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research on the positioning problem in HIFU surgery platform application

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Journal of Harbin Institute of Technology(New Series) 2006年第3期13卷 272-279页

作者：项林清高雪官许剑波马培荪 robot research Institute Shanghai Jiaotong University Shanghai 200030 China

For describing the positioning process of High Intensity Focused Ultrasound (HIFU) Surgery Platform in the application in tumor treatment, a simplified representation of the shape and location of the positioning target tumor in the workspace of the platform by the Positioning Volume Ellipsoid is designed; and the Nearest Neighbor Search method is used to find the closest center point of the simplified ellipsoid tumor model in a selected patient body surface point set determined by the motion parameter of the platform. By the query result the goal positioning path configuration and an intermediate positioning path configuration for the positioning motion are determined for the positioning motion planning. Three new criterions using distance change between Positioning Volume Ellipsoid and the Ultrasound Focus Ellipsoid are proposed to evaluate the result of the whole positioning procedure.

关键词： focused ultrasound key configuration positioning volume ellipsoid nearest neighbor

Collaborative task planning for an internet based multi-operator multi-robot system

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Journal of Harbin Institute of Technology(New Series) 2005年第2期12卷 153-158页

作者：高胜赵杰蔡鹤皋 robot research Institute Harbin Institute of Technology Harbin 150001 China

In an Internet based multi-operator and multi-robot system (IMOMR), operators have to work collaboratively to overcome the constraints of space and time. Inherently, the activities among them can be defined as a computer-supported cooperative work (CSCW). As a practical application of CSCW, a collaborative task planning system (CTPS) for IMOMR is proposed in this paper on the basis of Petri nets. Its definition, components design, and concrete implementation are given in detail, respectively. As a result, a clear collaboration mechanism of multiple operators in an IMOMR is obtained to guarantee their task planning.

关键词： Internet multi-operator multi-robot CSCW task planning Petri nets precedence graph

Safety architecture of internet based multi-robot teleoperation system

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Journal of Harbin Institute of Technology(New Series) 2005年第6期12卷 599-602页

作者：赵杰高永生蔡鹤皋 robot research Institute Harbin Institute of Technology Harbin 150001 China

Safety subsystem is one of the important parts in robot teleoperation system. In this paper, a safety architecture of safety subsystem in Internet based multi-operator-multi-robot (MOMR) teleoperation system is presented. The subsystem is divided into three layers in its logic architecture: interactive monitor layer, collaborative control layer and real-time control layer. The safety problems and the related strategy are clarified by detailed analysis of each layer and relationship among the layers. So we can obtain a high performance MOMR teleoperation system with multi-layer safety architecture.

关键词： teleoperation safety architecture multi-operator-multi-robot (MOMR) coordination

Curvature Optical Fiber Whiskers for Mobile robot Guidance

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High Technology Letters 2001年第3期7卷 79-83页

作者：刘仁强 robot research Institute Harbin Institute of Technology Harbin 150001 China

A novel optical fiber tactile sensory system is proposed for obstacle avoidance of mobile robot. The principle of this whisker like tactile sensor is based on the geometric curvature changes of the optical fiber, which modulate the optical fiber′s light output. With high compliance of plastic optical fiber, the whiskers can produce only small flexing force upon mechanical contact with an obstacle. It can produce reliable proximity signals in extended tactile range, which can be translated into a larger stopping distance for the mobile robot. This sensor is lightweight, and of low cost to allow as many sensor, as necessary to be mounted on a robot.

关键词： Optical fiber Curvature sensor Mobile robot

Kinematics of novel 6-HTRT parallel robot

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Journal of Harbin Institute of Technology(New Series) 2002年第2期9卷 121-124页

作者：于晖孙立宁刘品宽蔡鹤皋 *** robot research Institute Harbin Institute of Technology Harbin 150001 China

A parallel robot featwes low inertia moment of end effector, high mechanical rigitity, high mobility, no accumulation of motion error at end effector and high capacity of load, and it has found a wide applications in various fields such as automobile assembly line, earth digging machine, conjuncture of aircraft and flight simulator. In this paper the kinematics of a novel style 6 HTRT Parallel robot is studied. The algorithm for an inverse kinematic problem of the parallel robot considering the constraint condition is presented. By the use of vector cross product method, the comprehensive coefficient of the parallel mechanism is introduced and the Jacobian matrix of a 6 HTRT parallel robot is presented. The relationship between the velocity of end manipulator and the generalized velocity is also studied with the method of Jacobian matrix. Using the result of study in mechanical dimension synthesis, better performance is achieved with the parallel robot. In motion control, it will be helpful for us to simplify the control algorithm and make more efficient trajectory planning.

