Safety Protection Method of Rehabilitation Robot Based on fNIRS and RGB-D Information Fusion

In order to improve the safety protection performance of the rehabilitation robot,an active safety protection method is proposed in the rehabilitation scene.The oxyhemoglobin concentration information and RGB-D information are combined in this method,which aims to realize the comprehensive monitoring of the invasion target,the patient's brain function movement state,and the joint angle in the rehabilitation scene.The main focus is to study the fusion method of the oxyhemoglobin concentration information and RGB-D information in the rehabilitation scene.Frequency analysis of brain functional connectivity coefficient was used to distinguish the basic motion states.The human skeleton recognition algorithm was used to realize the angle monitoring of the upper limb joint combined with the depth information.Compared with speed and separation monitoring,the protection method of multi-information fusion is safer and more comprehensive for stroke patients.By building the active safety protection platform of the upper limb rehabilitation robot,the performance of the system in different safety states is tested,and the safety protection performance of the method in the upper limb rehabilitation scene is verified.     

复合式康复机械手设计

为满足手臂运动功能障碍患者的康复需要,设计了一种复合式康复机械手.介绍了它的机械结构、工作原理和三种控制方式及根据D-H方法得出的康复机械手位姿的齐次变换矩阵.该康复机械手既可单独实现小臂、手掌的曲张运动又可实现小臂、手掌的联动；通过样机试验,验证了该康复机械手的基本功能,可为手臂运动功能障碍患者提供有效的康复训练.     

复合式康复机械手设计

为满足手臂运动功能障碍患者的康复需要,设计了一种复合式康复机械手．介绍了它的机械结构、工作原理和三种控制方式及根据D—H方法得出的康复机械手位姿的齐次变换矩阵．该康复机械手既可单独实现小臂、手掌的曲张运动又可实现小臂、手掌的联动;通过样机试验,验证了该康复机械手的基本功能,可为手臂运动功能障碍患者提供有效的康复训练．     

舰船过驳6自由度波浪补偿机器人仿真研究

提出一种对舰船过驳进行6自由度波浪补偿的机器人,对该机器人进行了运动学建模、优化设计,并进行了仿真。研究结果表明:该优化的补偿机器人可以实现舰船过驳6自由度的波浪补偿,为舰船过驳波浪运动实现6个自由度的完全补偿提供了可能。     

Dynamic Simulation Analysis of Humanoid Robot Walking System Based on ADAMS

Humanoid robots are a hot topic in the field of robotics research. The walking system is the critical part of the humanoid robot, and the dynamic simulation of the walking system is of great importance. In this paper, the stability of the walking system and the rationality of its structural design are considered in the study of dynamics for a humanoid robot. The dynamic model of humanoid robot walking system is established by using the Lagrange dynamics method. Additionally, the three-dimensional model of CATIA is imported into ADAMS. The humanoid robot walking system is added with the movement of the deputy and the driving force in the ADAMS.The torque and angular velocity of the ankle joint and hip joint are analyzed in the process of knee bends. The simulation results show that the overall performance of the humanoid robot walking system is favorable and has a smooth movement, and the specified actions can be completed, which proves the rationality of the humanoid robot walking system design.     

新型仿鱼推进器的设计

分析了尾鳍摆动推进器和喷水推进器的优缺点,提出融合喷水推进和尾鳍摆动推进的综合推进方式仿鱼推进器的设想,并从机动性、操纵性、动力性、效率等方面进行了分析,讨论了喷水推进和尾鳍摆动推进在不同工况下的协作,认为综合推进方式的各方面性能均优于它们单独工作的推进方式,给出了一例此种新型仿鱼推进器的设计方案.     

RESEARCH ON THE DOF DISPOSITION AND MECHANISMS DESIGN OF HUMANOID ROBOT

IntroductionSome researchers[1～ 3] in Yugoslavia,Japan andAmerica have got many achievements in bipedrobot since the beginning of1 970 s.The bipedrobot can walk in static and dynamic gait and al-so can turn around and go up stairs.Recentlyhumanoid robot has become a hot researchingpoint[4,5 ] .Humanoid robot has body includinghead,neck,waist and hands.Biped robot is abasis of humanoid robot.Usually a humanoidrobot should have more than 2 0 DOF.All thetechnology problems in DOF planning,m…     

两种常用的路基压实度检测方法

灌砂法和核子密度仪法是道路路基压实度检测中常用的两种检测方法.这两种方法应用范围比较广泛,且能够获得较高的检测精度,有利于道路工程施工质量控制.鉴于此,结合施工现场中的路基压实度检测,对两种检测方法的原理做出了分析并对两种检测方法进行对比,可为相关工作提供一定的参考与借鉴.     

