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IEEE International Conference on Mechatronics, robotics and Automation (ICMRA)

作者： Lei Liu Linsen Xu Jinfu Liu Shouqi Chen Gaoxin Cheng Jia Shi University of Science and Technology of China Hefei China Anhui Province Key Laboratory of Biomimetic Sensing and Advanced Robot Technology Hefei China

The following topics are dealt with: mobile robots; motion control; path planning; human-robot interaction; particle filtering (numerical methods); medical robotics; finite element analysis; robot vision; biomechanics... 详细信息

ISBN: (数字)9781728190327

ISBN: (纸本)9781728190334

关键词： Adaptation models Analytical models Tracking Roads Wheels Finite element analysis Strain

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Design and Analysis for the Axe Foot of Bio-inspired Anchoring robot

Design and Analysis for the Axe Foot of Bio-inspired Anchori...

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IEEE International Conference on Mechatronics and Automation

作者： Lei Liu Linsen Xu Jinfu Liu Jiajun Xu Shouqi Chen Gaoxin Cheng Hong Xu Jia Shi University of Science and Technology of China Hefei China Anhui Province Key Laboratory of Biomimetic Sensing and Advanced Robot Technology Hefei China

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164175

Mooring location has become increasingly important with the rapid development and utilization of marine resources. The mooring system of the underwater mobile robot is required to be efficient and intelligent. This paper proposes a novel anchoring robot by imitating the excellent inhabitation functions and physiological structure of the razor clam. This bio-inspired robot can autonomously dig holes, anchor, and detach to improve the efficiency of mooring location in marine operations. Specifically, the axe foot of the robot plays an important role in these movements. It contains a screw-cone drill and two soft parts. The screw-cone drill is the main forced part while the robot is in the digging state and the rationality of drill design is proved by mechanics analysis. Moreover, the soft part, which is connected with the upper end of the drill, is analyzed to show the capability of obstacle avoidance. The rationality of the structural design and a good submarine anchoring function of the axe foot are verified by the above analysis.

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Identification of liquid materials using energy dispersive X-ray scattering

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Procedia Engineering 2010年 7卷 135-142页

作者： Yu Zhong Bai Sun Daoyang Yu Wei Li Yu Zhang Minqiang Li Jinhuai Liu Key Laboratory of Biomimetric Sensing and Advanced Robot Technology Institute of Intelligent Machines Chinese Academy of Sciences Hefei 230031 PR China Anhui Provincial Laboratory of Biomimetic Sensor and Detecting Technology West Anhui University Anhui Lu’an 237012 237012 PR China

Energy dispersive X-ray scattering (EDXRS) has been successfully applied for the identification of liquid materials for the first time. Three liquid systems of primary alcohols, ketones compounds and acids are carefully investigation and the scattering spectra are described. Based on structural and compositional differences of compounds, the scattering profiles of all samples exhibit characteristic shapes, indicating that EDXRS profile is unique to each specific liquid material. These findings imply that EDXRS would be promisingly applied as a non-invasive inspection for liquid identification.

关键词： Liquid materials Energy dispersive X-ray scattering Detection Identification

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The plant modeling research based on improved 3D L-system and quaternion

The plant modeling research based on improved 3D L-system an...

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International Conference on Information and Automation (ICIA)

作者： Ke Guan Key Laboratory of Biomimetic Sensing and Advanced Robot Technology of Anhui Province Institute of Intelligent machines Chinese Academy and Sciences Hefei China

This paper describes the plant modeling research based on improved 3D L-system and quaternion. It first introduces the original 3D L-system and how to implement it, then brings forward the improved modeling method of 3D L-system by specifying the growth vector and azimuth vector and applies the quaternion based computer algorithm in it, in the end generates some 3D plant models of sympodia and uniaxiality based on the improved method and algorithm.

关键词： Three dimensional displays Solid modeling Azimuth Computational modeling Mathematical model Quaternions Axles

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The research of pulse wave signal denosing based on EMD and ICA

The research of pulse wave signal denosing based on EMD and ...

