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2021 International Conference on Robotics Automation and Intelligent control, ICRAIC 2021

作者： Yin, Jinming Zhou, Haibo Zhang, Haoxin Li, Chenming Sun, Guoqing Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin 300384 China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin 300384 China

In the traditional direct visual odometry, it is difficult to satisfy the photometric invariant assumption due to the influence of illumination changes in the real environment, which will lead to errors and drift. This paper proposes an improved direct visual odometry system, which combines luminosity and depth information. The algorithm proposed in this paper uses Kinect 2 to collect RGB images with the corresponding depth information, and selects points with large changes of gray gradient to construct a luminosity error function and uses the corresponding depth information to construct a depth error function. The two error functions are merged into one function and converted into the least squares function of the pose of camera, the Levenberg-Marquardt algorithm is used to solve the camera pose. Finally, the Graph optimization theory and the g2o library are used to optimize the initial pose. Experiments show that the algorithm can reduce the error to a certain extent and reduce the drift caused by illumination changes. © 2022 Institute of Physics Publishing. All rights reserved.

关键词： Vision

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Dimensional synthesis and static/dynamic analysis of a robot in automobile hubs polishing 20

Dimensional synthesis and static/dynamic analysis of a robot...

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20th IEEE International Conference on Mechatronics and Automation, ICMA 2023

作者： Chen, Long Xi, Manru Ma, Yue Li, Bin Liu, Qi Li, Changrui Tianjin University of Technology Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin300384 China Tianjin University of Technology National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin300384 China

ISBN: (纸本)9798350320831

Focusing on the polishing operation of automobile hubs, this paper proposed a polishing robot by combining a 1T2R parallel mechanism (PM) and an X-Y worktable. The dimensional synthesis and static/dynamic performance analysis of the 1T2R PM are also presented with the key points as follows. Firstly, the inverse displacement model and velocity model of the PM are built to formulate the motion/force transmissibility indices on the basis of the generalized Jacobian matrix. Secondly, the dimensional synthesis problem is formulated to determine the optimized normalized dimensional parameters by maximizing the global force/motion transmissibility of the PM subject to geometric constraints without mechanical interference. Finally, the finite element (FE) model of the 1T2R PM is built with the aid of the SAMCEF, and the static stiffness and lower-order natural frequencies of the PM are evaluated. The research results of this paper provide dimensions and mechanical structures for developing the physical prototype of the automobile hub polishing robot. © 2023 IEEE.

关键词： Finite element method

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Structure design and analysis of reconfigurable fixture robot based on the auto-body panels 15

Structure design and analysis of reconfigurable fixture robo...

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15th IEEE International Conference on Mechatronics and Automation, ICMA 2018

作者： Li, Jilong Liu, Jun Wang, Xiaofeng Ge, Weimin School of Mechanical Engineering Tianjin University of Technology China Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced Mechatronical System Binshui Xidao 391 Xiqing District Tianjin300384 China

ISBN: (纸本)9781538660720

The fixture is an important equipment, and is widely used in the auto-body panels to be assembled and welded. However, most fixtures, which installed on the production lines, are special to make the production cost higher and the production efficiency lower. Therefore, the reconfigurability of the fixture becomes a key factor that effects the production efficiency of automobiles. To handle the above problems, the new reconfigurable fixture robot is proposed in this paper, which can meet the handing, assembling and welding requirements of different automobile's sheet parts on the automobile production lines. First, the three-dimensional model and the kinematic equations of the proposed reconfigurable fixture robot are established. Then, the working space of the reconfigurable fixture robot is also obtained. Finally, the modal analysis of the reconfigurable fixture robot is performed to determine the cause of resonances. Reconfigurable fixture robots are capable of gripping the auto-body panels with the different radii of curvature, which can also meet the work scopes on the production lines. © 2018 IEEE.

关键词： Production efficiency

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A generative deep learning framework for inverse design of compositionally complex bulk metallic glasses

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npj Computational Materials 2023年第1期9卷 2196-2203页

作者： Ziqing Zhou Yinghui Shang Xiaodi Liu Yong Yang Department of Mechanical Engineering College of EngineeringCity University of Hong KongKowloon TongKowloonHong KongChina City University of Hong Kong(Dongguan) 523000 DongguanChina College of Mechatronics and Control Engineering Shenzhen University518060 ShenzhenChina Department of Materials Science and Engineering College of EngineeringCity University of Hong KongKowloon TongKowloonHong KongChina Department of Advanced Design and System Engineering College of EngineeringCity University of Hong KongKowloon TongKowloonHong KongChina

