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Modeling and optimal torque control of a snake-like robot based on the fiber bundle theory

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Science China(Information Sciences) 2015年第3期58卷 183-195页

作者： GUO Xian MA ShuGen LI Bin wang MingHui wang yuechao State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences University of Chinese Academy of Sciences Department of Robotics Ritsumeikan University

For the snake-like robot with passive wheels,the side constraint force provides the required thrust which is less than the maximum static *** the side constraint force can reduce possibility of skidding which is important to ensure stable and efficient motion of the *** this paper we model the snakelike robot based on the fiber bundle *** method can reduce the complexity of the dynamics and derive the exact analytical solution for the side constraint force which is linear to the redundant *** the linear relation,we can derive directly the optimal torque by minimizing the side constraint *** the nonholonomic constraint can be used for constructing the connection of the fiber *** the connection,we can select the gait of the snake-like *** position and orientation of the head can be described in terms of the special Euclidean group SE(2)which is also the structure group of the fiber *** the symmetry of the structure group,we can reduce the dynamics equations and derive the analytical solution for the side constraint *** and dynamics simulations validate the proposed methods.

关键词： snake-like robot redundant torque fiber bundle theory nonholonomic optimal control

Advances in atomic force microscopy for single-cell analysis

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Nano Research 2019年第4期12卷 703-718页

作者： Mi Li Ning Xi yuechao wang Lianqing Liu State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang 110016 China Department of Industrial and Manufacturing Systems Engineering The University of Hong Kong Hong Kong 999077 China

Single-cell analysis has been considered as a promising way to uncover the underlying mechanisms guiding the mysteries of life activities, which con siderably complements traditio nal en semble assays and yields novel in sights into cell biology. The adve nt of atomic force microscopy (AFM) provides a potent tool for investigati ng the structures and properties of n ative biological samples at the micro/na no scale un der near-physiological conditions, which promotes the studies of single-cell behaviors. In the past decades, AFM has achieved great success in single-cell observation and manipulation for biomedical applications, demonstrating the excellent capabilities of AFM in addressing biological issues at the single-cell level with unprecedented spatiotemporal resolution. In this article, we review the recent advances in single-cell analysis that has been made with the utilization of AFM, and provide perspectives for future progression.

关键词： atomic force microscopy single-cell analysis cellular morphology cellular mechanics cellular manipulation

Axiomatic design method to design a screw drive in-pipe robot passing through varied curved pipes

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Science China(Technological Sciences) 2016年第2期59卷 191-202页

作者： LI Te MA ShuGen LI Bin wang MingHui wang yuechao State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China University of Chinese Academy of Sciences Beijing 100049 China Department of Robotics Ritsumeikan University Shiga-ken 525-8577 Japan

A screw drive in-pipe robot is promising inspection equipment for small pipes. However, most of the existing screw drive in-pipe robots have problems of motion interference and slipping inside curved or irregular pipes. These problems result from the coupled relations among the steering motion, the motion speed and the load ability of the robot. In order to deal with the problems, the axiomatic design （AD） theory is applied to evaluate and analyze the existing designs. Then an uncoupled con- cept design based on the AD theory is proposed and the complete AD decomposition process is presented. After that, the pro- posed robot based on a tri-axial differential angle modulation mechanism is designed to realize the uncoupled concept. Finally, the uncoupled property is verified in a dynamics simulation system. The simulation results indicate that the mc tion speed, load ability and steering motion of the proposed robot can be adjusted individually compared with the robots taat have inclin- ing-angle-fixed rollers. Owing to the uncoupled design, the proposed robot can mechanically adapt to straight pipes and curved pipes with less roller slipping.

