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Research on master-slave Telerobot Force Telepresence Technology

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Journal of Harbin Institute of Technology(New Series) 1997年第4期4卷 69-72页

作者：蔡鹤皋陈卫东贾国武赵杰 hs.ulaval.ca

A 3 DOF master-slave telerobot system is established for study on force telepresence technology. A force feedback and position control scheme is adopted in the bilateral force response control system,and force fidelit... 详细信息

关键词： master-slave telerobot force telepresence bilateral force response control manoeuvrability

Eye Robotic System for Vitreoretinal Surgery

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Journal of Shanghai Jiaotong university(Science) 2022年第1期27卷 1-6页

作者： DAI Qianlin XU Mengqiao SUN Xiaodong XIE Le Institute of Forming Technology&Equipment Shanghai Jiao Tong UniversityShanghai 200030China Department of Ophthalmology Shanghai General HospitalShanghai 200080China Institute of Medical Robotics Shanghai Jiao Tong UniversityShanghai 200240China

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 ***,robot-assisted ophthalmic surgery is a potential and efficient *** 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 *** forward and inverse kinematics are analyzed for the controller ***,algorithms with motion scaling are also integrated into the control architecture for the purpose to enhance the surgeon’s operation ***,experiments on an eye model are *** results show that the eye robotic system can fulfill surgeon’s motion following and simulate operation of vitrectomy,demonstrating the feasibility of this system.

关键词： robot assistance eye surgery kinematics master-slave

A　Study　on　Control　System　of　Robot　Working　Unit　for　Automatically　Welding　Nipples　onto　Header　of　Boiler

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Journal of Harbin Institute of Technology(New Series) 1996年第2期3卷 64-68页

作者：陶谦于树锋姜山曹佩军 hs.ulaval.ca Robot Research Institute Harbin Institute of Technology Harbin 150001 China

The difficult problem of automatically welding nipples onto the header is first analyzed in this paper, and then the overall structure and operating principle of the robot working unit are introduced. The robot and the measuring device are located by employing the traveling lorry, and this unit enables the robot to adjust the tracks according to the errors received from the measuring device, and then the nipples are welded properly. This paper emphases on the development of the master-slave control system, in which the prograrmmable Logic Controller (PLC) is used as the master computer.

关键词： ss:Header nipple PLC robot control welding working unit master-slave control

Design of Distributed Temperature Measurement System for Switchgear

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Energy and Power Engineering 2013年第4期5卷 958-961页

作者： Qingsong Yang Jianfei Yang Huaren Wu Long Liu School of Electrical and Automation Engineering Nanjing Normal University Nanjing China

This paper develops a novel distributed temperature measurement system based on DSP and DS18B20 digital thermometer. The real-time temperature of each node in the switchgear is obtained by several DS18B20s which are connected on the 1-wire bus together. RS-485 master-slave communication protocol is used to centralize monitoring temperatures of several switchgear cabinets. The system also has the function of temperature alarm. The operation of simulation experiment has showed that the system is able to complete monitoring real-time temperatures in high voltage switchgear.

关键词： High Voltage Switchgear Distributed Temperature Measurement 1-wire Bus RS-485 master-slave Communication

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分布式并行粒子滤波算法结构分析与研究

计算机工程与设计 2009年第6期30卷 1444-1445,1558页

作者：王丹玲贾笑捷王京玲张勤中国传媒大学信息工程学院北京100024

粒子滤波器是解决非线性/非高斯系统状态估计的有效技术,广泛应用于目标跟踪、无线通信、自动控制等领域。但因其计算复杂、计算量庞大等缺陷,无法满足实时系统的应用需求。针对粒子滤波器计算量大、实时性差的问题,提出了一种基于MPI... 详细信息

粒子滤波器是解决非线性/非高斯系统状态估计的有效技术,广泛应用于目标跟踪、无线通信、自动控制等领域。但因其计算复杂、计算量庞大等缺陷,无法满足实时系统的应用需求。针对粒子滤波器计算量大、实时性差的问题,提出了一种基于MPI的分布式并行粒子滤波算法,给出了master-slave并行模式下任务分配、数据划分与负载平衡策略。实验结果表明,若忽略通信代价,加速比基本呈线性增长。

关键词： MonteCarlo 粒子滤波器分布式并行算法 MPI master-slave