Title: Experimental study on fiber coupling control of adaptive optics wavefront correction
Abstract: In order to improve the coupling efficiency of free space coherent optical communication, the influence of the discrete distorted wavefront on the coupling efficiency is derived, and the influence of the distorted wavefront on the coupling efficiency and the power in the bucket is analyzed, and the coupling efficiency of the measured wavefront phase at different distances is analyzed through experiments. The theoretical analysis results show that: the coupling efficiency decreases with the increase of wavefront distortion, and the power in the barrel decreases with the increase of turbulence intensity; the experimental results show that after eliminating the non-common optical path aberration, the spot at the focal plane will diverge with the increase of turbulence intensity. After the optical wavefront is transmitted through indoor, 600m, 1km, 5km, 10km, 100km, the coupling efficiency is respectively From 10%, 10%, 10%, 3%, 5%, 5% to 90%, 80%, 90%, 60%, 40% and 10%. The effect of short-range correction is better than that of long-distance correction, and the fluctuation of coupling efficiency after short-range correction is smaller than that of long-distance correction.
Title: Advanced Control of Surgical Robotics Systems
Abstract: To improve the quality of life, utilization of commercial industrial robots have been successfully adopted and further developed in precise automation processes for a variety of applications, especially robotic assisted systems in surgery operation. In general, a robotic surgery implementation is at the need of a well-developed control technology and precision of the surgical tools. Hence, from both theoretical and practical aspects the problem of surgical robotics control is a challenging topic.
The objective of this talk is to present some challenges and recent results on intelligent control of redundant surgical robot manipulators. Specifically, learning algorithms and optimization techniques under remote center of motion constraints are presented and then followed by model development for the surgical operation. The talk will be concluded with some concluding remarks on both technical and practical aspects of adaptive control schemes for surgical robotic systems.