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A Hybrid GRA-TOPSIS-RFR Optimization Approach for Minimizing Burrs in Micro-Milling of Ti-6Al-4V Alloys

Micromachines 2025年第4期16卷 464-464页

作者： Tan, Rongkai Madathil, Abhilash Puthanveettil Liu, Qi Cheng, Jian Lin, Fengtao School of Mechatronics and Vehicle Engineering East China Jiaotong University Nanchang330013 China Centre for Precision Manufacturing DMEM University of Strathclyde G1 Glasgow1XJ United Kingdom RenfrewPA3 2EF United Kingdom Department of Mechanical Engineering University of Bath BA2 Bath7HA United Kingdom State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

Micro-milling is increasingly recognized as a crucial technique for machining intricate and miniature 3D aerospace components, particularly those fabricated from difficult-to-cut Ti-6Al-4V alloys. However, its practical applications are hindered by significant challenges, particularly the unavoidable generation of burrs, which complicate subsequent finishing processes and adversely affect overall part quality. To optimize the burr formation in the micro-milling of Ti-6Al-4V alloys, this study proposes a novel hybrid-ranking optimization algorithm that integrates Grey Relational Analysis (GRA) with the Technique for Order Preference by Similarity to Ideal Solution (TOPSIS). This approach innovatively combines GRA and TOPSIS with a random forest regression (RFR) model, facilitating the exploration of nonlinear and complex relationships between input parameters and machining outcomes. Specifically, the effects of spindle speed, depth of cut, and feed rate per tooth on surface roughness and burr width generated during both down-milling and up-milling processes were systematically investigated using the proposed methodology. The results reveal that the depth of cut is the most influential factor affecting surface roughness, while feed rate per tooth plays a critical role in controlling burr formation. Moreover, the GRA-TOPSIS-RFR method significantly outperforms existing optimization and prediction models, with the integration of the RFR model enhancing prediction accuracy by 42.6% compared to traditional linear regression approaches. The validation experimental results agree well with the GRA-TOPSIS-RFR-optimized outcomes. This research provides valuable insights into optimizing the micro-milling process of titanium components, ultimately contributing to improved quality, performance, and service life across various aerospace applications. © 2025 by the authors.

关键词： Milling (machining)

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Research on automatic spraying of single-walled carbon nanotubes and detection of spraying effects

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International Journal of Smart and Nano Materials 2014年第2期5卷 86-98页

作者： Jianwen Zhao Jiangcheng Yu Junyang Niu Yong Ge Liwu Liu HIT at Weihai State Key Laboratory of Robotics and SystemSong Jian Research Institute of Building 2Wenhua Road(W)WeihaiShandong264209PR China

Single-walled carbon nanotubes(SWNTs)have been introduced as compliant electrodes for dielectric elastomers(DEs)due to fault *** acquire a better electrostrictive strain and longer lifetime,it is essential to obtain a certain and uniform width of the SWNT *** ensure uniform width manually,a small flux and longer time are ***,it is difficult to control the width of the electrode for the randomness of manual ***,a new type of automatic spraying process is presented in this *** width and homogeneity of the electrode can be easily controlled by certain parameters of the *** methods for detecting the homogeneity of the electrode are introduced in this paper:Measurement of surface resistance and *** coefficient of variation(CV)values detected by the two methods are virtually equal and less than 8%,which shows the feasibility of the detection method and homogeneity of automatic *** speed of automatic spraying is 102 mm^(2)/s,which is higher than that of manual *** spraying process and the method used to detect homogeneity in this paper provide a reference for the relevant processes.

关键词： single-wall carbon nanotube automatic spraying dielectric elastomer homogeneity detection

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SIFT algorithm-based 3D pose estimation of femur

SIFT algorithm-based 3D pose estimation of femur

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作者： Zhang, Xuehe Zhu, Yanhe Li, Changle Zhao, Jie Li, Ge State Key Laboratory of Robotics and System Harbin Institute of Technology 2 Yikuang Street Harbin Heilongjiang China

To address the lack of 3D space information in the digital radiography of a patient femur, a pose estimation method based on 2D-3D rigid registration is proposed in this study. The method uses two digital radiography images to realize the preoperative 3D visualization of a fractured femur. Compared with the pure Digital Radiography or Computed Tomography imaging diagnostic methods, the proposed method has the advantages of low cost, high precision, and minimal harmful radiation. First, stable matching point pairs in the frontal and lateral images of the patient femur and the universal femur are obtained by using the Scale Invariant Feature Transform method. Then, the 3D pose estimation registration parameters of the femur are calculated by using the Iterative Closest Point (ICP) algorithm. Finally, based on the deviation between the six degrees freedom parameter calculated by the proposed method, preset posture parameters are calculated to evaluate registration accuracy. After registration, the rotation error is less than l.5, and the translation error is less than 1.2 mm, which indicate that the proposed method has high precision and robustness. The proposed method provides 3D image information for effective preoperative orthopedic diagnosis and surgery planning. © 2014 - IOS Press and the authors.

