Zhang Yuan opened the tablet and began to study carefully.

After studying mathematics for so long, maybe I can study my father's essay and add my own thoughts to organize it into a paper.

The function of the full-body action mapping robot is that if a human makes an action, the robot will make an almost identical action, similar to the robotic arm that Ye Kaifu just made.

Don't underestimate this feature, it's the foundation and premise of the "powered exoskeleton"!

Powered exoskeletons, also known as dynamic nails, are currently a major research hotspot.

It is not only a weapon of war, but can also be used for civilian use, for example: a direct replacement for a spacesuit.

Due to the vigorous development of nanomaterials, spacesuits are developing in the direction of simplicity and lightness. But one thing is unavoidable: in any case, the spacesuit has to carry a large oxygen cylinder, as well as a large number of life-sustaining systems and communication systems.

The universe is dangerous, whether it is air leakage or hypothermia, any mistake will kill people. These systems must also be carried, and none of them will work.

So scientists imagine simply replacing the spacesuit with a more bulky guy called "Power Armor". Anyway, with power armor, you don't have to worry about bringing more things, and it's safer and more reliable. The thick armor is nothing even if it is hit by high-speed space junk.

In addition to replacing the spacesuit, the power armor can be connected with humans through VR equipment to do some dangerous and difficult work instead of people.

Easier said than done, research on dynamic exoskeletons has been going on for ten years and is still in the experimental stage.

The main reason, or ...... The technology is immature.

As a simple example, holding a balloon in one hand and then shaking it up and down, left and right at high speed, this action could not be easier for a human.

But for robots, it's no problem!

Why? The robot is not self-aware, it doesn't know how much force it uses, and it doesn't know how to shake it, all of which needs to be solved math.

No matter how sensitive a sensor is, it is impossible to be as versatile as human skin. To hold the balloon, first of all, adjust the collaborative pressure of the manipulator, and the strength should not be too large or too small, otherwise it will be directly pinched and exploded. It's even more difficult to shake at high speeds.

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, and earns hundreds of millions of patent fees a year.

Of course, in addition to synergistic pressure, there are many more difficulties, such as joint drive, body balance, control algorithms, and so on. Such a complex project, all kinds of hardware and software, and millions of lines of code at every turn, is not something that Zhang Yuan can do alone.

Therefore, he just wanted to solve one of the more critical problems, and then write a paper or a patent, which would be great if it could generate revenue for the foundation.

"Come on, write the paper!"

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

A Kinematic Analysis Theory of Robots with High Degrees of Freedom Based on Geometric Group Theory and Topology......

The more I studied, the more I read, the more I felt that the ideas in it were profound and complicated.

In Dad's idea, the main study is the complex kinematics of the "27 degrees of freedom" manipulator, which contains group theory, topology, and some knowledge of supercomplex numbers, which seems to be 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 a lot of blank space in the back had to be completed by Zhang Yuan.

Writing a dissertation is a painful thing, like a sponge squeezing water, there are a lot of details to do, and it is not easy to fully express the inspiration.

Zhang Yuan's brain was racing and he entered a state of high concentration. He tried to sort out the whole idea, but was quickly stuck in a lot of details.

Sometimes this is the case, and many problems that seem "obvious" become obstacles when writing a paper, and become very "not obvious".

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 Daddy came up with it......"

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

"What program?" Ye Kaifu turned his head.

"It's the program of the manipulator."

"Oh, okay, no problem. This kind of programming, in fact, I am not very proficient, that is, I was born in Yeluzi......" Ye Kaifu said very cautiously.

To say that he is not very proficient is actually a modest statement.

Being able to write relevant programs is already much better than normal undergraduates!

Ye Kai looked at Zhang Yuan a little competitively, wanting to know what the level of this new roommate was.

Young people always have a comparison mentality, especially when these astronauts from all over the world are likely to be excellent.

Soon, the relevant program had been sent to Zhang Yuan's computer.

Zhang Yuan pinched his nose and looked at these programs.

How so? Ye Kaifu is indeed a layman, and his programming habits are not very good......

There are no comments in the code, so I don't want to say much, and the names of various variables and functions are "a", "b", "c", and "d", which makes people confused.

The downside of this is that over time, the programmer himself may forget what his code is doing.

However, the algorithm content in it is much simpler than the idea proposed by Dad.

Soon, he analyzed the general idea.

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

"Then we can transfer the direction of movement to the manipulator, and we can make it follow the movement."

This idea is very intuitive, and there is no particularly good mathematical modeling, mainly relying on the functions that come with the "MIA pressure sensor".

If it is judged according to the real scientific research criteria, that is, the "usual" level.

Of course, Ye Kaifu is just an undergraduate, and he can't ask for too much, and no one expects undergraduates to do earth-shattering work.

Zhang Yuan thought carefully and analyzed a lot of things that could be improved.

"Dude, is there anything wrong?" Ye Kaifu saw the rich expression on Zhang Yuan's face, meditated hard for a while, frowned for a while, and couldn't help but ask with concern.

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

It shouldn't be, but I thought about it for a long time......

Anyway, my ex-girlfriend and her male girlfriend definitely can't understand it.

"Ah, it's nothing, it's just that there are some places that ......" Zhang Yuan turned his head and found that Ye Kaifu didn't have an unhappy expression, so he continued: "...... A little different opinion, don't mind ha. ”