An Active Endoscopy Robotic System for Direct Tracheal Inspection

The development of active endoscopy techniques is one important area of medical robot.This paper designed a new flexible and active endoscopy robotic system for direct tracheal inspection.The mobile mechanism of the robot is based on the inchworm movement actuated by pneumatic rubber actuator.There are five air chambers controlled independently,by adjusting pressures in air chambers,the robot can move in a straight mode or in a bending mode.The inspection sensors and some therapy surgery tools can be equipped in the front of the robot.The prototype was made and its mechanical characteristics were analyzed.The robot could move smoothly in a small plastic tube,and the robot is respectable to be used for inspection in human trachea directly.     

内河表面实测水流流速数据处理技术研究

水流流速是河流研究、航道项目设计中的重要参数,由于测量仪器自有的噪声误差、水流运动的脉动性以及测量人员的随机测量错误,都可能导致测量误差较大,不能保证数据的准确性.针对这一问题,文章采用数学分析法,以每个施测横向断面为基本单位,依次使用小波包滤波去噪和移动平均值法过滤,很好地消除了数据噪声及波动误差,流速的横向分布的连续性有了很大提高.通过傅里叶转换方程对降噪前后进行能谱分析,降噪前后差异很小,趋势基本一致.最后,借助SMS软件将数据点离散,生成了河段地形图.其结论方法可以为同类河流的实测流速数据处理提供技术支持.     

甩挂运输车辆气电连接测试仪研究与开发

甩挂运输车辆在匹配后需对其制动及灯光系统进行快速检测,以确保行驶时的安全性.为此开发了甩挂运输车辆气电连接测试仪.阐述了测试仪硬件设计、完成灯光检测电路的设计,对在调试过程中存在的噪声干扰信号采取了有效抑制措施.使用Labview进行了软件设计,并对实车进行了测试.该测试仪将虚拟仪器技术应用在甩挂运输车辆测试领域,为甩挂运输车辆的安全检查提供准确信息.     

Depth Camera-Based Robot-Assisted Ultrasonic Lipolysis System

With many advantages such as non-invasive,safe and quick effect,focused ultrasound lipolysis stands out among many fat-removing methods.However,during the whole process,the doctor needs to hold the ultra-sound transducer and press it on the patient's skin with a large pressure for a long time;thus the probability of muscle and bone damage for doctors is greatly increased.To reduce the occurrence of doctors' occupational diseases,a depth camera-based ultrasonic lipolysis robot system is proposed to realize robot-assisted automatic ultrasonic lipolysis operation.The system is composed of RealSense depth camera,KUKA LBR Med seven-axis robotic arm,PC host,and ultrasonic lipolysis instrument.The whole operation includes two parts:preoperative planning and intraoperative operation.In preoperative planning,the treatment area is selected in the camera image by the doctor;then the system automatically plans uniformly distributed treatment points in the treat-ment area.At the same time,the skin normal vector is calculated to determine the end posture of the robot,so that the ultrasound transducer can be pressed down in the normal direction of skin.During the intraoperative operation,the robot is controlled to arrive at the treatment point in turn.Meanwhile,the patient's movement can be detected by the depth camera,and the path of robot is adjusted in real time so that the robot can track the movement of patient,thereby ensuring the accuracy of the ultrasonic lipolysis operation.Finally,the human body model experiment is conducted.The results show that the maximum error of the robot operation is within 5 mm,average error is 3.1 mm,and the treatment points of the robot operation are more uniform than those of manual operation.Therefore,the system can replace the doctor and achieve autonomous ultrasonic lipolysis to reduce the doctor's labor intensity.     

水泥混凝土路面设计新规范在实践中的应用

就2011年《公路水泥混凝土路面设计规范》中的水泥路面结构设计新理念结合实践经验提出计算应用的新方法,可为广大公路工程建设者提供参考和借鉴。     

OBSTACLE-AVOIDANCE NAVIGATION OF MULTIPLE MOBILE ROBOTS

IntroductionRobo Cup,which involves multiple robots in acomplicated environment to achieve specific objec-tives,poses a common standard problem for aboard spectrum of specialize sub- fields in AI andintelligentrobotic agents[1] .The majorcharacteris-tic of the Robo Cup Soccer competition is the dy-namic nature of environment surrounding robots,which includes the problem addressed in this pa-per.In the current research of it[2 ,3 ] ,when the re-searchers think about the problem of avoiding ob…     

