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| 1 | Self-assembly control and experiments in swarm modular robots显示文摘This paper presents a self-assembly control strategy for the swarm modular robots. Simulated and physical experiments are conducted based on the Sambot platform, which is a novel self-assembly modular robot having the characteristics of both the chain-type and the mobile self-reconfigurable robots. Multiple Sambots can autonomously move and connect with one another through self-assembly to form robotic organisms. The configuration connection state table is used to describe the configuration of the robotic structure. A directional self-assembly control model is proposed to perform the self-assembly experiments. The self-assembly process begins with one Sambot as the seed, and then the Docking Sambots use a behavior-based controller to achieve connection with the seed Sambot. The controller is independent of the target configuration. The seed and connected Sambots execute a configuration comparison algorithm to control the growth of the robotic structure. Furthermore, the simul- taneous self-assembly of multiple Sambots is discussed. For multiple configurations, self-assembly experiments are conducted in simulation platform and physical platform of Sambot. The experimental results verify the effectiveness and scalability of the self-assembly algorithms. | WEI HongXing LI HaiYuan TAN JinDong WANG TianMiao | 2012 | Science China(Technological Sciences)2012，55，4： | 2 |
| 2 | Heartbeat-Driven Medium- Access Control for Body Sensor Networks显示文摘 | Li Huaming Tan Jindong | 2010 | IEEE Transactions on Information Technology in Biomedicine2010，14，1： | 1 |
| 3 | Distributed multi-robot coordination in area exploration显示文摘 | Sheng Weihua Yang Qingyan Tan Jindong | 2006 | Robotics and Autonomous Systems2006，54，： | 1 |
| 4 | Heartbeat-driven Medium-access Control for Body Sensor Networks显示文摘 | Li Huaming Tan Jindong | 2010 | IEEE Transactions on Information Technology in Biomedicine2010，14，1： | 1 |
| 5 | Research of TDOA Based Self-localization Approach in Wireless Sensor Network 显示文摘 | Jun Xiao Lirong Ren Jindong Tan | 2006 | Intelligent Robots and Systems2006，10，： | 1 |
| 6 | Integrated Task Planning and Control for Mobile Manipulators 显示文摘 | TAN Jindong XI Ning WANG Yueehao | 2003 | The International Jounal of Robotics Research2003，22，5： | 1 |
| 7 | Cardiac energy metabolism disorder mediated by energy substrate imbalance and mitochondrial damage upon tebuconazole exposure显示文摘Tebuconazole exposure has been described as an increasing hazard to human health.An increasing number of recent studies have shown a positive association between tebuconazole exposure and cardiovascular disease risk,which is characterized by the reduction of adenosine triphosphate(ATP)synthesis.However,researches on the damage of tebuconazole exposure to energy metabolism and the related molecular mechanisms are limited.In the present study,male C57BL/6 mice were treated with tebuconazole at different low concentrations for 4 weeks.The results indicated that tebuconazole could accumulate in the heart and further induce the decrease of ATP content in the mouse heart.Importantly,tebuconazole induced an obvious shift in substrate utilization of fatty acid and glucose by disrupting their corresponding transporters(GLUT1,GLUT4,CD36,FABP3 and FATP1)expression,and significantly repressed the expression of mitochondrial biogenesis(Gabpa and Tfam)and oxidative phosphorylation(CS,Ndufa4,Sdhb,Cox5a and Atp5b)related genes in a dosedependent manner.Further investigation revealed that these alterations were related to the IRS1/AKT and PPARγ/RXRαpathways.These findings contribute to a better understanding of triazole fungicide-induced cardiovascular disease by revealing the key indicators associated with this phenomenon. | Tingting Ku Jindong Hu Mengmeng Zhou Yuanyuan Xie Yutong Liu Xin Tan Lin Guo Guangke Li Nan Sang | 2024 | Journal of Environmental Sciences2024，，2： | 0 |
| 8 | A novel autonomous self-assembly distributed swarm flying robot显示文摘Swarm intelligence embodied by many species such as ants and bees has inspired scholars in swarm robotic researches. This paper presents a novel autonomous self-assembly distributed swarm flying robot-DSFR, which can drive on the ground, autonomously accomplish self-assembly and then fly in the air coordinately. Mechanical and electrical designs of a DSFR module, as well as the kinematics and dynamics analysis, are specifically investigated. Meanwhile, this paper brings forward a generalized adjacency matrix to describe configurations of DSFR structures. Also, the distributed flight control model is established for vertical taking-off and horizontal hovering, which can be applied to control of DSFR systems with arbitrary configurations. Finally, some experiments are carried out to testify and validate the DSFR design, the autonomous self-assembly strategy and the distributed flight control laws. | Wei Hongxing Li Ning Liu Miao Tan Jindong | 2013 | Chinese Journal of Aeronautics2013，26，3： | 0 |
| 9 | High-precision Calibration of Camera and IMU on Manipulator for Bio-inspired Robotic System显示文摘Inspired by box jellyfish that has distributed and complementary perceptive system,we seek to equip manipulator with a camera and an Inertial Measurement Unit(IMU)to perceive ego motion and surrounding unstructured environment.Before robot perception,a reliable and high-precision calibration between camera,IMU and manipulator is a critical prerequisite.This paper introduces a novel calibration system.First,we seek to correlate the spatial relationship between the sensing units and manipulator in a joint framework.Second,the manipulator moving trajectory is elaborately designed in a spiral pattern that enables full excitations on yaw-pitch-roll rotations and x-y-z translations in a repeatable and consistent manner.The calibration has been evaluated on our collected visual inertial-manipulator dataset.The systematic comparisons and analysis indicate the consistency,precision and effectiveness of our proposed calibration method. | Yinlong Zhang Wei Liang Sichao Zhang Xudong Yuan Xiaofang Xia Jindong Tan Zhibo Pang | 2022 | Journal of Bionic Engineering2022，19，2： | 0 |
| 10 | Monocular Visual-Inertial and Robotic-Arm Calibration in a Unifying Framework显示文摘Reliable and accurate calibration for camera,inertial measurement unit(IMU)and robot is a critical prerequisite for visual-inertial based robot pose estimation and surrounding environment perception.However,traditional calibrations suffer inaccuracy and inconsistency.To address these problems,this paper proposes a monocular visual-inertial and robotic-arm calibration in a unifying framework.In our method,the spatial relationship is geometrically correlated between the sensing units and robotic arm.The decoupled estimations on rotation and translation could reduce the coupled errors during the optimization.Additionally,the robotic calibration moving trajectory has been designed in a spiral pattern that enables full excitations on 6 DOF motions repeatably and consistently.The calibration has been evaluated on our developed platform.In the experiments,the calibration achieves the accuracy with rotation and translation RMSEs less than 0.7°and 0.01 m,respectively.The comparisons with state-of-the-art results prove our calibration consistency,accuracy and effectiveness. | Yinlong Zhang Wei Liang Mingze Yuan Hongsheng He Jindong Tan Zhibo Pang | 2022 | IEEE/CAA Journal of Automatica Sinica2022，9，1： | 0 |
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