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Coupling mechanism of multi-force interactions in the myosin molecular motor

Chinese Science Bulletin 2010年第31期55卷 3538-3544页

作者： GUO Zhao YIN YueHong State Key Laboratory of Mechanism System and Vibration Institute of Robotics Shanghai Jiao Tong University Shanghai 200240 China

The dynamics of the myosin molecular motor as it binds to actin filaments during muscle contraction are still not clearly *** this paper,we focus on the coupling mechanism of multi-force interactions in the myosin molecule during its interaction with *** forces include the electrostatic force,the van der Waals force and the Casimir force in molecular dynamic simulations of the molecules in solvent with thermal *** on the Hamaker approach,van der Waals and Casimir potentials and forces are calculated between myosin and *** have developed a Monte Carlo method to simulate the dynamic activity of the molecular *** have shown that because of the retardation effect,the van der Waals force falls into the Casimir force when the distance between the surfaces is larger than 3 *** the distance is smaller than 3 nm,the electrostatic force and the van der Waals force increase until the myosin becomes attached to the *** the distances studied in the present work,the electrostatic force dominates the attractive *** calculations are in good agreement with recently reported experimental results.

关键词：肌球蛋白分子马达相互作用耦合机制分子动力学模拟 Casimir力肌动蛋白范德华力

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Design and Control of a Coupling Mechanism-Based Prosthetic Hand

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Journal of Shanghai Jiaotong university(Science) 2010年第5期15卷 571-577页

作者：王新庆刘伊威姜力杨大鹏李楠刘宏黄海 State Key Laboratory of Robotics and System Harbin Institute of Technology Institute of Robotics and Mechatronics German Aerospace Center Key Laboratory of Science and Technology for National Defence of Autonomous Underwater Vehicle Harbin Engineering University

A five-fingered,multi-sensory and biomimetic hand is *** cambered palm is specially designed by utilizing the knowledge of *** position of each finger is arranged according to human hand *** finger with three phalanges could fulfill flexion-extension movement *** the fingers are designed using coupling link *** location of the thumb is designed by maximizing interaction area between the thumb and other *** opposite thumb could grasp along a cone surface,while maintaining its *** hardware architecture is divided into control system and human-machine interaction *** mechanical parts,sensors and motion control systems are integrated in the hand *** addition,a skin-like glove is designed,which makes the hand more *** to our primary experimental results,the hand can accomplish several grasp modes by applying an intuitive surface electromyography control *** success rate of 10 modes is up to 90%.

关键词： prosthetic hand coupling mechanism electromyography control support vector machine (SVM)

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Single Trial Detection of Visual Evoked Potential by Using EMD and Wavelet Filtering Method

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Chinese Journal of Biomedical Engineering(English Edition) 2011年第3期20卷 115-118,124页

作者： HE Ke-ren ZOU Ling TAO Cai-lin MA Zheng-hua ZHOU Tian-tong School of Information Science ＆ Engineering Changzhou University Changzhou 213164 China State Key Laboratory of Robotics and System （HIT） Harbin Institute of Technoilogy Harbin 150001 China

Empirical mode decomposition(EMD) is a new signal decomposition method, which could decompose the non-stationary signal into several single-component intrinsic mode functions (IMFs) and each IMF has some physical meanings. This paper studies the single trial extraction of visual evoked potential by combining EMD and wavelet threshold filter. Experimental results showed that the EMD based method can separate the noise out of the event related potentials (ERPs) and effectively extract the weak ERPs in strong background noise, which manifested as the waveform characteristics and root mean square error (RMSE).

关键词： EMD wavelet threshold ERP single trial extraction

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Bond graph model of permanent magnet linear synchronous motor

Bond graph model of permanent magnet linear synchronous moto...

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2010 2nd International Conference on Industrial and Information systems, IIS 2010

作者： Teng, Li Yanjie, Liu Lining, Sun State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781424482177

The increasingly widespread industrial applications of permanent magnet linear synchronous motor (PMLSM) are self evident testimonies of the effectiveness of PMLSM in addressing the high requirements associated with these application areas. PMLSM direct drive system is a typical multi-domain system. This article proposes a bond graph model of PMLSM that can incorporate with other components in direct drive system to form dynamic electromechanical model. Principle of PMLSM under field-oriented control is equal to DC motor is illustrated firstly. Then bond graph model of PMLSM is built according to the equivalent circuit. The model is validated by comparing with a common used model which shows that bond graph model are equal to the model and represents clearly interactions between elements. © 2010 IEEE.

关键词： Vector control (Electric machinery)

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Spatial geometry modeling of truss structure and analysis of connection deviation for deployable truss antenna

Spatial geometry modeling of truss structure and analysis of...

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International Conference on Measuring Technology and Mechatronics Automation, ICMTMA 2010

作者： Tian, Dake Liu, Rongqiang Deng, Zongquan State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9780769539621

Aiming at the problem of connection deviation of truss structure for deployable truss antenna (DTA) with hexagonal prism modules, spatial geometry model of multi-module truss structure is presented based on the homogeneous coordinate transformation method, which can be used in multi-module truss structure whose module number is less than seven. The structure and deployment principle of modules are introduced. According to the connection characteristics of modules, the geometry model of a single module is established, then transformation matrixe of basic coordinate system of any module to total coordinate system and coordinate of any point are all obtained. The equation of connection deviation is derived, and influencing factors on connection deviation are analyzed. Furthermore, the adjusting method of connection deviation is proposed. The spatial geometry model of truss structure can be taken as the theoretical basis for design and measurement of truss structure. © 2010 IEEE.

