Tianmiao Wang

University of Nevada, Las Vegas, Las Vegas, Nevada, United States

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Publications (203)93.6 Total impact

  • Ziyu Ren · Xingbang Yang · Tianmiao Wang · Li Wen
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    ABSTRACT: Recent advances in understanding fish locomotion with robotic devices have included the use of biomimetic flapping based and fin undulatory locomotion based robots, treating two locomotions separately from each other. However, in most fish species, patterns of active movements of fins occur in concert with the body undulatory deformation during swimming. In this paper, we describe a biomimetic robotic caudal fin programmed with individually actuated fin rays to mimic the fin motion of the Bluegill Sunfish (Lepomis macrochirus) and coupled with heave and pitch oscillatory motions adding to the robot to mimic the peduncle motion which is derived from the undulatory fish body. Multiple-axis force and digital particle image velocimetry (DPIV) experiments from both the vertical and horizontal planes behind the robotic model were conducted under different motion programs and flow speeds. We found that both mean thrust and lift could be altered by changing the phase difference (φ) from 0° to 360° between the robotic caudal peduncle and the fin ray motion (spanning from 3 mN to 124 mN). Notably, DPIV results demonstrated that the caudal fin generated multiple wake flow patterns in both the vertical and horizontal planes by varying φ. Vortex jet angle and thrust impulse also varied significantly both in these two planes. In addition, the vortex shedding position along the spanwise tail direction could be shifted around the mid-sagittal position between the upper and lower lobes by changing the phase difference. We hypothesize that the fish caudal fin may serve as a flexible vectoring propeller during swimming and may be critical for the high maneuverability of fish.
    No preview · Article · Feb 2016 · Bioinspiration & Biomimetics
  • Haiyuan Li · Tianmiao Wang · Gregory S. Chirikjian
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    ABSTRACT: We present a self-assembly planning algorithm to allow regular modular robots to assemble into some specified shapes. By tiling a shape using connected lattices in accordance with the robotic geometry, a parallel sequence is obtained to plan self-assembly in successive layers. Robots are identical and autonomous. They use local interactions to seek for a grown shape and update the connection information to determine the corresponding shape. We calculate self-assembly steps of different sizes of shapes to obtain the optimal initial node for square shapes and simulate the self-assembly process.
    No preview · Chapter · Jan 2016
  • Jingtao Lei · Huangying Yu · Tianmiao Wang
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    ABSTRACT: The body of quadruped robot is generally developed with the rigid structure. The mobility of quadruped robot depends on the mechanical properties of the body mechanism. It is difficult for quadruped robot with rigid structure to achieve better mobility walking or running in the unstructured environment. A kind of bionic flexible body mechanism for quadruped robot is proposed, which is composed of one bionic spine and four pneumatic artificial muscles(PAMs). This kind of body imitates the four-legged creatures’ kinematical structure and physical properties, which has the characteristic of changeable stiffness, lightweight, flexible and better bionics. The kinematics of body bending is derived, and the coordinated movement between the flexible body and legs is analyzed. The relationship between the body bending angle and the PAM length is obtained. The dynamics of the body bending is derived by the floating coordinate method and Lagrangian method, and the driving force of PAM is determined. The experiment of body bending is conducted, and the dynamic bending characteristic of bionic flexible body is evaluated. Experimental results show that the bending angle of the bionic flexible body can reach 18°. An innovation body mechanism for quadruped robot is proposed, which has the characteristic of flexibility and achieve bending by changing gas pressure of PAMs. The coordinated movement of the body and legs can achieve spinning gait in order to improve the mobility of quadruped robot.
    No preview · Article · Dec 2015 · Chinese Journal of Mechanical Engineering
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    ABSTRACT: This paper presents the development of a normal adjustment cell (NAC) in aero-robotic drilling to improve the quality of vertical drilling, by using an intelligent double-eccentric disk normal adjustment mechanism (2-EDNA), a spherical plain bearing and a floating compress module with sensors. After the surface normal vector is calculated based on the laser sensors’ feedback, the 2-EDNA concept is conceived specifically to address the deviation of the spindle from the surface normal at the drilling point. Following the angle calculation, depending on the actual initial position, two precise eccentric disks (PEDs) with an identical eccentric radius are used to rotate with the appropriate angles using two high-resolution DC servomotors. The two PEDs will carry the spindle to coincide with the surface normal, keeping the vertex of the drill bit still to avoid repeated adjustment and position compensation. A series of experiments was conducted on an aeronautical drilling robot platform with a precise NAC. The effect of normal adjustment on bore diameter, drilling force, burr size, drilling heat, and tool wear was analyzed. The results validate that using the NAC in robotic drilling results in greatly improved vertical drilling quality and is attainable in terms of intelligence and accuracy.
