A5100770429- Robotic Mechanisms and Dynamics
- Soft Robotics and Applications
- Piezoelectric Actuators and Control
- Industrial Technology and Control Systems
- Advanced Algorithms and Applications
- Simulation and Modeling Applications
- Iterative Learning Control Systems
- Robotic Path Planning Algorithms
- Venomous Animal Envenomation and Studies
- Advanced Sensor and Control Systems
- Modular Robots and Swarm Intelligence
- Control and Dynamics of Mobile Robots
- Wireless Sensor Networks and IoT
- Advanced Surface Polishing Techniques
- Amphibian and Reptile Biology
- Marine Invertebrate Physiology and Ecology
- Mechanical Engineering and Vibrations Research
- Hydraulic and Pneumatic Systems
- Vehicle Dynamics and Control Systems
- Robotic Locomotion and Control
- Islanding Detection in Power Systems
- Robot Manipulation and Learning
- Dynamics and Control of Mechanical Systems
- Advanced Control Systems Optimization
- Fault Detection and Control Systems
China Automotive Technology and Research Center
2024
University of Macau
2014-2022
Beijing Institute of Technology
2021
Tianjin University of Technology
2008-2021
Nanjing University of Chinese Medicine
2020
Taiyuan University of Technology
2020
Tongji University
2018
Naval University of Engineering
2016
Shenyang Institute of Automation
2012-2015
University of Central Florida
2015
While snake venoms have been the subject of intense study, comparatively little work has done on lizard venoms. In this we examined structural and functional diversification anguimorph associated toxins, related these results to dentition predatory ecology. Venom composition was shown be highly variable across 20 species Heloderma, Lanthanotus, Varanus included in our study. kallikrein enzymes were ubiquitous, they also a particularly multifunctional toxin type, with differential activities...
Venoms can deleteriously affect any physiological system reachable by the bloodstream, including directly interfering with coagulation cascade. Such coagulopathic toxins may be anticoagulants or procoagulants. Snake venoms are unique in their use of procoagulant for predatory purposes. The boomslang (Dispholidus typus) and twig snakes (Thelotornis species) iconic African belonging to family Colubridae. Both species produce strikingly similar lethal pathologies. Despite these similarities,...
Stair-climbing is a necessary capacity for mobile robots. This paper presents an online control method the stair-climbing of transformable tracked robot, Amoeba-II, and this robot also isomerism-modules with different mechanism modules. Based on reasonable compartmentalization kinematics analysis process, coordination rotations modules can reduce slippage between tracks terrain. To ensure that climb stairs enough capability stability, criterion has been established based force each stage...
In this paper, we consider a class of optimal PID control problemssubject to continuous inequality constraints and terminal equalityconstraint. By applying the constraint transcription method alocal smoothing technique these constraintfunctions, construct corresponding smooth approximatefunctions. We use concept penalty function appendthese approximate functions cost function, forming anew function. Then, constrained problemis approximated by sequence parameter selectionproblems subject only...
In this paper, a novel over-constrained three degree-of-freedom (DOF) spatial parallel manipulator (SPM) is proposed. The architecture of the SPM comprised moving platform attached to base through two revolute- prismatic-universal jointed serial linkages and one spherical-prismatic-revolute linkage. prismatic joints are considered be actively actuated. Kinematics dynamics studied systematically. Firstly, both inverse forward displacements derived by analytic formulae. Then, velocities...
Skid steering of 4-wheel-drive electric vehicles has good maneuverability and mobility as a result the application differential torque to wheels on opposite sides. For path following, paper utilizes techniques sliding mode control based extended state observer which not only robustness against system dynamics modeled uncertain parameter but also reduces switch gain effectively, so obtain predictable behavior for instantaneous center rotation thus preventing excessive skidding. The efficiency...
