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检索条件"机构=Parallel Robot & Mechatronic System Laboratory"

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Research on the Process-based Generation Method of Multi-ships Collision Avoidance Test Scenarios Database for Maritime Autonomous Surface Ships 33rd

Research on the Process-based Generation Method of Multi-shi...

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33rd International Ocean and Polar Engineering Conference, ISOPE 2023

作者： Wang, Xinyu Wang, Yihang Bian, Hui Ma, Jilin Zhao, Xuan Qinhuangdao Branch China Classification Society Hebei China School of Mechanical Engineering Yanshan University Hebei China Parallel Robot and Mechatronic System Laboratory Hebei Province Hebei China Key Laboratory of Advanced Forging & Stamping Technology and Science Hebei China Science & Technology Innovation and Test Center Beijing China

ISBN: (纸本)9781880653807

This paper proposes a process-based method for generating virtual test scenarios for near-shore maritime autonomous surface ships (MASS) collision avoidance tests. The method includes a scenario complexity index to provide different difficulty levels of virtual test scenarios for different test requirements, reducing the test volume while ensuring coverage and reliability requirements. The scenario database generated by this method reflects the frequency of real-world scenarios and meets the requirements of virtual test realism. This method can improve the efficiency and reliability of MASS testing, with potential future improvements in the complexity evaluation matrix and statistical analysis of vessel maneuvering ability. © 2023 by the International Society of Offshore and Polar Engineers (ISOPE).

关键词： Ships

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Research on the Process-based Generation Method of Scenarios Database for Maritime Autonomous Surface Ship Test 7

Research on the Process-based Generation Method of Scenarios...

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2022 7th International Conference on Electronic Technology and Information Science, ICETIS 2022

作者： Wang, Xinyu Wang, Yihang Ma, Jilin Bian, Hui Zhao, Xuan Lan, Yaoyao Qinhuangdao Branch China Classification Society Hebei Qinhuangdao China School of Mechanical Engineering Yanshan University Hebei Qinhuangdao China Science and Technology Innovation and Test Center China Classification Society Beijing China Parallel Robot and Mechatronic System Laboratory of Hebei Province Key Laboratory of Advanced Forging and Stamping Technology and Science Yanshan University Hebei Qinhuangdao China Parallel Robot and Mechatronic System Laboratory of Hebei Province Key Laboratory of Advanced Forging and Stamping Technology and Science Yanshan University Hebei Qinhuangdao China

ISBN: (纸本)9783800757794

In recent years, Maritime Autonomous Surface Ship (MASS) has been developed rapidly and has demonstrated many new capabilities, which poses a challenge to the testing methods of autonomous ships. Currently, traditional test methods is no longer sufficient to support comprehensive testing and verification. For virtual testing, there is still a lack of a reliable virtual test scenario generation process. Therefore, this paper proposes a method for generating virtual test scenarios for autonomous ships. It is based on the scenario generation frame of the intelligent car and comprehensively considers the feature of the operating environment of the MASS. This process develops an element database by deconstructing the real scenes. For generating, it reconstructs and assigns the elements according to the test task (functional scenario) and the logical relationship between the elements (logical scenario) to reconstruct the new scenario. The new scenarios obtained in this way are optimized and supplemented to be the test scenarios database. In addition, a prototype following this frame was designed and loaded with the "automatic pathfinding task of the Wuhan section of the Yangtze River under good navigation conditions" for testing. The experiment generated 48 different scenarios, proving that this generator can output a comprehensive test scenario database to meet test requirements. © VDE VERLAG GMBH ∙ Berlin ∙ Offenbach.

关键词： Database systems

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A Study on a Novel Type of 2R1T parallel Mechanisms with Completely Separated Drive and Constraint Branches 24th

A Study on a Novel Type of 2R1T Parallel Mechanisms with Com...

引用

24th IFToMM China International Conference on Mechanism and Machine Science and Engineering, IFToMM CCMMS 2024

作者： Qiu, Can Wang, Yu He, Xiaoyu Xu, Yundou Yao, Jiantao Zhao, Yongsheng Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao 066004 China Key Laboratory of Advanced Forging and Stamping Technology and Science of Ministry of National Education Yanshan University Qinhuangdao 066004 China

ISBN: (纸本)9789819614660

The drive branches only subjected to axial loads, while the external loads beyond the end-constrained space are collectively borne by multiple constraint branches. This type of 2R1T parallel mechanisms (PMs), compared to traditional counterparts, exhibit superior force and load-bearing performance, particularly in eccentric heavy-load conditions. This paper introduces a novel type of 2R1T PMs with completely separated drive and constraint branches, along with its type synthesis method. A kinematic and static analysis is conducted on the typical 3UPS-3SS PM, and a comparison is made between the force performance of the 3UPS-3SS PM and traditional 3RPS PM under eccentric heavy -load conditions. These mechanisms hold extensive application prospects in situations requiring pose adjustment under eccentric heavy-load force conditions. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Motion principle parallel mechanism Velocity mapping

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Equivalent Dynamic Model of Large-Span Flexible Truss Beam Structure 24th

Equivalent Dynamic Model of Large-Span Flexible Truss Beam S...

