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| 1 | Gait Study and Pattern Generation of a Starfish-Like Soft Robot with Flexible Rays Actuated by SMAs显示文摘 | Shixin Mao Erbao Dong Hu Jin Min Xu Shiwu Zhang Jie Yang Kin Huat Low | 2014 | Journal of Bionic Engineering2014，11，3： | 26 |
| 2 | Control of Oxygen Potential and Its Effect on Dephosphorization of Ferromanganese显示文摘The relation of Lp(the ratio P content in slag to P content in ferromanganese) and L_(mn),(the ratio Mn content in slag to Mn content in ferromanganese) with C content[C]in ferromanganese were tested by means of the equilibrium experiments of P and Mn between ferromanganese and BaO-BaF_2-MnO slag system.The results show that there exists in ferromanganese an optimum C content[C]* corresponding to maximum L_P and minimum L_(Mn)> which is closely related to oxygen potential in the system and the activity of P in the alloy.The control limits of oxygen potential in dephosphorization of ferromanganese are then analyzed.The theoretical limits and measures to improve ferromanganese dephosphorization with BaO-based slag are studied comprehensively based on previous research. | Dong Yuanchi Guo Shangxing Chen Erbao | 1999 | Journal of Iron and Steel Research(International)1999，6，1： | 2 |
| 3 | Thermodynamics of Fe-P-C in Mn-Based Solutions显示文摘ThermodynamicsofFe┐P┐CinMn┐BasedSolutionsChenErbao①,YuXuebin②,DongYuanchi①,GuoShangxing①ABSTRACTThesolubilitiesofcarboninMn-... | Chen Erbao Yu Xuebin Dong Yuanchi Guo Shangxing | 1997 | Journal of Iron and Steel Research(International)1997，4，2： | 2 |
| 4 | A Smart and Hybrid Composite Finger with Biomimetic Tapping Motion for Soft Prosthetic Hand显示文摘This paper introduces the design and fabrication of a smart and Hybrid Composite Finger(HCF)to achieve finger-like motions,such as holding and tapping motions.Bionic research on tapping motion of the index finger was conducted to obtain its structural and tapping parameters.The HCF,actuated by Shape Memory Alloy(SMA)wires,possesses a hybrid structure which is composed of a rigid structure to be its metacarpal part and a deformable structure to produce bending movement just like the function of the finger.Owing to an adhesive bonding technology,the HCF was fabricated with a composite structure which is reliable under impulsive responses,and had a worklife of more than 630000 times.A bending model was built by synthesizing the phase transformation dynamic model of the SMA wires and quasi-static analysis of the HCF.Structural optimization of the HCF was conducted by synthesizing the bending model together with experimental analyses.To produce a holding motion like as the finger,a holding heating strategy was proposed to adaptively heat the HCF to keep holding state based on the resistance feedback of SMA wires and a Proportion Differentiation(PD)algorithm.Besides,we used an impulsive heating method to heat the HCF to produce a high fidelity tapping motion with a maximum tapping force(6.83 N)at a response time(43 ms)which considerably coincided with those(about 5.8 N,45 ms)from tapping bionics of the index finger.Finally,a soft prosthetic hand system which had a hand-like appearance was manufactured based on the HCFs and several tests like as anthropomorphic gesture motions and human-like tapping motions to tap a keyboard were conducted to prove potential application of the HCF. | Hu Jin Erbao Dong Min Xu Jie Yang | 2020 | Journal of Bionic Engineering2020，17，3： | 1 |
| 5 | A Multi-Scale Grasp Detector Based on Fully Matching Model显示文摘Robotic grasping is an essential problem at both the household and industrial levels,and unstructured objects have always been difficult for grippers.Parallel-plate grippers and algorithms,focusing on partial information of objects,are one of the widely used approaches.However,most works predict single-size grasp rectangles for fixed cameras and gripper sizes.In this paper,a multi-scale grasp detector is proposed to predict grasp rectangles with different sizes on RGB-D or RGB images in real-time for hand-eye cameras and various parallel-plate grippers.The detector extracts feature maps of multiple scales and conducts predictions on each scale independently.To guarantee independence between scales and efficiency,fully matching model and background classifier are applied in the network.Based on analysis of the Cornell Grasp Dataset,the fully matching model canmatch all labeled grasp rectangles.Furthermore,background classification,along with angle classification and box regression,functions as hard negative mining and background predictor.The detector is trained and tested on the augmented dataset,which includes images of 320×320 pixels and grasp rectangles ranging from 20 tomore than 320 pixels.It performs up to 98.87% accuracy on image-wise dataset and 97.83% on object-wise split dataset at a speed of more than 22 frames per second.In addition,the detector,which is trained on a single-object dataset,can predict grasps on multiple objects. | Xinheng Yuan Hao Yu Houlin Zhang Li Zheng Erbao Dong Heng’an Wu | 2022 | Computer Modeling in Engineering & Sciences2022，，11： | 0 |
