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57
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Introduction
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September 2014 - September 2015
September 2014 - present
September 2009 - present
Publications
Publications (57)
This paper proposes a strategy for a group of swarm robots to self-assemble into a single articulated(legged) structure in response to terrain difficulties during autonomous exploration. These articulated structures will have several articulated legs or backbones, so they are well suited to walk on difficult terrains like animals. There are three t...
This paper presents a self-assembly control strategy for the swarm modular robots. Simulated and physical experiments are conducted based on the Sambot platform, which is a novel self-assembly modular robot having the characteristics of both the chain-type and the mobile self-reconfigurable robots. Multiple Sambots can autonomously move and connect...
Modular robot are said to construct a diversity of morphogenesis with self-assembling strategies. They bring about an adaptive entity to deal with complex tasks. By analyzing integration design in module, perception, and control in detail, a swarm modular robot is presented with self-assembly scenario. Then, these active docking robots use the dist...
Ultrasound-guided percutaneous puncture technology has advantages such as intra-operative real-time imaging, non-invasive operation, high targeting accuracy, non-ionizing radiation and low cost. However, traditional percutaneous puncture surgery requires doctors to hold ultrasound probes or puncture needles, which causes complex operation. In this...
Many engineering design optimization problems can be represented as mixed-variable optimization problems. This study presents a heuristic approach for solving mixed-variable optimization using rotation and contraction of vectors. The current optimization algorithm, known as rotate-vector, has shown promising results in solving optimization problems...
A model-free iteration algorithm is presented to obtain the optimal control policy for an linear system in this paper. A novel identification model is introduced, based on which policy updating laws under the Pontryagin’s framework is established. Three types of convergence accuracy judgments are used, which determine the convergence accuracy of th...
Focused ultrasound-assisted diamond wire sawing (DWS) is proposed in order to improve the sawing performance in terms of sawing force, surface finish, and edge chippings. Under the streaming effect of acoustic wave, the diamond wire saw is forced to move at high frequency. The highest acoustic pressure is obtained at the focal point according to th...
Force feedback in robot-assisted surgery is important to enhance the immersion of intraoperative operations. In this paper, a miniaturized small-range three-dimensional force sensor is designed for surgical robots. We presented the elastomer structure design and performed mechanical modeling analysis, finite element force and deformation verificati...
In this paper, a data-driven differential dynamic programming (DDP) algorithm is presented for the optimal tracking problems of nonlinear affine systems with unknown drift dynamics. Optimal tracking dynamics are established between the system states and expected trajectory. By using the DDP method and test data, a second-order data-driven framework...
The master-slave teleoperation control system is the key to realizing the dexterous hand to grasp objects stably. This paper introduces a scheme for stable remote control of multi-fingered dexterous hands through a master and slave teleoperation control system based on exoskeleton. This scheme uses an exoskeleton glove developed based on Arduino an...
We optimize a dynamic vibration absorber (DVA) model equipped with an additional amplifying mechanism using the H_inf optimization criterion, which aims to minimize the maximum frequency response amplitude of the primary structure. This optimization problem is widely investigated using the fixed-point method, which, however, works only when the pri...
With the advance of smart material science, robotics is evolving from rigid robots to soft robots. Compared to rigid robots, soft robots can safely interact with the environment, easily navigate in unstructured fields, and be minimized to operate in narrow spaces, owning to the new actuation and sensing technologies developed by the smart materials...
Grasping is an important and fundamental action for the interaction between robots and the environment. However, because grasping is a complex system engineering, there is still much room for development. At present, many studies use regression to solve the problem of grasp detection or use the unstable 3D point cloud as input, which may cause poor...
The robot dexterous hand is a highly flexible and complex end-effector. In response to the complex drive transmission mechanical structure of the traditional humanoid dexterous hand and the difficulty of assembly and maintenance control, etc., a modular linkage-driven robotic finger is designed in this paper based on a linkage drive mechanism. It h...
Modular robots have the advantage of self-assembling into a large and complex structure to travel through territories beyond an individual robot’s capacity. A swarm of mobile robots is combined through mechanical interconnection and joint actuation to achieve a linked or articular configuration. In this paper, to enhance the perception, actuation a...
Coal gangue is a kind of industrial waste in the coal mine preparation process. Compared to conventional manual or machine-based separation technology, vision-based methods and robotic grasping are superior in cost and maintenance. However, the existing methods may have a poor recognition accuracy problem in diverse environments since coals and gan...
Ultrasonic vibration assisted (UVA) cutting has been proven to be an effective method for improving machining behavior in processing hard and brittle materials. However, there is no investigation on three-dimensional (3D) UVA diamond wire sawing (DWS). In this paper, a novel 3D vibration assisted DWS system is developed. A theoretical model is esta...
A data-driven differential dynamic programming (DDP) algorithm is presented to obtain the optimal control policy for an unknown system in this paper. Firstly, we recombine the nonlinear system based on tracking error and expected trajectory, which transforms the optimal tracking problem into the optimal control problem. Then, we construct a data-dr...
Ultrasonic vibration treatment is being utilized to improve adhesive bonding performance, but the mechanisms remain unclear. Moreover, few studies have been carried out on improvement of adhesive bonding of ceramic matrix composites (CMCs) by ultrasonic vibration. In this work, a mathematical model based on fluid mechanics and capillary rise theory...
Background
In recent years, surgical robots have become an indispensable part of the medical field. Surgical robots are increasingly being used in the areas of gynecological surgery, urological surgery, orthopedic surgery, general surgery, etc. In this paper, the development of surgical robots in different operations is reviewed and analyzed. In th...
