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A Bio-inspired Mutual-hook Strategy for the Soft Finger to Improve Load-bearing Capacity and Grasping Stability

Journal of Bionic Engineering 2024年第3期21卷 1290-1304页

作者： Jie Huang Lingjie Gai Xiaofeng Zong Yunquan Li School of Automation China University of GeosciencesWuhan430074China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex System Wuhan430074China The Shien-Ming Wu School of Intelligent Engineering South China University of TechnologyGuangzhou510641China

Soft grippers have great potential applications in daily life,since they can compliantly grasp soft and delicate ***,the highly elastic fingers of most soft grippers are prone to separate from each other while grasping objects due to their low stiffness,thus reducing the grasping stability and load-bearing *** tackle this problem,inspired from the venus flytrap plant,this work proposes a mutual-hook mechanism to restrain the separation and improve the grasping performance of soft *** novel soft gripper design consists of three modules,a soft finger-cot,two Soft Hook Actuators(SHAs)and two sliding ***,the soft finger-cot covers on the soft finger,increasing the contact area with the target object,two SHAs are fixed to the left and right sides of the finger-cot,and the sliding mechanisms are designed to make SHAs stretch *** demonstrate that the proposed design can restrain the separation of soft fingers substantially,and the soft fingers with the finger-cots can grasp objects three times heavier than the soft fingers without the proposed *** proposed design can provide invaluable insights for soft fingers to restrain the separation while grasping,thus improving the grasping stability and the load-bearing capacity.

关键词： Soft robotics Soft bionic finger-cot Soft hook actuator Grasping stability Load-bearing capacity

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Research on Characteristics of Three-Chamber Hydraulic Cylinder Driving Loader Boom 8th

Research on Characteristics of Three-Chamber Hydraulic Cylin...

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8th International Conference on Advances in Construction Machinery and Vehicle Engineering, ICACMVE 2023

作者： Zhu, Huidian Feng, Jiangjiang Yang, Jing Key Lab of Advanced Transducers and Intelligent Control System of Ministry of Education and Shanxi Province Taiyuan University of Technology Taiyuan030024 China

ISBN: (纸本)9789819718757

When the loader boom is lifted and lowered, the hydraulic pump operates at high peak power levels. In this process, the hydraulic valve port dissipates the gravitational potential energy of the boom. Consequently, the dissipated energy is converted into thermal energy, resulting in elevated hydraulic oil temperature and reduced energy efficiency. This paper proposes a gravitational potential energy recovery system based on three-chamber cylinder and a hydraulic accumulator. The system utilizes the hydraulic accumulator to balance the weight of the loading boom and achieve energy recovery for the boom. The co-simulation model of wheel loader based on the three-chamber cylinder was built in SimulationX, then the energy consumption was analyzed under two kinds of typical operating modes. The simulation results illustrate that when the initial pressures of accumulators are 6 and 8 MPa with heavy-load and without load, the system has the highest energy utilization rate. By establishing a loader prototype and investigating the operating characteristics and energy efficiency of the boom driven by a two-chamber cylinder and a three-chamber cylinder, the experimental results illustrate that the new system operates smoothly, reducing energy consumption by 39.24% and peak power by 27.41%. © The Author(s) 2024.

关键词： Potential energy

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Standardizations of Ergonomics for Head Mounted Displays (HMDs)

Standardizations of Ergonomics for Head Mounted Displays (HM...

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International Symposium, Seminar, and Exhibition, Display Week 2024

作者： Ujike, Hiroyasu Hyodo, Kei Tada, Mitsunori Watanabe, Hiroshi Tokyo Japan National Institute of Advanced Industrial Science and Technology Tsukuba Japan Yuasa System Co. Ltd Okayama Japan

The recent main topics in ISO/TC 159/SC 4/WG 2 and /WG 12, which are in charge of display ergonomics in the International Organization for Standardization (ISO), is ergonomics of headmounted displays (HMDs) realizing XR or Cross-Reality, which has attracted attention in recent years. The paper overviews the major issues related to visual comfortability and Image Safety using HMDs, and reports on the key points for standardization to reduce VR sickness and to maintain comfortable viewing of 3D images. © 2024, John Wiley and Sons Inc. All rights reserved.