| 6 | EPL-PRM:Equipotential line sampling strategy for probabilistic roadmap planners in narrow passages显示文摘Path planning is a crucial concern in the field of mobile robotics,particularly in complex scenarios featuring narrow passages.Sampling-based planners,such as the widely utilized probabilistic roadmap(PRM),have been extensively employed in various robot applications.However,PRM’s utilization of random node sampling often results in disconnected graphs,posing a significant challenge when dealing with narrow passages.In order to tackle this issue,we present equipotential line sampling strategy for probabilistic roadmap(EPL-PRM),a novel approach derived from PRM.This paper initially proposes a sampling potential field,followed by the construction of equipotential lines that are denser in the proximity of obstacles and narrow passages.Random sampling is subsequently conducted along these lines.Consequently,the sampling strategy enhances the likelihood of sampling nodes around obstacles and narrow passages,thereby addressing the issue of sparsity encountered in traditional sampling-based planners.Furthermore,we introduce a nodal optimization method based on an artificial repulsive field,which prompts sampled nodes to move in the direction of repulsion.As a result,nodes around obstacles are distributed more uniformly,while nodes within narrow passages gravitate toward the middle of the passages.Finally,extensive simulations are conducted to evaluate the proposed method.The results demonstrate that our approach achieves path planning with superior efficiency,lower cost,and higher reliability compared with traditional algorithms. | Run Yang Jingru Li Zhikun Jia Sen Wang Huan Yao Erbao Dong | 2023 | Biomimetic Intelligence & Robotics2023，3，3： | 0 |
| 7 | A Soft Robotic Fish Actuated by Artificial Muscle Modules(SoRoFAAM-1)显示文摘In this paper,we present the design,fabrication,locomotion and bionic analysis of a Soft Robotic Fish Actuated by Artificial Muscle(SoRoFAAM).As a carangiform swimmer,the most important part of SoRoFAAM-1,on the motion point of view,is its tail designed around a bidirectional flexible bending actuator by layered bonding technology.This actuator is made of two artificial muscle modules based on Shape Memory Alloy(SMA)wires.Each artificial muscle module has four independent SMA-wire channels and is therefore capable of producing four different actuations.This design allows us to implement an adaptive regulated control strategy based on resistance feedback of the SMA wires to prevent them from overheating.To improve the actuation frequency to 2 Hz and the heat-dissipation ratio by 60%,we developed a round-robin heating strategy.Furthermore,the thermomechanical model of actuator is built,and the thermal transformation is analysed.The relationships between the actuation parameters and SoRoFAAM-1’s kinematic parameters are analysed.The versatility of the actuator endows SoRoFAAM-1 with cruise straight and turning abilities.Moreover,SoRoFAAM-1 has a good bionic fidelity;in particular,a maneuverability of 0.15,a head swing factor of 0.38 and a Strouhal number of 0.61. | Moise Raphael Tsimbo Fokou Qirong Xia Hu Jin Min Xu Erbao Dong | 2023 | Journal of Bionic Engineering2023，20，5： | 0 |
| 8 | Intelligent power distribution live‐line operation robot systems based on stereo camera显示文摘Maintenance tasks in distribution networks are often accompanied by hazards associated with high altitudes and high voltages.By utilising robots instead of human operators to perform these tasks,potential risks can be avoided,while productivity can be increased.This research proposes an intelligent power distribution live‐line operation robot(PDLOR)system based on a stereo camera to replace human to complete work.The PDLOR system consists of several key components,including dual manipulators,wireless tools,a visual perception system,an insulated bucket truck,and a ground control ter-minal.Once the task is confirmed,the real‐time vision system identification and posi-tioning enable the adjustment of the insulated bucket to position the robot correctly for its intended work.The stereo camera plays a crucial role in accurately recognising and estimating the object's orientation.Additionally,a simplified reconstruction is performed within a virtual simulation environment,which aids in collision detection during path planning.After obtaining the optimal path,it is then communicated to the real manip-ulator for execution.To validate the feasibility of the PDLOR system,field experiments were conducted in actual distribution network scenarios.The results demonstrate that the PDLOR effectively completes single‐phase power‐line connection tasks within a remarkable 10‐min timeframe. | Yutao Chen Yahao Wang Xuming Tang Kai Wu Shaolei Wu Rui Guo Yu Feng Erbao Dong | 2023 | High Voltage2023，8，6： | 0 |
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