检索结果-内蒙古大学图书馆

Experimental and modeling study of surface topography generation considering tool-workpiece vibration in high-precision turning

引用

Chinese Journal of Aeronautics 2023年第7期36卷 194-212页

作者： Xingying ZHOU Henan LIU Tianyu YU Ruiyang GUO Guangzhou WANG Yazhou SUN Mingjun CHEN State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China School of Mechatronics Engineering Harbin Institute of TechnologyHarbin 150001China

High-precision turning(HPT)is a main processing method for manufacturing rotary high-precision components,especially for metallic ***,the generated vibration between tool tip and workpiece during turning may seriously deteriorate the surface ***,exploring the effect of vibration on turning surface morphology and quality of copper parts using 3D surface topography regeneration model is crucial for predicting HPT *** developed model can update the machined surface topology in real *** this study,the effects of tool arc radius,feed rate,radial vibration,axial vibration and tangential vibration on the surface topography and surface roughness were *** results show that the effect of radial vibration on surface topography is greater than that of axial vibration and tangential *** radial vibration frequency is also *** vibration frequency changes,the surface topography profile presents three different types:the standard sinusoidal curve,the sinusoidal curve whose lowfrequency signal envelopes high-frequency signal,and the oscillation curve whose low-frequency signal superimposes high-frequency *** addition,HPT experiment was carried out to validate the developed *** surface roughness obtained in the experiment was Ra=53 nm,while the roughness obtained by the simulation was Ra=46 nm,achieving a prediction accuracy of 86.7%.Received 4 September 2022;revised 3 October 2022;accepted 17 October 2022.

关键词： High-precision turning Machining vibration Modeling Surface roughness Surface topography

来源：评论

学校读者我要写书评

暂无评论

Complete Gait Phases Recognition Based on Muscle Synergy Using PSO-CNN-LSTM Algorithm

引用

IEEE Sensors Journal 2025年第10期25卷 16775-16786页

作者： Zhang, Kewen Li, Xiaoling Chen, Xin Yu, Longjie Jin, Yinan Fan, Bingfei Du, Mingyu Bao, Guanjun Wu, Xinyu Cai, Shibo Zhejiang University of Technology College of Mechanical Engineering Key Laboratory of Special Purpose Equipment and Advanced Processing Technology Ministry of Education Hangzhou China Zhejiang University of Technology College of Mechanical Engineering Hangzhou China ZJUT Yinhu Research Institute of Innovation and Entrepreneurship ZJUT Yinhu Research Institute of Innovation and Entrepreneurship ZJUT Yinhu Research Institute of Innovation and Entrepreneurship Fuyang District Hangzhou311400 China Chinese Academy of Sciences Key Laboratory of Human-Machine-Intelligence Synergic Systems Shenzhen Institutes of Advanced Technology Shenzhen China Chinese Academy of Sciences Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Shenzhen China

Accurately recognizing gait phases, by applying proper instrumentation and measurement, is significant in walking rehabilitation training for patients with impaired mobility. In this study, seven phases of complete stand-walk-stand cycle as well as continuous daily walking were recognized based on muscle synergy and PSO-CNN-LSTM model. Firstly, the complete stand-walk-stand walking cycle were divided into starting phase, terminal swing phase, loading response phase, mid-stance phase, terminal stance phase, initial swing phase, and stopping phase, based on the features of surface electromyography (sEMG) collected by portable sEMG acquisition system and measured motion data of lower limb. Secondly, a muscle weight matrix and an activation sequence matrix were calculated by using non-negative matrix factorization (NMF). Finally, a PSO-CNN-LSTM network was designed to recognize the complete stand-walk-stand cycle by applying above mentioned matrices as input. Fourteen subjects volunteered to perform linear walking experiments under procedure to verify the feasibility of the proposed approach by comparing results with other classifiers and features. Experimental results show that the proposed approach was capable of achieving an average recognition accuracy of up to 85.384%. This work will offer promising gait recognition method for rehabilitation robots to achieve natural and flexible human-robot interaction. © 2001-2012 IEEE.

关键词： Non-negative matrix factorization

来源：评论

学校读者我要写书评

暂无评论

Hemispherical resonator with low subsurface damage machined by small ball-end fine diamond grinding wheel:A novel grinding technique

引用

Chinese Journal of Aeronautics 2024年第5期37卷 570-585页

作者： Biao QIN Henan LIU Jian CHENG Jinchuan TIAN Jiangang SUN Zihan ZHOU Chuanzhen MA Mingjun CHEN State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China Center for Precision Engineering Harbin Institute of TechnologyHarbin 150001China

As for the ultra-precision grinding of the hemispherical fused silica resonator,due to the hard and brittle nature of fused silica,subsurface damage(SSD)is easily generated,which enormously influences the performance of such ***,ultra-precision grinding experiments are carried out to investigate the surface/subsurface quality of the hemispherical resonator machined by the small ball-end fine diamond grinding *** influence of grinding parameters on the surface roughness(SR)and SSD depth of fused silica samples is then *** experimental results indicate that the SR and SSD depth decreased with the increase of grinding speed and the decrease of feed rate and grinding *** addition,based on the material strain rate and the maximum undeformed chip thickness,the effect of grinding parameters on the subsurface damage mechanism of fused silica samples is ***,a multi-step ultra-precision grinding technique of the hemispherical resonator is proposed based on the interaction influence between grinding depth and feed ***,the hemispherical resonator is processed by the proposed grinding technique,and the SR is improved from 454.328 nm to 110.449 nm while the SSD depth is reduced by 94%from 40μm to 2.379μ*** multi-step grinding technique proposed in this paper can guide the fabrication of the hemispherical resonator.

