Shenyang Institute of Automation,Chinese Academy Of Sciences
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Review of Research and Development of Supernumerary Robotic Limbs
No full textSupernumerary robotic limbs (SRLs) are a new type of wearable human auxiliary equipment, which is currently a hot research topic in the world. SRLs have broad applications in many fields, and will provide a reference and technical support for the realization of human-robot collaboration and integration, while playing an important role in improving social security and public services. In this paper, representative SRLs are summarized from the aspects of related literature analysis, research status, ontology structure design, control and driving, sensing and perception, and application fields. This paper also analyzes and summarizes the current technical challenges faced by SRLs, and reviews development progress and key technologies, thus giving a prospect of future technical development trends. © 2014 Chinese Association of Automation.</p
A Shared Control Method for Autonomous and Remotely Operated Underwater Vehicle
No full text结合自主控制和操作人员遥控的共享控制是自主/遥控水下机器人(Autonomous and Remotely operated underwater Vehicle,ARV)研究的重要问题。面向ARV的环境探索任务,针对ARV艏向角的共享控制,提出一种基于多目标优化的共享控制方法。根据服从操作人员控制意图、提升ARV安全性、降低操作人员操作复杂性并优化ARV运动路径的要求,将ARV艏向角控制命令作为决策变量,分别设计了服从度、自主度和稳定度三个目标函数;根据栅格地图表示的局部环境中障碍物的分布信息设计了艏向角控制命令的安全性评估函数,并由安全性评估函数确定约束条件;根据目标函数和约束条件将ARV艏向角的共享控制转化为多目标优化问题,并使用最小最大法求解以得到最优的共享控制命令。基于研发的ARV共享控制仿真环境对提出的方法进行了计算机仿真和评估,验证了所提出的方法的有效性。</p
A multifunctional robotic system toward moveable sensing and energy harvesting
No full textThe operations of the triboelectric nanogenerator (TENG) highly rely on the availability of the mechanical motion source depending on the location, time, weather, etc. Thus, it is highly demanded to achieve moveable mechanical sensing and energy harvesting, but it is also challenging considering the system complexity, size, and weight. To this end, an electrostatic robotic system capable of locomotion, energy harvesting, and vibration sensing is proposed in this paper. The main body of the robot is an integration of an electrostatic actuator and a TENG, both of which share the same structure and materials and utilize the mechanical and electrical characteristics of electrostatic effects, respectively. The prototype is lightweight (2.46 g) and compact (3.7 cm in height and 9.1 cm in length), consisting of two conductive films as the main body in a zipper-like form and two flat conductive films as feet. Here we demonstrate the multifunctionality of this prototype by driving the robot crawling on the ground at a speed of 2.2 mm/s at maximum with a mini camera for monitoring, anchoring by electrostatic adhesive feet at the aim location where vibration is strong, sensing the vibration frequency accurately while having an average relative error of 8.7% in measuring the amplitude, and harvesting the energy by TENG. Such a multifunctional robotic system may enable broad potential applications in structural health monitoring, environmental surveillance, rescue, risky intervention, etc.</p
Face-Computer Interface (FCI): Intent Recognition Based on Facial Electromyography (fEMG) and Online Human-Computer Interface With Audiovisual Feedback
No full textPatients who have lost limb control ability, such as upper limb amputation and high paraplegia, are usually unable to take care of themselves. Establishing a natural, stable, and comfortable human-computer interface (HCI) for controlling rehabilitation assistance robots and other controllable equipments will solve a lot of their troubles. In this study, a complete limbs-free face-computer interface (FCI) framework based on facial electromyography (fEMG) including offline analysis and online control of mechanical equipments was proposed. Six facial movements related to eyebrows, eyes, and mouth were used in this FCI. In the offline stage, 12 models, eight types of features, and three different feature combination methods for model inputing were studied and compared in detail. In the online stage, four well-designed sessions were introduced to control a robotic arm to complete drinking water task in three ways (by touch screen, by fEMG with and without audio feedback) for verification and performance comparison of proposed FCI framework. Three features and one model with an average offline recognition accuracy of 95.3%, a maximum of 98.8%, and a minimum of 91.4% were selected for use in online scenarios. In contrast, the way with audio feedback performed better than that without audio feedback. All subjects completed the drinking task in a few minutes with FCI. The average and smallest time difference between touch screen and fEMG under audio feedback were only 1.24 and 0.37 min, respectively
