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第40届中国控制会议

作者： Wangyang Ge Ruoyu Jiang Juan Zhao Zhentao Liu Zhaohui Yang Jinhua She School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Department of Rehabilitation Union HospitalTongji Medical CollegeHuazhong Univ.Science & Technology School of Engineering Tokyo University of Technology

As a rehabilitation aid,lower-limb rehabilitation robots help patients recover their walking ability.This paper presets a review of such a rehabilitation robot.First,we classify commercially available common types of lower-limb rehabilitation robots.Next,we briefly describe the structure and characteristics of those robots,Then,we present the control methods used in those robots.Finally,we explain future research directions.

关键词： rehabilitation robots mechanical structure control method biological signal

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Study and Analysis of Typical mechanical structure of Desktop 3D Printer Based on FDM Technology

Study and Analysis of Typical Mechanical Structure of Deskto...

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2021中国铸造活动周

作者： Xiao GE Tingchun SHI Yankai CHEN Xiuyan YUE Departments of Automation University of Hangzhou Departments of mechanical Engineering University of Hangzhou Departments of Library University of Hangzhou

Additive manufacturing is a kind of rapid manufacturing that aims to complete the manufacture of prototypes or parts of products based on discrete accumulation.Fused deposition modeling(FDM) technology,as one of the most widely used types of 3 D printing,has incomparable application prospect in many fields concerning medical,aerospace,automotive,construction,arts and crafts.With the trend to rapidly create highly accurate devices that are in various complex shapes,FDM technology has become a hot spot of current research.In view of the most widely used type of FDM technology in the field of 3 D printing,this article expounds the working principle,advantages and application fields of FDM technology.Several common mechanical structures of FDM desktop 3 D printers are compared and analyzed,such as the rectangular box structure,rectangular bar structure,linear arm structure and parallel arm structure.The characteristics of various structures,transmission principles,and research progress are summarized through the selection of typical structural models,and the common features and existing common problems of FDM desktop 3 D printer structures are contrastively analyzed through table mapping.Moreover,the corresponding improvement methods are presented.Finally,the prospects of future development and innovation of the FDM desktop 3 D printer are analyzed.

关键词： 3D printing Additive manufacturing mechanical structure Transmission principle Printing accuracy

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A Novel System for Moving Object Detection Using Bionic Compound Eyes

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Journal of Bionic Engineering 2011年第3期8卷 313-322页

作者： Huabo Sun Haimeng Zhao Peter Mooney Hongying Zhao Daping Liu Lei Yan Beoing Key Lab of Spatial information Integration and lts Applications Peking University Beijing 100871 P. R. China Department of Computer Science National University of Ireland Maynooth Co. Kildare Ireland

Conventional moving target detection focuses on algorithms to improve detection efficiency. These algorithms pay less attention to the image acquisition means, and usually solve specific problems. This often results in poor flexibility and reus- ability. Insect compound eyes offer unique advantages for moving target detection and these advantages have attracted the attention of many researchers in recent years. In this paper we proposed a new system for moving target detection. We used the detection mechanism of insect compound eyes for the simulation of the characteristics of structure, control, and function. We discussed the design scheme of the system, the development of the bionic control circuit, and introduced the proposed mathe- matical model of bionic cqmpound eyes for data acquisition and object detection. After this the integrated system was described and discussed. Our paper presents a novel approach for moving target detection. This approach effectively tackles some of the well-known problems in the field of view, resolution, and real-time processing problems in moving target detection.

关键词： moving target detection bionic compound eyes mechanical structure control circuit detection model

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The Gait Planning Theory and Technology Research on the Wheel-foot Multi-joint Mobile Robot

The Gait Planning Theory and Technology Research on the Whee...

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第26届中国控制与决策会议

作者： Zhang Yeqing Luo Qingsheng Wang Meiling Wu Fan Wu Di Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology School of Mechanic and Electronic Engineering Beijing Institute of Technology

ISBN: (纸本)9781479937066

Based on the excellent mechanical structure of the wheel-foot multi-joint mobile robot, we have strictly deduced the direct and inverse kinematical formulas of the robot’s legs. So the theoretical method and technology of gaits control for the wheel-foot multi-joint mobile robot have been explored out. By precisely analyzing the obstacle performance and the workspace of the robot’s feet, the constraints and efficiency of the robot have been illustrated clearly. After studying the features of various gaits, we also have designed four kinds of specific gaits for the wheel-foot multi-joint mobile robot, including the swing forward gait, the crab-lateral gait, the bent-knee forward gait and the wheel-turn gait, to verify the mobile ability and control effects of the robot. Then we research most fully on the control features, the attitudes of legs, the simulation effects and the fluctuation of the robot’s body when walking with these four kinds of gaits, in order to fully understand the performance of the robot. The results of simulations and actual prototype tests have proved that the wheel-foot multi-joint mobile robot, with special mechanical structure and reasonable gaits planning, can move fast and steadily with versatile gaits in various complex terrains. The effectiveness of the theoretical exploration and the technical implementation has been fully proved in this paper.

关键词： mechanical structure kinematical formulas workspace of feet walking gaits prototype test

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Development of Self-recording Real-time Monitoring System of Soil Erosion

Development of Self-recording Real-time Monitoring System of...

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2012年计算机应用与系统建模国际会议

作者： Liu Jian Gao Qifeng Zhejiang Industry Polytechnic College

This article develops tipping-bucket self-recording real-time monitoring system of district soil erosion monitoring and solves the problem of long-term automatic monitoring at fixed point. It adopts the water body measurement method with simple and reliable mechanical structure, with low cost and no personnel participating. It also reduces the artificial error in measurement data. The measurement data is recorded in SD memory card by control circuit, carrying on the realtime monitoring of soil erosion condition.

关键词： water body measurement real-time monitoring mechanical structure

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Design of a Bionic Eye Experimental Platform

Design of a Bionic Eye Experimental Platform

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第37届中国控制会议

作者： Xianwu Zeng Menghua Zhang Xin Ma Yibin Li School of Control Science and Engineering Shandong University

In this paper,we design a bionic eye platform that includes the hardware and software.Based on the analysis of the structure of the human eyes,we design the mechanical structure which can imitate human eye movement.We design a motor control circuit and data acquisition circuit.In addition,we improve the control system programming and interface design.It has a good performance on object tracking.Finally,we design the PID controller and sliding mode controller to verify the accuracy of smooth tracking.

关键词： bionic eye platform mechanical structure software sliding mode control control system

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