An undergraduate system-on-chip (SoC) course for computer engineering students

The authors have developed a senior-level undergraduate system-on-chip (SoC) course at San Jose State University, San Jose, CA, that emphasizes SoC design methods and hardware-software codesign techniques. The course uses a "real world" design project as the teaching vehicle and implements an SoC platform to control a five-axis robotic arm using Altera's state-of-the-art Excalibur chip. The Excalibur chip contains both ARM Corporation's embedded processor and a programmable logic device (PLD) array. The course goes through a complete hardware-software codesign flow from implementing custom hardware devices on a PLD to developing an embedded algorithm in a state-of-the-art design environment for a complete SoC solution. Students learn the Quartus II design environment by examining the sample design files in Altera's EXPA1 development kit and following the step-by-step instructions toward creating a simple embedded application. After this familiarization process, students define the architectural specifications of a memory-mapped servo controller, implement it in the Excalibur's PLD array, and interface this device with the ARM processor's internal bus to control each robotic arm servo. Functional regression tests and post-synthesis timing verification steps are applied to the servo controller following the implementation phase. Subsequently, students integrate the servo controller with the rest of the system and perform board-level functional verification tests to observe whether the robotic arm can move an object from a source to a destination point accurately. Students also develop an embedded algorithm, which translates user inputs in Cartesian coordinates into robotic arm movements in spherical coordinates during laboratory sessions.     

Testing MR Safety and Compatibility

Magnetic resonance (MR) safety and compatibility are important issues for all medical implants, surgical tools, and electronic or mechatronic equipment to be used within an MR environment. MR testing of medical devices is required for device approval by regulatory agencies, such as the Food and Drug Administration (FDA) and the European Union (EU) Notified Bodies. Different robotic and manipulator systems have been developed for use with MR imaging (MRI). This article provides the reader with a comprehensive overview of MR safety and compatibility issues and updates the discussion on existing MR testing methods with an overview on medical robotic and manipulator devices. These tests will increase the safety of the patient and provide MR operators and device manufacturers with important information and, thus, broaden the field of interventional MRI.     

Relationship between clinical assessments of function and measurements from an upper-limb robotic rehabilitation device in cervical spinal cord injury

Upper limb robotic rehabilitation devices can collect quantitative data about the user's movements. Identifying relationships between robotic sensor data and manual clinical assessment scores would enable more precise tracking of the time course of recovery after injury and reduce the need for time-consuming manual assessments by skilled personnel. This study used measurements from robotic rehabilitation sessions to predict clinical scores in a traumatic cervical spinal cord injury (SCI) population. A retrospective analysis was conducted on data collected from subjects using the Armeo Spring (Hocoma, AG) in three rehabilitation centers. Fourteen predictive variables were explored, relating to range-of-motion, movement smoothness, and grip ability. Regression models using up to four predictors were developed to describe the following clinical scores: the GRASSP (consisting of four sub-scores), the ARAT, and the SCIM. The resulting adjusted R(2) value was highest for the GRASSP "Quantitative Prehension" component (0.78), and lowest for the GRASSP "Sensibility" component (0.54). In contrast to comparable studies in stroke survivors, movement smoothness was least beneficial for predicting clinical scores in SCI. Prediction of upper-limb clinical scores in SCI is feasible using measurements from a robotic rehabilitation device, without the need for dedicated assessment procedures.     

Optimizing Compliant, Model-Based Robotic Assistance to Promote Neurorehabilitation

Based on evidence from recent experiments in motor learning and neurorehabilitation, we hypothesize that three desirable features for a controller for robot-aided movement training following stroke are high mechanical compliance, the ability to assist patients in completing desired movements, and the ability to provide only the minimum assistance necessary. This paper presents a novel controller that successfully exhibits these characteristics. The controller uses a standard model-based, adaptive control approach in order to learn the patient's abilities and assist in completing movements while remaining compliant. Assistance-as-needed is achieved by adding a novel force reducing term to the adaptive control law, which decays the force output from the robot when errors in task execution are small. Several tests are presented using the upper extremity robotic therapy device named Pneu-WREX to evaluate the performance of the adaptive, ldquoassist-as-neededrdquo controller with people who have suffered a stroke. The results of these experiments illustrate the ldquoslackingrdquo behavior of human motor control: given the opportunity, the human patient will reduce his or her output, letting the robotic device do the work for it. The experiments also demonstrate how including the ldquoassist-as-neededrdquo modification in the controller increases participation from the motor system.     

