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Actuation Spaces Synthesis of Lower-Mobility parallel Mechanisms Based on Screw Theory

Chinese Journal of Mechanical Engineering 2021年第1期34卷 280-291页

作者： Shihua Li Yanxia Shan Jingjun Yu Yaxiong Ke Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic Systems Yanshan UniversityQinhuangdao 066004China School of Mechanical Engineering Yanshan UniversityQinhuangdao 066004China School of Liren Yanshan UniversityQinhuangdao 066004China Robotics Institute Beihang UniversityBeijing 100191China

The lower-mobility parallel mechanism has been widely used in the engineering field due to its numerous excellent ***,little work has been devoted to the actuator selection and placement that best satisfy the system's functional requirements during concept *** this study,a unified approach for synthesizing the actuation spaces of both rigid and flexure parallel mechanisms has been presented,and all possible combinations of inputs could be obtained,laying a theoretical foundation for the subsequent optimization of *** to the linear independence of actuation space and constraint space of the lower-mobility parallel mechanism,a general expression of actuation spaces in the format of screw systems is deduced,a unified synthesis process for the lower-mobility parallel mechanism is derived,and the efficiency of the method is validated with two selective examples based on screw *** study presents a theoretical framework for the input selection problems of parallel mechanisms,aiming to help designers select and place actuators in a correct and even optimal way after the configuration design.

关键词： Lower-mobility parallel mechanism Screw theory Actuation space Actuator placement Input selection

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A kind of biomimetic control method to anthropomorphize a redundant manipulator for complex tasks

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Science China(Technological Sciences) 2020年第1期63卷 14-24页

作者： MO Yang JIANG ZhiHong LI Hui YANG Hong HUANG Qiang School of Mechatronic Engineering Beijing Institute of TechnologyBeijing 100081China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing 100081China Key Laboratory of Biomimetic Robots and Systems Ministry of EducationBeijing 100081China Institute of Manned Spacecraft System Engineering China Academy of Space TechnologyBeijing 100080China

It is an urgent problem for robots to operate complex tasks with some unknown motion mechanisms caused by the strong coupling of force and motion. However, humans can perform complex tasks well due to their natural evolution and postnatal training. A novel biomimetic control method based on a human motion mechanism with high movement adaptability is proposed in this paper. The core is to present a novel variable-parameter compliance controller based on human operation mechanisms with an action-planning method derived from optimization by human motion, and the main contribution is to change the parameters of compliance controller according to human operating intention synchronized with humanoid motion;this change could establish a humanoid map between the force and motion for a seven degree-of-freedom redundant manipulator to deal with the unknown motion mechanism in complex tasks, so the redundant manipulator can operate complex tasks with high performance. Sufficient experiments were performed, and the results validated the effectiveness of the proposed algorithm.

关键词： redundant manipulator biomimetic control humanoid mapping complex task

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Procedure Recognition by Knowledge-Driven Segmentation in Robotic-Assisted Vitreoretinal Surgery

Procedure Recognition by Knowledge-Driven Segmentation in Ro...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Zhen Li Yawen Deng Qiang Ye Weihong Yu Haoxiang Qi Yaliang Liu Zhangguo Yu Gui-Bin Bian School of Electronic and Information Engineering Tongji University Shanghai China Institute of Automation Chinese Academy of Sciences Beijing China School of Mechatronic Engineering Beijing Institute of Technology Beijing China Department of Ophthalmology Peking Union Medical College Hospital Chinese Academy of Medical Sciences and Peking Union Medical College Beijing China Key Laboratory of Biomimetic Robots and Systems Ministry of Education Beijing China International Joint Research Laboratory of Biomimetic Robots and Systems Ministry of Education Beijing China State Key Laboratory of Intelligent Control and Decision of Complex System Beijing China

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Internal limiting membrane (ILM) peeling is a vital vitreoretinal surgery procedure. However, due to the thickness of just 1-2 micrometers and the intricacies associated with its varying density and adhesion, the difficulty of manipulation exceeds the physiological limits of human perception and operation. Surgical robot is characterized by high precision and stability. However, navigating intricate intraocular environments and handling minuscule high-precision areas remain enormous challenges. These include issues of uneven lighting, field-of-view loss, and motion blur. This paper proposed a perception method named ‘Multimodal Surgical Process Recognition based on Domain Knowledge and Segmentation (MSPR-DKS),’ designed to address these challenges and provide input for the precise control of robots. Moreover, a comprehensive dataset focused on ILM peeling during macular hole surgeries was established. Experimental results underscore the efficacy of this approach, with segmentation accuracies exceeding 99.27% for instruments and macular holes and an average accuracy of 98.97% in recognizing surgical processes. This study paves the way for leveraging domain knowledge and image segmentation to improve robot-assisted manipulation of soft tissues in ophthalmology.

关键词： Image segmentation Visualization Accuracy Medical robotics Motion segmentation Surgery Lighting

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Decomposition of 3D Joint Angle by Kinematic Modeling of Free Flight Pigeon Forelimb

Decomposition of 3D Joint Angle by Kinematic Modeling of Fre...

