The pivot turning function of quadruped bionic robots can improve their mobility in unstructured environment.A kind of bionic flexible body mechanism for quadruped robot was proposed in this paper,which is composed of...The pivot turning function of quadruped bionic robots can improve their mobility in unstructured environment.A kind of bionic flexible body mechanism for quadruped robot was proposed in this paper,which is composed of one bionic spine and four pneumatic artificial muscles(PAMs).The coordinated movement of the bionic flexible body and the leg mechanism can achieve pivot turning gait.First,the pivot turning gait planning of quadruped robot was analyzed,and the coordinated movement sequence chart of pivot turning was presented.Then the kinematics modeling of leg side swing and body bending for pivot turning was derived,which should meet the condition of the coordinated movement between bionic flexible body and leg mechanism.The PAM experiment was conducted to analyze its contraction characteristic.The study on pivot turning of the quadruped robot will lay a theoretical foundation for the further research on dynamic walking stability of the quadruped robot in unstructured environment.展开更多
Background subtraction is a challenging problem in surveillance scenes. Although the low-rank and sparse decomposition(LRSD) methods offer an appropriate framework for background modeling, they fail to account for ima...Background subtraction is a challenging problem in surveillance scenes. Although the low-rank and sparse decomposition(LRSD) methods offer an appropriate framework for background modeling, they fail to account for image's local structure, which is favorable for this problem. Based on this, we propose a background subtraction method via low-rank and SILTP-based structured sparse decomposition, named LRSSD. In this method, a novel SILTP-inducing sparsity norm is introduced to enhance the structured presentation of the foreground region. As an assistance, saliency detection is employed to render a rough shape and location of foreground. The final refined foreground is decided jointly by sparse component and attention map. Experimental results on different datasets show its superiority over the competing methods, especially under noise and changing illumination scenarios.展开更多
The design of compliant hinges has been extensively studied in the size and shape level in the literature.This paper presents a method for designing the single-axis flexure hinges in the topology level.Two kinds of hi...The design of compliant hinges has been extensively studied in the size and shape level in the literature.This paper presents a method for designing the single-axis flexure hinges in the topology level.Two kinds of hinges,that is,the translational hinge and the revolute hinge,are studied.The basic optimization models are developed for topology optimization of the translational hinge and the revolute hinge,respectively.The objective for topology optimization of flexure hinges is to maximize the compliance in the desired direction meanwhile minimizing the compliances in the other directions.The constraints for accomplishing the translational and revolute requirements are developed.The popular Solid Isotropic Material with Penalization method is used to find the optimal flexure hinge topology within a given design domain.Numerical results are performed to illustrate the validity of the proposed method.展开更多
In topology optimization of structures considering flexibility, degenerated optimal solutions, such as hinges, gray areas and disconnected structures may appear. In this paper, built upon the newly developed morphable...In topology optimization of structures considering flexibility, degenerated optimal solutions, such as hinges, gray areas and disconnected structures may appear. In this paper, built upon the newly developed morphable component based topology optimization approach, a novel representation using connected morphable components(CMC) and a linkage scheme are proposed to prevent degenerating designs and to ensure structure integrity. A lower bound condition of the thickness of each component is also incorporated to completely remove the smallest components in an optimal configuration. Designs of flexible structures, such as compliant mechanism design, maximum compliance structure design, and design of low-frequency resonating micro devices are studied to validate the proposed methodology. Our work demonstrates that the new methodology can successfully prevent degeneration solutions and possesses other advantages, such as minimum member size control in topology optimization of flexible structures.展开更多
基金Supported by the National Natural Science Foundation of China(No.51375289)Shanghai Municipal National Natural Science Foundation of China(No.13ZR1415500)the Innovation Fund of Shanghai Education Commission(No.13YZ020)
文摘The pivot turning function of quadruped bionic robots can improve their mobility in unstructured environment.A kind of bionic flexible body mechanism for quadruped robot was proposed in this paper,which is composed of one bionic spine and four pneumatic artificial muscles(PAMs).The coordinated movement of the bionic flexible body and the leg mechanism can achieve pivot turning gait.First,the pivot turning gait planning of quadruped robot was analyzed,and the coordinated movement sequence chart of pivot turning was presented.Then the kinematics modeling of leg side swing and body bending for pivot turning was derived,which should meet the condition of the coordinated movement between bionic flexible body and leg mechanism.The PAM experiment was conducted to analyze its contraction characteristic.The study on pivot turning of the quadruped robot will lay a theoretical foundation for the further research on dynamic walking stability of the quadruped robot in unstructured environment.
基金supported in part by the EU FP7 QUICK project under Grant Agreement No.PIRSES-GA-2013-612652*National Nature Science Foundation of China(No.61671336,61502348,61231015,61671332,U1736206)+3 种基金Hubei Province Technological Innovation Major Project(No.2016AAA015,No.2017AAA123)the Fundamental Research Funds for the Central Universities(413000048)National High Technology Research and Development Program of China(863 Program)No.2015AA016306Applied Basic Research Program of Wuhan City(2016010101010025)
文摘Background subtraction is a challenging problem in surveillance scenes. Although the low-rank and sparse decomposition(LRSD) methods offer an appropriate framework for background modeling, they fail to account for image's local structure, which is favorable for this problem. Based on this, we propose a background subtraction method via low-rank and SILTP-based structured sparse decomposition, named LRSSD. In this method, a novel SILTP-inducing sparsity norm is introduced to enhance the structured presentation of the foreground region. As an assistance, saliency detection is employed to render a rough shape and location of foreground. The final refined foreground is decided jointly by sparse component and attention map. Experimental results on different datasets show its superiority over the competing methods, especially under noise and changing illumination scenarios.
基金supported by the National Natural Science Foundation of China(Grant No.91223201)the Natural Science Foundation of Guangdong Province(Grant No.S2013030013355),Project GDUPS(2010)the Fundamental Research Funds for the Central Universities(Grant No.2012ZP0004)
文摘The design of compliant hinges has been extensively studied in the size and shape level in the literature.This paper presents a method for designing the single-axis flexure hinges in the topology level.Two kinds of hinges,that is,the translational hinge and the revolute hinge,are studied.The basic optimization models are developed for topology optimization of the translational hinge and the revolute hinge,respectively.The objective for topology optimization of flexure hinges is to maximize the compliance in the desired direction meanwhile minimizing the compliances in the other directions.The constraints for accomplishing the translational and revolute requirements are developed.The popular Solid Isotropic Material with Penalization method is used to find the optimal flexure hinge topology within a given design domain.Numerical results are performed to illustrate the validity of the proposed method.
基金supported by the National Science Foundation (Grant Nos. CMMI-1130948 & CMMI-1334929)
文摘In topology optimization of structures considering flexibility, degenerated optimal solutions, such as hinges, gray areas and disconnected structures may appear. In this paper, built upon the newly developed morphable component based topology optimization approach, a novel representation using connected morphable components(CMC) and a linkage scheme are proposed to prevent degenerating designs and to ensure structure integrity. A lower bound condition of the thickness of each component is also incorporated to completely remove the smallest components in an optimal configuration. Designs of flexible structures, such as compliant mechanism design, maximum compliance structure design, and design of low-frequency resonating micro devices are studied to validate the proposed methodology. Our work demonstrates that the new methodology can successfully prevent degeneration solutions and possesses other advantages, such as minimum member size control in topology optimization of flexible structures.