关键词： Helmet mounted displays

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Highly dense and ultrathin gadolinia-doped ceria interlayer for enhanced performance of large-area anode-supported solid oxide fuel cell

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Progress in Natural Science:Materials International 2023年第5期33卷 733-741页

作者： Sang Woo Shin Amjad Hussain Muhammad Zubair Khan Dong Woo Joh Tak-Hyung Lim Seung-Bok Lee Jong-Eun Hong Joon Hyung Shim Rak-Hyun Song Hydrogen Energy Research Division Korea Institute of Energy Research Department of Mechanical Engineering Korea University Department of Advanced Energy and System Engineering Korea University of Science and Technology(UST) Department of Materials Science & Engineering Pak-Austria Fachhochschule: Institute of Applied Sciences and Technology

The fabrication of a highly dense and ultrathin Gd doped ceria(GDC) interlayer on a large-area, porous electrolyte-coated planar anode support using vacuum slurry coating is studied for application in solid oxide fuel cells(SOFCs). The electrolyte-coated planar anode support body is fabricated by tape casting and pre-sintering is performed at 1100, 1150, and 1200°C. The GDC interlayer is coated onto the pre-sintered electrolyte-coated anode support using a vacuum slurry coating process with different immersion times(30–60 s). A highly dense and ultrathin GDC interlayer with a thickness of 1.48 μm is produced after co-sintering at 1400°C. The 1200°C pre-sintered electrolyte-coated anode support showed a thin and highly dense GDC interlayer which is attributed to a lower shrinkage difference between the coated GDC interlayer and pre-sintered body. The electrochemical performance of a vacuum slurry-coated GDC interlayer cell is 38 % higher compared to that of the screen-printed GDC-coated cell at 700°C due to the greatly reduced Ohmic and electrode polarization resistances. The considerable improvement in the performance is attributed to the ultrahigh GDC density which has prevented the secondary phase formation between the cathode and electrolyte. This study presents the economical, scalable, and reproducible process for the fabrication of highly robust GDC interlayer for the large-area planar anode-supported SOFCs.

关键词： Solid oxide fuel cell Vacuum slurry coating GDC interlayer Sintering Performance

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Parameter Design of Digital P-PI Controller for Motor Positioning systems Using Limited Pole Placement Method 50

Parameter Design of Digital P-PI Controller for Motor Positi...

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50th Annual Conference of the IEEE Industrial Electronics Society, IECON 2024

作者： Urakawa, Yoshiyuki Sirichai, Ngamlamai Robotics Department Advanced Engineering Faculty Nippon Institute of Technology Saitama Japan Mechanical System Engineering Major Graduated School Nippon Institute of Technology Saitama Japan

ISBN: (纸本)9781665464543

Positioning systems with motors are widely used in industrial use. Many production systems, mechatronics systems or industrial robots use high speed and high precision positioning systems with motors. Generally, the controllers of the positioning systems are proportional-to-proportional-integral (P-PI) controllers. They are often used because they have small overshoots and easy to tune. However, it needs fine-tunings to make settling motions smooth. There may be two reasons why the fine-tunings are needed for P-PI controllers. One is the pole assignment constraint of P-PI controller. Three poles of the P-PI control systems for motor positioning cannot be assigned freely. One of the three poles always stay at a slow position. Another reason is the digital delay when the P-PI controllers are applied to the practical systems. The digital system with the delay becomes vibrational because of the phase delay of the calculation time. It makes the overshoot of the trajectory. In this paper, the influences and solutions of the pole assignment constraint and the digital delay are shown. The pole assignment constraint limits the performance of the closed loop. The feedforward controller is shown to be the solution of this constraint. The digital delay makes the overshoot, but it can be corrected by the limited pole placement (LPP) method proposed by the author. It enables accurate pole-zero assignment without overshoots under the conditions of the digital delay. © 2024 IEEE.

关键词： Industrial robots

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A Fruit and Vegetable Detection Based on Pytorch Machine Learning Frame Work Model 2

A Fruit and Vegetable Detection Based on Pytorch Machine Lea...

