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design, Fabrication, and Characterization of Soft Robotic Claw Inspired by Parrot Feet for Grasping

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SSRN 2024年

作者： Hao, Tianze Feng, Jingjing Ma, Yue Liu, Songtao Wang, Jutao Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin300384 China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology School of Mechanical Engineering Tianjin300384 China Automation Equipment Company Limited Tianjin301701 China Tianjin University of Technology China

Soft pneumatic actuators (SPAs) have demonstrated the ability to generate contraction, expansion, and bending strokes in three-dimensional space during pressurization. Gripper composed of SPAs are expected to serve as end effectors to improve the adaptability and lightweight of mobile robots in complex environments. In this study, a soft robotic claw inspired by the zygodactyl structure of parrot feet is developed featuring pneu-net actuators with oblique air chambers. These chambers enable bending and twisting movements, ensuring effective contact with the cylindrical landing objects. Integration of a thin steel sheet as the strain limiting layer not only improves static stability, but also augments the output force by approximately 57%, significantly ameliorating the claw’s gripping strength. Comparative gripping tests on diverse everyday items, indicate that while soft claw with vertical chambers adeptly handle centrosymmetric objects, whose with oblique chambers excel at at securing objects with large diameters, making them particularly suitable for perching applications on unmanned aerial vehicles. Moreover, enhancing the actuators with a uniformly soft surface texture, approximately 1.8 mm in height, notably increases friction force, thereby improving grip and stability. Comprehensive static stability assessments on birch logs confirmed its effective gripping and perching capabilities. The proposed soft claw has certain application prospects in situations that require flexible operation and complex grasping tasks due to its lightweight, flexibility, and strong adaptability. © 2024, The Authors. All rights reserved.

关键词： Pneumatic actuators

Road Damage Detection and Classification Based on Multi-Scale Contextual Features

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Road Damage Detection and Classification Based on Multi-Scal...

IEEE International Conference on Big Data

作者： Lu Yang Hualin He Tao Liu Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin China

ISBN: (纸本)9781665480468

Road damage detection is particularly essential for improving road traffic safety. Existing methods do not perform well due to complex road conditions and sparse features contained in road damage. Therefore, we propose a new road damage detection network - YPLNet, which could obtain more refined multi-scale contextual features. Specifically, the network proposed in this paper is based on YOLOv5, by adding the PSA module to the backbone network, the spatial information of the feature map at multi-scale is obtained to enrich the feature space, and the long-term information dependence between channels is further constructed. In addition, in the feature fusion stage, the LCFI module is utilized to obtain contextual features under the multi-scale receptive fields, and these contextual features include rich low-level and high-level information. Our proposed network achieves a Mean-F1 Score of 0.635 in the competition. The source code and model are publicly available at https://***/hehualin-tut/YPLNet

关键词： Roads Source coding Big Data Feature extraction Data models Safety Context modeling

Speed Planning and Interpolation Algorithm of High-Speed Nurbs Curve Based on an Elliptical Arc Fitting

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SSRN 2022年

作者： Liu, Qingjian Zhang, Xu Dong, Xiaoyu Guan, Zenghan Liu, Zhigang Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin300384 China Tianjin300384 China School of Mechanical Engineering Tianjin University of Technology Tianjin300384 China

Taking advantage of the gradual change characteristic of the curvature of the conventional conic ellipse, this paper proposes a method of fitting a non-uniform rational basis spline (NURBS) curve with an elliptical arc and, thereafter, performing speed planning and interpolation of the elliptical arc itself. First, the method of elliptical arc fitting is introduced and then proven by simulation with comparative previous linear and arc fittings to obtain better fitting accuracy with fewer segments. Subsequently, the tangent vector of any point of an ellipse is used to complete the speed planning and interpolation of that ellipse. In terms of speed planning, the maximum acceleration of any point in the elliptical arc can be obtained by using a tangent vector, and the time speed curve in this work is completed based on this phenomenon. In the interpolation stage, the longest axis of the current point is determined by using the tangent vector of any point of the elliptical arc, according to which the pulse is sent, thereby completing the interpolation operation via this iterative cycle. This method unifies the processing model of the interpolation algorithm, the simplicity and efficiency of which is verified by subsequent simulation data. This method can also be universally applied to most other types of curves processing. © 2022, The Authors. All rights reserved.

关键词： Interpolation

Optimization of experiment teaching in the course of mechanical principle 3

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Optimization of experiment teaching in the course of mechani...

