Wavelet network, a class of neural network consisting of wavelets, is proposed to solve the inverse kinematics problem in robotic manipulator. A wavelet network suitable for dealing with multi-input and multi-output s...Wavelet network, a class of neural network consisting of wavelets, is proposed to solve the inverse kinematics problem in robotic manipulator. A wavelet network suitable for dealing with multi-input and multi-output system is constructed. The network is optimized by reducing the number of wavelets handling large dimension problem according to the sample data. The algorithms for sparseness analysis of input data and fitting wavelets to the output data with orthogonal method are introduced. Then Levenberg-Marquardt algorithm is used to train the network. Simulation results showed that this method is capable of solving the inverse kinematics problem for PUMA560.展开更多
The micro-systems used for in vivo physical inspection have many advantages over traditional methods. In order to aid diagnosis of gastrointestinal (GI) motility disorders, a capsule is developed for GI pressure and p...The micro-systems used for in vivo physical inspection have many advantages over traditional methods. In order to aid diagnosis of gastrointestinal (GI) motility disorders, a capsule is developed for GI pressure and pH inspection. Localization of the capsule in GI tract with time is a necessary condition for subsequent data analysis and medical diagnosis. It is also a common problem facing all in vivo mobile micro-systems. An approach of segment localization by utilizing some key points along GI tract is proposed. A portable ultrasonic detecting device was designed for this purpose. Experiments under conditions similar to GI tract were carried out and the results proved the effectiveness and reliability of this method and the device.展开更多
In recent years, it is remarkable that various robots are being developed, and the development of robot technology is beginning to be taken into an actual living space. There are still many questions that we will have...In recent years, it is remarkable that various robots are being developed, and the development of robot technology is beginning to be taken into an actual living space. There are still many questions that we will have to answer for the harmonization of living together with a robot. This study is focused on ＂the study of how to plan and design a living space in harmonizing with robots＂, and focused on the effects of infants （subjects） along with the distance between robots and themselves. The study is to seek for the minimum distance for the subjects who felt that ＂I do not want a robot to be any closer being approached to me＂. This experiment was conducted among 30 infants at the kindergarten, utilizing a small experimental robot. A small robot whose dimension is 120 mm （W） ×130 mm （D） × 70 mm （H）, approaching infants as is to see if it would make any differences to the infant＇s reactions.展开更多
Based on the critical gap phenomenon of the intestinal capsule robot,a variable-diameter capsule robot with radial gap self-compensation is developed in this paper.With the functional variation principle,a fluid dynam...Based on the critical gap phenomenon of the intestinal capsule robot,a variable-diameter capsule robot with radial gap self-compensation is developed in this paper.With the functional variation principle,a fluid dynamic pressure model satisfying the boundary conditions of the outer surface of capsule robot with screw blades is derived.The critical gap phenomenon is studied theoretically and experimentally based on the end effect and the dynamic balance characteristics of the fluid on the surface of capsule robot.The concept of start-up rotation speed is defined,the relationship between the start-up rotation speed and the spiral parameters of capsule robot is investigated.The strategy for implementing drive and control on several capsule robots under the same rotational magnetic field is proposed,and by defining the start-up curves of several capsule robots with the similar motion regulation as the objective functions,genetic algorithm is employed to optimize the spiral parameters of several capsule robots.Experiments have shown that the proposed drive and control strategy for several capsule robots can be implemented effectively.It has a good prospect of application inside intestine to realize the drive and control on several capsule robots for different medical purposes.展开更多
文摘Wavelet network, a class of neural network consisting of wavelets, is proposed to solve the inverse kinematics problem in robotic manipulator. A wavelet network suitable for dealing with multi-input and multi-output system is constructed. The network is optimized by reducing the number of wavelets handling large dimension problem according to the sample data. The algorithms for sparseness analysis of input data and fitting wavelets to the output data with orthogonal method are introduced. Then Levenberg-Marquardt algorithm is used to train the network. Simulation results showed that this method is capable of solving the inverse kinematics problem for PUMA560.
文摘The micro-systems used for in vivo physical inspection have many advantages over traditional methods. In order to aid diagnosis of gastrointestinal (GI) motility disorders, a capsule is developed for GI pressure and pH inspection. Localization of the capsule in GI tract with time is a necessary condition for subsequent data analysis and medical diagnosis. It is also a common problem facing all in vivo mobile micro-systems. An approach of segment localization by utilizing some key points along GI tract is proposed. A portable ultrasonic detecting device was designed for this purpose. Experiments under conditions similar to GI tract were carried out and the results proved the effectiveness and reliability of this method and the device.
文摘In recent years, it is remarkable that various robots are being developed, and the development of robot technology is beginning to be taken into an actual living space. There are still many questions that we will have to answer for the harmonization of living together with a robot. This study is focused on ＂the study of how to plan and design a living space in harmonizing with robots＂, and focused on the effects of infants （subjects） along with the distance between robots and themselves. The study is to seek for the minimum distance for the subjects who felt that ＂I do not want a robot to be any closer being approached to me＂. This experiment was conducted among 30 infants at the kindergarten, utilizing a small experimental robot. A small robot whose dimension is 120 mm （W） ×130 mm （D） × 70 mm （H）, approaching infants as is to see if it would make any differences to the infant＇s reactions.
基金supported by National Natural Science Foundation of China(Grant Nos. 60675054, 60875064)Self-Planned Task of State Key Laboratory of Robotics and System (HIT) (Grant No. SKLRS200903B)
文摘Based on the critical gap phenomenon of the intestinal capsule robot,a variable-diameter capsule robot with radial gap self-compensation is developed in this paper.With the functional variation principle,a fluid dynamic pressure model satisfying the boundary conditions of the outer surface of capsule robot with screw blades is derived.The critical gap phenomenon is studied theoretically and experimentally based on the end effect and the dynamic balance characteristics of the fluid on the surface of capsule robot.The concept of start-up rotation speed is defined,the relationship between the start-up rotation speed and the spiral parameters of capsule robot is investigated.The strategy for implementing drive and control on several capsule robots under the same rotational magnetic field is proposed,and by defining the start-up curves of several capsule robots with the similar motion regulation as the objective functions,genetic algorithm is employed to optimize the spiral parameters of several capsule robots.Experiments have shown that the proposed drive and control strategy for several capsule robots can be implemented effectively.It has a good prospect of application inside intestine to realize the drive and control on several capsule robots for different medical purposes.
