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第37届中国控制会议

作者： Feng Liu Qicheng Mei Fenglan Sun Xinmei Wang Hua O Wang School of Automation China University of Geosciences Hubei key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Research Center of System Theory and Application Chongqing University of Posts and Telecommunications Department of Mechanical Engineering Boston University

The network structure and functional properties of gene regulatory system and their relationships are an important research field in systems *** this paper,a new improved model is proposed based on the study of gene expression *** model takes into account the effect of protein concentration on the gene expression,so as to obtain a new bifurcation point and improve the performance of the *** validity of the model is verified by theoretical analysis and data simulation.

关键词： Stability Neimark-Sacker bifurcation single gene discrete system delay

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Quantum and thermodynamic self-organization conditions for artificial life of biological mobile micro-nano-robot with AI control. (Report 2. Methodology of R&D and stochastic dynamic)

Quantum and thermodynamic self-organization conditions for a...

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International Symposium on Micro Machine and Human Science

作者： S.V. Ulyanov K. Yamafuji T. Fukuda F. Arai G.G. Rizzotto A. Pagni Department of Mechanical and Control Engineering University of Electro-Communications Chofu Tokyo Japan Department of Mechano-Informatics and Systems University of Nagoya Nagoya Japan SGS-THOMSON Microelectronics Corporate Advanced System Architectures Agrate-Brianza Italy

A new methodology of R&D of micronano-robots (MNR) based on modelling of the nonlinear master dissipative stochastic equations of MNR-motion with minimum entropy production is described. The methodology includes: hierarchical levels for the description of the dynamic behavior of MNR based on laws of microphysics, an extraction of information from coherent states of MNR using quantum non-demolition (QND) measurement processes, logic of intelligent dynamic behavior, optimal control of states, and the dynamic system theory of mechanical motion. On the basis of nonlinear dissipative equations of motion a new quantum postulate for the description of MNR as open thermodynamic and quantum dynamic systems is introduced. Physical conditions for optimal intelligent control of thermodynamic and quantum systems are introduced. The intelligent thermodynamic behaviour of MNR from the artificial life point of view is described. New nonlinear mechanics with entropy exchange are used. The thermodynamic stability conditions for MNR are developed.

关键词： Thermodynamics Nonlinear dynamical systems Nonlinear equations Entropy Stochastic processes Production Data mining Quantum mechanics mechanical variables measurement Motion measurement

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Small-Target Infrastructure Detection with Spatial Tracking and Multi-Level Feature Extraction of Railway Track Scenes

Small-Target Infrastructure Detection with Spatial Tracking ...

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Intelligent Communication, Sensing and Electromagnetics (ICSE), International Conference on

作者： Heng Du Huaiming Cang Yiwen Bai Xinyi Wang Beijing Elephant Technology Co. Ltd Beijing China School of Transportation Science and Engineering Beihang University Beijing China The State Key Lab of Intelligent Transportation System Beijing China Tianjin Key Laboratory for Advanced Mechanical 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: (数字)9798350354935

ISBN: (纸本)9798350354942

In the field of railway transportation, with the continuous improvement of train running speed and the continuous increase of operating mileage, it becomes particularly important to ensure the safety and integrity of small-target infrastructure along the railway train. Although many small-target detection methods have been proposed, the research on small-target infrastructure detection along rail trains is very rare. To solve this problem, this paper proposes a small-target infrastructure detection network with spatial tracking and multi-level feature extraction based on Yolov8n. The experimental results show that ST-YOLO has a 3.6% mAP improvement on the OSDaR23 dataset compared to the baseline Yolov8n, and shows significant advantages over other state-of-the-art methods.

