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Development of Digital Stereotaxic Instrument for Pigeons(Columba Livia)

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Journal of Bionic Engineering 2022年第4期19卷 1003-1013页

作者： Xinyu Liu Yanna Ping Dongyun Wang Hang Xie Li Shi School of intelligent Manufacturing Huanghuai UniversityZhumadian 463000China Henan Engineering Reseacrh center of intelligent Human-Machine Interaction Equipment Huanghuai UniversityZhumadian 463000China Department of Automation Tsinghua UniversityBeijing 100084China

Stereotaxic instrument is an indispensable tool for numerous types of neuroscience studies and is routinely performed in neuroscience laboratories as part of a variety of experimental *** to the development of robotics and automation,the stereotaxic instrument for rodents has made great progress,while it is relatively backward and scarce for birds.A digital stereotaxic instrument for pigeons(Columba livia),a classic animal model for learning,memory and cognition,was developed in this *** performance was verified from three aspects including stereotaxic accuracy,stereotaxic stability and stereotaxic *** developed stereotaxic instrument has the following characteristics:(1)a digital positioning system was used,which is characterized by high stereotaxic accuracy;(2)a novel head-fixation system was developed to increase the adaptability of head-fixation;(3)a four-point fixation method was suggested,improving the stability of head-fixation;(4)the stereotaxic instrument has strong versatility,which can be suitable for a wide variety of ***,the proposed stereotaxic instrument has better positioning accuracy and stability,which will promote the study of neural mechanisms for pigeons.

关键词： Pigeons Stereotaxic instrument Digital positioning system Head fixation system Reproducibility

Digital microfluidics： A promising technique for biochemical applications

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Frontiers of Mechanical Engineering 2017年第4期12卷 510-525页

作者： He WANG Liguo CHEN Lining SUN robotics and Microsystems center Soochow University Soochow215006 China School of Mechanical Engineering Henan University of EngineeringZhengzhou 451191 China

Digital microfluidics （DMF） is a versatile microfluidics technology that has significant application potential in the areas of automation and miniaturization. In DME discrete droplets containing samples and reagents are controlled to implement a series of operations via electrowetting-on-dielectric. This process works by apply- ing electrical potentials to an array of electrodes coated with a hydrophobic dielectric layer. Unlike microchannels, DMF facilitates precise control over multiple reaction processes without using complex pump, microvalve, and tubing networks. DMF also presents other distinct features, such as portability, less sample consumption, shorter chemical reaction time, flexibility, and easier combination with other technology types. Due to its unique advantages, DMF has been applied to a broad range of fields （e.g., chemistry, biology, medicine, and environment）. This study reviews the basic principles of droplet actuation, configuration design, and fabrication of the DMF device, as well as discusses the latest progress in DMF from the biochemistry perspective.

关键词： digital microfluidics electrowetting on dielec-tric discrete droplet biochemistry

In-hand manipulation of a circular dynamic object by soft fingertips without angle measurement

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Science China(Information Sciences) 2021年第5期64卷 193-208页

作者： R.GARCIA-RODRIGUEZ V.PARRA-VEGA Aeronautical Engineering Program and Postgraduate Program in Aerospacial Engineering Universidad Politecnica Metropolitana de Hidalgo robotics and Advanced Manufacturing Department Research Center for Advanced Studies (CINVESTAV)

A multi-fingered robotic hand with curved fingertips enables contact re-positioning without reattaching at the expense of fingertip rolling. This rolling stands for a characteristic that facilitates dexterous manipulation but results in an algebraically complex dynamic model subject to such constraints. The hemispherical shape of fingertips allows a dexterous manipulation when controlling the tangent forces, which are essential to rotate object. However, the measurement of the object angle in practice requires tactile-optical sensing. In this paper, considering robotic fingers with curved soft tips, we propose a feedback control that ensures optimal dynamical grasping of a circular rigid object. It is shown that the collaboration of the contact forces, to get a minimum pose of internal forces, and the tangential forces, to induce the conditions for assuring the grasp closure, is necessary to get a skillful manipulation. In this case, the orientation control of a circular object to the desired angle while avoiding direct measurement of the object angle is presented. Stability conditions of the system are presented in the sense of stability-in-the-manifold. Finally, representative simulations are shown and discussed.