3rd International Conference on Education Technology Management, ICETM 2020

作者： Hao, Pujun Liu, Jingna Ma, Wenpeng Wu, Ruiqin Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin300384 China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology China Tianjin Key LABORATORY for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin300384 China

ISBN: (纸本)9781450388757

Based on experience of former teaching reformation and philosophy of "Emerging Engineering Education", an experimental teaching reformation program that includes restructured knowledge system, modularization of experimental teaching process and diversified evaluation system is proposed. It is found that students have deeper and comprehensive understanding on knowledge and more enthusiasm in experimental process. Finally students have definite self-cognition about their division of labor in teamwork. Through gathering statistics, the effectiveness of reformation program is verified and this program can enrich practical experience of experimental teaching reformation. © 2020 ACM.

关键词： Optimization

Non-contact Physiological Parameters Detection Based on MTCNN and EVM 5th

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Non-contact Physiological Parameters Detection Based on MTCN...

5th International Conference on Cognitive systems and Signal Processing, ICCSIP 2020

作者： Zhao, Jinfa Zhang, Wenchang Chai, Rongxuan Wu, Hang Chen, Wei Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Tianjin University of Technology Tianjin300384 China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin China Institute of Medical Support Technology Academy of Military Sciences of Chinese PLA Tianjin China

ISBN: (纸本)9789811623356

Non-contact physiological parameters detection has become an important but challenging task. This paper proposes a novel framework for Non-contact physiological parameters detection, which is based on MTCNN (Multi-task convolutional neural network) and EVM (Eulerian Video Magnification). The MTCNN is applied to compensate negative effects of the pseudo motion for improving the efficiency of face detection. The Laplacian pyramid of EVM is added to our framework to perform motion amplification to achieve simultaneous extraction of heart rate and respiration rate, which improves the accuracy of non-contact physiological parameter detection. Then we use FFT to analyze the relevant frequency bands in time domain and calculate the heart rate and breathing rate. In order to improve efficiency, GPU acceleration is implemented under the TensorRT framework. The experimental results based on data sets DUSS (detection under slight shaking) and DUO (detection under occlusion) show the effectiveness of this method. The average error of the heart rate and respiration rate are −0.1 and 0.6, respectively. Our method achieves comparable performance to finger clip oximeter with a good consistency, even in the case of wearing a mask. © 2021, Springer Nature Singapore Pte Ltd.

关键词： Efficiency

An accurate stop control method of high-speed rolling machine for automobile production line using laser ranging and two positon close loop

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An accurate stop control method of high-speed rolling machin...

2020 International Conference on Applied Mechanics and Mechanical Engineering, ICAMME 2020

作者： Qiao, Zhifeng Ge, Weimin Zhang, Haikang Wei, Huiyong Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin300384 China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology China NO.591Changjiang Road Nankai DistrictTianjin China

The high-speed rolling machine is a key equipment in the automatic production line of automobile body-in-white welding. This article focuses on analyzing a method for accurately stopping the high-speed rolling machine using laser distance measurement. Firstly, through the analysis of the movement process, the calculation method of the length of each period in the 7-stage S-type acceleration and deceleration in the movement of the high-speed rolling machine is given;secondly, the system control theory model of the measurement and control system is established to analyze the dual-position closed-loop strategy The method of realizing the accurate stopping of the high-speed rolling machine;finally, the accurate stopping control method of the high-speed rolling machine proposed in this paper was verified by building an experimental system and developing the corresponding control program. © 2021 Institute of Physics Publishing. All rights reserved.

关键词： Speed

A Novel Microwave Humidity Sensor Based on a Complementary Interdigital Capacitor Resonator

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SSRN 2024年

作者： Wang, Litian Chen, Jie Li, Dan Qian, Lirong Xiong, Yang Miao, Lin Zhang, Rong Li, Cuiping Tianjin Key Laboratory of Film Electronic and Communication Devices School of Integrated Circuit Science and Engineering Tianjin University of Technology Tianjin300384 China School of Integrated Circuit Science and Engineering Tianjin University of Technology Tianjin300384 China Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin300384 China National Demonstration Resonant for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology China

This study presents a novel microwave humidity sensor that utilizes a complementary interdigital capacitor resonator (CIDCR), an advanced design derived from the traditional complementary split ring resonator (CSRR) structure. The CIDCR design enhances the sensor's performance by concentrating the electric field in a more compact region, leading to improved sensitivity and miniaturization. The sensor is coated with a composite film of chitosan (CS) and polyacrylamide-glycerol (PAMG), combining the high moisture sensitivity of PAMG with the stability of CS. The CIDCR-based sensor demonstrates superior performance, including high sensitivity, a broad detection range, rapid response/recovery times, and excellent long-term stability. Density functional theory (DFT) calculations further elucidate the moisture-sensitive mechanisms at the molecular level, highlighting the role of hydrogen bonding in the composite film. Application tests confirm the sensor's potential for use in respiratory monitoring, non-contact sensing, and health monitoring, showcasing the advantages of the CIDCR structure in achieving enhanced humidity sensing capabilities. © 2024, The Authors. All rights reserved.

