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International Conference on Control, Automation, robotics and Vision (ICARCV)

作者： Yuangui Tang Chongjie Liu Aiqun Zhang Jiancheng Yu State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy and Sciences Shenyang China

A wheel-propeller-leg integrated amphibious robot with multi-modes motion is presented as a new type of robot, which can both crawl on land and swim underwater in certain depth. The performance of swimming with the mixed thrusters composed of wheel-propellers and legs shows its propulsive capability when the robot swims in water. Based on analysis of propulsive principle of the wheel-propeller and the leg, hydrodynamic characters of the mixed thrusters are calculated, and the approximate models for propulsion of the wheel-propeller and leg are obtained according to computational calculation and simulation with commercial software. Considering the feature of energy-taking by itself, the optimal distribution of propulsion based on the wheel-propeller-leg mixed thrusters with the maximal navigational distance is studied using multi-objective optimization theory. As a result, the optimized driving parameters for the mixed thrusters are achieved to bring the maximal propulsion while consuming the minimal energy. Experiments carried out in the pool prove the validity and rationality of the optimization results.

关键词： Leg Optimization Legged locomotion Propellers

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Configuration design method for in-pipe robot locomotion mechanism

Configuration design method for in-pipe robot locomotion mec...

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International Conference on Digital Manufacturing and Automation

作者： Chen, Jun Chen, Tao Deng, Zong-Quan State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang 15001 China School of Naval Architecture Harbin Institute of Technology at Weihai Weihai Shandong 264209 China Linyi Entry-Exit Inspection and Quarantine Bureau Linyi Shandong 276034 China School of Mechtronic Engineering Harbin Institute of Technology Harbin Heilongjiang 150001 China

ISBN: (纸本)9780769542867

The configuration design of in-pipe robot locomotion mechanism has a significant impact on its motion performance. By analyzing the operation principle of adapting mechanism, the basic four-bar linkage is chosen as base unit to make topological combination, the two kinds of linkage combination including input of prismatic pair are presented, and further through kinematic chain regeneration, the specific kinematic chain atlas that meet the given design constraints can be synthesized. Finally, the application examples adopting the derivative new mechanisms are given. Which provides the systematic methods for in-pipe robot configuration design. © 2010 IEEE.

关键词： Topology

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Design of a Wheel-Propeller-Leg Integrated Amphibious Robot

Design of a Wheel-Propeller-Leg Integrated Amphibious Robot

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International Conference on Control, Automation, robotics and Vision

作者： Jiancheng Yu Yuangui TANG Xueqiang ZHANG Chongjie LIU State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China

ISBN: (纸本)9781424478149

The operation capabilities of robot in the amphibious environments (such as shallow water fields, surf zones, and beaches) are critical for military and civilian. In this paper, we introduce a novel amphibious robot with wheel-propeller-leg integrated driving devices, developed by Shenyang institute of Automation, which can realize both crawling locomotion on the ground and swimming locomotion in the water without changing its driving devices. This paper describes the design of the overall robot structure, the design of the novel driving devices, and the design of the embedded control system, respectively. All the driving devices of the robot are driven by independent motor, thus the amphibious robot can conveniently switch its locomotion modes according to the operational environments. The embedded control system is a distributed control system based on CAN bus, which makes it is easy to expend sensors and devices for the robot in the future. Finally, the hydrodynamic performances of the wheel-propeller device are analyzed by using CFX hydrodynamic calculation software, and some primary experiments have been done for verifying the fundamental locomotion functions of the robot.

关键词： amphibious robot wheel-propeller-leg Integrated crawling locomotion swimming locomotion

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Detection parameters design for multi-beam sounding system based on target recognition

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Zhongnan Daxue Xuebao (Ziran Kexue Ban)/Journal of Central South University (Science and Technology) 2011年第SUPPL. 1期42卷 677-683页

作者： Wu, Li-Hong Xu, Wen-Hai Zang, Li-Long An, Yang Yang, Shuai-Feng Cai, Ren-Jie College of Transportation Equipment and Ocean Engineering Dalian Maritime University Dalian 116026 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Acad. of Sci. Shenyang 110016 China College of Information Science and Technology Dalian Maritime University Dalian 116026 China Qingdao Marine Research Equipment Service Co. Ltd. Qingdao 266000 China

To detect sea floor objects fast, accurately and effectively in large-scale underwater region, a design way for detection factors related to ping-length, ship velocity and coverage-width was derived by analyzing GeoSwath's theory, spatial resolution and target resolution factors. The experiments to detect artificial objects in sea floor were carried out. The results show the importance and rationality to set detection factors of GeoSwath.

