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Design and experimental study of the remote control for a novel patient transfer apparatus

Journal of Physics: Conference Series 2021年第6期1748卷

作者： Yu Tian Hongbo Wang Yongshun Zhang Junjie Tian Jiazheng Du Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao Hebei China Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education Yanshan University Qinhuangdao Hebei China

This paper introduces the design of the remote control for a novel patient transfer apparatus. First, the overall design of the control system is put forward based on the working principle, and design requirements of the apparatus. Second, voltage regulator circuit of the remote control based on the MC34063 is designed to fit for the OLED displayer, parameters such as the filter capacitor have been determined. Next, wireless communication unit adopted CC1110 and the communication instruction code is introduced. Then, the interaction interface of the remote control is finished to facilitate the implementation of the adjustment functions. finally, a simulation and a real experiment has been completed, it indicates the correctness of the voltage regulator circuit and the effectiveness of the remote control respectively.

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A Method of Relay UAV Deployment for Emergency Communication Scenarios in Disaster Areas

A Method of Relay UAV Deployment for Emergency Communication...

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Chinese Automation Congress (CAC)

作者： Cancan Tao Bowen Liu Yi Han Qiangqiang Chen Jun Ye Ronglin Zhong School of Automation Science and Electrical Engineering Beihang University Beijing China Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao China Faculty of Science Kunming University of Science and Technology Kunming China School of Biological Science and Medical Engineering Beihang University Beijing China School of Information Science and Technology University of Science and Technology of China Hefei China

ISBN: (数字)9798350368604

ISBN: (纸本)9798350368611

This article proposes a relay deployment method that uses UAVs to provide communication services to ground users, especially for emergency communication scenarios in disaster ***, a two-layer network communication model is constructed for emergency communication scenarios in disaster areas, and the relay deployment problem is transformed into a multi-objective optimization problem. On this basis, a detailed analysis of the problem is conducted, and a UAV relay deployment method based on the K-means++ algorithm is proposed. The two indicators of the number of UAVs used and the network communication performance are considered in solving the problem. Simulation results show that the proposed method can achieve a balance between the number of relay UAVs used and the achieved network performance.

关键词： Uncertainty Automation Disasters Simulation Heuristic algorithms Interference Autonomous aerial vehicles Relays Vehicle dynamics Optimization

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Some mathematical aspects on walking robots stable evolution

Some mathematical aspects on walking robots stable evolution

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International Conference on Software, Knowledge Information, Industrial Management and Applications (SKIMA)

作者： Marcel Migdalovici Luige Vladareanu Gabriela Vladeanu Said Broumi Daniela Baran Florentin Smarandache Hongbo Wang Yonfei Feng Robotics and Mechatronics Department Romanian Academy Institute of Solid Mechanics Bucharest Romania Faculty of Science Ben M'Sik University Hassan II Casablanca Morocco Dynamical Systems National Institute of Aircraft Research “Elie Carafoli” Bucharest Romania Department of Mathematics University of New Mexico Gallup NM USA Parallel Robot and Mechatronic System Laboratory of Hebei Province Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education Yanshan University Qinhuangdao China

ISBN: (纸本)9781509032990

A survey of some author's concepts on the dynamic systems stability regions, in the general case of dynamic systems that depend on parameters is related in the paper. The property of separation of stable regions in the free parameters domain is assumed in the paper as an important property of the environment that is carry out and in the specified case of walking robot analyzed in the paper. The matrix that defines the linear dynamic system has the components of the matrix, assumed to be with real values, and the matrices that intervene in the exposure of the method are also, with real values of the components. We assumed that the matrices from the exposure have the complex values such that the real values are also taken into account as particular case of the complex values. This hypothesis assures a new method of analysis, in the complex domain, on the dynamic systems stability. Our theory on the stability control of the dynamic systems is applied here for specified walking robot model that depend on parameters. The critical position of the walking robot evolution is defined and analyzed on some cases of the walking robot leg, and possible application for robot walking up stairs is exposed. The further way of research is emphasized.