基于城市路网水平分级体系的道路横断面设计——以无锡市蠡溪路为例

常用的城市路网分级体系存在局限性,导致道路横断面设计以＂车＂为本,过于强调道路的＂通道＂功能,而忽视人们活动的＂场所＂功能。为解决这一问题,对现行基于城市路网垂直分级体系（快速路、主干路、次干路、支路）的道路横断面设计方法进行分析,提出＂两类（街与道）五级（商业街、景观街、生活街和主道、此道）＂的城市路网水平分级体系和考虑道路两侧土地利用、空间环境、交通运行、公交优先和慢行保障五方面因素的道路横断面设计方法,并将该方法应用于无锡市蠡溪路。实施结果表明,基于城市路网水平分级体系的道路横断面设计方法,使道路充分发挥车辆出行的＂通道＂功能和人们活动的＂场所＂功能,实现了城市道路设计中＂以人为本＂的目标。     

自动引导车辆(AGV)地图生成方法研究

提出了在人工导引方式下生成AGV数字地图的方法.利用立体视觉提取障碍物边界点,将不同视点处得到的观测集成到数字地图中,进一步提高数字地图的精度.由于AGV运动的不确定性,在将最新的观测集成到地图中之前,通过匹配新的观测数据与地图数据计算AGV位置.实验表明了该方法的有效性.     

A real-time collision-free path planning of a rust removal robot using an improved neural network

In this paper, a real-time collision-free path planning of the rust removal robot in a ship environment is proposed, which is based on an improved biologically inspired neural network algorithm. This improved algorithm is based on the biologically inspired neural network and modified with obstacle detection sensors and kinematic state templates, and is implemented in a ship rust removal robot planning system for dynamic trajectory generation. The real-time optimal trajectory is generated by the biologically inspired neural network, and the moving obstacle detection process of a ship robot working on the wall is simulated with the obstacle detection sensors models. The local real-time trajectory can be re-planned by the updated local map information, where the obstacle detection sensors are used to inspect partial environment information and update the robot nearby information in real time in the original neural network algorithm. At the same time, the method of the kinematic state templates matching and searching is used to solve the pipes’ influence of the rust removal robot climbing on the wall, which can not only provide a smooth path, but also can judge the motion direction and turning angle of the robot. Comparison of the proposed approach with the simulation shows that the improved algorithm is capable of planning a real-time collision-free path with achieving the local environmental information and judging the rust removal robot’s motion direction and turning angle. This proposed algorithm can be good used in the ship rust removal robot.     

A method to analyze the voltage-actuation response of a pre-strained circular dielectric elastomer actuator model

Dielectric elastomers (DEs) are the polymers capable of inducing deformation under electrical stimulation. When subject to a voltage across its thickness, the material reduces in thickness and expands in area. This paper presents a new method to analyze deformation and stress distribution response of the dielectric elastomer actuator (DEA) model under different applied voltage. An equal-biaxial pre-strained circular actuator model was built. The Yeoh strain energy potential and the collocation method are used for describing the large strain actuation response and stress distribution. The study in this paper has shown that: the stress and the stretch distributions in the passive region of the DE actuator depend on the radial distance from the center at the calculation point of the passive region and the magnitude of the applied voltage; with the same excitation applied voltage, we can get a larger deformation actuation by choosing an appropriate pre-stretch ratio; the influence of the non-ideal material has seriously affected the actual deformation of the DE actuators. This analytical model has a reference potential for the design optimization of high performance DEA systems and the model-based control of the DEA robot.     

A new plan and coordination strategy for robot system based on state space

This paper proposes a general plan and coordination strategy for robot system. The state space for robot system is constructed according to the task requirement and system characteristic. Reachable state of the system is figured out by the system’s internal and external constraints. Task plan and coordination are then transformed as trajectory solving problem in the state space, by which the realizable conditions for the given task are discussed. If the task is realizable, the optimal strategy for task execution could be investigated and obtained in state space. Otherwise, it could be transformed to be realizable via adjusting the system configuration and/or task constraint, and the transformation condition could also be determined. This contributes to design, plan, and coordination of the robotic tasks. Experiments of the manipulator path planning and multi-robot formation movement are conducted to show the validity and generalization of the proposed method. Foundation item: the National Natural Science Foundation of China (No. 60675041) and the Program for New Century Excellent Talents in University (No. NCET-06-0398)     

COLLISION-FREE OF MULTI-ROBOT SYSTEMS IN VIRTUAL ENVIRONMENT

IntroductionWith the development of automation and con-trol technology,on car- body plant,at present,consideration of multi- robot systems has become abasic requirement. With the help of multi- robotsystems,we can shorten production time,improveproduction quality and quantity,and decrease pro-duction error rate. Buthow multi- robots can coop-erate with each other,especially on welding pro-duction line for car- body,is what we concernabout the most.We hope to find a good way toplan out paths fo…