2011 IEEE International

Conference on Mechatronics and

Automation

(ICMA 2011)

Beijing, China

7-10 August 2011

Pages 1-830

4 IEEE IEEE Catalog Number: CFPl1839-PRT

ISBN: 978-1-4244-8113-2

1/3

Table of Contents

MA1-1 Organized.Session: IMS for Innovation

Presentation of Button Repulsive Sensations on Touch Screen Using SMA Wires 1

Muhamad Hafiz, Hideyuki Sawada

Global Program for Collaborative Research, Development, and Innovation: Introduction to IMS

International

Fred-Holger Gunther, Daniel Nagy

A Service-Oriented Global Manufacturing Technology Platform for Research, Development^

and Innovation: Activity of IMS International

Daniel Nagy

Future IMS and NanoDevices 17

George Kotrotsios

On IMS with Human Factor -- From HUTOP to New Field -- 22

Hiroyasu Koshimizu, Seiji Hata

History and Review of the IMS (Intelligent Manufacturing System) 30

Hideo Setoya

MP1-1 Kinematics of Manipulators

Configuring Kinematically Redundant Robotic Manipulators to Increase Effective Task-Specific^

Motion Resolution

Frank L. Hammond III

Kinematics Analysis of Manipulator of Environment-Contacting Object with

Free-Joint-Structure

Yasumichi Aiyama, Kazuki Sato

Algebraic-elimination Based Solution of Inverse Kinematics for a Humanoid Robot Finger 46

Ming-Tzong Lin, Hong-Bo Lin, Chung-Ching Liu, Ying-Lung Lin, Che-Hau Wu, Cheng-Wei Tung

A Comparison Study of Three Screw Theory Based Kinematic Solution Methods for theg2

Industrial Robot ManipulatorsEmre Sariyildiz, Hakan Temeltas

Structural Analysis of Steel-Cable-Driven Multi-Joint Robot Manipulator 58

J/anjun Yuan, Weijun Zhang, Yongtao Song, Wan Yan

Design and Workspace Analysis of a Light Weight and High Stiffness Arm 64

Jing Li, Qiang Huang, Zhangguo Yu, Wei Xu, Xuechao Chen, Gan Ma

MP2-1 Mechatronic Device I

Optimization of a Completely Decoupled Flexure-Based Parallel XY Micro-motion Stage 69

Jiming Huang, Yangmin Li, Xinhua Zhao

Development of a Micromirror Based Laser Vector Scanning Automotive HUD 75

Fan Chao, Siyuan He, James Chong, Ridha Ben Mrad, Lei Feng

Novel Design of a Three DOFs MEMS-based Precision Manipulator 80

Min Pan, Zhongzhe Chi, Dan Zhang

Influence of the Navier Boundary Wall Slip on Flow Patterns in Micro-scale Cavity 86

Zhaomiao Liu, Guobin Wang, Feng Shen

Mobile Robot Autonomous Navigation Using MEMS Gyro North Finding Method in Global^

Urban System

Yuanlong Wei, Mincheol Lee

Micro/nano Displacement Measurements Using a Novel Contact Probe-Based FBG Sensinggy

SystemLijuan Chen, Xiaohuai Chen, Yetai Fei, Fangfang Liu

MA1-2 Medical & Rehabilitation System

Motorized Facilitated Ankle Stretching 102

Fan Gao

Development of a Novel Robot-Assisted Catheter System with Force Feedback 107

Xu Ma, Shuxiang Guo, Nan Xiao, Jian Guo, Shunichi Yoshida, Takashi Tamiya, Masahiko Kawanishi

Design and Development of a Hand Rehabilitation Robot for Patient-cooperative Therapy^ ^

Following Stroke

Yili Fu, Qinchao Zhang, Fuhai Zhang, Zengkang Gan

Structure Synthesis and Optimization of a Supporting Medical Manipulator for Vascular

Interventional SurgeryXing-tao Wang, Xing-guang Duan, Qiang Huang, Hong-hua Zhao, Yue Chen, Chao Chen

Minimally Invasive Vascular Interventional Surgical Robot System 124

Xue Yang, Hongbo Wang, Lin Yuan, Ning Du, Zengguang Hou

130Design of Intravenous Infusion Monitoring and Alarm System Based on Wireless

Communication TechnologyJianwen Cui, Han Zhang

MP1-2 Mobile & Walking Robots

A Study on Teleoperation System for a Hexapod Robot— Development of a Prototype . „