关键词： Geometry

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A method for micro-spheres manipulation based on capillary force control

A method for micro-spheres manipulation based on capillary f...

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International Conference on Intelligent Human-Machine systems and Cybernetics

作者： Rong, Weibin Liu, Taochou Wang, Lefeng State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9780769541518

To utilize the adhesion forces and avoid the design complexity derived from the electrochemical treatment of operating tools, a method for micro-objects manipulation based on the capillary force is presented. The pickup and release model of micromanipulation were established. The manipulation scheme was performed by mechanical motion to change the capillary force generated by the liquid medium between the tool and micro-sphere, so the micro-sphere can be picked up and released successfully. The experiments about sub-millimeter stannum spheres demonstrated the simplicity and feasibility of this method. © 2010 IEEE.

关键词： Spheres

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FPGA-based control system for 6-UPS medical parallel robot

FPGA-based control system for 6-UPS medical parallel robot

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International Conference on Digital Manufacturing and Automation

作者： Wu, Dongmei Du, Zhijiang Tian, Heqiang Jiang, Zhenyu Sun, Lining State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9780769542867

In this paper, a high-performance control system based on field programmable gate arrays (FPGAs) for a 6-UPS medical parallel robot is present. The control system utilizes the hardware and software reconfigurable feature of the advanced FPGA device to achieve our goal. Firstly, the parallel robot and its control system components and functions are introduced. Secondly, the control system general description including its hardware is given. Thirdly, NIOS II soft core processor module, HALL module, PWM signal module, DC motor drive module, encoder signal processing module, and the soft-core software are designed in detail. All the modules can be duplicated and reconfigured to control as many motors as needed. Finally, to estimate the control system, a driving test based on RS232 is carried out. Satisfactory test results demonstrate that the FPGA-based control system is a flexible, high-performance solution to the motion control of our 6-UPS medical parallel robot. © 2010 IEEE.

关键词： Control systems

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Model design of on-orbit autonomous assembly multi-robot systems

Model design of on-orbit autonomous assembly multi-robot sys...

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International Conference on Industrial and Information systems, IIS

作者： Pu, Jialun State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781424482177

On-orbit autonomous assembly is a solution of building large space structures, these structures are lager than any current or proposed launch vehicles and should be launch as several separate parts. To assembly these parts, using multi-robot systems are a fair way. Due to the space environment and complexity structures, on-orbit assembly is different to other tasks. For the actual application of the on-orbit autonomous assembly, the modeling of the multi-robot system is introduced. The model is a hierarchical multi-robot system, and top-down design method is used in whole design. © 2010 IEEE.

关键词： Multipurpose robots

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A force feedback master finger in exoskeleton type

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High Technology Letters 2010年第3期16卷 299-305页

作者： Fang Honggen Liu Hong Xie Zongwu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 P.R. China Institute of Robotics and Mechatronic German Aerospace Center Wessling DLR 82230 Germany

In order to eliminate the drawbacks of conventional force feedback gloves, a new type of master fin- ger has been developed. By utilizing three ＂four-bar mechanism joint＂ in series and wire coupling mecha- nism, the master finger transmission ratio is kept exactly 1：1.4：1 in the whole movement range and it can make active motions in both extension and flexion directions. Additionally, to assure faster data transmission and near zero delay in the master-slave operation, a digital signal processing/field programmable gate array （DSP/FPGA-FPGA） structure with 200μs cycle time is designed. The operating modes of the master finger can be contact or non-contact, which depends on the motion states of a slave finger, free motion or constrained motion. The position control employed in non-contact mode ensures unconstrained motion and the force control adopted in contact mode guarantees natural contact sensation. To evaluate the performances of the master finger, an experiment between the master finger and a DLR/HTT dexterous finger is conducted. The results demonstrate that this new type master finger can augment telepresence.

关键词： force feedback master finger digital signal processing （DSP） field programmable gate array （FPGA） telepresence

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Dynamics and a convenient control design approach for a unicycle robot

Dynamics and a convenient control design approach for a unic...

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2010 IEEE International Conference on Information and Automation, ICIA 2010

作者： Zhao, Jie Xiong, Mei Jin, Hongzhe State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China

ISBN: (纸本)9781424457021

In this paper, the dynamics model and a convenient lateral posture stabilization and longitudinal motion control algorithm of a unicycle robot are presented. The unicycle robot consists of a turntable for lateral posture balance, a cylindrical robot body, and a rolling wheel for longitudinal motion control. The dynamics of the unicycle system is derived using the Lagrangian formulation. In the conventional linearized model, important motion characteristics of the unicycle robot system are ignored, which makes against the control performance. To address this problem, a gain scheduling control method is proposed based on the nonlinear model and implemented by coordination of the separated lateral posture balance control and longitudinal motion control. Through simulation studies, the effectiveness of the proposed control algorithm is verified. ©2010 IEEE.

关键词： Dynamics

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