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Noise Reduction of UAV Using Biomimetic Propellers with Varied Morphologies Leading-edge Serration

Journal of Bionic Engineering 2020年第4期17卷 767-779页

作者： Yuliang Wei Feng Xu Shiyuan Bian Deyi Kong State Key Laboratory of Transducer Technology Key Laboratory of Biomimetic Sensing and Advanced Robot Technology of Anhui ProvinceInstitute of Intelligent MachinesChinese Academy of SciencesHefei 230031China Science Island Branch of Graduate School University of Science and Technology of ChinaHefei 230009China

The Leading-Edge(LE)serrations on owls'wings are known to be responsible for silent ***,this design has rarely been applied to reduce the noise of rotational rotor propellers and the morphologies of the existing serration designs are ***,we present a comparative study ofLE serrations with different morphologies in terms of the effectiveness in suppressing noise and promoting thrust *** performances of biomimetic propellers are investigated by Computational Fluid Dynamics(CFD)simulations and rotation *** simulation results reveal that LE serrations could reduce velocity fluctuations and change the lamina-turbulent transition and turbulence distribution on the suction surface of propeller,but the morphology of the serrations influences its *** testing results indicate that the sawtooth propeller has the best performance on noise reduction(on average 2.43 dB and in maximum 4.18 dB)and simultaneously enhancing the thrust forces(3.53%).The largest practical noise reductions(4.73 dB and 3.79 rdB)using the sawtooth propeller are observed when the quad-rotor Unmanned-Aerial Vehicle(UAV)is hovering at heights of 5 m and 8 m,*** results indicate the robustness and usefulness of owl-inspired biomimetic serration devices for aero-acoustic control and aerodynamic performance promotion on propeller *** finding is expected to con^bute to suppressing the sound of propeller and the rotor-based aircraft.

关键词： unmanned-aerial vehicle biomimetic noise reduction LE serration rotor propeller

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Fabrication of the lens array mould with embossing type surface by using a fast tool servo with large displacement up to hundreds of micro meter 17

Fabrication of the lens array mould with embossing type surf...

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17th International Conference of the European Society for Precision Engineering and Nanotechnology, EUSPEN 2017

作者： Kim, Ho-Sang Lee, Chan-Hee Lee, Won-Gi Center for Robot and Manufacturing Technology Institute for Advanced Engineering Yongin Kyonggi-do Korea Republic of

ISBN: (纸本)9780995775107

We performed the fabrication of the lens array mould with embossing type surface by using a fast tool servo. To overcome the nonlinear hysteresis characteristics of the piezoelectric actuator in fast tool servo, the proportional integral controller with feedforward compensator was used. Also, to meet the large optical sag required in most of commercial optical devices, the fast tool servo with large displacement up to hundreds of micro meter has been integrated into the diamond turning machines. To synchronize the fast tool servo and the diamond turning machine, the precision encoder signal from the CNC was read and used to update the control input to the high voltage amplifier for the piezoelectric actuator. The machined result shows that the proposed controller and tool servo can be successfully integrated into the machine and can fabricate the complex optical surfaces with embossing shape.

关键词： Fabrication

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Development of two-dimensional piezoelectric laser scanner with large steering angle and fast response characteristics

Development of two-dimensional piezoelectric laser scanner w...

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ASPEN/ASPE 2017 Spring Topical Meeting on Manufacture and Metrology of Structured and Freeform Surfaces for Functional Applications

作者： Kim, Ho-Sang Lee, Chan-Hee Lee, Won-Gi Lee, Dae-Hee Center for Robot and Manufacturing Technology Institute for Advanced Engineering Yongin Kyonggi-do Korea Republic of

We describe a two-dimensional piezoelectric laser scanner designed and tested to obtain the large steering angle of 1 degree and fast response characteristics with 200 Hz. To overcome the relatively small expansion capability of piezoelectric actuator, the displacement amplification mechanisms are employed to magnify the end tip of the lever which is connected to the 0.5" aluminum mirror. For fast response characteristics, several shapes of the displacement amplification mechanisms are proposed and their natural frequencies calculated by using finite element analysis technique. As a result of performance testing of hinge mechanisms by exciting the actuator, the resolution of the proposed piezoelectric scanner shows the excellent capability in beam steering. Also, the actual machining test of the proposed laser scanner in the burning paper are performed to show that it is capable of steering the laser beam in 1 degree and with frequency of 200 Hz.