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The Third International Joint Conference on Computational Science and Optimization(第三届计算科学与优化国际大会 CSO 2010)

作者： Yingying Zheng Yongliang Zhang Yanli Liu Key Laboratory of Biomimetic Sensing and Advanced Robot Technology Institute of Intelligent Machine Anhui institute of Architecture & Industry Hefei 230601 China

Pulse wave is easily contaminated by noise when being sampled and processed. In order to extract and analyze the useful information involved, the paper presents a novel denoising algorithm based on empirical mode decomposition (EMD) and independent component analysis (ICA).First, the signal is decomposed by EMD ,then a series of intrinsic mode functions (IMFs) and the remainder can be obtained. Second, ICA will be performed to separate independent components from IMFs. At last, these independent components will be used to reconstruct the pulse wave signal. By using the method, we are able to separate noise and estimate desired source signals from pulse wave signal. Experimental results substantiate the strong potential of the proposed method for pulse wave signal noise separation.

关键词： Empirical mode decomposition independent component analysis pulse wave signal

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Research on Contrast Calculation Method for Color Image 18th

Research on Contrast Calculation Method for Color Image

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18th Chinese Conference on Image and Graphics technology and Application Conference, IGTA 2023

作者： Qian, Jing Kong, Bin Yang, Jing Wang, Can Hefei Institutes of Physical Science Chinese Academy of Sciences Hefei230031 China University of Science and Technology of China Hefei230026 China Peng Cheng Laboratory Shenzhen518053 China Anhui Key Laboratory of Biomimetic Sensing and Advanced Robot Technology Hefei230031 China School of Artificial Intelligence and Big Data Hefei University Hefei230031 China

ISBN: (纸本)9789819975488

Contrast is one of the commonly used indicators for evaluating image quality and is related to color information. However, the traditional contrast calculation method only reflects the clarity of the image by counting the distribution probability of the gray difference between adjacent pixels in the region, which lacks consideration of the chrominance information. We propose a contrast calculation method considering the perceptual color difference in color images. First, we obtain each pixel’s hue and saturation information from the HSV color space. And the luminance information of each pixel is obtained while retaining the color contrast information of the original image. Then, the contrast of a color image is obtained by counting the number of adjacent pixels whose color difference exceeds the threshold and calculating the sum of color differences. Experiment results show that our method is less affected by the uniform color patches than other methods. It can effectively reflect the relationship between the contrast values of different images and reduce the information loss of color contrast. In addition, for different color images, the magnitude of the contrast value obtained by our method is consistent with the trend of human visual judgment. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Image quality

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The influence of X-ray wavelength and the simulative human skin and muscle obstruction on the detection of human body-hidden drugs by non-intrusive X-ray diffraction method

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Procedia Engineering 2010年 7卷 195-202页

作者： Bai Sun Minqiang Li Fang Zhang Yu Zhong Daoyang Yu Wei Lu Guoqiang Pan Jinhuai Liu The Key Laboratory of Biomimetic Sensing and Advanced Robot Technology Anhui Province Institute of Intelligent Machines Chinese Academy of Sciences Hefei 230031 PR China National Synchrotron Radiation Laboratory University of Science and Technology of China Hefei 230029 PR China

In order to detect the body-hidden drugs non-intrusively and rapidly, the influence of the X-ray wavelength and covering of the simulative skin and muscle on the detection of methamphetamine sample by synchrotron radiation X-ray diffraction (SR-XRD) technique have been investigated. Synchrotron radiation based X-ray with three different wavelengths (1.29 Å, 1.54 Å, 1.80 Å) has been chosen as the X-ray source. The results indicate that the intensities as well as the number of the diffraction peaks of methamphetamine sample covered by simulative muscle decreased with the increasing of the X-ray wavelength from 1.29 Åto 1.80 Å. In addition, the intensities of the diffraction peaks for methamphetamine will be seriously affected by the covered simulative skin or muscle due to the X-ray absorption. Furthermore, the absorption of X-ray by the simulative muscle seems much stronger than that of the simulative skin. Moreover, the specific molecular structure of the methamphetamine sample has been obtained by X-ray diffraction method.

