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| 1 | Development of an Amphibious Turtle-Inspired Spherical Mother Robot显示文摘 | Liwei Shi Shuxiang Guo Shilian Mao Chunfeng Yue Maoxun Li Kinji Asaka | 2013 | Journal of Bionic Engineering2013，10，4： | 7 |
| 2 | Robust RGB-D Camera and IMU Fusion-based Cooperative and Relative Close-range Localization for Multiple Turtle-inspired Amphibious Spherical Robots显示文摘In the narrow, submarine, unstructured environment, the present localization approaches, such as GPS measurement, dead?rcckoning, acoustic positioning, artificial landmarks-based method, are hard to be used for multiple small-scale underwater robots. Therefore, this paper proposes a novel RGB-D camera and Inertial Measurement Unit (IMU) fusion-based cooperative and relative close-range localization approach for special environments, such as underwater caves. Owing to the rotation movement with zero-radius, the cooperative localization of Multiple Turtle-inspired Amphibious Spherical Robot (MTASRs) is realized. Firstly, we present an efficient Histogram of Oriented Gradient (HOG) and Color Names (CNs) fusion feature extracted from color images ofTASRs. Then, by training Support Vector Machine (SVM) classifier with this fusion feature, an automatic recognition method of TASRs is developed. Secondly, RGB-D camerabased measurement model is obtained by the depth map In order to realize the cooperative and relative close-range localization of MTASRs, the MTASRs model is established with RGB-D camera and IMU. Finally, the depth measurement in water is corrected and the efficiency of RGB-D camera for underwater application is validated. Then experiments of our proposed localization method with three robots were conducted and the results verified the feasibility of the proposed method for MTASRs. | Huiming Xing Liwei Shi Kun Tang Shuxiang Guo Xihuan Hou Yu Liu Huikang Liu Yao Hu | 2019 | Journal of Bionic Engineering2019，16，3： | 6 |
| 3 | Stability analysis and design of time-delay uncertain systems using robust reliability method显示文摘A robust reliability method for stability analysis and reliability-based stabilization of time-delay dynamic systems with uncertain but bounded parameters is presented by treating the uncertain parameters as interval variables.The performance function used for robust reliability analysis is defined by a delayindependent stability criterion.The design of robust controllers is carried out by solving a reliability-based optimization problem in which the control cost satisfying design requirements is minimized.This kind of treatment makes it possible to achieve a balance between the reliability and control cost in the design of controller when uncertainties must be taken into account.By the method,a robust reliability measure of the degree of stability of a time-delay uncertain system can be provided,and the maximum robustness bounds of uncertain parameters such that the time-delay system to be stable can be obtained.All the procedures are based on the linear matrix inequality approach and therefore can be carried out conveniently.The effectiveness and feasibility of the proposed method are demonstrated with two practical examples.It is shown by numerical simulations and comparison that it is meaningful to take the robust reliability into account in the control design of uncertain systems. | Shuxiang Guo | 2011 | Journal of Systems Engineering and Electronics2011，22，3： | 4 |
