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2011 International Conference on Information Science and Applications, ICISA 2011

作者： Han, Byung Ok Jeong, Il-Woong Seo, Yong-Ho Yang, Hyun S. Computer Science Dept. Korea Advanced Institute of Science and Technology Daejeon Korea Republic of Intelligent Robot Engineering Dept. Mokwon University Daejeon Korea Republic of

ISBN: (纸本)9781424492244

Localization and map building in an indoor environment are important problems for a mobile robot. There are two approaches to these problems: a metric approach and a topological approach. The metric approach uses various range sensors to determine the distance between an obstacle and the robot for the precise localization of a robot;the topological approach gives the robot its state on the basis of landmarks. Because both approaches have some advantages and disadvantages, researchers in the field of mobile robotics have combined the two approaches so that the robot can explore the environment autonomously. This so called hybrid approach still requires certain types of additional odometric information for rapid convergence of positioning the robot as well as information on landmark recognition. To build a more accurate map and to localize precise the position and orientation of the robot, we use a local positioning sensor to compensate for the accumulation of wheel encoder errors and landmark recognition errors. In this paper, we propose a new way of fusing a laser range finder, a local positioning sensor, and wheel encoders. The experimental results confirm that the robot can construct its own environment and localize itself accurately and consistently. © 2011 IEEE.

关键词： Mobile robots

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Experiments of vision guided walking of humanoid robot, KHR-2

Experiments of vision guided walking of humanoid robot, KHR-...

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2005 5th IEEE-RAS International Conference on Humanoid robots

作者： Kim, Jung-Yup Park, Ill-Woo Lee, Jungho Oh, Jun-Ho HUBO Laboratory Humanoid Robot Research Center Korea Advanced Institute of Science and Technology 373-1 Guseong-dong Yuseong-gu Daejeon 305-701 Korea Republic of

ISBN: (纸本)0780393201

This paper introduces an integration of vision system and a visual guided walking of humanoid robot as a its application. Two CCD cameras are installed in a head which has 6 DOFs in total. Eyes and neck have the pan and tilt mechanism to move the view direction freely. All joints are driven by DC servo motors. We developed the motor controller to move all joint axes of the head. Each CCD camera transmits the NTSC formatted images to a frame grabber witch is installed on a main computer continuously. And then, the frame grabber captures the image frames in the frequency of 10 ∼ 15 Hz. For a basic study, we construct the visual processing algorithm so that the robot can always gaze a red light marker. Besides, we establish the strategy of combining non real-time visual information and real-time walking pattern. Finally, vision guided walking algorithm which enables the robot to follow the red light marker on foot, is tested experimentally by using a humanoid robot, KHR-2. © 2005 IEEE.

关键词： Mobile robots

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Analysis and Optimization of a Spatial Parallel Mechanism for a New 5-DOF Hybrid Serial-Parallel Manipulator

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Chinese Journal of Mechanical Engineering 2018年第3期31卷 60-68页

作者： Dong-Sheng Zhang Yun-Dou Xu Jian-Tao Yao Yong-Sheng Zhao Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of National Education Yanshan University

Hybrid manipulators have potentially application in machining industries and attract extensive attention from many researchers on the basis of high sti ness and high dexterity. Therefore,in order to expand the application prospects of hybrid manipulator,a novel 5?degree?of?freedom(DOF) hybrid serial?parallel manipulator(HSPM) is proposed. Firstly,the design plan of this manipulator is introduced. Secondly,the analysis of this manipulator is carried out in detail,including kinematics analysis,statics analysis,and workspace analysis. Especially,an amplitude equivalent method of disposing the over?constrained force/couple to the non?overconstrained force/couple is used in the statics analysis. Then,three performance indices are used to optimize the PM. Two of them have been widely used,and the third one is a new index which considers the characteristics of the actuated force. Based on the performance indices,the performance atlas is drawn and the optimal design of the PM is investigated. In order to satisfy the anticipant kinetic characteristics of the PM,the verification of the optimized physical dimension is done and the workspace based on the optimized physical dimension is carried out. This paper will lay good theoretical foundations for application of this novel HSPM and also can be applied to other hybrid manipulators.

关键词： Parallel mechanism Performance indices Optimal design Performance atlas

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Kinematics and Dynamics Hessian Matrices of Manipulators Based on Screw Theory

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Chinese Journal of Mechanical Engineering 2015年第2期28卷 226-235页

作者： ZHAO Tieshi GENG Mingchao CHEN Yuhang LI Erwei YANG Jiantao Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System Yanshan University Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education Yanshan University

The complexity of the kinematics and dynamics of a manipulator makes it necessary to simplify the modeling ***,the traditional representations cannot achieve this because of the absence of coordinate ***,the coordinate invariant method is an important research ***,the rigid-body acceleration,the time derivative of the twist,is proved to be a screw,and its physical meaning is *** on the twist and the rigid-body acceleration,the acceleration of the end-effector is expressed as a linear-bilinear form,and the kinematics Hessian matrix of the manipulator（represented by Lie bracket）is ***,Newton-Euler＇s equation is rewritten as a linear-bilinear form,from which the dynamics Hessian matrix of a rigid body is *** formulae and the dynamics Hessian matrix are proved to be coordinate *** to the principle of virtual work,the dynamics Hessian matrix of the parallel manipulator is gotten and the detailed dynamic model is *** index of dynamical coupling based on dynamics Hessian matrix is *** the end,a foldable parallel manipulator is taken as an example to validate the deduced kinematics and dynamics *** screw theory based method can simplify the kinematics and dynamics of a manipulator,also the corresponding dynamics Hessian matrix can be used to evaluate the dynamical coupling of a manipulator.