关键词： Drug detection SR-XRD Methamphetamine Molecular structure

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Trajectory Tracking Control Based on RBF Neural Network of The Lower Limb Rehabilitation robot

Trajectory Tracking Control Based on RBF Neural Network of T...

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IEEE International Conference on Mechatronics and Automation

作者： Jia Shi Linsen Xu Gaoxin Cheng Jiajun Xu Shouqi Chen Xingcan Liang University of Science and Technology of China No. 96 Jinzhai Road Hefei City Anhui Province China Institute of Advanced Manufacturing Technology Hefei Institutes of Physical Science CAS Key Laboratory of Biomimetic Sensing and Advanced Robot Technology Anhui Province

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164175

The lower limb rehabilitation robot has been widely applied to the recovery of the patient's limb. For patients without autonomous movement ability, the robot will drive their limbs the planned trajectory to carry out rehabilitation training, and the accuracy of the trajectory tracking effect should be guaranteed. PID control is a conventional method for trajectory tracking. Due to the dynamic model uncertainties and lack of good adjustment ability of PID control method, this paper proposes a control method combining neural network and PID. In this study, Magnetorheological (MR) damper and motor are combined to provide actuation for the robot. The control is simulated in Simulink. By comparing the trajectory tracking errors under PID control and RBF-PID control, it is verified that the RBF-PID control has better anti-interference performance. In the process of rehabilitation robot work, the flexibility of movement and the real-time and stability of track tracking are improved.

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A novel platform system for gait analysis

A novel platform system for gait analysis

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Conference on Human System Interactions, HSI

作者： Su Xu Xu Zhou Yi-Ning Sun Department of Auto University of Science and Technology Hefei Anhui China The Key Laboratory of Biomimetic Sensing and Advanced Robot Tech Institute of Intelligent Machines CAS Beijing China

A novel platform system for gait analysis was developed, with its two main parts: force platform and pressure platform, it can offer complete components of pressures in walking, including vertical pressure, shear forces, pressure distribution and COP (centre of pressure) with reliable result. System configuration was introduced as an important part, and gait model was established. Some examples of application were also reported.

关键词： Foot Force Sensors Pressure measurement Conferences Force measurement robot sensing systems

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Design and study ofa biomimetic wall-climbing robot with spine wheels and a vacuum suction cup

Design and study ofa biomimetic wall-climbing robot with spi...

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2019 IEEE International Conference on Real-Time Computing and robotics, RCAR 2019

作者： Liu, Jinfii Xu, Linsen Chen, Shouqi Xu, Hong Cheng, Gaoxin Liu, Lei Xu, Jiajun Hefei Institutes of Physical Science CAS University of Science and Technology of China No.96 Jinzhai Road Hefei230026 China Hefei Institutes of Physical Science CAS Key Laboratory of Biomimetic Sensing and Advanced Robot Technology Anhui Province No.801 Changwu Road Changzhou213164 China University of Science and Technology of China No.96 Jinzhai ad Hefei230026 China

ISBN: (纸本)9781728137261

Wall-climbing robots can be widely applied in search and rescue, nuclear power plant maintenance, pressure pipeline inspection and so on, as a kind of special robots in extreme environment. However, the traditional single motion mode can not ensure the stable adhesion of the robot on complex wall surfaces. Inspired by the structure characteristics of flies and clingfish, a biomimetic flexible spine wheel and an eddy suction cup mechanism are proposed. Then, based on the law of mechanism configuration synthesis, a novel wall-climbing locomotion mechanism is developed by equipping these above biomimetic mechanisms. With the elastic mechanics theory of finite element, the original stiffness matrix of a single spine wheel at different stiffness is deduced. Based on the transformation mechanism of rotation matrix and the original stiffness matrix of the spine wheel, an innovative contact model is set up to analyze the forces acting on a single spine wheel. Beyond that, mechanical analysis model between suction force and load is also presented, and the simulation results show that the mechanical model is effective and reasonable in the selection of vacuum component. Finally, we fabricated the wall-climbing robot adopting the technology of 3D printing and precision machining to verify its climbing performance. Meanwhile, experiment results present the robot could climb stably on the 0-360° wall surfaces. © 2018 IEEE.

关键词： Wheels

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