INNOMOTION for Percutaneous Image-Guided Interventions

This report describes the development of a robotic assistance system that provides precise and reproducible instrument positioning inside the MRI or CT gantry on the basis of processed imagery. Percutaneous interventions such as MRI-guided insertion of cannulae and probes for biopsy, drainage, drug delivery, and energetic tumor destruction were primary drivers in the robotic design. Applications involving the central nervous system have been excluded because of the demanding medical device regulations and approval process. The developed system received the Conformite Europeenne (CE) mark in 2005 and is marketed under the brand name INNOMOTION. It is currently in clinical use for MRl-guided sciatic pain and facet joint treatments, biopsies,drainages, and CT-guided osteosynthesis. This article reviews the development and evaluation of the system.     

五连杆机器人震源药柱装箱生产线控制系统

由武汉人天公司研制的机器人装置在震源药柱装箱应用中的控制系统设计。基于该机器人装置具备占地小、装箱速度快、装箱方式灵活等优点,运动控制是震源药柱装箱自动化生产的一种优秀的解决方案,相应的控制系统需要实现两轴的五连杆运动控制及配套设备的联动功能。     

A navigation system for increasing the autonomy and the security of powered wheelchairs.

Assistive technology is an emerging area where some robotic devices can be used to strengthen the residual abilities of individuals with motor disabilities or to substitute their missing function thus helping them to gain a level of independence at least in the activities of daily living. This paper presents the design of a navigation system and its integration with a commercial powered wheelchair. The navigation system provides the commercial wheelchair with a set of functions which increase the autonomy of elderly and people with motor disabilities. In general, a robot device must be adapted to assistive applications in such a way as to be easily managed by the user. Users, especially young ones, prefer to directly control the robotic device and this aspect of usability has to be managed without affecting the security and efficiency of the navigation module. These aspects have been considered as specifications for the navigation module of powered wheelchairs. Different autonomy levels of the navigation module and proper user interfaces have been developed. Two autonomy levels have been designed. Simple collision avoidance is also implemented in order to stop the mobile base when an obstacle is detected. The preliminary technical tests performed on the navigation system have shown satisfactory results in terms of security and response time. A modular solution for the navigation module was considered in order to simplify the adaptation of the module to different powered wheelchairs.     

Surface electrostatic damage by microprocess robotic machines: diagnosis and reliability, process auditing, and remedies

Electrostatic discharge (ESD) is generally known as a discharge phenomena via device pins. Many precautions have been taken against ESD, mostly considering workplace protection, pad protection structures. However, electrostatic events, originating from robotic semiconductor wafer- and device-processing seems at least a problem of similar severeness, which has not been considered enough, yet. This paper describes electrostatic mechanisms in most common assembly process tools, how to do diagnostics on devices and tool auditing. Auditing experiences are listed and hints how to improve tool-related ESD are described.     

基于实时多任务流系统的高空自动化接线机器人研究

文中针对电网高空作业的检修需求进行高空全自动化接线机器人设计,从高空自动化接线机器人机械臂功能设计和接线功能实现方面进行了介绍。高空自动化接线机器人机械臂的结构设计分为机械臂和绝缘设计。采用嵌入“准时”(Just in Time, JIT)调度思想的基于优先级的立即抢先算法实时处理接线多任务,新增绝缘防护失效控制模块,目的是提高处理效率和人机交互的智能化。该系统包括机械臂控制系统、电动机驱动电路系统、移动平台系统等多个模块。通过现场实施测试,证实该系统可以根据任务程序有序、高效地执行实时维护。与传统人工接线相比,高空自动化接线装置具有效率高,安全性好等优越性。     

Design and control of RUPERT: a device for robotic upper extremity repetitive therapy.

