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A robot fuzzy motion planning approach in unknown environments

FU Yi-li, JIN Bao, LI Han, WANG Shu-guo

Frontiers of Mechanical Engineering 2006, Volume 1, Issue 3,   Pages 336-340 doi: 10.1007/s11465-006-0033-z

Abstract: proposed planning system is composed of several separate fuzzy units, which control individually each manipulatorinfluence, which is related to the nearby obstacle, with the attracting influence produced by the final manipulatorconfiguration, to generate actuating command for each link.

Keywords： manipulator     repelling influence     manipulator configuration     three-degree industrial     simulation    

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Precise semi-analytical inverse kinematic solution for 7-DOF offset manipulator with arm angle optimization

Frontiers of Mechanical Engineering 2021, Volume 16, Issue 3,   Pages 435-450 doi: 10.1007/s11465-021-0630-x

Abstract: Their configuration is similar to that of the experimental module manipulator (EMM) in the Chinese SpaceStation Remote Manipulator System.the analytical inverse kinematic solution for a non-offset spherical–roll–spherical (SRS) redundant manipulatorEMM is calculated in accordance with the relationship between the joint angles of the EMM and the SRS manipulator

Keywords： 7-DOF redundant manipulator     inverse kinematics     semi-analytical     arm angle     link offset    

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Development of a redundant anthropomorphic hydraulically actuated manipulator with a roll–pitch–yaw spherical

Frontiers of Mechanical Engineering 2021, Volume 16, Issue 4,   Pages 698-710 doi: 10.1007/s11465-021-0646-2

Abstract: manipulators that can implement complex heavy-duty tasks in unstructured areas is increasing; however, current manipulatorThis study proposes a seven-degree-of-freedom (7-DOF) redundant anthropomorphic hydraulically actuated manipulatorThe 7-DOF manipulator is then designed, and its third joint axis goes through the spherical center to

Keywords： hydraulic manipulator     inverse kinematic     redundant design     spherical wrist    

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Effects of green roof damping and configuration on structural seismic response

Frontiers of Structural and Civil Engineering   Pages 1133-1144 doi: 10.1007/s11709-023-0959-9

Abstract: Sustainable structures are critical for addressing global climate change. Hence, their structural resilience or ability to recover from natural events must be considered comprehensively. Green roofs are a widely used sustainable feature that improve the environment while providing excellent occupant amenity. To expand their usage, their inherent damping and layout sensitivity to seismic performance are investigated in this study. The soil of a green roof can serve as a damper to dissipate the energy generated by earthquakes or other dynamic events. Results of preliminary analysis show that a green roof soil can increase localized damping by 2.5% under both dry and saturated conditions. Based on these findings, nonlinear time-history analyses are conducted on a three-story building in SAP2000 to monitor the structural behavior with and without a green roof. The increased damping in the green roof soil is beneficial to the structural performance, i.e., it reduces the building displacement and acceleration by 10% and 12%, respectively. Additionally, certain configurations are more effective and beneficial to the structural response than others, which suggests the possibility of design optimization. Based on the findings of this study, new methods of modeling and considering green roofs in structural design are established.

Keywords： green infrastructure     green roof     structural resilience     seismic design    

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Effect of cutterhead configuration on tunnel face stability during shield machine maintenance outages

Frontiers of Structural and Civil Engineering 2023, Volume 17, Issue 4,   Pages 522-532 doi: 10.1007/s11709-023-0930-9

