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Parametric Study on Design Parameters of Water-running Robot Based on Dynamic Simulation

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Journal of Bionic Engineering 2018年第6期15卷 960-970页

作者： HyunGyu Kim yanheng liu TaeWon Seo Max Planck Institute for Intelligent Systems Stuttgart 70565 Germany School of Mechanical Engineering Yeungnam University Gyeongsan 38541 Republic of Korea School of Mechanical Engineering Hanyang University Seou104 763 Republic of Korea

There are many design parameters to determine a performance of a robot. Especially, in the case of the mobile robots, they requirc complicated motion at various environments to get high performances. In this sense, the analysis of the design parameters is the most important work to design an efficient mobile robot. In this study, we analyze the design parameters for the water-running robot. From the parametric study, we find some solutions to improve the performances of the robot. We derive dynamic equations for the water-running motion, and do a sensitivity analysis to understand the relationships between the parameters （frequency of the leg, stiffness of torsional springs that connects multi frames and mass of frames） and the performance of the water-running motion such as running speed and pitching stability. We use an orthogonal array to make various combinations of the parameters, and to reduce the number of a simulation process. As results, we summarize some solutions to improve the water-running motion. We are expecting that this study is going to be used to design robots that are operated on the water.

关键词： bioinspired robot water-running motion multi-body system dynamic simulation analysis of design parameters sensitivity analysis

Empirical Study on Shapes of the Foot Pad and Walking Gaits for Water-Running Robots

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Journal of Bionic Engineering 2014年第4期11卷 572-580页

作者： HyunGyu Kim yanheng liu Kyungmin Jeong TaeWon Seo School of Mechanical Engineering Yeungnam University Gyeongsan 712-749 Republic of Korea Nuclear Convergence Technology Division Korea Atomic Energy Research Institute Daejeon 305-353 Republic of Korea

Recently, various kinds ofbiomimetic robots have been studied. Among these biomimetic robots, water-running robots that mimic the characteristics of basilisk lizards have received much attention. However, studies on the performance with respect to different geometric parameters and gaits have been lacking. To run on the surface of water, a water-running robot needs suffi- cient force with high stability to stay above the water. We experimentally measured the performance of the foot pads with different geometric parameters and with various gaits. We measured and analyzed the forces in the vertical direction and rolling angles of five different foot pad shapes： a circular shape, square shape, half-spherical shape, open half-cylinder shape, and closed half-cylinder shape. Additionally, the rolling stabilities of three kinds of gaits： biped, trotting, and tripod, were also empirically analyzed. The results of this research can be used as a guideline to design a stable water-running robot.

关键词： water-running robot geometric parameter gait bio-inspired robot experimental study

Hexapedal Robotic Platform for Amphibious Locomotion on Ground and Water Surface

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Journal of Bionic Engineering 2016年第1期13卷 39-47页

作者： HyunGyu Kim DongGyu Lee yanheng liu Kyungmin Jeong TaeWon Seo School of Mechanical Engineering Yeungnam University Gyeongsan 712-749 Republic of Korea Nuclear Convergence Technology Div. Korea Atomic Energy Research Institute Daejeon 305-353 Republic of Korea

Bio-inspiration is a starting point from which to design engineering products by learning the secrets of living creatures. We present the design, analysis, and experimental results of a robotic platform inspired by the basilisk lizard, which is well known for its ability to run on water surface. The goal is to develop a robotic platform for amphibious locomotion on ground and water using a single configuration. A tripod gait is achieved with a hexapedal configuration and four-bar-based repeated motion of the legs. The hexapedal configuration is empirically proven to have an advantage in terms of rolling stability on water. On ground, the tripod gait can satisfy the requirements of static stability to make the center of gravity and center of pressure occur at the same position. The footpad design was determined based on an empirical study of the rolling stability and lifting force. The theoretical background and experimental results are presented to validate the ability of the proposed design to run on water and on the ground.