关键词： Humidity sensors

Non-Stoichiometric Protic Ionic Liquids for Efficient Carbon Dioxide Capture and Subsequent Conversion Under Mild Conditions

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SSRN 2024年

作者： Wang, Litian Chen, Jie Wang, Shuai Zhou, Tongyao Li, Dan Li, Cuiping Qian, Lirong Xiong, Yang Miao, Lin Xie, Zhiyong Tianjin Key Laboratory of Film Electronic and Communication Devices School of Integrated Circuit Science and Engineering Tianjin University of Technology Tianjin300384 China School of Integrated Circuit Science and Engineering Tianjin University of Technology Tianjin300384 China Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin300384 China China Tianjin Bohua Yongli Chemical Industry CO. Ltd Tianjin30045 China

Protic ionic liquids (PILs) have emerged as innovative solvents with significant potential for CO2 capture and transformation, presenting a sustainable alternative to conventional methods which often involve energy-intensive processes or environmentally detrimental chemicals. Herein, a novel strategy for CO2 capture and conversion at mild conditions using non-stoichiometric protic ionic liquids (NPILs) was demonstrated for the first time. These NPILs, employed as sorbents, solvents, and catalysts, were composed of imidazole (Im) and 1,8-diazabicyclo [5.4.0] undec-7-ene (DBU) in various ratios. Correlations between the mole ratio of DBU/Im and physicochemical properties such as viscosity, conductivity, thermal stability, and the distribution of neutral and ionic species were systematically investigated. Effects of the absorption temperature and CO2 partial pressure on the absorption capacity were also studied. Different absorption mechanisms, including carbonate and carbamate pathways, were analyzed using FT-IR and NMR spectroscopy. Moreover, the fixed CO2 could be catalytically converted to quinazoline-2,4(1H,3H)-diones under exceptionally mild reaction conditions (1atm, 50 °C, metal-free process). A plausible reaction mechanism involving simultaneous CO2 activation and substrate activation for the transformation of CO2 into quinazoline-2,4(1H,3H)-diones was verified through NMR spectra. It is believed that the new insights into the CO2 mechanism will facilitate the rationaldesign of functional ionic liquids for CO2 capture, utilization, and storage in the future. © 2024, The Authors. All rights reserved.

关键词： Carbon dioxide

Nonlinear Modeling and Sensitivity Performance Analysis of a Novel Tapered Beam-Based Micro-Gyroscope

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SSRN 2022年

作者： Zhang, Kunpeng Xie, Jianwei Hao, Shuying Feng, Jingjing Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin300384 China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin300384 China

In this paper, we investigate a class of tapered beam micro-gyroscope with electrostatically driven and consider the effects of electrostatic force nonlinearity and fringing field. The governing equations of system are derived by Euler angular transformation and Hamilton principle. The ordinary differential equations with fourth-order variable coefficient are solved by the Adomian decomposition method (ADM). Influence of parameters such as shape factors and DC voltage on static deflection, pull-in voltage and natural frequency of tapered beam micro-gyroscope are investigated. Galerkin discretization is performed on the governing equations of the tapered beam micro-gyroscope. The frequency-response equation of the system is deduced and solved by applying the method of multi-scale (MMS). We obtained the influence regular of DC voltage and fringing field effect on the frequency-response curves. Finally, performance of the tapered beam micro-gyroscope is analyzed in terms of bandwidth, sensitivity, and calibration curve nonlinearity under different shape factors. In static analysis, the pull-in voltage of system gradually decreases with the increase of the shape factors of tapered beam micro-gyroscope, and it will be further reduced by considering the fringing field effect. In the dynamic analysis, the maximum amplitude of motion in the drive and sense directions increases significantly with the shape factors of the tapered beam. Softening characteristics caused by the nonlinearity of the electrostatic force are enhanced. Compared with straight beam micro-gyroscope, the tapered beam micro-gyroscope has the higher amplitude of motion and pronounced nonlinear characteristics. Due to the nonlinearity, the frequency-response curves in the drive direction shifts to the left. The amplitude of motion in the drive direction has a high response over a wide frequency band. By controlling the DC voltage, the natural frequency of the sense mode is matched with the nonlinear natural

关键词： Bandwidth