关键词： Piezoelectric actuators

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Design of a robot Gripper for a Rapid Service robot

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IFAC Proceedings Volumes 2013年第5期46卷 319-324页

作者： Tae-Jin Jung Jun-Ho Oh Mechanical Engineering Department Korea Advanced Institute of Science and Technology Dae-jeon Korea (Tel: +82-42-350-3263) Humanoid Robot Research Center Korea Advanced Institute of Science and Technology Dae-jeon Korea

This research designs a robot gripper for a rapid service robot. For a service robot that moves rapidly, a robot gripper must be lightweight and must have the ability to grasp objects of any size or shape stably. In addition, sufficient gripping force, a low cost, and a friendly shape are necessary. To satisfy the above requirements, this research designs a new robot gripper. We use a four-bar linkage underactuated system for shape adaptability and to reduce the weight. In a simulation, the four-bar linkage is designed to eliminate the rollback ejection phenomenon while also maximizing the utilization of a parallel grasping. While other studies place emphasis on preventing rollback ejection phenomenon, in this research we stress the maximum utilization of both parallel and power grasping using a compliance jaw and a double four-bar linkage design. With the parallel four-bar linkage system, the gripper can perform both parallel grasping and power grasping, allowing it to grip a diverse range of objects. Moreover, the compliant jaw enhances the stability of its grasp, and its worm gear enables the gripper grasp to be stable while also reducing the gripper's weight. With a force sensor, it can manage sensitive force control. In this way, we designed a robot gripper suitable for rapid service robots.

关键词： robot Gripper Four-bar Linkage Mechanism Underactuated System

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Evaluation on Configuration Stiffness of Overconstrained 2R1T Parallel Mechanisms

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Chinese Journal of Mechanical Engineering 2024年第3期37卷 62-82页

作者： Xuejian Ma Zhenghe Xu Yundou Xu Yu Wang Jiantao Yao Yongsheng Zhao Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan UniversityQinhuangdao 066004China Key Laboratory of Advanced Forging and Stamping Technology and Science of Ministry of National Education Yanshan UniversityQinhuangdao 066004China

Currently,two rotations and one translation(2R1T)three-degree-of-freedom(DOF)parallel mechanisms(PMs)are widely applied in five-DOF hybrid machining ***,there is a lack of an effective method to evaluate the configuration stiffness of mechanisms during the mechanism design *** is a challenge to select appropriate 2R1T PMs with excellent stiffness performance during the design *** the operational status of 2R1T PMs,the bending and torsional stiffness are considered as indices to evaluate PMs'configuration ***,a specific method is proposed to calculate these stiffness ***,the various types of structural and driving stiffness for each branch are assessed and their specific values ***,a rigid-flexible coupled force model for the over-constrained 2R1T PM is established,and the proposed evaluation method is used to analyze the configuration stiffness of the five 2R1T PMs in the entire ***,the driving force and constraint force of each branch in the whole working space are calculated to further elucidate the stiffness evaluating results by using the proposed method *** obtained results demonstrate that the bending and torsional stiffness of the 2RPU/UPR/RPR mechanism along the x and y-directions are larger than the other four mechanisms.

关键词： Parallel mechanism Stiffness Over-constrained Three degrees of freedom

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Motion design of a hybrid wheeled/legged robot for lunar exploration

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Journal of Harbin Institute of technology(New Series) 2003年第3期10卷 246-249页

作者：陈学东田文罡李小清渡边桂吾 School of Mechanical Science and Engineering Huazhong University of Science and Technology Wuhan 430074 China Dept. of Advanced Systems Control Engineering Saga University Japanhe robot consists of a quadruped mechanism and two active dual-wheel casters possesses the advantages of wheeled and legged mechanism and can quickly move on the relatively plane ground with the wheeled mechanism and can walk on the extremely uneven terrain with the legged mechanism. The effectiveness of the motion design of the hybrid robot is iHustrated by simulation results.

The robot consists of a quadruped mechanism and two active dual-wheel casters possesses the advantages of wheeled and legged mechanism, and can quickly move on the relatively plane ground with the wheeled mechanism, and can walk on the extremely uneven terrain with the legged mechanism. The effectiveness of the motion design of the hybrid robot is iHustrated by simulation results.

