A5100432929- Soft Robotics and Applications
- Robotic Mechanisms and Dynamics
- Robotic Path Planning Algorithms
- Prosthetics and Rehabilitation Robotics
- Robotics and Sensor-Based Localization
- Robotic Locomotion and Control
- Robot Manipulation and Learning
- Muscle activation and electromyography studies
- Advanced Measurement and Metrology Techniques
- Industrial Technology and Control Systems
- Surgical Simulation and Training
- Stroke Rehabilitation and Recovery
- Piezoelectric Actuators and Control
- Advanced Image and Video Retrieval Techniques
- Biofuel production and bioconversion
- Manufacturing Process and Optimization
- Advanced Sensor and Control Systems
- Transportation Safety and Impact Analysis
- Soil Mechanics and Vehicle Dynamics
- Robotics and Automated Systems
- Insect Pheromone Research and Control
- Radiation Detection and Scintillator Technologies
- Advanced Algorithms and Applications
- Control and Dynamics of Mobile Robots
- Extraction and Separation Processes
Harbin Institute of Technology
2015-2024
Zhejiang University of Technology
2021-2024
Sinopec (China)
2024
Numerical Method (China)
2024
Jilian Technology Group (China)
2023
CCTEG Shenyang Research Institute
2023
Northeast Forestry University
2007-2022
Xidian University
2021
CHN Energy (China)
2020
Central South University
2019
Rescue missions after coal mine accidents are highly risky and sometimes impossible for rescuers to perform. To decrease the risk rescuers, two generations of tracked mobile robots have been designed developed replace rescuers. In this paper, we present design iterations with experiments carried out in training sites working mines, summarize development experiences such rescue missions. robots, explosion-proof waterproof designs adapted explosive wet environments, while suspension systems...
Locomotion mode identification is essential for the control of a robotic rehabilitation exoskeletons. This paper proposes an online support vector machine (SVM) optimized by particle swarm optimization (PSO) to identify different locomotion modes realize smooth and automatic transition. A PSO algorithm used obtain optimal parameters SVM better overall performance. Signals measured foot pressure sensors integrated in insoles wearable shoes MEMS-based attitude heading reference systems (AHRS)...
We present a method for efficiently exploring highly convoluted environments. The incorporates two planning stages - an exploration stage extending the boundary of map, and relocation explicitly transiting robot to different sub-areas in environment. develops local Rapidly-exploring Random Tree (RRT) free space environment, maintains global graph through mapped both are dynamically expanded over replanning steps. is compared existing state-of-the-art methods various challenging simulation...
Abstract The underground building environment plays an increasingly important role in the construction of modern cities. To deal with possible fires, collapses, and so on, space, it is a general trend to use rescue robots replace humans. This paper proposes dual‐robot system solution for search environment. speed up search, two focus on different tasks. However, environmental perception information location them are shared. primary robot used quickly explore wide range, identify objects,...
A lower limb assistive exoskeleton is designed to help operators walk or carry payloads. The required shadow human motion intent accurately and compliantly prevent incoordination. If the user’s intention estimated accurately, a precise position control strategy will improve collaboration between user exoskeleton. In this paper, hybrid scheme, combining sliding mode (SMC) with cerebellar model articulation controller (CMAC) neural network, proposed react appropriately intent. genetic...
In order to get natural and intuitive physical interaction in the pose adjustment of minimally invasive surgery manipulator, a hybrid variable admittance model based on Fuzzy Sarsa(λ)-learning is proposed this paper. The provides continuous virtual damping controller respond human intentions, it effectively enhances comfort level during task execution by modifying generated dynamically. A fuzzy partition defined over state space used capture characteristics operator human-robot interaction....
With the increasing applications of wheeled mobile robots (WMRs) in various fields, some new challenges have arisen on designing its teleoperation system. One such is caused by wheel's slippage. This paper proposes a approach for haptic teledriving WMR coupled with In this system, WMR's linear velocity and angular velocity, respectively, follow master interface's positions. The proposed controller also includes an acceleration-level control law so that loss induced slippage can be...
Lower limb rehabilitation exoskeletons usually help patients walk based on fixed gait trajectories. However, it is not suitable for unilateral lower disorders. In this article, a hybrid training mode proposed to be applied in movement The includes two modes, that is, the passive and active assist mode. At an early stage of therapy, utilized, which microelectromechanical systems-based attitude heading reference system used collect trajectory healthy limb. exoskeleton unhealthy will driven...
The laryngeal tissue is sensitive to the operating force of surgical instrument in resection. A large may cause rupture vocal cords and surrounding tissues, which affect patients' normal voice. However, a small cannot achieve Based on experience, surgeons can estimate process using robot. estimated usually inaccurate, increase failure rate surgery. Therefore, fiber Bragg gratings(FBG)-based three-dimensional sensing sensor for robot, consists two flexible hinges series designed. And model...
For surgical robot, an independent contact sensing system can always provide intuitive operation reference in parallel to non-contact information. As one of them, force developed based on fiber Bragg grating sensor (FBGs) has been at the forefront gaining information from device past decade. Application span vitrectomy, cerebral surgery cardiac ablation yet still rarely seen laparoscopic surgery. In this paper, we present development X-Perce—a kit that be universally deployed robot. By...
An electromagnetic (EM) metasurface is a passive device capable of manipulating the reflected signal radar in both spatial and frequency domains. This paper presents novel analytical design EM scattering center model guided synthetic aperture (SAR) deception based on diverse time-modulation. The objective this to disguise real target as an intended deceptive conceal its original characteristics. To achieve this, we first extract express SAR image analytically. determined by number, amplitude...
The tendon driven mechanism using a cable and pulley to transmit power is adopted by many surgical robots. However, backlash hysteresis objectively exists in cable-pulley mechanisms, this nonlinear problem great challenge precise position control during the procedure. Previous studies mainly focused on transmission characteristics of cable-driven system constructed models under particular assumptions solve problems. these approaches are limited because modeling process complex lack general...
A portable tracked robot with arms is introduced in this paper. 3-DOF arm mounted on top of the used to hold sensor system, and motions robot's swing improve its obstacle performance. At first, stability analysis performance based CG position discussed from crossing ditch climbing obstacle. And then dynamic load (3-DOF arm) effect track detail. The models three critical poses are made. From these models, relationships between inertia forces obtained, which validated by experiments. results...