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Trajectory planning and base attitude restoration of dual-arm free-floating space robot by enhanced bidirectional

Zongwu XIE1 , Xiaoyu ZHAO1 , Zainan JIANG1 , Haitao YANG2 , Chongyang LI1

Frontiers of Mechanical Engineering 2022, Volume 17, Issue 1, doi: 10.1007/s11465-021-0658-y

Abstract: When free-floating space robots perform space tasks, the satellite base attitude is disturbed by theThe disturbance of the base orientation may affect the communication between the space robot and theoperation and the considerable computing efficiency increases the feasibility of the method during space

Keywords： free-floating space robot     dual arm     coordinated operation     base attitude restoration     bidirectional    

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Sagittal SLIP-anchored task space control for a monopode robot traversing irregular terrain

Haitao YU, Haibo GAO, Liang DING, Zongquan DENG

Frontiers of Mechanical Engineering 2020, Volume 15, Issue 2,   Pages 193-208 doi: 10.1007/s11465-019-0569-3

Abstract: CoM) with maneuverability, this study presents a novel two-layered sagittal SLIP-anchored (SSA) task spacecontrol for a monopode robot to deal with terrain irregularity.deriving an approximate solution with satisfactory apex prediction accuracy, and a two-layered SSA task spacecontroller is subsequently developed for the monopode robot.The lower layer enforces the monopode robot to reproduce a generated CoM movement by using a task space

Keywords： legged robots     spring-loaded inverted pendulum     task space control     apex return map     deadbeat control     irregular    

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A space power system of free piston Stirling generator based on potassium heat pipe

Mingqiang LIN, Jian MOU, Chunyun CHI, Guotong HONG, Panhe GE, Gu HU

Frontiers in Energy 2020, Volume 14, Issue 1,   Pages 1-10 doi: 10.1007/s11708-019-0655-6

Abstract: The power system of a free piston Stirling generator (FPSG) based on potassium heat pipes has been developedhigh overall thermal efficiency, the FPSG is a promising candidate for nuclear energy, especially in spaceIn this paper, the recent progress of FPSG based on nuclear reactor for space use was briefly reviewed

Keywords： free piston Stirling generator (FPSG)     potassium heat pipe     power system     energy conversion    

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Laboratory experiment on using non-floating body to generate electrical energy from water waves

Arunachalam AMARKARTHIK, Srinivasan CHANDRASEKARAN, Karuppan SIVAKUMAR, Harender SINHMAR

Frontiers in Energy 2012, Volume 6, Issue 4,   Pages 361-365 doi: 10.1007/s11708-012-0210-1

Abstract: This paper describes an innovative method of using a non-buoyant body to harness ocean waves. All the point absorbers are buoyant in nature and move up due to buoyancy and come down because of gravity. The point absorbers are designed to move along the waves to make the device efficient. These devices face excessive stress during the rough weather on account of the extreme motion of waves and cause the total device failure. The present study shows that using a non-buoyant body for conventional point absorber principle is much efficient and safer than any other device proposed till today. A small scale wave energy converter with non-buoyant body was designed, fabricated and tested in small scale wave maker. An electrical generator was coupled with the device to generate electrical energy from harnessed waves. The generator was electrically loaded and the generated power was measured. It was found from the experiments that the proposed device showed a significant improvement in electricity generation and safety during extreme conditions. In addition to the electricity generation, the characteristics of the device were also studied by using various wave and device parameters.

Keywords： ocean wave energy     point absorbers     heaving body     non-floating object     heave response ratio     electrical energy    

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Vibration suppression of speed-controlled robots with nonlinear control

Paolo BOSCARIOL,Alessandro GASPARETTO

Frontiers of Mechanical Engineering 2016, Volume 11, Issue 2,   Pages 204-212 doi: 10.1007/s11465-016-0380-3

Abstract: tracking and vibration suppression is shown through experimental tests conducted on a three-axis Cartesian robot

Keywords： industrial robot     nonlinear control     vibration damping     model-free control     motion control    

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Design and experimental study of a passive power-source-free stiffness-self-adjustable mechanism

Yuwang LIU, Dongqi WANG, Shangkui YANG, Jinguo LIU, Guangbo HAO

Frontiers of Mechanical Engineering 2021, Volume 16, Issue 1,   Pages 32-45 doi: 10.1007/s11465-020-0604-4

Abstract: We propose a new passive power-source-free stiffness-self-adjustable mechanism that can be used as theelbow joint of a robot arm.

