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| 1 | Research on Pressure Tactile Sensing Technology Based on Fiber Bragg Grating Array显示文摘一个压力触觉的传感器基于纤维布拉格栅栏(FBG ) ,数组在这篇论文,和它的有弹性的身体的数字模拟被介绍被有限元素软件(ANSYS ) 实现。根据模拟,纤维布拉格栅栏绳在灵活硅酮被植入认识到传感器制造过程,并且一个严峻的系统被造。一系列刻度测试经由高精确被做通用出版社机器。触觉的传感器数组察觉了外部压力,它被纤维栅栏解调仪器使解调,并且三尺寸的图画被规划视觉上显示位置和尺寸。同时,传感器的一个动态接触实验为模仿在未知环境遇到另外的目标的机器人被进行。试验性的结果证明传感器有好线性,重覆性,并且有动态反应的好效果,并且它的压力敏感是 0.03 nm/N。另外,传感器也有反电磁的干扰的优点,好灵活性,简单结构,低等等花费,它被期望以后在便携人工的皮肤被过去常。 | Jinxue SONG Qi JIANG Yuanyang HUANG Yibin LI Yuxi JIA Xuewen RONG Rui SONG Hongbin LIU | 2015 | Photonic Sensors2015，5，3： | 8 |
| 2 | Apparent diffusion coefficient in normal and abnormal pattern of intervertebral lumbar discs: initial experience显示文摘The aim of the present study was to compare the relationship of morphologically defined non-bulging/herni-ated, bulging and herniated intervertebral lumbar discs with quantitative apparent diffusion coefficient (ADC). Thirty-two healthy volunteers and 28 patients with back pain or sciatica were examined by MRI. All intervertebral lumbar discs from L1 to S1 were classified according to morphological abnormality and degenerated grades. The ADC values of nucleus pulposus (NP) were measured and recorded. The significant differences about mean ADC values of NP were found between non-bulging/herniated discs and bulging discs as well as herniated discs (P < 0.05), whereas there were no significant differences in ADC values between bulging and herniated discs (P > 0.05). Moreover, statistically significant relationship was found in the mean ADC values of NP between 'non-bulging/herniated and non-degenerated discs' and 'non-bulging/herniated degenerated discs' as well as herniated discs (P < 0.05). Linear regression analysis between ADC value and disc level revealed an inverse correlation (r = -0.18). The ADC map of the NP is a potentially useful tool for the quantitative assessment of componential and molecular alterations accompanied with lumbar disc abnormalities. | Gang Niu Xuewen Yu Jian Yang Rong Wang Shaojuan Zhang Youmin Guo | 2011 | The Journal of Biomedical Research2011，25，3： | 7 |
| 3 | Adaptive Proportional-Derivative Sliding Mode Control Law With Improved Transient Performance for Underactuated Overhead Crane Systems显示文摘In this paper, an adaptive proportional-derivative sliding mode control(APD-SMC) law, is proposed for 2D underactuated overhead crane systems. The proposed controller has the advantages of simple structure, easy to implement of PD control, strong robustness of SMC with respect to external disturbances and uncertain system parameters, and adaptation for unknown system dynamics associated with the feedforward parts. In the proposed APD-SMC law, the PD control part is used to stabilize the controlled system, the SMC part is used to compensate the external disturbances and system uncertainties,and the adaptive control part is utilized to estimate the unknown system parameters. The coupling behavior between the trolley movement and the payload swing is enhanced and, therefore, the transient performance of the proposed controller is improved.The Lyapunov techniques and the La Salle's invariance theorem are employed in to support the theoretical derivations. Experimental results are provided to validate the superior performance of the proposed control law. | Menghua Zhang Xin Ma Rui Song Xuewen Rong Guohui Tian Xincheng Tian Yibin Li | 2018 | IEEE/CAA Journal of Automatica Sinica2018，5，3： | 5 |
| 4 | A Trot and Flying Trot Control Method for Quadruped Robot Based on Optimal Foot Force Distribution显示文摘In order to enhance the dynamic motion capability of the bionic quadruped robot,a flying trot gait control method based on full-scale virtual model and optimal plantar force distribution is proposed.A stable flying trot gait is accomplished by mapping the robot torso motion to the foot trajectory.The force distribution calculated by the torso virtual model is converted into a quadratic optimization problem and solved in real time by the open source library Gurobi.The transition between the trot gait and the flying trot gait is achieved by coordinating leg motion phases.The results of the dynamic simulation verify that the proposed method can realize the 3D stable flying trot gait.Compared against the trot gait,the flying trot gait can improve the speed of the quadruped robot.Combine the trot gait and the flying trot gait,the quadruped robot can move efficiently and adapt to complex terrains. | Teng Chen Xiaobo Sun Ze Xu Yibin Li Xuewen Rong Lelai Zhou | 2019 | Journal of Bionic Engineering2019，16，4： | 4 |
| 5 | Autonomous live working robot navigation with real-time detection and motion planning system on distribution line显示文摘In this study,an autonomous robot navigation system is designed for live working on distribution line.The developed system features a real-time detection and motion planning system,incorporating a manipulator capable of grasping power components.In order to accurately identify targets,the authors propose an object detection method based on the Larger Scale‘You Only Look Once’Version 4(LS-YOLOv4)algorithm for detecting the insulators and drop fuses.The LS-YOLOv4 extracts features of power components by Convolutional Neural Network(CNN),and then performs feature fusion.Then the authors develop a motion planning method based on the Node Control Optimal Rapidly Exploring Random Trees(NC-RRT*),which can drive the robot to realise the autonomous robot motion planning and obstacle avoidance.On the grasping function,the authors present a reliable Lightweight-based Convolutional Neural Network(L-CNN)grasping point detection method.Finally,the authors evaluate fully autonomous robotic system in both simulated and real-world experiments.The experimental results demonstrate that the proposed system can effectively identify the target and complete the grasping task in an efficient way.Notably,the proposed motion planning method can take into account both planning efficiency and accuracy to manipulation tasks. | Haoning Zhao Chaoqun Wang Rui Guo Xuewen Rong Jiamin Guo Qixun Yang Lecheng Yang Yuliang Zhao Yibin Li | 2022 | High Voltage2022，7，6： | 2 |
