scholarly journals Design of 3D force perception system of surgical robots based on Fiber Bragg Grating

2021 ◽  
Vol 336 ◽  
pp. 02019
Author(s):  
Haodong Wang ◽  
Weidong Wang ◽  
Zhijiang Du ◽  
Yongzhuo Gao
Keyword(s):  
Fiber Bragg Grating ◽  
Three Dimensional ◽  
Least Square Method ◽  
Least Square ◽  
Bragg Grating ◽  
Surgical Robots ◽  
Force Perception ◽  
Perception System ◽  
Actual Operation ◽  
System Errors

Surgical robots have been widely researched due to their features of accurate positioning, no jitter, high precision, and low error rate under certain tasks. However, it is generally relatively slow to the feedback generated by force, deformation, or sudden and arbitrary impact during operation. Besides, the feedback is always provided through a vision that cannot meet the actual operation requirements for doctors. The customized design and integration of force perception functions on different robots have become one of the research hotspots of surgical robotics-worldwide recently. A force perception sensor for surgical robots based on Fiber Bragg grating (FBG) is proposed in this paper. It can be used to measure three-dimensional force. The experimental parameters are utilized to calibrate the model through the least square method. A four DoFs experimental platform is constructed. The system errors of the sensor involved are evaluated. The effectiveness of the proposed algorithm can be proved by the experimental results

scholarly journals Investigation of a Three-Dimensional Micro-Scale Sensing System Based on a Tapered Self-Assembly Four-Cores Fiber Bragg Grating Probe

Sensors ◽  
2018 ◽  
Vol 18 (9) ◽  
pp. 2824 ◽  
Author(s):  
Kunpeng Feng ◽  
Jiwen Cui ◽  
Xun Sun ◽  
Hong Dang ◽  
Tangjun Shi ◽  
...  
Keyword(s):  
Fiber Bragg Grating ◽  
Self Assembly ◽  
Three Dimensional ◽  
Critical Length ◽  
Bragg Grating ◽  
Manufacturing Method ◽  
Micro Scale ◽  
Sensing Model ◽  
Shift Point ◽  
Better Than

Three-dimensional micro-scale sensors are in high demand in the fields of metrology, precision manufacturing and industry inspection. To extend the minimum measurable dimension and enhance the accuracy, a tapered four-cores fiber Bragg grating (FBG) probe is proposed. The sensing model is built to investigate the micro-scale sensing characteristics of this method and the design of the tapered stylus is found to influence the accuracy. Therefore, a π/2 phase-shift point is introduced into the FBGs comprised in the probe to suppress spectrum distortion and improve accuracy. Then, the manufacturing method based on capillary self-assembly is proposed to form the probe and the critical length to form a square array for four cylindrical fibers is verified to be effective for the tapered fibers. Experimental results indicate that the design of the tapered stylus can extend the minimum measurable dimension by twofold and has nearly no influence on its sensitivity. The three-dimensional measurement repeatability is better than 31.1 nm and the stability is better than 200 nm within once measuring process. Furthermore, the measurement precision of the three-dimensional micro-scale measurement results is less than 150 nm. It would be widely used in measuring micro-scale features for industry inspection or metrology.

scholarly journals Numerical Exploration via Least Squares Estimation on Three Dimensional MHD Yield Exhibiting Nanofluid Model with Porous Stretching Boundaries

2021 ◽  
Vol 5 (4) ◽  
pp. 167
Author(s):  
Tamour Zubair ◽  
Muhammad Usman ◽  
Umar Nazir ◽  
Poom Kumam ◽  
Muhammad Sohail
Keyword(s):  
Differential Equations ◽  
Numerical Study ◽  
Nonlinear Partial Differential Equations ◽  
Three Dimensional ◽  
Least Square Method ◽  
Least Square ◽  
Comparison Study ◽  
Nano Fluid ◽  
Complicated Geometry ◽  
Maple Code

The numerical study of a three-dimensional magneto-hydrodynamic (MHD) Casson nano-fluid with porous and stretchy boundaries is the focus of this paper. Radiation impacts are also supposed. A feasible similarity variable may convert a verbalized set of nonlinear “partial” differential equations (PDEs) into a system of nonlinear “ordinary” differential equations (ODEs). To investigate the solutions of the resulting dimensionless model, the least-square method is suggested and extended. Maple code is created for the expanded technique of determining model behaviour. Several simulations were run, and graphs were used to provide a thorough explanation of the important parameters on velocities, skin friction, local Nusselt number, and temperature. The comparison study attests that the suggested method is well-matched, trustworthy, and accurate for investigating the governing model’s answers. This method may be expanded to solve additional physical issues with complicated geometry.