| 4 | A Fuzzy PID Algorithm for a Novel Miniature Spherical Robots with Three-dimensional Underwater Motion Control显示文摘We proposed and developed a small bionic amphibious spherical robot system for tasks such as coastal environment monitoring and offshore autonomous search and rescue.Our third-generation bionic small amphibious spherical robots have many disadvantages,such as the lack of maneuverability and a small operating range.It is difficult to accomplish underwater autonomous motion control with these robots.Therefore,we proposed a fourth-generation amphibious spherical robot.However,the amphibious spherical robot developed in this project has a small and compact design,with limited sensors and external sensing options.This means that the robot has weak external information collection capabilities.We need to make the real time operation of the robot's underwater motion control system more reliable.In this paper,we mainly used a fuzzy Proportional-Integral-Derivative(PID)control algorithm to design an underwater motion control system for a novel robot.Moreover,we compared PID with fuzzy PID control methods by carrying out experiments on heading and turning bow motions to verify that the fuzzy PID is more robust and exhibits good dynamic performance.We also carried out experiments on the three-dimensional(3D)motion control to validate the design of the underwater motion control system. | Liwei Shi Yao Hu Shuxiang Su Shuxiang Guo Huiming Xing Xihuan Hou Yu Liu Zhan Chen Zan Li Debin Xia | 2020 | Journal of Bionic Engineering2020，17，5： | 4 |
| 5 | Development of a Novel Robotic Catheter Manipulating System with Fuzzy PID Control显示文摘 | Xu Ma Shuxiang Guo Nan Xiao Jian Guo Shunichi Yoshida Takashi Tamiya Masahiko Kawanishi | 2012 | International Journal of Intelligent Mechatronics and Robotics (IJIMR)2012，，2： | 2 |
| 6 | A new type of fish-like underwater microrobot显示文摘 | GUO Shuxiang FUKUDA T ASAKA K | 2003 | IEEE/ASME Transactions on Mechatronics2003，8，1： | 1 |
| 7 | A kind of global motion estimation algorithm based on feature matching 显示文摘 | Guo Shuxiang Qiu Chenguang Ye Xiufen | 2009 | Proceedings of the 2009 IEEE International Conference on Mechatronics and Automation2009，，： | 1 |
| 8 | A new type of fish-like underwater microrobot 显示文摘 | GUO Shuxiang FUKUDA T ASAKA K | 2003 | IEEE/ASME Transactions on Mechatronics2003，8，1： | 1 |
| 9 | A novel robotic catheter system with force and visual feedback for vascular interventional surgery 显示文摘 | Guo Jian Guo Shuxiang Xiao Nian | 2012 | International Journal of Mechatronics and Automation2012，2，1： | 1 |
| 10 | A New Kind of Microrobot in Pipe Using Driving Fin 显示文摘 | Shuxiang Guo and Yasuhiro Sasahi | 2003 | Proceedings of the 2003 IEEE/ASME International Conference on Advanced Intelligent Mcchatronics2003，，： | 1 |
| 11 | A New Type of Microrobot for Biomedic-al Application 显示文摘 | Shuxiang Guo | 2004 | Proceedings of the 2004 IEEE/ ASME International Conference on Advanced Intelli- gent Mechatronics2004，，： | 1 |
| 12 | SSJD14101300036330显示文摘 | Jiangbo Li Wenqian Huang Liping Chen Shuxiang Fan Baohua Zhang Zhiming Guo Chunjiang Zhao | 2014 | Food Analytical Methods2014，，9： | 1 |
| 13 | Oxidation of Dibenzothiophene in Model Diesel Using Hydroperoxide Generated via In-Situ Reaction of Octane with Oxygen显示文摘The potential of carrying out oxidative desulfurization(ODS) using oxygen as an oxidant was explored in this work. n-Octane firstly reacted with oxygen to produce hydroperoxides in-situ, which were then used as oxidants to oxidize the dibenzothiophene(DBT) in the absence of catalysts. The hydroperoxides generated in-situ were effective in oxidizing DBT to its corresponding dibenzothiophene sulfone(DBTO_2) which was characterized by FT-IR and ~1H-NMR. The removal rate of DBT could reached 98.4% under conditions covering a temperaure of 140℃, a rection duration of 4 h, and an oxygen partial pressure of 0.4 MPa. The influences of different hydrocarbon components in diesel on DBT removal were investigated. The results showed that cyclohexane and n-dodecane had no effect on the removal of DBT, but xylene had a slight negative effect on DBT removal. A possible oxidation mechanism was proposed and the concentration of hydroperoxides in both O_2-oxidized octane and model diesel were detected. | Guo Erliang Li Jianxin Huang Xiaoqiao Duan Yongshen Zhang Lingcong Yan Lijun Lu Shuxiang | 2018 | China Petroleum Processing & Petrochemical Technology2018，20，1： | 1 |
