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A 3-DOF piezoelectric robot with continuous walking gait aiming at cross-scale smooth motion

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Science China(Technological Sciences) 2023年第1期66卷 233-242页

作者： yu hongpeng LIU YingXiang DENG Jie ZHANG ShiJing CHEN WeiShan State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 15000lChina

Piezoelectric robots play important roles in the field of micromanipulation, but it is difficult for them to generate steady precision motion at any moment. In order to eliminate the changing inertial force and improve the motion smoothness, this work proposes a piezoelectric robot with continuous walking gait inspired by ants. The idea is verified with theoretical models and numerical simulation, and the performances are evaluated with experiments. The robot is proven to have the ability to generate 3-DOF(dgeree of freedom) continuous smooth motions with constant speeds. The maximum and minimum smooth velocities have a difference of six orders of magnitude, realizing cross-scale velocity control. Besides, the motion resolution reaches several nanometers with the unlimited workspace, so the cross-scale displacement control can be also obtained. Furthermore, with great robustness against varying loads, the stable actuation capability of the robot is more than 22 times of the self-weight. To sum up,the proposed robot generates cross-scale smooth motion in both aspects of displacement and velocity, so it has good prospects in the applications requiring steady precision motion. The design philosophy and research methods in this work can be valuable references for further advances of micromanipulation robots.

关键词： piezoelectric robot continuous walking gait cross-scale displacement cross-scale velocity smooth motion constant speed

Electronic control seed-metering system for precision seeding maize based on fuzzy PID

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International Journal of Agricultural and Biological Engineering 2024年第4期17卷 217-226页

作者： Xiaoshun Zhao hongpeng Zhao Zehe Wang Jincai Li Huali yu Qing Yan State Key Laboratory of North China Crop Improvement and Regulation Hebei Agricultural UniversityBaoding 071001HebeiChina College of Mechanical and Electrical Engineering Hebei Agricultural UniversityBaoding 071001HebeiChina

Aiming at the problem of poor uniformity of maize sowing caused by ground wheel slip,an electronic control seed-metering system(ECSMS)for maize single seed precision sowing was designed and a mathematical model for motor control of the ECSMS was *** PID parameters were set by Z-N method and fuzzy *** fuzzy PID control design and Simulink simulation were completed by MATLAB,which reduced response time of the system by 0.23 s and improved the control *** on the JPS-12 test bench show that the qualification index(QI)of maize seed-metering device with the ECSMS increases by 4.47%,the multiples index(MI)decreases by 1.96%,the miss index(MIX)decreases by 2.81%,and the coefficient of variation(CV)of qualified seed spacing decreases by 5.06%,and the sowing uniformity has been greatly *** results of the soil-tank test bench show that the system has good sowing uniformity and *** the QI is 96.74%,the MI is 2.15%,the MIX is 1.10%,and the CV of qualified seed spacing is 16.24%.Under different setting seed spacing and different sowing operation speed,the change range of seeding quality index was within 10%.The results of field sowing test show that the QI was 84.21%,the MI was 2.63%,the MIX was 7.89%,and the CV of qualified seed spacing was 22.15%,which meet the requirements of JB/T 10293-2013‘Specification for single seed planters(precision planters)’and the agronomic requirements for maize precision *** system runs stably and reliably in practical operation and has good operation performance.

关键词： maize seed-metering system electronic control precision sowing parameters tuning fuzzy PID control simulink simulation

Parameter optimization and experiment of the negative pressure precision seed-metering device for wheat

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International Journal of Agricultural and Biological Engineering 2024年第1期17卷 154-162页

作者： yubo Feng Xiaoshun Zhao Jincai Li Huali yu hongpeng Zhao Baozhong Yin State Key Laboratory of North China Crop Improvement and Regulation Hebei Agricultural UniversityBaoding 071001HebeiChina College of Mechanical and Electrical Engineering Hebei Agricultural UniversityBaoding 071001HebeiChina College of Plant Protection Hebei Agricultural UniversityBaoding 071001HebeiChina

In order to ensure the most reasonable distribution of wheat seeds in the field to improve seeding quality and uniformity,a set of negative pressure precision seed-metering device was designed,which shares a hollow *** seed-metering device can sow two rows of *** the STAR-CCM+,the analysis of nephogram,vectogram and streamline graph showed that more ideal structural parameters of the seed-metering device are 0.5 mm width of the slit sucking seed(WSS),150-200 mm diameter of the seed-metering disc(DSD),2.0 mm axial depth of air chamber in the seed-metering disc(ADS),and arc-shaped cross-section shape of the ring groove sucking seed(CSGS).Single-factor test on the JPS-12 test-bed analyzed the influence of the CSGS,WSS,DSD,and ADS on the qualified index(Iq),multiple index(Imul),miss index(Imiss)and coefficient of variation of qualified seed spacing(CV).Through the orthogonal on the JPS-12 test-bed,it is found that the influence of vacuum negative pressure and seed-metering device shaft speed is significant on the Iq,Imiss and *** on these,the structural parameters of the seed-metering device were *** DSD is 180 mm,the WSS is 0.7 mm,the ADS is 2.5 mm,and the CSGS is *** optimization seed-metering device was tested on the JPS-12 *** Iq is 86.66%,the Imiss is 5.09%,the Imul is 8.25%,and the CV is 24.50%.These testing results fully coincide with the standard JB/T 10293-2013 Specifications of single seed drill(precision drill).The seed-metering device meets fully the requirements for wheat precision seeding.

