A Theoretical Approach of an Intelligent Robot Gripper to Grasp Polygon Shaped Objects

This paper presents an approach for grasp planning and grasp forces optimization of polygon shaped objects. The proposed approach is an intelligent rule-based method that figures out the minimal number of fingers and minimal values of contact forces. These fingers are required to securely grasp a rigid body in the presence of friction and under the action of some external force. This is accomplished by finding optimal contact points on the object boundary along with minimal number of fingers required for achieving the aforementioned goal. Our system handles every object case independently. It generates a rule base for each object based on adequate values of external forces. The system uses the genetic algorithm as its search mechanism, and a rule evaluation mechanism called bucket brigade for the reinforcement learning of the rules. The process mainly consists of two stages; learning then retrieval. Retrievals act on line utilizing previous knowledge and experience embedded in a rule base. If retrievals fail in some cases, learning is presumed until that case is resolved. The algorithm is very general and can be adapted for interface with any object shape. The resulting rule base varies in size according to the degree of difficulty and dimensionality of the grasping problem.     

基于水平集模型的3D表面重建

综合模糊技术和水平集方法,提出了基于水平集模型的3D表面重建的方法,为了使重建结果不受噪声影响且与模型初始位置无关,在模糊分割的基础上,引入了模糊外力,在该外力作用下模型能逼近任意复杂的物体表面;利用水平集方法使模型能重建任意拓扑结构的重杂物体,实验结果表明该方法的有效性。     

A medical hand tool physical interaction evaluation approach for prototype testing using patient care simulators

The purpose of this study was to develop and test a physical ergonomics assessment approach for medical device handles. The method assesses wrist posture and force of exertion simultaneously by task element. Electrogoniometers and EMG sensors were connected through a data acquisition module for synchronization with video recordings of trials. Task analysis of video recordings were performed offline with Observer XT software. Average posture and force data across several repetitions of individual task elements were calculated and presented in a format suitable for informing product designers of specific issues during a test trial. A handle comfort questionnaire is proposed to survey subjective responses. The evaluation approach was applied to an endoscope needle in sampling a biopsy from the stomach wall using a gastrointestinal track simulator with ten physician surrogates. The results showed that for all task elements the wrist was in extension (33(°)-45(°)). Peak muscle forces ranged from 28% to 68% MVC across the three muscles studied. Muscle peak forces were above ACGIH HAL maximum threshold limits for four of the seven task elements, and above the action limit for all seven task elements for two muscles. The handle comfort questionnaire data also supported the high muscle force findings, and also on force distribution on the handle due to contact stresses. This combined approach could be used to collect and report detailed early stage ergonomics data from user trials on patient care simulators. The approach is proposed for use by medical device designers at the design stage of new products using prototypes, but it could also be used on existing products with real patients.     

Biomechanical assessment of lateral stiffness elements in the suspension system of a backpack

The purpose of this study was to examine the change in load distribution characteristics associated with adding lateral stiffness elements (rods) to a rucksack (backpack). A load distribution mannequin was instrumented with two 3D load cells to allow determination of the load applied to the shoulders and upper torso independent of the load applied to the hips and lower trunk. Position and mass of the payload (25?kg) were fixed at the centre of the volume of the rucksack and held constant during all testing. It was hypothesized that lateral rods would provide a force bridge that transfers part of the vertical load of the pack from the upper back and shoulders to the hip belt thereby reducing the vertical load on the torso, and possibly reducing the horizontal reaction force that produces a shear load on the spine. Results showed that these active stiffness elements shifted 14% of the vertical load from the upper torso to the pelvic region with lumbar shear load remaining relatively unchanged for all combinations of shoulder strap and waist belt tension. The lateral rods also provided a mean increase of 12% in the extensor moment at the L3?–?L4 level, thus reducing some demand on the erector spinae muscles.     

高速艇自由变深水动力试验研究

通过模型试验，研究了高速艇从压栽半潜状态自由变深到高速滑行状态的水动力现象．结果表明，当客积傅氏数大于1.25时，与舷外相通的水能完全自动排出．高速艇自由变深主要有以下5个原因：惯性作用、压栽水逐渐排出导致的艇体上抬作用、艇艉由于负压形成的空穴对压戢水的吸附作用、艇体动升力导致的艇体上抬作用、有利的艉倾作用．其中对具有较快加速运动的情形，惯性作用起重要地位，艇体动升力在排出流道水方面所发挥的作用相对较小，但在保持流道水排空方面发挥主导作用．     

动物运动力学测试系统

研究蜘蛛、昆虫等微小动物在地面、墙面、天花板等不同表面的光滑或粗糙状况下自如运动时的附着机理,可以为特种仿生机器人的研究提供理论依据。研制了动物运动力学测试系统,包括由16只三维微牛级力传感器组成的传感器测试阵列;48通道的信号放大、调理以及数据采集与处理;动态图像的放大、记录与分析等。该系统在仿生学的研究中有很大的应用价值,是了解和深入认识动物运动步态及其接触力学规律的重要手段。     

水溶性壳聚糖衍生物在壳聚糖膜表面的化学固定及抗凝血性能研究

合成了N-双取代亚甲基磷酸壳聚糖,并且对其进行了表征。通过戊二醛交联的方法将N- 双取代亚甲基磷酸壳聚糖固定在壳聚糖薄膜表面。对接枝前后膜表面的结构性能和血液相容性进行表征,结果显示N -双取代亚甲基磷酸壳聚糖被有效地固定在壳聚糖膜表面,并且能够有效地抑制血小板在壳聚糖膜表面的粘附。     

燃油烟气净化电收尘器的改造实践

介绍了以重油为燃料的回转窑半氧化焙烧烟气净化电收尘器运行中存在的问题、改造方案及效果,同时简述了热风清扫在大负压电收尘器上的应用情况.     

气体静压轴系误差均化机理的静力学模型分析方法

提出将气体静压轴系径向节流孔所在截面简化成平面汇交力系,并与边界约束条件一起构成误差方程,应用静力学的理论求解了一些典型情况,并推导出了典型状态下的误差均化值,发现其与过去的实验结果相符且得到了很有意义的结果,从而为进一步建立精确的数学模型进行仿真分析提供了必要的基础.     

Simulation of cutting forces in ball-end milling

The paper presents a simulation system (SCP) that determines the cutting forces in the ball-end milling process. The system is based on numerical methods, computer programme, theoretical knowledge of technological processes, machining and tests performed. The system for simulation of the cutting process combines the technological data base, the analytical and experimental model and the data base SCP. The experimental model contains a collection of variables of the cutting process by means of sensors and transformation of those data into numerical values, which are a starting point for data calculation of characteristic coefficients of materials. The analytical model is used to estimate the tangential, radial and axial cutting forces, along with a material data base obtained from cutting experiments. Ball-end milling test has been conducted to verify simulation results. The simulation results, are the basis for the development of the tool-designing model and for the model of optimization of the machining process cutting parameters.