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2013 3rd International Conference on Machinery, Materials Science and engineering Applications, MMSE 2013

作者： Shang, Peng Zhan, Ying Feng, Sheng Zhou, Jian Yu, Lie Institute of Mechatronics and Information Systems School of Mechanical Engineering Xi'an Jiaotong University 710049 China State Key Laboratory for Strength and Vibration of Mechanical Structures Xi'an Jiaotong University 710049 China

ISBN: (纸本)9783037857595

High-speed couplings are the key parts of micro-turbomachinerys. They are assembled to shafts by interference fits, which can transfer large torque, are easy to produce and offer significant cost advantages. Considering of the influences of the torque, rotational speed and temperature variation, the interference fits between couplings and shafts have to be analyzed accurately in order to save the construction cost and reducing risk of invalidation accidents. In this paper, a model of the interference fit between a coupling and a shaft is developed to study the determine parameters of the interference value. Using the classic elastic plane stress theory, the exact solutions of the radial stresses, hoop stresses and radial displacements are obtained. Three determine parameters (the torque, angular velocity and temperature variation correction terms) are derived in order to calculate the interference value. Taking a high-speed microturbomachinery for example, the numerical results show that the interference value is dependent of the ratios of inner radius to outer radius of the coupling and shaft significantly. The torque, angular velocity and temperature variation correction terms are in the same order of magnitude. The present analytical solutions are expected to be useful in the structure design of the interference fit between a high-speed coupling and a shaft. © (2013) Trans Tech Publications, Switzerland.

关键词： Torque

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O-glycan profiling of serum glycan for potential renal cancer biomarkers

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Science China(Life Sciences) 2013年第8期56卷 739-744页

作者： GAO Yi MA Fei ZHANG Wei ZHONG Fan TANG HaiLin XU DanFeng ZHAO Liang Department of Urology Changzheng Hospital of Second Military Medical University State Key Laboratory of Proteomics Beijing Proteome Research CenterBeijing Institute of Radiation Medicine Shanghai Key Laboratory of Functional Materials Chemistry School of Chemistry and Molecular EngineeringEast China University of Science and Technology Department of Automatic Control College of Mechatronics and AutomationNational University of Defense Technology Laboratory of Systems Biology Institutes of Biomedical SciencesFudan University

Serum was obtained from 25 male renal cell carcinoma(RCC) patients and 21 healthy males.O-glycans were released by a-elimination reaction and purified by graphitized carbon cartridge solid phase extraction,then profiled by matrix-assisted laser desorption/ionisation-time of flight mass *** noise removal and peak alignment,1372 peaks were extracted from 200000 data *** peaks were analyzed by calculation of differential sensitivity and *** combination of two feature peaks was chosen as a biomarker and could clearly differentiate RCC and normal samples in our study group.

关键词： mass spectrometry glycan renal cell carcinoma biomarkers

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Structural design of 2D piezoresistive micro-force sensor

Structural design of 2D piezoresistive micro-force sensor

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14th Annual Conference and the 3rd International Conference of the Chinese Society of Micro-Nano Technology, CSMNT 2012

作者： Zhou, Jie Rong, Weibin Sun, Lining State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 Heilongjiang Province China Hei Longjiang Institute of Science and Technology Electrical Power Engineering School Harbin 150046 Heilongjiang Province China MOE Key Laboratory of Micro-systems and Micro-structures Manufacturing Harbin 150080 Heilongjiang Province China

ISBN: (纸本)9783037857397

In order to detect the tool-substrate contact force and the tool-target interaction force during nano-manipulation process, a novel MEMS based 2D piezoresistive micro-force sensor structure was proposed. This structure can realize the 3D hardware decoupling for the X,Y and Z axis. Thus, the force detection in the vertical direction (Z axis) and parallel direction reference to base (X axis) can be done simultaneously. Theoretical analysis shows that this structure has a good structural sensitivity. The rationality and feasibility of the structure were confirmed by simulation results. © 2013 Trans Tech Publications Ltd, Switzerland.

关键词： MEMS Nano-manipulation Piezoresistive micro-force sensor

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Virtual Simulation System with Path-following Control for Lunar Rovers Moving on Rough Terrain

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Chinese Journal of Mechanical engineering 2012年第1期25卷 38-46页

作者： GAO Haibo DENG Zongquan DING Liang WANG Mengyu State Key Laboratory of Robotics and Systems Harbin Institute of TechnologyHarbin 150001China School of Mechatronics Harbin Institute of TechnologyHarbin 150001China

