Bionic Artificial Self-Recovery Enables Autonomous Health of Machine

This paper explores Engineering self-recoveries theory,which emerged from the research of Bionics to meet the great demand of modern high-risk process manufacturing and the development of aerospace vehicles.Bionics opens a new era in which artefact s learn from natural objects.With the rapid development of the industrial Internet and Artificial intelligence technology,we have gained a deep understanding of the law of fault generation and development,which provides an opportunity for the emergence of Engineering self-recoveries theory.Engineering self-recoveries expands the research field of Cybernetics and Engineering cybernetics,endows machines with the self-recovery mechanism,which is unique to humans and animals,and enables machines to store,supplement and activate self-recovery power to maintain body health.Bionics research on Artificial intelligence has greatly enhanced the function of imitating the human brain,but has ignored the important system and function of humans and animals to maintain their own health—the self-recovery system and self-recovery function.Artificial intelligence imitates the conscious thinking control behaviour of the human brain to realize automation and intellectualization,making machines smarter.Artificial self-recovery can imitate the self-recovery mechanism of human unconscious thinking,and prevent and suppress faults in operation to realize self-recovery,possibly making machines healthier.Artificial self-recovery technology includes self-repair,compensation,self-protection and self-recovery regulation.Engineering self-recoveries is the basis of the autonomous health of machines and even artificial systems,and a new research field of Bionics.This has broad application prospects in engineering.

Fuzzy-GA PID controller with incomplete derivation and its application to intelligent bionic artificial leg

An optimal PID controller with incomplete derivation is proposed based on fuzzy inference and the geneticalgorithm, which is called the fuzzy-GA PID controller with incomplete derivation. It consists of the off-line part andthe on-line part. In the off-line part, by taking the overshoot, rise time, and settling time of system unit step re-sponse as the performance indexes and by using the genetic algorithm, a group of optimal PID parameters K*p , Ti* ,and Tj are obtained, which are used as the initial values for the on-line tuning of PID parameters. In the on-linepart, based on K; , Ti* , and T*d and according to the current system error e and its time derivative, a dedicatedprogram is written, which is used to optimize and adjust the PID parameters on line through a fuzzy inference mech-anism to ensure that the system response has optimal dynamic and steady-state performance. The controller has beenused to control the D. C. motor of the intelligent bionic artificial leg designed by the authors. The result of computersimulation shows that this kind of optimal PID controller has excellent control performance and robust performance.

Design and Mechanics Simulation of Bionic Lubrication System of Artificial Joints

We propose a new structure for artificial joints with a joint capsule which is designed to overcome the drawback of current prostheses that omit many functions of the lubricant and the joint capsule. The new structure is composed of three components： lubricant, artificial joint and artificial joint capsule. The lubricant sealed in the capsule can not only reduce the wear of the artificial joint but also prevents the wear particles leaking into the body. So unexpected reactions between the wear particles and body can be avoided completely. A three-dimensional （3-D） finite element analysis （FEA） model was created for a bionic knee joint with capsule. The stresses and their distribution in the artificial capsule were simulated with different thickness, loadings, and flexion angles. The results show that the maximum stress occurs in the area between the artificial joint and the capsule. The effects of capsule thickness and the angles of flexion on stress are discussed in detail.

Intelligent PID controller based on ant system algorithm and fuzzy inference and its application to bionic artificial leg

A designing method of intelligent proportional-integral-derivative(PID) controllers was proposed based on the ant system algorithm and fuzzy inference. This kind of controller is called Fuzzy-ant system PID controller. It consists of an off-line part and an on-line part. In the off-line part, for a given control system with a PID controller,by taking the overshoot, setting time and steady-state error of the system unit step response as the performance indexes and by using the ant system algorithm, a group of optimal PID parameters K*p , Ti* and T*d can be obtained, which are used as the initial values for the on-line tuning of PID parameters. In the on-line part, based on Kp* , Ti*and Td* and according to the current system error e and its time derivative, a specific program is written, which is used to optimize and adjust the PID parameters on-line through a fuzzy inference mechanism to ensure that the system response has optimal transient and steady-state performance. This kind of intelligent PID controller can be used to control the motor of the intelligent bionic artificial leg designed by the authors. The result of computer simulation experiment shows that the controller has less overshoot and shorter setting time.