关键词： amphibious locomotion bio-inspiration hexapedal empirical study water-running robot

Model for human dynamics based on habit

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Chinese Science Bulletin 2010年第24期55卷 2744-2749页

作者： JIAO Yu liu yanheng WANG Jian WANG Jing College of Computer Science and Technology Jilin University Changchun 130012 China Key Laboratory of Symbolic Computation and Knowledge Engineering of Ministry of Education Jilin University Changchun 130012 China Archives of Jilin University Changchun 130012 China

The quantitative understanding of human behavior is a central question of modern science. Because of the complexity of human behavior, it is almost impossible to seek regularities in human dynamics. It is assumed that human actions are randomly distributed in time in current models for human dynamics. While the characteristics of human behavior combined with the queue model are considered as model for human dynamics based on habit to explain bursts and heavy tails in human dynamics more exactly. Normal distribution is used to simulate intervals of succession of events, and random parameters are set as unexpected events disturbing habit behaviors. Moreover, duration of events are proposed to imitate continual attention to some events in human behaviors.

关键词：人类行为基于模型动力学模型学习突发事件时间间隔现代科学随机分布

基于网络拥塞的Internet级联故障建模

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计算机研究与发展 2010年第5期47卷 772-779页

作者：王健刘衍珩梅芳张程吉林大学计算机科学与技术学院长春130012 符号计算与知识工程教育部重点实验室（吉林大学）长春130012

Internet是一个典型的具有自组织临界特性的复杂网络,分析了Internet级联动力学特点,指出了两点可能引发级联故障的原因;不同于以往的介数模型,提出了节点拥塞函数,相当于给每个节点赋一个动态的权值,以表征该节点的拥塞程度;加入了延... 详细信息

Internet是一个典型的具有自组织临界特性的复杂网络,分析了Internet级联动力学特点,指出了两点可能引发级联故障的原因;不同于以往的介数模型,提出了节点拥塞函数,相当于给每个节点赋一个动态的权值,以表征该节点的拥塞程度;加入了延迟时间,在永久删除策略和不删除策略之间建立关联.另外,建立了新的网络效率评估函数并以此衡量级联故障的严重性.仿真实验研究了不同的拓扑结构、规模、延迟时间、节点处理能力和包产生速率对拥塞传播的影响,揭示出级联故障传播分为3个阶段以及影响传播的主要因素.

关键词：复杂网络级联故障拥塞作用传播模型延迟时间

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浅析兴国县农田养分现状及调整对策

土壤 2000年第1期32卷 50-53页

作者：叶青刘衍洪兴国县土壤肥料工作站兴国342400

本研究选择80年第二次土壤普查取样点为背景,在原取样点再次取样分析,同时收集全县有关农田养分收支状况进行对比,结果表明:农田养分来源钾氮供应以有机肥和化肥基本各占一半,而磷素供应基本上以化肥为主。农田氮素基本平衡,磷素有机质... 详细信息

本研究选择80年第二次土壤普查取样点为背景,在原取样点再次取样分析,同时收集全县有关农田养分收支状况进行对比,结果表明:农田养分来源钾氮供应以有机肥和化肥基本各占一半,而磷素供应基本上以化肥为主。农田氮素基本平衡,磷素有机质略有盈余,钾素则明显亏缺。17年间农田养分有增有减,其中速效钾反而下降31.9%,pH下降近1个单位。为此,特提出下世纪初调整兴国农田养分的对策:一是调整化肥结构,协调氮磷钾施肥比例;二是增施有机肥料,重点推广稻草还田,增施石灰等。

关键词：农田养分现状兴国县平衡施肥

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正切非线性包装系统跌落冲击的MSLP解

振动与冲击 2022年第11期41卷 266-270页

作者：霍银磊刘彦亨陈无忌河南科技大学包装工程系河南洛阳471000

针对有阻尼正切型非线性包装系统在发生跌落冲击时的响应问题,基于摄动法(multi-scale Lindstedt-Poincare,MSLP)讨论了系统跌落冲击响应的一、二次近似解。并与龙哥库塔法(R-K)的数值结果及相关文献进行了对比,对比结果显示:对于正切... 详细信息