    No preview · Article · Dec 2015 · Chinese Journal of Aeronautics
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    PeiJiang Yuan · Feng Su · ZhenYun Shi · TianMiao Wang · DongDong Chen
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    ABSTRACT: Here, we propose an autonomous path planning solution using backpropagation algorithm. The mechanism of movement used by humans in controlling their arms is analyzed and then applied to control a robot manipulator. Autonomous path planning solution is a numerical method. The model of industrial robot manipulator used in this article is a KUKA KR 210 R2700 EXTRA robot. In order to show the performance of the autonomous path planning solution, an experiment validation of path tracking is provided. Experiment validation consists of implementation of the autonomous path planning solution and the control of physical robot. The process of converging to target solution is provided. The mean absolute error of position for tool center point is also analyzed. Comparison between autonomous path planning solution and the numerical methods based on Newton–Raphson algorithm is provided to demonstrate the efficiency and accuracy of the autonomous path planning solution.
    Preview · Article · Dec 2015 · Advances in Mechanical Engineering
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    ABSTRACT: This paper proposes a fuzzy PID control method for deburring industrial robots. The adaptive fuzzy PID controller relates to the trajectory and joint angular parameters of the end-effector on a robot. The PID controller parameters update online at each sampling time to guarantee trajectory accuracy of the end-effector. The simulation of the fuzzy PID control is provided based on the 6-DOF deburring industrial robot. Experimental results demonstrate the efficiency of the fuzzy PID control method.
    Preview · Article · Oct 2015 · Journal of Intelligent and Fuzzy Systems
  • Qi Shen · Tianmiao Wang · Kwang J Kim
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    ABSTRACT: The ionic polymer-metal composite (IPMC) is a soft material based actuator and sensor and has a promising potential in underwater application. This paper describes a hybrid biomimetic underwater vehicle that uses IPMCs as sensors. Propelled by the energy of waves, this underwater vehicle does not need an additional energy source. A physical model based on the hydrodynamics of the vehicle was developed, and simulations were conducted. Using the Poisson-Nernst-Planck system of equations, a physics model for the IPMC sensor was proposed. For this study, experimental apparatus was developed to conduct hydrodynamic experiments for both the underwater vehicle and the IPMC sensors. By comparing the experimental and theoretical results, the speed of the underwater vehicle and the output of the IPMC sensors were well predicted by the theoretical models. A maximum speed of 1.08 × 10-1 m s-1 was recorded experimentally at a wave frequency of 1.6 Hz. The peak output voltage of the IPMC sensor was 2.27 × 10-4 V, recorded at 0.8 Hz. It was found that the speed of the underwater vehicle increased as the wave frequency increased and the IPMC output decreased as the wave frequency increased. Further, the energy harvesting capabilities of the underwater vehicle hosting the IPMCs were tested. A maximum power of 9.50 × 10-10 W was recorded at 1.6 Hz.
    No preview · Article · Sep 2015 · Bioinspiration & Biomimetics
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    Full-text · Dataset · Aug 2015
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    ABSTRACT: A number of issues that exist in common fracture reduction surgeries can be mitigated by robot-assisted fracture reduction. However, the safety of patients and the performance of the robot, which are closely related to the muscle forces, are important indexes that restrict the development of robots. Though researchers have done a great deal of work on the biomechanics of the musculoskeletal system, the dynamics of the musculoskeletal system, particularly the aspects related to the function of the robot, is not well understood. For this reason, we represent the complex biological system by establishing a dynamic biomechanical model based on the Hill muscle model and the Kane method for the robot that we have developed and the musculoskeletal system. We analyzed the relationship between the motion and force of the bone fragments and the robot during a simulation of a robot-assisted fracture reduction. The influence of the muscle force on the robot system was predicted and managed. The simulation results provide a basis for a fracture reduction path plan that ensures patient safety and a useful reference for the mechanical design of the robot.