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IEEE International Conference on Cyborg and Bionic systems (CBS)

作者： Yishi Shen Shi Zhang Weimin Huang Chengrui Shang Yiming Sun Qing Shi Key Laboratory of Biomimetic Robots and Systems Beijing Institute of Technology Ministry of Education Beijing China Intelligent Robotics Institute School of mechatronic Engineering Beijing Institute of Technology Beijing China Key Laboratory of Animal Ecology and Conservation Biology Institute of Zoology Chinese Academy of Sciences Beijing China Yangtze Delta Region Academy of Beijing Institute of Technology Jiaxing China

ISBN: (数字)9798350388039

ISBN: (纸本)9798350388046

Birds utilize complex coupled motions in their forelimbs to maintain exceptional flight performance. Understanding these dynamics is essential for designing biomimetic unmanned aerial vehicles (UAVs). Typically, the forelimb skeleton of birds is modeled as a spatial six-bar linkage mechanism through the analysis of physical specimens. However, the detailed description of skeletal transformations in birds during free flight remains uncharted. To address this gap, we propose an open-chain kinematic model to simulate the skeletal motion variations of pigeons (Columba livia) in free flight. Kinematic data of pigeon wings were collected during free flight, and the skeletal model was fitted to the collected data using global optimization. This allowed us to derive the joint motion angles of the skeleton during the take-off, leveling flight, and landing phases. This study elucidates the mechanisms of bird wing deformation, providing valuable insights and guidance for developing bio-inspired flying robots.

关键词： Wrist Three-dimensional displays Biomimetics Biological system modeling Birds Skeleton Data models Trajectory Vehicle dynamics Optimization

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Type Synthesis of Fully Decoupled Three Translational parallel Mechanism with Closed loop Units and High Stiffness

Research Square

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Research Square 2021年

作者： Li, Shihua Wang, Sen Li, Haoran Wang, Yongjie Chen, Shuang Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic Systems Yanshan University China School of Mechanical Engineering Yanshan University Qinhuangdao066004 China

In this paper, a new synthesis method of fully decoupled three translational (3T) parallel mechanisms (PMs) with closed-loop units and high stiffness is proposed based on screw theory. Firstly, a new criterion for the full decoupled of PMs is presented that the reciprocal product of the transmission wrench screw matrix and the output twist screw matrix of PMs is a diagonal matrix, and all elements on the main diagonal are nonzero constants. The forms of the transmission wrench screws are determined by the criterion. Secondly, the forms of the actuated and unactuated screws can be obtained according to their relationships with the transmission wrench screws. The basic decoupled limbs are generated by combination of the above actuated and unactuated screws. Finally, a closed-loop units construction method is investigated to apply the decoupled mechanisms in a better way on the high stiffness occasion. The closed-loop units are constructed in the basic decoupled limbs to generate a high-stiffness fully decoupled 3T PM. Kinematic and stiffness analyses show that the Jacobian matrix is a diagonal matrix, and the stiffness is obviously higher than that of the orthogonal coupling mechanisms, which verifies the correctness of the proposed synthesis method. The mechanism synthesized by this method has a good application prospect in vehicle durability test platform. © 2021, CC BY.

关键词： Stiffness

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A novel space target-tracking method based on generalized Gaussian distribution for on-orbit maintenance robot in Tiangong-2 space laboratory

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Science China(Technological Sciences) 2019年第6期62卷 1045-1054页

作者： MO Yang JIANG ZhiHong LI Hui YANG Hong HUANG Qiang School of Mechatronic Engineering Beijing Institute of Technology Beijing 100081 China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing 100081 China Key Laboratory of Biomimetic Robots and Systems Ministry of Education Beijing 100081 China Institute of Manned Spacecraft System Engineering China Academy of Space Technology Beijing 100080 China

Accurate target tracking based on visual images is the key for intelligent robots to assist or replace astronauts to work in space station. However, the special space environment such as non-uniform illumination and high-energy particle radiation is a huge challenge, which may lead to complex noise coupling in vision image. This paper proposes a novel method for accurate target tracking, the essence of which is the Retinex image enhancement algorithm in CIELAB color space(LAB-GRetinex) and the generalized maximum correntropy Kalman filter(GMCKF) which are all based on generalized Gaussian distribution. The LABGRetinex algorithm chooses the CIELAB color space, which is closer to the human vision, as the processing color space, and the generalized Gaussian distribution can estimate the light image accurately, so the influence of non-uniform illumination can be reduced effectively. Meanwhile, the GMCKF algorithm adopts the generalized correntropy criterion based on the generalized Gaussian distribution to replace the minimum mean square error(MMSE) criterion to realize the optimal filtering effect under the complex non-Gaussian noise, which can improve the target tracking accuracy. Sufficient ground simulation experiments and application experiments in the Tiangong-2 space laboratory verify the effectiveness of the proposed algorithm which can track the target accurately in the special space environment and provide the precise pose information for on-orbit robot maintenance verification. This research lays a technical foundation for the application of intelligent robot in the construction and operation on space station in the future.

