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Anisotropy dependence of chip formation and plastic deformation in Fe-25Cr-20Ni austenitic stainless steel during micro-scratching

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Tribology International 2025年 210卷

作者： Lv, Beibei Chen, Qinglong Li, Yunjie Wang, Fangyuan Zhang, Yulong Han, Jie Jiang, Zhengyi Xia, Wenzhen Institute of Microstructure and Micro/Nanomechanics School of Metallurgical Engineering Anhui University of Technology Maanshan243032 China State Key Laboratory of Digital Steel Northeastern University Liaoning Shenyang110819 China State Key Laboratory of Powder Metallurgy Central South University Changsha410083 China Research Institute of SD Steel Shandong Iron and Steel Co. Ltd. Shandong Jinan271104 China School of Mechanical Materials Mechatronic and Biomedical Engineering University of Wollongong WollongongNSW2522 Australia Anhui Engineering Research Center of Low-carbon Metallurgy and Process Control Anhui University of Technology Ma'anshan243002 China State Key Laboratory for Turbulence and Complex Systems Peking University Beijing100087 China

The wear characteristics of the tribological pair and the mechanisms of material removal are significantly influenced by the plastic deformation of the contact surface during the tribological process of metallic materials. Chip formation is recognized as one of the primary mechanisms contributing to material loss during the wear process. However, the underlying mechanisms governing chip formation remain incompletely elucidated. This paper employs micro-scratch testing to investigate the wear behavior of the {001}, {101}, and {111} grains in austenitic stainless steel under varying scratch directions and applied loads. The transition from initial indentation contact to plowing and subsequent chip formation is systematically examined, revealing the influence of crystallographic orientation and scratch direction on chip formation mechanisms. Our results demonstrate that the chip formation and plastic deformation exhibit substantial dependence on crystallographic orientation and scratch direction, which are closely associated with the activation of specific slip systems within the grains. The depth profile within the worn track and the surface topography surrounding it have a major impact on the frictional response and chip formation process. A critical depth for chip formation is identified under specific loading conditions, below which chip formation is more likely to occur. This research provides valuable insights into the micro-scale tribological behavior of face-centered cubic metallic materials, offering a theoretical foundation for optimizing material properties, enhancing wear resistance, and prolonging service life in engineering applications. © 2025 Elsevier Ltd

关键词： Austenitic stainless steel

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Human Motion Prediction Based on Visual Tracking 4

Human Motion Prediction Based on Visual Tracking

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4th International Conference on Robotics and Automation engineering, ICRAE 2019

作者： Zou, Juncheng Yin, Weihua Wang, Everett X. Wang, Jiancheng Lu, Yan-Feng School of Mechanical Engineering Beijing University of Science and Technology China Institute of Science and Technology Innovation Dongguan University of Technology China School of Information Engineering Guangdong University of Technology Guangzhou China Cloud Computing Center Chinese Academy of Sciences China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China

ISBN: (数字)9781728147406

ISBN: (纸本)9781728147406

Following and moving according to human motion is an important task for mobile robots. To ensure more compliant motion planning and execution of mobile robots, they can not be controlled by real-time visual information. In the tracking process, robots need to recognize and track the target then, plan the motion and execute the motion. In practical applications, the environments are very complex, such as illumination, shadows and occlusion, which the traditional visual tracking algorithms often deviate or lose the target. Therefore, to achieve fast human motion tracking, it is necessary to predict human motions by video prediction. In this paper, we propose a human motion tracking algorithm of mobile robot based on video prediciton. (1) The multi-layer generation adversarial loop network, which trained by off-line video dataset and learn how to predict human motion. (2) We used the pre-trained model to predict the state of the tracking target in the video. (3) This video prediction model was integrated into human-to-robot tracking algorithms of mobile robot following human system. Experiments show that the proposed algorithm can track human motion at a certain speed and precision. © 2019 IEEE.

