SIA OpenIR  > 机器人学研究室
Alternative TitleBasic Theory and Realization Method of Bio-syncretic Robotic Actuation System
Thesis Advisor刘连庆
Keyword类生命机器人 类生命驱动 微纳机器人 细胞检测 细胞建模
Degree Discipline模式识别与智能系统
Degree Name博士
Degree Grantor中国科学院沈阳自动化研究所
Place of Conferral沈阳
Other AbstractThe detail research content is as follows: Firstly, the acquisition method for multidimensional information of living cells based on system science will be built; the issue of that the traditional measurement techniques only can obtain the simplex cellular information will be solved. These will provide technical support for the theoretical analysis and research of biological actuation elements of bio-syncretic actuation systems. Next, the modeling method of cellular model with actuation unit and viscoelastic properties will be proposed; the modeling error caused by the assumption of the cells with linear elastic propery and without actuation unit will be overcame effectively; the accurate description and characterization of the complex dynamic properties of biological cells with actuation capability will be realized; the available quantitative modeling technique for bio-syncretic actuation will be developed. These will lay the foundation for the precise regulation of bio-syncretic actuation systems under external excitations. Then, the method for in vitro controllable culture, proliferation and differentiation of skeletal muscle cells will be proposed; the controllable optimization and regulation method for the celluar actuation performance will be realized; the external factors that have effect on the muscle cells/tissues culture will be revealed. And the corresponding law and mechanism of the influence on the living materials culture from external factors will be expounded; the control method for the actuation element behaviors based on physical informations will be proposed; the coupling model between the multidimensional control signals input and the muscle cells dynamic response output will be established. These will provide the theoretical and technical support for the realization and control of bio-syncretic actuatuon systems. Finally, the theoretical modeling and realization method for the fusion of living systems and electromechanical systems will be proposed; the physical chemical factors affecting on the fusion of bio-syncretic actuation elements and systems will be revealed; the micro-controllable bio-syncretic actuation systems based on biological cells will be built; and the bio-syncretic actuating controllable behaviors, such as crawl, swim and wriggle, based on the living cells actuation elements will be realized. The study in the dissertation will promote robot core components to transform from non-living entities to living entities, and will be the solid foundation for the development of novel bio-syncretic robots with the performances of high sensitivity, high energy efficiency, high essential safety and self-healing capability.
Contribution Rank1
Document Type学位论文
Recommended Citation
GB/T 7714
张闯. 类生命机器人驱动系统基础理论与实现方法[D]. 沈阳. 中国科学院沈阳自动化研究所,2019.
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类生命机器人驱动系统基础理论与实现方法.(7429KB)学位论文 开放获取CC BY-NC-SAApplication Full Text
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