关键词： Rails Transportation Railway safety Switches Feature extraction Rail transportation Real-time systems Sensors Safety Monitoring

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ADAPTIVE BOUNDARY control VIBRATION SUPPRESSION OF FLEXIBLE MANIPULATOR BASED ON IMPROVED RBF NEURAL NETWORK

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UPB Scientific Bulletin, Series D: mechanical engineering 2024年第2期86卷 3-18页

作者： Zheng, Qingchun Wei, Zhiyong Zhu, Peihao Ma, Wenpeng Deng, Jieyong Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control Tianjin University of Technology Tianjin300384 China China School of Mechanical Engineering Tianjin University of Technology Tianjin300384 China Jiangxi Technical College of Manufacturing Jiangxi Nanchang330095 China

With lighter weight, lower power consumption, and higher flexibility, flexible manipulators have been widely used in industrial fields. However, it is easy to produce elastic deformation, resulting in vibration. In this paper, an improved radial basis function (RBF) neural network (NN) for adaptive boundary control is proposed. The partial differential equation (PDE) model of the flexible manipulator is established, and the asymptotic stability of the system is proved by the first Lyapunov method. Finally, simulation results show that the proposed control method can eliminate the low-amplitude angular fluctuation and the high-amplitude angular velocity fluctuation. © 2024, Politechnica University of Bucharest. All rights reserved.

关键词： Flexible manipulators

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Modeling, Simulation, and Parameter Design of Actuation Mechanisms Based on New Magnetic control Materials

Modeling, Simulation, and Parameter Design of Actuation Mech...

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system Simulation Technology and its Application (CCSSTA), IEEE China Conference on

作者： Ruixuan Shen He Tian Guanqiao Zhao Ziliang Zhu Jiangping Li Chao Liang Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology National Demonstration Center for Experimental Mechanical and Electrical Engineering Education (Tianjin University of Technology) Tianjin China Tianjin Sanyuan Power Equipment Manufacturing Co. Ltd Tianjin China

ISBN: (数字)9798350366600

ISBN: (纸本)9798350366617

With the rapid advancement of technology, the reliability and efficiency of power systems have become increasingly critical. In power systems, pole-mounted circuit breakers play a vital role. This paper presents a design scheme for an actuation mechanism of a pole-mounted circuit breaker based on new magnetic control materials. By analyzing the working principle of this actuation mechanism, a mathematical model was constructed, and a corresponding virtual prototype model was established using multi-body dynamics simulation software ADAMS and the dynamics mathematical model of this type of actuation mechanism. Key performance parameters of the circuit breaker were optimized using a quantum genetic algorithm. Simulation experiments verified that the proposed parameter settings achieved a closing time of 7.6 ms, demonstrating significant improvements in circuit breaker performance. The results of this study are of great importance for the optimization design and performance enhancement of circuit breakers in power systems.

关键词： Vacuum systems Circuit breakers Power system dynamics Mathematical models Software systems simulation Integrated circuit modeling Magnetic circuits Optimization Genetic algorithms

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Exploring the Reform of mechanical Drawing Teaching and Undergraduate Training Based on the “Integration of Competition-Oriented Education and Industry-University Collaboration”

Exploring the Reform of Mechanical Drawing Teaching and Unde...

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International Conference on Educational and Information Technology (ICEIT)

作者： Zhang Runfeng Ming Yankun Liu Zhenzhong Wu Jianguo Wang Xiaofei Sun Yanfang 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 Hanhailanfan Marine Technology Co. Ltd. Tianjin China

ISBN: (数字)9798350372663

ISBN: (纸本)9798350372670

This study aims to explore the reform of mechanical drawing teaching and the undergraduate training model with the goal of cultivating high-quality mechanical engineering undergraduate students. Grounded in the concepts of “synergy between science and education” and “integration of competition-oriented education and industry-university collaboration,” this research places talent cultivation as the central focus, linking it with discipline construction and emphasizing scientific research. The study promotes the reform of a collaborative education mechanism known as “integration of competition-oriented education and industry-university collaboration,” effectively establishing a multi-level and multi-dimensional undergraduate training model for mechanical engineering students that incorporates the “dual mentor system” and integrates theory, practice, and application. To apply this model in teaching practice, this research has undertaken the reform of traditional engineering drawing education, specifically addressing the issue of the gap between theory and practice in conventional teaching approaches. The proposed training program not only facilitates the development of innovative mechanical engineering professionals but also offers insights for the reform of undergraduate teaching models in the context of constructing “new engineering disciplines”.