Digital micro-mirror device -based light curing technology and its biological applications
No full text3D printing technology has significantly changed the traditional way of manufacturing mechanical structures. Digital micro-mirror-based light-curing technology provides a good way to fabricate biological as well as nonbiological structures in the micro and micro-nano field because of its high resolution and efficient printing by simultaneously curing the entire layer. In biological applications, it has been possible to print biological scaffolds using this technology to precisely control the selective attachment and three-dimensional growth of cells inside the scaffold. In vitro cultured tissue models built using digital micro-mirror-based light curing technology have been used for in vitro drug screening and disease modeling. This review details the digital micromirror technique and the principles of photo-curing, as well as the basic properties of commonly used photo-curable biomaterials. The history of DMD-based light curing technology in biological applications is presented, as well as the latest developments. Finally, the outstanding challenges and development prospects of the technology are discussed
Multi-IMF Sample Entropy Features with Machine Learning for Surface Texture Recognition Based on Robot Tactile Perception
No full textDiscrimination of surface textures using tactile sensors has attracted increasing attention. Intelligent robotics with the ability to recognize and discriminate the surface textures of grasped objects are crucial. In this paper, a novel method for surface texture classification based on tactile signals is proposed. For the proposed method, first, the tactile signals of each channel (X, Y, Z, and S) are decomposed based on empirical mode decomposition (EMD). Then, the intrinsic mode functions (IMFs) are obtained. Second, based on the multiple IMFs, the sample entropy is calculated for each IMF. Therefore, the multi-IMF sample entropy (MISE) features are obtained. Last but not least, based on the two public datasets, a variety of machine learning algorithms are used to recognize different textures. The results show that the SVM classification method, with the proposed MISE features, achieves the highest classification accuracy. Undeniably, the MISE features with the SVM method, proposed in this paper, provide a novel idea for the recognition of surface texture based on tactile perception
Design and Application of Image Acquisition Scheme for Character Recognition in Iron Pipes
No full text本文针对铸管行业常见的铸管铸字号的特点,设计了一套铸管内壁阳文铸字的图像采集方案,对该方案的设计做了详细的描述。在铸管厂部署实施后,对采集的图像进行了测评,证明了该方案效率高,稳定性好,能够满足进一步铸字识别的需要。</p
一种军工装备翻转测试装置
No full text本发明涉及军工装备测试领域，具体地说是一种军工装备翻转测试装置，包括测试基座、翻转机架、翻转驱动装置、位置检测组件和锁定组件，其中测试基座包括两侧的侧支架，且翻转机架两侧中部分别转动安装于对应侧的侧支架上，翻转驱动装置底端铰接于测试基座底部、上侧直线输出端与所述翻转机架一端铰接，所述翻转机架上侧边缘设有带定位销的支板，所述翻转机架底端设有电旋支撑组件，所述翻转机架远离所述翻转驱动装置一端设有带锁定孔的角度锁定板，锁定组件安装于测试基座上且设有与所述锁定孔配合的锁定轴，位置检测组件包括设于翻转机架上的倾角传感器。本发明适用于不同型号军工装备多角度翻转测试，提高效率，节省占地，且保证测试精度
一种快速搭建软件系统的自动构造方法
No full text本发明涉及一种快速搭建软件系统的自动构造方法，方法包括以下步骤：创建系统，同时自动生成所需基础结构及数据结构；通过可视化方式搭建项目层级菜单，同时可根据菜单生成路由；给每一级菜单都对应着一个页面，因此要给每一个页面配置元素；给每个元素配置数据；数据填充元素，若干元素组合成页面，最后若干页面组合成完整的系统。本发明可以根据用户的个性化以及通用化需求快速、免代码的生成软件系统，灵活度更高，通用性更强，维护成本也更低
多模块柔性水蛇机器人
No full text本实用新型涉及柔性移动机器人机构，具体地说是一种多模块柔性水蛇机器人，包括柔性躯干、柔性关节及柔性摆动蛇尾，柔性躯干及柔性关节均为多个，相邻两柔性躯干之间通过柔性关节连接，位于最后的柔性躯干与柔性摆动蛇尾相连；柔性躯干为介电弹性体，包括丁腈橡胶及弹簧，丁腈橡胶的两端分别通过柔性关节与相邻柔性躯干连接，弹簧容置于丁腈橡胶内；丁腈橡胶通电产生弯曲变形，断电后的丁腈橡胶通过弹簧恢复原状，各柔性躯干通电弯曲变形产生的摆动最终传递至柔性摆动蛇尾而拍击水，通过水的反作用力推动柔性水蛇机器人在水下游动。本实用新型具有模块化、可重构、模块集成度高、高柔性等特点，可根据实际环境进行柔性变形