A spatial 2-RPU&SPR parallel manipulator (PM) with three degrees of freedom (DOF) is proposed in this paper. The architecture the comprised a moving platform attached to base through two revolute-prismatic-universal jointed serial linkages and one spherical-prismatic-revolute linkage. prismatic motions joints are considered be actively actuated. has one-translational rotational (1T2R) DOFs respect fixed base. kinematics including forward inverse position analysis analyzed. At last,...
A comparison study of kinematics characteristics two overconstrained 2-R P U&S R parallel manipulators (PMs) is introduced in this paper. The PMs have the same properties terms one translational degree freedom (DOF) and rotational DOFs outputs. But there are some differences between as far joints distribution concerned, leading to respect workspace dexterity PMs. Firstly, based on screw theory, structural analyzed. Secondly, inverse forward displacements problems for formulated by...
Anti-slip regulation (ASR) is one of the research focus in field active safety electric vehicle. An ASR algorithm adaptive to road condition proposed this paper based on 4WD vehicle with in-wheel motors. The controller anti-windup sliding mode control robust wheel parameter uncertainty. longitudinal velocity estimator fusion dynamics method and kinematics adopted reduce estimation error. slope estimated using recursive least square forgetting factor acceleration sensor information calibrated...
This paper studies the kinematic and dynamic analysis of a novel unpowered exoskeleton with topology. Firstly, kinematics is analyzed by derivation closed-loop position equation, forward problems are obtained. Secondly, aim doing some research in dynamics, two links for changed into flexible links. Some shapes concerning parameters acquired simulation fitting curve method. Thirdly, meanwhile, model built using Lagrange Fourthly, gait experiment obtaining law human joints. Fifthly, verified...
Two types of 3-CRU translational parallel manipulators (TPM) are compared and investigated in this paper. The two TPMs have identical kinematics, but some differences exist terms the chain arrangement, one is fully symmetrical called TPM, other asymmetrical TPM. This paper focuses on discussing between workspace performance. study provides insights into with kinematics arranged differently.
Grid-connected inverter is one of the key techniques renewable energy generation. High-order filter like LCL normally used as a standard interface to grid provide proper attenuation switching frequency harmonics. However resonant limits improvement both steady state and dynamic performance grid-connected inverter. In this paper, new solution with multi- interleaved investigated, where simple L employed in each unit instead filter. Analytical study parameters' design presented. It can be...
In order to fully use the advantage of legless body and rhythmic gaits realize inspection task, snake-like robots dynamic simulators are developed with components available online open source software. The Serpenoid Curve formula is adopted generate joint rhythm robot serpentine locomotion. locomotion on land in water studied details experiments. This work wishes provide technical solution for researchers from different institutes show performance designed algorithm comparing other works...
With the development of measurement technology, Flexible Measuring Arm (FMA) is widely used in quality test automobile processing and industrial production. FMA a kind nonlinear system with many parameters. Low cost efficient calibration method have become focuses attention. This article presents fast for based on an adaptive Genetic Algorithm (GA) just several standard balls ball plate. It can greatly reduce than common external which needs high precision instruments sensors. Firstly,...
A comparative study of two over-constrained 2-RPU+SPR parallel manipulators (PM) is studied in terms workspace and transmission performance this paper. The PMs have identical kinematics limbs, but some differences exist the joints distribution. kinematics, are simulation examples presented to demonstrate between PMs. This provides insights into with limbs different
A novel spherical parallel manipulator (SPM), named Riflex, is designed and studied in this paper. Compared with the traditional SPMs, SPM composed of one rigid supporting limb three flexible limbs, type has a great potential application medical equipment rehabilitation robots. The kinematics analysis, numerical simulation kinematic analysis applications are presented
This paper investigates the high-precision path tracking control of tracked paver combined with global satellite navigation system. As is performing paving operations, it requires high accuracy and good vehicle stability. Therefore, considering influence road curvature on stability, situation that can not move quickly to expectation when lateral position deviates from path, this proposes a method based improved Pure Pursuit algorithm. The verified through experiments. experimental results...
This article has been retracted by the publisher.