The design of bulk metallic glasses(BMGs)via machine learning(ML)has been a topic of active research ***,the prior ML models were mostly built upon supervised learning algorithms with human inputs to navigate the high dimensional compositional space,which becomes inefficient with the increasing compositional complexity in ***,we develop a generative deep-learning framework to directly generate compositionally complex BMGs,such as high entropy *** framework is built on the unsupervised Generative Adversarial Network(GAN)algorithm for data generation and the supervised Boosted Trees algorithm for data *** studied systematically the confounding effect of various data descriptors and the literature data on the effectiveness of our framework both numerically and *** importantly,we demonstrate that our generative deep learning framework is capable of producing composition-property mappings,therefore paving the way for the inverse design of BMGs.

关键词： inverse metallic entropy

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Temperature control based on fuzzy-PID algorithm for the blackbody radiation source 15

Temperature control based on fuzzy-PID algorithm for the bla...

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15th IEEE International Conference on Mechatronics and Automation, ICMA 2018

作者： Wang, Zhigang Wang, Lingling Yun, Zerong Wang, Jinghui Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education China Tianjin University of Technology Tianjin China National Institute of Metrology China Beijing China

ISBN: (纸本)9781538660720

Blackbody radiation source is a key equipment in the traceability process of temperature measurement. In infrared temperature measurement, stable and consistent temperature control of the blackbody radiation sources is required. And in the process of calibration, it is a key element that a blackbody radiation source can produce a fixed temperature. Effective control of its temperature is, therefore, crucial. Due to the change of parameters and the uncertainty of loads, the performance requirements for conventional Proportional, Integral and Differential (PID) controller are high. But the control effect of the conventional PID controller on the temperature control system is not perfect. So the Fuzzy-PID control algorithm is simulated with software for the temperature control system of the blackbody radiation source in this paper. Compared with the conventional PID control algorithm, the Fuzzy-PID control has advantages of quicker response, smaller overshoot and more stable performance. It is of a certain reference value to improve the temperature control performances in the actual industrial production applications. © 2018 IEEE.

关键词： Temperature control

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Tool Path Generation Method for Three-dimensional Vibration-assisted Machining 16

Tool Path Generation Method for Three-dimensional Vibration-...

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16th IEEE International Conference on Mechatronics and Automation, ICMA 2019

作者： Wang, Guilian Lv, Bingrui Liu, Bin Mu, Haozhi 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 Laboratory of Control Theory and Applications in Complicated System Tianjin300384 China School of Electrical and Electronic Engineering Tianjin University of Technology Tianjin300384 China

ISBN: (纸本)9781728116983

In this paper, a new tool path generation method is proposed for the 3D (three-dimensional) vibration-assisted 6-DOF (six degree of freedom) machine tool machining system. The tool feed path is generated by the tangent point method and the coordinate transformation theory. It is worth noting that this method needle is only used when the tool and workpiece surface topography can be mathematically described. Finally, a numeric simulation method is used to simulate the tool path which is required when machining workpiece surfaces with different topography tools. The results show that the tool path generation method is widely applicable to tools and workpieces of various shapes, and it is of great significance to reveal the influences of different tool shapes on the tool path. © 2019 IEEE.

关键词： Machine tools

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Review of Research Advances in CFD Techniques for the Simulation of Urban Wind Environments

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Fluid Dynamics & Materials Processing 2022年第2期18卷 449-462页

作者： Pengfei Ju Mingrui Li Jingying Wang Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical EngineeringTianjin University of TechnologyTianjin300384China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education(Tianjin University of Technology) Tianjin300384China School of Energy and Power Engineering Shandong UniversityJinan250061China Shandong Engineering Laboratory for High-Efficiency Energy Conservation and Energy Storage Technology&Equipment Shandong UniversityJinan250061China

Computational fluid dynamics(CFD)has become the main method for the prediction of the properties of the external wind environment in cities and other urban contexts.A review is presented of the existing literature in terms of boundary conditions,building models,computational domains,computational grids,and turbulence *** specific issues,such as the accuracy/computational cost ratio and the exploitation of existing empirical correlations,are also examined.

