Eye Robotic System for Vitreoretinal Surgery

Micro incision vitrectomy system (MIVS) is considered to be one of the most difficult tasks of eye surgery,due to its requirements of high accuracy and delicate operation under blurred vision environment.There-fore,robot-assisted ophthalmic surgery is a potential and efficient solution.Based on that consideration,a novel master-slave system for vitreoretinal surgery is realized.A 4-DOF remote center of motion (RCM) mechanism with a novel linear stage and end-effector is designed and the master-slave control system is implemented.The forward and inverse kinematics are analyzed for the controller implementation.Then,algorithms with motion scaling are also integrated into the control architecture for the purpose to enhance the surgeon's operation accu-racy.Finally,experiments on an eye model are conducted.The results show that the eye robotic system can fulfill surgeon's motion following and simulate operation of vitrectomy,demonstrating the feasibility of this system.     

智能果蔬分拣机器人系统设计

农业机器人的广泛应用是农业机械化得以实现的必由之路与重要标志，也是我国跻身世界农业强国之列的基本前提。基于虚拟样机与3D打印技术，研究建立果蔬分拣机器人运动模型，设计一种多功能欠驱动末端执行器，可对条形和类球形果蔬实施有效抓取；采用运动仿真等相关软件对重要工作部件进行结构分析和优化，确定其最佳参数值；最后搭建试验平台进行验证，并对农业机器人的发展前景进行展望。     

平面二自由度冗余驱动并联机器人控制实验研究

对平面二自由度冗余驱动并联机器人进行了逆运动学分析,由末端执行器的位置计算得到主动关节角的位置.分别采用传统的PID控制方法和PID+速度前馈补偿+加速度前馈补偿的方法对并联机器人轨迹跟踪问题进行了实验研究.通过比较2种控制方法的轨迹跟踪效果和比较由连接在连杆上的加速度传感器测量的振动大小,证明了PID+速度前馈补偿+加速度前馈补偿的方法能更好地实现轨迹跟踪.     

基于多目标优化的病态逆问题求解

针对科学和工程研究中的病态逆问题,提出了基于多目标优化的求解方法.该方法将各次观测所得问题方程组残差作为多目标,并进一步将该多目标转化为单一目标,通过遗传算法寻求问题最优解,从而利用多次观测的有效信息,达到稳定病态逆问题解的目的.数值算例表明,该方法在参数反演精度和抗噪方面,显著优于最小二乘法(LS);在中、低噪声水平上的相关性态优于Tikhonov正则化方法.     

单路口感应信号控制优化设计及其仿真

为有效解决平面交叉口的交通信号控制问题,提高交叉口交通信号控制效率,使交叉口具有最高的通行能力和最小的延误,就必须综合利用不同检测信息。文章借助于VISSIM软件,提出了一种新的感应信号控制方法．并对单个路口进行感应信号控制优化设计,最后运用VISSIM软件对所设计的感应信号控制进行了仿真分析。     

压电陶瓷驱动微小型机器人的运动分析与仿真

为满足桌面工厂对机器人在平面内大行程、高精度和全方位运动的要求,研制了一种压电陶瓷驱动的微小型机器人.该机器人采用stick-and-slip运动原理,通过压电陶瓷和电磁铁的配合动作,在铁磁性工作表面上实现了前进、后退、左转、右转和原地旋转运动.在假设平行配置的压电陶瓷驱动器在每一步的运动过程中保持平行基础上,分析了一步运动中机器人的4个支撑脚的坐标变化情况,进而推导出在该条件下反映机器人位姿变化的运动学差分模型.计算结果显示,机器人直线运动最大步长为0.042 0 mm,旋转运动最大偏转角度为0.185°/步.通过开环轨迹控制、点-点位姿控制和路径跟踪闭环控制实验,验证了机器人应用于桌面工厂时的可行性.     

中小跨径斜拉桥索力优化的“二阶段法”

以影响矩阵理论为基础,以有约束优化法及正装分析法为核心,提出中小跨径斜拉桥索力优化"二阶段法",并结合算例加以验证.该方法省去倒装分析过程,可以快速求出合理成桥与施工索力,对中小跨径斜拉桥成桥及施工阶段分析的索力优化计算具有实用意义。     

中小跨径斜拉桥索力优化的“二阶段法”

以影响矩阵理论为基础,以有约束优化法及正装分析法为核心,提出中小跨径斜拉桥索力优化"二阶段法",并结合算例加以验证.该方法省去倒装分析过程,可以快速求出合理成桥与施工索力,对中小跨径斜拉桥成桥及施工阶段分析的索力优化计算具有实用意义。     

A new solution to the inverse position analysis of the redundant serial robot

A new solution to the inverse position analysis of the redundant serial robot is presented. The inverse position analysis problem of the redundant serial robot is transformed into a minimization problem and then the optimization method is adopted to solve the nonlinear least square problem with the analytic form of a new Jacobi matrix. In this way, the inverse solution of the redundant serial robot can be searched out quickly under the desired precision when the positions of the three non-collinear end effector points are given. The inverse position analysis of the 7R redundant serial robot is illustrated as an example and the simulation results verify the efficiency of the proposed algorithm.     