| 14 | Feasibility and physics potential of detecting ^(8)B solar neutrinos at JUNO显示文摘The Jiangmen Underground Neutrino Observatory(JUNO)features a 20 kt multi-purpose underground liquid scintillator sphere as its main detector.Some of JUNO's features make it an excellent location for^8B solar neutrino measurements,such as its low-energy threshold,high energy resolution compared with water Cherenkov detectors,and much larger target mass compared with previous liquid scintillator detectors.In this paper,we present a comprehensive assessment of JUNO's potential for detecting^8B solar neutrinos via the neutrino-electron elastic scattering process.A reduced 2 MeV threshold for the recoil electron energy is found to be achievable,assuming that the intrinsic radioactive background^(238)U and^(232)Th in the liquid scintillator can be controlled to 10^(-17)g/g.With ten years of data acquisition,approximately 60,000 signal and 30,000 background events are expected.This large sample will enable an examination of the distortion of the recoil electron spectrum that is dominated by the neutrino flavor transformation in the dense solar matter,which will shed new light on the inconsistency between the measured electron spectra and the predictions of the standard three-flavor neutrino oscillation framework.IfDelta m^(2)_(21)=4.8times10^(-5);(7.5times10^(-5))eV^(2),JUNO can provide evidence of neutrino oscillation in the Earth at approximately the 3sigma(2sigma)level by measuring the non-zero signal rate variation with respect to the solar zenith angle.Moreover,JUNO can simultaneously measureDelta m^2_(21)using^8B solar neutrinos to a precision of 20% or better,depending on the central value,and to sub-percent precision using reactor antineutrinos.A comparison of these two measurements from the same detector will help understand the current mild inconsistency between the value of Delta m^2_(21)reported by solar neutrino experiments and the KamLAND experiment. | Angel Abusleme Thomas Adam Shakeel Ahmad Sebastiano Aiello Muhammad Akram Nawab Ali Fengpeng An Guangpeng An Qi An Giuseppe Andronico Nikolay Anfimov Vito Antonelli Tatiana Antoshkina Burin Asavapibhop João Pedro Athayde Marcondes de André Didier Auguste Andrej Babic Wander Baldini Andrea Barresi Eric Baussan Marco Bellato Antonio Bergnoli Enrico Bernieri David Biare Thilo Birkenfeld Sylvie Blin David Blum Simon Blyth Anastasia Bolshakova Mathieu Bongrand Clément Bordereau Dominique Breton Augusto Brigatti Riccardo Brugnera Riccardo Bruno Antonio Budano Max Buesken Mario Buscemi Jose Busto Ilya Butorov Anatael Cabrera Hao Cai Xiao Cai Yanke Cai Zhiyan Cai Antonio Cammi Agustin Campeny Chuanya Cao Guofu Cao Jun Cao Rossella Caruso Cédric Cerna Jinfan Chang Yun Chang Pingping Chen Po-An Chen Shaomin Chen Shenjian Chen Xurong Chen Yi-Wen Chen Yixue Chen Yu Chen Zhang Chen Jie Cheng Yaping Cheng Alexander Chepurnov Davide Chiesa Pietro Chimenti Artem Chukanov Anna Chuvashova Gérard Claverie Catia Clementi Barbara Clerbaux Selma Conforti Di Lorenzo Daniele Corti Salvatore Costa Flavio Dal Corso Christophe De La Taille Jiawei Deng Zhi Deng Ziyan Deng Wilfried Depnering Marco Diaz Xuefeng Ding Yayun Ding Bayu Dirgantara Sergey Dmitrievsky Tadeas Dohnal Georgy Donchenko Jianmeng Dong Damien Dornic