Publications
40 results found
Zhang D, Zhang Y, Dong K, et al., 2019, Control Allocation Strategy for Optimal Digital Microthruster Arrays in Orbit Control Applications, JOURNAL OF SPACECRAFT AND ROCKETS, Vol: 56, Pages: 836-843, ISSN: 0022-4650
Zhang D, Xiao B, Huang B, et al., 2019, A self-adaptive motion scaling framework for surgical robot remote control, IEEE Robotics and Automation Letters, Vol: 4, Pages: 359-366, ISSN: 2377-3766
Master-slave control is a common form of human-robot interaction for robotic surgery. To ensure seamless and intuitive control, a mechanism of self-adaptive motion scaling during teleoperaton is proposed in this letter. The operator can retain precise control when conducting delicate or complex manipulation, while the movement to a remote target is accelerated via adaptive motion scaling. The proposed framework consists of three components: 1) situation awareness, 2) skill level awareness, and 3) task awareness. The self-adaptive motion scaling ratio allows the operators to perform surgical tasks with high efficiency, forgoing the need of frequent clutching and instrument repositioning. The proposed framework has been verified on a da Vinci Research Kit to assess its usability and robustness. An in-house database is constructed for offline model training and parameter estimation, including both the kinematic data obtained from the robot and visual cues captured through the endoscope. Detailed user studies indicate that a suitable motion-scaling ratio can be obtained and adjusted online. The overall performance of the operators in terms of control efficiency and task completion is significantly improved with the proposed framework.
Zhang D, Xiao B, Huang B, et al., 2019, A Self-Adaptive Motion Scaling Framework for Surgical Robot Remote Control, IEEE Robotics and Automation Letters, Vol: 4, Pages: 359-366
Master-slave control is a common form of human-robot interaction for robotic surgery. To ensure seamless and intuitive control, a mechanism of self-adaptive motion scaling during teleoperaton is proposed in this letter. The operator can retain precise control when conducting delicate or complex manipulation, while the movement to a remote target is accelerated via adaptive motion scaling. The proposed framework consists of three components: 1) situation awareness, 2) skill level awareness, and 3) task awareness. The self-adaptive motion scaling ratio allows the operators to perform surgical tasks with high efficiency, forgoing the need of frequent clutching and instrument repositioning. The proposed framework has been verified on a da Vinci Research Kit to assess its usability and robustness. An in-house database is constructed for offline model training and parameter estimation, including both the kinematic data obtained from the robot and visual cues captured through the endoscope. Detailed user studies indicate that a suitable motion-scaling ratio can be obtained and adjusted online. The overall performance of the operators in terms of control efficiency and task completion is significantly improved with the proposed framework.
Zhang D, Liu J, Zhang L, et al., 2019, Design and Verification of A Portable Master Manipulator Based on an Effective Workspace Analysis Framework, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Publisher: IEEE, Pages: 417-424, ISSN: 2153-0858
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- Citations: 4
Zhang D, Guo Y, Chen J, et al., 2019, A Handheld Master Controller for Robot-Assisted Microsurgery, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Publisher: IEEE, Pages: 394-400, ISSN: 2153-0858
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- Citations: 10
Zhang D, Wang D, 2016, WALS-Robot: A Compact and Transformable Wheel-Arm-Leg-Sucker Hybrid Robot, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Publisher: IEEE, Pages: 2584-2589
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- Citations: 3
Gao J, Zhang D, Yang M, et al., 2012, The influence of mesh generation on the results of flow solving in working face and gob, 2nd SREE Conference on Engineering Modelling and Simulation (CEMS), Publisher: ELSEVIER SCIENCE BV, Pages: 125-131, ISSN: 1877-7058
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- Citations: 4
Zhang D, Wei S, Wang G, et al., 2011, Dynamics Research of Ultrasonic Peristaltic Micro-fluid Driving Model, 2nd International Conference on Manufacturing Science and Engineering, Publisher: TRANS TECH PUBLICATIONS LTD, Pages: 1391-1396, ISSN: 1022-6680
Zhang D, Wei S, Wu H, et al., 2010, Fluid-Structure Coupling Analysis of Ultrasonic Traveling Wave Micro-fluid Driving Annular Model, 8th World Congress on Intelligent Control and Automation (WCICA), Publisher: IEEE, Pages: 2259-2263
Yu Z, Wei S, Zhang D, et al., 2010, Application of FAHP in the Allocation of Medical Resources, 8th World Congress on Intelligent Control and Automation (WCICA), Publisher: IEEE, Pages: 1959-1962
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