Qingjun Zeng

Design and Experiment of Control System for Underwater Ocean Engineering Structure Inspection and Cleaning Remotely Operated Vehicle

The abstract should summarize the contents of the paper and the control system is designed for the new multi-functional and model-switched remotely operated vehicle, which is developed for detection and decontamination of underwater structure in Ocean Engineering. The dynamic propulsion system and controller unit was designed by analyzing the underwater motion force of robot. The surface console consist of power supply, control system, communication interface and PC software. The console can control the robot to complete medium-scale searching and point-fixed detection under remote control or monitoring. And the robot can switch modes each other between floating or climbing. Tests including posture, navigation, depth, monitoring and crawling clean-up verify that the ROV control system has reliable performances and it can satisfy the tasks in underwater complex environment.

Research of underwater navigation on a ROV with structure detection and decontamination

For the development of a novel underwater remotely operated vehicle (ROV) oriented to detection and clean-up, a set of inertial navigation system based on MEMS devices including gyroscope, accelerometer, magnetic compass, depth sensor and microprocessor is designed. In order to suppress the gyro drifts, the complementary filter and quaternion algorithm integrating gyroscope are adapted, as well as the Unscented Kalman Filter is designed to improve the navigation accuracy. In addition, gradient descent algorithm and its role in compensating the quaternions are researched and analyzed carefully. Experimental and simulation results show that the methods can reach reliable, high precise navigation effects.

Soft tissue deformation ANSYS simulation of robot-assisted percutaneous surgery

In order to reduce deflection of the stabbing needle and increase the accuracy of the robot-assisted needle insertion into soft tissue, A physical model of stabbing needle is built with elastic beam. We put forward a algorithm to analyze force added on stabbing needle and got the deflection and angle of element node. The theoretical calculation and experimental simulation shows the validation and consistency of the algorithm. The dynamic process of the soft tissue deformation during needle insertion is decomposed into a set of discrete quasi-static stages. We got every notes displacement and force distribution of the soft tissue by simulating needle insertion into two and three dimensional tissue, which provide significant reference with predicting soft tissue deformation and planning before surgery.

Stability and transparency study for teleoperation system with time delay

To the problem that the communication time delay usually causes instability and bad performance of the system. In order to eliminate the effect of that, the whole system is described as a state equation with time delay. Then we adopted appropriate Lyapunov function to analyze systems stability, and obtained the stability conditions at constrained motion with time delay. In addition, we established the equivalent circuit of the system and studied a novel method of impedance matching to analyze the systems transparency with time delay or not. The simulation results illustrated the validity of the proposed method and the system has good stability and transparency.