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24th IFToMM China International Conference on Mechanism and Machine Science and Engineering, IFToMM CCMMS 2024

作者： Feng, Jian Li, Bo Yang, Hui Tao, Jianguo Deng, Zongquan Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao 066004 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China Laboratory of Test and Measurement Technology Tianjin Institute of Aerospace Mechanical and Electrical Equipment Tianjin 300301 China

ISBN: (纸本)9789819614660

The complex structural dynamics model of large-span truss beam structures and the flexibility issues brought about by large spans make the analysis of system dynamics and vibration control relatively challenging. The establishment of an equivalent dynamic model is a key technology for conducting semi-physical simulation experiment platform system dynamic model analysis. A large-span flexible truss beam structure is designed from three aspects: the cross-sectional shape, cross-sectional uniformity, and cross-sectional connecting rods. For the large-span flexible truss girder structure, based on the principle of energy equivalence, the relationship between the kinetic energy and strain energy of periodic structures and the kinetic energy and strain energy of the equivalent continuous beam is established. The equivalent mass and stiffness matrices are solved based on the principle of equivalence between strain energy and kinetic energy and the theory of continuum mechanics to establish the equivalent dynamic model. The correctness of the theoretical model was verified through theoretical analysis of natural vibration frequencies and modes, and compared with finite element simulation results. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Dynamic model Equivalent beam Vibration analysis

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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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2024 China Automation Congress, CAC 2024

作者： Tao, Cancan Liu, Bowen Han, Yi Chen, Qiangqiang Ye, Jun Zhong, Ronglin School of Automation Science and Electrical Engineering Beihang University Beijing100191 China Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao066004 China Faculty of Science Kunming University of Science and Technology Kunming650500 China School of Biological Science and Medical Engineering Beihang University Beijing100191 China School of Information Science and Technology University of Science and Technology of China Hefei230026 China

ISBN: (纸本)9798350368604

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. © 2024 IEEE.

关键词： Multiobjective optimization

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Research on Variable Workspace of Continuum robot for Organ Protection and Multi-arm Cooperation 12

Research on Variable Workspace of Continuum Robot for Organ ...

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12th International Conference on CYBER Technology in Automation, Control, and Intelligent systems, CYBER 2022

作者： Wang, Fuhao Wang, Hongbo Luo, Jingjing Kang, Xiaoyang Zhang, Xueze Wang, Jiawei Pan, Qiqi Academy for Engineering and Technology Fudan University Shanghai200433 China Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao066004 China Intelligent Robot Engineering Research Center of Ministry of Education Shanghai Intelligent Robot Engineering Technology Research Center Shanghai200433 China Shanghai Clinical Research Center for Aging and Medicine Shanghai200040 China

ISBN: (数字)9781665472678

ISBN: (纸本)9781665472678

Minimally invasive surgery (MIS) has gradually become the preferred method of surgery due to its advantages of less trauma and faster recovery. However, the small and complex surgical area places high demands on the performance of the robot and the skill level of the doctor. In order to avoid the damage of other healthy organs with surgical instruments during the operation, a variable workspace of a continuum robot is designed in this paper. The information of the dynamic transformation of the surgical environment is used to continuously update the workspace of the continuum robot. For healthy vital organs, the workspace can actively shield its corresponding posture. Experiments have verified that for a variety of complex surgical scenarios, the variable workspace can simply and effectively implement the safety protection of healthy organs, and can avoid interference when multiple arms work together. © 2022 IEEE.

关键词： Surgical equipment

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Design and Research of A Soft Hand Rehabilitation robot with Multiple Training Modes 3

Design and Research of A Soft Hand Rehabilitation Robot with...