关键词： Legged locomotion Eigenvalues and eigenfunctions Matrices Heuristic algorithms Stability analysis Mathematical model

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A novel End-effector Finger Rehabilitation robot (EFRR) for stroke patients

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Journal of Physics: Conference Series 2021年第5期1885卷

作者： Wang Hongbo Tian Yu Niu Baoshan Du Jiazheng Tian Junjie Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao 066004 China Academy for Engineering & Technology Fudan University Shanghai 200433 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China

This paper proposes a prototype of a novel end-traction finger rehabilitation robot with flexion/extension and adduction/abduction functions. The degree of freedom (DoF) and finger joint torque of a single-finger module has been analysed, and the calculation and selection of the motor driving force are completed. Finally, the design details of the mechanism and the hardware system of the robot are illustrated. This device minimized the mechanical size to some extent by using only one motor for a single finger, which also reduces the cost and increases the possibility of industrial application prospects.

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

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IOP Conference Series: Materials Science and Engineering 2019年第7期490卷

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

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Comfort degree of patients' rehabilitation training based on DSmT theory

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IOP Conference Series: Materials Science and Engineering 2019年第6期490卷

作者： Hongbo Wang Hao Yan Baoshan Niu Xincheng Wang Yafeng Li Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao China Academy for Engineering & Technology Fudan University Shanghai China Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education Yanshan University Qinhuangdao China

This paper aims to solve the problem that most rehabilitation robots lack to integrate their physiological functions and psychological states into closed controlling loop in rehabilitation training of stroke patients. The application of fusion technology of multi-electromechanical sensor signal and DSmT signal is used to achieve patients' comfort judgement. Mean value and variance are used to extract physiological information such as heart rate, temperature and skin resistance. Sensor information of fusion technology of rehabilitation robot based on classical DSmT theory can realize on-line diagnosis of multi-comfort degree of patients' coupling.

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

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IOP Conference Series: Materials Science and Engineering 2019年第6期490卷

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

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Design and analysis of positioning manipulator structure for vascular interventional surgery robot system

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Journal of Physics: Conference Series 2021年第1期1906卷

作者： Haoyang Yu Xiaolin Li Michenyang Yao Hongbo Wang Jianye Niu Jingyuan Chang Jiawei Wang Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao 066004 China Tianjin Siasun Robot & Automation Co. Ltd Tianjin 300000 China Academy for Engineering & Technology Fudan University Shanghai 200433 China

The positioning manipulator is an important part of the minimally invasive vascular interventional surgical robot system. In order to make the surgical robot system have high safety, convenience and accuracy, this paper designs a modular light weight manipulator as a positioning manipulator, which is used to realize the positioning and movement of the propulsion device. First, according to the requirements of the operation, the degree of freedom and configuration method of the manipulator are determined, and the configuration design and parameter selection of the manipulator are completed. Then, according to the structural characteristics of the articulated robot, the D-H parameter method and the inverse transformation method are used to analyze the kinematics of the manipulator and its working space are analyzed. On this basis, the manipulator is analyzed by finite element and verified by static simulation. Finally, the positioning manipulator can realize the function of dragging in its working space by hand to achieve the target pose.

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Corrigendum to “Research on the influence of differential speed ratio on the microstructure and properties of 316L/Ni/EH40 composite plate by asymmetrical rolling” [Mater. Today Commun. 37 (2023) 107431]

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Materials Today Communications 2024年 38卷

作者： Kangkang Feng Biao Zhang Xiaolong Shen Yali Yi Herong Jin School of Mechanical Engineering Yanshan University Qinhuangdao 066004 China Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao 066004 China Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of National Education Yanshan University Qinhuangdao 066004 China

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Effect of Rolling Reduction Rate on the Microstructure of Hot Rolling Stainless Steel Clad Plate

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IOP Conference Series: Materials Science and Engineering 2018年第3期394卷

作者： Herong Jin Lei Zhang Yali Yi Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of National Education Yanshan University Qinhuangdao 066004 China Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao 066004 China School of Mechanical Engineering Yanshan University Qinhuangdao 066004 China

The macro-scale and meso-scale simulation models of stainless steel clad plate were established by DEFORM-3D. The multi-scale coupling simulations of clad plate with different rolling parameters were carried out. The seven pass hot rolling process of stainless steel clad plate was simulated by numerical simulation. By contrasting the vertical stress and the deformation resistance of cladding layer, the rolling reduction rate satisfying interface bonding was obtained. The grain distribution at the center of the substrate layer was analyzed and reasonable hot rolling reduction rates were selected considering their effects on the recrystallization volume percent and the grain size. The results show that the grain size decreases with the increase of reduction rate. However, too much reduction rate will decrease the rate of recrystallization volume percent and the refining effect of grain is not obvious. To ensure uniform grain size distribution, it is most reasonable to set the rolling temperature to 1150°C and the reduction rate to 50%.

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