Evgeny Doroshkevich Marcos Dracos Frédéric Druillole Shuxian Du Stefano Dusini Martin Dvorak Timo Enqvist Heike Enzmann Andrea Fabbri Lukas Fajt Donghua Fan Lei Fan Can Fang Jian Fang Marco Fargetta Anna Fatkina Dmitry Fedoseev Vladko Fekete Li-Cheng Feng Qichun Feng Richard Ford Andrey Formozov Amélie Fournier Haonan Gan Feng Gao Alberto Garfagnini Alexandre Göttel Christoph Genster Marco Giammarchi Agnese Giaz Nunzio Giudice Franco Giuliani Maxim Gonchar Guanghua Gong Hui Gong Oleg Gorchakov Yuri Gornushkin Marco Grassi Christian Grewing Maxim Gromov Vasily Gromov Minghao Gu Xiaofei Gu Yu Gu Mengyun Guan Nunzio Guardone Maria Gul Cong Guo Jingyuan Guo Wanlei Guo Xinheng Guo Yuhang Guo Paul Hackspacher Caren Hagner Ran Han Yang Han Miao He Wei He Tobias Heinz Patrick Hellmuth Yuekun Heng Rafael Herrera Daojin Hong YuenKeung Hor Shaojing Hou Yee Hsiung Bei-Zhen Hu Hang Hu Jianrun Hu Jun Hu Shouyang Hu Tao Hu Zhuojun Hu Chunhao Huang Guihong Huang Hanxiong Huang Qinhua Huang Wenhao Huang Xingtao Huang Yongbo Huang Jiaqi Hui Wenju Huo Cédric Huss Safeer Hussain Antonio Insolia Ara Ioannisian Daniel Ioannisyan Roberto Isocrate Kuo-Lun Jen Xiaolu Ji Xingzhao Ji Huihui Jia Junji Jia Siyu Jian Di Jiang Xiaoshan Jiang Ruyi Jin Xiaoping Jing Cécile Jollet Jari Joutsenvaara Sirichok Jungthawan Leonidas Kalousis Philipp Kampmann Li Kang Michael Karagounis Narine Kazarian Amir Khan Waseem Khan Khanchai Khosonthongkee Patrick Kinz Denis Korablev Konstantin Kouzakov Alexey Krasnoperov Svetlana Krokhaleva Zinovy Krumshteyn Andre Kruth Nikolay Kutovskiy Pasi Kuusiniemi Tobias Lachenmaier Cecilia Landini Sébastien Leblanc Frederic Lefevre Liping Lei Ruiting Lei Rupert Leitner Jason Leung Demin Li Fei Li Fule Li Haitao Li Huiling Li Jiaqi Li Jin Li Kaijie Li Mengzhao Li Nan Li Nan Li Qingjiang Li Ruhui Li Shanfeng Li Shuaijie Li Tao Li Weidong Li Weiguo Li Xiaomei Li Xiaonan Li Xinglong Li Yi Li Yufeng Li Zhibing Li Ziyuan Li Hao Liang Hao Liang Jingjing Liang Jiajun Liao Daniel Liebau Ayut Limphirat Sukit Limpijumnong Guey-Lin Lin Shengxin Lin Tao Lin Jiajie Ling Ivano Lippi Fang Liu Haidong Liu Hongbang Liu Hongjuan Liu Hongtao Liu Hu Liu Hui Liu Jianglai Liu Jinchang Liu Min Liu Qian Liu Qin Liu Runxuan Liu Shuangyu Liu Shubin Liu Shulin Liu Xiaowei Liu Yan Liu Alexey Lokhov Paolo Lombardi Claudio Lombardo Kai Loo Chuan Lu Haoqi Lu Jingbin Lu Junguang Lu Shuxiang Lu Xiaoxu Lu Bayarto Lubsandorzhiev Sultim Lubsandorzhiev Livia Ludhova Fengjiao Luo Guang Luo Pengwei Luo Shu Luo Wuming Luo Vladimir Lyashuk Qiumei Ma Si Ma Xiaoyan Ma Xubo Ma Jihane Maalmi Yury Malyshkin Fabio Mantovani Francesco Manzali Xin Mao Yajun Mao Stefano MMari Filippo Marini Sadia Marium Cristina Martellini Gisele Martin-Chassard Agnese Martini Davit Mayilyan Axel Müller Ints Mednieks Yue Meng Anselmo Meregaglia Emanuela Meroni David Meyhöfer Mauro Mezzetto Jonathan Miller Lino Miramonti Salvatore Monforte Paolo Montini Michele Montuschi Nikolay Morozov Pavithra Muralidharan Massimiliano Nastasi Dmitry VNaumov Elena Naumova Igor Nemchenok Alexey Nikolaev Feipeng Ning Zhe Ning Hiroshi Nunokawa Lothar Oberauer Juan Pedro Ochoa-Ricoux Alexander Olshevskiy Domizia Orestano Fausto Ortica Hsiao-Ru Pan Alessandro Paoloni Nina Parkalian Sergio Parmeggiano Teerapat Payupol Yatian Pei Nicomede Pelliccia Anguo Peng Haiping Peng Frédéric Perrot Pierre-Alexandre Petitjean Fabrizio Petrucci Luis Felipe Piñeres Rico Oliver Pilarczyk Artyom Popov Pascal Poussot Wathan Pratumwan Ezio Previtali Fazhi Qi Ming Qi Sen Qian Xiaohui Qian Hao Qiao Zhonghua Qin Shoukang Qiu Muhammad Rajput Gioacchino Ranucci Neill Raper Alessandra Re Henning Rebber Abdel Rebii Bin Ren Jie Ren Taras Rezinko Barbara Ricci Markus Robens Mathieu Roche Narongkiat