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Energy Efficiency Analysis of Quadruped Robot with Trot Gait and Combined Cycloid Foot Trajectory

Chinese Journal of Mechanical Engineering 2014年第1期27卷 138-145页

作者： LEI Jingtao WANG Feng YU Huangying WANG Tianmiao yuan peijiang School of Mechatronic Engineering and Automation Shanghai University School of Mechanical Engineering and Automation Beihang University

Quadruped robots consume a lot of energy, which is one of the factors restricting their application. Energy efficiency is one of the key evaluating indicators for walking robots. The relationship between energy and elastic elements of walking robots have been studied, but different walking gait patterns and contact status have important influences on locomotion energy efficiency, and the energy efficiency considering the foot-end trajectory has not been reported. Therefore, the energy consumption and energy efficiency of quadruped robot with trot gait and combined cycloid foot trajectory are studied. The forward and inverse kinematics of quadruped robot is derived. The combined cycloid function is proposed to generate horizontal and vertical foot trajectory respectively, which can ensure the acceleration curve of the foot-end smoother and more successive, and reduce the contact force between feet and environment. Because of the variable topology mechanism characteristic of quadruped robot, the leg state is divided into three different phases which are swing phase, transition phase and stance phase during one trot gait cycle. The non-continuous variable constraint between feet and environment of quadruped robot is studied. The dynamic model of quadruped robot is derived considering the variable topology mechanism characteristic, the periodic contact and elastic elements of the robot. The total energy consumption of walking robot during one gait cycle is analyzed based on the dynamic model. The specific resistance is used to evaluate energy efficiency of quadruped robot. The calculation results show the relationships between specific resistance and gait parameters, which can be used to determine the reasonable gait parameters.

关键词： quadruped robot trot gait trajectory planning dynamic modeling energy efficiency

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New design of a compact aero-robotic drilling end effector: An experimental analysis

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Chinese Journal of Aeronautics 2016年第4期29卷 1132-1141页

作者： Shi Zhenyun yuan peijiang Wang Qishen Chen Dongdong Wang Tianmiao School of Mechanical Engineering and Automation Beihang University Beijing Institute of Aerospace Control Devices

This paper presents the development of a normal adjustment cell (NAC) in aero-robotic drilling to improve the quality of vertical drilling, by using an intelligent double-eccentric disk normal adjustment mechanism (2-EDNA), a spherical plain bearing and a floating compress module with sensors. After the surface normal vector is calculated based on the laser sensors' feedback, the 2-EDNA concept is conceived specifically to address the deviation of the spindle from the surface normal at the drilling point. Following the angle calculation, depending on the actual initial position, two precise eccentric disks (PEDs) with an identical eccentric radius are used to rotate with the appropriate angles using two high-resolution DC servomotors. The two PEDs will carry the spindle to coincide with the surface normal, keeping the vertex of the drill bit still to avoid repeated adjustment and position compensation. A series of experiments was conducted on an aeronautical drilling robot platform with a precise NAC. The effect of normal adjustment on bore diameter, drilling force, burr size, drilling heat, and tool wear was analyzed. The results validate that using the NAC in robotic drilling results in greatly improved vertical drilling quality and is attainable in terms of intelligence and accuracy. (C) 2015 The Authors. Production and hosting by Elsevier Ltd. on behalf of Chinese Society of Aeronautics and Astronautics.

关键词： Drilling robot Eccentric disk Normal adaptive Normal adjustment cell Surface normals

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The superior fault tolerance of artificial neural network training with a fault/noise injection- based genetic algorithm

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Protein & Cell 2016年第10期7卷 735-748页

作者： Feng Su peijiang yuan Yangzhen Wang Chen Zhang Robotics Institute Beihang University Beijing 100191 China State Key Laboratory of Membrane Biology School of Life Sciences Beijing 100871 China PKU-IDG/McGovern Institute for Brain Research Peking University Beijing100871 China

Artificial neural networks （ANNs） are powerful compu- tational tools that are designed to replicate the human brain and adopted to solve a variety of problems in many different fields. Fault tolerance （FT）, an important property of ANNs, ensures their reliability when signifi- cant portions of a network are lost. In this paper, a fault/ noise injection-based （FIB） genetic algorithm （GA） is proposed to construct fault-tolerant ANNs. The FT per- formance of an FIB-GA was compared with that of a common genetic algorithm, the back-propagation algo- rithm, and the modification of weights algorithm. The FIB-GA showed a slower fitting speed when solving the exclusive OR （XOR） problem and the overlapping clas- sification problem, but it significantly reduced the errors in cases of single or multiple faults in ANN weights or nodes. Further analysis revealed that the fit weights showed no correlation with the fitting errors in the ANNs constructed with the FIB-GA, suggesting a relatively even distribution of the various fitting parameters. In contrast, the output weights in the training of ANNs implemented with the use the other three algorithms demonstrated a positive correlation with the errors. Our findings therefore Indicate that a combination of the fault/noise injection-based method and a GA is capable of introducing FT to ANNs and imply that the distributed ANNs demonstrate superior FT performance.