关键词： kinematics dynamics Hessian matrix parallel manipulator screw theory

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Improved Double Deep Q Network Algorithm Based on Average Q-Value Estimation and Reward Redistribution for robot Path Planning

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Computers, Materials & Continua 2024年第11期81卷 2769-2790页

作者： Yameng Yin Lieping Zhang Xiaoxu Shi Yilin Wang Jiansheng Peng Jianchu Zou Key Laboratory of Advanced Manufacturing and Automation Technology Guilin University of TechnologyEducation Department of Guangxi Zhuang Autonomous RegionGuilin541006China Guangxi Key Laboratory of Special Engineering Equipment and Control Guilin University of Aerospace TechnologyGuilin541004China Guilin Mingfu Robot Technology Company Limited Guilin541199China Key Laboratory of AI and Information Processing Education Department of Guangxi Zhuang Autonomous RegionHechi UniversityYizhou546300China

By integrating deep neural networks with reinforcement learning,the Double Deep Q Network(DDQN)algorithm overcomes the limitations of Q-learning in handling continuous spaces and is widely applied in the path planning of mobile ***,the traditional DDQN algorithm suffers from sparse rewards and inefficient utilization of high-quality *** those problems,an improved DDQN algorithm based on average Q-value estimation and reward redistribution was ***,to enhance the precision of the target Q-value,the average of multiple previously learned Q-values from the target Q network is used to replace the single Q-value from the current target Q ***,a reward redistribution mechanism is designed to overcome the sparse reward problem by adjusting the final reward of each action using the round reward from trajectory ***,a reward-prioritized experience selection method is introduced,which ranks experience samples according to reward values to ensure frequent utilization of high-quality ***,simulation experiments are conducted to verify the effectiveness of the proposed algorithm in fixed-position scenario and random *** experimental results show that compared to the traditional DDQN algorithm,the proposed algorithm achieves shorter average running time,higher average return and fewer average *** performance of the proposed algorithm is improved by 11.43%in the fixed scenario and 8.33%in random *** not only plans economic and safe paths but also significantly improves efficiency and generalization in path planning,making it suitable for widespread application in autonomous navigation and industrial automation.

关键词： Double Deep Q Network path planning average Q-value estimation reward redistribution mechanism reward-prioritized experience selection method

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Effect of the configuration and concentration of B-doping on the thermal properties and structural stability of graphene: A theoretical study

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Diamond and Related Materials 2025年 156卷

作者： Li, Dongbo Da, Liangguo Huang, Kaifeng Li, Dong Yu, Liang Wang, Haini Yu, Yaqi Wu, Long Tang, Yunqing School of Mechanical and Electrical Engineering Huainan Normal University Huainan232038 China Human-computer collaborative robot Joint Laboratory of Anhui Province Huainan232038 China School of Mechanical Engineering Shandong University Jinan250061 China State Key Laboratory of Advanced Equipment and Technology for Metal Forming Shandong University Jinan250061 China Key Laboratory of High Efficiency and Clean Mechanical Manufacture Ministry of Education Shandong University Jinan250061 China

The thermal properties and structural stability of B-doped graphene were investigated by employing density functional theory (DFT), ab initio molecular dynamics (AIMD), and molecular dynamics (MD) simulations, with a focus on the effects of doping configuration and concentration. DFT calculations indicate that B-doping reduces the cohesive energy of graphene, consequently diminishing its structural stability. Among the three B double-doping configurations, only the para configuration exhibits a phonon dispersion without imaginary frequencies, whereas both meta and ortho configurations show imaginary frequencies, indicating structural instability. The AIMD results further demonstrate that B-doped graphene preferentially undergoes cleavage at B[sbnd]B bonds, leading to decreased structural stability. MD results show that B-doping significantly reduces the thermal conductivity of graphene. At a doping concentration is 0.6 %, the thermal conductivity of meta and para configurations decreases to 48.08 % and 54.6 % of that of the pristine graphene, respectively. The results of phonon properties show that B-doping reduces the phonon participation rate and induces strong phonon localization at the B-doped site. These results and conclusions will provide valuable theoretical insights for the thermal design of graphene-based semiconductor devices. © 2025 Elsevier B.V.

关键词： Temperature distribution

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Research on Active Training Model of Rehabilitation robot Based on Joint Torque Signal 2

Research on Active Training Model of Rehabilitation Robot Ba...