关键词： Computerized tomography

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A disordered composite metamaterial beam optimized using NSGA-Ⅱ:a structure with an adjustable hybrid bandgap

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European Journal of Mechanics - A/Solids 2025年 114卷

作者： Wentao Wu Xiaobiao Shan Chenghui Sun Guangdong Sui Tianci Jiang Huan Zhang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China Institute of Ultra-precision Optoelectronic Instrument Engineering Harbin Institute of Technology Science Park No.2 Yikuang Street Nangang District Harbin 150080 China

To address the limitations of conventional periodic metamaterials in regulation and optimization, this study introduces a novel staggered supercell beam configuration designed to enhance low-frequency vibration isolation. The proposed supercell beam is composed of single cells with varying staggered degrees and inductances. Initially, the transmission matrix method was employed to model both symmetrical and staggered structures, enabling the determination of their attenuation constant and transmission coefficient. Subsequently, the Non-dominated Sorting Genetic Algorithm II (NSGA-II) was implemented for multi-objective optimization to identify Pareto frontiers. Theoretical analysis demonstrated that the staggered beam exhibits a lower attenuation constant than its symmetrical counterpart and, critically, introduces a new coupling bandgap at low frequencies. Experimental transmission coefficient measurements confirmed that the optimized staggered beam achieves superior low-frequency vibration isolation performance compared to the symmetrical beam. This improvement is attributed to the successful application of NSGA-II, which effectively balances bandgap width and attenuation constant—a challenge previously unresolved in the field, as evidenced by studies that have explored the maximum limits of attenuation constants and the influence of parameters such as resistance, piezoelectric sheet thickness, and lattice constant length on bandgap characteristics. The findings of this study demonstrate that the proposed disordered staggered supercell beam configuration, optimized with NSGA-II, achieves superior bandgap attenuation, offering significant potential for advancements in low-frequency vibration isolation research.

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QSMC based on reaching law using saturation sliding surface for 6R industrial robots

QSMC based on reaching law using saturation sliding surface ...

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2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012

作者： Yu, Dianyong Wang, Xiaojue Ge, Lianzheng Chen, Jian State Key Laboratory of Robotics and System Harbin Institute of Technology No.2 Yikuang Street 150080 Harbin China

ISBN: (纸本)9781467312776

Quasi Sliding Mode Control (QSMC) based on reaching law has the advantages of simplicity and robustness. The chattering is also reduced by using a saturation function. But this control strategy only guarantees an asymptotic convergence. In order to increase the tracking speed for robotic joints when tracking error is small, a sliding surface with saturation function of the error is proposed in this paper. By applying this sliding surface, a fast finite time convergence is achieved. 6R industrial robots have highly coupled inertia coefficients in the inertia matrix. When modeling error exists, system precision and stability would be affected greatly. To improve the system robustness property, separate sliding surface feedback compensation torques mainly for the last three joints are applied in this paper. The compensation torques also help increase the tracking speed. The proposed controller is tested through ADAMS-MATLAB co-simulations on a 6R serial industrial robot prototype to prove its effectiveness. © 2012 IEEE.

关键词： Industrial robots

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On the development of intrinsically-actuated, multisensory dexterous robotic hands

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ROBOMECH Journal 2016年第1期3卷 1-9页

作者： Liu, Hong Yang, Dapeng Fan, Shaowei Cai, Hegao State Key Laboratory of Robotics and System Harbin Institute of Technology HIT Science Park No.2 Yikuang Street Nangang District P.O. Box 3039 Harbin150080 China

Restoring human hand function by mechatronic means is very challenging in robotics research. In this paper, we first make a brief review on the development of dexterous robotic/prosthetic hands, and then detail our design philosophy of several robot hands. We make a concentration on a type of intrinsically-actuated robot hands, wherein the driving, transmission, and control elements are totally embedded in the hand. According to different application scenarios, we develop robot hands in two parallel lines, dexterous robotic hand and anthropomorphic prosthetic hand. In both, the hand’s actuation, sensing, and control subsystems are highly integrated and modularized. This feature endows our robot hands with compact appearances, simple integration, and large flexibilities. At last, we give some perspectives on the future development of dexterous hands from the aspects of structure, functionality, and control strategies. © 2016, Liu et al.

关键词： Robotic arms

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A novel design of force-feedback master manipulator for remote ultrasound scanning

A novel design of force-feedback master manipulator for remo...

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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Li, Changle Zhang, Chentao Yu, Chuan You Zhang, Leifeng Liu, Gangfeng Zhao, Jie Harbin Institute of Technology State Key Laboratory of Robotics and System No.2 YiKuang Street NanGang District Harbin HeiLongJiang China

ISBN: (纸本)9781665481090

This paper presents a novel six-degree-of-freedom force feedback master manipulator for remote ultrasound scanning. Firstly, a new configuration based on a planar five-link mechanism is proposed, taking into account the practical needs of medical ultrasound scanning. This configuration has two operating modes and can provide three degrees of force feedback. Secondly, a hybrid force/position master-slave control system based on the kinetic model force feedback method is built, which can realize incremental master-slave control, variable proportional control, force feedback, and other functions. Finally, the positional accuracy, gravity balance effect, and force feedback performance of this master manipulator are verified through experiments. Experiments show that the average position error of this novel force feedback master manipulator is 1.18 mm, the average attitude error expressed in terms of Euler angles is 0.83°, and the maximum feedback force that can be provided is 12.1 N, which satisfies the requirements of ultrasonic scanning. © 2022 IEEE.