关键词： screw drive in-pipe robot axiomatic design tri-axial differential mechanism

Atomic force microscopy studies on cellular elastic and viscoelastic properties

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Science China(Life Sciences) 2018年第1期61卷 57-67页

作者： Mi Li Lianqing Liu Ning Xi yuechao wang State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China Department of Industrial and Manufacturing Systems Engineering The University of Hong Kong Hong Kong China

In this work, a method based on atomic force microscopy (AFM) approach-reside-retract experiments was established to simultaneously quantify the elastic and viscoelastic properties of single cells. First, the elastic and viscoelastic properties of normal breast cells and cancerous breast cells were measured, showing significant differences in Young’s modulus and relaxation times between normal and cancerous breast cells. Remarkable differences in cellular topography between normal and cancerous breast cells were also revealed by AFM imaging. Next, the elastic and viscoelasitc properties of three other types of cell lines and primary normal B lymphocytes were measured; results demonstrated the potential of cellular viscoelastic properties in complementing cellular Young’s modulus for discerning different states of cells. This research provides a novel way to quantify the mechanical properties of cells by AFM, which allows investigation of the biomechanical behaviors of single cells from multiple aspects.

关键词： atomic force microscopy cell mechanical properties viscoelastic properties Young's modulus relaxation time

Analysis of the constraint relation between ground and self-adaptive mobile mechanism of a transformable wheel-track robot

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Science China(Technological Sciences) 2011年第3期54卷 610-624页

作者： LI ZhiQing MA ShuGen LI Bin wang MingHui wang yuechao State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China Department of Robotics Ritsumeikan University Shiga-ken 525-8577 Japan Graduate School of the Chinese Academy of Sciences Beijing 100039 China

To maneuver in unstructured terrains where the ground might be soft, hard, flat or rough, a transformable wheel-track robot (NEZA-I) with a self-adaptive mobile mechanism is proposed and developed. The robot consists of a control system unit, two symmetric transformable wheel-track (TWT) units, and a rear-wheel unit. The TWT unit is the main mobile mechanism for the NEZA-I robot, with the rear-wheel unit acting as an assistant mechanism. Driven only by one servomotor, each TWT unit can efficiently select between track mode and wheel mode for optimal locomotion, autonomously switching locomotion mode and track configuration with changes in the terrain. In this paper, the mechanism structure, the self-adaptive drive system, the locomotion mode and posture of the NEZA-I robot are presented, the kinematic relation of the inside parts of the TWT unit is analysed, and the mathematic model of the constraint relation between the mobile mechanism and the ground, abbreviated to "MGCR model" is set up for the NEZA-I robot to go through some typical unstructured environments. The mechanism parameters, which influence the self-adaptability of the NEZA-I robot, are found and optimized. Basic experiments show that the mobile mechanism has the self-adaptability to navigate in unstructured terrains and has superior obstacle-negotiating performance, and that the MGCR model and the analysis method of mechanism parameters are reasonable. From a mechanism point of view, it can provide an idea for research on the adaptive control of the robot.

关键词： self-adaptive mobile mechanism transformable track wheel-track hybrid robot mechanism design

Optimal Fuzzy PID Controller with Adjustable Factors and Its Application to Intelligent Artificial Legs

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High Technology Letters 2004年第2期10卷 73-77页

作者：谭冠政 Xiao Hongfeng wang yuechao Institute of Robotics Central South University Changsha 410083 P.R.ChinaWang YuechaoRobotics Laboratory Chinese Academy of Sciences Shenyang 110015 P.R.China Robotics Laboratory Chinese Academy of Sciences Shenyang 110015 P.R.China

A new kind of optimal fuzzy PID controller is proposed, which contains two parts. One is an on-line fuzzy inference mechanism and another is a conventional PID controller. In the fuzzy inference mechanism, three adjustable factors xp, xi, and xd are introduced. Their function is to further modify and optimize the result of the fuzzy inference to make the controller have the optimal control effect on a given object. The optimal values of these factors are determined based on the ITAE criterion and the flexible polyhedron search algorithm of Nelder and Mead. This PID controller has been used to control a D.C. motor of the intelligent artificial leg designed by the authors. The result of computer simulation indicates that the design of this controller is very effective and can be widely used to control different kinds of objects and processes.

