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Power Consumption Characteristics Research on Mobile System of Electrically Driven Large-Load-Ratio Six-Legged Robot

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Chinese Journal of Mechanical Engineering 2023年第1期36卷 237-267页

作者： hongchao zhuang Ning Wang Haibo Gao Zongquan Deng School of Mechanical Engineering Tianjin University of Technology and EducationTianjin300222China School of Information Technology Engineering Tianjin University of Technology and EducationTianjin300222China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin150001China

The electrically driven large-load-ratio six-legged robot with engineering capability can be widely used in outdoor and planetary exploration.However,due to the particularity of its parallel structure,the effective utilization rate of energy is not high,which has become an important obstacle to its practical application.To research the power consumption characteristics of robot mobile system is beneficial to speed up it toward practicability.Based on the configuration and walking modes of robot,the mathematical model of the power consumption of mobile system is set up.In view of the tripod gait is often selected for the six-legged robots,the simplified power consumption model of mobile system under the tripod gait is established by means of reducing the dimension of the robot’s statically indeterminate problem and constructing the equal force distribution.Then,the power consumption of robot mobile system is solved under different working conditions.The variable tendencies of the power consumption of robot mobile system are respectively obtained with changes in the rotational angles of hip joint and knee joint,body height,and span.The articulated rotational zones and the ranges of body height and span are determined under the lowest power consumption.According to the walking experiments of prototype,the variable tendencies of the average power consumption of robot mobile system are respectively acquired with changes in duty ratio,body height,and span.Then,the feasibility and correctness of theory analysis are verified in the power consumption of robot mobile system.The proposed analysis method in this paper can provide a reference on the lower power research of the large-load-ratio multi-legged robots.

关键词： Electrically driven Large-load-ratio six-legged robot Power consumption Mobile system

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非完整约束大负重比六足机器人多机动态协同编队避障控制策略

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机械工程学报 2024年第1期60卷 284-295页

作者：庄红超王柠董凯伦李卫华周安亮董磊夏怡芦天津职业技术师范大学机械工程学院天津300222 天津职业技术师范大学信息技术工程学院天津300222 哈尔滨工业大学(威海)汽车工程学院威海264209 北京印刷学院机电工程学院北京102600

在多机器人编队任务的现实环境中,不可避免会遇到队形变换的动态编队问题。为提高非结构环境多机器人编队的动态协同避障能力,以大负重比六足机器人的多机器人系统为例,利用非完整约束移动机器人轨迹跟踪的领航者-跟随者编队思想,提出... 详细信息

在多机器人编队任务的现实环境中,不可避免会遇到队形变换的动态编队问题。为提高非结构环境多机器人编队的动态协同避障能力,以大负重比六足机器人的多机器人系统为例,利用非完整约束移动机器人轨迹跟踪的领航者-跟随者编队思想,提出多领航机器人分群一致性编队控制的动态队形变换避障策略。基于代数图论数学基础,设计大负重比六足机器人多机通信拓扑图与拓扑图分析矩阵,建立多领航者分群一致性编队系统的全局动态关系与一致性数学模型,提出多领航机器人分群一致性编队控制的动态队形变换避障策略,基于MATLAB软件实施仿真实验,仿真结果显示虚拟领航机器人发布控制指令使多机系统完成队形变换并顺利通过障碍物环境,验证多机动态协同编队避障控制策略的有效性和泛化能力。所提出的大负重比六足机器人多机动态协同编队避障控制策略,有助于提高非结构环境多机器人系统的地形通过能力。

关键词：非完整约束大负重比六足机器人分群一致性协同编队队形变换

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Interactive method research of dual mode information coordination integration for astronaut gesture and eye movement signals based on hybrid model

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Science China(Technological Sciences) 2023年第6期66卷 1717-1733页

作者： zhuang hongchao XIA YiLu WANG Ning LI WeiHua DONG Lei LI Bo School of Mechanical Engineering Tianjin University of Technology and EducationTianjin 300222China School of Information Technology Engineering Tianjin University of Technology and EducationTianjin 300222China School of Automotive Engineering Harbin Institute of Technology(Weihai)Weihai 264209China Tianjin Institute of Aerospace Mechanical and Electrical Equipment Tianjin 300458China School of Mechatronics Engineering Harbin Institute of TechnologyHarbin 150000China