Platform—1J0

Masamitsu Kurisu

Experimental Study and DEM Analysis on Rigid Driving Wheel's Performance for Off-Road

Vehicles Moving on Loose Soil

Runhuai Yang, Min Xu, Xu Liang, Shiwu Zhang, Yong Cheng, Hongcheng Xu, Jie Yang

Dynamic Rotational Walking Motion on Inclined-plane with Posture Optimization by Genetic

Algorithms

Chayooth Theeravithayangkura, Tomohito Takubo, Kenichi Ohara, Yasushi Mae, Tatsuo Arai

Analysis and Modeling of Slip for a Five-Wheeled Mobile Robot (WMR) in an Uneven Terrain

Ozoemena A Ani, He Xu, Gang Zhao

Preliminary Research of a Novel Soft Robot with Three Locomotion Modes

Yong Du, Min Xu, Erbao Dong, Qin Yan, Shiwu Zhang, Jie Yang

Design and Development of Manual Wheelchair with Obstacle-crossing CapabilityXuwei Guo, Shenghai Hu, Lixia Ying

MP2-2 Nano Mechatronics

Towards Automated AFM-based Nanomanipulation in a Combined Nanorobotic

AFM/HRSEM/FIB SystemM Bartenwerfer, S Fatikow, R Tunnell, U Mick, C Stolle, C Diederichs, D Jasper, V Eichhorn

Automated Alignment, Focussing and Control of Nanomanipulators in fvlicroassembly WorkcellHimanshu DuttSharma, Sachin Bhardwaj, Rohit KumarSingh, Gaurav Singh Naruka, Amit Tholia

Directed Nanorobot-based Handling of Single Nanowires

Malte Bartenwerfer, Sergej Fatikow

Hysteresis Modeling and Inverse Feedforward Control of an AFM Piezoelectric Scanner

Based on Nano ImagesHui Tang, Yangmin Li, Xinhua Zhao

A 3D Stick-Slip Nanopositionerfor NanomanipulationWeibin Rong, Shizhong Zhang, Miao Yu, Lining Sun

Design of Hardware and Software for a New Capillary Rheometer

Heping Song, Chengquan Hu, Guangyu Zhao, Yuanbo Xu, Lifeng Wang

MA1-3 Biomedical Mechatronics I

Feasibility Study for a Novel Robotic Catheter SystemJian Guo, Shuxiang Guo, Nan Xiao, Xu Ma, Shunichi Yoshida, Takashi Tamiya, Masahiko Kawanishi

A Centrifugal Lab-in-a-tubing Platform Enabling Automatic Point-of-care Blood Diagnostics

Tingjie Li, Qiuquan Guo, Limin Zhang, Jun Yang

Segmentation of Skin Cancer Images Based on Gradient Vector Flow (GVF) Snake

Md. Khalad Abu Mahmoud, Adel Al-Jumaily

Apply RRT-based Path Planning to Robotic Manipulation of Biological Cells with OpticalTweezer

Tao Ju, Shuang Liu, Jie Yang, Dong Sun

Nanoindentation Experiment and Modeling for Biomechanical Behavior of Red Blood Cell

Qingsheng Yang, Weiwei Li, Zhiyuan Liu, Luodan Su

Wireless Power Transfer System for Capsule Endoscopy based on Strongly CoupledMagnetic Resonance TheoryXuelin Fang, Hao Liu, Guiyang Li, Qi Shao, Hongyi Li

MP1-3 Biomedical Mechatronics II

Control Method for Powered Ankle Prosthesis via Internal Model Control Design 237

Ryoichi Suzuki, Takayuki Sawada, Nobuaki Kobayashi, Eberhard P. Holer

Design of a 3-axial Force/Torque Sensor for Arthroscopy Force Sensing 243

Ze Cut, Zengjun Han, Hongwei Pan, Vanming Shao, Danjie Zhu

Experimental Investigation of the Small Intestine's Viscoelasticity for the Motion of Capsule 0AQ

Robot^a

Renjia Tan, Hao Liu,, Gang Su, Cheng Zhang, Hongyi Li, Yuechao Wang

Numerical Simulation of Blood Flow in Blalock-Taussig Shunt for Hypoplastic Left Heart254

SyndromeXiaojun Zhang, Yun Cheng, Xiaoyang Li

Design of a Novel Master-Slave Robotic System for Minimally Intravascular Invasive Surgery 259