Keywords： variable stiffness mechanism     stiffness self-regulation     bionic robot     modeling    

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Soil seismic analysis for 2D oblique incident waves using exact free-field responses by frequency-based

Frontiers of Structural and Civil Engineering 2022, Volume 16, Issue 12,   Pages 1530-1551 doi: 10.1007/s11709-022-0900-7

Abstract: The seismic analysis of a viscoelastic half-space under two-dimensional (2D) oblique incident waves isFirst, the frequency-domain exact solutions for the displacements and stresses of the free field are

Keywords： oblique incident waves     critical angle     half-space     finite/infinite element approach     seismic response    

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Traffic services for vehicles: the process from receiving raw probe data to space-time diagrams and the

Markus AUER, Hubert REHBORN, Sven-Eric MOLZAHN, Micha KOLLER

Frontiers of Engineering Management 2017, Volume 4, Issue 4,   Pages 490-497 doi: 10.15302/J-FEM-2017008

Abstract: Today, large quantities of vehicle data (FCD: floating car data) are widely used by traffic service providersAfter the matching process, space-time-diagrams are created of the probe data showing traffic situationdetails over space and time.

Keywords： floating car data     map matching     three phase traffic theory     traffic reconstruction     traffic service quality    

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Dynamic performance of submerged floating tunnel with different mooring styles subjected to anchor cable

Frontiers of Structural and Civil Engineering doi: 10.1007/s11709-023-0932-7

Abstract: Submerged floating tunnels (SFTs) are novel structures for transportation across long- and deep-strait

Keywords： dynamic behaviors     submerged floating tunnel     cable failure     mooring style     progressive failure    

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Numerical simulation of multi-body floating piers to investigate pontoon stability

Mostafa Shahrabi, Khosrow Bargi

Frontiers of Structural and Civil Engineering 2013, Volume 7, Issue 3,   Pages 325-331 doi: 10.1007/s11709-013-0209-7

Abstract: The objective of this study is to develop a procedure to analyze the motions of a floating pier comprisedto relocate or reconfigure the pier modules during the operation period and 75-100 years of repair-freeA floating pier consists of a pier, access bridge, mooring system and fender system, each of which comes

Keywords： coastal structures     numerical simulation     floating pier     rigid pontoons     stability    

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A method for predicting consolidation settlements of floating column improved clayey subsoil

Jinchun CHAI, Supasit PONGSIVASATHIT,

Frontiers of Structural and Civil Engineering 2010, Volume 4, Issue 2,   Pages 241-251 doi: 10.1007/s11709-010-0024-3

Abstract: A method of predicting the consolidation settlement-time curve of floating soil-cement column on improvedIt is suggested that the method can be used for designing the soft clayey subsoil improvement using floating

Keywords： cement depth mixing     ground improvement     consolidation     settlement    

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Highly efficient and selective removal of vanadium from tungstate solutions by microbubble floating-extraction

Frontiers of Chemical Science and Engineering 2023, Volume 17, Issue 5,   Pages 581-593 doi: 10.1007/s11705-022-2235-2

Abstract: In this work, selective removal of vanadium from tungstate solutions via microbubble floating-extractionremoval efficiency of vanadium reached 98.5% with tungsten loss below 8% after two-stage microbubble floating-extractionTherefore, the microbubble floating-extraction could be an efficient approach for separating selectively

Keywords： tungsten     vanadium     selective separation     reagent mineralization     microbubble floating-extraction    

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Role of biologic components in a novel floating-bed combining

Hailiang SONG, Xianning LI, Wei LI, Xiwu LU

Frontiers of Environmental Science & Engineering 2014, Volume 8, Issue 2,   Pages 215-225 doi: 10.1007/s11783-013-0587-z

Abstract: A novel floating-bed incorporated with water spinach ( ), Asiatic clam ( ), and carrier media supportedrole of biologic assimilation and leaving the biofilm as the indispensable biologic component in the floating-bedwater spinach, Asiatic clams and biofilms would promote the eutrophic water treatment performance of floating-bedin comparison with the conventional floating-bed with vegetation as the single biologic component.