关键词： Lunar exploration robot Quadruped mechanism Mobile mechanism Hybrid wheeled/legged

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Decision-Level Fusion Method for Emotion Recognition using Multimodal Emotion Recognition Information 15

Decision-Level Fusion Method for Emotion Recognition using M...

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15th International Conference on Ubiquitous robots, UR 2018

作者： Song, Kyu-Seob Nho, Young-Hoon Seo, Ju-Hwan Kwon, Dong-Soo Department of Robotics Program Korea Advanced Institute of Science and Technology Human-Robot Interaction Research Center Korea Republic of Department of Mechanical Engineering Korea Advanced Institute of Science and Technology Human-Robot Interaction Research Center Korea Republic of

ISBN: (纸本)9781538663349

Human emotion recognition is an important factor for social robots. In previous research, emotion recognizers with many modalities have been studied, but there are several problems that make recognition rates lower when a recognizer is applied to a robot. This paper proposes a decision level fusion method that takes the outputs of each recognizer as an input and confirms which combination of features achieves the highest accuracy. We used EdNet, which was developed in KAIST based Convolutional Neural Networks (CNNs), as a facial expression recognizer and a speech analytics engine developed for speech emotion recognition. Finally, we confirmed a higher accuracy 43.40% using an artificial neural network (ANN) or the k-Nearest Neighbor (k-NN) algorithm for classification of combinations of features from EdN et and the speech analytics engine. © 2018 IEEE.

关键词： Engines

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A study on the process robustness of Nd:YAG laser-MIG hybrid welding of aluminum alloy 6061-T6

A study on the process robustness of Nd:YAG laser-MIG hybrid...

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ICALEO 2003 - 22nd International Congress on Applications of Laser and Electro-Optics

作者： Lee, Kyoung-Don Park, Ki-Young Center for Robot and Manufacturing Technology Institute for Advanced Engineering Yongin-city Kyonggi-do Korea Republic of

ISBN: (纸本)0912035757

Laser-arc hybrid welding is an attractive tool that has high potential in welding lightweight structure. The welding quality is improved by deep penetration with gap-bridging ability. This study examines the effectiveness an arc leading welding process through plasma phenomenon, melting efficiency and gap bridging ability experiment in melting pool. We apply hybrid welding using sheet aluminum welding to a vehicle body. We use 3KW cw Nd:YAG laser and 350A class MIG welding machine as an experiment device, high speed camera for melting phenomenon observation in melting pool and welding current measurement device for arc state observation.

关键词： Welding machines

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Total system of advanced subsea robot

Total system of advanced subsea robot

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International Conference on advanced robotics (ICAR)

作者： S. Nonose T. Osanai Advanced Robot Technology Research Association Mitsui Engineering and Shipbuilding Company Limited Chuo Tokyo Japan

Concerns a research and development project of advanced robot technology in Japan, finished in FY 1990. This project aimed to develop robots which could carry out inspection, maintenance, rescue operations or others in the field of nuclear power, subsea and disaster fighting. The various elementary technologies have been developed and the conceptual designs of total systems of the robots have been made taking those results into consideration. This paper describes the total system of the advanced subsea robot which supports the offshore oil exploitation and the verification experiment by the experimental robot which was carried out in December 1990.< >

关键词： robots Inspection Petroleum Ocean temperature robotics and automation Optical surface waves Sea surface Surface cleaning Optical control Legged locomotion

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Gesture motion programming by applying robot motion hierarchy structure for the educational/entertainment robot Engkey

Gesture motion programming by applying robot motion hierarch...

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IEEE Workshop on advanced robotics and its Social Impacts, ARSO

作者： Jaewoo Kim Kyoung Soo Chun Dong-Soo Kwon Human-Robot Interaction Research Center Korea Advanced Institute of Science and Technology Daejeon South Korea

Educational/entertainment robots are usually designed to perform various gesture motions for nonverbal communication or interaction with humans[1]. This paper proposed a robot motion programming methodology by applying three-level robot motion hierarchical structure and a gesture variation method that can easily apply emotional attributes (Joy, Normal or Sad) to a robot's gesture. Experiments and evaluation tests are conducted with a graphical robot motion simulator and a real robot named Engkey, which is developed to carry out several tasks for interactive English education in elementary school or interactive games for elderly people.

关键词： robot motion Wheels Joints Hardware Programming profession

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