关键词： Object detection

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Design and Analysis of a New Cable-Driven Hyper Redundant Manipulator

Design and Analysis of a New Cable-Driven Hyper Redundant Ma...

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2010 International Conference on Intelligent Computation Technology and Automation(2010 智能计算技术与自动化国际会议 ICICTA 2010)

作者： Zhao Qiang Gao Fang State Key Laboratory of Robotics and System/Computer School Harbin Institute of Technology Harbin Mechtronical Engineering School Harbin Institute of Technology Harbin Heilongjiang China

ISBN: (纸本)9781424472796

Hyper-redundant manipulators have been widely used in many fields, however many existing hyper redundant manipulators actuated directly by motors have the disadvantages of complicate structure and high cost. This paper proposes a novel remote cable-driven hyper redundant manipulator. This manipulator is based on elephant trunk bionics, and composed of several serial links combined by Hook joints. Each link is pulled by two antagonized pairs of cables. Two antagonized pairs belonged to the same link are tied and driven by only one motor, which can reduced largely the number of step motors needed. This paper fully discusses the structure and analyzes the cable stretching and retracting displacement. Analysis and motion simulation results show that the proposed scheme is practical and effective.

关键词： hyper-redundant manipulator cable-driven actuation design displacement simulation

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DESIGN, MODELING, AND MICROMANIPULATION EXPERIMENTS OF A NOVEL 2-D MICRO FORCE SENSOR

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International Journal of Information Acquisition 2010年第1期7卷 51-57页

作者： YIYANG LIU YUECHAO WANG PENG YU ZAILI DONG State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences China Graduate School of the Chinese Academy of Sciences China

Because of the micro/nano manipulation's complexity, the accurate feedback information of the micro interactive force acting on micro devices is quite important and necessary for micro/nano manipulation, especially the 2-D micro interactive force feedback information. At present, there are no reliable and accurate 2-D micro force sensors applied in micro/nano manipulation. To solve the above problem, a novel 2-D micro force sensor that can reliably measure force in the range of submicro Newton (μN) is designed and developed in this paper. Based on the model of 1-D micro force sensor designed by us, the model of this 2-D sensor is set up. To verify the model of the 2-D sensor, micromanipulation experiments are designed and realized. Experiment results show the submicro Newton resolution, and verify the validity of the 2-D sensor's model. The developed 2-D micro force sensor will contribute to promoting the complexity of micro/nano manipulation, and will facilitate to automate the micro/nano manipulation.

关键词： Micromanipulation 2-D micro force sensor

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Detecting CD20-Rituximab specific interactions on lymphoma cells using atomic force microscopy

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Science China(Life Sciences) 2010年第10期53卷 1189-1195页

作者： LI Mi LIU LianQing XI Ning WANG YueChao DONG ZaiLi LI GuangYong XIAO XiuBin ZHANG WeiJing State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Department of Electrical and Computer Engineering Michigan State UniversityEast Lansing 48824USA Department of Electrical and Computer Engineering University of PittsburghPittsburgh 15261USA Department of Lymphoma Affiliated Hospital of Military Medical Academy of Sciences Beijing 100071China Graduate University of Chinese Academy of Sciences Beijing 100049China State Key Laboratory of Drug Research Shanghai Institute of Materia MedicaChinese Academy of SciencesShanghai 201203China

Elucidating the underlying mechanisms of cell physiology is currently an important research topic in life sciences. Atomic force microscopy methods can be used to investigate these molecular mechanisms. In this study, single-molecule force spectroscopy was used to explore the specific recognition between the CD20 antigen and anti-CD20 antibody Rituximab on B lymphoma cells under near-physiological conditions. The CD20-Rituximab specific binding force was measured through tip functionalization. Distribution of CD20 on the B lymphoma cells was visualized three-dimensionally. In addition, the relationship between the intramolecular force and the molecular extension of the CD20-Rituximab complex was analyzed under an external force. These results facilitate further investigation of the mechanism of Rituximab’s anti-cancer effect.