关键词： wheat seed-metering device negative pressure precision parameter optimization STAR-CCM+ orthogonal test variance analysis

Fully automatic AI segmentation of oral surgery-related tissues based on cone beam computed tomography images

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International Journal of Oral Science 2024年第3期16卷 413-424页

作者： yu Liu Rui Xie Lifeng Wang hongpeng Liu Chen Liu Yimin Zhao Shizhu Bai Wenyong Liu Beijing Yakebot Technology Co. Ltd.BeijingChina School of Mechanical Engineering and Automation Beihang UniversityBeijingChina State Key Laboratory of Oral&Maxillofacial Reconstruction and Regeneration National Clinical Research Center for Oral DiseasesShaanxi Key Laboratory of StomatologyDigital CenterSchool of StomatologyThe Fourth Military Medical UniversityXi’anChina Key Laboratory of Biomechanics and Mechanobiology of the Ministry of Education Beijing Advanced Innovation Center for Biomedical EngineeringSchool of Biological Science and Medical EngineeringBeihang UniversityBeijingChina

Accurate segmentation of oral surgery-related tissues from cone beam computed tomography(CBCT)images can significantly accelerate treatment planning and improve surgical *** this paper,we propose a fully automated tissue segmentation system for dental implant ***,we propose an image preprocessing method based on data distribution histograms,which can adaptively process CBCT images with different *** on this,we use the bone segmentation network to obtain the segmentation results of alveolar bone,teeth,and maxillary *** use the tooth and mandibular regions as the ROI regions of tooth segmentation and mandibular nerve tube segmentation to achieve the corresponding *** tooth segmentation results can obtain the order information of the *** corresponding experimental results show that our method can achieve higher segmentation accuracy and efficiency compared to existing *** average Dice scores on the tooth,alveolar bone,maxillary sinus,and mandibular canal segmentation tasks were 96.5%,95.4%,93.6%,and 94.8%,*** results demonstrate that it can accelerate the development of digital dentistry.

关键词： surgery CBCT beam

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细菌碱性蛋白酶促大豆分离蛋白聚集

食品工业科技 2007年第4期28卷 118-120,138页

作者：于泓鹏广东工业大学食品科学与生物工程系广东广州510600

研究了大豆分离蛋白(SPI)的细菌碱性蛋白酶水解产物的聚集行为。采用十二烷基磺酸钠-聚丙烯酰胺凝胶电泳(SDS-PAGE)和高效分子排阻色谱分析了细菌碱性蛋白酶对SPI的降解模式,结果显示,降解产物大部分为分子质量小于6.5kDa的小分子量组分... 详细信息

研究了大豆分离蛋白(SPI)的细菌碱性蛋白酶水解产物的聚集行为。采用十二烷基磺酸钠-聚丙烯酰胺凝胶电泳(SDS-PAGE)和高效分子排阻色谱分析了细菌碱性蛋白酶对SPI的降解模式,结果显示,降解产物大部分为分子质量小于6.5kDa的小分子量组分,反应过程有不明聚集物生成。浊度分析表明,此聚集物可能由小分子的降解产物组成。在较高的蛋白质浓度下,蛋白酶甚至可以催化SPI形成弹性凝胶。

关键词：大豆分离蛋白细菌碱性蛋白酶聚集凝胶

Expression and significance of heparanase and nm23-Hl in hepatocellular carcinoma

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World Journal of Gastroenterology 2005年第9期11卷 1378-1381页

作者： Ying-BinLiu Shun-LiangGao Xiao-PengChen Shu-YouPeng He-QingFang yu-LianWu Cheng-hongpeng ZheTang BinXu Jian-WeiWang Gui-LongDeng Hai-JunLi Xue-DongFeng Hao-RanQian DepartmentofSurgery SecondAffiliatedHospitalofMedicalSchoolofZhejiangUniversityHangzhou310009ZhejiangProvinceChina

AIM: To explore the relation between heparanase (HPA) and nm23-H1 in hepatocellular carcinoma (HCC), and whether they could be used as valuable markers in predicting post-operative metastasis and recurrence of HCC. METHODS: Reverse transcription-polymerase chain reaction and immunohistochemistry (S-P method) were used to measure the expressions of HPA mRNA and nm23-H1 protein in primary tumor tissue and paracancerous tissue of 33 cases of HCC. Paracancerous tissues of 9 cases of benign liver tumor were used as normal controls. The results were analyzed in combination with the results of clinicopathological examination and follow-up. RESULTS: The positive expression of HPA gene was significantly higher in primary tumor tissues of HCC (48.5%, 16/33) as compared to the paracancerous tissues of HCC and normal controls (3.03%, 1/33) (P0.05). The positive rates of nm23-H1 in the group with high tendency to metastasis and recurrence and in patients with metastasis or recu