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2nd International Conference on Emerging Trends in Information technology and Engineering, ic-ETITE 2024

作者： Priyadharshini, U. Vijayan, R. School of Advanced Science Vellore Institute of Information Technology Vellore India School of Computer Science Engineering and Information System Vellore Institute of Information Technology Vellore India

ISBN: (纸本)9798350328202

Today, Agricultures has become a significant element of people's life. Among them fruits and vegetables are a great thing for healthy lives. Classification of fruits and vegetable are difficult for normal person because of some same similarities like shape and color. Also, Fruits and Vegetables classification is an important process in industries applications as well as local market. Lots of similarities available between fruits like apples, pears and peaches, and that kinds of fruits are generally used in daily routine. As well as some vegetables are same in shape, so it will be difficult to differentiate in this type of situation for old persons. The previous research for solution of this type of problem for classification of fruits CNN is used but the problem in this research is when they use the self-made datasets then their accuracy decreases as compare to public datasets accuracy increases. To solve this type of problem, here produce a kind of algorithms in the paper to classify fruits and vegetable, using deep leaning technique such as VGG16 and DenseNet169 model have capability to extract the feature of images very deeply using various small filters so it provide a better result. On this premise, it was used to classify fruit kinds against a complex background and integrated with data improvement technology for future usage. It might be helpful for human for automatic differentiate the both categories. This project is implemented in the python programming language and the dataset used Fruits and Vegetables Image Recognition Dataset for the classification. Which will help to differentiate between Fruits and Vegetables with high accuracy rate. For the implementation of this project used Python programming and this implementation using the tool like Jupiter and Kaggle Notebook and used GPU for highspeed execution. © 2024 IEEE.

关键词： Fruits

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Design and dynamic analysis of a scissors hoop-rib truss deployable antenna mechanism

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Defence technology（防务技术） 2023年第6期24卷 399-413页

作者： Bo Han Xiangkun Li Jian Sun Yundou Xu Jiantao Yao Yongsheng Zhao Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan UniversityQinhuangdao066004China Key Laboratory of Advanced Forging&Stamping Technology and Science Ministry of Education of ChinaYanshan UniversityQinhuangdao066004China

As the support mechanism of space-borne antennas,space deployable antenna mechanism belongs to complex multi-closed-loop coupling mechanism,configuration design and dynamic analysis are more difficult than general parallel *** this paper,an unequal-length scissors mechanism(ULSM)is proposed by changing the position of the internal rotational joint through a basic scissors mechanism.A scissors hoop-rib truss deployable antenna mechanism(SHRTDAM)is constructed by replacing the parabolic rib with the *** analysis of SHRTDAM is conducted,and the degree of freedom(DOF)of the whole antenna mechanism is analyzed based on screw theory,the result showed that it has only one *** and acceleration characteristics of SHRTDAM are obtained by the screw derivative and rotation *** on Lagrange equation,dynamic model of this mechanism is established,the torque required to drive the mechanism is simulated and verified by Adams and MATLAB *** addition,a ground experiment prototype of 1.5-m diameter was fabricated and a deployment test is conducted,which demonstrated the mobility and deployment performance of the whole *** mechanism proposed in this paper can provide a good reference for the design and analysis of large aperture space deployable antennas.

关键词： Scissors mechanism Deployable antenna Screw theory Kinematic analysis Dynamic analysis

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General Kinetostatic Modeling and Deformation Analysis of a Two-Module Rod-Driven Continuum Robot with Friction Considered

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Chinese Journal of Mechanical Engineering 2023年第3期36卷 110-122页

作者： Peiyi Wang Xinhua Yang Xiangyang Wang Sheng Guo School of Mechanical Electronic and Control EngineeringBeijing Jiaotong UniversityBeijing 100044China Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institute of Advanced TechnologyChinese Academy of SciencesShenzhen 518005China