关键词： optimal grasping manipulation soft-fingertips circular object stability-in-the-manifold

PROPERTY IDENTIFICATION OF SINGULARITY LOCI OF GOUGHSTEWART MANIPULATOR

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Chinese Journal of Mechanical Engineering 2006年第1期19卷 41-44页

作者： CAO Yi HUANG Zhen DING Huafeng ZHOU Hui School of Mechanical Engineering Southern Yangtze University Wuxi 214122 China robotics Research center Yanshan UniversityQinhuangdao 066004 China

The problem of identifying the property of singularity loci of Gough-Stewart manipulators is addressed. After constructing the Jacobian matrix of the Gough-Stewart manipulator, a cubic polynomial expression in the mobile platform position parameters, which represents the constantorientation singularity locus of the manipulator, is derived. Graphical representations of the singularity locus of the manipulator for different orientations are illustrated with examples. Further, the singularity locus of the manipulator in the principal-section, where the mobile platform lies, is analyzed. It shows that singularity loci of the ,manipulator in parallel principal-sections are all quadratic expressions including a parabola, four pairs of intersecting straight lines and infinite hwerbolas. Their geometric and kinematic properties are also researched as well.

关键词： Gough-Stewart manipulator Singularity locusProperty identification

A HMM-Based System To Diacritize Arabic Text

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Journal of Software Engineering and Applications 2012年第12期5卷 124-127页

作者： M. S. Khorsheed National center for robotics & intelligent Systems King & Technology (KACST) POB 6086 Riyadh Saudi Arabia

The Arabic language comes under the category of Semitic languages with an entirely different sentence structure in terms of Natural Language Processing. In such languages, two different words may have identical spelling whereas their pronunciations and meanings are totally different. To remove this ambiguity, special marks are put above or below? the spelling characters to determine the correct pronunciation. These marks are called diacritics and the language that uses them is called a diacritized language. This paper presents a system for Arabic language diacritization using Hid- den Markov Models (HMMs). The system employs the renowned HMM Tool Kit? (HTK). Each single diacritic is represented as a separate model. The concatenation of output models is coupled with the input? character sequence to form the fully diacritized text. The performance of the proposed system is assessed using a data corpus that includes more than 24000 sentences.

关键词： Arabic Hidden Markov Models Text-to-speech Diacritization

Bionic Body Wave Control for an Eel-Like Robot Based on Segmented Soft Actuator Array

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Bionic Body Wave Control for an Eel-Like Robot Based on Segm...

A Robotic System with Robust Remote center of Motion Constraint for Endometrial Regeneration Surgery

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作者： Ronghao Dang Haisong Gong Yuxin Wang Tianyi Huang Zhuofan Shi Xinwen Zhang Yunfeng Wu Yi Sun Peng Qi Tongji University University of Twente Australian center for Field robotics and Sydney Institute for robotics and intelligent Systems University of Sydney

Using body wave to swing forward is the most common propulsion method for underwater creatures,which can achieve flexible swing and multi-directional *** robotics researches in recent years employed rigid structure and hinge connection to build the entire swing body,which were driven by conventional ***,soft robotics provides an alternative to make the robot behave like a bionic fish in terms of swing flexibility,actuation and *** this article,the authors develop the entire eel-like fish with a fully soft flexible body,which is composed of four fiber-reinforced,bidirectionally bending,fluidic elastomer actuators（FEAs） as its *** robotic fish tail has multiple segments connected in series with different waveforms to make the overall fish tail exhibit fluctuating forward *** FEA uses the typical dual-chamber configuration,and PWM sine wave signals are utilized to effectively control such a hydraulic *** experiments,the swing of each tail section is tested,and various factors with respect to the swing frequency and amplitude are *** results illustrate the feasibility and superiority of the proposed body wave control method.

