Bo Tao - IEEE Xplore Author Profile

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Wheeled climbing robots have great application prospects in the machining of large components with variable curvature. However, its accurate motion control on variable curvature surfaces faces two fatal challenges. The varied contact states between the robot’s wheels and the variable curvature surfaces make it difficult to establish an accurate kinematics model. Additionally, there exists a differ...Show More
Manta ray-inspired robots exhibit broad application prospects. In nature, different manta rays possess different stiffness of pectoral fins to survive in specific environment. Some rays present stiffer fins that enable an oscillation, achieving large propulsion to adapt to a pelagic lifestyle. While some rays exhibit softer fins that produce a wave-like undulation, enhancing motion efficiency to s...Show More
Robotic ultrasound (US)-guided surgery is one of the most common clinical workflows for many diseases. Intraoperative tissue deformation is a key challenge faced by robots in realizing autonomous surgery. This study develops a US-guided robotic autonomous operation scheme based on deformation tracking and prediction, which can overcome the adverse effects of intraoperative deformation. First, a de...Show More
The magnetic foot module is the hardware core of leg-based magnetic climbing robot. To realize versatile mobility on large complex steel structures, the holding force density, energy consumption and sensing capability of magnetic foot are crucial. Here, we present a novel design of a magnetic foot that integrates the electro-permanent magnet (EPM), friction foot pad and flexible pressure sensor. I...Show More
With the development of industrial automation, five-axis mechanism has been increasingly invested in various production scenarios. In addition to CNC mechanism tools, some five-axis mechanism used in non-cutting scenarios has also been gradually applied. For the five-axis mechanism, due to the assembly, there are all kinds of geometric errors, especially the accuracy of the rotary axis will greatl...Show More
Wheeled climbing robots equipped with tools can achieve high-coverage machining of large components with free-form surfaces. Trajectory tracking is the foundation for machining. However, there is a lack of a universal yet accurate model for robots while moving on variable curvature surfaces, making it difficult to guarantee tracking performance. Thus, this article proposes a universal contact fram...Show More
In the research on trajectory tracking control of tracked mobile robot (TMR), it is commonly assumed that the center of gravity and the geometric center are equivalent. However, in practical scenarios, there often exists a phenomenon of center of gravity displacement caused by loads. This article establishes the steering kinematic and dynamic models for TMRs, specifically addressing the effects of...Show More
The wheeled negative pressure adsorption climbing robots possess unique advantages for processing extra-large components due to the surface adsorption and motion ability. The large components usually have complex variable curvature surfaces, significantly amplifying the propensity for wheel slip of climbing robots. An adsorption forces planning method was proposed to restrain the slip and then app...Show More
This paper presents a method of small object detection and applies it to warp yarn defect detection in warp knitting. Warp yarn defect is very challenging for existing small object detection methods. In the warping process, due to the fast speed and small size of warp yarns, the method requires high accuracy and real-time performance. In response to these challenges, we have made several changes t...Show More
Subsea cables are important channels for international interconnection and power transmission. Traditional subsea cable operation and maintenance approaches rely on underwater remotely operated vehicles (ROVs). This method is time-consuming, labour-intensive, and uneconomical due to insufficient autonomy and strong dependence on surface ship auxiliary. This paper proposes an intelligent detection ...Show More
Current underground radio frequency identification (RFID) tags have not been able to meet the detection needs of pipeline burial toward deep areas. To effectively address this issue, in this work, a novel lightweight segmented RFID tag coil antenna with a combined ferrite core was presented. Based on the magnetic flux distributions of a traditional single large-sized ferrite core, multiple small f...Show More
Robotic ultrasound (US)-guided surgery is a common clinical workflow for the diagnosis and treatment of many diseases. Tissue deformation is an important factor that affects surgical accuracy. Intraoperative real-time deformable registration is therefore critical to ensure surgical precision. In this study, a real-time US image nonrigid registration method was proposed. First, the analytical deriv...Show More