Robotics, once combined with cold atmospheric plasma, represent key elements of the next generation of personalized medicine and contribute to the effective yet immediate response to pandemics. Plasma robots can serve as CAP delivery vehicle to assist in tumor therapeutics and viral disease prevention in addition to the already prevalent utilities...
In daily life, there are a variety of complex sound sources. It is important to effectively detect certain sounds in some situations. With the outbreak of COVID-19, it is necessary to distinguish the sound of coughing, to estimate suspected patients in the population. In this paper, we propose a method for cough recognition based on a Mel-spectrogr...
Bone sawing has been widely used in performing bone surgery. However, thermal necrosis, loss of cutting precision and surface damage may occur in cutting process. The primary objective of this research is to improve cutting performance of bone by advantages of diamond wire sawing. Mechanism of material removal, cutting force, temperature and surfac...
To balance the accuracy and efficiency in multiple-view triangulation with sequential images, a high-efficiency propagationbased incremental triangulation (INT) method, carving three-dimensional (3D) scene points by updating the incoming feature track one by one without iterations, is proposed. Based on the INT method, a more accurate iteration-lim...
The exoskeleton robot is worn by the human operator, which can be designed as an assistance, augmentation or interaction device for rehabilitation or teleoperation field. Human-robot interaction control is important for an upper limb exoskeleton robot. An impendence control model for an upper limb exoskeleton robot is proposed and the dynamics mode...
Bio-inspired mechanism not only needs to be able to reproduce the movement laws of creature, but also has its shape. In order to simplify the design process and improve the design efficiency of one-degree-of-freedom (DOF) bio-inspired mechanism (especially six-bar or eight-bar mechanism), a design method based on layered constraint conditions is pr...
Ceramic matrix composites (CMC) are highly required in many fields of science and engineering. However, the CMC parts always have poor surface finish. This study attempts to improve cutting performance of CMC material by combing the advantages of ultrasonic assisted cutting and diamond wire sawing. Cutting force, surface roughness, machined edge an...
Background
The improvement of the steer‐ability and controllability of catheters is highly required because catheter‐based interventional diagnosis and therapy have become increasingly popular. However, active catheters are often complex and expensive.
Methods
This paper attempts to control catheter tip by a twisted string actuator. Experiments ar...
In this paper, the tracking control problem is investigated for time-varying nonlinear mechanical systems with and without frictions. A reduced-order dynamic and a traditional time-invariant Lyapunov design method is utilized for the case without frictions. Based on the traditional results, a new class of time-varying Lyapunov functions is provided...
In this article, a design of honeycomb structure–based soft continuum manipulator is proposed to achieve higher structural strength while keeping compact layout, low material consumption, and thinner wall. At first, a pneumatic deformable cell is designed to simulate the beehive hexagon structure. Secondly, cell units are combined together in a par...
We present a self-assembly planning algorithm to allow regular modular robots to assemble into some specified shapes. By tiling a shape using connected lattices in accordance with the robotic geometry, a parallel sequence is obtained to plan self-assembly in successive layers. Robots are identical and autonomous. They use local interactions to seek...
In this paper, we present a co-evolution framework of configuration and control for swarm self-assembly robots, Sambots, in changing environments. The framework can generate different patterns composed of a set of Sambot robots to adapt to the uncertainties in complex environments. Sambot robots are able to autonomously aggregate and disaggregate i...
Calibration is often an important and necessary step in the use of image-guided systems. In the case of the AX = YB problem, the relative hand-eye (X) and robot-world (Y) transformations must be determined to provide accurate data for use in control. As an added difficulty, the exact correspondence between the streams of sensor data (A's and B's) i...
Autonomous docking is a focus of research in the field of self-assembly robots. Navigation is a significant stage in the process of autonomous docking between two robotic modules; it determines the efficiency of docking and even the success and failure of the docking task. In most cases, it is too difficult to simultaneously satisfy both linear and...
With the development of bionic engineering, research into bionic robots has become a popular topic. In this field, the design of robotic mechanisms to realize the locomotion of insects forms a significant research branch. The current paper presents a caterpillar robotic mechanism that is composed of our newly-developed self-assembly modular robots...
Swarm robots can assemble different structures to adapt to the changing environmnts. This video shows the newly proposed Sambot form different robotic structures to climp the obscales to finish a phototaxis task in two ways, inculduing simulation and hardware experiments. According to a general control framework for the swarm robots with self-assem...
In this paper, we proposed a general control framework for the swarm robots with self-assembly in real environments. There are three tasks: exploration task, self-assembly task and locomotion task. At the start, the swarm robots explore the environment using their sensors and make decision to form some robotic structures to finish the task. Then th...
In our previous work, we have proposed a distributed self-assembly method based on Sambot platform. But there have interference
of the infrared sensors between multiple Sambots. In this paper, two interference problems with multiple DSAs are solved and
a novel simultaneous self-assembly method is proposed to enhance the efficiency of the self-assem...
This paper presents algorithm design and prototype experiments on an evolutionary swarm self-assembly robot (Sambot). Multiple Sambots can be self-assembled to form a robotic structure further to generate the whole-body locomotion. For whole-body locomotion, a unity control method is more difficult to design than for ordinary robots because self-as...
This paper presents a novel self-assembly modular robot (Sambot) that also shares characteristics with self-reconfigurable and self-assembly and swarm robots. Each Sambot can move autonomously and connect with the others. Multiple Sambot can be self-assembled to form a robotic structure, which can be reconfigured into different configurable robots...