The lightweight human-robot interaction model with high real-time,high accuracy,and strong anti-interference capability can be better applied to future lunar surface exploration and construction work.Based on the feature information inputted from the monocular camera,the signal acquisition and processing fusion of the astronaut gesture and eye-movement modal interaction can be performed.Compared with the single mode,the human-robot interaction model of bimodal collaboration can achieve the issuance of complex interactive commands more efficiently.The optimization of the target detection model is executed by inserting attention into YOLOv4 and filtering image motion blur.The central coordinates of pupils are identified by the neural network to realize the human-robot interaction in the eye movement mode.The fusion between the astronaut gesture signal and eye movement signal is performed at the end of the collaborative model to achieve complex command interactions based on a lightweight model.The dataset used in the network training is enhanced and extended to simulate the realistic lunar space interaction environment.The human-robot interaction effects of complex commands in the single mode are compared with those of complex commands in the bimodal collaboration.The experimental results show that the concatenated interaction model of the astronaut gesture and eye movement signals can excavate the bimodal interaction signal better,discriminate the complex interaction commands more quickly,and has stronger signal anti-interference capability based on its stronger feature information mining ability.Compared with the command interaction realized by using the single gesture modal signal and the single eye movement modal signal,the interaction model of bimodal collaboration is shorter about 79%to 91%of the time under the single mode interaction.Regardless of the influence of any image interference item,the overall judgment accuracy of the proposed model can be maintained at about 83%to 97%.The effectiveness of the propo

关键词： human-robot interaction gesture and eye movement hybrid model YOLOv4 CBAM

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国际可移动小型堆开发与运输安全研究现状

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辐射防护 2024年第3期44卷 210-216页

作者：孙洪超李国强王鹏毅孟东原王长武王智鹏庄大杰孙树堂张建岗中国辐射防护研究院太原030006

可移动小型堆(TNPPS)作为小型模块化反应堆(SMR)的一种(一般指30 MW以下的SMR),当通过陆路、海运等方式运输后在运输工具上或者从运输工具卸载后能够运行和产生电能,可以满足偏远、局部区域的供热、用电需求,引起了各国的重视。本文简... 详细信息

可移动小型堆(TNPPS)作为小型模块化反应堆(SMR)的一种(一般指30 MW以下的SMR),当通过陆路、海运等方式运输后在运输工具上或者从运输工具卸载后能够运行和产生电能,可以满足偏远、局部区域的供热、用电需求,引起了各国的重视。本文简要介绍了国际可移动小型堆发展现状,重点对国际上不同类型可移动小型堆的特点、可移动小型堆发展面临的问题和挑战进行总结,并重点讨论了可移动小型堆运输安全相关问题及对策建议。

关键词：小型模块化反应堆可移动小型堆运输安全安全监管

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指纹图谱、一测多评与模式识别相结合的忍冬藤配方颗粒质量评价

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中草药 2024年第4期55卷 1202-1214页

作者：曹桂云宁波余彩娟庄雪松刘羽康王岱杰林永强董晓弟杨纯国崔伟亮刘洪超孟兆青山东宏济堂制药集团股份有限公司山东省中医药治疗呼吸系统疾病技术创新中心山东济南250103 齐鲁工业大学(山东省科学院)山东省分析测试中心山东济南250014 山东省食品药品检验研究院山东济南250101 山东一方制药有限公司山东临沂276000

目的建立指纹图谱、一测多评与化学模式识别分析相结合的忍冬藤配方颗粒质量评价方法。方法利用制备的15批忍冬藤标准汤剂和10批忍冬藤配方颗粒建立了HPLC指纹图谱,进行相似度评价、层次聚类分析(hierarchical cluster analysis,HCA)、... 详细信息

目的建立指纹图谱、一测多评与化学模式识别分析相结合的忍冬藤配方颗粒质量评价方法。方法利用制备的15批忍冬藤标准汤剂和10批忍冬藤配方颗粒建立了HPLC指纹图谱,进行相似度评价、层次聚类分析(hierarchical cluster analysis,HCA)、主成分分析(principal component analysis,PCA)及偏最小二乘-判别分析(partial least squares-discriminant analysis,PLS-DA)。建立一测多评法同时测定忍冬藤标准汤剂与配方颗粒中新绿原酸、马钱苷酸、绿原酸、隐绿原酸、当药苷、马钱苷6种成分的含量,同时测定忍冬藤饮片中相应成分的含量,计算从饮片到标准汤剂及配方颗粒的转移率。结果15批忍冬藤标准汤剂和10批配方颗粒(S16~S25)HPLC指纹图谱有16个共有峰,相似度评价、HCA、PCA、PLS-DA表明,忍冬藤配方颗粒和标准汤剂成分相似。15批忍冬藤标准汤剂(S1~S15)的出膏率为7.80%~14.57%,新绿原酸、马钱苷酸、绿原酸、隐绿原酸、当药苷、马钱苷质量分数分别为2.09~8.60、6.91~21.84、2.71~6.83、1.94~8.72、1.51~6.81、10.26~33.88 mg/g,6种成分从饮片到标准汤剂的转移率分别为24.14%~41.75%、40.64%~70.83%、26.48%~44.22%、29.58%~51.97%、28.96%~46.59%、45.73%~84.73%。10批忍冬藤配方颗粒(S16~S25)的出膏率为14.4%~14.8%,6种成分从饮片到配方颗粒的转移率分别为46.16%~47.20%、41.87%~42.26%、39.64%~40.17%、58.20%~59.42%、31.14%~31.26%、84.06%~86.26%,与饮片到标准汤剂的转移率基本一致。结论建立基于标准汤剂的忍冬藤配方颗粒的质量控制标准,以出膏率、指纹图谱的一致性、新绿原酸等6种指标成分的含量及转移率等为指标,衡量忍冬藤配方颗粒与标准汤剂的一致性,结果合理可靠,可为忍冬藤配方颗粒的质量控制及工艺研究提供参考。

