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IEEE International Conference on Mechatronics and Automation

作者： Manni Zhang Xinyu Zhang Shanghai Key Laboratory of Trustworthy Computing MoE Engineering Research Center for Software/Hardware Co-design Intelligent Robot Motion & Vision Laboratory East China Normal University Shanghai China

ISBN: (纸本)9781509023974

Robots' continuous physical behaviors are controlled by discrete instructions generated using complicated control algorithms. In such a robotic hybrid system, guaranteeing robot's navigation safety can be more challenging than those discrete controls alone or only the continuous robot motions. For a robotic system operating in the real world, navigation safety is critical in order to avoid potential harm for robots or their surrounding environment. We present safety guarantee and obstacle avoidance control algorithms for mobile ground robots modeled by hybrid programs. Using the verification tool keymaera, we formally verify that our algorithms satisfy passive or passive friendly safety properties in an environment consisting of stationary/dynamic obstacles. These algorithms allow us to check the navigation safety at the design stage of a robotic system.

关键词： motion safety collision avoidance formal methods mobile ground robot

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Perovskite Solar Cells: Unique Seamlessly Bonded CNT@Graphene Hybrid Nanostructure Introduced in an Interlayer for Efficient and Stable Perovskite Solar Cells (Adv. Funct. Mater. 32/2018)

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advanced Functional Materials 2018年第32期28卷

作者： Xuanhua Li Tengteng Tong Qinjiang Wu Shaohui Guo Qiang Song Jian Han Zhixiang Huang State Key Laboratory of Solidification Processing Research and Development Institute of Northwestern Polytechnical University In Shenzhen Center for Nano Energy Materials School of Materials Science and Engineering Northwestern Polytechnical University and Shaanxi Joint Lab of Graphene (NPU) Xi'an 710072 China Northwestern Polytechnical University‐Queen Mary University of London (NPU‐QMUL) Joint Research Institute of Advanced Materials and Structures (JRI‐AMAS) Xi'an 710072 China Key Laboratory of Intelligent Computing and Signal Processing Ministry of Education Anhui University No. 3 Feixi Road Hefei Anhui Province 230039 P. R. China

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Author Correction: Gate-tunable third-order nonlinear optical response of massless Dirac fermions in graphene

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Nature Photonics 2018年第10期12卷 634-634页

作者： Tao Jiang Di Huang Jinluo Cheng Xiaodong Fan Zhihong Zhang Yuwei Shan Yangfan Yi Yunyun Dai Lei Shi Kaihui Liu Changgan Zeng Jian Zi J. E. Sipe Yuen-Ron Shen Wei-Tao Liu Shiwei Wu State Key Laboratory of Surface Physics Key Laboratory of Micro and Nano Photonic Structures (MOE) Department of Physics and Institute for Nanoelectronic Devices and Quantum Computing Fudan University Shanghai China Changchun Institute of Optics Fine Mechanics and Physics Chinese Academy of Sciences Changchun China International Center for Quantum Design of Functional Materials Hefei National Laboratory for Physical Sciences at the Microscale and Synergetic Innovation Center of Quantum Information and Quantum Physics University of Science and Technology of China Hefei China CAS Key Laboratory of Strongly-Coupled Quantum Matter Physics and Department of Physics University of Science and Technology of China Hefei China State Key Laboratory for Mesoscopic Physics and School of Physics Peking University Beijing China Collaborative Innovation Center of Advanced Microstructures Nanjing China Department of Physics University of Toronto Toronto Canada Physics Department University of California Berkeley USA

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design and kinematic simulation of a novel exoskeleton rehabilitation hand robot

Design and kinematic simulation of a novel exoskeleton rehab...

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IEEE International Conference on Mechatronics and Automation

作者： Shuxiang Guo Weijie Zhang Jian Guo Jiange Gao Yuye Hu Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems and Biomedical Robot Laboratory Tianjin University of Technology Tianjin China Intelligent Mechanical Systems Engineering Department Kagawa University Takamatsu Japan Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced Mechatronical System Tianjin China