| 6 | Path planning based on sliding window and variant A* algorithm for quadruped robot显示文摘In order to improve the adaptability of the quadruped robot in complex environments,a path planning method based on sliding window and variant A* algorithm for quadruped robot is presented. To improve the path planning efficiency and robot security,an incremental A* search algorithm( IA*) and the A* algorithm having obstacle grids extending( EA*) are proposed respectively. The IA* algorithm firstly searches an optimal path based on A* algorithm,then a new route from the current path to the new goal projection is added to generate a suboptimum route incrementally. In comparison with traditional method solving path planning problem from scratch,the IA* enables the robot to plan path more efficiently. EA* extends the obstacle by means of increasing grid g-value,which makes the route far away from the obstacle and avoids blocking the narrow passage. To navigate the robot running smoothly,a quadratic B-spline interpolation is applied to smooth the path.Simulation results illustrate that the IA* algorithm can increase the re-planning efficiency more than 5 times and demonstrate the effectiveness of the EA* algorithm. | 张慧 Rong Xuewen Li Yibin Li Bin Zhang Junwen Zhang Qin | 2016 | High Technology Letters2016，22，3： | 2 |
| 7 | A buffering method for quadruped robots based on active impedance control显示文摘Compared with wheeled or tracked robots,legged robots exhibit advantages on agile locomotion and higher survival chance for deadly impacts. A buffering strategy is proposed for quadruped robots with non-extreme initial attitudes from the end of air-righting to the steady standing on the ground.This approach consists of landing phase,buffering phase and recovering phase. The variable stiffness control,proportional-derivative( PD) force control and foot trajectory planning are applied to the joints of quadruped robots until the end of the recovering phase. The PD parameters are tuned according to the desired performance of each phase. The above approach is verified on a virtual platform. | 刘斌 Rong Xuewen | 2016 | High Technology Letters2016，22，4： | 2 |
| 8 | Research on the measurement method for a large laser beam profile based on CCD diffuse transmission imaging显示文摘 | Pang Miao Rong Jian Yuan Xuewen | 2013 | Measurement Sci- ence and Technology2013，24，12： | 1 |
| 9 | Fabrication and characteristics of nano LiFePO 4 /C composites with high capacity and high rate using nano Fe 2 O 3 as raw materials显示文摘 | BaoHua Rong YanWen Lu XueWen Liu QingLin Chen Kun Tang HuaZhen Yang XingYun Wu Fei Shen YanBin Chen YueFeng Tang YanFeng Chen | 2014 | Nano Energy2014，，： | 1 |
| 10 | Design of trotting controller for the position-controlled quadruped robot显示文摘This work presents a controller designed for position-controlled quadrupedal dynamic locomotion,aiming at simple and robust trotting control. The controller takes the torso attitude angles and velocities into planning foot trajectories. Firstly design of the servo motor actuated quadruped robot is introduced and the kinematic equations are deduced. Then a scheme is presented for controlling the robot torso attitude based on the virtual leg model. Furthermore,it demonstrates the design of the controller which enables the robot to have a wide range of trotting gaits and omni-directional motions. Finally,results of robust trotting in various speeds,path tracking and push recovery in simulation are reported,and results of trotting on real quadruped robots will be studied. | 张国腾 Liu Jinchang Rong Xuewen Li Yibin Chai Hui Li Bin Zhang Hui Zhang Shuaishuai | 2016 | High Technology Letters2016，22，3： | 1 |
| 11 | Efficient Dynamic Locomotion of Quadruped Robot via Adaptive Diagonal Gait显示文摘Quadruped animals in the nature realize high energy efficiency locomotion by automatically changing their gait at different speeds.Inspired by this character,an efficient adaptive diagonal gait locomotion controller is designed for quadruped robot.A unique gait planning method is proposed in this paper.As the speed of robot varies,the gait cycle time and the proportion of stance and swing phase of each leg are adjusted to form a variety of gaits.The optimal joint torque is calculated by the controller combined with Virtual Model Control(VMC)and Whole-Body Control(WBC)to realize the desired motion.The gait and step frequency of the robot can automatically adapt to the change of speed.Several experiments are done with a quadruped robot made by our laboratory to verify that the gait can change automatically from slow-trotting to flying-trot during the period when speed is from 0 to 4 m/s.The ratio of swing phase is from less than 0.5 to more than 0.5 to realize the running motion with four feet off the ground.Experiments have shown that the controller can indeed consume less energy when robot runs at a wide range of speeds comparing to the basic controller. | Jian Bi Teng Chen Xuewen Rong Guoteng Zhang Guanglin Lu Jingxuan Cao Han Jiang Yibin Li | 2024 | Journal of Bionic Engineering2024，21，1： | 0 |
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