PRINCIPLE, CONSTRUCTION AND KINEMATIC ANALYSIS FOR THE OMNIDIRECTIONAL MOBILE ROBOT——ICE-SKATER ROBOT

IntroductionAccording to Prof.Shigeo Hirose,there arethree main basic types of locomotion for mobilerobot:1 artificial rotational device,such as wheelsand crawlers,2 legs and 3articulated bodies,which is similar to the body of a snake[1] .Thelegged robot can move on not only an even groundbut rugged terrain and makes omnidirectional mo-tion without slippage,it will increase the totalweight of the robotifa number ofbulky and heavyactuators,steering and braking mechanisms are at-tached to the m…     

Study on Distributed Motion of Self-Reconfigurable Robot Based on Local Rules

The eigenvector of a module with six adjacent module's state was constructed according to self-reconfigurable robot M-Cubes and the configuration of system was expressed with the eigenvectors of all modules.According to the configuration and motion characteristics of the modules,a 3-dimension motion rule set was provided.The rule sets of each module was run according to eigenvector of the module after the motion direction of system decided and motion rules were selected.At last,the rapid and effective motion and metamorphosis were realized in system.The rule sets are operated on three systems and the distributed motion of system is fully realized.The result of simulation shows that the 3-dimension motion rule sets has perfect applicability and extensibility.The motion steps and communication load of the modules increase with the module number in linear.     

六自由度重载装配机械手运动学分析及求解

针对汽车装配生产线作业对重载高精度的自动设备的需求,设计了一种液压驱动的六自由度多功能重载装配机械手。运用Denavi-Hartenberg(D-H)方法构建了机械手的运动学模型,分析了重载装配机械手的工作原理和正、逆运动学求解方法。从机械手的正、逆运动学方程的求解结果可以看出,采用液压方式实现对机械手6个自由度的驱动,具有驱动力大、操作简单、安装准确的特点,可适应多种汽车重载装配的需要。     

A Closed Form Solution to Segment 3D Motion Using Straight-line Optical Flow

A closed form solution to the problem of segmenting multiple 3D motion models was proposed fromstraight-line optical flow. It introduced the multibody line optical flow constraint (MLOFC), a polynomial equation relating motion models and line parameters. The motion models can be obtained analytically as the derivative of the MLOFC at the corresponding line measurement, without knowing the motion model associated with that line. Experiments on real and synthetic sequences were also presented.     

贝塞尔大地主题反解的改进算法

为了解决目前贝塞尔大地主题反解算法不统一与存在适用条件限制的问题,根据球面三角形正、余弦定理和拉格朗日级数理论,用计算机代数系统推导并给出一种改进的大地主题直接反解的微分改正方法.该算法消除了逐次趋近计算,适用传统反解算法中的奇异情况,解决了求解三角方程中方位角的多值对应问题.试验结果表明,当大地线长度小于20 000 km时,算法精度高达0.000 1 s,具有通用性,特别适用于电算化,对远洋大地线航法计算具有一定的应用价值.     

一种冗余度机器人零空间中的混沌

基于反馈线性化控制理论，推导出了平面3R刚性冗余度机器人的零动态方程。通过Poincare映射图和采用最大Lyapunov指数方法，对平面3R刚性冗余度机器人零空间运动状态(规则或混沌运动)进行了数值模拟，获得了它的自运动状态与其零空间中的矢量之间的关系．研究结果表明，冗余度机器人自运动中的混沌现象不仅与初始条件有关，也与其零空间中的矢量有直接关系。     

A closed form solution to segment 3D motion using straight-line optical flow

A closed form solution to the problem of segmenting multiple 3D motion models was proposed from straight-line optical flow. It introduced the multibody line optical flow constraint （MLOFC）, a polynomial equation relating motion models and line parameters. The motion models can be obtained analytically as the derivative of the MLOFC at the corresponding line measurement, without knowing the motion model associated with that line. Experiments on real and synthetic sequences were also presented.     

基于VisVAP的改进双环相位感应控制

现有感应控制多是从自身入手,并没有结合信号相位,因此控制效果并不明显.通过研究美国NEMA TS2标准中的双环相位结构和感应控制的特点,提出了一种改进双环相位感应控制算法.并以临汾市自适应系统控制项目为依托,将VISSIM与VisVAP相结合,对这种改进双环相位感应控制方式在典型交叉口应用的有效性进行了验证.     

69型道岔移动小车的研制与应用

根据高速铁路道岔铺设施工要求,提出了一套结构简单、成本低廉而且只须依靠人力就可完成设备本身的拆装并能满足道岔对位、调试的道岔移动小车。介绍了道岔移动小车的主要结构和技术参数,并简述了施工工艺,最后进行了技术经济分析。     

磁流变半主动座椅悬架建模及振动特性分析

磁流变阻尼器力学模型及控制电流逆模型对半主动控制系统的控制精度具有重要影响.采用正弦及余弦型魔术公式，基于骨架曲线与滞回分离的建模方法，建立改进的磁流变阻尼器动态阻尼力模型；采用基于Sobol序列的差分-禁忌混合优化算法对阻尼力模型进行参数识别，构建包含激励特性及控制电流参数的通用数学模型；在试验测试及正向模型基础上，利用自适应神经模糊系统建立阻尼器控制电流逆模型.研究结果表明：本文建立的正逆模型均能够有效表征磁流变阻尼器的非线性行为及滞回特性；改进魔术公式模型在不同激励特性及电流工况下的平均百分比误差在3.4%附近变化；逆向动力学模型计算的控制电流误差均方根值为0.086 9～0.1171 A；经过控制电流逆模型与阻尼器正向模型串联模型计算的预测阻尼力误差均方根值为阻尼器最大阻尼力的5.6%；通过试验测试与仿真结果对比，验证了本文提出的阻尼器数学模型具有较好的精度和适用性，能够改善座椅悬架系统振动传递特性.     

基于CORS的手机移动终端定位系统的设计

分析了高精度手机移动终端定位系统建立的必要性和可行性;提出了一种提高手机移动终端定位精度的实现方法;阐述了基于CORS的手机移动终端定位系统的基本内容和结构框架,通过手机解算和服务器解算两种模式进行了实现。