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Studies on biomechanics of skeletal muscle based on the working mechanism of myosin motors:An overview

Chinese Science Bulletin 2012年第30期57卷 4533-4544页

作者： YIN YueHong GUO Zhao CHEN Xing FAN YuanJie State Key Laboratory of Mechanism System and Vibration Institute of RoboticsShanghai Jiao Tong UniversityShanghai 200240China

Skeletal muscle is the source of human body *** scholars have been studying in this field to reveal its contraction mechanism,and relevant achievements have been awarded the Nobel *** paper reviewed the current researches on biomechanics of skeletal muscle,and concluded two strategies(top-down and bottom-up methods) for the biomechanical research of skeletal ***,this paper generalized two major aspects of muscle research:(1) the multi-force coupling mechanism and the collective operation mechanism of molecular motors;(2) the bioelectrochemical driving and control principium of muscle *** discussed the solution for experimental verification and induced a novel idea to study the biomechanics of skeletal muscle based on the microscopic working mechanism of molecular motor,which is the origin of muscle *** we analyzed the disadvantages in existent researches and explored future directions that need further studies.

关键词：工作机制生物力学分子马达骨骼肌肌球蛋白诺贝尔文学奖收缩原理生物电化学

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Design and experiment of electromagnetic force device for optical fiber fusion stretching

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Guangxue Jingmi Gongcheng/Optics and Precision Engineering 2012年第1期20卷 72-79页

作者： Rong, Wei-Bin Guan, Nan-Nan Wang, Le-Feng Sun, Li-Ning State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China

An electromagnetic force device is designed to realize the precise force control in the process of fusion stretching of ultra-thin fibers. First, the electromagnetic force with different coil parameters is calculated based on finite element method, and the relationship between electromagnetic force and coil parameters is derived. With the demand of stretching system performance and the dimension restrictions of the coil frame, constraint equations and objective functions are established to optimize the solution to machine the electromagnetic coil. Then the control circuit for electromagnetic force is designed to regulate the current in the coil and achieve the fine adjustment of electromagnetic force. Finally, experiments of electromagnetic force device are performed. The results indicate that the range of stretching force for the optical fibers can achieve 26.073 mN and the measuring resolution is 7.473 μN. It satisfies the demand of the fusion stretching of ultra-thin fibers.

关键词： Optical fibers

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Errors modeling and sensitivity analysis for a novel parallel manipulator

Errors modeling and sensitivity analysis for a novel paralle...

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2012 9th ieee International Conference on Mechatronics and Automation, ICMA 2012

作者： Li, Yunfeng Li, Changfeng Qu, Dongsheng Duan, Suolin Bai, Xue Shen, Huiping State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China Robotics Institute of Changzhou University Changzhou University Changzhou Jiangsu Province China

ISBN: (纸本)9781467312776

Error model is the basis for accuracy-related computations and analyses for parallel manipulator. In this paper, one novel 6-DOF Parallel manipulator is proposed and its errors model is obtained by setting up the relation of pose errors and structural parameters based on the closed-vectors differential method. Errors sensitivity index are defined by using of singular value of the matrix and are given to physical meanings. Errors synthetically sensitivity, direction sensitivity and maximum sensitivity are quantitatively analysed through simulation, which prove that errors sensitivity of some feature in the working space can be of evaluation scale for optimum structural design. Analysis of the structural parameters and the error sensitivity can describe the relationship of parallel manipulator configuration parameters on the terminal accuracy. The errors model set up can lay a solid foundation for structure design and errors compensation of the manipulators. © 2012 ieee.

关键词： Sensitivity analysis

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Theoretical study on the dynamic separation of two microplates with an intervening liquid meniscus

Theoretical study on the dynamic separation of two microplat...

