ORCID Profile
0000-0001-5162-1665
Current Organisation
Nankai University
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Publisher: Elsevier BV
Date: 04-2014
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 2023
Publisher: IEEE
Date: 08-2013
Publisher: Springer Science and Business Media LLC
Date: 28-02-2018
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 10-2022
Publisher: IEEE
Date: 08-2012
Publisher: Elsevier BV
Date: 07-2023
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 2023
Publisher: Elsevier BV
Date: 05-2013
Publisher: AIP Publishing
Date: 12-2013
DOI: 10.1063/1.4832979
Abstract: This paper presents a novel micropipette aspiration (MA) method based on a common pneumatic micro-injection system. This method is the first to quantify the influence of capillary effect on aspiration pressure using a balance pressure model, and in return, uses the capillary effect to quantify the aspiration pressure. Subsequently, the seal between the cell and the micropipette is detected to judge and exclude the ineffective MA attempts. The rationality of the balance pressure model is validated by the designed micropipette-filling experiments. Through applied to elasticity-determination of the cells with different sizes, the feasibility and versatility of this MA method are proved. With abilities to quantify aspiration pressures and detect the seam between the cell and the micropipette, our method is expected to advance the application of the commercial pneumatic injector in the MA of cells. Moreover, with the quantified volume of the liquid entering into the micropipette during MA process, our method also has a potential applicability to the study of the permeability of the cell membrane in the future.
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 2023
Publisher: Elsevier BV
Date: 2021
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 12-2014
Publisher: MDPI AG
Date: 12-01-2020
DOI: 10.3390/MI11010084
Abstract: This paper presents an adaptive hysteresis compensation approach for a piezoelectric actuator (PEA) using single-neuron adaptive control. For a given desired trajectory, the control input to the PEA is dynamically adjusted by the error between the actual and desired trajectories using Hebb learning rules. A single neuron with self-learning and self-adaptive capabilities is a non-linear processing unit, which is ideal for time-variant systems. Based on the single-neuron control, the compensation of the PEA’s hysteresis can be regarded as a process of transmitting biological neuron information. Through the error information between the actual and desired trajectories, the control input is adjusted via the weight adjustment method of neuron learning. In addition, this paper also integrates the combination of Hebb learning rules and supervised learning as teacher signals, which can quickly respond to control signals. The weights of the single-neuron controller can be constantly adjusted online to improve the control performance of the system. Experimental results show that the proposed single-neuron adaptive hysteresis compensation method can track continuous and discontinuous trajectories well. The single-neuron adaptive controller has better adaptive and self-learning performance against the rate-dependence of the PEA’s hysteresis.
Publisher: MDPI AG
Date: 05-10-2022
DOI: 10.3390/ACT11100284
Abstract: The contact force between the polishing tool and the workpiece is crucial in determining the surface quality in robotic polishing. Different from rigid end-effectors, this paper presents a novel compliant end-effector (CEE) for robotic polishing using flexible beams. The flexibility of the CEE helps to suppress the excessive displacement caused by the inertia of the polishing robot and avoids damaging the polishing tool and workpiece surface. In addition, the contact force can also be precisely estimated via the measurement of the CEE’s displacement using a capacitive position sensor. The design, modeling and experimental validation of the CEE are presented. Firstly, the analytical model of the CEE is established using the stiffness matrix method. Subsequently, the analytical model is verified by finite element analysis. Further, a prototype is manufactured, and its characteristics and performance are experimentally tested. The equivalent stiffness is measured to be 0.335 N/μm, and the first natural frequency along its working direction is 42.1 Hz. Finally, the contact force measurement using the CEE is compared with a force sensor. Under open-loop condition, the resolution of the contact force measurement is found to be 0.025 N, which makes the fine tuning of the contact force possible in robotic polishing.
Publisher: MDPI AG
Date: 22-10-2023
DOI: 10.3390/S23208637
Publisher: Trans Tech Publications, Ltd.
Date: 2010
DOI: 10.4028/WWW.SCIENTIFIC.NET/KEM.426-427.624
Abstract: This paper focuses on the effects of heat source profiles during thermal analysis of grinding. Three different models of heat source, namely triangular model, parabolic model and elliptic model, have been suggested and their numeric formulas are provided. These models take into account of the variation of heat flux along the contact zone, so as to improve the accuracy of numeric results. Finite Element Analysis (FEA) is utilized to investigate the temperature distributions under different thermal models and the effects of two profile parameters (η and ξ). The result is a) peak temperature decreases as η increases and the location of peak value moves backwards simultaneously b) peak temperature decreases as ξ increases and the location of peak value moves forwards simultaneously.
