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作者： Guo, Ziyi Zhu, Yiduo Wang, Meiling Li, Tao Zhao, Hanbin Xu, Linsen Ceccarelli, Marco University of Science and Technology of China Hefei230022 China Institute of Advanced Manufacturing Technology Hefei Institutes of Physical Science Chinese Academy of Sciences Hefei230031 China Anhui Province Key Laboratory of Biomimetic Sensing and Advanced Robot Technology Hefei230031 China LARM2: Laboratory of Robot Mechatronics Dept of Industrial Engineering University of Rome Tor Vergata Via del Politecnico 1 Roma00133 Italy

Due to complexity of the structure, uncertainty of the dynamic model and poor adaptability of the environment of the traditional mobile robot, this paper proposes an all-environment mobile robot based on coaxial eight-rotor which can adapt to the three environments of water, land and air. This paper first describes the mechanical structure and hardware design of AEM (All-environment Mobile) robot, and then aerodynamics model and hydrodynamic model of the robot are formulated by Newton Euler equations. In the end, the physical prototype is assembled, and experiments are conducted to verify that the AEM robot could achieve the expected three motion modes. © 2019, Springer Nature Switzerland AG.

关键词： Mobile robots

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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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Analytic modeling of spoke torque sensor based on deformation compatibility

Analytic modeling of spoke torque sensor based on deformatio...

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2018 IEEE International Conference on Information and Automation, ICIA 2018

作者： Sun, Yu-Xiang Xu, Yu-Yun Cao, Hui-Bin Shuang, Feng Gao, Li-Fu Ge, Yun-Jian Anhui Province Key Laboratory of Biomimetic Sensing and Advanced Robot Technology Institute of Intelligent Machines Chinese Academy of Sciences Hefei Anhui Province230031 China Department of Automation University of Science and Technology of China Hefei230026 China

ISBN: (纸本)9781538680698

Accurate description of the relationship between sensor loading deformation and elastomeric structure is very important to improving design efficiency. In this paper, we focus on the spoke torque sensor, according to the deformation characteristics of the sensor under loading, and analyzes the relationship among stress, strain and disturbance of the torque sensor in combination with the deformation compatibility conditions, and establishes the analytical model of the torsion stiffness of the sensor. Finally, by comparing the finite element simulation results, it is verified that by considering the deformation coordination conditions, the precision of the analytical modeling of the torque sensor can be improved. © 2018 IEEE.

关键词： Analytical models

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A bio-inspired wall-climbing robot with claw wheels and adhesive tracks

A bio-inspired wall-climbing robot with claw wheels and adhe...

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2018 IEEE International Conference on Information and Automation, ICIA 2018

作者： Liu, Jinfu Xu, Linsen Xu, Jiajun Wu, Xuan Wang, Meiling Lu, Linlin Hefei Institutes of Physical Science Chinese Academy of Sciences Institute of Advanced Manufacturing Technology Hefei China University of Science and Technology of China Hefei China Key Laboratory of Biomimetic Sensing and Advanced Robot Technology Anhui Province China

ISBN: (纸本)9781538680698

The paper presents a bio-inspired wall-climbing robot capable of locomotion on a great variety of surfaces at speeds up to 10cm/s using claws or tracks. Inspired by the mechanism and movement characteristics of the feet on flies, a novel and innovative structure is designed and implemented. Furthermore, three mechanical models, which are statics and dynamics on rough wall surfaces as well as adhesion on smooth surface, are proposed to analyze the force or torque acting on the robot. Finally, experiments on foam, brick and glass surfaces are carried out, and the results indicate that the robot with claw wheels and adhesive tracks is able to climb steadily on various complex walls. © 2018 IEEE.

关键词： Adhesives

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

Design and study of a biomimetic wall-climbing robot with sp...

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IEEE International Conference on Real-time Computing and robotics (RCAR)

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

ISBN: (数字)9781728137261

ISBN: (纸本)9781728137278

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Design of lower extremity rehabilitation robots with magnetorheological dampers and wire-driven system

Design of lower extremity rehabilitation robots with magneto...