Rodphai Aldo Romani Bedřich Roskovec Christian Roth Xiangdong Ruan Xichao Ruan Saroj Rujirawat Arseniy Rybnikov Andrey Sadovsky Paolo Saggese Giuseppe Salamanna Simone Sanfilippo Anut Sangka Nuanwan Sanguansak Utane Sawangwit Julia Sawatzki Fatma Sawy Michaela Schever Jacky Schuler Cédric Schwab Konstantin Schweizer Dmitry Selivanov Alexandr Selyunin Andrea Serafini Giulio Settanta Mariangela Settimo Muhammad Shahzad Vladislav Sharov Gang Shi Jingyan Shi Yongjiu Shi Vitaly Shutov Andrey Sidorenkov FedorŠimkovic Chiara Sirignano Jaruchit Siripak Monica Sisti Maciej Slupecki Mikhail Smirnov Oleg Smirnov Thiago Sogo-Bezerra Julanan Songwadhana Boonrucksar Soonthornthum Albert Sotnikov Ondrej Sramek Warintorn Sreethawong Achim Stahl Luca Stanco Konstantin Stankevich DušanŠtefánik Hans Steiger Jochen Steinmann Tobias Sterr Matthias Raphael Stock Virginia Strati Alexander Studenikin Gongxing Sun Shifeng Sun Xilei Sun Yongjie Sun Yongzhao Sun Narumon Suwonjandee Michal Szelezniak Jian Tang Qiang Tang Quan Tang Xiao Tang Alexander Tietzsch Igor Tkachev Tomas Tmej Konstantin Treskov Andrea Triossi Giancarlo Troni Wladyslaw Trzaska Cristina Tuve Stefan van Waasen Johannes van den Boom Guillaume Vanroyen Nikolaos Vassilopoulos Vadim Vedin Giuseppe Verde Maxim Vialkov Benoit Viaud Cristina Volpe Vit Vorobel Lucia Votano Pablo Walker Caishen Wang Chung-Hsiang Wang En Wang Guoli Wang Jian Wang Jun Wang Kunyu Wang Lu Wang Meifen Wang Meng Wang Ruiguang Wang Siguang Wang Wei Wang Wenshuai Wang Xi Wang Xiangyue Wang Yangfu Wang Yaoguang Wang Yi Wang Yifang Wang Yuanqing Wang Yuman Wang Zhe Wang Zheng Wang Zhimin Wang Zongyi Wang Apimook Watcharangkool Lianghong Wei Wei Wei Yadong Wei Liangjian Wen Christopher Wiebusch Steven Chan-Fai Wong Bjoern Wonsak Diru Wu Fangliang Wu Qun Wu Wenjie Wu Zhi Wu Michael Wurm Jacques Wurtz Christian Wysotzki Yufei Xi Dongmei Xia Yuguang Xie Zhangquan Xie Zhizhong Xing Benda Xu Donglian Xu Fanrong Xu Jilei Xu Jing Xu Meihang Xu Yin Xu Yu Xu Baojun Yan Xiongbo Yan Yupeng Yan Anbo Yang Changgen Yang Huan Yang Jie Yang Lei Yang Xiaoyu Yang Yifan Yang Haifeng Yao Zafar Yasin Jiaxuan Ye Mei Ye Ugur Yegin Frédéric Yermia Peihuai Yi Xiangwei Yin Zhengyun You Boxiang Yu Chiye Yu Chunxu Yu Hongzhao Yu Miao Yu Xianghui Yu Zeyuan Yu Chengzhuo Yuan Ying Yuan Zhenxiong Yuan Ziyi Yuan Baobiao Yue Noman Zafar Andre Zambanini Pan Zeng Shan Zeng Tingxuan Zeng Yuda Zeng Liang Zhan Feiyang Zhang Guoqing Zhang Haiqiong Zhang Honghao Zhang Jiawen Zhang Jie Zhang Jingbo Zhang Peng Zhang Qingmin Zhang Shiqi Zhang Tao Zhang Xiaomei Zhang Xuantong Zhang Yan Zhang Yinhong Zhang Yiyu Zhang Yongpeng Zhang Yuanyuan Zhang Yumei Zhang Zhenyu Zhang Zhijian Zhang Fengyi Zhao Jie Zhao Rong Zhao Shujun Zhao Tianchi Zhao Dongqin Zheng Hua Zheng Minshan Zheng Yangheng Zheng Weirong Zhong Jing Zhou Li Zhou Nan Zhou Shun Zhou Xiang Zhou Jiang Zhu Kejun Zhu Honglin Zhuang Liang Zong Jiaheng Zou | 2021 | Chinese Physics C2021，45，2： | 0 |
| 15 | Task Planning and Collaboration of Jellyfish-inspired Multiple Spherical Underwater Robots显示文摘Task planning and collaboration of multiple robots have broad application prospects and value in the field of robotics.To improve the performance and working efficiency of our Spherical Underwater Robot(SUR),we propose a multi-robot control strategy that can realize the task planning and collaboration of multiple robots.To complete real-time information sharing of multiple robots,we first build an acoustic communication system with excellent communication performance under low noise ratio conditions.Then,the task planning and collaboration control strategy adjust the SURs so that they maintain their positions in the desired formation when the formation moves.Multiple