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2011 International Conference on Mechanical Engineering, Materials and Energy, ICMEME 2011

作者： Wang, Lefeng Rong, Weibin Guo, Bin Shao, Bing School of Materials Science and Engineering Harbin Institute of Technology Harbin China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9783037853405

The dynamic separation of two parallel microplates with an intervening liquid meniscus is studied theoretically. The dynamic model considering the meniscus force and the viscous force between the plates in the separation process was developed. With typical simulation parameters, the magnitudes of various forces were compared before the separation of two parallel plates occurs. It was found that the meniscus force decreases gradually with the increase of separation distance. However there is a sudden jump of the viscous force before it gradually increases, then it decreases dramatically. The influences of various parameters on the separation time were investigated. It was found that the separation time increases with the mass of the upper plate, surface tension, viscosity and volume of the liquid. The separation time decreases with the initial distance and the contact angles of the liquid. © (2012) Trans Tech Publications, Switzerland.

关键词： Liquids

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Theoretical analysis of meniscus forces between two spherical nanoparticles at various humidities

Theoretical analysis of meniscus forces between two spherica...

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2011 International Conference on Mechanical Engineering, Materials and Energy, ICMEME 2011

作者： Wang, Lefeng Guo, Bin Rong, Weibin Sun, Lining School of Materials Science and Engineering Harbin Institute of Technology Harbin China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9783037853405

The meniscus force between nanoobjects with a mediated liquid bridge plays an important role in many applications due to scale effects. As an typical configuration, the meniscus force between two spherical nanoparticles at various humidities is studied theoretically. The numerical method and the usual approximation method of calculating the meniscus force at various humidities are compared firstly. It is found that the big error may occur at some conditions. The effects of relative humidity on the meniscus force between spherical nanoparticles are investigated. Besides, the influences of spherical radius, the distance between nanoparticles, contact angles of the liquid on the meniscus forces between spherical nanoparticles are studied. The simulation results are helpful to understand and control the adhesion force at nanoscales. © (2012) Trans Tech Publications, Switzerland.

关键词： Atmospheric humidity

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Differentiated time-frequency characteristics based real-time motion decoding for lower extremity rehabilitation exoskeleton robot

Differentiated time-frequency characteristics based real-tim...

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5th International Conference on Intelligent robotics and Applications, ICIRA 2012

作者： Fan, Yuanjie Yin, Yuehong State Key Laboratory of Mechanical System and Vibration Robotics Institute Shanghai Jiao Tong University Dongchuan Rd. 800 200240 Shanghai China

ISBN: (纸本)9783642335143

Decode the human motion intension precisely in real time is the key problem in coordinated control of the lower extremity exoskeleton. In this research, the relationship between frequency characteristics of sEMG (surface electromyographic) and muscle contraction is established in real time according to the biomechanism of skeletal muscle;DPSE (Differentiated Power Spectrum Estimation) method is applied to extract frequency characteristics from sEMG precisely and quickly;offset compensation is added to prevent noise disturbance during feature extracting of the sEMG with lower SNR (signal-to-noise ratio). Corresponding experiments on knee joint are conducted by prototype exoskeleton robot. EMGBFT (EMG Biofeedback therapy) based on force and haptic is applied as information feedback. Results show the human-machine interface can decode human motion intension and assist or resist movement of the wearer in real-time. © Springer-Verlag Berlin Heidelberg 2012.

关键词： Signal to noise ratio

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Easy control hydraulic rotary self-servo reconfigurable decoupling hydraulic joint

Easy control hydraulic rotary self-servo reconfigurable deco...