关键词： body wave control soft robotic fish FEAs

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Chinese Journal of Mechanical Engineering 2022年第4期35卷 169-181页

作者： Jianhua Li Chongyang Wang Zhenxing Wang Xiong Zheng Zhidong Wang Jichun Tan Hao Liu State Key Laboratory of robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Institutes for robotics and intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China University of Chinese Academy of Sciences Beijing 100049China Shenyang Jianzhu University Shenyang 110168China Chiba Institute of Technology Chiba 275-0016Japan Shengjing Hospital of China Medical University Shenyang 110016China

Surgical robots have been widely used in diferent procedures to improve and facilitate the ***,there is no robot designed for endometrial regeneration surgery,which is a new therapy for restoring fertility in women using stem *** regeneration surgery requires processing of the endometrium and transplantation of stem cells with minimal trauma to the *** this paper,we introduce a surgical robotic system that consists of a dexterous hysteroscope,supporting arm,and additional novel instruments to facilitate the operation and decrease trauma to the *** center of motion(RCM)constraint is required to protect the cervix of the ***,the supporting arm and hysteroscope are controlled separately in kinematics to ensure that the RCM constraint and hysteroscope’s shape and posture are ***,a task-decoupled method is used to improve the robustness of the RCM *** confrm that the proposed method is more robust and achieves higher RCM *** addition,the master-slave control of a robot with RCM constraint is also *** study proposes the realization of a robot with robust RCM control for endometrial regeneration surgery.

关键词： Endometrial regeneration Surgical robot Remote center of motion Task decoupled

Active Control of Free Paraboloidal Membrane Shells Using Photostrictive Actuators

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Transactions of Tianjin University 2011年第1期17卷 6-12页

作者：王新杰岳洪浩邓宗全 State Key Laboratory of robotics and Systems Harbin Institute of Technology Research center of Aerospace Mechanism and Control Harbin Institute of Technology

The paraboloidal membrane shell with free boundary condition is actively controlled using photostrictive actuators which can provide contactless actuation under the illumination of ultraviolet light. The governing equations of the paraboloidal shell laminated with paired photostrictive actuators are established based on membrane approximation. The modal control actions of meridional/circumferential actuators are respectively formulated and evaluated by case studies. Constant light intensity related to the velocity of the shell is adopted, and then the governing equations are written in a closed-loop form which can be solved with Newmark-β method. Considering the multi-field coupling behavior of photostrictive actuators, time histories of transverse displacement and control light intensity are simulated and evaluated. The results show that photostrictive actuators can effectively control the vibration of the paraboloidal membrane shell, and the photostrictive actuators oriented along circumferential direction can give better control effect than photostrictive actuators placed along the meridional direction.

关键词： photostrictive actuator paraboloidal shell active control membrane approximation

Configuration Synthesis and Performance Evaluation Metrics of Lunar Rover Locomotion Systems

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Transactions of Tianjin University 2009年第3期15卷 193-200页

作者：邓宗全张朋高海波胡明 State Key Laboratory of robotics and Systems Harbin Institute of Technology Research center of Aerospace Mechanism and Control Harbin Institute of Technology

A method of topology synthesis based on graph theory and mechanism combination theory was applied to the configuration design of locomotion systems of lunar exploration rovers(LER).Through topology combination of wheel structural unit,suspension unit,and connecting device unit between suspension and load platform,some new locomotion system configurations were proposed and the metrics and indexes to evaluate the performance of the new locomotion system were *** evaluation and comparison between two LER with locomotion systems of different configurations were *** analysis results indicate that the new locomotion system configuration has good trafficability performance.

关键词： configuration synthesis evaluation metrics locomotion system lunar rover