ISBN: (纸本)9781509023974

The rehabilitation exoskeleton robot is more and more used in the assisting stroke patients in implementing rehabilitation training. In this paper, a novel exoskeleton hand robot which was driven by cable has been proposed to aim at helping varieties of paralyses patients recover motor function. This exoskeleton hand rehabilitation robot system mainly consists of exoskeleton hand robot, EEG system, motor controllers unit, some sensors and a workstation. And the hand exoskeleton mechanism was portable, wearable and adjustable for patients doing home rehabilitation training. Based on the parameters from human hand, the kinematic model of hand robot was established to be used in designing and the kinematic simulation experiments about this exoskeleton hand robot were done. Through the simulation software ADAMS (Automatic Dynamic Analysis of Mechanical Systems), the parameters of position, angle velocity and angle accelerated velocity (PVA) of proximate inter-phalanger (DIP) distal inter-phalanger joint were simulated. And then, the movement situation of the DIP joint was obtained according to the data from the position encoder. So the velocity curve and accelerated velocity curve were obtained by calculating the actual position function derivation. The simulated results showed that this exoskeleton hand robot has high movement ability to finish the continuous passive motion (CPM). Beside that, a comparison test was done to verify whether there were some motion blocks in wearing exoskeleton robot. Through analyzing the experimental data, the error between the actual position and the simulated position of the PIP joint of the finger was very small which verified the small interference of robot. These experiments demonstrated that the exoskeleton hand robot has high efficiency movement ability for stroke patients who need to do the finger rehabilitation training. In the future, the optimization design of the exoskeleton hand robot will be done in order to improve more mov

关键词： Exoskeletons Thumb Robot sensing systems Joints Training

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design of the structural optimization for the upper limb rehabilitation robot

Design of the structural optimization for the upper limb reh...

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IEEE International Conference on Mechatronics and Automation

作者： Shuxiang Guo Jiange Gao Jian Guo Weijie Zhang Yuye Hu Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems and Biomedical Robot Laboratory Tianjin University of Technology Tianjin China Intelligent Mechanical Systems Engineering Department Kagawa University Takamatsu Japan Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced Mechatronical System Tianjin China

ISBN: (纸本)9781509023974

The exoskeleton robotic rehabilitation training system is a branch of the field of robotics, it is the external mechanical system that is consistent with the similar joints of the human body, and attached to the human body. With the development of exoskeleton rehabilitation robotic system, the biomechanics influence of device should be considered in rehabilitation training. This paper proposes a novel upper limb exoskeleton rehabilitation device based on biomechanics, which can be used in rehabilitation of upper limb for hemi paralysis patients. This system aims at helping hemi paralysis patients recover motor function of upper limb; in addition it is suitable for variety of patients. This system is portable and wearable, which consists of exoskeleton device, hepatic device (PHANTOM Premium), motor controllers and work station (computer). This paper proposes a structural optimization scheme in order to solve some problems of bowl's structure of the rehabilitation robot. The Pro/ENGINEER Wildfire (Pro/E) software is applied to get a three-dimensional modelling, kinematics simulation and dynamic analysis of the rehabilitation robot. From the analysis, the robot end motion simulation curves were obtained to verify the optimization structure reasonable and better motion characteristics. In the future, this structure will have a wide application prospect in the rehabilitation therapy field.

关键词： Robots Exoskeletons Wrist Jacobian matrices Gears Optimization Acceleration

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Application and development of digital image correlation method in biomechanics

Application and development of digital image correlation met...

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第五届国际仿生工程学术大会(ICBE2016)

作者： Qiu Lulu Zhang Chunqiu School of Mechanical Engineering Tianjin University of Technology Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced Mechanical System School of Mechanical EngineeringTianjin University of Technology

With the rapid development of computer technology and electronic equipment, as well as the corresponding improvement of algorithm, digital image correlation technology has attracted the attention of all walks of life. The digital image correlation method possesses a series of advantages like simple optical path, high precision and fast processing speed, which meets the demand of unique biomechanical properties and biological organization environment. This paper analyses the development process through the research of digital image correlation method and summarizes its application in biomechanical *** study also presents the method of digital image using in biomechanics aspects, showing the research progress and development trends about digital image correlation method in biomechanics. Besides this paper suggests some difficult problem existing to be solved and puts forward the corresponding solutions.

关键词： Digital image correlation method biomechanic speckle

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An Improved Virtual Spherical Lights Approach for Glossy Illumination

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Computer Aided Drafting,design and Manufacturing 2015年第1期25卷 74-80页

作者： DONG Jing WANG Lan BAI Shuang-xue Key Laboratory of Advanced Design and Intelligent Computing (Dalian University) Ministry of Education

Based on a virtual spherical light source method, this paper presents an improved virtual spherical lights approach for glossy illumination by modifying a reflection render equation. First, in order to keep primitive spherical lights, it uses non-zero solid angle integration instead of a geometric item of traditional Instant Radiosity arithmetic. Second, the formula mode for the light energy allocation of VSLs is improved by the energy distribution, in which the radius of sphere is replaced by the radius of inscribed circle generated by the tangent to the non-zero solid angle of cone. Third, the similar function of judging two point visibility takes place of a cosine term in the approximate equations of the VSLs. Experiments show that blurring or disappearing phenomenon that appear in part of right-angle surface scene is avoided.

