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6th International Conference on Complex Medical engineering, CME 2012

作者： Liu, Tian-Bo Duan, Xing-Guang Huang, Qiang Zhao, Hong-Hua Guo, Qing-Bo 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 China

ISBN: (纸本)9781467316163

As the complex anatomical structure of the maxillofacial region, operation in this area is of high hazard and difficult to implement. Thus, a multi-arm medical robot assisting maxillofacial surgery, which can improve surgical precision and reduce surgeons' strain, was proposed. Firstly, overview of the whole robot system is introduced. Then this paper focuses on the control system which mainly consists of master-slave, motion control and safety design. Finally, the prototype was established and experiments were carried out to show the robot's smooth running and accurate positioning. © 2012 IEEE.

关键词： Motion control

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Kinematics analysis and trajectory planning of a multiarm medical robot assisted maxillofacial surgery

Kinematics analysis and trajectory planning of a multiarm me...

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6th International Conference on Complex Medical engineering, CME 2012

作者： Chen, Chao Duan, Xing-Guang Wang, Xing-Tao Zhu, Xiang-Yu Li, Meng Intelligent Robotics Institute Key Laboratory of Biomimetic Robots and Systems Ministry of Education State Key Laboratory of Intelligent Control and Decision of Complex System School of Mechatronical Engineering Beijing Institute of Technology #5Zhongguancun South Street Haidian Beijing China China

ISBN: (纸本)9781467316163

As the complex anatomical structure of the maxillofacial region, the surgery in this area is high risk and difficult to implement. Then, a multi-arm medical robot assisted maxillofacial surgery using optical navigation was proposed in this paper, which can improve surgical precision and make the doctors away from the heavy manual work. In this paper, the medical robot system and mechanical structure of the robot were introduced. Forward kinematics and inverse kinematics were analysed. Then trajectory planning using quintic polynomial interpolation for smoothly motion was adopted, and rectilinear motion in Cartesian space was adopted. The kinematics was validated and the workspace of the robot was calculated by simulations. Finally, the robot model was established and an experiment was carried out which proved the robot run smoothly and positioned accurately. © 2012 IEEE.

关键词： Inverse kinematics

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Research on safety of electronic detonator with fuse and anti-fuse

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Binggong Xuebao/Acta Armamentarii 2012年第SUPPL.1期33卷 84-86页

作者： Li, Peng-Fei Tang, Kai Wang, Wei State Key Laboratory of Mechatronical Engineering and Control Beijing Institute of Technology Beijing 100081 China

Electronic detonator is a new detonator that employs a piece of time series as key to control *** the modern world, the electromagnetic condition is very complex so that electronic detonator may come into being a misoperation because of induced current or noise.A new circuit was designed to enhance the safety of electronic detonator with programmable fuse and anti-fuse. A fuse is parallelly connected to the detonator, and an anti-fuse is serially connected to it in the circuit. Both are used to prevent the current from flowing into the detonator and exploding it. The fuse and the anti-fuse are rewritten by the special unit only after the signal of that detonator is ready to explode is *** the role of fuse and anti-fuse changes, and the detonator is able to receive the exploding current. The design can greatly improve the safety of electronic detonator so that it can be used more broadly.

关键词： Explosions

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Research on design law of zigzag groove setback arming compound device with two degrees of freedom

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Binggong Xuebao/Acta Armamentarii 2012年第SUPPL2期33卷 326-331页

作者： Tian, He-Fei He, Guang-Lin State Key Laboratory of Mechatronical Engineering and Control Beijing Institute of Technology Beijing 100081 China

For the safety and reliability of fuze setback arming device of rocket-assisted projectile, a modular design of zigzag groove setback arming compound device with two degrees of freedom was proposed, and the mathematical model and geometric model of the device were built. The optimum parameters of the zigzag groove and up-and down-inertia-spring rigidities were analyzed using an orthogonal method and a simulating means. The results indicate that this setback device can effectively differentiate the setback overload in launch and the impact overload at service handling;when the zigzag groove has three sections with axial inclination of 45°, and the up-and down-inertia-spring rigidities were separately designed as 22.7 N/m and 31.8 N/m.

关键词： Degrees of freedom (mechanics)

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Research on a new electronic detonators based on piezoelectric ceramic transformer

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Binggong Xuebao/Acta Armamentarii 2012年第SUPPL.1期33卷 80-83页

作者： Wang, Wei Cui, Zhan-Zhong State Key Laboratory of Mechatronical Engineering and Control Beijing Institute of Technology Beijing 100081 China

A new electronic detonator based on the piezoelectric ceramic transformer was presented. The electronic detonator posses the communication interface of piezoelectric ceramic transformer, which transfers the energy and information between the detonator and detonation control system under the condition of high voltage on the network. The usage of high voltage fulfill a large scale network of electronic detonator netting, suffice the need of large-scale blasting, and reduce the impact of electromagnetic interference on electronic detonators. It can be also used to improve the reliability of electronic detonators.

关键词： Piezoelectric ceramics

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Structural analysis and design of round belt drive snake-like robot

Structural analysis and design of round belt drive snake-lik...

