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风作用下含磁流变阻尼器的拉索攀爬机器人动力学建模与分析

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中国科学：技术科学 2024年第2期54卷 351-364页

作者：马凯威王宁周洋如徐丰羽王兴松南京邮电大学自动化学院人工智能学院南京210023 江苏省物联网智能机器人工程研究中心南京210023 东南大学机械工程学院南京211189

为增强拉索攀爬机器人在不同风载环境下的适应能力,提出了一种机器人-拉索-风耦合系统的动力学建模与分析方法.首先,利用磁流变液体的固液转换特性,设计了具有输出力连续可调功能的阻尼器,并将其应用于拉索攀爬机器人.其次,分析拉索载荷... 详细信息

为增强拉索攀爬机器人在不同风载环境下的适应能力,提出了一种机器人-拉索-风耦合系统的动力学建模与分析方法.首先,利用磁流变液体的固液转换特性,设计了具有输出力连续可调功能的阻尼器,并将其应用于拉索攀爬机器人.其次,分析拉索载荷,建立了机器人-拉索-风耦合动力学模型.然后,通过有限元分析,获得阻尼器中磁流变液产生的阻尼力变化范围为0~153.45 N,与理论模型一致.同时,利用动力学模型的数值仿真得到了阻尼器的建议工作电流分别为0.1 A (3级风)和0.3 A (6级风).最后,为了验证以上理论,分别对阻尼器和拉索攀爬机器人进行了性能测试实验.结果表明,与理论值相比,该阻尼器实际输出力的平均相对误差不超过3.22%.将其安装到机器人上,可将速度波动范围降低83.7%,能显著提高机器人的爬升稳定性.

关键词：磁流变阻尼器拉索攀爬机器人机器人-拉索-风耦合动力学建模与分析爬升稳定性

Association of a complete breast cancer pathologic response with axillary lymph node metastasis via neoadjuvant chemotherapy:Results from the CSBrS-012 study

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Chinese Medical Journal 2024年第11期137卷 1369-1371页

作者： Le Ma Pin Gao Zhenzhen Liu Dechuang Jiao Rui Ling Jingjing Xiao Yi Zhao Yitong Wang Hongjian Yang Yunjiang Liu Ke Liu Jianguo Zhang Guangyan Li Dahua Mao Yinglei Deng Jianjun He Maimaitiaili Amina Zhigang Yu Wang Fei Yinhua Liu Peifen Fu Minya Yao Jiandong Wang Li Zhu Hongchuan Jiang Zuowei Zhao xingsong Tian Zhongwei Cao Xinyu Ma Kejin Wu Shaomei Fu Ailin Song Yanwei Wang Jin Feng Zhimin Fan Department of Breast Surgery General Surgery CenterThe First Hospital of Jilin UniversityChangchunJilin 130021China Department of Breast Disease Henan Breast Cancer CenterAffiliated Cancer Hospital of Zhengzhou University&Henan Cancer HospitalZhengzhouHenan 450008China Department of Thyroid Breast and Vascular SurgeryXijing HospitalFourth Military Medical UniversityXi’anShaanxi 710032China Surgical Oncology Department Shengjing Hospital of China Medical UniversityShenyangLiaoning 110022China Department of Breast Surgery The Cancer Hospital of the University of Chinese Academy of Sciences(Zhejiang Cancer Hospital)Institute of Basic Medicine and Cancer(IBMC)Chinese Academy of SciencesHangzhouZhejiang 310022China Department of Surgery The Fourth Hospital of Hebei Medical UniversityShijiazhuangHebei 052360China Fourth Department of Breast Surgery Jilin Cancer HospitalChangchunJilin 130012China Department of Breast Surgery The Second Affiliated Hospital of Harbin Medical UniversityHarbinHeilongjiang 150086China Department of Breast Surgery Affiliated Wudang Hospital of Guizhou Medical UniversityGuiyangGuizhou 550009China Department of Breast Surgery The First Affiliated Hospital of Xi’an Jiaotong UniversityXi’anShaanxi 710061China Department of Breast Surgery The Second HospitalCheeloo College of MedicineShandong UniversityJinanShandong 250033China Breast Disease Center Peking University First HospitalBeijing 100034China Department of Breast Surgery The First Affiliated HospitalSchool of MedicineZhejiang UniversityHangzhouZhejiang 310003China Department of General Surgery The First Medical CenterChinese PLA General HospitalBeijing 100852China Department of Breast Surgery Beijing Chaoyang HospitalCapital Medical UniversityBeijing 100020China Department of Breast Surgery The Second Affiliated Hospital of Dalian Medical UniversityDalianLiaoning 116023China Department of Breast and Thyroid Surgery Shandong Provincial Hospital Affiliated to Shandong UniversityJinan

To the Editor:In the last decade,neoadjuvant chemotherapy(NAC)has become a well-accepted treatment option for breast cancer,although few detailed description of NAC in China has yet been reported.[1]A previous study found that among patients with clinically node-negative(cN0)breast cancer,97.7%(432/442)with breast pathologic complete response(bpCR)had ypN0(absence of metastases in the axillary lymph nodes);and 71.6%(882/1232)without bpCR achieved ypN0(P<0.001).As for human epidermal growth factor receptor 2(HER2)positive or triple-negative breast cancer(TNBC)that achieved bpCR.