SURs can move along desired trajectories in the expected formation.The control strategy of each SUR uses only its information and limited information of its neighboring SURs.Finally,based on theoretical analysis and experiments,we evaluate the validity and reliability of the proposed strategy.In comparison to the traditional leader–follower method,it is not necessary to designate a leader and its followers explicitly in our system;thus,important advantages,such as fault tolerance,are achieved. | Ruochen An Shuxiang Guo Yuanhua Yu Chunying Li Tendeng Awa | 2022 | Journal of Bionic Engineering2022，19，3： | 0 |
| 16 | An EMG-Based Biomimetic Variable Stiffness Modulation Strategy for Bilateral Motor Skills Relearning of Upper Limb Elbow Joint Rehabilitation显示文摘Bilateral rehabilitation systems with bilateral or unilateral assistive robots have been developed for hemiplegia patients to recover their one-side paralysis.However,the compliant robotic assistance to promote bilateral inter-limb coordination remains a challenge that should be addressed.In this paper,a biomimetic variable stiffness modulation strategy for the Variable Stiffness Actuator(VSA)integrated robotic is proposed to improve bilateral limb coordination and promote bilateral motor skills relearning.An Electromyography(EMG)-driven synergy reference stiffness estimation model of the upper limb elbow joint is developed to reproduce the muscle synergy effect on the affected side limb by independent real-time stiffness control.Additionally,the bilateral impedance control is incorporated for realizing compliant patient-robot interaction.Preliminary experiments were carried out to evaluate the tracking performance and investigate the multiple task intensities’influence on bilateral motor skills relearning.Experimental results evidence the proposed method could enable bilateral motor task skills relearning with wide-range task intensities and further promote bilateral inter-limb coordination. | Ziyi Yang Shuxiang Guo Keisuke Suzuki Yi Liu Masahiko Kawanishi | 2023 | Journal of Bionic Engineering2023，20，4： | 0 |
| 17 | Path Optimization Method for the Spherical Underwater Robot in Unknown Environment显示文摘One of the major respects of the autonomous capability of underwater robots in unknown environment is to be capable of global path planning and obstacles avoiding when encountering abrupt events.For the Spherical Underwater Robot(SUR)to fulfill autonomous task execution,this paper proposed a novel fuzzy control method that incorporates multi-sensor technology to guide underwater robots in unknown environment.To attain the objective,a SUR we designed is used to design the controller.According to its kinematic model,the safety distance was calculated and sensors(US1000-21 A)were arranged.The novel fuzzy control method was then explored for robot's path planning in an unknown environment through simulation.The simulation results demonstrate the capability of the proposed method to guide the robot,and to generate a safe and smooth trajectory in an unknown environment.The effectiveness of the proposed method was further verified through experiments with a SUR in a real platform.The real environment experiments by using the novel fuzzy control method were compared with the basic control method.The experimental results show that in unknown environments,the proposed method improves the execution efficiency and flexibility of the SUR. | Jian Guo Chunying Li Shuxiang Guo | 2020 | Journal of Bionic Engineering2020，17，5： | 0 |
