲁棒μ控制和重复控制

2013 IEEE International Conference on Mechatronics and Automation Pub Date : 2013-10-03 DOI: 10.1109/ICMA.2013.6617937

Sheng-Chih Hsu, Chi-Ying Lin

引用次数: 2

Advanced control for magnetostrictive actuated nano-stage 磁致伸缩驱动纳米级的先进控制

2013 IEEE International Conference on Mechatronics and Automation Pub Date : 2013-10-03 DOI: 10.1109/ICMA.2013.6618010

Xinkai Chen

引用次数: 1

An active-caster drive system for motorizing a manual wheelchair 一种驱动手动轮椅的主动脚轮驱动系统

2013 IEEE International Conference on Mechatronics and Automation Pub Date : 2013-10-03 DOI: 10.1109/ICMA.2013.6618078

Yu Munakata, Aki Tanaka, M. Wada

引用次数: 7