关键词： Heparanase nm23-Hl Hepatocellular carcinoma

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逆变式等离子体点火系统电源研制

高压电器 2023年第5期59卷 207-215页

作者：俞鸿鹏杨家龙游滨川余涛哈尔滨工程大学动力与能源工程学院哈尔滨150001

根据等离子体点火对低压直流电源的要求,设计了一种基于单管自激式拓扑结构的高压脉冲电源。该电源通过单管自激式拓扑结构实现电压的逆变功能,通过单结晶体管振荡电路提供的控制信号实现对可控硅的控制功能,通过充电电阻和电容的改变... 详细信息

根据等离子体点火对低压直流电源的要求,设计了一种基于单管自激式拓扑结构的高压脉冲电源。该电源通过单管自激式拓扑结构实现电压的逆变功能,通过单结晶体管振荡电路提供的控制信号实现对可控硅的控制功能,通过充电电阻和电容的改变实现点火频率变化。为减小变压器漏感对开关管的影响,使用了保护电路。仿真对比逆变升压电路变压器漏感的影响,实现逆变升压电路与点火电路的参数匹配,通过搭建原理样机进行实验,验证了逆变式等离子体点火电源方案设计的有效性。设计升压电路输出电压1 000 V,输出电流0.3 A。通过实验获得等离子体点火电源输出电压大于10 kV,输出电流最大值约500 A,放电时间约52.89 ms。

关键词：等离子体点火逆变电路脉冲电源

基于案例推理的轮式移动机器人仿变色龙视觉受污偶然性规划

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机器人 2018年第3期40卷 282-293页

作者：徐燕徐贺于洪鹏张春伟王志乾哈尔滨工程大学机电工程学院黑龙江哈尔滨150001 中国科学院沈阳自动化研究所辽宁沈阳110016

为使移动机器人能够有效应对视觉受污这一突发事件,提出一种基于案例推理(CBR)的偶然性规划方法.首先,对搭载仿变色龙视觉系统的轮式移动机器人(WMR)进行描述,分析其双目负相关运动机制,并给出一种融合隔帧差分法与背景差分法的改进的... 详细信息

为使移动机器人能够有效应对视觉受污这一突发事件,提出一种基于案例推理(CBR)的偶然性规划方法.首先,对搭载仿变色龙视觉系统的轮式移动机器人(WMR)进行描述,分析其双目负相关运动机制,并给出一种融合隔帧差分法与背景差分法的改进的污染物提取算法,实现动态场景中静止污染物的检测.然后,通过详细分析机器人视觉受污后的环境感知行为建立轮式移动机器人仿变色龙视觉受污环境感知模型,对基于CBR的视觉受污偶然性规划进行建模,并详细分析视觉受污后CBR的推理过程.最后,设计基于机器人目标跟踪常规规划的视觉受污偶然性规划实验,实验结果显示目标跟踪误差基本介于±15个像素之间,表明在视觉受污情况下跟踪效果良好.

关键词：偶然性规划视觉受污仿变色龙轮式移动机器人案例推理

水热预处理提高花生分离蛋白酶解效率及其机理分析

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农业工程学报 2017年第1期33卷 278-284页

作者：陈林陈建设于泓鹏吴克刚广东工业大学轻工化工学院食品系广州510006 浙江工商大学食品与生物工程学院杭州310018

为了提高花生分离蛋白的酶解效率,该文采用水热法对花生分离蛋白进行预处理,利用响应面试验设计优化预处理工艺,并研究比较了预处理前后花生分离蛋白酶解敏感性和空间构象的变化。结果表明:优化后的最佳预处理条件为水热压力90 MPa、水... 详细信息

为了提高花生分离蛋白的酶解效率,该文采用水热法对花生分离蛋白进行预处理,利用响应面试验设计优化预处理工艺,并研究比较了预处理前后花生分离蛋白酶解敏感性和空间构象的变化。结果表明:优化后的最佳预处理条件为水热压力90 MPa、水热温度85℃、水热时间20 min,此条件下酶解产物水解度达到16.3%,相对未经预处理的酶解产物提高了8.1个百分点。水热预处理提高了花生分离蛋白的主要组分花生球蛋白和伴球蛋白的酶解敏感性,使酶解产物蛋白质回收率提高了31.9个百分点。进行荧光光谱和红外光谱分析发现水热预处理使花生分离蛋白三级结构展开、二级结构紧密程度下降,可能是其酶解敏感性提高的主要原因。因此水热预处理是一种辅助提高花生分离蛋白酶解效率行之有效的方法。

关键词：蛋白热处理优化水热预处理花生分离蛋白酶解敏感性空间构象