| 18 | A Review:From Aquatic Lives Locomotion to Bio-inspired Robot Mechanical Designations显示文摘With the development of camera technology,high-speed cameras have greatly contributed to capturing the movement and posture of animals,which has dramatically promoted experimental biology research.At the same time,with the concept of bionics gradually gaining popularity among researchers,the design of robots is absorbing more and more biological features,where the interest in the bio-inspired robot is hewed out.Compared with the traditional robot,the bio-inspired robot imitates the motion pattern to achieve similar propulsion features,which may be more effective and reasonable.In this paper,the motion patterns of aquatic animals are divided into four categories according to their propulsion mechanisms:drag-based,lift-based,jet-based,and interface-based.And bio-inspired robots imitating aquatic prototypes are introduced and reviewed.Finally,the prospect of aquatic bio-inspired robots is discussed. | Pengxiao Bao Liwei Shi Lijie Duan Shuxiang Guo Zhengyu Li | 2023 | Journal of Bionic Engineering2023，20，6： | 0 |
| 19 | Tracking Control in Presence of Obstacles and Uncertainties for Bioinspired Spherical Underwater Robots显示文摘During marine missions,AUVs are susceptible to external disturbances,such as obstacles,ocean currents,etc.,which can easily cause mission failure or disconnection.In this paper,considering the strong nonlinearities,external disturbances and obstacles,the kinematic and dynamic model of bioinspired Spherical Underwater Robot(SUR)was described.Subsequently,the waypoints-based trajectory tracking with obstacles and uncertainties was proposed for SUR to guarantee its safety and stability.Next,the Lyapunov theory was adopted to verify the stability and the Slide Mode Control(SMC)method is used to verify the robustness of the control system.In addition,a series of simulations were conducted to evaluate the effectiveness of proposed control strategy.Some tests,including path-following,static and moving obstacle avoidance were performed which verified the feasibility,robustness and effectiveness of the designed control scheme.Finally,a series of experiments in real environment were performed to verify the performance of the control strategy.The simulation and experimental results of the study supplied clues to the improvement of the path following capability and multi-obstacle avoidance of AUVs. | Chunying Li Shuxiang Guo Jian Guo | 2023 | Journal of Bionic Engineering2023，20，1： | 0 |
| 20 | Crack Propagation Path in Two-Directionally Graded Composites Subjected to Mixed-Mode Ⅰ+Ⅱ Loading显示文摘Crack propagation path in two-directionally graded composites was investigated by the finite element method.A graded extended finite element method(XFEM)was employed to calculate displacement and stress fields in cracked graded structures.And a post-processing subroutine of interaction energy integral was implemented to extract the mixed-mode stress intensity factors(SIFs).The maximum hoop stress(MHS)criterion was adopted to predict crack growth direction based on the assumption of local homogenization of asymptotic crack-tip fields in graded materials.Effects of material nonhomogeneous parameters on crack propagation paths were also discussed in detail.It is shown that the present method can provide relatively accurate predictions of crack paths in two-directionally graded composites.Crack propagates in the decreasing direction of effective Young′s modulus.The shape and steepness of property gradient perpendicular to the crack surface have great influences on crack paths.Through redesigning material property reasonably,crack growth in graded material can be changed to improve mechanical behaviours of cracked structures. | Zhao Zhenbo Xu Xiwu Guo Shuxiang | 2017 | Transactions of Nanjing University of Aeronautics and Astronautics2017，34，3： | 0 |
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