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Featured researches published by Xingsong Wang.


international conference on mechatronics and machine vision in practice | 2008

Obstacle Crossing Ability of a New Wheel-Based Cable Climbing Robot

Fengyu Xu; Xingsong Wang; Qi Xie

In this paper, the obstacle crossing capability of the previously designed cable climbing robot was analyzed. Static equations were established to analyze the relationships between the external forces and the maximum height of the obstacles. That several parameters affected the obstacle crossing ability of the robot was concluded. An innovated small volume, simple structure and light weight wheel-based cable climbing robot was proposed. The ameliorated robot is composed of one passive module and a powered wheel. A simplified kinematic model of the driving wheel was established. The comparison of the simulation results indicated that the climbing ability of newly-designed robot improved apparently, and it can climb over obstacles demanded by cable inspection. The analysis supplies the theoretical basis to the structural optimization.


international conference on mechatronics and machine vision in practice | 2010

The obstacle crossing analysis and improvement of a wheel-based cable climbing robot

Fengyu Xu; Xingsong Wang; Qi Xie

In this paper, the climbing obstacle capability of the previously designed cable climbing robot was analysed. Static equations are established to analyse the relationships between the external forces and the maximum height of the obstacles. That several parameters affected the obstacle crossing ability of the robot was concluded. According to the analysis, an innovated small volume, simple structure and light weight wheel-based cable climbing mechanism was proposed. The ameliorated robot is composed of one passive module and a powered wheel. A simplified kinematics model of the driving wheel was established. The comparison of the simulation results indicated that the climbing ability of newly-designed robot improved apparently, and it can climb over obstacles demanded by cable inspection. The analysis supplies the theoretical basis to the structural optimisation.


international conference on mechatronics and machine vision in practice | 2016

Existing weld seam recognition and tracking based on sub region neutral network

Guoan Liang; Shanshan Wang; Chunlei Tu; Xingsong Wang

This paper proposes a new algorithm of weld seam recognition for existing weld seam tracking based on sub region neural network. The original images need image preprocessing to obtain high quality image. Then 5000 small pictures are obtained as samples including weld seam and non-weld seam sub regions. 4000 sets of samples are randomly chosen as training data and 1000 left are selected as testing data. In this paper, the structure of neural network is designed to get the optimal model. In the process of training and testing, accuracy rate can reach 92% by adjusting node number of hidden layer of network. Experiment results show that various types of weld seam could be identified well based on this new algorithm. As a result, the new algorithm is very effective and has some advantages. Network structure is very simple. Moreover, less training time is requested. It is very significant that the amount of weld seam feature remains unchanged although sub images are input of neural network.


international conference on mechatronics and machine vision in practice | 2016

Development and performance analysis of the flexible pneumatic artificial muscle

Yongqiang Gong; Chenxi Ren; Xingsong Wang; Bing Zhang

The excellent performance, such as lightweight, consistent, high power output, of pneumatic artificial muscles makes them attractive for use in mobile robots and prosthetic appliances. In this paper, we make a kind of artificial muscle only by using Kevlar fibers and silicon rubber, which is called flexible pneumatic artificial muscle (FPAM). Their flexible nature permits them to be used without rigid joints. Without these joints, however, sealing FPAM is challenging. We make the reinforcing braid of FPAM soft by weaving it from Kevlar fibers. The reinforcing fibers and the soft silicone rubber can be used to seal FPAM with the mutual cooperation between them, whereas other proposed self-sealing techniques rely on the addition of special rigid component, the technique presented in this paper can be implemented without additions of this kind. A self-sealing silicone tube is used in this new structure. The Pressure characteristics of FPAM and were compared with McKibben artificial muscles ones. The result shows that the contraction force of the new artificial muscle is slightly smaller than the McKibben artificial muscles. We also test the basic properties of silicone rubber. A set of experimental frequency response characteristics are also given in this paper. Due to there is no metal joint, the artificial muscle can be applied in a wider range of areas, such as wearable medical devices.


international conference on mechatronics and machine vision in practice | 2016

Design of the power-assisted hip exoskeleton robot with hydraulic servo rotary drive

Mingxing Yang; Qing Zhu; Ruru Xi; Xingsong Wang; Yali Han

Robotic lower limbs exoskeletons hold potential significant in strength augmentation for effective walking and supporting substantial loads among various professions. However, the excellent kinematics performance and the high joint-driving torque are required for establishing such exoskeleton robots, which have become the major technical obstacle for practical applications of exoskeletons. A novel powered hip exoskeleton robot with hydraulic servo rotary drive is presented, both greater power to weight ratio and admirable rotating property similar to the servo motor can be achieved. In order to set up the range of motions and torque requirements of hip joints, the humans gait cycle and the lower limb physiology characteristics are analyzed. Based on the data analyses of human lower limbs, a rotary hydraulic driving device for hip flexion and extension (Al/Ex) is proposed, which is combined with the motion characteristic of hydraulic and the rotary motor. The designed new type of powerassisted hip exoskeleton can satisfy a variety of action like normal walking, like going up and down the stairs and bending down, etc. This work not only introduces the design details of the power-assisted hip exoskeleton with hydraulic servo rotary drive, but also provides a new actuating device for future research of the multi-joint lower limbs power-assisted robots design. With this focus, more innovative and practical exoskeleton robots will be emergence.


international conference on mechatronics and machine vision in practice | 2016

Design of a wearable lower limb exoskeleton for paralyzed individuals

Zhiyong Zhu; Chong Jiang; Xingsong Wang; Jianhua Chen; Lu He; Qingcong Wu

In the past decades, lots of wearable lower limb exoskeletons have been developed with the aim of augmenting or assisting motion activities in daily life. In this paper, the design of a wearable lower limb exoskeleton, named SEU-DER, was presented. The SEU-DER can assist the paralyzed individuals retaining preserved bilateral upper extremity function to stand up with two crutches and regain the ability of walking with an independent, functional, reciprocating gait. Based on the design principle of high-efficiency, accessibility, comfort, high safety, and the discipline of human factors engineering, we presented an original design including mechanical structure, and control and electronics system. Finally, preliminary walking assistance experiments were performed with a healthy subject to validate the feasibility and effectiveness of the SEU-DER. The experimental results prove the feasibility, reliability and assisting effectiveness of SEU-DER.


international conference on mechatronics and machine vision in practice | 2008

1-DOF Beam-Driven Bionic Robotic Fish

Jialin Xu; Xingsong Wang

Currently, the prevailing methods to design and manufacture fish-like robots focused on articulated way with multi-degree-of-freedom structure. For increasing the reliability and reducing the cost of manufacturing and controlling, a 1-DOF beam-driven bionic robotic fish was designed and tested in this paper. It took advantages of the comparability between the oscillation of an underwater cantilever beam actuated by a dynamic concentrated force and the undulation of a swimming crucian carp. The control system was designed based on DSP, and the bionic control data was obtained from the swimming curves of real crucian carp by image processing method of morphological figures. Experiments showed that the robotic fish could swim at different velocities and turn at different radius with great maneuverability and stability.


international conference on mechatronics and machine vision in practice | 2012

Modeling of the tendon-sheath actuation system

Lin Chen; Xingsong Wang


Archive | 2011

Modularization excitation detection device

Fengyu Xu; Xingsong Wang; Qi Xie


Archive | 2009

Modularized excitation detection device

Xingsong Wang; Qi Xie; Fengyu Xu

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Qi Xie

Southeast University

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Lin Chen

Southeast University

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Qing Zhu

Southeast University

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