关键词： atomic force microscopy single-molecule force spectroscopy CD20 antigen Rituximab

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Two-mode system for tank gunnery skill training based on haptic interaction

Two-mode system for tank gunnery skill training based on hap...

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IEEE International Conference on Mechatronics and Automation

作者： Keke Lu Guanyang Liu Yuru Zhang Weidong Guo Moyuan Zhou State Key Laboratory of Virtual Reality Technology and Systems (VRLab) and Robotics Institute Beihang University Beijing China VRLab and Robotics Institute Beihang University Beijing China

A study on tank gunnery motor skill training is introduced in this paper. We developed a two-mode system used for teaching and training. In the haptic guidance mode, the trainee is passive and experiences position playback of the expert's motion with a proportional-derivation (PD) controller. In the path constraining mode, the trainee operates the haptic device actively, and the aiming point in the virtual environment is constrained on the desired path. A new haptic rendering algorithm is introduced in this mode. An experiment for record-play motion of drawing a virtual sine path and path constraining with drawing an envelope path is designed. Results indicate that the haptic rendering algorithm in the two-mode training system is stable.

关键词： Haptic interfaces Training Force Virtual environment Fixtures Rendering (computer graphics) Visualization

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Design of a novel serial and parallel force feedback master manipulator

Design of a novel serial and parallel force feedback master ...

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IEEE International Conference on robotics and Biomimetics

作者： Hongmin Wang Dongmei Wu Zhijiang Du Zhiyuan Yan Changjun Li State Key Laboratory of Robotics and System Hit Limited Harbin China College of Electric and Information Engineering Heilongjiang Institute of Science and Technology Harbin China

ISBN: (纸本)9781424493197

This paper presents the design of a novel serial and parallel master manipulator. Firstly, the mechanism configuration of the master manipulator with a novel serial and parallel mechanism is given. Parallel mechanism uses 3-RUU type to achieve position control, and serial mechanism adopts triaxial concurrent mechanism to realize posture control. Then, the kinematics analysis of the master manipulator such as parallel mechanism inverse kinematics and forward kinematics, jacobian matrix and serial mechanism kinematics are given. Thirdly, the master manipulator workspace is analyzed, and the master manipulator static stiffness for the three points in the workspace is also analyzed. Finally, the force feedback simulation experiment is carried out to verify the parallel mechanism force feedback. It can be seen that this novel serial and parallel master manipulator meets the design requirements and future force feedback.

关键词： Manipulators Force feedback Kinematics Force Clamps Equations

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Cooperative reconfiguration between two specific configurations for a shape-shifting robot

Cooperative reconfiguration between two specific configurati...

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IEEE International Workshop on Safety, Security, and Rescue robotics (SSRR)

作者： Bin Li Shugen Ma Tonglin Liu Minghui Wang State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy and Sciences Shenyang Liaoning China Department of Robotics Ritsumeikan University Kusatsu Shiga Japan

A shape-shifting mobile robot named AMOEBA-I has diverse configurations. Cooperative reconfiguration is presented to improve the robot's reconfigurable ability and adaptability in unstructured environments. Cooperative reconfiguration method is analyzed theoretically. A mathematical model is established correspondingly and the kinematical relations among the three modules during the cooperative reconfiguration are determined. The transformation is implemented between two specific configurations. Then, an evaluation is proposed for AMOEBA-I's cooperative reconfiguration performance. The feature of cooperative reconfiguration methods is compared through the theoretical analysis and experiments. Experimental results prove the validity of the cooperative reconfiguration methods on various grounds.

关键词： Robot sensing systems Joints Force Transforms Resistance

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