关键词： Mobile robots

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Sensorless control of Permanent Magnet Synchronous Motors based on Finite-Time Robust Flux Observer ⁎

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IFAC-PapersOnLine 2020年第2期53卷 9270-9275页

作者： Anton Pyrkin Alexey Bobtsov Romeo Ortega Alexey Vedyakov Dmitry Cherginets Dmitry Bazylev Petranevsky Igor ITMO University Faculty of Control Systems and Robotics49 Kronverksky Pr. St. Petersburg 197101 Russia Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia Laboratory “Control of Complex Systems” Institute of Problems of Mechanical Engineering V.O. Bolshoj pr. 61 St. Petersburg 199178 Russia Laboratoire des Signaux et Systèmes CNRS-SUPELEC Plateau du Moulon 91192 Gif-sur-Yvette France

A sensorless control algorithm is developed based on novel finite-time robust flux observer for the non-salient permanent magnet synchronous motor (PMSM). Total flux equality and motor model are used to find the linear regression-like model with respect to the flux. Applying dynamic regressor extension and mixing method, we obtain two independent scalar equations and construct a finite-time flux observer. The flux estimate is used to reconstruct the rotor position and velocity with well-known trigonometric relation and phase-locked loop observer, respectively. To complete a sensorless control design, we pass these estimates to standard field orient control. The efficiency and robustness of the proposed approach are demonstrated through the set of numerical simulations.

关键词： Sensorless nonlinear observer flux observer nonlinear control systems synchronous motor

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A Bio-inspired Soft Robotic Arm： Kinematic Modeling and Hydrodynamic Experiments

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Journal of Bionic engineering 2018年第2期15卷 204-219页

作者： Zheyuan Gong Jiahui Cheng Xingyu Chen Wenguang Sun Xi Fang Kainan Hu Zhexin Xie Tianmiao Wang Li Wen School of Mechanical Engineering and Automation Beihang University Beijing 100191 China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China . Beijing Advanced Innovation Center for Biomedical Engineering Beihang University Beijing 100191 China

Soft robotics has several promising properties for aquatic applications, such as safe interaction with environments, lightweight, low cost, etc. In this paper, we proposed the kinematic modeling and hydrodynamics experiments of a soft robotic arm with 3D locomotion capacity. We developed a mathematical model that incorporates the angle correction, as well as the open-loop model-based motion control. The model could precisely predict the three-dimensional （3D） movement, and the location error is less than 5.7 mm in different attitudes. Furthermore, we performed the hydrodynamic investigations and simultaneously measured the hydrodynamic forces and the wake flows at different amplitudes （50 mm, 100 mm, 150 mm, 200 mm） and frequencies （0.3 Hz, 0.4 Hz, 0.5 Hz） of the soft arm. Surprisingly, we found that the magnitudes of the hydrodynamic force （〈1 N） and the torques （〈0.08 N-m） of dynamically moving soft arm were tiny, which leads to negligible inertial effect for the underwater vehicle than those of the traditional rigid underwater manipulator. Finally, we demonstrated underwater picking and placing tasks of the soft manipulator by using a computer program that controls the tip attitude and velocity. This study may inspire future underwater manipulators that have properties of low-inertial, low power cost and can safely interact with the aauatic environments.

关键词： bio-inspired soft robotic arm aquatic environment kinematics digital particle image velocimetry

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Multi-scale Protein complex Discovery based on Graph Wavelet

Multi-scale Protein Complex Discovery based on Graph Wavelet

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第三十九届中国控制会议

作者： Wang Yue Ran Xu Peng Xiao-yu Yi Ming Zhu Yuan School of Science Huazhong Agricultural University School of Mathematics and Statistics Huazhong University of Science and Technology School of Mechanical Engineering Wuhan Institute of Shipbuilding Technology School of Mathematics and Physics China University of Geosciences School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems

Identifying protein complexes from protein interaction networks is an important task in the post-genomic era. With the development of high-throughput sequencing technology, the acquisition of protein interaction network data is becoming more and more convenient. The current protein complex recognition algorithms cannot well balance the hierarchical and overlapping properties of protein networks. In order to overcome these limitations, this paper proposes a Graph Wavelet based Protein complex Discovery algorithm, GW-PCD. The method exploits the clustering analysis of protein interaction networks to find a modular mechanism by characterizing the distance between graph wavelet coefficients of protein pairs. Comparative experimental results show that GW-PCD enhances the performance of identifying protein complexes, which will provide valuable clues for further exploration of the unknown functions of proteins at the multiscale perspective.