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2012 9th ieee International Conference on Mechatronics and Automation, ICMA 2012

作者： Jiang, Lin Zhao, Jie Wu, Wenchao Xiang, Xianbao Chen, Xinyuan Zhao, Hui Zeng, Liangcai State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China Key Laboratory of Metallurgical Equipment and Its Control Ministry of Education Wuhan University of Science and Technology Wuhan 430081 China

ISBN: (纸本)9781467312776

Aiming at the problems in hydraulic rotary self-servo, a easy control hydraulic rotary self-servo technology was proposed. The problems in hydraulic rotary self-servo were just as follows: the hydraulic servo valve radial force is imbalance, the hydraulic spool clamping force and friction are large, and the dynamic properties of the spool become deterioration. Based on easy control hydraulic rotary self-servo technology, the reconfigurable decoupling hydraulic joint was designed. And the decoupling properties of this new joint were analysed. This new joint has reconfigurable performance, omni-directional work space and movement decoupling performance. The omnidirectional work space and movement decoupling performance were verified by simulation experiment. © 2012 ieee.

关键词： Reels

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Equivalent circuit simulation model of cantilevered piezoelectric bimorph energy harvester

Equivalent circuit simulation model of cantilevered piezoele...

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2011 International Conference on Mechanical Engineering, Materials and Energy, ICMEME 2011

作者： Wang, Hongyan Shan, Xiaobiao Xie, Tao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China College of Computer and Control Engineering Qiqihar University Qiqihar 161006 China

ISBN: (纸本)9783037853405

This paper presented an equivalent circuit simulation model of the cantilevered piezoelectric bimorph energy harvester for predicting the electrical power output of the energy harvester. The alternating voltage in the equivalent circuit model is identified from FE transducer model and the parameters of the resistance, capacitance and inductance in the equivalent circuit model are identified from FE actuator model. To valid the equivalent circuit simulation model, the power output values are compared with those obtained from the coupled piezoelectric-circuit finite element analysis. The results demonstrate the accuracy of the equivalent circuit simulation model. © (2012) Trans Tech Publications, Switzerland.

关键词： Equivalent circuits

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Complex impedance matching for power improvement of a circular piezoelectric energy harvester

Complex impedance matching for power improvement of a circul...

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2011 International Conference on Mechanical Engineering, Materials and Energy, ICMEME 2011

ISBN: (纸本)9783037853405

The impedance matching and the optimization of power from a circular piezoelectric energy harvester with a central-attached mass are studied. A finite element model is constructed to analyze the electrical equivalent impedance of the circular piezoelectric energy harvester. Furthermore, the complex conjugate matching load is used to extract the maximum output power of the energy harvester. The power output from complex conjugate matching load is compared with the power output from the resistive matching load and a constant resistance, separately. The results suggest that the complex conjugate matching can result in a significant increase of the output power for all frequencies. The effective bandwidth of the piezoelectric energy harvester is extended significantly. © (2012) Trans Tech Publications, Switzerland.

关键词： Finite element method

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Wireless Control system of Reconfigurable Flexible Process-equipment

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10th Asia-Pacific Conference on Materials Processing (APCMP 2012)

作者： Zhou, Liang Fang, Yan Tao Cao, Gang Zhu, Bo State Key Laboratory of Robotics and System (HIT) Hei Longjiang Province China Harbin Institute of Technology Hei Longjiang Province China Harbin Power Bureau Hei Longjiang Province China

ISBN: (纸本)9783037853993

The reconfigurable flexible process-equipment developed for machining complex shape and size changes in the scope of large thin-walled parts usually consists of dozens or even hundreds of positioning/support units. During the control process, each unit communicates with the host computer to get control commands and simultaneously feedback internal state information. For large complex system composed of many subsystems, the traditional cable connection based on field bus technology is high control costs and the complexity of the control circuit is hard to build and manage. To solve this problem, this paper puts forward a new way of wireless communication with the cable network technology and drive positioning/support unit in order. This paper focuses on the overall structure of the proposed system, host computer control system, lower computer control system and wireless communication module as well as the implementation hardware circuits and software algorithm. In addition, some solutions of related issues are discussed. The research shows that the proposed system has high stability and reliability, and it provides an effective way to the control and communication of complex system which fully meets the requirements of reconfigurable flexible process-equipment.

关键词： Reconfigurable Flexible Process-equipment Wireless Control ZigBee

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