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2008 IEEE International Conference on robotics and Biomimetics, ROBIO 2008

作者： Wu, Fuqing Meng, Max Q.-H. Wu, Lingfei Zhang, Zhuancheng Chen, Xijun Institute of Intelligent Machines Chinese Academy of Sciences Hefei Anhui Province China Department of Automation University of Science and Technology of China Hefei Anhui Province China Department of Electronic Engineering Chinese University of Hong Kong Sha tian Hong Kong Key Laboratory of Biomimetic Sensing and Advanced Robot Technology Anhui Province China

ISBN: (纸本)9781424426799

the memory management of the embedded operating system has its unique traits. And so SOS operating system should have its own suitable methods for the memory management because of its small memory and resource constraint. This paper analyses the memory management of SOS operating system, and proposes a new data structure with the combination of memory management methods about μ C / OSII, then deeply probes into the memory allocation and recovery mechanisms, which provides an effective solution for memory management of SOS operating system. © 2008 IEEE.

关键词： Data structures

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Design of WSN node based on CC2431 applicable to lunar surface environment

Design of WSN node based on CC2431 applicable to lunar surfa...

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2008 IEEE International Conference on robotics and Biomimetics, ROBIO 2008

作者： Zhang, Zhuancheng Meng, Max Q.-H. Wu, Fuqing Chen, Xijun Institute of Intelligent Machines Chinese Academy of Sciences Hefei Anhui Province China Department of Automation University of Science and Technology of China Hefei Anhui Province China Department of Electronic Engineering Chinese University of Hong Kong Shatian Hong Kong Key Laboratory of Biomimetic Sensing and Advanced Robot Technology Anhui Province China

ISBN: (纸本)9781424426799

Firstly, the paper introduces the Wireless Sensor Networks (WSN) simply. It analyses the influence of lunar surface environment on the nodes of WSN and gives corresponding solutions. According to the characteristics of WSN and design requirements of the sensor node, we design a kind of sensor nodes which based on CC2431. Then the processor module, wireless communications module, location engine, power management module and temperature control module are described in detail. Finally, we conduct the localization experiment of blind nodes and robot navigation experiment. © 2008 IEEE.

关键词： Sensor nodes

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Performance of optimized TVOCs sensor

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Procedia Engineering 2010年 7卷 392-398页

作者： Fumin Peng Tao Luoa Yupeng Yuan Lingguang Qiu Laboratory of Advanced Porous Materials and College of Chemistry and Chemical Engineering Anhui University Anhui Hefei 230039 China Key Laboratory of Biomimetic Sensing and Advanced Robot Technology Hefei Institute of Intelligent Machines Chinese Academy of Sciences Anhui Hefei 230031 China

In this paper, an improved TVOCs (total volatile organic compounds) sensor construction was studied. Base on this new construction, the optimized flow rate, the responding character and the linear range of detector were studied. The effect of different electrode positions on the signal intensity was tested at different voltages. Compared with traditional PID — axial PID3, the construction of this perpendicular PID could make the sensitivity loss decreased by a factor of 40%. Especially, a newly adopted automatic cleaning technique was tested, which could decrease the drift greatly and make the signal of the detector almost unchanged after two weeks of continuous detection. Due to this new construction, the response time was decreased and the accuracy consequently was improved. When coupled with automatic cleaning technique, labor intensive daily calibration and frequent lamp cleaning were eliminated. The improvements in this new design made the detector more compatible with field uses.

关键词： Photoionization detector Direct-reading and automated cleaning Total volatile organic compounds

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SPORTS BIOMECHANICAL INFORMATION ACQUISITION AND EVALUATION FOR KAYAKING EVENTS

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International Journal of Information Acquisition 2009年第3期6卷 213-223页

作者： ZUCHANG MA JINGMIN ZHANG YINING SUN TAO MEI Key laboratory of Biomimetic Sensing and Advanced Robot Technology Institute of Intelligent Machines Chinese Academy of Sciences Hefei 230031 China Department of Precision Machinery and Instrumentation University of Science and Technology of China Hefei 230026 China

Intensive understanding of sports biomechanical principles is an essential issue for sprint kayaking. In recent years, the authors have studied the acquisition of biomechanical information and the evaluation of competitive ability on sprint kayaking. In this study, first, an oar force sensor was developed to detect the stroke forces applied by paddler. The sensor was attached to a paddle with minimum mechanical involvement, hence the mechanical properties of the paddle was not changed. Second, an on-water instrument of biomechanical information acquisition was developed to detect stroke force, stroke frequency, stroke power, kayak speed, and acceleration synchronously. Third, 12 evaluation factors for kayaking ability were proposed based on the factor analysis. The 12 factors include (1) the stroke rate; (2) the speed fluctuation; (3 and 4) the hull pose (L/R); (5 and 6) the stroke force (L/R); (7 and 8) the endurance (L/R); (9 and 10) the stroke technique (L/R); (11 and 12) and the stroke rhythm (L/R). Finally, the stroke rate and the forward stoke technique was analyzed briefly.

关键词： Kayaking oar force stroke rate

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Predicting Arterial Stiffness from radial Pulse Waveform using support vector machines

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Procedia Engineering 2010年 7卷 458-462页

作者： Yingying Zheng Yongliang Zhang Zuchang Ma Yining Sun Key Laboratory of Biomimetic Sensing and Advanced Robot Technology Institute of Intelligent machines Chinese Academy of Sciences Hefei 230031 China Department of Automation University of Science and Technology of China Hefei 230027 China

Cardiovascular disease (CVD) is a larger cause of mortality in the developed country; hence, the early detection of its onset is vital for effective prevention. Arterial stiffness as measured by radial augmentation index (AIx) has been shown to be an independent predictor of CVD; however, the measurement of AIx is complex and not easily obtained precisely. A new approach based on the implementation of support vector machine (SVM) is presented for classification of radial pulse waveform. The radial pulse signals was decomposed into time-frequency representations using discrete wavelet transform (DWT) and wavelet scale-energy were calculated to represent the signals. The purpose is to predict an optimum classification scheme. The result demonstrated that the wavelet scale-energy are the features which well represent the radial Pulse Waveforms and the SVM trained on these features achieved high classification accuracies.

关键词： Arterial stiffness Support vector machine Discrete wavelet transform Wavelet packet energy entropy

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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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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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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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Notice of Retraction: A Dynamic Simulation of Force in the Movement of Ameba Based on Cosmos

Notice of Retraction: A Dynamic Simulation of Force in the M...

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International Conference on Modeling, Simulation and Visualization Methods (WMSVM)

作者： Lei Chen Minzhou Luo Tao Mei Precision Machinery and Precision Instrumentation University of Science and Technology Hefei China Key Laboratory of Biomimetic Sensing and Advanced Robot Technology Hefei Institute of Intelligent Machines Chinese Academy and Sciences Hefei China

This article has been retracted by the publisher.

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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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