Virtual simulation technology is of great importance for the teleoperation of lunar rovers during the exploration phase, as well as the design of locomotion systems, performance evaluation, and control strategy verification during the R&D phase. The currently used simulation methods for lunar rovers have several disadvantages such as poor fidelity for wheel-soil interaction mechanics, difficulty in simulating rough terrains, and high complexity making it difficult to realize mobility control in simulation systems. This paper presents an approach for the construction of a virtual simulation system that integrates the features of 3D modeling, wheel-soil interaction mechanics, dynamics analysis, mobility control, and visualization for lunar rovers. Wheel-soil interaction experiments are carried out to test the forces and moments acted on a lunar rover’s wheel by the soil with a vertical load of 80 N and slip ratios of 0, 0.03, 0.05, 0.1, 0.2, 0.3, 0.4, and 0.6. The experimental results are referenced in order to set the parameters’ values for the PAC2002 tire model of the ADAMS/Tire module. In addition, the rough lunar terrain is simulated with 3DS Max software after analyzing its characteristics, and a data-transfer program is developed with Matlab to simulate the 3D reappearance of a lunar environment in ADAMS. The 3D model of a lunar rover is developed by using Pro/E software and is then imported into ADAMS. Finally, a virtual simulation system for lunar rovers is developed. A path-following control strategy based on slip compensation for a six-wheeled lunar rover prototype is researched. The controller is implemented by using Matlab/Simulink to carry out joint simulations with ADAMS. The designed virtual lunar rover could follow the planned path on a rough terrain. This paper can also provide a reference scheme for virtual simulation and performance analysis of rovers moving on rough lunar terrains.

关键词： lunar rover comprehensive simulation system rough terrain wheel-soil interaction mechanics path-following control

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Mechanical Design of the Legs of Hydraulically Actuated Quadruped Bionic Robot

Mechanical Design of the Legs of Hydraulically Actuated Quad...

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2013 ICME International Conference on Complex Medical engineering(2013 ICME复合医学工程国际会议)

作者： Xin Li Wentao Sun Junyao Gao Xingguang Duan Qiang Huang Hui Li Huaxin Liu Wenxue Zhao Zhe Xu Yi Liu Intelligent Robotics Institute State Key Laboratory of Biomimetic Robots and Systems Ministry of Education Key Laboratory of Intelligent control and decision of complex systems School of Mechatronical Engineering Beijing Institute of Technology Nandajie Zhongguancun Haidian Beijing 100081 China

ISBN: (纸本)9781467329705

This paper discusses the design of the mechanical structure of a quadruped robot and a three-dimensional simulation model is built under Adams simulating the mechanism's motion to capture the dynamic characteristics of the quadruped *** paper analyses the effect of the length of legs on the walking structure from different aspects: its movement speed,capability of climbing obstacles and the workspace of its foot *** addition,to achieve the optimization target of balancing the output force of each hydraulic cylinder,the paper establishes a mathematical model under required constraints working out the lever members that accommodated with the *** all these factors,the most satisfied structural parameters of the autonomous quadruped robot are selected.

关键词： hydraulic quadruped robot the output force of the hydraulic cylinder structural parameters

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Trot Pattern Generation for Quadruped Robot Based on the ZMP Stability Margin

Trot Pattern Generation for Quadruped Robot Based on the ZMP...

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2013 ICME International Conference on Complex Medical engineering(2013 ICME复合医学工程国际会议)

作者： Si Zhang Yi Liu Zhe Xu Junyao Gao Xingguang Duan Hui Li Zhangguo Yu Xuechao Chen Jing Li Huaxin Liu Xin LI Intelligent Robotics Institute Key Laboratory of Biomimetic Robots and Systems Ministry of Education State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Mechatronical Engineering Beijing Institute of Technology 5 Nandajie Zhongguancun Haidian Beijing 100081 China

ISBN: (纸本)9781467329705

Quadruped robot is expected to serve in complex conditions such as mountain road,grassland,etc.,therefore we desire a walking pattern generation that can guarantee both the speed and the stability of the quadruped *** order to solve this problem,this paper focuses on the stability for the tort pattern and proposes trot pattern generation for quadruped robot on the basis of ZMP stability *** foot trajectory is first designed based on the work space *** the ZMP and stability margin is computed to achieve the optimal trajectory of the midpoint of the hip joint of the *** angles of each joint are finally obtained through the inverse kinematics ***,the effectiveness of the proposed method is demonstrated by the results from the simulation and the experiment on the quadruped robot in BIT.

关键词： Quadruped robot ZMP stability margin Trot pattern

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An anthropomorphic controlled hand prosthesis system

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Journal of Zhejiang University-Science C(Computers and Electronics) 2012年第10期13卷 769-780页

作者： Hai HUANG Hong LIU Nan LI Li JIANG Da-peng YANG Lei WAN Yong-jie PANG Gerd HIRZINGER National Key Laboratory of Science and Technology on Autonomous Underwater Vehicle Harbin Engineering University Harbin 150001 China State Key Laboratory of Robot and Systems Harbin Institute of Technology Harbin 150001 Chin Institute of Robotics and Mechatronics German Aerospace Center DLR Wessling 82230 Germany