Peng Zhang, Shichao Yu, Ying Hu, Xin Ma, Jianwei Zhang

Novel Approach of Ulcer Prevention based on Pressure Distribution Control Algorithm 265

Jalloul Elfehri, Frangois Boussu, Vladan Koncar, Christian Vasseur

MP2-3 Biomedical Control System

Adaptive Controller for Motion Control of a Seated Walking Training Machine 271

Yuto Watanabe, Shuoyu Wang, Renpeng Tan, Yinlai Jiang, Kenji Ishida, Masakatsu Fujie

Power Assistance for Human Elbow Motion Support Using Minimal EMG Signals with275

Admittance Control

Chi Zhu, Shota Shimazu, Masataka Yoshioka, Tomohiro Nishikawa

Jacobian Analysis for Parallel Mechanism Using on Human Walking Power Assisting 282

Yong Yu, Wenyuan Liang, Yunjian Ge

Measurement of Interface Pressure Applied by Medical Compression Bandages 289

JawadAI Khaburi, Abbas ADehghani-Sanij, E. Andrea Nelson, Jerry Hutchinson

Optimal Combination of Channels Selection Based on Common Spatial Pattern Algorithm 295

Mingai Li, Jianyong Ma, Songmin Jia

Motion Control of Intelligent Wheelchair Based on Sitting Postures 301

Jinhui Fan, Songmin Jia, Xiuzhi Li, Wei Lu, Jinbo Sheng, Liwen Gao, Jun Yan

MA1-4 Intelligent Control I

An Approach to Simultaneous Realization of Neutral Steer and Sideslip Reduction for

Four-Wheeied Efectric Vehicles

Guisheng Zhai, Masayuki Naka, Tomoaki Kobayashi, Joe Imae

307

Real-time Dynamic Power Management of Electricaily Assisted Bicycle 313

Stone Cheng, Ivan Huang

An Improved 3D Modeling of Water-jet Propellers for a Spherical Underwater Robot 319

Zhaoyi Liu, Shuxiang Guo, Hui Li, Xichuan Lin

Adaptive Controller for Omni-directional Walker: Improvement of Dynamic Model 325

Renpeng Tan, Shuoyu Wang, Yinlai Jiang, Tianyou Chai, Kenji ishida, Masakatsu G. Fujie

Adaptive Sliding Mode Control of MEMS Triaxial Gyroscope Based on RBF Network 331

Juntao Fei, Hongfei Ding, Yuzheng Yang

RBF Based Discrete Terminal Sliding Mode Control for Flight Simulator 337

Yaqing Chen, Weihong Wang

MP1-4 Intelligent Control II

A Composite Algorithm for Flow Rate Reduction and Stable Body Trajectory Generation in a

Hydraulic Actuated Quadruped Robot with Kinematic RedundancyTaeju Kim, Sangdeok Park, Byung-Ju Yi

H°° Control of Active Magnetic Bearings using Closed Loop Identification Model

Junfeng Chen, Kun Liu, Kai Xiao

The Research of Stability Performance of 4WD Vehicles Basing on Electric Wheels TorqueControl

Jianguo Song, Pingping Xu

Advanced Inversion Control for a Hypersonic Vehicle Based on PSO and Arranged Transient

Process

Zhiqiang Pu, Xiangmin Tan, Jianqiang Yi, Guoliang Fan

A Closed-loop Method to Generate Fast C-start for a Robotic Fish

Zongshuai Su, Junzhi Yu, Min Tan, Jianwei Zhang

Model Analysis and Active Vibration Control for Space Deployable Truss Type Mast

Haojiang Zhao, Rongqiang Liu, Hongwei Guo, Zongquan Deng

MP2-4 Control Theory I

Resonant Frequency Band Estimation using Adaptive Wavelet Decomposition Level Selection 376

M.F. Yaqub, I. Gondal, J. Kamruzzaman

UKF Parameter Optimization Method Using BP Neural Network for Super-Mini Aerial Vehicles 382

Guoyu Zuo, Xiaoqing Zhu, Kai Wang, Xiang Liu

343

349

354

359

365

371

Temperature Control System of Air-conditioning Based on the Fuzzy Theory

Jing JIANG, Xuesong ZHANG

387

Self-evolution Fuzzy Chaotic Neural Network and Its Application 392

Mo Tang, Xiaojun Bi, Kejun Wang

A Control System of a Ping-pong Robot Arm based on Fuzzy Method 398

Xiaowen Yu, Jing Xu, Shaoli Liu, Ken Chen

Fuzzy Tuning Manipulation Control of a Space Robot with Passive Flexible Solar Panels 404