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2nd International Symposium on Application of Materials Science and Energy Materials, SAMSE 2018

作者： Wang, Hongbo Yan, Hao Yan, Yonggan Li, Yungui Niu, Baoshan Liu, Meng Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University China Key Laboratory of Advanced Forging and Stamping Technology and Science of Ministry of Education Yanshan University China Academy for Engineering and Technology Fudan University Shanghai China

This paper constructs a man-machine integrated no-load static model considering the self-balancing of the mechanism, obtains the mapping relationship among joint variable, no-load torque, measured torque and end-force of the patient. According to the damping control strategy, the end force and speed mapping function planning is completed. The joint angular velocities based on the kinematic inverse solution are calculated, which are important parameter of man-machine coupling motion. © Published under licence by IOP Publishing Ltd.

关键词： Balancing

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Kinetostatics Analysis of a Novel 6-DOF Parallel Manipulator with Three Planar Limbs and Equipped with Three Fingers

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Chinese Journal of Mechanical Engineering 2014年第5期27卷 919-927页

作者： LU Yi LI Xuepeng College of Mechanical Engineering Yanshan University Key Laboratory of Parallel Robot and Mechatronic System of Hebei Province Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of National Education

It is significant to develop a robot hand with high rigidity by a 6-DOF parallel manipulator（PM）.However,the existing6-DOF PMs include spherical joint which has less capability of pulling force bearing,less rotation range and lower precision under alternately heavy loads.A novel 6-DOF PM with three planar limbs and equipped with three fingers is proposed and its kinematics and statics are analyzed systematically.A 3-dimension simulation mechanism of the proposed manipulator is constructed and its structure characteristics is *** kinematics formulae for solving the displacement,velocity,acceleration of the platform,the active legs and the fingers are *** statics formulae are derived for solving the active forces of PM and the finger *** analytic example is given for solving the kinematics and statics of proposed manipulator and the analytic solved results are verified by the simulation *** is proved from the error analysis of analytic solutions and simulation solutions that the derived analytic formulae are correct and provide the theoretical and technical foundations for its manufacturing,control and application.

关键词： parallel manipulator planar limbs finger kinematics statics

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Enhanced hydrogen storage properties of NaBH4–Mg（BH4）2 composites by NdF3 addition

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Progress in Natural Science:Materials International 2021年第4期31卷 521-526页

作者： Jianguang Yuan Jinting Chen Haixiang Huang Yujie Lv Bogu Liu Zhongyu Li Bao Zhang Wei Lv Ying Wu Central Iron & Steel Research Institute Advanced Technology & Materials Co. Ltd Jiangsu JITRI Advanced Energy & Materials Research Institute Co. Ltd Advanced Materials Research Institute North China Electric Power University Jiangsu Provincial Key Laboratory of Special Robot Technology Hohai University

As two important members of complex hydrides,Mg（BH4）2and Na BH4have a high gravimetric capacity （14.9 and10.8 wt%,respectively）.In this study,the Mg（BH4）2was synthesized by the ion exchange ***,the Mg（BH4）2and Na BH4composites with different amounts （30,40 and 50 wt%） of NdF3were prepared by mechanical *** of the Nd F3on the microstructural evolution and hydrogen storage properties were *** results show that Nd F3catalyst can significantly improve the dehydrogenation kinetics of the eutectic composites of Na BH4–Mg（BH4）*** onset hydrogen desorption temperature of the composites is about88.6C,which is about 110C lower than that of Mg（BH4）2and Na ***（BH4）2–Na BH4-0.5NdF3composites can released 5.2 wt%H2at 250C within 30 min,and the dehydrogenation capacity is significantly higher than that of Mg（BH4）2–Na *** analysis of the dehydrogenation mechanism reveals that NdF3takes participate in the reaction to generate Na MgF3to promote the dehydrogenation reaction process of the composites.

关键词： Hydrogen storage materials Mg(BH4)2 NaBH4 NdF3 Ball-milling Hydrogen desorption performance

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Dynamics analysis and simulation of a new 6-DOF lower limb rehabilitation robot 2

Dynamics analysis and simulation of a new 6-DOF lower limb r...

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2nd International Symposium on Application of Materials Science and Energy Materials, SAMSE 2018

作者： Wang, Hongbo Lin, Musong Yan, Yonggan Liu, Guowei Su, Bowen Zhao, Chaosheng Wang, Fuhao Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao China Key Laboratory of Advanced Forging and Stamping Technology and Science Ministry of Education Yanshan University Qinhuangdao China Academy for Engineering and Technology Fudan University Shanghai China

This paper proposes a new hybrid (parallel-serial) 6-DOF lower limb rehabilitation robot including two mechanical legs and an adjustable seat, which could train in sitting, lying and standing three postures. Each mechanical leg consists of hip joint, knee joint and ankle joint. The dynamics and DOF of the robot are analysed, and the result is verified by the software ADAMS. The result lay the foundation for prototype build in future. © Published under licence by IOP Publishing Ltd.

关键词： Joints (anatomy)

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