关键词： Graph wavelet Protein-protein interaction network Multiresolution analysis Protein complex Community discovery

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Periodic event-triggered output regulation for linear multi-agent systems

arXiv

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arXiv 2020年

作者： Zheng, Shiqi Shi, Peng Agarwal, Ramesh K. Lim, Chee Peng School of Automation China University of Geosciences Wuhan430074 China Hubei key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China School of Electrical and Electronic Engineering University of Adelaide AdelaideSA5005 Australia Department of Mechanical Engineering Washington University Box 1185 St Louis CampusMO63130 United States Institute for Intelligent Systems Research and Innovation Deakin University Australia

This study considers the problem of periodic event-triggered (PET) cooperative output regulation for a class of linear multi-agent systems. The advantage of the PET output regulation is that the data transmission and triggered condition are only needed to be monitored at discrete sampling instants. It is assumed that only a small number of agents can have access to the system matrix and states of the leader. Meanwhile, the PET mechanism is considered not only in the communication between various agents, but also in the sensorto-controller and controller-to-actuator transmission channels for each agent. The above problem set-up will bring some challenges to the controller design and stability analysis. Based on a novel PET distributed observer, a PET dynamic output feedback control method is developed for each follower. Compared with the existing works, our method can naturally exclude the Zeno behavior, and the inter-event time becomes multiples of the sampling period. Furthermore, for every follower, the minimum inter-event time can be determined a prior, and computed directly without the knowledge of the leader information. An example is given to verify and illustrate the effectiveness of the new design scheme. Copyright © 2020, The Authors. All rights reserved.

关键词： Multi agent systems

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Multi-robot Path Planning and Trajectory Smoothing

Multi-robot Path Planning and Trajectory Smoothing

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IEEE International Conference on Automation Science and engineering (CASE)

作者： Hub Ali Gang Xiong Huaiyu Wu Bin Hu Zhen Shen Hongxing Bai School of Mechanical and Electrical Engineering University of Electronic Science and Technology of China State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China Guangdong Engineering Research Center of 3D Printing and Intelligent Manufacturing Cloud Computing Center Chinese Academy of Sciences Dongguan China Beijing Engineering Research Center of Intelligent Systems and Technology Institute of Automation Chinese Academy of Sciences China Hubei Jointown Technology Co. Ltd Artificial Intelligence Research Institute Wuhan China

ISBN: (数字)9781728169040

ISBN: (纸本)9781728169057

In this paper we consider a problem in task execution for multi-robot trajectory planning with collision avoidance in a shared working environment. Consider two or more robots generating trajectories towards their respective goal positions. The collision may occur if their trajectory coordinates are intersecting at a point or follow the same path segment simultaneously. The central planner is introduced to control robot motion in the collision state and to reduce the complexity of the multi-robot path planning system. The global path for every robot is generated by the $\mathrm{A}^{*}$ algorithm in a grid-based environment. The path has presented a sequence of optimal grid numbers and later transformed into Cartesian coordinates for smooth trajectory generation. The central planner takes an optimal grid sequence for every robot to analyze the collision state according to its cost value. It regenerates the trajectories to minimize the complexity cost value and replaces the previous trajectory based on minimum cost value. In the collision state, the central planner allows one robot at a time to pass along the conflict path segment and hold others in queue at a safety offset distance until the previous robot passes safely. The algorithm has been applied to robots working in a shared environment in complex maps and the simulations is performed with MATLAB to calculate the efficiency of this approach for handling collision states in a multi-robot path planning system.

关键词： Robot kinematics Trajectory Collision avoidance Task analysis Resource management

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Vibrational relaxation in compressible isotropic turbulence with thermal nonequilibrium

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Physical Review Fluids 2020年第4期5卷 044602-044602页

作者： Qinmin Zheng Jianchun Wang Bernd R. Noack Hui Li Minping Wan Shiyi Chen Shenzhen Key Laboratory of Complex Aerospace Flows Center for Complex Flows and Soft Matter Research Department of Mechanics and Aerospace Engineering Southern University of Science and Technology Shenzhen 518055 China School of Power and Mechanical Engineering Wuhan University Wuhan 430072 China Institute for Turbulence-Noise-Vibration Interaction and Control Harbin Institute of Technology (Shenzhen) Shenzhen 518055 China LIMSI CNRS Université Paris-Saclay Bât 507 rue du Belvédère Campus Universitaire F-91405 Orsay France Institut für Strömungsmechanik und Technische Akustik Technische Universität Berlin Müller-Breslau-Straße 8 D-10623 Berlin Germany State Key Laboratory of Turbulence and Complex Systems Peking University Beijing 100871 China