Payam Zarafshan, S. Ali. A. Moosavian

MA1-5 Robot Control I

The Efficacy of Symmetric Cognitive Biases in Robotic Motion Learning 410

Daisuke Uragami, Tatsuji Takahashi, Hisham Alsubeheen, Akinori Sekiguchi, Yoshiki Matsuo

An Energy Saving Open-Loop Control Technique for Flexible Manipulators 416

Akira Abe, Kazuma Komuro

Tracking Control of Mobile Robot Using ANFIS 422

Masoud Imen, Mohammad Mansouri, Mehdy Aliyari Shoorehdeli

Anti-Swing Control of Underactuated Overhead Crane System Using Multiple LyapunovFunctions

Aydin Yesildirek

Development of Learning Control in Robots 433

Hu Su, De Xu, Yanlong Huang

Sliding Mode Adaptive Control for Flying Robot Based on Recurrent CMAC Algorithm 440

Hongjun DUAN, Deying GU

MP1-5 Robot Control il

Singularity Analysis of 6DOF Staubli© TX40 Robot 446

Masoud Vaezi, Farzad CheraghpourSamavati, Hesam'Eddin Shoori Jazeh, S.AIiA. Moosavian

A High Speed Robot Vision System with GigE Vision Extension 452

Wenhao He, Kui Yuan, Han Xiao, Zhengdong Xu

Dimension Optimization Design of an Under-Restrained 6-DOF Four-Cable-Driven Parallel

Manipulator based on Least Square-Support Vector RegressionXiaoling Jiang, Yijian Huang, Yaqing Zheng

Position Control of a 2DOF Underactuated Planar Flexible Manipulator 464

Wei Chen, Yueqing Yu, Xinhua Zhao, Lianyu Zhao, Qiyuan Sun

Automatic Tracking of Human-Body Using a 3 DOF Robotic Lamp 470

Yun-Seok Lee, Dae-Keun Yoon, Jong-Tae Seo, Byung-Ju Yi

Modular Design for Small Humanoid Robots based on Robbus

Qian Xu, Qiang Huang, Xiaopeng Chen, Wei Xu

477

MP2-5 Robotic Vision

SDAT: Simultaneous Detection and Tracking of Humans using Particle Swarm OptimizationSung-Tae An, Jeong-Jung Kim, Ju-Jang Lee

Object Detection by Parts Using Appearance, Structural and Shape Features

Li He, Hui Wang, Hong Zhang

Place Recognition based on Latent Dirichlet Allocation

Jinfu Yang, Yangli Wang, Mingai Li, Min Song

A Bilinear Model based Solution to Object Pose Estimation with Monocular Vision for GraspingZhicai Ou, Wei Liu, Jianhua Su

Efficient Face Detection and Tracking with Extended CAMSHIFT and Haar-Like Features

Lae-Kyoung Lee, Su-Yong An, Se-Young Oh

Real-time Human Detection based on Cascade Frame

Zhihui Li, Chunyan Shao, Di Sun

MA1-6 Dynamics & Cooperative Control for Robots

Detailed Slip Dynamics for Nonholonomic Mobile Robotic SystemS. Nandy, S.N. Shome, R. Somani, T. Tanmay, G. Chakraborty, C.S. Kumar

A Potential Field Method-based Extension of the Dynamic Movement Primitive Algorithm for

Imitation Learning with Obstacle Avoidance

Huan Tan, Erdem Erdemir, Kazuhiko Kawamura, Qian Du

Radio Source Search Using Force Field Vectors Weighted by Received Signal StrengthGradients

Xiaochen Zhang, Yi Sun, Jizhong Xiao

Dynamical Task Allocation and Reallocation Based on Body Expansion Behavior for

Multi-robot Coordination SystemGuanghui Li, Yusuke Tamura, Hajime Asama

A Distributed Multi-Robot Formation Control Method

Yuan Li, Wei Zou, Feng Wen, Kui Yuan

Image-Guided Robotic Mastoidectomy Using Human-Robot Collaboration Control

Hoon Lim, Jung-Min Han, Jaesung Hong, Byung-Ju Yi, Seung Hwan Lee, Jin Hyeok Jeong, Nozomu

