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Geometric Approach for Kinematic Analysis of a Class of 2-DOF rotational Parallel Manipulators

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Chinese Journal of Mechanical Engineering 2012年第2期25卷 241-247页

作者： DONG Xin YU Jingjun CHEN Bin ZONG Guanghua robotics Institute Beihang UniversityBeijing 100191China

Euler angles are commonly used as the orientation representation of most two degrees of freedom（2-DOF） rotational parallel mechanisms（rPMs）,as a result,the coupling of two angle parameters leads to complexity of kinematic model of this family of *** a simple analytical kinematic model with respect to those parameters representing the geometrical characteristics of the mechanism,is very helpful to improve the performance of *** this paper,a new geometric kinematic modeling approach based on the concept of instantaneous single-rotation-angle is proposed and used for the 2-DOF rPMs with symmetry in a homo-kinetic *** authors＇ knowledge,this is a new contribution to parallel *** means of this method,the forwards kinematics of 2-DOF rPMs is derived in a simple way,and three cases i.e.4-4r mechanism（Omni-wrist III）,spherical five-bar one,and 3-rSr1-SS one demonstrate the validity of the proposed geometric *** addition,a novel 2-DOF rPM architecture with virtual center-of-motion is presented by aid of the same *** result provides a useful tool for simplifying the model and extending the application of the rPMs.

关键词： parallel manipulator kinematics singularity workspace

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Optimal Fuzzy PID Controller with Adjustable Factors and Its Application to Intelligent Artificial Legs

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High Technology Letters 2004年第2期10卷 73-77页

作者：谭冠政 Xiao Hongfeng Wang Yuechao Institute of robotics Central South University Changsha 410083 P.R.ChinaWang YuechaoRobotics Laboratory Chinese Academy of Sciences Shenyang 110015 P.R.China robotics Laboratory Chinese Academy of Sciences Shenyang 110015 P.R.China

A new kind of optimal fuzzy PID controller is proposed, which contains two parts. One is an on-line fuzzy inference mechanism and another is a conventional PID controller. In the fuzzy inference mechanism, three adjustable factors xp, xi, and xd are introduced. Their function is to further modify and optimize the result of the fuzzy inference to make the controller have the optimal control effect on a given object. The optimal values of these factors are determined based on the ITAE criterion and the flexible polyhedron search algorithm of Nelder and Mead. This PID controller has been used to control a D.C. motor of the intelligent artificial leg designed by the authors. The result of computer simulation indicates that the design of this controller is very effective and can be widely used to control different kinds of objects and processes.

关键词：模糊PID控制优化可调因子柔性多面体搜索算法智能人造假肢

Active knee joint exoskeleton for stair ascent augmentation

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Science China(Information Sciences) 2021年第3期64卷 243-245页

作者： Zongwei ZHANG Jizhuang FAN Hongzhe JIN Tianjiao ZHENG Sikai ZHAO Shun MA Jie ZHAO Yanhe ZHU State Key Laboratory of robotics and Systems

Dear editor,Stair climbing is a strenuous daily movement that is challenging for older adults and those with lower limb *** this study, we describe a novel stairclimbing exoskeleton that was designed to help weak-knee... 详细信息

关键词： exoskeleton stair climbing hybrid control zero-force tracking switching controller

Computer-Vision Based Object Detection and recognition for Service robot in Indoor Environment

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Computers, Materials & Continua 2022年第7期72卷 197-213页

作者： Kiran Jot Singh Divneet Singh Kapoor Khushal Thakur Anshul Sharma Xiao-Zhi Gao Embedded Systems&robotics research group Chandigarh UniversityMohali140413PunjabIndia School of Computing University of Eastern FinlandYliopistonranta 1FI-70210KuopioFinland

The near future has been envisioned as a collaboration of humans with mobile robots to help in the day-to-day *** this paper,we present a viable approach for a real-time computer vision based object detection and recognition for efficient indoor navigation of a mobile *** mobile robotic systems are utilized mainly for home assistance,emergency services and surveillance,in which critical action needs to be taken within a fraction of second or *** object detection and recognition is enhanced with utilization of the proposed algorithm based on the modification of You Look Only Once(YOLO)algorithm,with lesser computational requirements and relatively smaller weight size of the network *** proposed computer-vision based algorithm has been compared with the other conventional object detection/recognition algorithms,in terms of mean Average Precision(mAP)score,mean inference time,weight size and false positive *** presented framework also makes use of the result of efficient object detection/recognition,to aid the mobile robot navigate in an indoor environment with the utilization of the results produced by the proposed *** presented framework can be further utilized for a wide variety of applications involving indoor navigation robots for different services.

关键词： Computer-vision real-time computing object detection robot robot navigation localization environment sensing neural networks YOLO

VLSI design of 3D display processing chip for binocular stereo displays

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High Technology Letters 2010年第3期16卷 288-292页

作者： Ge Chenyang Zheng Nanning Institute of Artificial Intelligence and robotics Xi＇ an Jiaotong University Xi＇ an 710049 P.R. China

In order to develop the core chip supporting binocular stereo displays for head mounted display （HMD） and glasses-TV, a very large scale integrated （VISI） design scheme is proposed by using a pipeline architecture for 3D display processing chip （HMD100）. Some key techniques including stereo display processing and high precision video scaling based bicubic interpolation, and their hardware implementations which improve the image quality are presented. The proposed HMD100 chip is verified by the field-programmable gate array （FPGA）. As one of innovative and high integration SoC chips, HMD100 is designed by a digital and analog mixed circuit. It can support binocular stereo display, has better scaling effect and integration. Hence it is applicable in virtual reality （Vr）, 3D games and other microdisplay domains.