    Full-text · Article · Aug 2015 · Bio-medical materials and engineering
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    ABSTRACT: Common fracture treatments include open reduction and intramedullary nailing technology. However, these methods have disadvantages such as intraoperative X-ray radiation, delayed union or nonunion and postoperative rotation. Robots provide a novel solution to the aforementioned problems while posing new challenges. Against this scientific background, we develop a visual servo-based teleoperation robot system. In this article, we present a robot system, analyze the visual servo-based control system in detail and develop path planning for fracture reduction, inverse kinematics, and output forces of the reduction mechanism. A series of experimental tests is conducted on a bone model and an animal bone. The experimental results demonstrate the feasibility of the robot system. The robot system uses preoperative computed tomography data to realize high precision and perform minimally invasive teleoperation for fracture reduction via the visual servo-based control system while protecting surgeons from radiation. © IMechE 2015.
    Full-text · Article · Jul 2015
  • Tianmiao Wang · Yunqing Wang · Long Guo · Hegen Xiong · Dong Xu
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    ABSTRACT: Purpose – This study aims to propose a new variable stiffness robot joint (VSR-joint) for operating safely. More and more variable stiffness actuators are being designed and implemented because of their ability to minimize large forces due to shocks, to safely interact with the user and their ability to store and release energy in passive elastic elements. Design/methodology/approach – The design of VSR-joint is compact and integrated highly and the operating is simply. The mechanics, the principle of operation and the model of the VSR-joint are proposed. The principle of operation of VSR-joint is based on a lever arm mechanism with a continuously regulated pivot point. The VSR-joint features a highly dynamic stiffness adjustment along with a mechanically programmable system behavior. This allows an easy adaption to a big variety of tasks. Findings – Preliminary results are presented to demonstrate the fast stiffness regulation response and the wide range of stiffness achieved by the proposed VSR-joint design. Originality/value – In this paper, a new variable stiffness joint is proposed through changing the cantilever arm to change the performance of the elastic element, which is compact, small size and simple adjustment.
    No preview · Article · Jun 2015 · Industrial Robot
  • Haiyuan Li · Tianmiao Wang · Hongxing Wei · Cai Meng
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    ABSTRACT: This paper proposes a strategy for a group of swarm robots to self-assemble into a single articulated(legged) structure in response to terrain difficulties during autonomous exploration. These articulated structures will have several articulated legs or backbones, so they are well suited to walk on difficult terrains like animals. There are three tasks in this strategy: exploration, self-assembly and locomotion. We propose a formation self-assembly method to improve self-assembly efficiency. At the beginning, a swarm of robots explore the environment using their sensors and decide whether to self-assemble and select a target configuration from a library to form some robotic structures to finish a task. Then, the swarm of robots will execute a self-assembling task to construct the corresponding configuration of an articulated robot. For the locomotion, with joint actuation from the connected robots, the articulated robot generates locomotive motions. Based on Sambot that are designed to unite swarm mobile and self-reconfigurable robots, we demonstrate the feasibility for a varying number of swarm robots to self-assemble into snake-like and multi-legged robotic structures. Then, the effectiveness and scalability of the strategy are discussed with two groups of experiments and it proves the formation self-assembly is more efficient in the end.
    No preview · Article · May 2015 · Journal of Intelligent and Robotic Systems
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    Tianmiao Wang · Yao Wu · Jianhong Liang · Chenhao Han · Jiao Chen · Qiteng Zhao
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    ABSTRACT: Skid-steering mobile robots are widely used because of their simple mechanism and robustness. However, due to the complex wheel-ground interactions and the kinematic constraints, it is a challenge to understand the kinematics and dynamics of such a robotic platform. In this paper, we develop an analysis and experimental kinematic scheme for a skid-steering wheeled vehicle based-on a laser scanner sensor. The kinematics model is established based on the boundedness of the instantaneous centers of rotation (ICR) of treads on the 2D motion plane. The kinematic parameters (the ICR coefficient , the path curvature variable and robot speed ), including the effect of vehicle dynamics, are introduced to describe the kinematics model. Then, an exact but costly dynamic model is used and the simulation of this model's stationary response for the vehicle shows a qualitative relationship for the specified parameters and . Moreover, the parameters of the kinematic model are determined based-on a laser scanner localization experimental analysis method with a skid-steering robotic platform, Pioneer P3-AT. The relationship between the ICR coefficient and two physical factors is studied, i.e., the radius of the path curvature and the robot speed . An empirical function-based relationship between the ICR coefficient of the robot and the path parameters is derived. To validate the obtained results, it is empirically demonstrated that the proposed kinematics model significantly improves the dead-reckoning performance of this skid-steering robot.