关键词： Computational fluid dynamics wind environment pre-processing settings

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Vibration Absorption Efficiency and Higher Branches Elimination of Variable-Stiffness Nonlinear Energy Sink

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Journal of Harbin Institute of Technology(New Series) 2020年第1期27卷 76-84页

作者： Rui Zhong Jian’en Chen Weimin Ge Jun Liu Xiaofeng Wang Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced Mechatronical System Tianjin University of TechnologyTianjin 300384China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of TechnologyTianjin 300384China

Vibration absorption efficiency of a variable⁃stiffness nonlinear energy sink(NES)was investigated when the main oscillator was subjected to harmonic and impulse *** slow flow equations of the coupled system were derived by using the complexification⁃averaging method,and the nonlinear equations which describe the steady⁃state response were *** the harmonic excitation force increased,the system which comprises constant⁃stiffness NES generated higher branch responses,greatly reducing the vibration absorption *** influence of nonlinear stiffness on the responses of the system was *** show that,with the increase of harmonic exciting force,a reduction of NES stiffness can eliminate the higher branch responses and even the frequency band of strongly modulated *** vibration absorption efficiency of variable⁃stiffness NES attached to the linear oscillator for different amplitudes of impulse excitation was *** show that the proper reduction of nonlinear stiffness under increasing impulse excitation can greatly increase the vibration absorption efficiency of NES,and the variable⁃stiffness design can effectively mitigate the negative influences of the increase of the excitation amplitude on the efficiency of constant⁃stiffness NES.

关键词： nonlinear energy sink efficiency variable⁃stiffness vibration suppression higher branch

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Exponential Stability and Feasibility of Receding Horizon control for Constrained systems

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IFAC Proceedings Volumes 1998年第18期31卷 317-322页

作者： Jae-Won Lee Wook Hyun Kwon Hyung S. Cho System and Control Sector Samsung Advanced Institute of Technology School of Electrical Engineering Seoul National University Department of Mechanical Engineering Korea Advanced Institute of Science and Technology

In this paper, we propose a new receding horizon controller for discrete linear systems with hard constraints on inputs and states. It is shown that exponential stability of the closed loop system with the proposed receding horizon controller, is guaranteed utilizing terminal ellipsoid constraints. In order to improve the feasibility, we also propose some implementable versions of the proposed controller where the system matrix is partitioned into the stable and unstable modes and hard state constraints are softened. We also propose some methods to penalize violations resulting from softened state constraints, and make comparison among them by some illustrative examples. Dans cette communication, nous proposons des commandes a horizon fuyant par retour d'état ou de sortie pour des systèmes linéaires en temps discret soumis à des contraintes sur l'entrée et sur l'état. Les commandes à horizon fuyant proposées sont obtenues à partir d'un probléme d'optimisation à horizon fini où la matrice de coût final et la contrainte ellipsoéde invariante artificielle sont moins restrictives que la contrainte égalité finale habituelle. On considère les problèmes avec contraintes strictes ou contraintes mixtes dans le cas de retour d'état, et le problème avec contraintes mixtes dans le cas de retour de sortie. On montre, en utilisant l'approche de Lyapunov, que toutes les lois de commande proposées guarantissent la stabilité exponentielle des systèmes en boucle fermée pour tout les ensembles initiaux faisables.

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mechanical Properties of Glycated Cracked Articular Cartilage Under Uniaxial and Cyclic Tensile Loading

SSRN

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SSRN 2025年

作者： Gao, Li-Lan Fang, Yi Lin, Xiang-Long Kong, De-Zhao Tan, Yan-Song Li, Rui-Xin Sun, Kai Zhang, Chun-Qiu Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin300382 China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin300382 China Co. Ltd. Tianjin300190 China Tianjin Key Laboratory of Oral and Maxillofacial Function Reconstruction Tianjin Stomatological Hospital The Affiliated Stomatological Hospital of Nankai University Tianjin300041 China Orthopaedic of Tianjin First Central Hospital Tianjin300190 China

In clinical diagnosis, diabetes, and arthritis were often considered independent, which leads to diabetics getting worse by ignoring early arthritis symptoms. Therefore, the fatigue damage mechanism of articular cartilage in a hyperglycemic environment must be clarified. Under simulating physiological loads, this study delved into glycated cracked cartilage's fracture toughness and damage mechanism. Moreover, by introducing the glucose concentration as a crucial variable, a constitutive model of the ratcheting behavior of glycated cracked cartilage was established, which is utilized to predict the impacts of glycation on cartilage. The findings of this study revealed that the glycation environment causes cartilage hardening, which, in turn, leads to a substantial 38.1% reduction in the initial strain required for crack extension, despite an enhancement in tensile strength. The study of dynamic mechanical behavior further supported this observation. Scanning electron microscopy (SEM) showed that this mechanistic change occurs after collagen fibers harden and adhere to one another in the glycation environment. Overall, these results hold significant implications for understanding osteoarthritis (OA) in diabetic patients and for developing and protecting strategies related to this condition. © 2025, The Authors. All rights reserved.

关键词： Fracture toughness

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