关键词： breast pathologic chemotherapy

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The biomechanical study of lower limb during human walking

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Science China(Technological Sciences) 2011年第4期54卷 983-991页

作者： HAN YaLi WANG xingsong 1School of Mechanical Engineering Nanjing Institute of TechnologyNanjing 211167China School of Mechanical Engineering Southeast UniversityNanjing 211189China

The coordinates of the marked points of joints and the changes of foot force in the human walk motion are obtained with systems of motion image acquisition and force *** effects of kinematics and dynamics on the human lower limb in different loads(0,10,20,30 kg) and walking speeds(0.8,1.3,1.7 m/s) have been investigated using the human dynamics model,.The results were as ***,with the increasing load,the dorsiflexion angle of ankle joint increased during the procedure of toe-off,the range of motion of the knee joint decreased,the flexion angle of the hip joint increased,and oppositely,the extension angle of the hip joint ***,with the increasing speed,the range of motion of the ankle joint,the maximum flexion angle of the knee joint,the flexion angle,extension angle of the hip joint and the range of motion of hip joint ***,the torque and power of the ankle joint,the knee joint and the hip joint increased with the increasing speed and *** results can provide an important basis for the mechanism design of lower limb power-assisted exoskeleton.

关键词： walking gait dynamical model motion analysis load walking

变电站二次设备全向巡检机器人精确定位与作业辨识

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电力工程技术 2024年第3期43卷 234-243页

作者：李杰董林杰汤小兵张文彬王兴松东南大学机械工程学院江苏南京211189 南京邮电大学自动化学院、人工智能学院江苏南京210023 南京国电南思科技发展股份有限公司江苏南京210007

通过巡检机器人进行变电站二次设备的监测是提升电力设备自动化、智能化管理的重要方式,有利于保障电力工程设备的安全运行。文中开发了一种用于变电站二次设备自动化巡检的Mecanum轮式全向移动机器人,其具备自主导航定位与作业辨识的能... 详细信息

通过巡检机器人进行变电站二次设备的监测是提升电力设备自动化、智能化管理的重要方式,有利于保障电力工程设备的安全运行。文中开发了一种用于变电站二次设备自动化巡检的Mecanum轮式全向移动机器人,其具备自主导航定位与作业辨识的能力,可极大提升设备巡检效率及保护压板状态识别准确性。通过Mecanum轮的驱动方式实现巡检机器人在狭窄作业环境下的灵活运动与姿态调整,通过多轨道升降平台实现对350~1 800 mm高度范围内的二次设备及压板的图像采集与状态辨识。机器人采用基于激光雷达的即时定位与地图构建(simultaneous localization and mapping,SLAM)导航方法进行自主定位导航,并结合基于视觉的路径提取与跟踪算法进行姿态位置修正,实现在待测点位置的精确定位。同时,提出了基于颜色辨识的图像排列与状态辨识方法,针对二次设备保护压板连通状态进行识别和判断。实验结果表明,研制的变电站二次设备巡检机器人可以实现自主导航与位置精确定位,在路径跟踪过程中最大偏角和偏距分别为±3°和±8 mm。结合机器视觉与颜色辨识的压板辨识方法可以准确识别压板状态,识别准确率大于95.80%,有助于提升机器人自动化的电力巡检作业水平。

关键词：电力巡检压板状态辨识巡检机器人导航与定位路径跟踪机器人控制

The obstacle crossing ability analysis and improvement of the cable inspection robot

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High Technology Letters 2010年第2期16卷 157-163页

作者：徐丰羽 Wang xingsong School of Mechanical Engineering Southeast University Nanjing 210096 P.R. China

In this paper, the climbing obstacle capability of the previous special cable inspection robot （ Model Number： XS1T-1） is analyzed. Static equations are established to analyze the relationships between the external forces and the maximum height of an obstacle. Parameters affecting the obstacle crossing ability are obtained. According to the analysis results, an innovated small volume, simple structure and light weight climbing mechanism is proposed （Model Number： XS1T-2）. A simplified kinematics model of the mechanism is established. With two powered wheels, the obstacle crossing ability of the XSIT-2 is improved apparently. For the robot moving without deflection, the relationships of two powered input torques are deduced. The comparison of the simulation results clearly shows that the climbing ability of XS1T-2 is obviously improved, and it can meet the demands of inspection.

