Wandering Spaceship in Deep Space Chapter 26: Is there something wrong?
Zhang Yuan turned on the tablet and began to study seriously.
After studying mathematics for so long, maybe I can study my father’s article, add my own thoughts, and organize it into an essay.
The whole body motion mapping robot, the function it wants to achieve is: when a human makes an action, the robot will make an almost the same action, similar to the robotic arm that Ye Kaifu just made.
Do not underestimate this function, it is the basis and premise of "powered exoskeleton"!
Power exoskeleton, also known as power armour, is currently a major research hotspot.
It is not only a war weapon, it can also be used for civilian purposes, for example: it can directly replace space suits.
Due to the vigorous development of nanomaterials, spacesuits are developing in the direction of simplicity and lightness. But one thing is inevitable: In any case, space suits have to 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 a leak or a loss of temperature, any mistake will kill people. These life-sustaining systems must also be carried, and none of them will work.
So the scientists imagined that they would simply replace the spacesuit with the heavier guy "Power Armor". Anyway, with the power armor, no matter how many things you bring, you don't have to worry about it, and it's safer and more reliable. Even if the thick armor is hit by the high-speed space junk, it is nothing.
In addition to replacing space suits, Power Armor can connect to humans through VR equipment, and do some dangerous and difficult tasks on behalf of humans. Humans only need to remotely control them, and there is no longer a danger to life.
It's easy to say but difficult to do. The research work on powered exoskeleton has been going on for ten years and it is still in the experimental stage.
The main reason is... immature technology.
To give a simple example, hold a balloon with one hand, and then shake it up and down at high speed. This action cannot be simpler for humans.
But for robots, it is undoubtedly difficult to reach the sky!
Why? The robot has no self-awareness. It doesn't know how much force it uses or how to shake it. All of these need to be solved by mathematics.
No matter how sensitive a sensor is, it cannot be as fully functional as human skin. To hold the balloon, you must first adjust the coordinated pressure of the manipulator. The force cannot be too large or too small, otherwise it will burst directly. It is even more difficult to shake at a high speed.
It is said that 10 years ago, a small company invented a patent for rapid pressure measurement-"MIA Pressure Sensing System", which is the leather glove used by Ye Kaifu, earning hundreds of millions of dollars in patent fees a year .
Of course, in addition to coordinating pressure, there are more and more difficult points, such as joint driving force, body balance ability, control algorithm and so on. Such a complicated project, various hardware and software, and millions of lines of code at every turn cannot be handled by Zhang Yuan alone.
Therefore, he just wants to solve one of the more critical issues, and then write a paper or patent. It would be great if it can generate revenue for the foundation.
"Come on, write a paper!"
Just do it, and a line of small characters appears on the screen.
"A high-degree-of-freedom robot kinematics analysis theory based on geometric group theory and topology"......
The more I study, the more I read, the more profound and complicated the ideas are.
Daddy’s idea is mainly to study the complex kinematics of the "27 degrees of freedom" manipulator, which contains knowledge of group theory, topology, and some super complex numbers, which seems quite difficult.
Even if you understand the inspiration, it doesn’t mean that the whole paper will come out smoothly.
Dad only gave a general direction, and there is a lot of blank space behind to be completed.
Writing a paper is a painful thing, like a sponge squeezing water, there are a lot of details to do, it is not easy to fully show the inspiration.
Zhang Yuan's brain is spinning fast, entering a state of high concentration. He tried to clarify the whole idea, but was quickly stuck with a lot of details.
Sometimes this is the case. Many seemingly "obvious" problems become a stumbling block when writing a thesis and become very "unobvious".
Zhang Yuan sighed deeply.
"With so many degrees of freedom of kinematics, coupled with strange algorithms, with my current ability, I can only understand it, and there is really no way to propose it 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.
"It is the program of that manipulator."
"Oh, yes, there is no problem. In fact, I am not very proficient in this kind of programming, which is from Ye Luzi..." Ye Kaifu said very cautiously.
is not very proficient, but it is actually a modest way of saying it.
is able to compile related programs, which is much better than normal undergraduates!
Ye Kaifu looked at Zhang Yuan vigorously, wanting to know how well this new roommate is.
Young people always have a psychology of comparison, especially when these astronauts from all corners of the world are likely to be considered excellent.
Soon, the relevant programs have been posted to Zhang Yuan’s computer.
Zhang Yuan pinched his nose and watched these procedures.
How do you say ? Ye Kaifu is indeed a layman, and his programming habits are not very good...
There are no comments in the code, so I won’t say more, the names of various variables and functions turned out to be ~IndoMTL.com~, making people feel like they are in the cloud.
The disadvantage of doing this is that if time passes, the programmer himself may forget what his code is doing.
However, the algorithm content inside is much simpler than the idea proposed by the father.
Soon, he analyzed the general idea.
The whole leather glove is a very sensitive pressure sensor. The movement of the human finger will cause the pressure of the leather glove to change. Therefore, after processing these data through a certain algorithm, the specific movement direction of the finger can be obtained.
"Then transfer the direction of movement to the manipulator, so that it can follow the movement."
This idea is very intuitive, and there is no particularly good mathematical modeling. It mainly relies on the built-in function of the "MIA pressure sensor".
If you follow the true scientific evaluation criteria, that is, the "normal" grade.
Of course, Ye Kaifu is only an undergraduate, and can’t ask for too much. No one expects undergraduates to do earth-shattering jobs.
Zhang Yuan thought carefully and analyzed a lot of areas that could be improved.
"Dude, what's wrong?" Ye Kaifu saw Zhang Yuan's face with rich expressions, thinking hard for a while, frowning again, he couldn't help but asked with concern.
But he muttered in his heart, in such a short time, can you really understand the whole algorithm?
shouldn’t be, anyhow I thought about it for a long time...
Anyway, my ex-girlfriend and her boyfriend must not understand.
"Ah, nothing, just some places..." Zhang Yuan turned around and found that Ye Kaifu didn't have any unpleasant expressions, and then went on to say: "...Some different opinions, don't mind."