关键词： virtual spherical lights glossy rendering global illumination rendering

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Water Splitting: Optical and Electrical Enhancement of Hydrogen Evolution by MoS2@MoO3Core–Shell Nanowires with designed Tunable Plasmon Resonance (Adv. Funct. Mater. 32/2018)

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advanced Functional Materials 2018年第32期28卷

作者： Shaohui Guo Xuanhua Li Xingang Ren Lin Yang Jinmeng Zhu Bingqing Wei State Key Laboratory of Solidification Processing Center for Nano Energy Materials School of Materials Science and Engineering Northwestern Polytechnical University and Shaanxi Joint Lab of Graphene (NPU) Xi'an 710072 China Northwestern Polytechnical University‐Queen Mary University of London (NPU‐QMUL) Joint Research Institute of Advanced Materials and Structures (JRI‐AMAS) Xi'an 710072 China Key Laboratory of Intelligent Computing and Signal Processing Ministry of Education Anhui University No. 3 Feixi Road Hefei Anhui Province 230039 P. R. China Department of Mechanical Engineering University of Delaware Newark DE 19716 USA

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Maximizing higher derivatives of unknown maps with stochastic extremum seeking

Maximizing higher derivatives of unknown maps with stochasti...

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American Control Conference

作者： Greg Mills Miroslav Krstic Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced Mechatronical System Tianjin University of Technology Tianjin China College of Computer National University of Defense Technology Changsha China

ISBN: (纸本)9781467386838

We present a stochastic generalization to the scalar Newton-based extremum seeking algorithm which through measurements of an unknown map, maximizes the map's higher derivatives. The proposed method perturbs the estimate of the optimal parameter with the sinusoid of Brownian motion about the boundary of a circle. Then by properly demodulating the map output of the randomly perturbed estimate, the extremum seeking algorithm maximizes the nth derivative only through measurements of the map. The Newton-based extremum seeking approach removes the dependence of the convergence rate on the unknown Hessian of the higher derivative, an effort to improve performance over standard gradient-based extremum seeking. Our design stems from the existing multivariable Newton-based extremum seeking algorithm where a differential Riccati equation estimates the inverse Hessian of the function to be maximized. Algebraically computing a direct estimate of the inverse Hessian is susceptible to singularity, where-as employing the Riccati filter removes that potential. We prove local stability of the algorithm for general nonlinear static maps via stochastic averaging theory developed for extremum seeking.

关键词： Heuristic algorithms Convergence Stability analysis Optimization Demodulation Markov processes Demodulation Heuristic algorithms extremum seeking algorithm Markov chain extremum values Stability analysis Converge maps Riccati equations Hessian RATE DEPENDENCE optimal parameter

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Analysis of Dynamic Characteristics of Rugged Vessel in the Process of Hepatic Perfusion

Analysis of Dynamic Characteristics of Rugged Vessel in the ...

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IEEE International Conference on Mechatronics and Automation

作者： Songli Wang Jun Liu Yihe Liu Weimin Ge Tianjin key laboratory of the Design and Intelligent Control of the Advanced Mechanical System Tianjin University of Technology BinshuiXidao 391 Tianjin China Tianjin key Laboratory of Organ Transplantation Transplant surgery of Tianjin First Central Hospital Fukang Road 24 Tianjin China

ISBN: (纸本)9781509023974

The paper attempts to analyze the dynamic characteristics in the perfusion process of the hepatic vessel. A model of rugged vessel with a foreign matter was established based upon medical imaging data. The fluid flowing in the rugged vessel was simulated using the perfusion method of the symmetric pulsating flow (SPF) and the steady flow under the bidirectional fluid-structure interaction (FSI). The simulation results, on the one hand, demonstrate the feasibility of SPF within the perfusion process of the rugged vessel in liver. On the other hand, the results clearly show the dynamic behaviors which accorded with actual medical results. Comparing the perfusion results of the rugged vessel using SPF with the steady flow, the difference of vascular deformation is not obvious, while the peak of velocity in the rugged vessel used SPF is about 50% higher than that of the steady flow, that reveals SPF is more likely to take away the foreign matter. The study will be helpful to improve the quality of the donor liver and reduce the influence of subjective factors on the quality of cleaning, and it provides theoretical basis for the liver transplantation.

关键词： Hepatic Perfusion Rugged Vessel Symmetric Pulsating Flow Bidirectional Fluid-Structure Interaction Dynamics

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