关键词：忍冬藤标准汤剂配方颗粒指纹图谱一测多评法层次聚类分析主成分分析偏最小二乘-判别分析质量评价新绿原酸马钱苷酸绿原酸隐绿原酸当药苷马钱苷化学模式识别分析

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Method for Analyzing Articulated Torques of Heavy-duty Six-legged Robot

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Chinese Journal of Mechanical Engineering 2013年第4期26卷 801-812页

作者： zhuang hongchao GAO Haibo DING Liang LIU Zhen DENG Zongquan State Key Laboratory of Robotics and System Harbin Institute of Technology

The accuracy of an articulated torque analysis influences the comprehensive performances of heavy-duty multi-legged robots. Currently, the extremal estimation method and some complex methods are employed to calculate the articulated torques, which results in a large safety margin or a large number of calculations. To quickly obtain accurate articulated torques, an analysis method for the articulated torque is presented for an electrically driven heavy-duty six-legged robot. First, the rearmost leg that experiences the maximum normal contact force is confirmed when the robot transits a slope. Based on the ant-type and crab-type tripod gaits, the formulas of classical mechanics and MATLAB software are employed to theoretically analyze the relevant static torques of the joints. With the changes in the joint angles for the abductor joint, hip joint, and knee joint, variable tendency charts and extreme curves are obtained for the static articulated torques. Meanwhile, the maximum static articulated torques and the corresponding poses of the robot are also obtained. According to the poses of the robot under the maximum static articulated torques, ADAMS software is used to carry out a static simulation analysis. Based on the relevant simulation curves of the articulated torques, the maximum static articulated torques are acquired. A comparative analysis of the maximum static articulated torques shows that the theoretical calculation values are higher than the static simulation values, and the maximum error value is approximately 10%. The proposed method lays a foundation for quickly determining accurate articulated torques to develop heavy-duty six-legged robots.

关键词： heavy-duty six-legged robot articulated torque MATLAB static simulation analysis ADAMS

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A review of heavy-duty legged robots

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Science China(Technological Sciences) 2014年第2期57卷 298-314页

作者： zhuang hongchao GAO HaiBo DENG ZongQuan DING Liang LIU Zhen State Key Laboratory of Robotics and System Harbin Institute of Technology

Heavy-duty legged robots have been regarded as one of the important developments in the field of legged robots because of their high payload-total mass ratio,terrain adaptability,and multitasking.The problems associated with the development and use of heavy-duty legged robots have motivated researchers to conduct many important studies,covering topics related to the mechanical structure,force distribution,control strategy,energy efficiency,etc.Overall,heavy-duty legged robots have three main characteristics:greater body masses,larger body sizes,and higher payload-total mass ratios.Thus,various heavy-duty legged robots and their performances are reviewed here.This review presents the current developments with regard to heavy-duty legged robots.Also,the main characteristics of high-performance heavy-duty legged robots are determined and conclusions are drawn.Furthermore,the current research of key techniques of heavy-duty legged robots,including the mechanical structure,force distribution,control method,and power source,is described.To assess the transportation capacity of heavy-duty legged robots,performance evaluation parameters are proposed.Finally,problems that need further research are addressed.

关键词：机器人重型车身质量机械结构动力分配控制策略绩效评估研究人员

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Influence of Trace Oxygen on the Mechanical Properties of High Pure Silver during Natural Aging

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贵金属 2012年第A1期33卷 154-158页

作者： XIE hongchao zhuang Dianxiang LI Ji CHEN Liangwei YANG Anheng LUO Yanbo ZHU Yong State Key Laboratory of Advanced Technologies for Comprehensive Utilization of Platinum Metals Sino-Platinum Metals Co.Ltd.Kunming 650106China Shool of Materials Science and Technology Kunming University of Science and TechologyKunming 650093China

Two kinds of high pure silver materials with 5.3 ppm oxygen and 32.7 ppm oxygen were prepared by various melting processes, both samples were subjected to accumulative rolling with 95% thickness reduction. Their mechanical properties were tested during long natural aging. Results showed that the Ag sheet with 5.3 ppm oxygen is at full annealed state when natural aging 58 days or kept at 150℃ for 30 minutes, and the Ag sheet with 32.7 ppm oxygen is a little of recovery when natural aging a year. It is suggested that appropriate oxygen interstitial solute in Ag solid solution and a few of Ag2O particles at Ag grain boundaries impede the recovery and recrystallization of Ag sheets.