The versatile locomotion capabilities of aquatic-aerial robots significantly extend their operational range, opening up a wide array of potential applications. The compatibility of water and air is crucial in the design of aquatic-aerial robots, requiring their wings to possess the ability to deform for enhanced adaptability. However, existing designs have faced challenges in balancing movement ef...Show More
The performance of human–robot interaction can be enhanced by imposing force constraints through virtual fixture (VF) algorithms. In this article, an adaptive impedance-based VF scheme is proposed, aiming to improve the accuracy of human–robot interaction in robot-assisted total hip arthroplasty (RA-THA). We developed a multimode impedance controller that realizes four distinct functional modes ac...Show More
Industrial edge computing devices typically have limited computational performance. Current high-precision grasping pose detection models are often over-parameterized, resulting in computational inefficiency and making it difficult to deploy on industrial robots. Existing efficient network design methods rely on constructing, training, and validating a large number of new networks to obtain the fi...Show More
In complex assembly industry settings, fault localization involves rapidly and accurately identifying the source of a fault and obtaining a troubleshooting solution based on fault symptoms. This study proposes a knowledge-enhanced joint model that incorporates aviation assembly knowledge graph (KG) embedding into large language models (LLMs). This model utilizes graph-structured Big Data within KG...Show More
This article proposes a climbing machining robot that can adsorb and move on the variable curvature surface of large and complex components to perform machining tasks. Active compliance suction units, which consist of twofold innovation, are proposed for this robot to overcome the bottleneck involving adsorption on the variable curvature surface. To solve the dilemma between high vacuum tolerance ...Show More
Robotic ultrasound-guided intervention is an effective approach to ameliorating the quality of the intervention surgery. Ultrasound-robot calibration, conducted to obtain spatial relationships among different frames, is an essential step for the ultrasound-guided robotic system. However, existing step-by-step calibration methods mainly rely on phantoms or external trackers and are prone to error a...Show More
Steady-state visual-evoked potential (SSVEP)-based brain–computer interfaces (BCIs) are prominent in the information interaction field due to their noninvasive nature. Fixed-window-based classification for labeled data fails to capture the dynamics of the whole process in target selection and recognition, leading to resource inefficiencies. In response, we propose an attention-focused triggering (...Show More
Adaptability is one of the most important survival and living abilities in nature and human society, which needs to perceive the environment and regulate self-behaviors. To empower robots in manufacturing with this ability, an observer-based variable impedance control scheme is proposed in this article. It senses changes in environmental properties during contact and utilizes the observations to g...Show More
Dual-arm robots show better task adaptability but face more constraints than single-arm robots. Inspired by human cooperation options, a nonlinear model predictive cooperative control (NMPCC) coupled with a cooperative index is proposed in this article. By adjusting the cooperative index, dual-arm cooperation can be classified into four modes: tracking, motion synchronization, impedance, and force...Show More
Aiming at the problem that the existing magnetic driven capsule robot is difficult to generate stable motion in open space, this paper proposes a magnetic driven coaxial dual propeller capsule robot. Its structure is mainly divided into three parts: 1) Shell; 2) Two spiral structures; 3) Transmission bevel gears. The shell can protect the intestines and reduce various resistance during operation. ...Show More
The magnetic adsorption wall-climbing robot is expected to be the future choice for surface processing of large complex steel structures due to its strong load capacity, high adsorption stability, no additional energy consumption, flexible configuration and low running noise. However, there are still many challenges to be solved in terms of mobile processing efficiency and integration of the elect...Show More
This paper proposes a variable-topology motor drive with soft-shifting method for PMSM operating range extension. To satisfy both heavy-load and high-speed requirement, smooth online conversion between half-bridge topology and series-winding topology is achieved by considering shift transient control. The shift circuit is special designed and the step-by-step shifting method is proposed to avoid t...Show More
Industrial robots provide a new production mode for automatic assembly. However, the motion accuracy of robots is hard to meet high-precision assembly requirements in many current scenarios. To address this issue, this article proposes a robotics assembly strategy based on local pose invariance, achieving a high-precision assembly guided by a monocular camera. This assembly strategy combines monoc...Show More