The structural design, control system, and integrated biofeedback for a wearable exoskeletal robot for upper extremity stroke rehabilitation are presented. Assisted with clinical evaluation, designers, engineers, and scientists have built a device for robotic assisted upper extremity repetitive therapy (RUPERT). Intense, repetitive physical rehabilitation has been shown to be beneficial overcoming upper extremity deficits, but the therapy is labor intensive and expensive and difficult to evaluate quantitatively and objectively. The RUPERT is developed to provide a low cost, safe and easy-to-use, robotic-device to assist the patient and therapist to achieve more systematic therapy at home or in the clinic. The RUPERT has four actuated degrees-of-freedom driven by compliant and safe pneumatic muscles (PMs) on the shoulder, elbow, and wrist. They are programmed to actuate the device to extend the arm and move the arm in 3-D space. It is very important to note that gravity is not compensated and the daily tasks are practiced in a natural setting. Because the device is wearable and lightweight to increase portability, it can be worn standing or sitting providing therapy tasks that better mimic activities of daily living. The sensors feed back position and force information for quantitative evaluation of task performance. The device can also provide real-time, objective assessment of functional improvement. We have tested the device on stroke survivors performing two critical activities of daily living (ADL): reaching out and self feeding. The future improvement of the device involves increased degrees-of-freedom and interactive control to adapt to a user's physical conditions.     

The Effects on Kinematics and Muscle Activity of Walking in a Robotic Gait Trainer During Zero-Force Control

“Assist as needed” control algorithms promote activity of patients during robotic gait training. Implementing these requires a free walking mode of a device, as unassisted motions should not be hindered. The goal of this study was to assess the normality of walking in the free walking mode of the LOPES gait trainer, an 8 degrees-of-freedom lightweight impedance controlled exoskeleton. Kinematics, gait parameters and muscle activity of walking in a free walking mode in the device were compared with those of walking freely on a treadmill. Average values and variability of the spatio-temporal gait variables showed no or small (relative to cycle-to-cycle variability) changes and the kinematics showed a significant and relevant decrease in knee angle range only. Muscles involved in push off showed a small decrease, whereas muscles involved in acceleration and deceleration of the swing leg showed an increase of their activity. Timing of the activity was mainly unaffected. Most of the observed differences could be ascribed to the inertia of the exoskeleton. Overall, walking with the LOPES resembled free walking, although this required several adaptations in muscle activity. These adaptations are such that we expect that Assist as Needed training can be implemented in LOPES.      

On safe storage using robotic technology

This paper proposes the concept of safe storage using robotic technology. The handling problem is how to store real objects safely using a robotic system. When we store real objects, a strong box is usually used. Even when a strong box is employed, the goods in custody, including the strong box, may be stolen as the storage place and the goods in custody are stationary. This study aims to solve this problem and proposes an approach using robotic technology. © 2017 Institute of Electrical Engineers of Japan. Published by John Wiley & Sons, Inc.     

Evidence for improved muscle activation patterns after retraining of reaching movements with the MIME robotic system in subjects with post-stroke hemiparesis

Previously, we reported that chronic stroke subjects had significant improvements in isometric strength, free reaching extent, and clinical evaluations of function after training in the mirror-image movement enabler (MIME) robotic device. Our primary goal in this analysis was to investigate the hypothesis that the robotic training promoted improved muscle activation patterns. To this end, we examined the interaction forces, kinematics, and electromyograms recorded during training of eight different movement patterns in active-constrained mode. In this mode, the robot constrained the reaching movements to be toward the target, and the movement velocity was proportional to the force produced along the trajectory. Thirteen chronic stroke subjects trained in MIME for 24 1-h sessions over an eight-week period. Work output was significantly increased by week five in all eight movement patterns. Low-level subjects increased their extent of reach, while high-level subjects increased their speed. Directional errors in force production were reduced in six of eight movement patterns. Electromyographic data provided evidence for improved muscle activation patterns in the four movement patterns that started at tabletop level and ended at shoulder level. In contrast, there was no evidence of improved muscle activation patterns in any of the tabletop movements, with increased activation of antagonists in two movement patterns. This dichotomy may have been related to compensation at the shoulder girdle during movements that remained at tabletop level. A simple biomechanical model will be introduced to demonstrate the likelihood of this possibility.     