关键词： silver trace oxygen natural aging mechanical property

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Thoughts on the Construction of Urban Water Ecological Civilization in Northeast China

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Meteorological and Environmental Research 2021年第5期12卷 17-20页

作者： Fei YU hongchao LIU Zhong zhuang Songliao Water Resources Protection Institute Changchun 130021China Jilin Shize Environmental Protection Technology Co. Ltd.Changchun 130021China

Based on the ongoing construction of water ecological civilization in China,the connotation and specific requirements of ecological civilization and ecological civilized city are analyzed in detail. Combining with present situation and characteristics of water resources,water environment and water culture in Northeast China,the main contents to be considered in the construction of water ecological civilization in Northeast China are discussed,which could provide the reference for construction of water ecological civilization city.

关键词： Water ecological civilization Northeast China Water resource Water environment Water culture

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华北落叶松和白桦半参数树高曲线模型

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林业科学 2022年第10期58卷 101-110页

作者：黄宏超谢栋博段光爽张状张海江符利勇中国林业科学研究院资源信息研究所北京100091 国家林业和草原局森林经营与生长模拟重点实验室北京100091 信阳师范学院数学与统计学院信阳464000 河南农业大学风景园林与艺术学院郑州450002 河北省张家口市崇礼区林业和草原局张家口075000

【目的】运用半参数回归模型描述华北落叶松和白桦树高与胸径的关系,并与传统参数回归模型进行比较,为构建树高曲线模型和提高模型精度提供新方法。【方法】基于河北省张家口市崇礼冬奥核心区76块样地4921株华北落叶松和2833株白桦的胸... 详细信息

【目的】运用半参数回归模型描述华北落叶松和白桦树高与胸径的关系,并与传统参数回归模型进行比较,为构建树高曲线模型和提高模型精度提供新方法。【方法】基于河北省张家口市崇礼冬奥核心区76块样地4921株华北落叶松和2833株白桦的胸径、树高等数据,按7∶3比例随机选取数据用于模型拟合与检验。半参数模型选择广义可加模型和单指标模型形式,自变量设为胸径和林分优势木高,分树种建模,其中广义可加模型将常数项作为参数部分,胸径、优势木高及二者交互作用作为非参数部分,单指标模型将胸径、优势木高或二者乘积的线性组合作为参数部分,联系函数作为非参数部分。选取4种常见的包含优势木高的标准树高曲线模型用于模型比较。为进一步构建可同时表示两树种的树高曲线模型,以广义可加模型和改进的Richard参数模型为基础模型,将树种组成作为参数部分引入广义可加模型,通过比较在改进Richard参数模型不同参数上添加树种哑变量的拟合效果筛选出最优参数模型,选择调整决定系数(Ra2)、均方根误差(RMSE)和赤池信息量(AIC)评价模型估计精度。【结果】分树种建模情况下,广义可加模型的拟合精度最高,华北落叶松和白桦的Ra2分别为88.98%和72.35%,较各参数模型提高3.13%~4.80%和7.37%~12.09%,RMSE分别为1.4413和2.0333,较各参数模型减少0.1904~0.2848和0.2529~0.4034。单指标模型对华北落叶松的拟合效果次之,Ra2和RMSE分别为85.99%和1.6241,对白桦的拟合效果居第4位,Ra2和RMSE分别为64.75%和2.2956。在对检验样本的预测精度方面,广义可加模型同样为最优模型,华北落叶松和白桦的RMSE分别为1.5804和2.1926,而单指标模型对两树种预测结果不佳。混合树种建模结果显示广义可加模型略优于参数模型,Ra2达83.00%,训练和检验样本的RMSE分别为1.7224和1.8075。无论是分别树种还是混合树种建模,广义可加模型的AIC均远小于参数模型,表现出显著的模型结构简洁性。【结论】在华北落叶松和白桦树高曲线模型构建中,半参数模型在参数模型基础上引入非参数回归方法,不仅可大大提高模型的灵活性和适用性,而且拟合精度通常会有所提高,其中广义可加模型表现出对数据拟合与预测的高精度,单指标模型可作为判断其他模型中联系函数选择是否合适的参考。随着更多林分变量引入树高胸径模型,半参数方法能够为复杂模型构建提供一种新思路。

关键词：树高曲线半参数模型华北落叶松白桦优势木高

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