Joint position control of bionic jumping leg driven by pneumatic artificial muscle

The bionic legs are generally driven by motors which have the disadvantages of large size and heavy weight.In contrast,the bionic legs driven by pneumatic artificial muscles(PAMs)have the advantages of light weight,good bionics and flexibility.A kind of bionic leg driven by PAMs is designed.The proportional-integral-derivative(PID)algorithm and radial basis function neural network(RBFNN)algorithm are combined to design RBFNN-PID controller,and a low-pass filter is added to the control system,which can effectively improve the jitter phenomenon of the joint during the experiment.It is verified by simulation that the RBFNN-PID algorithm is better than traditional PID algorithm,the response time of joint is improved from 0.15 s to 0.07 s,and the precision of joint position control is improved from 0.75°to 0.001°.The experimental results show that the amplitude of the change in error is reduced from 0.5°to 0.2°.It is verified by jumping experiment that the mechanism can realize jumping action under control,and can achieve the horizontal displacement of 500 mm and the vertical displacement of 250 mm.

Artificial Searching Swarm Algorithm and Its Performance Analysis

Artificial Searching Swarm Algorithm (ASSA) is a new optimization algorithm. ASSA simulates the soldiers to search an enemy’s important goal, and transforms the process of solving optimization problem into the process of searching optimal goal by searching swarm with set rules. This work selects complicated and highn dimension functions to deeply analyse the performance for unconstrained and constrained optimization problems and the results produced by ASSA, Genetic Algorithm (GA), Particle Swarm Optimization (PSO), Artificial Fish-Swarm Algorithm (AFSA) have been compared. The main factors which influence the performance of ASSA are also discussed. The results demonstrate the effectiveness of the proposed ASSA optimization algorithm.

仿生微曝气技术对农村生活污水处理效果和机理的初步研究

农村生活污水是水体富营养化的主要污染源之一。本研究提出了仿生微曝气技术,考察了该技术对农村生活污水的处理效果与基质上生物膜的基本性状。研究发现,该技术能使水体pH值维持在7.0左右,DO质量浓度维持在2.0~2.6 mg·L^(-1)的范围。仿生微曝气处理对SS、COD、TP、NH_(3)-N、TN均有较好的去除效果,第10天时去除率分别达到了79.6%、87.6%、53.0%、89.2%、69.4%。其中,第2天和第4天时仿生微曝气处理对SS、COD、TP、NH_(3)-N的去除率低于普通曝气处理的(P<0.05),但从第6天及以后,两种处理对污染物的去除率差异不明显(P>0.05);仿生微曝气处理对TN的去除率一直高于普通曝气处理的(P<0.05)。仿生微曝气处理中生物膜生物量、PN含量、PS含量、细菌多样性等均优于普通曝气处理的。仿生微曝气技术在农村生活污水的治理中具有较好的应用前景,将有助于黄河流域生态保护和高质量发展。

仿生技术在猪人工授精中的应用研究进展

猪人工授精技术是科学养猪的重要手段,对养猪业向规模化、标准化、工业化发展起到重要的促进作用。生产中,仿生技术常应用于公猪的调教、采精、母猪的发情鉴定、输精等环节。该文综述了基于母猪与公猪效应仿生技术下,猪人工授精操作方法、配套用品、器械、设备的改良与发展,猪人工授精仿生技术在促进公猪精液质量、母猪发情、繁殖率提高等方面的应用效果,提出仿生技术存在的主要问题及展望。

人工智能仿生机器人产业发展对区域经济的影响——以广西为例

分析人工智能仿生机器人产业的发展趋势,结合广西经济发展特点和当地产业结构特点,提出了相关对策及建议,旨在为促进广西区域经济高质量发展提供参考。

Hopping planning of the bionic leg mechanism driven by PAMs with biarticular muscle

Bionic robots are generally driven by motors.As robots driven by pneumatic artificial muscles(PAMs)have the advantages of light weight,good bionics and flexibility,more and more researchers have adopted PAMs to drive bionic robots.A kind of bionic leg driven by PAMs for hopping is proposed in this work.A 3-DOF bionic leg driven by 4 PAMs is designed by analyzing the biological structure and movement principles of frog legs,and 3 kinds of leg configuration with different PAMs arrangement is proposed.One biarticular muscle is used to increase the joint rotating range.The bracket pulley and PAMs for driving joint can effectively increase its rotating range.The rotating range of hip and knee joint driven by a biarticular muscle is simulated.The simulation results show that the biarticular muscle can transfer the movement of the hip joint to the knee joint and increase the rotating range of the knee joint.The greater the contraction of PAM,the greater the rotating range of joint.The bionic leg can perform planned step distance and step height of hopping.

