Contact Us
CiiS Lab
Johns Hopkins University
112 Hackerman Hall
3400 N. Charles Street
Baltimore, MD 21218
Directions
Lab Director
Russell Taylor
127 Hackerman Hall
rht@jhu.edu
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| courses:456:2023:projects:456-2023-18:project-18 [2023/05/10 18:46] – [Dual-robotic arm prostate ultrasound tomography] zli254 | courses:456:2023:projects:456-2023-18:project-18 [2023/05/11 02:54] (current) – [Reports and presentations] zli254 | ||
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| ==== Hand Guidance & Virtual Fixture & Smooth Motion ==== | ==== Hand Guidance & Virtual Fixture & Smooth Motion ==== | ||
| + | {{ control_diagram.png? | ||
| Hand Guidance is to move the robot to correct initial position with human hand, more information for this could be found in [4]. Virtual fixture should be a familiar concept; for smooth motion, it could also be defined as adding constraints to the robot, like maximum velocity, acceleration, | Hand Guidance is to move the robot to correct initial position with human hand, more information for this could be found in [4]. Virtual fixture should be a familiar concept; for smooth motion, it could also be defined as adding constraints to the robot, like maximum velocity, acceleration, | ||
| Line 107: | Line 108: | ||
| of the velocity. The velocity part is calculated in section above. | of the velocity. The velocity part is calculated in section above. | ||
| - | {{ wechat_image_20230218222217.jpg? | + | {{ wechat_image_20230218222217.jpg? |
| After having those values, we could add constraints on them. For instance, we could limit the maximum acceleration; | After having those values, we could add constraints on them. For instance, we could limit the maximum acceleration; | ||
| Line 170: | Line 171: | ||
| * Expected Date: 05/08 | * Expected Date: 05/08 | ||
| * Status: | * Status: | ||
| - | ======Reports and presentations====== | + | {{ : |
| * Project Plan | * Project Plan | ||
| * {{proposal_presentation_final.pptx| Project plan presentation}} | * {{proposal_presentation_final.pptx| Project plan presentation}} | ||
| * {{cis_ii_proporsal_1_.pdf|Project plan proposal{{ : | * {{cis_ii_proporsal_1_.pdf|Project plan proposal{{ : | ||
| - | * Project Background Reading | + | * Project Background Reading |
| * {{reading_presentation.pptx.pdf| Project Background Reading}} | * {{reading_presentation.pptx.pdf| Project Background Reading}} | ||
| * {{miccai_asmus_final_version.pdf| paper1 Dual-Robotic Ultrasound System for In | * {{miccai_asmus_final_version.pdf| paper1 Dual-Robotic Ultrasound System for In | ||
| Line 189: | Line 190: | ||
| * {{musiic_poster_template_1_.pdf|PDF of Poster}} | * {{musiic_poster_template_1_.pdf|PDF of Poster}} | ||
| * Project Final Report | * Project Final Report | ||
| - | * {{: | + | * {{cis_ii_final_report_2_.pdf|Final Report}} |
| * links to any appendices or other material | * links to any appendices or other material | ||
| * Design Document https:// | * Design Document https:// | ||
| + | * Mentor Report: {{cis_ii_2023_project_mentors_report_team18.pdf}} | ||
| + | * Phantom User Manual: {{048a_ug_111815.pdf|Phantom User Manual}} | ||
| ======Project Bibliography======= | ======Project Bibliography======= | ||
