Chapter 26

Zhang Yuan opened his tablet and began to study it carefully.

After learning mathematics for such a long time, maybe you can study my father's article, add your own ideas and organize it into a paper.

The function of the whole body motion mapping robot is: when a human makes an action, the robot will make almost the same action, similar to the manipulator just made by Ye Kaifu.

Don't underestimate this function. It is the basis and premise of "dynamic exoskeleton"!

Dynamic exoskeleton, also known as dynamic armour, is a research hotspot at present.

It is not only a weapon of war, but also can be used for civil use. For example, it can directly replace spacesuit.

Due to the vigorous development of nano materials, space suits are developing in the direction of simplicity and lightness. But one thing is inevitable: in any case, the spacesuit must carry a large oxygen cylinder, as well as a large number of life support systems and communication systems.

The universe is dangerous. Whether it is air leakage or temperature loss, any mistake will kill people. These life support systems must also be carried, not less.

So scientists imagine that the more bulky guy "power armour" will simply replace the spacesuit. Anyway, with power a, you don't worry about taking more things, and it's safer and more reliable. Thick armor is nothing even if it is hit by high-speed space junk.

In addition to replacing spacesuits, power armor can connect with humans through VR equipment to do some dangerous and difficult work instead of humans. Humans can only operate remotely and are no longer in danger of life.

It's easy to say but difficult to do. The research on dynamic exoskeleton has lasted for ten years and is still in the experimental stage.

The main reason is... Immature technology.

For a simple example, hold a balloon in one hand, and then shake it up, down, left and right at high speed. This action is very simple for humans.

But for robots, it is undoubtedly difficult to climb to the sky!

Why? The robot has no self-awareness. It doesn't know how much force it uses or how to shake. All these need to be solved by mathematics.

No matter how sensitive the sensor is, it can not be as comprehensive as human skin. To hold the balloon, first adjust the cooperative pressure of the manipulator, and the force should not be too large or too small, otherwise it will be directly pinched and burst. It's even more difficult to shake at high speed.

It is said that 10 years ago, a small company invented a patent for rapid pressure measurement - "MIA pressure sensing system", that is, ye Kai's leather gloves, which earned hundreds of millions of patent fees a year.

Of course, in addition to collaborative pressure, there are more and more difficulties, such as joint driving force, body balance ability, control algorithm and so on. Such a complex project, all kinds of hardware and software, and millions of lines of code can't be done by Zhang Yuan alone.

Therefore, he just wants to solve one of the key problems, and then write a paper or patent. It would be better if it could bring income to the foundation.

"Come on, write a paper!"

Just do it, and a line of small words appears on the screen.

Kinematics analysis theory of a high degree of freedom robot based on geometric group theory and Topology

The more you study, the more you read, the more you feel that the ideas are profound and complicated.

Dad's idea mainly studies the complex kinematics of the "27 degrees of freedom" manipulator, which contains group theory, topology and some knowledge of hypercomplex numbers. It seems quite laborious.

Even if you understand the inspiration, it doesn't mean that the whole paper can come out smoothly.

Dad only gave a general direction, and a lot of blank space behind him had to be completed by Zhang Yuanlai.

Writing a paper is a painful thing. It's like squeezing water with a sponge. There are a lot of details to do. It's not easy to show your inspiration completely.

Zhang Yuan's brain runs rapidly and enters a state of high concentration. He tried to figure out the whole idea, but he was soon stuck by a large number of details.

Sometimes this is the case. Many seemingly "obvious" problems become obstacles and become very "not obvious" when writing papers.

Zhang Yuan sighed deeply.

"With so many degrees of freedom kinematics and strange algorithms, I can only understand them with my current ability. I really can't put forward them independently. I don't know how Dad came up with it... "

"By the way, ye Kaifu, can you show me your control program?"

"What program?" Ye Kaifu turned his head.

"That's the program of the manipulator."

"Oh, OK, no problem. In fact, I'm not very proficient in this kind of programming, that is, I came from a wild road... "Ye Kaifu said very carefully.

It is actually a modest statement to say that you are not proficient.

Being able to compile relevant programs is much more powerful than normal undergraduates!

Ye Kai looked at Zhang Yuan with a little competition and wanted to know what the level of the new roommate was.

Young people always have a sense of comparison, especially when these astronauts from all over the world are probably excellent.

Soon, the relevant programs have been sent to Zhang Yuan's computer.

Zhang Yuan pinched his nose and looked at these programs.

How to put it? Ye Kaifu is really a layman, and his programming habits are not very good

There are no comments in the code. The names of various variables and functions are "a", "B", "C" and "d", which makes people confused.

The disadvantage of this is that if it takes a long time, the programmer himself may forget what his code is doing.

However, the algorithm content inside is much simpler than the idea put forward by Dad.

Soon, he analyzed the general idea.

The whole leather glove is a very sensitive pressure sensor. The change of human fingers will lead to the change of leather glove pressure. Therefore, after processing these data through some algorithm, the specific movement direction of the finger can be obtained.

"Then pass the motion direction to the manipulator, so that it can follow the motion."

This idea is very intuitive. There is no particularly good mathematical modeling. It mainly depends on the function of "MIA pressure sensor".

If according to the real scientific research evaluation standard, that is, the "ordinary" level.

Of course, ye Kaifu is only an undergraduate. He can't ask too much. No one expects an undergraduate to do earth shaking work.

Zhang Yuan thought carefully and analyzed a large number of areas that could be improved.

"Man, is there anything wrong?" Seeing the rich expression on Zhang Yuan's face, ye Kaifu thought hard and frowned again. He couldn't help asking with concern.

But he muttered in his heart, can you really understand the whole algorithm in such a short time?

No, it took me n a long time to figure it out

Anyway, my ex girlfriend and her boyfriend can't understand it.

"Ah, nothing, just some places..." Zhang Yuan looked back and found that ye Kaifu didn't have any unhappy expression, so he went on and said: "... I have a little different opinion. Don't mind ha."