关键词： artificial neural networks fault tolerance,genetic algorithm

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A micro-adjusting attitude mechanism for autonomous drilling robot end-effector

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Science China(Information Sciences) 2014年第12期57卷 29-40页

作者： yuan peijiang WANG QiShen SHI ZhenYun WANG TianMiao WANG ChengKun CHEN DongDong SHEN LiHeng Robotics Institute Beihang University Beijing Institute of Aerospace Control Devices Shanghai Aircraft Manufacturing Co. Ltd.

Drilling end-effector is a key unit in autonomous drilling *** perpendicularity of the hole has an important influence on the quality of airplane *** at the robot drilling perpendicularity,a micro-adjusting attitude mechanism and a surface normal measurement algorithm are proposed in this *** the mechanism,two rounded eccentric discs are used and the small one is embedded in the big one,which makes the drill’s point static when adjusting the drill’s ***,removal of drill’s point position after adjusting the drill attitude can be *** the micro-adjusting progress,four non-coplanar points in space are used to determine a unique *** normal at the drilling point is measured by four laser ranging *** adjusting angles at which the motors should be rotated to adjust attitude can be calculated by using the deviation between the normal and the drill ***,the motors will drive the two eccentric discs to achieve micro-adjusting *** on drilling robot system and the results demonstrate that the adjusting mechanism and the algorithm for surface normal measurement are effective with high accuracy and efficiency.

关键词： attitude adjusting mechanism drilling end-effector surface normal measurement robot drilling perpendicularity

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Noninvasive Tracking of Every Individual in Unmarked Mouse Groups Using Multi-Camera Fusion and Deep Learning

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Neuroscience Bulletin 2023年第6期39卷 893-910页

作者： Feng Su Yangzhen Wang Mengping Wei Chong Wang Shaoli Wang Lei Yang Jianmin Li peijiang yuan Dong-Gen Luo Chen Zhang Department of Neurobiology School of Basic Medical SciencesBeijing Key Laboratory of Neural Regeneration and RepairCapital Medical UniversityBeijing100069China Chinese Institute for Brain Research Beijing102206China State Key Laboratory of Translational Medicine and Innovative Drug Development Nanjing210000China Peking-Tsinghua Center for Life Sciences Academy for Advanced Interdisciplinary StudiesPeking UniversityBeijing100871China School of Life Sciences Tsinghua UniversityBeijing100084China School of Biological Science and Medical Engineering Beihang UniversityBeijing100191China The Key Laboratory of Developmental Genes and Human Disease Institute of Life SciencesSoutheast UniversityNanjing210096JiangsuChina Institute for Artificial Intelligence the State Key Laboratory of Intelligence Technology and SystemsBeijing National Research Center for Information Science and TechnologyDepartment of Computer Science and TechnologyTsinghua UniversityBeijing100084China School of Mechanical Engineering and Automation Beihang UniversityBeijing100191China

Accurate and efficient methods for identifying and tracking each animal in a group are needed to study complex behaviors and social *** tracking methods(e.g.,marking each animal with dye or surgically implanting microchips)can be invasive and may have an impact on the social behavior being *** overcome these shortcomings,video-based methods for tracking unmarked animals,such as fruit flies and zebrafish,have been ***,tracking individual mice in a group remains a challenging problem because of their flexible body and complicated interaction *** this study,we report the development of a multi-object tracker for mice that uses the Faster region-based convolutional neural network(R-CNN)deep learning algorithm with geometric transformations in combination with multi-camera/multi-image fusion *** system successfully tracked every individual in groups of unmarked mice and was applied to investigate chasing *** proposed system constitutes a step forward in the noninvasive tracking of individual mice engaged in social behavior.