Matsumoto, Masamichi Oka, Shizuo Komune, Makoto Hashizume

MP1-6 Mechatronic Control Systems

Micro Gap Measurement by Vibration Mode for Needle-type dispenserKazuki Hirose, Yuuka trie, Shinnosuke Hirata, Hisayuki Aoyama

A De-Coupled Vertical Controller for Micro-Autonomous Underwater Vehicles (pAUVs)Simon A. Watson, Peter N. Green

The Design and Technical Challenges of a Micro-Autonomous Underwater Vehicle (uAUV) 567

Simon A. Watson, Dominic J. P.Crutchley, Peter N Green

Dynamic Analysis and PID Control for a Quadrotor 573

Jun Li, Yuntang Li

Phase-Shift Control in Two-Beam Laser Interference Lithography 579

Jia Xu, Wei Zhang, Lanjiao Liu, Zuobin Wang, Zhengxun Song, Zhankun Weng, Zhen Hu, Jin Zhang,

Yong Yue, Dayou Li

The Dynamics Study of the Stick-slip Driving System based on LuGre Dynamic Friction Model 584

Bowen Zhong, Lining Sun, Liguo Chen, Zhenhua Wang

MP2-6 Sensing Calibration

End Point Tracking for a Moving Object with Several Attention Regions by Composite Vision

SystemKotaro Nagahama, Tomohiro Nishino, Mitsuharu Kojima, Kimitoshi Yamazaki, Kei Okada, MasayukiInaba

Least-Square Based Self-calibration of Two-Dimensional Ultra-Precision Stages 597

Yu Zhu, Chuxiong Hu, Jinchun Hu

Study on the Space Burst Point Test System Used in Proximity Fuze Projectile 603

Jinping Ni, Tao Dong

The Evaluation of Measurement Uncertainty for Laser Tracker based on Monte Carlo Method 608

Jindong Wang, Junjie Guo, Hao Wang, Yufen Deng

Ultrasonic Echoes Estimation Method using Genetic Algorithm 613

Zhongzhu Liu, Xiaoguang Bai, Qinxue Pan, Yong Li, Chunguang Xu

A Calibration Process for Tracking Upper Limb Motion with Inertial Sensors 618

Hao Yang, Juntao Ye

MA1-7 Organized Session: Image Processing I

Development of 3-D Position Measurement Method for a Round Hole 624T. Tsukada, K. Watanabe, M. Koide, M. Hirose, Y. Hone, Y. Yamagishi

A Method for Noise Suppression in Image Morphing Using Co-occurrence Frequency Image 630

Yosuke Nagasaka, Takayuki Fujiwara, Takuma Funahashi, Hiroyasu Koshimizu

Liquid Crystal Lens with Electrically Controllable Focal Length 635

Mao Ye, Bin Wang, Masaru Uchida, Satoshi Yanase, Shingo Takahashi, Susumu Sato

Autonomous Robot Human Detecting and Tracking Based on Stereo Vision 640Songmin Jia, Liang Zhao, Xiuzhi Li, Wei Cui, Jinbo Sheng

Moving Objects Detection based on Space Vector Difference

Zhen Qian, Debao Huang, Xiaohui Mao

646

Real-time Structured Light 3D Scanning for Hand Tracking

Renju Li, Hongbin Zha

652

MP1-7 Organized Session: Image Processing II

Image Quality Evaluation based on Contrast Sensitivity Function 658

Toshio Asano, Yuji Takagi, Takahiro Kondo, Jun Yao, Wei Liu

Towel Mark Recognition System for Washing Cloth Handling System 664

Tatsuya Hojoh, Seiji Ha/a, Junichiro Hayashi, Toshihiro Hamada, Hirotaka Hojoh

Cutting Tool Wear Measurement by Using Active Contour Model Based Image Processing 670

Guangxi Xiong, Jiancheng Liu, Adrian Avila

Research on Intellectual Detection and Classification of Pork Freshness Based on SOMR7R

Neural Network

Peiyuan Guo, Yan Fu, Fang Yuan, Man Bao

Color Image Segmentation based on Watershed and Ncut of Improved Weight Matrix 681

