In order to achieve omnidirectional locomotion on rough terrain with multi-legged biomimetic robot, a free gait generation approach is proposed based on local rules. The phase coordinates of each operation leg was est...
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In order to achieve omnidirectional locomotion on rough terrain with multi-legged biomimetic robot, a free gait generation approach is proposed based on local rules. The phase coordinates of each operation leg was established according to the motion task and a universal depiction of leg-end locomotion was implemented;the mathematical relation of gait pattern and walking velocity of multi-legged robot was put forward;combined polynomial curve was adopted to generate the leg-end trajectory, which was capable of accomplishing walking missions and accommodating to landform conditions;a distributed network of local rules for gait control was constructed based on a set of local rules operating between adjacent legs. In the simulation experiments, adaptive regulation of inter-leg phase sequence, omnidirectional locomotion and ground accommodation were realized. Moreover, statically stable free gait was obtained simultaneously, which provided multi-legged robot with the capability of walking on irregular terrain reliably and expeditiously.
In recent years, the robot for minimally invasive surgery has been expanded for wide application in clinic. However, robot assisted surgery is quite different from traditional surgery, so the training and practice are...
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In recent years, the robot for minimally invasive surgery has been expanded for wide application in clinic. However, robot assisted surgery is quite different from traditional surgery, so the training and practice are very important to the surgeon. The development of a panoramic simulation for robot assisted endoscopic surgery is described in the paper. The simulation is appropriate for da Vinci and other similar system. In this simulation, the robot model is accurately presented, and its kinematic analysis is precise. The soft tissue model used in the simulation is an improved mass-spring model. This model is suited for real-time and visual deformation. A commercial haptic device known as Omega is used in this simulation, we can easily obtain haptics by it. As a result, the user can switch between panoramic display and local scene by zoom, and can easily manipulate the virtual surgical robot to perform many surgical operations such as grasping and pushing, at the same time, the user can feel the force feedback.
This paper proposes the registration information, the participation information for classifying demand resources participate in demand response program. Modeling demand resources from them, it evaluates values of dema...
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This paper proposes the registration information, the participation information for classifying demand resources participate in demand response program. Modeling demand resources from them, it evaluates values of demand resources. Specially assuming that ignore the loss in power system, they take a role as generation. Therefore this paper proposes the conceptual transformation of demand resources into virtual generation units and then ISO executes DR scheduling from evaluated demand resources' values and generation data, network data.
Stroke is very common and always leads to severe hand impairment. Traditional robotic systems have been introduced to assist therapy for a long time and already achieved certain effect. However, with further devel...
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Stroke is very common and always leads to severe hand impairment. Traditional robotic systems have been introduced to assist therapy for a long time and already achieved certain effect. However, with further development of therapy strategies in the last few years, higher request to the rehabilitation robot has been put forward. Thus, we are developing a novel hand rehabilitation robot named HIT-glove to provide patient-cooperative therapy for hand-impaired poststroke patients. In this paper, the mechanical design of the actuated hand exoskeleton is detailed and the control strategy for patient-cooperative therapy is introduced. The actuated hand exoskeleton, which can be applied to hands in different sizes and shapes, is able to bilaterally actuate every joint of the fingers. The patient-cooperative control strategy, based on the sensing system and an interactive interface, is well designed to let the patient actively participate into the therapy. Besides, to get a better effect of functional rehabilitation of the hand, our robot is expected to provide the following two categories of therapy: motor function exercise for joints and movement coordination training for fingers.
The control of a snake-like robot is a challenging problem because of unknown environments and complex dynamics. We have proposed an energy-based method, called passive creeping, to control the serpentine locomotion. ...
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A compact nanopositioner which consists of three stick-slip inertial stages was designed and built particularly for nanomanipulation inside a scanning electron microscope (SEM). Considering linear dynamics of PZT ...
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A compact nanopositioner which consists of three stick-slip inertial stages was designed and built particularly for nanomanipulation inside a scanning electron microscope (SEM). Considering linear dynamics of PZT and nonlinear friction between slider and rod, a comprehensive model representation of the stick-slip stage was presented and verified by being compared with experimental results. Resolution to 10nm has been achieved and the ability to lift up to 70g has been demonstrated. Some manipulations of nanowires were performed in assistant of the nanopositioner we developed, including picking up and bending single ones. Both results of experiments and manipulations demonstrated the excellent performance of the nanopositioner.
This paper presents a fast and efficient image registration algorithm for UAV image sequence. The proposed algorithm consists of three main steps: feature extraction, feature point tracking, and homography matrix esti...
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A 5-degree of freedom (DOF) 5-UPS/PRPU parallel machine tool (PMT) with redundant actuation is introduced. The characteristic of the PMT is described. Based on the conventional Lagrange Equation, the dynamic formulati...
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In this paper, we present a new mathematical model for designing micro electrode geometry and electric field for carbon nanotubes application. The micro electrode design is based on the assumption that the electrical ...
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ISBN:
(纸本)9781618392008
In this paper, we present a new mathematical model for designing micro electrode geometry and electric field for carbon nanotubes application. The micro electrode design is based on the assumption that the electrical potential at any point (x,y,z) created by a micro electrode of interest is defined by a polynomial that obeys Laplace's equation. By substituting this polynomial into Laplace's equation the corresponding equipotentials can therefore be determined, and these in turn can be used to define the required micro electrode boundaries for use in carbon nanotube deposition, manipulation, and implementation using dielectrophoresis for electronics and sensing application. Simulation results are presented for the developed models.
Amphibious snake-like robots are advantageous than traditional snake-like robots for their adaptability in aquatic environments. This paper presents a novel amphibious snake-like robot. The mechanism and control syste...
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ISBN:
(纸本)9780889868892
Amphibious snake-like robots are advantageous than traditional snake-like robots for their adaptability in aquatic environments. This paper presents a novel amphibious snake-like robot. The mechanism and control system of the robot are illustrated. A simplified Serpenoid Curve is used to generate the basic undulation of the robot. Three-dimensional gaits are generated by combining undulations of the robot on the horizontal and vertical planes. Novel gaits are found, including a S-shape rolling gait on the ground and a diving gait in the water. Experiments have been done to validate the gaits and show the performances of the gaits under different control parameters.
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