关键词： Noninvasive tracking Deep learning Multi-camera Mouse group Social interaction

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Restoration of FMRP expression in adult V1 neurons rescues visual deficits in a mouse model of fragile X syndrome

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Protein & Cell 2022年第3期13卷 203-219页

作者： Chaojuan Yang Yonglu Tian Feng Su Yangzhen Wang Mengna Liu Hongyi Wang Yaxuan Cui peijiang yuan Xiangning Li Anan Li Hui Gong Qingming Luo Desheng Zhu Peng Cao Yunbo Liu Xunli Wang Min-hua Luo Fuqiang Xu Wei Xiong Liecheng Wang Xiang-yao Li Chen Zhang State Key Laboratory of Membrane Biology PKU-IDG/McGovern Institute for Brain ResearchSchool of Life SciencesPeking UniversityBeijing 100871China School of Basic Medical Sciences Beijing Key Laboratory of Neural Regeneration and RepairCapital Medical UniversityBeijing 100069China Peking-Tsinghua Center for Life Sciences Academy for Advanced Interdisciplinary StudiesPeking UniversityBeijing 100871China School of Mechanical Engineering and Automation Beihang UniversityBeijing 100191China School of Life Sciences Tsinghua UniversityBeijing 100084China Britton Chance Center for Biomedical Photonics Wuhan National Laboratory for Optoelectronics-Huazhong University of Science and TechnologyWuhan 430074China State Key Laboratory of Brain and Cognitive Sciences Institute of BiophysicsChinese Academy of Sciences(CAS)Beijing 100101China Institute of Laboratory Animal Science Peking Union Medical College/Chinese Academy of Medical ScienceBeijing 100021China Laboratory Animal Center Fujian University of Tradition Chinese MedicineFuzhou 350122China State Key Laboratory of Virology CAS Center for Excellence in Brain Science andIntelligence TechnologyWuhan Institute of VirologyCASWuhan 430071China Center for Brain Science Key Laboratory of Magnetic Resonance in Biological Systems and State Key Laboratory of Magnetic Resonance and Atomic and Molecular PhysicsWuhan Institute of Physics and MathematicsCASCenter for Excellence in Brain Science and Intelligence TechnologyChinese Academy of SciencesWuhan 430071China Department of Physiology Anhui Medical UniversityHefei 230032China Department of Physiology Institute of Neuroscience and Collaborative Innovation Center for Brain ScienceSchool of MedicineZhejiang UniversityHangzhou 310058China

Many people affected by fragile X syndrome(FXS)and autism spectrum disorders have sensory processing deficits,such as hypersensitivity to auditory,tactile,and visual *** FXS in humans,loss of Fmr1 in rodents also cause sensory,behavioral,and cognitive ***,the neural mechanisms underlying sensory impairment,especially vision impairment,remain *** remains elusive whether the visual processing deficits originate from corrupted inputs,impaired perception in the primary sensory cortex,or altered integration in the higher cortex,and there is no effective *** this study,we used a genetic knockout mouse model(Fmr1^(KO)),in vivo imaging,and behavioral measurements to show that the loss of Fmr1 impaired signal processing in the primary visual cortex(V1).Specifically,Fmr1^(KO) mice showed enhanced responses to low-intensity stimuli but normal responses to high-intensity *** abnormality was accompanied by enhancements in local network connectivity in V1 microcircuits and increased dendritic complexity of V1 *** effects were ameliorated by the acute application of GABAA receptor activators,which enhanced the activity of inhibitory neurons,or by reintroducing Fmr1 gene expression in knockout V1 neurons in both juvenile and young-adult ***,V1 plays an important role in the visual abnormalities of Fmr1^(KO) mice and it could be possible to rescue the sensory disturbances in developed FXS and autism patients.

关键词： autism spectrum disorder calcium imaging fragile X syndrome primary visual cortex visual hypersensitivity

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激光测距传感器光束矢向和零点位置标定方法

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北京航空航天大学学报 2018年第6期44卷 1321-1327页

作者：曹双倩袁培江陈冬冬史震云北京航空航天大学机械工程及自动化学院北京100083

激光测距传感器常用于飞机壁板法向检测。为了解决激光测距传感器加工和安装误差导致的法向检测精度下降问题,提出和实施了一种利用几何数学模型和最小二乘法进行激光测距传感器光束矢向和零点位置标定的方法。首先,利用角度标定理论获... 详细信息

激光测距传感器常用于飞机壁板法向检测。为了解决激光测距传感器加工和安装误差导致的法向检测精度下降问题,提出和实施了一种利用几何数学模型和最小二乘法进行激光测距传感器光束矢向和零点位置标定的方法。首先,利用角度标定理论获取激光束与主轴进给方向的夹角。然后,借助激光跟踪仪建立坐标系,根据激光测距传感器射在与电主轴进给方向成不同夹角的平面上的测量值,利用几何数学模型计算出各激光点之间的相对坐标,运用最小二乘法拟合出激光束的空间方程,进而得到光束矢向和零点位置。最后,在航空制孔机器人平台上进行标定实验,并且根据标定结果进行了实验验证。实验结果证明:该方法能够较为准确地标定出激光测距传感器的光束矢向和零点位置,可使法向检测精度在0.18°内。

