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Planning and Execution of Dynamic Whole-body Locomotion for a Wheeled Biped Robot on Uneven Terrain
Yaxian Xin,Jiuhong Ruan,Yibin Li,Hui Chai,Xuewen Rong 제어·로봇·시스템학회 2024 International Journal of Control, Automation, and Vol.22 No.4
To improve the adaptability of the wheeled biped robot (WBR) to uneven terrain, firstly an integrated modeling method for wheeled-legs is proposed. The under-actuated part is effectively restrained by defining the interaction force between the WBR and the trunk. The mapping relationship between the wheeled leg’s end force and the joint torques in the balanced state is built. Based on this premise, a control framework that does not rely on external sensors is proposed, and the trunk pose is used as the task space to plan the generalized force output of the wheeled legs and calculate the joint torques. Since the joint space position is not constrained, the leg wheels will be based on the terrain conditions and are adaptively stretched and adjusted back and forth. To further improve the terrain adaptability, a slope estimator and a stabilizer are constructed to deal with the attitude fluctuation caused by the sudden change of terrain. The control framework is proved to verify by simulations and experiment.
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Design and simulation for a hydraulic actuated quadruped robot
Xuewen Rong,Yibin Li,Jiuhong Ruan,Bin Li 대한기계학회 2012 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.26 No.4
This paper describes the mechanical configuration of a quadruped robot firstly. Each of the four legs consists of three rotary joints. All joints of the robot are actuated by linear hydraulic servo cylinders. Then it deduces the forward and inverse kinematic equations for four legs with D-H transformation matrices. Furthermore, it gives a composite foot trajectory composed of cubic curve and straight line,which greatly reduces the velocity and acceleration fluctuations of the torso along forward and vertical directions. Finally, dynamics cosimulation is given with MSC.ADAMS and MATLAB. The results of co-simulation provide important guidance to mechanism design and parameters preference for the linear hydraulic servo cylinders.
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The Clinical Feature of Behçet’s Disease in Northeastern China
Yingbin Shang,Shixin Han,Jiuhong Li,Qiushi Ren,Fangji Song,Hongduo Chen 연세대학교의과대학 2009 Yonsei medical journal Vol.50 No.5
Purpose: Behçet’s disease (BD) is a chronic, relapsing, multi-system vasculitis of unknown aetiology with complicated and diversified clinical features predominantly involving oral and genital ulcers, and ocular and cutaneous lesions. The clinical features of this disease have been described to be different according to geographical areas and gender. We investigated the specific clinical features of BD patients in Northeastern China. Materials and Methods: 116 patients involved in this study fulfilled the classification criteria of the International Study Group for BD. The clinical manifestations and results of laboratory tests of BD were recorded in each patient. Results: The onset was typically between 20-39 years with a slight female predominance. Oral ulcers were the most common manifestation, followed by skin lesions, positive pathergy reaction/genital ulcers, and ocular lesions. Vascular lesion and epididymitis were rare in patients with BD. The frequency of erythema nodosum-like lesion and articular involvement were significantly higher in females, while gastrointestinal involvement was significantly higher in males. The results of laboratory tests showed that the human leukocyte antigen (HLA)-B*51 alleles were positive in 30.9% of patients and the immunological abnormities were present in some patients. Conclusion: The clinical features of BD showed geographical and gender difference. Genetic and immune factors might participate in aetiopathogenesis of BD. Purpose: Behçet’s disease (BD) is a chronic, relapsing, multi-system vasculitis of unknown aetiology with complicated and diversified clinical features predominantly involving oral and genital ulcers, and ocular and cutaneous lesions. The clinical features of this disease have been described to be different according to geographical areas and gender. We investigated the specific clinical features of BD patients in Northeastern China. Materials and Methods: 116 patients involved in this study fulfilled the classification criteria of the International Study Group for BD. The clinical manifestations and results of laboratory tests of BD were recorded in each patient. Results: The onset was typically between 20-39 years with a slight female predominance. Oral ulcers were the most common manifestation, followed by skin lesions, positive pathergy reaction/genital ulcers, and ocular lesions. Vascular lesion and epididymitis were rare in patients with BD. The frequency of erythema nodosum-like lesion and articular involvement were significantly higher in females, while gastrointestinal involvement was significantly higher in males. The results of laboratory tests showed that the human leukocyte antigen (HLA)-B*51 alleles were positive in 30.9% of patients and the immunological abnormities were present in some patients. Conclusion: The clinical features of BD showed geographical and gender difference. Genetic and immune factors might participate in aetiopathogenesis of BD.
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Ping Hongyan,Wang Degang,Fu Maxian,Chen Kaihong,Zhang Jiuhong,Li Ke,Jiang Xuewu,Duan Shouxing,Zhang Xuan 대한독성 유전단백체 학회 2022 Molecular & cellular toxicology Vol.18 No.4
Background Diethylstilbestrol (DES) has been shown to disrupt the morphology and proliferation of gubernaculum testis cells. Objective This study aimed to elucidate the mechanism underlying DES induced damage to gubernaculum testis based on proteome analysis. Results Neonatal mice were exposed to DES or control vehicle and the gonads were collected for isobaric tags for relative and absolute quantitation based proteomics analysis. We found that at the early and late stages of gubernaculum development, treatment with different concentrations of DES upregulated the expression of proteins which were generally involved in several function categories including single-organism process, cellular process, binding, catalytic activity, cell part and organelle. KEGG pathway analysis showed that cardiac muscle contraction, oxidative phosphorylation, calcium signaling and cGMP-PKG signaling pathway were the most dysregulated pathways associated with DES in the late stage of gubernaculum development, while steroid biosynthesis was the only enriched pathway in the early stage of gubernaculum development. Conclusion Proteomics profi ling and functional analysis reveal new clues on how DES interferes with cellular processes and disrupts the development of gubernaculum. These findings have potential applications in the treatment of genitourinary diseases such as cryptorchidism.
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