Intelligent Identification and Locating System of Steel Coil Based on Laser Technology

2014 ◽  
Vol 496-500 ◽  
pp. 1308-1312
Author(s):  
Yu Chi Wang ◽  
Si Yue Zhou ◽  
Zheng Peng Yuan
Keyword(s):  
3D Model ◽  
Three Dimensional ◽  
Least Square Method ◽  
Least Square ◽  
Circle Fitting ◽  
Three Dimensional Model ◽  
Laser Technology ◽  
Steel Coil ◽  
Main Emphasis ◽  
Locating System

In this paper, a solution based on laser technology is proposed for steel coil handling. The main emphasis is placed on the problem of steel coil identification and locating. In this paper, we first use laser data to construct three dimensional model of the worksite. And then we slice up the 3D model repeatedly to get the section images and make them to fusion. In order to wipe off the disturb of line, a line detection method based on probabilistic hough transform is proposed. Finally an improved least square method used in circle fitting is discussed.

scholarly journals Non-Destructive Three-Dimensional Optical Imaging of a Fiber Bragg Grating

2014 ◽  
Vol 6 (5) ◽  
pp. 1-7 ◽  
Author(s):  
Xiao Ming Goh ◽  
Shan Shan Kou ◽  
Betty P. Kouskousis ◽  
Nicoleta M. Dragomir ◽  
Stephen F. Collins ◽  
...  
Keyword(s):  
Optical Imaging ◽  
Fiber Bragg Grating ◽  
Three Dimensional ◽  
Bragg Grating ◽  
Non Destructive

Railroad track modeling based on the results of mobile laser scanning

2018 ◽  
pp. 408-413
Author(s):  
Elena Lenchenkova
Keyword(s):  
Mathematical Model ◽  
Laser Scanning ◽  
Dimensional Space ◽  
Practical Importance ◽  
Three Dimensional ◽  
Least Square Method ◽  
Least Square ◽  
Railroad Track ◽  
Railway Line ◽  
Type Data

Objective: To develop a mathematical model of the railroad track based on the initial progressive-type data (laser scanning) in railroad design. Methods: Regression analysis (least-square method), as well as coordinate methods of calculating point position in space were applied. Results: The mathematical model, which could describe the position of the railroad track in three-dimensional space by means of mathematical relations, was obtained. Applicability of approximating models was established. The models make it possible to provide smoothing of laser survey data. Regularization and globalization algorithms of initial data were developed. Practical importance: The introduced model is universal when describing the position of the track at all stages of life cycle of the railway line. It is reasonable to apply the presented model in design engineering in order to balance survey errors, maintain the track in coordinates, as well as to calculate design and profile parameters.

Research of Binocular Positioning Mathematical Model Based on the Least Square Method

2011 ◽  
Vol 50-51 ◽  
pp. 473-477 ◽  
Author(s):  
Chun Feng Liu ◽  
Xiao Li Meng ◽  
Huan Cheng Zhang
Keyword(s):  
Relative Position ◽  
Three Dimensional ◽  
Digital Camera ◽  
Least Square Method ◽  
Absolute Error ◽  
Least Square ◽  
Specific Data ◽  
Centroid Algorithm ◽  
Three Dimensional Coordinate ◽  
The Relationship

By giving a centroid algorithm to extract pixel coordinates of each circle in the center of a circle under the coordinates, through the coordinate transformation the image coordinates can be obtained. Based on the data obtained from above to verify the model, from the specific data of the relative error, absolute error and error propagation theory to discuss the algorithm accuracy and stability. Finally using the least square method, according to the mean square error criteria for the establishment of a minimum of three-dimensional coordinate system fixed relative position of two cameras, binocular positioning mathematical models and by discussing the nature of matrix and the relationship between the relative position of the camera to calibrate the binocular digital camera.

scholarly journals 3D Localization Algorithm Based on Linear Regression and Least Squares in NLOS Environments

2018 ◽  
Vol 11 (4) ◽  
pp. 1
Author(s):  
Jiang Li ◽  
Zhang Lei
Keyword(s):  
Linear Regression ◽  
Three Dimensional ◽  
Least Square Method ◽  
Mobile Terminal ◽  
Base Station ◽  
Least Square ◽  
Time Of Arrival ◽  
Localization Algorithm ◽  
Positional Accuracy ◽  
The Relationship

Based on the positive bias property of the time of arrival(TOA) measurement error caused by the non-line-of-sight(NLOS) propagation, a simple and effective three dimensional(3D) geometrical localization algorithm was proposed, the algorithm needs no prior knowledge of time delay distribution of TOA, and only linear regression was used to estimate the parameters of the relationship between the NLOS distance error and the true distance, thus, the approximate real distance between mobile terminal (MT) and base station (BS) was reduced, then, the 3D geometric localization of mobile terminal was carried out by the least square method. The experimental results shows the effectiveness of the algorithm, and the positional accuracy is far higher than the required accuracy by E-911 in NLOS environments.

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