As pioneered by Donzis and Maqui [J. Fluid Mech. 797, 181 (2016)] and Khurshid and Donzis [Phys. Fluids 31, 015103 (2019)], the compressible isotropic turbulence in thermal nonequilibrium is drawing attention in the fluid dynamics community. In the present study, the vibrational rate and the dissipation or production of vibrational energy fluctuation of compressible isotropic turbulence with solenoidal forcing in vibrational nonequilibrium are investigated using numerical simulations. The turbulent Mach number (Mt) is set to be 0.44 and 1.09, and the Taylor Reynolds number (Reλ) equals 98.58 approximately. The focus is on the effect of the normalized vibrational relaxation time (Kτ) and characteristic temperature (θv) on statistical features of the vibrational rate and the dissipation or production components of vibrational energy fluctuation. When Kτ is small (≲1.0), the average of normalized vibrational rate conditioned on the normalized dilatation is positive in the compression region and negative in the expansion region, enhanced with increase of compression and expansion level, respectively. It indicates that, on average, the energy transfers from translational-rotational to vibrational modes in the compression region and in the inverse direction in the expansion region. The conditional average of the normalized vibrational rate reduces with increase of Kτ, and is insensitive to θv. The joint probability density functions (PDFs) and conditional PDFs of the normalized vibrational rate are also analyzed, to reveal the effect of compression and expansion motions on the internal energy exchange between the translational-rotational and vibrational modes. The dissipation or production of vibrational energy fluctuation can result from effects of dilatation, thermal diffusion, and vibrational relaxation. The dissipation component due to thermal diffusion always weakens the vibrational energy fluctuation in both compression and expansion regions for the weakly and highl

关键词： Compressible flows Nonequilibrium & irreversible thermodynamics Turbulence

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Decision-Making in Driver-Automation Shared control: A Review and Perspectives

arXiv

引用

arXiv 2020年

作者： Wang, Wenshuo Na, Xiaoxiang Cao, Dongpu Gong, Jianwei Xi, Junqiang Xing, Yang Wang, Fei-Yue CA94720 United States Department of Engineering University of Cambridge Trumpington Street CambridgeCB2 1PZ United Kingdom Mechanical and Mechatronics Engineering University of Waterloo 200 University Ave. West Waterloo ONN2L3G1 Canada Department of Mechanical Engineering Beijing Institute of Technology Beijing100081 China School of Mechanical and Aerospace Engineering Nanyang Technological University Singapore639798 Singapore State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China Research Center for Military Computational Experiments and Parallel Systems Technology National University of Defense Technology Changsha410073 China

Shared control schemes allow a human driver to work with an automated driving agent in driver-vehicle systems while retaining the driver’s abilities to control. The human driver, as an essential agent in the driver-vehicle shared control systems, should be precisely modeled regarding their cognitive processes, control strategies, and decision-making processes. The interactive strategy design between drivers and automated driving agents brings an excellent challenge for human-centric driver assistance systems due to the inherent characteristics of humans. Many open-ended questions arise, such as what proper role of human drivers should act in a shared control scheme? How to make an intelligent decision capable of balancing the benefits of agents in shared control systems? Due to the advent of these attentions and questions, it is desirable to present a survey on the decision-making between human drivers and highly automated vehicles, to understand their architectures, human driver modeling, and interaction strategies under the driver-vehicle shared schemes. Finally, we give a further discussion on the key future challenges and opportunities. They are likely to shape new potential research directions. Copyright © 2020, The Authors. All rights reserved.

关键词： Decision making

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Compare contact model-based control and contact model-free learning: A survey of robotic peg-in-hole assembly strategies

arXiv

引用

arXiv 2019年

作者： Xu, Jing Hou, Zhimin Liu, Zhi Qiao, Hong State Key Laboratory of Tribology Beijing Key Laboratory of Precision/Ultra-Precision Manufacturing Equipment Control Department of Mechanical Engineering Tsinghua University Beijing100084 China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China

In this paper, we present an overview of robotic peg-in-hole assembly and analyze two main strategies: Contact model-based and contact model-free strategies. More specifically, we first introduce the contact model control approaches, including contact state recognition and compliant control two steps. Additionally, we focus on a comprehensive analysis of the whole robotic assembly system. Second, without the contact state recognition process, we decompose the contact modelfree learning algorithms into two main subfields: Learning from demonstrations and learning from environments (mainly based on reinforcement learning). For each subfield, we survey the landmark studies and ongoing research to compare the different categories. We hope to strengthen the relation between these two research communities by revealing the underlying links. Ultimately, the remaining challenges and open questions in the field of robotic peg-in-hole assembly community are discussed. The promising directions and potential future work are also considered. Copyright © 2019, The Authors. All rights reserved.

关键词： Reinforcement learning

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