关键词： space robot LAB-GRetinex GMCKF target tracking

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Ultrahigh-temperature ferromagnetism in ultrathin insulating films with ripple-infinite-layer structure

arXiv

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arXiv 2024年

作者： Yi, Yazhuo Huang, Haoliang Shao, Ruiwen Liu, Yukuai Chen, Guangzheng Ou, Jiahui Zhang, Xi Hua, Ze Chen, Lang Leung, Chi Wah Zeng, Xie-Rong Rao, Feng Liu, Nan Wang, Heng Si, Liang An, Hongyu Chen, Zhuoyu Huang, Chuanwei Shenzhen Key Laboratory of Special Functional Materials Guangdong Provincial Key Laboratory of New Energy Materials Service Safety College of Materials Science and Engineering Shenzhen University Shenzhen518060 China Department of Physics Southern University of Science and Technology Shenzhen518055 China Quantum Science Center of Guangdong-Hong Kong-Macao Greater Bay Area Shenzhen518045 China Beijing Advanced Innovation Center for Intelligent Robots and Systems School of Medical Technology Beijing Institute of Technology Beijing100081 China College of Electronic Information and Mechatronic Engineering Zhaoqing University Zhaoqing Road Duanzhou District Zhaoqing526061 China Electron Microscopy Centre of Shenzhen University Shenzhen University Shenzhen518060 China Department of Applied Physics The Hong Kong Polytechnic University Hung Hom Hong Kong School of Physics Northwest University Xi’an710127 China Institute of Solid State Physics TU Wien Vienna1040 Austria College of New Materials and New Energies Shenzhen Technology University Shenzhen518118 China

Ferromagnetism and electrical insulation are often at odds, signifying an inherent trade-off. The simultaneous optimization of both in one material, essential for advancing spintronics and topological electronics, necessitates the individual manipulation over various degrees of freedom of strongly correlated electrons. Here, by selective control of the spin exchange and Coulomb interactions, we report the achievement of SrFeO2 thin films with resistivity above 106 Ω∙cm and strong magnetization with Curie temperature extrapolated to be ~ 1200 K. Robust ferromagnetism is obtained down to ~1.0 nm thickness on substrate and ~ 2.0 nm for freestanding films. Featuring an out-of-plane oriented ripple-infinite-layer structure, this ferromagnetic insulating phase is obtained through extensive reduction of as-grown brownmillerite SrFeO2.5 films at high compressive strains. Pronounced spin Hall magnetoresistance signals up to ~ 2.6% is further demonstrated with a Pt Hall-bar device. Our findings promise emerging spintronic and topological electronic functionalities harnessing spin dynamics with minimized power dissipations. © 2024, CC BY.

关键词： Ferromagnetism

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A Biomimetic Planning Control Method to anthropomorphize a 7-DOF Redundant Manipulator in Unstructured Environments

A Biomimetic Planning Control Method to anthropomorphize a 7...

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IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent systems

作者： Yang Mo Zhihong Jiang Hui Li Hong Yang Qiang Huang School of Mechatronic Engineering Advanced Innovation Center for Intelligent Robots and Systems Key Laboratory of Biomimetic Robots and Systems of Chinese Ministry of Education Beijing Institute of Technology Beijing China Institute of Manned Spacecraft System Engineering China Academy of Space Technology (CAST) Beijing China

ISBN: (数字)9781728107707

ISBN: (纸本)9781728107714

An increasingly important trend is to simulate a human arm using a 7-degrees-of-freedom (DOF) redundant manipulator and accomplish complex tasks in an unstructured environment by leveraging human experience. Human arm motion information acquired by a biomimetic motion capture system is mapped to planning information of the manipulator to leverage human experience in the control process and quickly improve the operational capability of the manipulator in complex environments. In this paper, extensive tests are performed for verification, and the test results prove the effectiveness of the proposed algorithm, which improve the operational performance of a redundant manipulator in a complex environment to accomplish humanoid tasks and is critical to robot-aided operations or the complete substitution of humans by robots in the future.

关键词： Manipulators Robot kinematics Transforms Planning Task analysis Kinematics

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Carbon Nanotubes: A Molecular Dynamics Study on Self‐Assembly of Single‐Walled Carbon Nanotubes: From Molecular Morphology and Binding Energy (Adv. Mater. Interfaces 19/2019)

引用

Advanced Materials Interfaces 2019年第19期6卷

作者： Jianwei Zhang Jianlei Cui Yang Cheng Wenjun Wang Xiaoqiao He Xuesong Mei State Key Laboratory for Manufacturing Systems Engineering Xi'an Jiaotong University Xi'an 710049 P. R. China State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang University Hangzhou 310027 P. R. China Shaanxi Key Laboratory of Intelligent Robots Xi'an Jiaotong University Xi'an 710049 P. R. China State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University Shanghai 200240 P. R. China State Key Laboratory of Transient Optics and Photonics Xi'an Institute of Optics and Precision Mechanics of Chinese Academy of Sciences Xi'an 710119 P. R. China Department of Architecture and Civil Engineering City University of Hong Kong Tat Chee Avenue Kowloon Hong Kong

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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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