    Preview · Article · May 2015 · Sensors
  • Yonghui Hu · Jianhong Liang · Tianmiao Wang
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    ABSTRACT: This paper presents mechatronic design and locomotion control of a biomimetic robotic fish that swims using thunniform kinematics for fast cruising. Propulsion of the robotic fish is realized with a parallel four-bar propulsive mechanism that delivers combined translational and rotational motion to a lunate caudal fin. A central pattern generator controller, composed of two unidirectionally coupled Hopf oscillators, is employed to generate robust, smooth and coordinated oscillatory control signals for the tail joints. In order to maintain correct phase relation between joints during fast tail beating, a novel phase adjusting mechanism is proposed and incorporated into the controller. The attitude of the robotic fish in fast swimming is stabilized using an attitude and heading reference system unit and a pair of pitching pectoral fins. The maximum speed of the robotic fish can reach 2.0 m s−1, which is the fastest speed that robotic fishes have achieved. Its outstanding swimming performance presents possibilities for deployment to real-world exploration, probe and survey missions.
    No preview · Article · Mar 2015 · Bioinspiration & Biomimetics
  • Haiyuan Li · Hongxing Wei · Jiangyang Xiao · Tianmiao Wang
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    ABSTRACT: In this paper, we present a co-evolution framework of configuration and control for swarm self-assembly robots, Sambots, in changing environments. The framework can generate different patterns composed of a set of Sambot robots to adapt to the uncertainties in complex environments. Sambot robots are able to autonomously aggregate and disaggregate into a multi-robot organism. To obtain the optimal pattern for the organism, the configuration and control of locomoting co-evolve by means of genetic programming. To finish self-adaptive tasks, we imply a unified locomotion control model based on Central Pattern Generators (CPGs). In addition, taking modular assembly modes into consideration, a mixed genotype is used, which encodes the configuration and control. Specialized genetic operators are designed to maintain the evolution in the simulation environment. By using an orderly method of evaluation, we can select some resulting patterns of better performance. Simulation experiments demonstrate that the proposed system is effective and robust in simultaneously constructing the adaptive structure and locomotion pattern. The algorithmic research and application analysis bring about deeper insight into swarm intelligence and evolutionary robotics.
    No preview · Article · Jan 2015 · Neurocomputing
  • Haiyuan Li · Qianli Ma · Tianmiao Wang · Gregory Chirikjian

    No preview · Article · Jan 2015
  • Xingbang Yang · Tianmiao Wang · Jianhong Liang · Guocai Yao · Miao Liu
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    ABSTRACT: The aquatic unmanned aerial vehicle (AquaUAV), a kind of vehicle that can operate both in the air and the water, has been regarded as a new breakthrough to broaden the application scenario of UAV. Wide application prospects in military and civil field are more than bright, therefore many institutions have focused on the development of such a vehicle. However, due to the significant difference of the physical properties between the air and the water, it is rather difficult to design a fully-featured AquaUAV. Until now, majority of partially-featured AquaUAVs have been developed and used to verify the feasibility of an aquatic–aerial vehicle. In the present work, we classify the current partially-featured AquaUAV into three categories from the scope of the whole UAV field, i.e., the seaplane UAV, the submarine-launched UAV, and the submersible UAV. Then the recent advancements and common characteristics of the three kinds of AquaUAVs are reviewed in detail respectively. Then the applications of bionics in the design of AquaUAV, the transition mode between the air and the water, the morphing wing structure for air–water adaptation, and the power source and the propulsion type are summarized and discussed. The tradeoff analyses for different transition methods between the air and the water are presented. Furthermore, it indicates that applying the bionics into the design and development of the AquaUAV will be essential and significant. Finally, the significant technical challenges for the AquaUAV to change from a conception to a practical prototype are indicated.