关键词： inspection robot obstacle crossing ability cable cable-stayed bridge

Equivalence of operator norm for Hardy-Littlewood maximal operators and their truncated operators on Morrey spaces

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Frontiers of Mathematics in China 2020年第1期15卷 215-223页

作者： xingsong ZHANG Mingquan WEI Dunyan YAN Qianjun HE School of Mathematics University of Chinese Academy of SciencesBeijing 100049China School of Mathematics and Statistics Xinyang Normal UniversityXinyang 464000China School of Applied Science Beijing Information Science and Technology UniversityBeijing 100192China

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关键词： Hardy-Littlewood maximal function truncated Hardy-Littlewood maximal function Morrey norms weak Morrey norms

Support and Positioning Mechanism of a Detection Robot inside a Spherical Tank

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Chinese Journal of Mechanical Engineering 2021年第1期34卷 241-250页

作者： Chunlei Tu Shanshan Jin Kai Zheng xingsong Wang Sichong Sun College of Mechanical Engineering Southeast UniversityNanjing 211189China Special Equipment Safety Supervision Inspection Institute of Jiangsu Province Nanjing 210036China College of Power Engineering Chongqing UniversityChongqing 400044China

Large pressure equipment needs to be tested regularly to ensure safe operation;wall-climbing robots can carry the necessary tools to inspect spherical tanks,such as cameras and non-destructive testing ***,a wall-climbing robot inside a spherical tank cannot be accurately positioned owing to the particularity of the spherical tank *** paper proposes a passive support and positioning mechanism fixed in a spherical tank to improve the adsorption capacity and positioning accuracy of the inspection *** main body of the mechanism was designed as a truss composed of carbon fiber telescopic rods and can work in spherical tanks with diameters of 4.6-15.7 *** structural strength,stiffness,and stability of the mechanism are analyzed via force and deformation *** constructing a mathematical model of the support and positioning mechanism,the influence of structural deformation on the supporting capacity is analyzed and *** robot positioning method based on the support and positioning mechanism can effectively locate the robot inside a spherical *** verified the support performance and robot positioning accuracy of the *** research proposes an auxiliary support and positioning mechanism for a detection robot inside a spherical tank,which can effectively improve the positioning accuracy of the robot and meet the robotic inspection requirements.

关键词： Support mechanism Inspection of the spherical tank Ansys simulation Robot positioning

Model of tri-sectional wheel-based cable climbing robot and analysis of centrifugal safety landing method

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High Technology Letters 2011年第2期17卷 173-179页

作者：徐丰羽 Wang xingsong School of Mechanical Engineering Southeast University Nanjing 210096 China

This paper proposes a new type of tri-sectional wheel-based cable climbing robot which is able to climb up vertical cylindrical cables of a cable-stayed bridge. The robot is composed of three pairs of wheels equally spaced circularly which are joined by six connecting boards to form a whole closed hexagonal body to clasp a cable. The whole design is entirely modular to enable to assenably the robot on-siteeasy eaoily. To analyze the static features of the robot, a mathematical model of climbing is deduced. Furthermore, taking a cable with a diameter of 80mm as an example, we calculate the design parameters of the robot. For safly landing in the case of electrical accident, a centrifugal speed regulator is proposed and applied to consume useless energy generated when the robot is slipping down along the cables. A simplified mathematical model of the landing mechanism is deduced. Finally, several experiments on the climbing mechanism demonstrate that the robot can carry payloads less than 2.2kg to climb up a cable with diameters varying from 65mm to 205mm.

关键词： climbing robot static features centrifugal speed regulator cable-stayed bridge

Nondestructive Testing of Bridge Stay Cable Surface Defects Based on Computer Vision

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Computers, Materials & Continua 2023年第4期75卷 2209-2226页

作者： Fengyu Xu Masoud Kalantari Bangjian Li xingsong Wang Jiangsu Engineering Lab for IOT Intelligent Robots(IOTRobot) College of AutomationNanjing University of Posts and TelecommunicationsNanjing210023China School of Mechanical Engineering Southeast University Nanjing210096China Rubic Robotics Company AlbertaCanada

The automatically defect detection method using vision inspectionis a promising direction. In this paper, an efficient defect detection method fordetecting surface damage to cables on a cable-stayed bridge automatically isdeveloped. A mechanism design method for the protective layer of cables of abridge based on vision inspection and diameter measurement is proposed bycombining computer vision and diameter measurement techniques. A detectionsystem for the surface damages of cables is de-signed. Images of cablesurfaces are then enhanced and subjected to threshold segmentation by utilizingthe improved local grey contrast enhancement method and the improvedmaximum correlation method. Afterwards, the data obtained through diametermeasurement are mined by employing the moving average method. Imageenhancement, threshold segmentation, and diameter measurement methodsare separately validated experimentally. The experimental test results showthat the system delivers recall ratios for type-I and II surface defects of cablesreaching 80.4% and 85.2% respectively, which accurately detects bulges oncable surfaces.

关键词： Defect detection computer vision bridge cable image enhancement