A5101582857- Robotic Mechanisms and Dynamics
- Soft Robotics and Applications
- Teleoperation and Haptic Systems
- Robotic Path Planning Algorithms
- Robotics and Sensor-Based Localization
- Piezoelectric Actuators and Control
- Advanced Measurement and Metrology Techniques
- Surgical Simulation and Training
- Coding theory and cryptography
- Robot Manipulation and Learning
- Agricultural Engineering and Mechanization
- Advanced Control Systems Optimization
- Quasicrystal Structures and Properties
- Constraint Satisfaction and Optimization
- Advanced Image Processing Techniques
- Mechatronics Education and Applications
- Gaussian Processes and Bayesian Inference
- Healthcare Technology and Patient Monitoring
- Software-Defined Networks and 5G
- Impact of Light on Environment and Health
- Anatomy and Medical Technology
- Geographic Information Systems Studies
- Advanced Wireless Communication Technologies
- Urban Heat Island Mitigation
- Cryptography and Residue Arithmetic
Harbin Institute of Technology
2012-2021
Qingdao University of Technology
2019
China University of Mining and Technology
2008
University of Illinois Urbana-Champaign
2003
Round trip time (RTT) can influence the performance of network applications, and it will be great significance to predict RTT for applications with strict quality service requirements. However, is challenging accurately due intrinsic asymmetric unequal characteristics Internet network. To overcome this challenge, a novel approach based on recurrent neural networks minimal gated unit proposed prediction RTT. The experimental results indicate that method shows considerable advantages compared...
In this paper, the microstructure, deformability, tensile properties, and phase hardness of Ti-43Al-2Cr-0.7Mo-0.1Y alloy with a high β content were investigated. Microstructural analysis showed that precipitated not only at colony boundaries but also inside lamellae due to its content. A high-quality forging stock was prepared through one-step noncanned forging. The total deformation reached above 80%, suggesting has good hot deformability compared other TiAl alloys. deformed microstructure...
This paper presents design and optimization of an 8-DOF haptic manipulator using series-parallel mechanism. Parallel mechanism is designed to control 3-DOF translation input parameters transfer the feedback force operator. Series a 4-DOF quadruple-axial concurrent redundant mechanism, controlling three orientation angles. Forward inverse kinematic analyses have been performed jacobian matrix derived. Operating performance indexes such as global conditioning index, fluctuant index workspaces...
Based on the proposed end-effector structure of a laparoscopic minimally invasive surgical manipulator, dimensional optimization method is investigated to enlarge motion range mechanical arm in specific target area and reduce collision among arms simultaneously. Both length kinematics links overall size integrated system are considered process. The NSGA-II algorithm oriented multi-objective utilized calculate Pareto solution set objective function. Finally, dependence evaluation indexes...
Three key challenges hinder the development of current deepfake video detection: (1) Temporal features can be complex and diverse: how we identify general temporal artifacts to enhance model generalization? (2) Spatiotemporal models often lean heavily on one type artifact ignore other: ensure balanced learning from both? (3) Videos are naturally resource-intensive: tackle efficiency without compromising accuracy? This paper attempts three jointly. First, inspired by notable generality using...
Surgical robot with a remote center-of-motion (RCM) plays an important role in minimally invasive surgery (MIS) field. To make the mechanism has high flexibility and meet demand of movements during processing operation, optimized RCM is proposed this paper. Then, kinematic performance workspace are analyzed. Finally, new optimization objective function built by using condition number index index.
This paper presents two classes of systolic architectures, suitable for VLSI implementation, finite field inversion and division based on a modified Euclidean algorithm. These architectures involve O(m/sup 2/) area-time product O(m) latency. One architecture class utilizes adder circuits in its centralized control mechanism critical path delay depends the implementation adders. The other implements distributed fashion, does not use any adders, achieves logic gate delays. achieve better...
For the robotically-assisted minimally invasive surgery, preoperative planning is essential towards assisting surgeons to prepare intervention and decide best access surgical site. Many recent studies in have focused on pose selection of robot port placement. However, as such techniques cannot evaluate performance multi-arm cooperation, their applications are constrained real practise with robots. In this paper, workspace divided subspaces assigned different weights reflect internal...