关键词： 3D display head mounted display (HMD) very large scale integrated (VLSI) video scaling SoC

Drilling load modeling and validation based on the filling rate of auger flute in planetary sampling

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Chinese Journal of Aeronautics 2017年第1期30卷 434-446页

作者： Quan Qiquan Tang Junyue Yuan Fengpei Jiang Shengyuan Deng Zongquan State Key Laboratory of robotics and System Harbin Institute of Technology

Some type of penetration into a subsurface is required in planetary sampling. Drilling and coring, due to its efficient penetrating and cuttings removal characteristics, has been widely applied in previous sampling missions. Given the complicated mechanical properties of a planetary regolith, suitable drilling parameters should be matched with different drilling formations ***, drilling faults caused by overloads could easily happen. Hence, it is necessary to establish a drilling load model, which is able to reveal the relationships among drilling loads, an auger＇s structural parameters, soil＇s mechanical properties, and relevant drilling parameters. A concept for the filling rate of auger flute（FrAF） is proposed to describe drilling conditions. If the FrAF index under one group of drilling parameters is less than 1, this means that the auger flute currently removes cuttings smoothly. Otherwise, the auger will be choked with compressed cuttings. In drilling operations, the drilling loads on the auger mainly come from the conveyance action, while the drilling loads on the drill bit primarily come from the cutting action. Experiments in one typical lunar regolith simulant indicate that the estimated drilling loads based on the FrAF coincide with the test results quite well. Based on this drilling load model, drilling parameters have been optimized.

关键词： Coring Drilling load Filling rate of auger fluteLunar regolith simulant Planetary drilling

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Mobile robot path planning method combined improved artificial potential field with optimization algorithm

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High Technology Letters 2011年第2期17卷 160-165页

作者：赵杰 Yu Zhenzhong Yan Jihong Gao Yongsheng Chen Zhifeng State Key Laboratory of robotics and System Harbin Institute of Technology Harbin 150080 P. R. China

To overcome the shortcomings of the traditional artificial potential field method in mobile robot path planning, an improved artificial potential field model （IAPFM） was established, then a new path planning method combining the IAPFM with optimization algorithm （trust region algorithm） is proposed. Attractive force between the robot and the target location, and repulsive force between the robot and the obstacles are both converted to the potential field intensity; and filled potential field is used to guide the robot to go out of the local minimum points ; on this basis, the effect of dynamic obstacles velocity and the robot＇s velocity is consid thers and the IAPFM is established, then both the expressions of the attractive potential field and the repulsive potential field are obtained. The trust region algorithm is used to search the minimum value of the sum of all the potential field inten- sities within the movement scope which the robot can arrive in a sampling period. Connecting of all the points which hare the minimum intensity in every sampling period constitutes the global optimization path. Experiment result shows that the method can meet the real-time requirement, and is able to execute the mobile robot path planning task effectively in the dynamic environment.

关键词： trust region optimization algorithm path planning artificial potential field mobile robot potential field intensity

Enhancement of motor functional recovery in thoracic spinal cord injury: voluntary wheel running versus forced treadmill exercise

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Neural regeneration research 2025年第3期20卷 836-844页

作者： Do-Hun Lee Dan Cao Younghye Moon Chen Chen Nai-Kui Liu Xiao-Ming Xu Wei Wu Spinal Cord and Brain Injury research group Stark Neurosciences Research InstituteIndiana University School of MedicineIndianapolisINUSA Department of Neurological Surgery Indiana University School of MedicineIndianapolisINUSA Department of Neuroscience Baylor College of MedicineHoustonTXUSA

Spinal cord injury necessitates effective rehabilitation strategies, with exercise therapies showing promise in promoting recovery. This study investigated the impact of rehabilitation exercise on functional recovery and morphological changes following thoracic contusive spinal cord injury. After a 7-day recovery period after spinal cord injury, mice were assigned to either a trained group(10 weeks of voluntary running wheel or forced treadmill exercise) or an untrained group. Bi-weekly assessments revealed that the exercise-trained group, particularly the voluntary wheel exercise subgroup, displayed significantly improved locomotor recovery, more plasticity of dopaminergic and serotonin modulation compared with the untrained group. Additionally, exercise interventions led to gait pattern restoration and enhanced transcranial magnetic motor-evoked potentials. Despite consistent injury areas across groups, exercise training promoted terminal innervation of descending axons. In summary, voluntary wheel exercise shows promise for enhancing outcomes after thoracic contusive spinal cord injury, emphasizing the role of exercise modality in promoting recovery and morphological changes in spinal cord injuries. Our findings will influence future strategies for rehabilitation exercises, restoring functional movement after spinal cord injury.

关键词： behavioral assessment motor function neural plasticity running wheel exercise spinal cord injury treadmill exercise voluntary exercise

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A robotic tele-drill system over network using predictive display

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High Technology Letters 2006年第1期12卷 42-46页

作者：谢小辉 Sun Lining Du Zhijiang Cai Hegao robotics research Institute Harbin Institute of Technology Harbin Heilongjiang Province 150001 P.R. China

Based on a robotic telesurgery system whose function is to liberate doctor from X-ray radiation, a robotic tele-drill system is constructed. The system is in client/server structure. Client part includes main control interface, video-audio interface and predictive display interface. Server part includes robot control server and video, audio server. For applying to teleoperation, a virtual reality environment of the system developed by using Java, Java 3D, Pro/E, etc. is established. The geometry and kinematics model of serial robot MOTOMAN sv3x, parallel robot, C-type arm and X-ray machine, surgery bed and its work environment are fulfilled in it. Simulation engine and its simulation syntax are finished, which made the environment controllable. This environment is used as predictive display interface in the telerobotics in order to tackling the problem in visualization feedback as ambiguous or time delay. Experiments that verified feasibility of the system have been done.

关键词： robotic teleoperation virtual reality predictive display Java 3D