    No preview · Article · Dec 2014 · Progress in Aerospace Sciences
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    ABSTRACT: Drilling end-effector is a key unit in autonomous drilling robot. The perpendicularity of the hole has an important influence on the quality of airplane assembly. Aiming at the robot drilling perpendicularity, a micro-adjusting attitude mechanism and a surface normal measurement algorithm are proposed in this paper. In the mechanism, two rounded eccentric discs are used and the small one is embedded in the big one, which makes the drill’s point static when adjusting the drill’s attitude. Thus, removal of drill’s point position after adjusting the drill attitude can be avoided. Before the micro-adjusting progress, four non-coplanar points in space are used to determine a unique sphere. The normal at the drilling point is measured by four laser ranging sensors. The adjusting angles at which the motors should be rotated to adjust attitude can be calculated by using the deviation between the normal and the drill axis. Finally, the motors will drive the two eccentric discs to achieve micro-adjusting progress. Experiments on drilling robot system and the results demonstrate that the adjusting mechanism and the algorithm for surface normal measurement are effective with high accuracy and efficiency. 概要 创新点 (1)设计一种微型姿态调整机构, 实现对钻头姿态进行调整, 使其沿制孔点法线进行制孔, 提高孔的垂直度. 使得钻头调整前后, 钻头顶点保持不变, 提高制孔效率. (2)利用4个激光测距传感器, 根据空间不共面四点确定唯一球, 测得制孔点处的法线向量, 为钻头的姿态调整做准备.
    No preview · Article · Dec 2014 · Sciece China. Information Sciences
  • Zhenyun Shi · Tianmiao Wang · Liu Da
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    ABSTRACT: In comparison with conventional shape memory actuated structures, antagonistic shape memory alloy (SMA) actuators permits a fully reversible two-way response and higher response frequency. However, excessive internal stress could adversely reduce the stroke of the actuators under repeated use. The two-way shape memory effect might further decrease the range of the recovered strain under actuation of an antagonistic SMA actuator unless additional components (e.g., spring and stopper) are added to regain the overall actuation capability. In this paper, the performance of all four possible types of SMA actuation schemes is investigated in detail with emphasis on five key properties: recovered strain, cyclic degradation, response frequency, self-sensing control accuracy, and controllable maximum output. The testing parameters are chosen based on the maximization of recovered strain. Three types of these actuators are antagonistic SMA actuators, which drive with two active SMA wires in two directions. The antagonistic SMA actuator with an additional pair of springs exhibits wider displacement range, more stable performance under reuse, and faster response, although accurate control cannot be maintained under force interference. With two additional stoppers to prevent the over stretch of the spring, the results showed that the proposed structure could achieve significant improvement on all five properties. It can be concluded that, the last type actuator scheme with additional spring and stopper provide much better applicability than the other three in most conditions. The results of the performance analysis of all four SMA actuators could provide a solid basis for the practical design of SMA actuators.
    No preview · Article · Nov 2014 · SMART STRUCTURES AND SYSTEMS
  • Yonghui Hu · Jianhong Liang · Tianmiao Wang
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    ABSTRACT: This paper presents a numerical method for parameter synthesis of a central pattern generator (CPG) network to acquire desired locomotor patterns. The CPG network is modeled as a chain of unidirectionally or bidirectionally coupled Hopf oscillators with a novel coupling scheme that eliminates the influence of afferent signals on amplitude of the oscillator. The method converts the related CPG parameters into dynamic systems that evolve as part of the CPG network dynamics. The frequency, amplitude, and phase relations of teaching signals can be encoded by the CPG network with the proposed learning rules. The ability of the method to learn instructed locomotor pattern is proven with simulations. Application of the proposed method to online gait synthesis of a robotic fish is also presented.
    No preview · Article · Nov 2014 · IEEE Transactions on Industrial Electronics

Publication Stats

721 Citations
93.60 Total Impact Points


  • 2015
    • University of Nevada, Las Vegas
      • Department of Mechanical Engineering
      Las Vegas, Nevada, United States
  • 1970-2015
    • Beijing University of Aeronautics and Astronautics (Beihang University)
      • • School of Mechanical Engineering and Automation
      • • Institute of Robotics
      Peping, Beijing, China
  • 2010
    • Texas Institute for Robotic Surgery
      Austin, Texas, United States
  • 2009
    • University of Jinan (Jinan, China)
      Chi-nan-shih, Shandong Sheng, China
  • 2008
    • Global Robotic Institute
      Celebration, Florida, United States
  • 2001
    • Tsinghua University
      Peping, Beijing, China