Publisher: MDPI AG
Date: 29-10-2023
DOI: 10.3390/MI14112009
Publisher: MDPI AG
Date: 04-04-2017
DOI: 10.3390/MI8040114
Publisher: MDPI AG
Date: 26-02-2022
DOI: 10.3390/S22051861
Abstract: A multi-robot collaboration system can complete more complex tasks than a single robot system. Ensuring the calibration accuracy between robots in the system is a prerequisite for the effective inter-robot cooperation. This paper presents a dual-robot system for orthopedic surgeries, where the relationships between hand-eye, flange-tool, and robot-robot need to be calibrated. This calibration problem can be summarized to the solution of the matrix equation of AXB=YCZ. A combined solution is proposed to solve the unknown parameters in the equation of AXB=YCZ, which consists of the dual quaternion closed-form method and the iterative method based on Levenberg–Marquardt (LM) algorithm. The closed-form method is used to quickly obtain the initial value for the iterative method so as to increase the convergence speed and calibration accuracy of the iterative method. Simulation and experimental analyses are carried out to verify the accuracy and effectiveness of the proposed method.
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 10-2021
Publisher: Chinese Journal of Mechanical Engineering
Date: 07-2012
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 2023
Publisher: MDPI AG
Date: 18-05-2017
DOI: 10.3390/MI8050161
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 2022
Publisher: MDPI AG
Date: 28-10-2021
DOI: 10.3390/MI12111325
Abstract: This paper proposes a feedforward and feedback combined hysteresis compensation method for a piezoelectric actuator (PEA) based on the multi-layer feedforward neural network (MFNN) inverse model. Under the scheme of direct inverse modeling, the MFNN is utilized as the feedforward hysteresis compensator, which can be directly identified from the measurements. The high modeling accuracy and high robustness of the MFNN help to increase the bandwidth of the closed-loop system. Experiments are conducted on a commercial PEA so as to verify the effectiveness of the proposed method. The superimposition of two sinusoidal signals is found to be efficient for the training of the MFNN. Closed-loop trajectory tracking experiments demonstrate that the bandwidth can be increased up to 1000 Hz and the maximum deviation can be maintained closed to the noise level. Meanwhile, there are only two parameters to be tuned in the proposed method, which guarantees ease of use for the inexperienced users. The proposed method successfully realizes high-precision hysteresis compensation performance across a wider frequency range.
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 2023
Publisher: IEEE
Date: 07-2013
Publisher: Elsevier BV
Date: 02-2021
Publisher: IGI Global
Date: 07-2013
Abstract: Most of the micro/nano manipulation mechanisms and systems are commonly based on flexure-based monolithic structures, and are generally driven by piezoelectric actuators. In the presented work, experimental system identification, 1-DOF trajectory tracking with feed-forward control, and hysteresis compensation are investigated. An experimental research facility with laser interferometry-based sensing and measurement technique is established. System identification experiments were performed on a 2-DOF flexure-based mechanism to investigate its dynamics. The system identification procedure, experimental design, data acquisition, analysis and validation of the identified system are presented in details. A linear sine swept signal is applied to the system as an input and the corresponding response of the system is measured with laser interferometry-based sensing and measurement technique. The experimental results are used to evaluate the transfer function and the first natural frequency of the system in the X and Y axes. Experimental validation data is used to verify the accuracy of the identified model. Further, a feed-forward controller is established to track a 1-DOF smooth multiple-frequency trajectory. For hysteresis compensation, inverse PI (Prandtl–Ishlinskii) model is derived from classical PI model. The parameters of the inverse PI model is estimated and validated with the experimental data. Finally, inverse PI model is directly adopted as a feed-forward controller for hysteresis compensation of piezoelectric actuators.
Publisher: IEEE
Date: 08-2012
Publisher: Springer Science and Business Media LLC
Date: 23-02-2023
DOI: 10.1007/S41871-023-00181-X
Abstract: Statically indeterminate symmetric (SIS) flexure structures are symmetric structures with “cl ed-cl ed” boundary conditions. The static indeterminacy and topological symmetry significantly attenuate the parasitic motions associated with statically determinate flexure structures. Hence, SIS flexure structures feature decoupled linear and angular motions, improved motion accuracy, high stiffness, and high stability. Although SIS flexure structures have been more frequently utilized as prismatic joints, they can also be utilized as revolute joints. This study systematically investigates the characteristics of SIS flexure structures. Based on the unified compliance models of a single flexure hinge, analytical compliance models of two fundamental types of SIS flexure structures are established. In 1-degree-of-freedom or planar applications, multiple SIS-based structures can also be integrated into various configurations to transmit linear or angular motions. Corresponding stiffness models are also established. The characteristics and possible applications of the SIS flexure structures are computationally investigated through case studies. Ultimately, several SIS prototypes are manufactured, and the modeling accuracy of the established stiffness models is experimentally verified.