针对有阻尼正切型非线性包装系统在发生跌落冲击时的响应问题,基于摄动法(multi-scale Lindstedt-Poincare,MSLP)讨论了系统跌落冲击响应的一、二次近似解。并与龙哥库塔法(R-K)的数值结果及相关文献进行了对比,对比结果显示:对于正切型强非线性包装系统,MSLP计算的最大位移和加速度响应的一阶近似解与R-K数值结果对比的相对误差分别为1.35%和3.28%,二次近似阶的相对误差分别为0.62%和1.84%,在不进行能量修正的情况下,比同伦摄动法、牛顿谐波平衡法的精度更高。考虑阻尼系统能量修正的复杂性,所求有阻尼正切型非线性系统跌落冲击一次近似解析具有较好的精度和简洁的形式,为此类问题的求解及工程应用提供了参考。

关键词：正切非线性阻尼系统 MSLP法跌落冲击响应

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一种基于能耗度量的融合树构建算法

计算机研究与发展 2008年第1期45卷 104-109页

作者：孙大洋刘衍珩王爱民吉林大学计算机科学与技术学院

基于传感器节点能耗情况对数据压缩以及数据融合进行了分析,针对在非完全融合情况下,贪婪增长树(GIT)算法构建融合树时并不能很好选择最优路由的问题,提出了一种基于能耗度量的融合树构建算法,通过融合节点反馈能耗以及到达Sink节点的... 详细信息

基于传感器节点能耗情况对数据压缩以及数据融合进行了分析,针对在非完全融合情况下,贪婪增长树(GIT)算法构建融合树时并不能很好选择最优路由的问题,提出了一种基于能耗度量的融合树构建算法,通过融合节点反馈能耗以及到达Sink节点的跳数信息,对多个路由的能耗进行评估,进而选择低能耗路由.同时提出了一种由信息源节点进行路径加强的策略,减小了路径加强信息量以及多路径记录带来的负担.模拟实验数据表明,该算法在数据融合压缩比较小的情况下节能效果优于贪婪增长树GIT算法,并且随着信息源与Sink节点距离的增大,路径加强信息的数量也有很大降低.

关键词：无线传感器网络数据融合节能贪婪增长树路径加强

Force-induced Caspase-1-dependent pyroptosis regulates orthodontic tooth movement

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International Journal of Oral Science 2024年第2期16卷 238-250页

作者： Liyuan Chen Huajie Yu Zixin Li Yu Wang Shanshan Jin Min Yu Lisha Zhu Chengye Ding Xiaolan Wu Tianhao Wu Chunlei Xun yanheng Zhou Danqing He Yan liu Department of Orthodontics Central LaboratoryPeking University School and Hospital for Stomatology&National Center for Stomatology&National Clinical Research Center for Oral Diseases&National Engineering Research Center of Oral Biomaterials and Digital Medical Devices&Beijing Key Laboratory of Digital Stomatology&Research Center of Engineering and Technology for Computerized Dentistry Ministry of Health&NMPA Key Laboratory for Dental Materials&National Engineering Research Center of Oral Biomaterials and Digital Medical DevicesBeijingChina Peking University Hospital of Stomatology Fourth Division BeijingChina

Pyroptosis,an inflammatory caspase-dependent programmed cell death,plays a vital role in maintaining tissue homeostasis and activating inflammatory *** tooth movement(OTM)is an aseptic force-induced inflammatory bone remodeling process mediated by the activation of periodontal ligament(PDL)progenitor ***,whether and how force induces PDL progenitor cell pyroptosis,thereby influencing OTM and alveolar bone remodeling remains *** this study,we found that mechanical force induced the expression of pyroptosis-related markers in rat OTM and alveolar bone remodeling *** or enhancing pyroptosis level could suppress or promote OTM and alveolar bone remodeling *** Caspase-1^(−/−)mice,we further demonstrated that the functional role of the force-induced pyroptosis in PDL progenitor cells depended on ***,mechanical force could also induce pyroptosis in human ex-vivo force-treated PDL progenitor cells and in compressive force-loaded PDL progenitor cells in vitro,which influenced ***,transient receptor potential subfamily V member 4 signaling was involved in force-induced Caspase-1-dependent pyroptosis in PDL progenitor ***,this study suggested a novel mechanism contributing to the modulation of osteoclastogenesis and alveolar bone remodeling under mechanical stimuli,indicating a promising approach to accelerate OTM by targeting Caspase-1.

关键词： homeostasis movement thereby