Keywords： floating-bed     Corbicula fluminea     biofilm carrier     eutrophication    

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Review of human–robot coordination control for rehabilitation based on motor function evaluation

Frontiers of Mechanical Engineering 2022, Volume 17, Issue 2, doi: 10.1007/s11465-022-0684-4

Abstract: As a wearable and intelligent system, a lower limb exoskeleton rehabilitation robot can provide auxiliaryOne of the main elements of such a human–robot coupling system is a control system to ensure human–robotThis review aims to summarise the development of human–robot coordination control and the associatedrehabilitation needs regarding lower limbs are analysed in detail, forming the basis for the human–robotThen, human–robot coordination is discussed in terms of three aspects: modelling, perception and control

Keywords： human–robot coupling     lower limb rehabilitation     exoskeleton robot     motor assessment     dynamical model    

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Development of a masticatory robot using a novel cable-driven linear actuator with bidirectional motion

Frontiers of Mechanical Engineering 2022, Volume 17, Issue 4, doi: 10.1007/s11465-022-0687-1

Abstract: linear actuator (CDLA) capable of bidirectional motion is proposed in this study to design a masticatory robotThis work also exploits the proposed CDLA and designs a masticatory robot called Southeast Universitymasticatory robot (SMAR) to solve existing problems, such as bulky driving linkage and position changeChewing experiments are carried out on the developed masticatory robot to verify whether the CDLA can

Keywords： masticatory robot     cable-driven     linear actuator     parallel robot     stiffness analysis    

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Title Author Date Type Operation

Trajectory planning and base attitude restoration of dual-arm free-floating space robot by enhanced bidirectional

Zongwu XIE1 , Xiaoyu ZHAO1 , Zainan JIANG1 , Haitao YANG2 , Chongyang LI1

Journal Article

Sagittal SLIP-anchored task space control for a monopode robot traversing irregular terrain

Haitao YU, Haibo GAO, Liang DING, Zongquan DENG

Journal Article

A space power system of free piston Stirling generator based on potassium heat pipe

Mingqiang LIN, Jian MOU, Chunyun CHI, Guotong HONG, Panhe GE, Gu HU

Journal Article

Laboratory experiment on using non-floating body to generate electrical energy from water waves

Arunachalam AMARKARTHIK, Srinivasan CHANDRASEKARAN, Karuppan SIVAKUMAR, Harender SINHMAR

Journal Article

Vibration suppression of speed-controlled robots with nonlinear control

Paolo BOSCARIOL,Alessandro GASPARETTO

Journal Article

Design and experimental study of a passive power-source-free stiffness-self-adjustable mechanism

Yuwang LIU, Dongqi WANG, Shangkui YANG, Jinguo LIU, Guangbo HAO

Journal Article

Soil seismic analysis for 2D oblique incident waves using exact free-field responses by frequency-based

Journal Article

Traffic services for vehicles: the process from receiving raw probe data to space-time diagrams and the

Markus AUER, Hubert REHBORN, Sven-Eric MOLZAHN, Micha KOLLER

Journal Article

Dynamic performance of submerged floating tunnel with different mooring styles subjected to anchor cable

Journal Article

Numerical simulation of multi-body floating piers to investigate pontoon stability

Mostafa Shahrabi, Khosrow Bargi

Journal Article

A method for predicting consolidation settlements of floating column improved clayey subsoil

Jinchun CHAI, Supasit PONGSIVASATHIT,

Journal Article

Highly efficient and selective removal of vanadium from tungstate solutions by microbubble floating-extraction

Journal Article

Role of biologic components in a novel floating-bed combining

Hailiang SONG, Xianning LI, Wei LI, Xiwu LU

Journal Article

Review of human–robot coordination control for rehabilitation based on motor function evaluation

Journal Article

Development of a masticatory robot using a novel cable-driven linear actuator with bidirectional motion

Journal Article