Analysis on pivot turning of quadruped robot with bionic flexible body driven by the PAMs

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.

Remarks on the Efficiency of Bionic Optimisation Strategies

Bionic optimisation is one of the most popular and efficient applications of bionic engineering. As there are many different approaches and terms being used, we try to come up with a structuring of the strategies and compare the efficiency of the different methods. The methods mostly proposed in literature may be classified into evolutionary, particle swarm and artificial neural net optimisation. Some related classes have to be mentioned as the non-sexual fern optimisation and the response surfaces, which are close to the neuron nets. To come up with a measure of the efficiency that allows to take into account some of the published results the technical optimisation problems were derived from the ones given in literature. They deal with elastic studies of frame structures, as the computing time for each individual is very short. General proposals, which approach to use may not be given. It seems to be a good idea to learn about the applicability of the different methods at different problem classes and then do the optimisation according to these experiences. Furthermore in many cases there is some evidence that switching from one method to another improves the performance. Finally the identification of the exact position of the optimum by gradient methods is often more efficient than long random walks around local maxima.

静电纺丝在构建小口径仿生人工血管中的研究进展

人工血管在治疗冠状动脉和周边堵塞性疾病中具有重要意义,但制备出性能优异的小口径人工血管仍然具有挑战性。当口径较小时(<6 mm),人工血管容易产生血栓和内膜增生等问题,进而导致血管再狭窄和堵塞,对人类健康造成严重危害。为了构建性能良好的小口径人工血管,人们探索了多种制备方法。静电纺丝可以构建具有极大的比较面积和孔隙率的纳米纤维网络。而这种纳米纤维网络与动物细胞外基质(ECM)结构非常相似,可以极大地促进内皮细胞的黏附生长和繁殖,从而促进使移植后的人工血管具有快速形成完整的内皮细胞层。内皮细胞层的形成可以有效减缓人工血管中血细胞、纤连蛋白和血小板沉积,降低血栓形成及血管堵塞的概率。本论文综述了静电纺丝技术在构建小口径人工血管方面的研究进展。

水压人工肌肉驱动的模块化仿生机器人设计与单元模块试验

单体水压人工肌肉仅能提供收缩作用,基于水压人工肌肉驱动关节的工作原理,设计了仿生机器人单元模块,能实现伸缩和2个方向的偏转功能。利用水压人工肌肉的力位移特性,对弹簧进行选型计算。搭建了由四水压人工肌肉驱动的单元模块,并完成不同弹簧下的偏转试验,采集水压人工肌肉的收缩力、工作压力以及单元偏角,得到在空载条件下压力变化量与单元模块偏转角度之间的关系曲线。为进一步设计带载模块化仿生机器人奠定基础。

中药材及饮片质量控制和评价的关键技术评析

中药材及饮片作为中药产业链条的最前端,其质量评价策略对中药质量的提升具有引领作用。随着现代技术的应用与发展,我国已形成了较为完善的中药材及饮片质量控制体系。笔者结合近年来中药材及饮片质量评价技术的应用现状和产业需求,对质量研究关键技术进行了梳理,强调了过程控制技术在中药饮片规范化生产中必要性,同时探讨人工智能仿生技术所具有的客观化、直观化特点在中药材及饮片检验中应用的可能性,在未来实现中药产业化进程中或具有重要意义。当前,指纹图谱和色谱—质谱联用技术作为代表性的化学成分分析手段,分别在中药材及饮片化学成分整体表征和痕量成分控制方面日益应用广泛;在生物技术应用中,DNA分子鉴定技术突破了传统鉴别手段,从中药种质源头进行质量控制;生物效应技术紧密结合临床功效进行质量评价,弥补了现行质量控制方法与功效相关性不足的特点。每种关键技术均具有其独特的优势,对于中药材及饮片质量的全面控制具有相辅相成的作用。本文对中药材及饮片质量控制的关键技术进行了总结和分析,并提出了相关的建议,以期对保障中药材及饮片的质量稳定及推动中医药大健康产业的可持续发展产生积极的作用。