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3rd International Conference on Computing, Networks and Internet of Things, CNIOT 2022

作者： Wang, Fuhao Wang, Hongbo Luo, Jingjing Kang, Xiaoyang Zhang, Xueze Chen, Li Pan, Qiqi Academy for Engineering & Technology Shanghai200433 China Yanshan University Parallel Robot and Mechatronic System Laboratory of Hebei Province Qinhuangdao China Intelligent Robot Engineering Research Center Ministry of Education Shanghai200433 China Shanghai Intelligent Robot Engineering Technology Research Center Shanghai200433 China Shanghai Clinical Research Center for Aging and Medicine Shanghai200040 China

ISBN: (纸本)9781665469104

There are many hemiplegic patients with hand dysfunction caused by stroke. Restoring hand function can effectively improve the quality of life of patients. Traditional rehabilitation training can improve hand strength and flexibility, but there are few medical staff and high workload, which may easily lead to unstable training effect. Therefore, this letter designed a soft hand rehabilitation robot with multiple training modes. By analyzing the natural movements of human fingers, the flexible exoskeleton finger and driving unit are designed. The kinematics of the finger are derived to achieve uniform changes in the angle of the finger joints. The hand rehabilitation robot can support multiple training modes such as individual finger training, five-finger collaborative training, and left-right hand symmetry training. Experiments show that the hand rehabilitation robot can carry out continuous and stable finger joint training, and has a good rehabilitation training effect. © 2022 IEEE.

关键词： Personnel training

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Type Synthesis Method of Unconstrained SRCPR Based on Actual Workspace for Serial robots 2021

Type Synthesis Method of Unconstrained SRCPR Based on Actual...

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2021 International Conference on robotics and Control Engineering, RobCE 2021

作者： Qi, Lizhe Shan, Yu Zhang, Jie Zhao, Yanzhi Li, Erwei Sun, Yunquan Fudan University Academy for Engineering and Technology China Liren College of Yanshan University China Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System Yanshan University China

ISBN: (纸本)9781450389471

In the field of industrial serial robots, the main problems existing at present are how to get the overall configuration of the serial robot and how to choose the optimal configuration of the serial robot. Aiming at these problems, this paper discussed the type synthesis problems of serial robots with prismatic pairs (P pairs) and rotational pairs (R pairs), and proposed a type synthesis method of unconstrained SRCPR (the serial robot configuration (SRC) with P pairs and R pairs) based on actual workspace for industrial robots. First, the "structural cell"of the serial robot SRCPR was proposed, and their topological relations were illustrated. Meanwhile, the dimensions of SRC were defined. Then, the relationships between the dimension of actual workspace and the dimension of SRC were founded. Finally, the type synthesis theoretical method of SRCPR was obtained by using the relationships. © 2021 ACM.

关键词： Industrial robots

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The Design of An Intelligent Self-Reconfigurable Single-Module robot

The Design of An Intelligent Self-Reconfigurable Single-Modu...

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Electronic Technology and Information Science (ICETIS), International Conference on

作者： Zezheng Xing Qiuwei Zheng Lang Xiong Yundou Xu Laboratory of Parallel Robot and Mechatronic System of Hebei Province Yanshan University Qinhuangdao China School of Mechanical Engineering Yanshan University Qinhuangdao China Key Laboratory of Advanced Forging & Stamping Technology Science (Yanshan University) Ministry of Education of China Qinhuangdao China

ISBN: (数字)9798350388343

ISBN: (纸本)9798350388350

Self-reconfigurable robot is a typical modular robot, which is composed of a large number of identical modules based on cell design idea. Perform a job by combining it as a whole while working. At present, the carrying capacity of the self-reconfigurable robot is limited and the degree of intelligence is not high, which leads to the limited working ability of the self-reconfigurable robot. Therefore, an intelligent single-module self-reconfigurable robot is designed in this paper. Firstly, a high stiffness bidirectional butt locking mechanism is designed for the connection between modules. Secondly, aiming at the task of quick survey of fire rescue environment, the identification and distance detection of ignition point and rescue personnel are designed in the fire environment. The BI _ A * algorithm is used to complete the single-module path planning of the self-reconfigurable robot, and the Multi_ Bi _ A * algorithm is proposed for the optimal path planning of the collection of multi-module self-reconfigurable robots. Finally, the functional verification of the prototype is completed by using a single three-room model experiment platform.

关键词： Surveys Target recognition Prototypes Programming Multitasking Stability analysis Path planning

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Design and experimental study of the remote control for a novel patient transfer apparatus 5

Design and experimental study of the remote control for a no...

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2020 5th International Seminar on Computer Technology, Mechanical and Electrical Engineering, ISCME 2020

作者： Tian, Yu Wang, Hongbo Zhang, Yongshun Tian, Junjie Du, Jiazheng Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao Hebei China Key Laboratory of Advanced Forging and 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. © Published under licence by IOP Publishing Ltd.

关键词： Remote control

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