Publisher: Springer Science and Business Media LLC
Date: 06-2012
Publisher: Elsevier BV
Date: 04-2013
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 2023
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 06-2013
Publisher: MDPI AG
Date: 29-06-2022
Abstract: Surgical robots are increasingly important in orthopedic surgeries to assist or replace surgeons in completing operations. During joint surgeries, the patient’s joint needs to be adjusted several times by the surgeon. Therefore, the virtual model, built on the preoperative medical images, cannot match the actual variation of the patient’s joint during the surgery. Conventional virtual reality techniques cannot fully satisfy the requirements of the joint surgeries. This paper proposes a real and virtual bidirectional driving method to synchronize the manipulations in both the real operation site and the virtual scene. The dynamic digital twin of the patient’s joint is obtained by decoupling the joint and dynamically updating its pose via the intraoperative measurements. During surgery, the surgeon can intuitively monitor the real-time position of the patient and the surgical tool through the system and can also manipulate the surgical robot in the virtual scene. In addition, the system can provide visual guidance to the surgeon when the patient’s joint is adjusted. A prototype system is developed for orthopedic surgeries. Proof-of-concept joint surgery demo is carried out to verify the effectiveness of the proposed method. Experimental results show that the proposed system can synchronize the manipulations in both the real operation site and the virtual scene, thus realizing the bidirectional driving.
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 09-2022
Publisher: American Scientific Publishers
Date: 09-2013
Publisher: ASME International
Date: 21-08-2201
DOI: 10.1115/1.4024979
Abstract: This paper proposes the design of a novel 3-DOF monolithic manipulator. This manipulator is capable of performing planar manipulations with three kinematically coupled DOFs, i.e., the translations in the X and Y axes and the rotation about the Z axis. An improved Scott-Russell (ISR) mechanism is utilized to magnify the displacement of the piezoelectric actuator (PEA). Unlike the SR mechanism, a set of leaf parallelograms is incorporated into the drive point of the ISR mechanism as a prismatic joint. As a result, the linearity of motion and stability are improved. With circular flexure hinges being treated as revolute joints, the forward kinematics and inverse kinematics of the 3-DOF manipulator are analytically derived. Computational analyses are performed to validate the established kinematics models. Due to the unwanted compliance of the flexure hinges, the actual displacement lification ratio of the ISR mechanism is smaller than its theoretical value. This is the main cause of the discrepancies between the analytical and computational results. The reachable workspace and the static/dynamic characteristics of the 3-DOF manipulator are also analyzed.
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 06-2014
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 09-2023
Publisher: MDPI AG
Date: 08-02-2022
DOI: 10.3390/ACT11020051
Abstract: Pneumatic artificial muscle (PAM) is attractive in rehabilitation and biomimetic robots due to its flexibility. However, there exists a strong hysteretic nonlinearity in PAMs and strong coupling between the output displacement and the output force. At present, most commonly used hysteresis models can be treated as two-dimensional models, which only consider the nonlinearity between the input and the output displacement of the PAM without considering the coupling of the output force. As a result, high-precision modeling and estimation of the PAM’s behavior is difficult, especially when the external load of the system varies significantly. In this paper, the influence of the output force on the displacement is experimentally investigated. A three-dimensional model based on the modified Prandtl–Ishlinskii (MPI) model and the Nonlinear AutoRegressive Moving Average with eXogenous inputs (NARMAX) model is proposed to describe the relationship and couplings among the input, the output displacement, and the output force of the PAM. Experiments are conducted to verify the modeling accuracy of the proposed model when the external load of the PAM varies across a wide range. The experimental results show that the proposed model captures well the hysteresis and couplings of the PAM and can precisely predict the PAM’s behavior.
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 02-2020
Publisher: MDPI AG
Date: 04-01-2022
DOI: 10.3390/S22010364
Abstract: The hysteretic nonlinearity of pneumatic artificial muscle (PAM) is the main factor that degrades its tracking accuracy. This paper proposes an efficient hysteresis compensation method based on the active modeling control (AMC). Firstly, the Bouc–Wen model is adopted as the reference model to describe the hysteresis of the PAM. Secondly, the modeling errors are introduced into the reference model, and the unscented Kalman filter is used to estimate the state of the system and the modeling errors. Finally, a hysteresis compensation strategy is designed based on AMC. The compensation performances of the nominal controller with without AMC were experimentally tested on a PAM. The experimental results show that the proposed controller is more robust when tracking different types of trajectories. In the transient, both the overshoot and oscillation can be successfully attenuated, and fast convergence is achieved. In the steady-state, the proposed controller is more robust against external disturbances and measurement noise. The proposed controller is effective and robust in hysteresis compensation, thus improving the tracking performance of the PAM.
No related grants have been discovered for Yanding Qin.