红茶发酵过程中品质评价技术研究进展

发酵是红茶特征品质形成的关键环节,快速准确地评判红茶发酵度,对于红茶加工至关重要。文章综述了近年来人工感官评价技术、生化成分检测技术、智能仿生技术、数据融合技术以及智能仿生设备等评价技术在红茶发酵品质评价中的应用现状,并对智能仿生技术在未来红茶发酵评价中的应用趋势进行了展望。

仿生学覆羽厚度对机翼失速控制效果的实验研究

受鸟类翼面覆羽结构特点的启发,在前期仿生流动控制工作基础上,本文设计了不同厚度的柔性锯齿型人工覆羽,将其分别安装于NACA0018平直机翼上翼面不同弦长位置,通过实验考察大迎角条件下流动分离控制效果。实验在天津大学低湍流度风洞进行,采用坐标架对机翼尾流区进行扫掠测量,使用热线风速仪获取尾流区的平均速度和脉动速度信息,并使用高速相机拍摄人工覆羽的运动情况。通过平均速度分布、脉动速度均方根曲线、功率谱密度、小波能谱和小波等值云图等对不同厚度覆羽的流动分离控制效果进行对比分析。实验结果表明,对于小厚度覆羽:安装在机翼前缘附近时,能有效减小前缘剪切层和机翼上表面之间的距离,这是由于覆羽自适应振动促进了低频大尺度相干结构向高频小尺度相干结构的转化;安装在机翼尾缘附近时,机翼周围流场无明显变化。相反,对于大厚度覆羽,覆羽阻碍分离回流区沿机翼表面向前缘发展,在靠近机翼尾缘时,流动分离控制效果较好。此外,本文还结合粒子图像测速技术绘制了覆羽的运动情况和周围流场流动示意图,验证了不同工况下人工覆羽的流动分离控制效果,对比分析了不同厚度覆羽实现流动分离控制的机理。

A Soft Robotic Fish Actuated by Artificial Muscle Modules(SoRoFAAM-1)

In this paper,we present the design,fabrication,locomotion and bionic analysis of a Soft Robotic Fish Actuated by Artificial Muscle(SoRoFAAM).As a carangiform swimmer,the most important part of SoRoFAAM-1,on the motion point of view,is its tail designed around a bidirectional flexible bending actuator by layered bonding technology.This actuator is made of two artificial muscle modules based on Shape Memory Alloy(SMA)wires.Each artificial muscle module has four independent SMA-wire channels and is therefore capable of producing four different actuations.This design allows us to implement an adaptive regulated control strategy based on resistance feedback of the SMA wires to prevent them from overheating.To improve the actuation frequency to 2 Hz and the heat-dissipation ratio by 60%,we developed a round-robin heating strategy.Furthermore,the thermomechanical model of actuator is built,and the thermal transformation is analysed.The relationships between the actuation parameters and SoRoFAAM-1’s kinematic parameters are analysed.The versatility of the actuator endows SoRoFAAM-1 with cruise straight and turning abilities.Moreover,SoRoFAAM-1 has a good bionic fidelity;in particular,a maneuverability of 0.15,a head swing factor of 0.38 and a Strouhal number of 0.61.

A bionic artificial joint system and investigation of tribological performance

Joint replacement is one of the most common and successful operations in orthopaedic surgery. It consists of replacing painful, arthritic, worn or cancerous parts of the joint with artificial surfaces shaped in such a way as to allow joint movement. The polyethylene component has been implicated as the key factor affecting the lifetime of these prostheses. This paper introduces a bionic artificial joint system which aims to prolong the lifetime of such prostheses. Included are bionic system design, investigation of bionic therapeutic lubricants and analysis of the mechanical properties of hip prostheses. Possible future developments which might improve artificial joints are also discussed.

仿生机器人技术的发展对经济的促进作用与应用前景分析

介绍了仿生机器人技术的发展背景和当前状况,强调其在技术与经济特征方面的优势,重点关注仿生机器人技术在经济中的促进作用,还对仿生机器人技术在制造业、服务业和农业中的应用前景进行了分析。通过总结对研究结果进行了概括,指出了仿生机器人技术在促进经济高质量发展方面面临的挑战和未来发展的方向,旨在为决策者、研究机构和企业提供有关仿生机器人技术的经济影响和应用前景的理解,为促进经济的发展提供参考。