Based on HIT/DLR(Harbin Institute of Technology/Deutsches Zentrum für Luft-und Raumfahrt) Prosthetic Hand II,an anthropomorphic controller is developed to help the amputees use and perceive the prosthetic hands more like people with normal physiological *** core of the anthropomorphic controller is a hierarchical control *** is composed of a top controller and a low level *** top controller has been designed both to interpret the amputee's intensions through electromyography(EMG) signals recognition and to provide the subject-prosthesis interface control with electro-cutaneous sensory feedback(ESF),while the low level controller is responsible for grasp *** control strategies include the EMG control strategy,EMG and ESF closed loop control strategy,and voice control *** EMG signal recognition,10 types of hand postures are recognized based on support vector machine(SVM).An anthropomorphic closed loop system is constructed to include the customer,sensory feedback system,EMG control system,and the prosthetic hand,so as to help the amputee perform a more successful EMG *** results suggest that the anthropomorphic controller can be used for multi-posture recognition,and that grasp with ESF is a cognitive dual process with visual and sensory *** process while outperforming the visual feedback process provides the concept of grasp force magnitude during manipulation of objects.

关键词： Anthropomorphic controller Prosthetic hand EMG recognition Electro-cutaneous sensory feedback

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Calibration and mosaicing of forward-scan sonar DIDSON images

Calibration and mosaicing of forward-scan sonar DIDSON image...

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2012 5th International Conference on Intelligent Computation Technology and Automation, ICICTA 2012

作者： Xie, Shaorong Xu, Yuanyu Chen, Jinbo Jin, Wenjun Luo, Jun School of Mechatronics Engineering and Automation Shanghai University Shanghai 200072 China State Key Laboratory of Robotics Shanghai University Shanghai 200072 China

ISBN: (纸本)9780769546377

DIDSON(Dual-frequency identification sonar),a new generation of acoustic video cameras, is applied to research and detect the underwater environment in this paper. In order to solve the shortcomings of the DIDSON in underwater environment, we propose a real-time forward-scan sonar image mosaicing method and system. Through a series of processing to the DIDSON images, such as image registration , image matching and image fusion, a few DIDSON images with small viewing angle and low resolution have be mosaicing to be a large-scale and high resolution sonar image. This improves DIDSON's target detection and expand observing angle to detect bigger underwater targets. © 2012 IEEE.

关键词： Image fusion

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Experimental Research on the Ultrasound-guided Positioning System of Microwave Ablation Surgical Robot

Experimental Research on the Ultrasound-guided Positioning S...

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IEEE International Conference on Automation and Logistics (ICAL)

作者： Duan, Xing-guang Guo, Qing-bo Liu, Tian-bo Zhu, Xiang-yu Chen, Chao Yang, Yang Intelligent Robotics Institute State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Mechatronical Engineering Beijing Institute of Technology 5 Nandajie Zhongguancun Haidian 100081 China

ISBN: (纸本)9781467303644

Combined with modern imaging techniques and minimally invasive treatment techniques, microwave ablation surgeries have become one of the most effective methods in the modern comprehensive treatment of cancer. To solve the problems exist in traditional surgeries, microwave ablation surgical robot has been successfully developed. At first, this paper briefly introduces the robot auxiliary treatment process. Then analyzes the ultrasound-guided positioning system in detail. At last, the paper focuses on experimental research process such as robot localization experiment and precision experiment. The experimental results will verify the effectiveness of the robot system and the accuracy of the treatment. Meanwhile, the problems exist in the system are discussed and he future research direction is demonstrated.

关键词： Surgical Robot Ultrasound-guided localization system Microwave Ablation

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A Model of Collision-Detection for Maxillofacial Multi-arm Surgery Robot

A Model of Collision-Detection for Maxillofacial Multi-arm S...

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IEEE International Conference on Automation and Logistics (ICAL)

作者： Zhu, Xiang-yu Duan, Xing-guang Chen, Chao Liu, Tian-bo Guo, Qing-bo Intelligent Robotics Institute State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Mechatronical Engineering Beijing Institute of Technology 5 Nandajie Zhongguancun Haidian 100081 China

ISBN: (纸本)9781467303644

A maxillofacial Multi-arm surgery robot is employed to assisting maxillofacial surgery, which can improve surgical precision and reduce surgeons' strain. Thus, the safety during the processing of the surgery is necessary for protecting the patient and preventing the quality of the surgery. This paper presents the development of a collision and self-collision-detection scheme, for Maxillofacial Multi-arm Surgery Robot. The method is based on modeling the arm of Multi-arm robot and the obstacle in surgery environment by simple geometric primitives (cylinders and spheres). Methods of detecting collision about the cylinders and the spheres are introduced. By resorting to the pose of cylinder or sphere which presents in the workspace, many different types of collisions are introduced. The performance of the collision-avoidance scheme is demonstrated with Multi-arm robot via experiments.

关键词： Multi-arm robot Collision Avoidance Geometric Primitives Collision Detection

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