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2018 IEEE International Conference on Information and Automation, ICIA 2018

作者： Xu, Jiajun Xu, Linsen Li, Youfu Liu, Jinfu Li, Xiaohu Lu, Linlin University of Science and Technology of China No. 96 Jinzhai Road Hefei Anhui Province China City University of Hong Tat Chee Avenue Kowloon Hong Kong Hefei Institutes of Physical Science CAS Changzhou China Key Laboratory of Biomimetic Sensing and Advanced Robot Technology Anhui Province China

ISBN: (纸本)9781538680698

Lower extremity rehabilitation robots play significantly important role in rehabilitation medicine, which aims to bring back the capabilities of patients' lower limbs because of illness, injury and disease. However, controllability, energy consumption and control precision of the robot motion remain difficult to solve out. In many cases, electric motors are required to have high output torque to move the entire machine legs along with human legs, while extravagant motor torque may lead to excessive bending, fracture or other secondary damages. And the motors would generate the braking torque to prevent this at the cost of consuming large armature current. Controllable braking torque also counts while patients' active anti-resistance training. Smart materials have provided inspiration and magneto-rheological (MR) fluids vary in rheological behavior with responding to applied magnetic field. Based on the characteristics, magnetorheological dampers (MR dampers) were developed and have realized variable damping resistance according to different magnetic field. Besides, wire-driven system is another guarantee of safety and controllability due to its flexible structure and compliant control. So, with combination of MR dampers and wire-driven system, the lower extremity rehabilitation robot would perform better, more efficiently and more safely. Actually, such robot can hardly be seen in previous related research or publication. In this paper, three kinds of rehabilitation robots with MR dampers and wire-driven system are introduced. They are standing/walking rehabilitation robot with cylindrical dampers, standing/walking rehabilitation robot with discal dampers and sitting/lying rehabilitation robot with discal dampers. Their advantages and drawbacks are also explained. © 2018 IEEE.

关键词： Energy utilization

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Flexible micro-perforated panels prepared by CNC machining

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IOP Conference Series: Earth and Environmental Science 2019年第4期358卷

作者： Dongyue Xie Xiaoning Tang Ming Hu Deyi Kong Yujie Qian Hefei University of Technology Hefei 230601 China State Key Laboratory Cultivation Base for New Textile Materials and Advanced Processing Technology School of Textile Science and Engineering Wuhan Textile University Wuhan 430200 China State Key Laboratory of Transducer Technology Key Laboratory of Biomimetic Sensing and Advanced Robot Technology of Anhui Province Institute of Intelligent Machines Hefei Institutes of Physical Science Chinese Academy of Sciences Hefei 230031 China IOT Engineering College Hohai University Changzhou 213022 China

With the advantages of light weight, thin thickness and environment friendly, the micro-perforated panel (MPP) has been widely studied for noise reduction. Maa's model pointed out that the MPP could obtain higher sound absorption over broader frequency band when the perforations were reduced to less than 100 μm. However, it is challenging to manufacture MPPs with the aperture of approximate 100 μm, thus its potential application has been restricted. In this study, we used a computer numerical control (CNC) milling machine to process MPP. Four different kinds of raw materials including paperboard, polyethylene terephthalate (PET), polyvinyl chloride (PVC), and polycarbonate (PC) were taken to prepare micro-perforated panels (MPPs). It has been indicated that MPPs with good sound absorption properties were successfully prepared by this facile method.

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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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3rd International Joint Conference on Computational Sciences and Optimization, CSO 2010: Theoretical Development and Engineering Practice

作者： Zheng, Yingying Zhang, Yongliang Liu, Yanli Key Laboratory of Biomimetic Sensing and Advanced Robot Technology Institute of Intelligent Machines Chinese Academy of Science 230031 China Department of Automation University of Science and Technology of China 230027 China Anhui Institute of Architecture and Industry Hefei 230601 China

ISBN: (纸本)9780769540306

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. © 2010 IEEE.

关键词： Empirical mode decomposition

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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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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

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

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