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AnyClimb-II: Dry-adhesive linkage-type climbing robot for uneven vertical surfaces
Liu, Yanheng,Seo, TaeWon Elsevier 2018 Mechanism and machine theory Vol.124 No.-
<P><B>Abstract</B></P> <P>Vertical wall surfaces with obstacles present a serious challenge for wall-climbing robots. Owing to their limitations in overcoming obstacles, these types of robots have not been commercialized yet. Several ideas on novel designs and precise control have been suggested; however, further research is required to achieve enhanced robot capabilities in overcoming obstacles. Specifically, the use of dry adhesive methods by wall-climbing robots to climb over obstacles present tremendous challenges. This study introduces the design of a new linkage-type, wall-climbing robot, based on dry adhesion, for uneven vertical surfaces. Based on a four-bar mechanism, repeated walking is achieved via a single actuator. The robot's most important feature is the linkage design used for climbing over obstacles, which has been adopted from rover running patterns. The symmetric linkage design renders the robot adaptable to uneven surfaces with a compliant motion. Additionally, flat dry adhesives were used for the attachment mechanism. The design parameters were determined based on kinematic and static analyses, and certain important issues in linkage-type wall-climbing robot designs were addressed. The robot's performance was verified using experiments, whereby it was able to climb up and go down stairs with maximum stair heights of 15 mm (equal to 0.6% of the robot's height) during open-loop vertical walking. We expect that the linkage design can extend the accessible area of the wall-climbing robot.</P> <P>This study introduces the design of a new linkage-type, wall-climbing robot, based on dry adhesion, for uneven vertical surfaces. Based on a four-bar mechanism, repeated walking is achieved via a single actuator. The robot's most important feature is the linkage design used for climbing over obstacles, which has been adopted from rover running patterns. The symmetric linkage design renders the robot adaptable to uneven surfaces with a compliant motion. Additionally, flat dry adhesives were used for the attachment mechanism. The design parameters were determined based on kinematic and static analyses, and certain important issues in linkage-type wall-climbing robot designs were addressed. The robot's performance was verified using experiments, whereby it was able to climb up and go down stairs with maximum stair heights of 15 mm (equal to 0.6% of the robot's height) during open-loop vertical walking. We expect that the linkage design can extend the accessible area of the wall-climbing robot.</P> <P><B>Highlights</B></P> <P> <UL> <LI> Linkage design of a dry-adhesive wall-climbing robot for obstacle overcoming is proposed. </LI> <LI> Four-bar linkages are used for walking and adaptation. </LI> <LI> Compliant four-bar linkage is used to adapt on uneven surfaces autonomously. </LI> <LI> Single actuator is used for all locomotion such as walking and adapting on uneven surfaces. </LI> <LI> Kinematic and static analyses, and experimental results proves the reliability of the design. </LI> </UL> </P>
Human dynamics based driver model for autonomous car
Li, Lin,Liu, Yanheng,Wang, Jian,Deng, Weiwen,Oh, Heekuck IET 2016 IET intelligent transport systems Vol.10 No.8
<P>This study presents a new driver model based on human behaviour dynamics for autonomous cars, which allows driverless cars to move appropriately in accordance to the behavioural features of driver owners. This model is established through analysing drivers' various properties, e.g. gender, age, driving experience, personality, and emotion. These attributes collectively determine all the actions occurred during the driving process. Through analysing the statistical data gathered during the simulation, the authors find that the proposed model can reflect the power-law distribution with respect to the concerned human behaviours. Finally, the proposed model is validated by the hardware-in-loop simulator and real driving experiment.</P>
Gaofeng Han,Jing Li,Shuo Wang,Yan Liu,Xuedong Wang,Yanheng Zhou 대한치과교정학회 2019 대한치과교정학회지 Vol.49 No.2
Objective: This study was performed to evaluate the accuracy and reliability of a newly designed method to achieve mandibular dental model superimposition, using voxel-based cone-beam computed tomography (CBCT) registration. Methods: Fourteen dry cadaveric mandibles and six teeth extracted from patients with severe periodontitis were used to establish 14 orthodontic toothmovement models. The protocol consisted of two steps: in the first step, voxel-based CBCT mandible superimposition was performed; the reference comprised the external portion of the symphysis, extending to the first molar. The laser-scanned dental model image was then integrated with the CBCT image to achieve mandibular dental model superimposition. The entire process required approximately 10 minutes. Six landmarks were assigned to the teeth to measure tooth displacement, using tooth displacement on the superimposed laser-scanned mandibles as the reference standard. Accuracy was evaluated by comparing differences in tooth displacement based on the method and the reference standard. Two observers performed superimposition to evaluate reliability. Results: For three-dimensional tooth displacements, the differences between the method and the reference standard were not significant in the molar, premolar, or incisor groups (p > 0.05). The intraclass correlation coefficients for the inter- and intra-observer reliabilities of all measurements were > 0.92. Conclusions: Our method of mandibular dental model superimposition based on voxel registration is accurate, reliable, and can be performed within a reasonable period of time in vitro, demonstrating a potential for use in orthodontic patients.
Control of tendon-driven(Twisted-string Actuator) robotic joint with adaptive variable-radius pulley
Jihyuk Park,Ji-il Park,Hyung-Tae Seo,Yanheng Liu,Kyung-Soo Kim,Soohyun Kim 제어로봇시스템학회 2020 제어로봇시스템학회 국제학술대회 논문집 Vol.2020 No.10
This paper introduces and controls a new variable radius pulley that passively changes the effective radius of the drive pulley in a belt driven transmission in response to changing load torque. The mechanism used in this paper is based on the principle that the effective radius of the pulley increases passively when torque is applied to the pulley by the cam element and the elastic element. A belt-driven transmission with a conventional pulley of constant radius has a fixed maximum torque and speed, but the variable radius pulley in this paper changes the maximum speed and torque to enable more efficient driving. This paper explains the principle of operation of the new variable radius pulley and introduces the experiments that performed the position control of the robot joint by applying the variable radius pulley.