Continuum robots actuated by flexible rods have large potential applications,such as detection and operation tasks in confined environments,since the push and pull actuation of flexible rods withstand tension and compressive force,and increase the structure's *** this paper,a generalized kinetostatics model for multi-module and multi-segment continuum robots considering the effect of friction based on the Cosserat rod theory is ***,the model is applied to a two-module rod-driven continuum robot with winding ropes to analyze its deformation and load *** different in-plane configurations under the external load term as S1,S2,C1,and C2 are *** a bending plane as an example,the tip deformation along thex-axis of these shapes is simulated and compared,which shows that the load capacity of C1 and C2 is generally larger than that of S1 and ***,the deformation experiments and simulations show that the maximum error ratio without external loads relative to the total length is no more than 3%,and it is no more than 4.7%under the external *** established kinetostatics model is proven sufficient to accurately analyze the rod-driven continuum robot with the consideration of internal friction.

关键词： Rod-driven continuum robot Kinetostatic model Cosserat rod theory Deformation and stiffness analysis

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Force Analysis of the Overconstrained Mechanisms Based on Equivalent Stiffness Considering Limb Axial Deformation

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Chinese Journal of Mechanical Engineering 2023年第1期36卷 292-304页

作者： Jinwei Guo Yongsheng Zhao Bo Chen Guoxing Zhang Yundou Xu Jiantao Yao Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan UniversityQinhuangdao066004China Key Laboratory of Advanced Forging&Stamping Technology and Science of Ministry of National Education Yanshan UniversityQinhuangdao066004China

Overconstrained mechanism has the advantages of large bearing capacity and high motion reliability,but its force analysis is complex and difficult because the mechanism system contains *** the limb axial deformation,taking typical 2SS+P and 7-SS passive overconstrained mechanisms,2SPS+P and 7-SPS active overconstrained mechanisms,and 2SPS+P and 7-SPS passive-input overconstrained mechanisms as examples,a new force analysis method based on the idea of equivalent stiffness is *** equivalent stiffness matrix of passive overconstrained mechanism is derived by combining the force balance and deformation compatibility equations with consideration of axial elastic limb *** relationship between the constraint wrench magnitudes and the external force,limb stiffness is *** equivalent stiffness matrix of active overconstrained mechanism is derived by combining the force balance and displacement compatibility ***,the relationship between the magnitudes of the actuated wrenches and the external force,limb stiffness is *** with the equivalent stiffness of the passive overconstrained mechanism,an analytical relationship between the actuated forces of passive-input overconstrained mechanism and the output displacement,limb stiffness is ***,adaptability of the equivalent stiffness to overconstrained mechanisms is discussed,and the effect of the limb stiffness on overconstrained mechanisms force distribution is *** research results provide a theoretical reference for the design,research and practical application of overconstrained mechanism.

关键词： Active overconstrained Passive overconstrained Passive-input overconstrained Equivalent stiffness Force distribution

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A Cross-Multi-Domain Trust Assessment Authority Delegation Method Based on Automotive Industry Chain

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Computers, Materials & Continua 2025年第1期82卷 407-426页

作者： Binyong Li Liangming Deng Jie Zhang Xianhui Deng School of Cybersecurity(Xin Gu Industrial College) Chengdu University of Information TechnologyChengdu610225China Advanced Cryptography and System Security Key Laboratory of Sichuan Province Chengdu610225China SUGON Industrial Control and Security Center Chengdu610225China

To solve the challenges of connecting and coordinating multiple platforms in the automotive industry and to enhance collaboration among different participants,this research focuses on addressing the complex supply relationships in the automotive market,improving data sharing and interactions across various platforms,and achieving more detailed integration of data and *** propose a trust evaluation permission delegation method based on the automotive industry *** proposed method combines smart contracts with trust evaluation mechanisms,dynamically calculating the trust value of users based on the historical behavior of the delegated entity,network environment,and other factors to avoid malicious node attacks during the permission delegation *** also introduce strict control over the cross-domain permission granting and revocation mechanisms to manage the delegation path,prevent information leakage caused by malicious node interception,and effectively protect data integrity and *** analysis shows that this method meets the realtime requirements of collaborative interaction in the automotive industry chain and provides a feasible solution to permission delegation issues in the automotive industry chain,offering dynamic flexibility in authorization and scalability compared to most existing solutions.

关键词： Automotive industry chain cross-domain access block chain delegate authority trust assessment

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