Xiaoli Xu, Zhimao Lu, Haiyan Li

Finding Objects at Indoor Environment Combined with Depth Information 687

Yongqiang Gao, Jianhua Zhang, Liwei Zhang, Ying Hu, Jianwei Zhang

MP2-7 Image Processing III

A Filtering Method for Generating DTM based on Multi-scale Mathematic Morphology 693

Shuwei Li, Huabo Sun, Lei Yan

Edge-Directed Interpolation Based on Canny Detector 698

Yang Luo, Shanshan Liu, Huiyan Zhu

A Level-set Model Driven by Bidimensional EMD for Sonar Image Segmentation 703

Xiufen Ye, Lei Wang, Tian Wang, Gang Wang

Structural Similar Patches for Nonlocal-means with Modified Robust M-estimator and Residual

ImagesBo Xiong, Zhouping Yin

Scene Flow Based Stereo Augmentation Reconstruction 715

Xiuzhi Li, Songmin Jia, Wei Cui, Jinhui Fan, Jinbo Sheng

Translationai Offset Detection Based on Far-Field Intensity for Grating Tiling 721

Yanlong Huang, Zaojun Fang, De Xu, Min Tan, Lan Xia

TA1-1 Mechatronic Device II

Audio Near-Distance Directional Loudspeaker Technology for Portable Multimedia Devices

Xuesheng Li, LimeiXu, Leon Xu

727

A Proposal of Optimization Methodology on Manufacturing Scheduling and Its Application into

Actual Scale Problem in Semiconductor ManufacturingShinji Kurose, Toshiya Kaihara, Nobutada Fujii

Underwater Experiments of a Water-jet-based Spherical Underwater Robot 738

Xichuan Lin, Shuxiang Guo, Koujirou Tanaka, Seji Hata

The Kinematics Analysis For A Five DOF Serial-parallel Manipulator with RP-(2-RRU/1-RUU)Structure

Chenglong Lv, Ying Hu, Zhong Wan, Jianwei Zhang

Research of Micro Removing Copper Foil of FCCL Assisted with Laser 749

Jianwen Yuan, Jimin Chen, Chao He

Modeling of the PDMS Diaphragm Micropump Using EO Actuators 755

Wei Wei, Shuxiang Guo

TP2-1 Organized Session: Human Assistive Technologies and Industrial Applications I

Control of Myoelectric Prosthetic Hand Based on Surface EMG 761

Chiharu Ishii, Akitoshi Harada, Takashi Nakakuki, Hiroshi Hashimoto

Online Collision and Occlusion Detection Based on 3D Cuboid Maps for a Daily Assistive7fi7

Robot with a Tilting LRF

Kimitoshi Yamazaki, Masayuki Inada, Takemitsu Mori, Takashi Yamamoto

Design of Downsized and Efficient Manufacturing Systems 773

Nozomu Mishima, Kiwamu Ashida

Camera-based AGV Navigation System for Indoor Environment with Occlusion Condition 778

Naoya Isozaki, Daisuke Chugo, Sho Yokota, Kunikatsu Takase

Analysis and Evaluation of Tennis Plays by Computer Vision 784

Ryota Mukai, Toshio Asano, Hajime Hara

TA1-2 Novel Actuator System I

A New Model of Hysteresis in Piezoelectric Actuators 789

Issam M.Bahadur, James K. Mills

Development of a Novel Rotor-Embedded-Type Multidegree-of-Freedom Spherical Ultrasonic7Q(-

Motor'yt>

Bo Lu, Manabu Aoyagi, Hideki Tamura, Takehiro Takano

Active-Passive Hybrid Actuators for Tracking and Focusing Motions in Optical Pickup Devices 801

Kwong Wah Chan, Chien Yu Shen, Wei-Hsin Liao

Research and Development of Expert System for Permanent Magnet Retarder Design 807Lezhi Ye, Desheng Li, Bingfeng Jiao

Structure Design and Mechanical Characteristic Test of Cylindrical Ultrasonic Micromotor 812

Jingshan Wang, Hua Zhu, Jianhui Zhang, Chao Chen

Accurate controlled Shape Memory Alloy Actuator for Minimally Invasive SurgeryZhenyun Shi, Da Liu, Cheng Ma, Depeng Zhao

817

TP2-2 Novel Actuator System II

An Experimental System for Robotic Needle Biopsy of Lung Nodules with Respiratory Motion 823

Yu Zhou, Kaarvannan Thiruvalluvan, Lukasz Krzeminski, William H. Moore, Zhigang Xu, Zhengrong

Liang