关键词：模糊PID控制优化可调因子柔性多面体搜索算法智能人造假肢

Adaptive controller design for underwater snake robot with unmatched uncertainties

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Science China(Information Sciences) 2016年第5期59卷 217-231页

作者： Anfan ZHANG Shugen MA Bin LI Minghui wang Xian GUO yuechao wang State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences University of Chinese Academy of Sciences Department of Robotics Ritsumeikan University

Because of hydrodynamic model error of the present dynamic model, there is a challenge in controller design for the underwater snake-like robot. To tackle this challenge, this paper proposes an adaptive control schemes based on dynamic model for a planar, underwater snake-like robot with model error and time-varying noise. The adaptive control schemes aim to achieve the adaptive control of joint angles tracking and the direction of locomotion control. First, through approximation and reducibility using Taylor expansion method, a simplified dynamics model of a planar amphibious snake-like robot is derived. Then, the L1 adaptive controller based on piecewise constant adaptive law is applied on the simplified planar, underwater snake-like robot, which can deal with both matched and unmatched nonlinear uncertainties. Finally, to control the direction of locomotion, an auxiliary bias signal is used as the control input to regulate the locomotion direction. Simulation results show that this L1 adaptive controller is valid to deal with different uncertainties and achieve the joint angles tracking and fast adaptive at the same time. The modified L1 adaptive controller, in which the auxiliary bias item is added, has the ability to change the direction of locomotion, that is, the orientation angle is periodic with arbitrarily given constant on average.

关键词： underwater snake-like robot adaptive control simplified system piecewise constant law unmatched uncertainties underactuated robots

ANALYSIS OF TIPOVER STABILITY FOR NOVEL SHAPE SHIFTING MODULAR ROBOT

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Chinese Journal of Mechanical Engineering 2006年第2期19卷 181-186页

作者： LIU Jinguo wang yuechao MA Shugen LI Bin Robotics Laboratory Shenyang Institute of Automation Chinese Academy of SciencesShenyang 110016 China Department of Systems Engineering Ibaraki UniversityIbaraki 316-8511 Japan Robotics Laboratory Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016 China

A novel three-module robot has been introduced. It can change its configuration to adapt to the uneven terrain and to improve its tipover stability. This three-module tracked robot has three kinds of symmetry configuration. They are line type, triangle type, and row type. After the factors and the countermeasures of mobile robot＇s tipover problem are analyzed, stability pyramid and tipover stabil-ity index are proposed to globally determinate the mobile robot＇s static stability and dynamic stability. The shape shifting robot is tested by this technique under the combined disturbance of pitch, roll and yaw in simulation. The simulation result shows that this technique is effective for the analysis of mobile robot＇s tipover stability, especially for the reconfigurable or shape shifting modular robot. Experiments on three symmetry configurations are made under unstructured environments. The environment experiment shows the same result as that of the simulation that the triangle type configuration has the best stability. Both simulation and experiment provide a valid reference for the reconfigurable robot＇s potential application.

关键词： Reconfigurable modular robot Shape shifting robot Stability pyramid Tipover stability index Unstructured environment

AFM based anodic oxidation and its application to oxidative cutting and welding of CNT

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Science China(Technological Sciences) 2009年第11期52卷 3149-3157页

作者： JIAO NianDong wang yuechao XI Ning DONG ZaiLi State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Department of Electrical and Computer Engineering Michigan State UniversityEast Lansing 48824USA

Probe anodic oxidation by atomic force microscope (AFM) is one of the most important techniques in fabricating nano structures and devices. The technique was further studied in this paper. By analyzing the distribution of the electric field on substrate surface the dependence of oxide characters on field was discussed. The impacts of various parameters on oxide fabrication were experimentally studied. Based on these studies, we realized the oxidative cutting and welding of carbon nanotube (CNT) by the AFM based oxidation technique and provided a novel technique for the assembly and fabrication of CNT based nano devices.

关键词： anodic oxidation atomic force microscope nanofabrication cutting and welding carbon nanotube