关键词：激光测距传感器光束空间位置标定最小二乘法自动化制孔法向检测机器人

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航空制孔末端执行器中调姿机构的设计与实验

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北京航空航天大学学报 2014年第7期40卷 988-993页

作者：王启申袁培江王田苗汪承坤北京航空航天大学机器人研究所北京100191

针对飞机装配中的机器人制孔垂直度问题,设计了一种双偏心盘调姿机构.首先采用4个激光传感器测量工件制孔点处的法向量,求出钻头中心线与调姿平面的交点.然后计算调姿机构需转过的角度,调姿电机驱动该调姿机构对钻头姿态进行调整.该机... 详细信息

针对飞机装配中的机器人制孔垂直度问题,设计了一种双偏心盘调姿机构.首先采用4个激光传感器测量工件制孔点处的法向量,求出钻头中心线与调姿平面的交点.然后计算调姿机构需转过的角度,调姿电机驱动该调姿机构对钻头姿态进行调整.该机构的特点是在保持钻头顶点不动时,调整钻头姿态.因此,避免了二次移动钻头位置.最后,在ADAMS中对该调姿机构做了仿真,并在机器人制孔平台上做了制孔实验,验证了其原理的正确性.

关键词：双偏心盘调姿机构制孔垂直度末端执行器

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联合足迹识别与监控视频分析的智能刑侦系统

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北京航空航天大学学报 2020年第9期46卷 1730-1738页

作者：陶一宁苏峰袁培江王田苗钟涛郝静如北京航空航天大学机械工程及自动化学院北京100083 北京市公安局刑事侦查总队北京100006

刑侦破案是打击违法犯罪和确保国家长治久安的基本要求。刑侦破案的一大关键是如何有效地利用采集到的信息。为了更好地配合刑侦工作,提出了联合足迹识别与监控视频分析的智能刑侦系统。该系统基于深度学习方法,首先根据足迹信息,包括... 详细信息

刑侦破案是打击违法犯罪和确保国家长治久安的基本要求。刑侦破案的一大关键是如何有效地利用采集到的信息。为了更好地配合刑侦工作,提出了联合足迹识别与监控视频分析的智能刑侦系统。该系统基于深度学习方法,首先根据足迹信息,包括鞋印长度、宽度、受力分布情况、步长、步幅等,利用卷积神经网络技术实现嫌疑人个人特征的预测;其次联合周边监控视频大数据进行智能分析比较,利用大数据技术快速处理信息,分析视频中行人的个人特点;最后运用虚拟现实仿真技术构建足部压力和鞋底受力分析有限元模型,利用模型获得各种复杂场景下的仿真足迹。三者相互印证,有机结合,快速筛选刑侦对象。实验结果表明,该系统可以高效准确地根据足迹特征实现身高预测,并且与视频监控大数据相结合,可以迅速缩小排查范围并锁定凶手。

关键词：深度学习大数据刑侦破案监控视频分析足迹识别

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双光谱智能体温检测与健康大数据管理系统

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北京航空航天大学学报 2020年第9期46卷 1739-1746页

作者：张洁茹苏峰袁培江王田苗陶一宁丁东北京航空航天大学机械工程及自动化学院北京100083

公共安全视频监控在新型冠状病毒肺炎防治攻坚战中发挥了重要作用。针对中国人口密度高、人流量大、新型冠状病毒肺炎易传播的特点,建立了融合可见光和红外光双光谱成像监控的智能体温检测与健康大数据管理系统,实现了无接触快速体温检... 详细信息

公共安全视频监控在新型冠状病毒肺炎防治攻坚战中发挥了重要作用。针对中国人口密度高、人流量大、新型冠状病毒肺炎易传播的特点,建立了融合可见光和红外光双光谱成像监控的智能体温检测与健康大数据管理系统,实现了无接触快速体温检测与佩戴口罩情况下的人脸识别,快速完成人员信息登记。系统已在多地完成部署,通过了有效性和可靠性验证,测量速度快,响应时间在30 ms以内;测量精度高,测量温度误差在±0.3℃以内;测量范围广,可监控距离0.1~10 m;人脸抓拍率99%以上,识别率95%以上;健康大数据管理系统能实时监控和追踪回溯人员流动,在多维度上对人员信息和疫情发展大数据进行统计分析,并对疫情发展动态进行建模和预测,根据分析结果完善疫情防控策略,开展精准高效的疫情防控。

关键词：深度学习视频监控双光谱体温检测疫情

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