Abstract: Owing to long-distance advancement or obstacles, shield tunneling machines are typically shut down for maintenance. Engineering safety during maintenance outages is determined by the stability of the tunnel face. Pressure maintenance openings are typically used under complicated hydrogeological conditions. The tunnel face is supported by a medium at the bottom of the excavation chamber and compressed air at the top. Owing to the high risk of face failure, the necessity of support pressure when cutterhead support is implemented and a method for determining the value of compressed air pressure using different support ratios must to be determined. In this study, a non-fully chamber supported rotational failure model considering cutterhead support is developed based on the upper-bound theorem of limit analysis. Numerical simulation is conducted to verify the accuracy of the proposed model. The results indicate that appropriately increasing the specific gravity of the supporting medium can reduce the risk of collapse. The required compressed air pressure increases significantly as the support ratio decreases. Disregarding the supporting effect of the cutterhead will result in a tunnel face with underestimated stability. To satisfy the requirement of chamber openings at atmospheric pressure, the stratum reinforcement strength and range at the shield end are provided based on different cutterhead aperture ratios.

Keywords： tunnel face stability     cutterhead configuration     aperture ratio     pressure gradient     support ratio    

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A method to calculate working capacity space of multi-DOF manipulator and the application in excavating

Baochen WEI, Feng GAO

Frontiers of Mechanical Engineering 2012, Volume 7, Issue 2,   Pages 109-119 doi: 10.1007/s11465-012-0323-6

Abstract:

Working capacity refers to the velocity output and force output of a manipulator.

Keywords： working capacity     multi-DOF manipulator     capacity polytope     excavating mechanism    

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Optimizing the configuration of a clearwell by integrating pilot and full-scale tracer testing

LIU Wenjun, DU Zhipeng, JIN Junwei

Frontiers of Environmental Science & Engineering 2007, Volume 1, Issue 3,   Pages 270-275 doi: 10.1007/s11783-007-0045-x

Abstract: confirmed that the installation of baffles within clearwells is an efficient way to optimize their configuration
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Tracing the impact of stack configuration on interface resistances in reverse electrodialysis by in situ

Frontiers of Environmental Science & Engineering 2022, Volume 16, Issue 4, doi: 10.1007/s11783-021-1480-9

Abstract:

• RED performance and stack resistance were studied by EIS and LSV.

Keywords： Reverse electrodialysis     Electrochemical impedance spectroscopy     Concentration polarization     Spacer shadow effect    

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Synthesis of spherical parallel manipulator for dexterous medical task

Abdelbadia CHAKER, Abdelfattah MLIKA, Med Amine LARIBI, Lotfi ROMDHANE, Sa?d ZEGHLOUL

Frontiers of Mechanical Engineering 2012, Volume 7, Issue 2,   Pages 150-162 doi: 10.1007/s11465-012-0325-4

Abstract:

This paper deals with the design and the analysis of a spherical parallel manipulator (SPM) for a

Keywords： spherical parallel manipulator (SPM)     anastomosis     haptic     motion capture     optimization     workspace     dexterity    

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Optimal design of a linkage–cam mechanism-based redundantly actuated parallel manipulator

Frontiers of Mechanical Engineering 2021, Volume 16, Issue 3,   Pages 451-467 doi: 10.1007/s11465-021-0634-6

Abstract: A redundantly actuated parallel manipulator (RAPM) with mixed translational and rotational degrees of

Keywords： redundant actuation     parallel manipulator     linkage–cam mechanism     Jacobian     optimal design    

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Passive convergence-permeable reactive barrier (PC-PRB): An effective configuration to enhance hydraulic

Frontiers of Environmental Science & Engineering 2022, Volume 16, Issue 12, doi: 10.1007/s11783-022-1591-y

Abstract:

● A novel PRB configuration based on passive convergent flow effect

Keywords： Passive convergence-permeable reactive barrier (PC-PRB)     Permeable reactive barrier configuration     Numerical    

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Dimensional synthesis of a novel 5-DOF reconfigurable hybrid perfusion manipulator for large-scale spherical

Hui YANG, Hairong FANG, Yuefa FANG, Xiangyun LI

Frontiers of Mechanical Engineering 2021, Volume 16, Issue 1,   Pages 46-60 doi: 10.1007/s11465-020-0606-2

Abstract: A novel hybrid perfusion manipulator (HPM) with five degrees of freedom (DOFs) is introduced by combining