For the robotically-assisted minimally invasive surgery, preoperative planning is essential towards assisting surgeons to prepare intervention and decide best access surgical site. Many recent studies in cannot evaluate performance of multi-arm cooperation, thus their applications are constrained real practise with robots. In this paper, we establish a simulation platform three-arm robot. We propose use two objective functions, Global Isotropy Index (GII) Cooperation Capability (CCI),...
This paper presents the design of a novel serial and parallel master manipulator. Firstly, mechanism configuration manipulator with is given. Parallel uses 3-RUU type to achieve position control, adopts triaxial concurrent realize posture control. Then, kinematics analysis such as inverse forward kinematics, jacobian matrix are Thirdly, workspace analyzed, static stiffness for three points in also analyzed. Finally, force feedback simulation experiment carried out verify feedback. It can be...
Surgical robots have increased in popularity, and their performance is closely related to the robotic positioning before surgery. Many recent studies preoperative planning focused on pose selection of robot port placement. However, it difficult position surgical simply based experience. To solve this problem, workspace subdivided into several subspaces with different weights. Global isotropy index cooperation capability are proposed reflect used as optimization functions. Particle swarm...
Abstract In the virtual surgery system, organ is always non-convex and deforms over time which makes collision detection problem more difficult to handle. this case, we put forward an innovative algorithm based on octree. This can perfectly apply deal with organs deformation scenario. addition, it achieve high run-time efficiency.
A methodology of combining counterweight and actuator torque is proposed to achieve the dynamic balancing for redundant orientation mechanism a master manipulator (ROMMM) which applied minimally invasive laparoscopic surgery. With method Kane, model ROMMM established obtain required balancing. Simulated annealing optimize counterweights based on moment inertia torque. The optimization reduces significantly. In addition, performance improved greatly.
Spatial relation between spatial objects is a very important topic for reasoning, query and analysis in global GIS. However, the most popular models current use, which are based on 2D Euclidean space (such as raster), exist some fundamental deficiency theory reasoning spherical digital (SDS). In this paper, method of relations SDS manifold approached, which: (1) topological definitions, properties, descriptions presented; (2) appropriate operators from set (i.e. intersection, difference,...
This paper envisions a scenario that hundreds of heterogeneous robots form robotcenter which can be shared by multiple users and used like single powerful robot to perform complex tasks. However, current multi-robot systems are either unable manage or support concurrent users. Inspired the design modern datacenter OSes, we propose Avalon, operating system with two-level scheduling scheme is widely adopted in datacenters for Internet services cloud computing. Specifically, Avalon integrates...
Robot-assisted minimally invasive surgery has achieved great success due to its overwhelming advantages compared with traditional open surgery. However, there are still some disquieting issues that impair high reliability and efficiency such as unaccessible force feedback, communication time delay kinds of dynamic modeling error uncertain nonlinearity. In this paper, disturbance observer is proposed acquire the interaction information between slave manipulator environment. At same time,...
This paper studies the physiological tremor filtering in minimally invasive surgical robot. The surgeon's of hand can cause vibration tip instrument, which may reduce operative accuracy and limit application robots. Aiming at caused by hand, we propose a Least Squares Support Vector Machine Kalman Filter (LSSVMKF), filter estimating modeling signal then superimposing it reversely control signal. When signal, uses (LS-SVM) to build regression model constant parameters (Process Noise...
Constant-dimension codes have recently received attention due to their significance error control in noncoherent random linear network coding. What the maximal cardinality of any constant-dimension code with finite dimension and minimum distance is how construct optimal (or codes) that achieves both remain open research problems. In this paper, we introduce a new approach solving these two We first establish connection between constant-rank codes. Via connection, show correspond over...
Constant-dimension codes have recently received attention due to their significance error control in noncoherent random network coding. In this paper, we show that constant-rank are closely related constant-dimension and study the properties of codes. We first introduce a relation between vectors $\mathrm{GF}(q^m)^n$ subspaces $\mathrm{GF}(q)^m$ or $\mathrm{GF}(q)^n$, use it establish then derive bounds on maximum cardinality with given rank weight minimum distance. Finally, investigate...