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Endoscopic nasal surgery is with minimal invasiveness for the surgical treatment of chronic sinusitis or other nasal diseases. During the endoscopic surgery, the surgeon uses one hand to hold the endoscope and the other hand to hold the surgical instruments within the nasal cavity. In some cases, the endoscope has to be held by the assistant when the surgeon needs to use both hands to manipulate the...
A novel leg-wheel robot, Transleg, is proposed in this paper. Differing from the existing leg-wheel robots, Transleg is driven by wire, so the transmission mechanism is simple and the weight is reduced. Transleg adopts a transformable leg-wheel mechanism which has two degrees of freedom in the legged mode and one degree of freedom in the wheeled mode. The motions in and switching between the two modes...
In order to help spinal cord injury (SCI) patients to walk again, a medical robot exoskeleton have been developed to assist these patients to walk independently in SIAT, Shenzhen. The research of this article is exoskeleton robot single joint load adaptive servo control. Considering the volunteers, wearing an exoskeleton robot, joints have significant changes in load torque and the moment of inertia,...
Robust gait phase prediction is crucial to exoskeleton robots, as it detects the intention of users and improves the lag of motion signals. Therefore, this paper predicts gait phases from two perspectives, including one perspective of spatial features and the other of spatio-temporal features. We employ two machine learning models from the two perspectives to predict. One is support vector machine...
Hot-line Maintenance Robots are widely applied to the repair and maintenance of the transmission lines and electrical equipment. Hot-line operation tasks tend to complexity, diversity and harsh environments. Duce to the advantages of humanoid property, Hot-line Dual-arm robots will get more applied in areas such as detecting, repairing and maintaining of modern power grid. Currently, master-slave...
In recent years, elderly people are suffering an increasingly severe problem in their home due to the falls. Falling down is the most common cause of death among the elderly. This paper proposed a falling detection algorithm based on a humanoid robot to monitor and detect the motion of the elderly who live alone. A stream of the videos obtained from the robot cameras are transmitted to the personal...
This paper studies the leader-following rendezvous with connectivity preservation problem for multiple double integrator systems subject to external disturbances via a self-tuning adaptive distributed observer approach. This approach offers two advantages over the existing approach. First, it removes the existing assumption that all the followers know the system matrix of the leader system. Second,...
A second order quasi-linear model reference tracking control law has been developed for service spacecraft (SS) flying around the target spacecraft (TS) with constant attitude pointing. The integrated relative position and attitude model of SS is established in second order within the framework of line of sight coordinate and Eular angle, and according to problem we considered the reference model...
Array processing, such as micro structure punching, wire bonding of LED array or integrated circuit, laser drilling, is widely used in electronic/optics manufacturing. In the processing, high speed positioning can cause strong excitation on the machine structure, which results in severe structure vibration and long settling time. Especially in multiple target positioning process, vibration exists...
In this paper, a passivity-based controller with the link side on-line gravity compensation for elastic joints of robot manipulators is presented. In this study, a joint level position, torque control law with double loop construction: an outer the motor side position control, and an inner torque feedback are considered. In terms of torque feedback, a physical interpretation is addressed and analyzed...
One long term goal of artificial intelligence research is the development of robot systems, which have approximately the same cognitive, communicational, and handling abilities like humans. For instance, a human-like communication requires an intuitive and symbolic user interface. Since actual robot control systems typically consist of subsymbolic interfaces, the robot must be able to extract subsymbolic...
This paper presents a novel adaptive control strategy for the tracking control of a class of uncertain nonlinear systems with external disturbances as well as for placing arbitrary user-defined time-varying constraints on the system state. As such, our contribution is a step forward beyond the usual stabilization result to show that the states of the plant not only converge asymptotically, but also...
Quality inspection is a task in every production concerned with a product's functionality, as well as its appearance. While dimensional or functional defects can easily be detected automatically, cosmetic defects are still found by skilled personnel only. For high-output productions companies cannot afford to inspect every part for its flawlessness, yet the ever growing demand for impeccable products...
The ability to simultaneously manipulate multiple magnetic particle (or beads) opens up new opportunities in conducting large-scale studies involving multiple biological objects. In this paper we present the development of two control schemes, namely PI control with an arbitrary control sequence and optimal control with a selected control sequence, for simultaneous position-regulation of magnetic...
This paper investigates the problem of robustly globally uniformly exponential stability and L2 control for a class of switched systems with time-varying delay by using mode-dependent average dwell time (MDADT) approach. The MDADT approach is more applicable in practice than the average dwell time method in which each mode in the underlying system has its own average dwell time. Firstly, some sufficient...
This paper is concerned with the guaranteed cost filtering problem for discrete-time multi-layer neural networks with unideal measurements and time-varying delays. First, the innovative state space model of multi-layer neural networks can be described by the weighted-nonlinear function, which means that there have connections among neural layers. Then, the unideal measurements are made up by combination...
Single cell surgery has been gaining increasing attention due to its extensive applications in physiological and pathological of cell research. Orientation control of biological cell is a basic and vital technique required in cell surgery procedures. By adjusting the orientation of the cell appropriately, the components and sites of interest can be captured by a microscope, such that further analysis,...
Effective home energy management system (HEMS) at the consumer level is a crucial part of the future smart home, particularly for electrical power load balancing. In this paper, a feasible and lightweight HEMS is proposed, with a smart socket that is capable of appliance recognition. The smart socket based on appliance recognition could calculate appliance's power consumption and shut off the electrical...
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