关键词： Training Couplings Technological innovation engineering drawings Collaboration mechanical engineering Machinery

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Structure Design and Analysis of Reconfigurable Fixture Robot Based on the Auto-body Panels

Structure Design and Analysis of Reconfigurable Fixture Robo...

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IEEE International Conference on Mechatronics and Automation

作者： Jilong Li Jun Liu Xiaofeng Wang Weimin Ge School of Mechanical Engineering Tianjin University of Technology Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced Mechatronical System Xiqing District Tianjin China Tianjin Key Lab. of the Design & Intell. Control Adv. Mechatronical Syst. Tianjin China

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.

关键词： Fixtures Manipulators Kinematics Modal analysis Clamps

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Trajectory Planning of Quadrotor UAV with Suspended Payload Based on Predictive control

Trajectory Planning of Quadrotor UAV with Suspended Payload ...

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第37届中国控制会议

作者： Binghan Sun Chaofang Hu Lei Cao Na Wang Yimin Zhou School of Electrical and Information Engineering Tianjin University Key Laboratory of Micro Opto-electro Mechanical System Technology Tianjin UniversityMinistry of Education Key Laboratory of System Control and Information Processing Ministry of Education School Engineering and Automation Tianjin Polytechnic University Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences

In the work of data collection,express transportation and rescue by UAV,we generally use UAVs to move the suspended payload in flight *** is fully necessary to study how to effectively suppress the swing of the suspended load and avoid known *** this paper,the kinematic equations of the quadrotor UAV and suspended payload in the three-dimensional space are analyzed.A trajectory planning method based on predictive control is proposed,and the cost function considering load swing angle and the distance between obstacle and UAV is designed and generate an optimal trajectory that meets the *** simulation results show that the proposed method can achieve the purpose of minimizing the swing angle and avoid the obstacles at the level of trajectory planning.

关键词： quadrotor UAV suspended load predictive control trajectory planning

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

SSRN

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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

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NURBS Interpolator With Pre-compensation Based on Discrete Inverse Transfer Function for CNC High-precision Machining

Research Square

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Research Square 2021年

作者： Wang, Taiyong Cao, Libo Zhang, Yongbin Dong, Jingchuan Jia, Songhui Tian, Chong Liu, Qingjian Renai College Tianjin University Tianjin301636 China Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin300384 China School of Mechanical Engineering Tianjin University No.135 YaGuan Road Jinnan District Tianjin300354 China

In the field of CNC machining, high-speed and high-precision machining has been regarded as the key research by many scholars. In conventional methods, high-speed machining and high-precision machining are contradictory. It is inevitable to reduce the feedrate to improve the processing accuracy. In the paper, a pre-compensation based on discrete inverse transfer function (PDIT) theory is proposed. PDIT is able to improve machining accuracy by reducing contour errors without decreasing feedrate. The proposed PDIT theory is divided into three parts, NURBS interpolator, feedrate scheduling, and interpolator with pre-compensation. The NURBS interpolator has greatly advantage to interpolate the parameter curve directly. Therefore, the paper adopts the NURBS interpolator to accomplish interpolation. In the feedrate scheduling, S-type flexible acceleration and deceleration are used for path planning, and the maximum starting feedrate is obtained with the feedrate constraint. In the interpolator with pre-compensation, the NURBS interpolator is pre-compensated by PDIT. For inputs, the response of transfer function reach steady-state response with a little time. Before reaching steady-state response, the unsteady response exists in the transfer function. The unsteady response usually sustains tens of interpolation periods and must be lead contour error in machining. Hence, the PDIT theory is employed to compensate the contour error causing by the unsteady response of transfer function to NURBS interpolator. The drive system is a transfer function, so the unsteady response of drive system cause machining errors before reaching the steady-state response. In the paper, the NURBS interpolator is pre-compensated by PDIT theory before the drive system to reduce contour errors and improve machining accuracy. Finally, the performance of the proposed PDIT is evaluated by simulation experiments. The experimental results illustrate that PDIT theory obviously improve the machining accura

关键词： Transfer functions

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