Keywords： 5-DOF hybrid manipulator     reconfigurable base     large workspace     dimensional synthesis     optimal design    

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Efficient Configuration Space Construction and Optimization for Motion Planning Article

Jia Pan, Dinesh Manocha

Engineering 2015, Volume 1, Issue 1,   Pages 46-57 doi: 10.15302/J-ENG-2015009

Abstract:

The configuration space is a fundamental concept that is widely used in algorithmic robotics.In this paper, we survey some of our recent work on solving two important challenges related to configurationspaces: ① how to efficiently compute an approximate representation of high-dimensional configurationThese algorithms perform collision queries on many configuration samples., which quickly converges to the exact configuration space.

Keywords： configuration space     motion planning     GPU parallel algorithm    

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Cusp points and assembly changing motions in the PRR-PR-PRR planar parallel manipulator

Frontiers of Mechanical Engineering 2023, Volume 18, Issue 2, doi: 10.1007/s11465-022-0743-x

Abstract: investigates the cusp points and assembly changing motions in a two degrees of freedom planar parallel manipulatorThe direct kinematic problem of the manipulator yields a quartic polynomial equation.Each root in the equation determines the assembly configuration, and four solutions are obtained for

Keywords： planar parallel manipulator     assembly changing motions     cusp points     quartic polynomial     discriminant    

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A systematic review of current and emergent manipulator control approaches

Syed Ali AJWAD,Jamshed IQBAL,Muhammad Imran ULLAH,Adeel MEHMOOD

Frontiers of Mechanical Engineering 2015, Volume 10, Issue 2,   Pages 198-210 doi: 10.1007/s11465-015-0335-0

Abstract: Highlighting the authors’ research achievements in the domain of manipulator design and control

Keywords： robot control     robust and nonlinear control     adaptive control     intelligent control     industrial manipulators     robotic arm    

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Title Author Date Type Operation

A robot fuzzy motion planning approach in unknown environments

FU Yi-li, JIN Bao, LI Han, WANG Shu-guo

Journal Article

Precise semi-analytical inverse kinematic solution for 7-DOF offset manipulator with arm angle optimization

Journal Article

Development of a redundant anthropomorphic hydraulically actuated manipulator with a roll–pitch–yaw spherical

Journal Article

Effects of green roof damping and configuration on structural seismic response

Journal Article

Effect of cutterhead configuration on tunnel face stability during shield machine maintenance outages

Journal Article

A method to calculate working capacity space of multi-DOF manipulator and the application in excavating

Baochen WEI, Feng GAO

Journal Article

Optimizing the configuration of a clearwell by integrating pilot and full-scale tracer testing

LIU Wenjun, DU Zhipeng, JIN Junwei

Journal Article

Tracing the impact of stack configuration on interface resistances in reverse electrodialysis by in situ

Journal Article

Synthesis of spherical parallel manipulator for dexterous medical task

Abdelbadia CHAKER, Abdelfattah MLIKA, Med Amine LARIBI, Lotfi ROMDHANE, Sa?d ZEGHLOUL

Journal Article

Optimal design of a linkage–cam mechanism-based redundantly actuated parallel manipulator

Journal Article

Passive convergence-permeable reactive barrier (PC-PRB): An effective configuration to enhance hydraulic

Journal Article

Dimensional synthesis of a novel 5-DOF reconfigurable hybrid perfusion manipulator for large-scale spherical

Hui YANG, Hairong FANG, Yuefa FANG, Xiangyun LI

Journal Article

Efficient Configuration Space Construction and Optimization for Motion Planning

Jia Pan, Dinesh Manocha

Journal Article

Cusp points and assembly changing motions in the PRR-PR-PRR planar parallel manipulator

Journal Article

A systematic review of current and emergent manipulator control approaches

Syed Ali AJWAD,Jamshed IQBAL,Muhammad Imran ULLAH,Adeel MEHMOOD

Journal Article