关键词： Feedback

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Design of a close-range radiotherapy particle implantation device

Design of a close-range radiotherapy particle implantation d...

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2019 IEEE International Conference on robotics and Biomimetics, ROBIO 2019

作者： Ban, Guang Li, Changle Zhang, Xuehe Liu, Gangfeng Liu, Yubin Zhao, Jie Zhang, Leifeng Fan, Yilun State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 NO. 2 YiKuang Street HeiLongJiang Province China

ISBN: (纸本)9781728163215

The validity of brachytherapy has been proved in clinical tumor treatment, and robotic surgery system has been used in recent years to ensure surgical consistency. In our work, a new automatic radioactive particle implantation device with two degrees of freedom was proposed to apply in the brachytherapy robotic surgery system as an end effector. Furthermore, physical assembling and simple function verifying experiments were accomplished. This device can help simplify the operating steps during surgery, and improve the stability of the surgical system, and enhances the surgical efficiency. © 2019 IEEE.

关键词： Robotic surgery

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A new method for fiber bragg grating based needle shape sensing calibration

A new method for fiber bragg grating based needle shape sens...

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2019 IEEE International Conference on robotics and Biomimetics, ROBIO 2019

作者： Zhang, Leifeng Li, Changle Zhang, Xuehe Liu, Gangfeng Liu, Yubin Zhao, Jie Ban, Guang Fan, Yilun Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin 150080 NO. 2 YiKuang Street HeiLongJiang Province China

ISBN: (纸本)9781728163215

Accurate placement of the needle is critical in percutaneous surgery. Needle shape reconstruction technology based on fiber Bragg gratings (FBGs) sensor is considered to have the potential to achieve this goal. In this paper, we present a temperature-insensitive calibration model for calibrating needles with FBG sensors to accurately estimate its deformation. In addition, we have designed a device for simultaneously calibrating the loading direction and shape. Preliminary results indicate that the proposed model is theoretically insensitive to temperature, but in fact it can only be used within a certain temperature range. The resolution of the loading direction increases as the degree of bending increases, with a maximum error of 8.58°. Shape reconstruction error can be less than 1.5mm with small needle bending. This calibration method can meet clinical applications. © 2019 IEEE.

关键词： Fiber Bragg gratings

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Understanding the friction behavior and surface characteristic in multiple ball-end milling passes of soft-brittle KH 2 PO 4 optics

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Tribology International 2025年 211卷

作者： Hongqin Lei Qiang Zhao Jian Cheng Linjie Zhao Mingjun Chen Qi Liu Dinghuai Yang Guang Chen State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China School of Mechatronics Engineering Harbin Institute of Technology Harbin 150001 China Zhengzhou Research Institute Harbin Institute of Technology Zhengzhou 450000 China Department of Mechanical Engineering University of Bath Bath BA2 7AY United Kingdom

The utilization of a ball-end cutter to fabricate multi-layer microstructures is the preferred technique for eliminating surface defects in soft-brittle KH 2 PO 4 (KDP) optics. However, the previous milling pass would inevitably affect the tool-workpiece friction behavior and surface characteristics in the next milling process, which poses a great challenge to obtaining a defect-free microstructure surface. In this study, the effect of the multiple ball-end milling (MBEM) passes on material removal mode is explored according to tensile stress, residual stress and cutting force, which is verified from the perspectives of surface characteristics and roughness. The spindle speed, feed rate and milling depth of each-pass machining process are 50,000 r/min, 3 mm/s and 2 μm. The evaluation models of tool-workpiece friction behavior during the MBEM passes are developed, and the influence of soft-brittle materials on tool wear is analyzed. The results show that with when the number of milling passes ( i ) rises, the normalized plowing friction coefficient, tool-chip contact length and area increase, indicating that the tool-workpiece friction becomes severe. Meanwhile, with the rise in the i , the stress concentration area and surface roughness increase, which is attributed to the intensified tool-workpiece friction leading to an increase in cutting forces, thereby elevating the tensile stress exerted on the brittle KDP materials. When the i reaches 4, the brittle-plastic transition behavior occurs and edge chippings appear on the down-cut side. Furthermore, after the MBEM passes (the length of the milling path reaches 330 mm), there is no crack at the grain boundary, single grain spalling or even tool fracture on the CBN tool surface. Nevertheless, the low hardness of the KDP materials (2.18 GPa), coupled with the thermal softening effect, results in many chips adhering to the tool surface. The chemical composition of the built-up edge (BUE) consists of K, P and O. In part

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