关键词： Parallel robot inverse kinematic problem jacobian matrix influence coefficient

Collision avoidance planning in multi-robot system based on improved artificial potential field and rules

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Journal of Harbin Institute of Technology(New Series) 2009年第3期16卷 413-418页

作者：原新朱齐丹严勇杰 robot research Institute Harbin Institute of Technology College of Automation Harbin Engineering University

For real-time and distributed features of multi-robot system,the strategy of combining the improved artificial potential field method and the rules based on priority is proposed to study the collision avoidance planning in multi-robot systems. The improved artificial potential field based on simulated annealing algorithm satisfactorily overcomes the drawbacks of traditional artificial potential field method,so that robots can find a local collision-free path in the complex environment. According to the movement vector trail of robots,collisions between robots can be detected,thereby the collision avoidance rules can be obtained. Coordination between robots by the priority based rules improves the real-time property of multi-robot system. The combination of these two methods can help a robot to find a collision-free path from a starting point to the goal quickly in an environment with many obstacles. The feasibility of the proposed method is validated in the VC-based simulated environment.

关键词： artificial potential field simulated annealing avoiding rules collision avoidance planning multirobots

A Fully Actuated System Approach for Stabilization of Discrete-Time Multiple-Input Nonlinear Systems with Distinct Input Delays

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Journal of Systems Science & Complexity 2022年第2期35卷 670-687页

作者： WU Ai-Guo ZHANG Jie JI Youzhou Harbin Institute of Technology(Shenzhen) Shenzhen 518055China HIT Wuhu robot Technology research Institute Wuhu 241008China

In this paper,the problem of stabilization is considered for discrete-time multiple-input nonlinear systems with distinct input delays law based on the fully actuated system *** order to compensate the input delays,a prediction scheme is presented to predict future states based on the closed-loop linear ***,a stabilizing law is constructed for nonlinear delayed systems by replacing the future states in the control law for the corresponding delay-free systems with their ***,numerical examples are given to verify the effectiveness of the proposed approach.

关键词： Fully actuated system approach input delays nonlinear systems prediction scheme

Obstacle detection of mobile robot based on data fusion

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Journal of Harbin Institute of Technology(New Series) 2009年第4期16卷 527-531页

作者：原新苏丽孙立宁 robot research Institute Harbin Institute of Technology College of Automation Harbin Engineering University

To study the problem of obstacle detection based on multi-sensors data fusion,the multi-target tracking theory and techniques are introduced into obstacle detection systems,and the exact position of obstacle can be *** fusion problems are discussed directly based on achievable data from some sensors without considering the specific structure of each individual *** respect to normal linear systems and nonlinear systems,the corresponding algorithms are *** validity of the method is confirmed by simulation results.

关键词： data fusion mobile robot obstacle detection

Two-grade search mechanism based motion planning of a three-limbed robot

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High Technology Letters 2008年第4期14卷 405-410页

作者：庞明 robot research Institute Harbin Institute of TechnologyHarbin 150001P.R.China

A novel three-limbed robot was described and its motion planning method was *** theintroduction of the robot mechanical structure and the human-robot interface,a two-grade search mecha-nism based motion planning method was *** first-grade search method using genetic algorithmtries to find an optimized target position and orientation of the three-limbed *** second-gradesearch method using virtual compliance tries to avoid the collision between the three-limbed robot and ob-stacles in a dynamic *** shows the feasibility of the two-grade search mechanismand proves that the proposed motion planning method can be used to solve the motion planning problem ofthe redundant three-limbed robot without deficiencies of traditional genetic algorithm.

关键词： three-limbed robot motion planning virtual compliance human-robot interface