A robust decentralized three-segment nonlinear sliding mode control for rigid robotic manipulators

In this paper the design of three-segment non-linear sliding mode parameters is further investigated and a robust decentralized tracking control scheme using the three-segment non-linear sliding mode technique for non-linear rigid robotic manipulators is developed. It is shown that some parameters of the three-segment non-linear sliding mode are related to the initial values of the system dynamics and should be suitably chosen in order to guarantee the stability of the system dynamics. Strong robustness and fast error convergence can be obtained for rigid robotic manipulators with large uncertain dynamics by using the three-segment non-linear sliding mode technique together with a few useful smctural properties of rigid robotic manipulators. A simulation example is given in support of the proposed control scheme.     

带有神经网络补偿的机械手PD控制

提出了一种带有神经网络补偿的机械手PD控制策略,该方法结合PD控制器和神经网络的优势,解决了在机械手工业应用中,常规的控制策略在处理机械手耦合和非线性特性时控制效果差的问题。该方法基于常规的PD控制策略,采用径向基(radial basis function,RBF)神经网络动态补偿机械手系统的非线性,改善系统的控制性能。该文的控制策略是基于离散时间模型的,可以直接应用到控制系统中。为实现该文控制方法,开发了基于半实物仿真技术的开放式机械手平台,并且在该平台上对该方法进行了实验研究,实验结果表明：该文所提的控制策略实现简单,同时具有较高的控制精度。     

柔性机械臂运动控制策略的研究

讨论一种双映射神经网络,并采用递阶进化规划学习算法对该网络拓扑结构和参数进行优化,实现了柔性机械臂的轨迹跟踪控制。计算机仿真表明该控制策略可以实现柔性机械臂的运动控制,且具有较高的控制精度。     

真空检漏机器人目标识别技术研究

在聚变装置真空检漏领域中,未来聚变装置涉氚运行,检漏人员无法进入装置检漏,这使得这项任务极其困难和耗时。 为实现聚变装置泄漏设备的快速准确检测,本文以 6 自由度机械臂为研究对象,提出了一种 GV2-YOLOv5 的真空设备检测方法 用于真空检漏机器人对真空设备进行识别和定位喷氦。 在该方法中,结合轻量级 GhostNetV2 网络构建 C3GhostV2 模块,同时使 用轻量的 Ghost 卷积提取目标特征,从而降低模型参数量,提高计算速度;在特征融合网络中添加 Bottleneck Transformers 和 ECA 注意力机制,提高网络特征提取能力以及加强模型通道特征。 实验结果表明,在自制数据集上,改进后的模型平均精度为 93. 2%,相比 YOLOv5s 提高了 1. 4%,模型参数量减少了 29. 5%,检测速度为 92 fps,满足实时性与准确性的需求,为真空检漏机 器人目标识别与定位提供了一种的解决方案。     

三轴机械臂直线运动控制系统

三轴机械臂以其可以构建空间曲线的优势在众多领域有广泛应用价值。本文用触摸屏作信息输入与显示,以施耐德LMC058型运动控制器为中心,通过伺服驱动器和伺服电机构成的三组伺服系统来分别驱动机械臂的三个方向轴,最终实现了空间两点的直线运动控制。     

Laboratory robotics-getting machines to do the hazardous work

The types of tasks for which robots are used in laboratories are identified. Two specific types of laboratory robotic systems currently in use at Los Alamos are described. One is a plutonium dissolution system. The other, dubbed ROBOCAL, loosely stands for robotic calorimetry and gamma isotopic system. Both applications involve the handling of hazardous materials     

自适应神经元控制在机器人手指关节控制中的应用

对机器人手指关节驱动用直线驱动器的位置控制提出了单神经元自适应控制方案。通过实验验证了控制方案的正确性，为机器人手指关节的位置控制提供了一种有效方法。