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IET International Conference on Information Science and control engineering 2012 (ICISCE 2012)

作者： Xuandon Su Junyao Gao Zhengyang Zhao Qianying Wu Chengzu Huang Intelligent Robotics Institute Key Laboratory of Biomimetic Robots and Systems Ministry of education State Key Laboratory of “Intelligent control of complex systems and decision” School of Mechatronical Engineering Beijing Institute of Technology Nandajie Zhongguancun Haidian 100081 China

Twisting between adjacent modules drive is the main way to drive the snake-like robot. It is hard to build a mathematical model for the kind of snake-like robot and the control of it is very complex in the realistic environment. In purpose of developing a new kind of snake-like robot which is easy to model, a new way to drive snake-like robot which we call skin drive was invented. With this way, structure of snake-like robot can be very simple and easy to model. Besides control of snake-like robot can be simple. Eventually a snake-like robot was built and it is called round belt drive snake-like robot. Through some experiment and analysis, it is concluded that this new kind of snake-like robot is easy to model and easy to control and its structure is simple to build. In this paper, three important topics were analyzed and elaborated. They are round belt analysis and design, active pulley structure and guide pulley arrangement. Of course, some experiments were done to verify the round belt drive snake-like robot performance. Some experiment process and results were shown at the end in this paper.

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The construction of homoclinic and heteroclinic orbitals in asymmetric strongly nonlinear systems based on the Pad'e approximant

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Chinese Physics B 2011年第9期20卷 19-29页

作者：冯晶晶张琪昌王炜 Department of Mechanics School of Mechanical EngineeringTianjin University Tianjin Key Labortory of Nonlinear Dynamics and Chaos Control Tianjin University State Key Laboratory of Engines Tianjin University

In this paper, the extended Pade approximant is used to construct the homoclinic and the heteroclinic trajectories in nonlinear dynamical systems that are asymmetric at origin. Meanwhile, the conservative system, the autonomous system, and the nonautonomous system equations with quadratic and cubic nonlinearities are considered. The disturbance parameter ~ is not limited to being small. The ranges of the values of the linear and the nonlinear term parameters, which are variables, can be determined when the boundary values are satisfied. New conditions for the potentiality and the convergence are posed to make it possible to solve the boundary-value problems formulated for the orbitals and to evaluate the initial amplitude values.

关键词： bifurcation Pade approximant strongly nonlinearity homoclinic and heteroclinic orbitals

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Bifurcation of elastic tank-liquid coupled sloshing system

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Applied Mathematics and Mechanics(English Edition) 2011年第9期32卷 1169-1176页

作者：钟顺陈予恕 Research Center for Nonlinear Dynamics School of Mechanical Engineering of Aviation and AstronauticsTianjin University State Key Laboratory of Engines Tianjin University Tianjin Key Labortory of Nonlinear Dynamics and Chaos Control

The nonlinear equations of an elastic tank-liquid coupling system subjected to the external excitation are *** means of the multi-scale method and the singularity theory,the bifurcation behaviors of the system are investigated and *** various nonlinear dynamical behaviors of the coupling system are obtained,which can further explain the relationship between the physical parameters and the bifurcation *** results provide a theoretical basis to the realization of the parameter optimal control.

关键词： elastic tank-liquid coupling system bifurcation equation singularity theory sloshing control

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Microstrip Antenna Design Based on Left-Handed Materials

Microstrip Antenna Design Based on Left-Handed Materials

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The 2011 International Conference on Business, Economics, and Financial Sciences, Management (BEFM 2011)

作者： Song Chengtian Song Zhiliang Pan Xi State Key Labortory of Mechatronical Engineering and Control Beijing Institute of Technology Dalian Airforce Communication NCO Academy

An review on the development and extrodinary properties of left-handed materials is first *** on the current research,left-handed materials is applied to the microstrip antenna *** miniaturized antenna are designed by... 详细信息

关键词： Left-handed materials,Microstrip antenna,Antenna design

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Inductive adder based method for generating electromagnetic pulses with controllable timing

Inductive adder based method for generating electromagnetic ...

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18th IEEE International Pulsed Power Conference, PPC 2011

作者： Yan, Xiaopeng Wang, Zhao Luo, Jin Hao, Xinhong Wang, Jiantao Yang, Jianzheng State Key Laboratory for Mechatronical Engineering and Control Beijing Institute of Technology PO Box 100081 Beijing China Anhui University of Technology PO Box 243002 Maanshan China YES Group Co.Ltd Saratoga CA 95070 United States

ISBN: (纸本)9781457706295

Repetition pulse with sub-microsecond arising time, high voltage and large current, has been widely utilized in the field of production and scientific research, in which the gas spark switch is usually selected. However, due to the recovery property of gas ionization, it is hard to get the repeated switch-on and switch-off at a high rate towards the conventional gas spark switch. Owing to the reliably triggering and faster arising time, the hydrogen thyratron is found to be more suitable for the switch to generate the repetition pulse at a high rate. In this paper we proposed a novel design of repetition pulse, in which it get a several times high voltage output based on the inductive-adder, by using the hydrogen thyratron switch with an operating voltage, and then we analyze the magnetic field distribution under the structure of the coaxial cable and describe the design of high voltage repetition pulse in details. © 2011 IEEE.

关键词： Pulse repetition rate

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