关键词： Fused silica Ultra-precision grinding Hemispherical resonator Subsurface damage Grinding technique

来源：评论

学校读者我要写书评

暂无评论

A novel method of water bath heating assisted small ball-end magnetorheological polishing for hemispherical shell resonators

引用

Chinese Journal of Aeronautics 2023年第12期36卷 451-460页

作者： Jinchuan TIAN Mingjun CHEN Jian CHENG Henan LIU State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China Center for Precision Engineering Harbin Institute of TechnologyHarbin 150001China

Hemispherical shell resonator(HSR)is the core component of hemispherical resonator *** is aφ-shaped small-bore complex component with minimum curvature radius less than 3 ***,traditional polishing methods are difficult to polish *** ball-end magnetorheological polishing method can polish the small components with complicated three-dimensional surface and obtain non-destructive ***,this method is suitable for polishing ***,the material removal rate of the ordinary small ball-end magnetorheological polishing is low,leading to long polishing time and low output of *** solve this problem,a water bath heating assisted small ball-end magnetorheological polishing method is proposed in this *** influence rule of processing parameters on the material removal rate is studied experimentally.A set of optimal processing parameters is obtained to maximize the material removal *** with the ordinary method,the material removal rate of the new method can be improved by 143%.Subsequently,an HSR is polished by the new *** results show that the polishing time can be reduced by 55%,and the polished surface roughness can reach 7.7 *** new method has the great potential to be used in actual production to improve the polishing efficiency of HSR.

关键词： Hemispherical shell resonator Magnetorheological fluid temperature Material removal rate Optimization Small ball-end magnetorheological polishing

来源：评论

学校读者我要写书评

暂无评论

Kinematics/Fuzzy Logic Combined Controller for Formation Control of Mobile Robots

引用

Journal of Harbin institute of Technology(New Series) 2013年第4期20卷 121-128页

作者： Zhi-Jiang Du Li-Min Ren Wei-Dong Wang Wei Dong State Key Laboratory of Robotics and System Harbin Institute of Technology College of Mechanical Engineering Beihua University

A kinematics and fuzzy logic combined formation controller was proposed for leader-follower based formation control using backstepping method in order to accommodate the dynamics of the *** kinematics controller generates desired linear and angular velocities for follower robots,which make the configuration of follower robots coverage to the *** fuzzy logic controller takes dynamics of the leader and followers into consideration,which is built upon Mamdani fuzzy *** force and torque acting on robots are described as linguistic variables and also 25 if-then rules are *** addition,the fuzzy logic controller adopts the Centroid of Area method as defuzzification strategy and makes robots’actual velocities converge to the expected which is generated by the kinematics *** innovation of the kinematics and fuzzy logic combined formation controller presented in the paper is that the perfect velocity tracking assumption is removed and realtime performance of the system is *** with traditional torque-computed controller,the velocity error convergence time in case of the proposed method is shorter than traditional torque-computed *** simulation results validate that the proposed controller can drive robot members to form the desired formation and formation tracking errors which can coverage to a neighborhood of the ***,the simulations also show that the proposed method has better velocity convergence performance than traditional torque-computed method.

关键词： kinematics/fuzzy logic combined formation controller mobile robot backstepping

来源：评论

学校读者我要写书评

暂无评论

Design and In Situ Additive Manufacturing of Multifunctional Structures

引用

engineering 2023年第9期28卷 58-68页

作者： Yan Zhang Guangyu Zhang Jing Qiao Longqiu Li State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China School of Materials Science and Engineering Harbin Institute of TechnologyHarbin 150001China

Multifunctional structures(MFSs)integrate diverse functions to achieve superior ***,conventional design and manufacturing methods—which generally lack quality control and largely depend on complex equipment with multiple stations to achieve the integration of distinct materials and devices—are unable to satisfy the requirements of MFS applications in emerging industries such as aerospace *** by the concept of design for manufacturing,we adopt a layer regulation method with an established optimization model to design typical MFSs with load-bearing,electric,heat-conduction,and radiation-shielding functions.A high-temperature in situ additive manufacturing(AM)technology is developed to print various metallic wires or carbon fiber-reinforced high-meltingpoint polyetheretherketone(PEEK)*** is found that the MFS,despite its low mass,exceeds the stiffness of the PEEK substrate by 21.5%.The embedded electrics remain functional after the elastic deformation *** with those of the PEEK substrate,the equivalent thermal conductivity of the MFS beneath the central heat source area is enhanced by 568.0%,and the radiation shielding is improved by 27.9%.Moreover,a satellite prototype with diverse MFSs is rapidly constructed as an *** work provides a systematic approach for high-performance design and advanced manufacturing,which exhibits considerable prospects for both the function expansion and performance enhancement of industrial equipment.

关键词： Additive manufacturing Multifunctional structure Optimal design Satellite Polyetheretherketone

来源：评论

学校读者我要写书评

暂无评论

Flight control of a large-scale flapping-wing flying robotic bird:system development and flight experiment

引用

Chinese Journal of Aeronautics 2022年第2期35卷 235-249页

作者： Wenfu XU Erzhen PAN Juntao LIU Yihong LI Han YUAN School of Mechanical Engineering and Automation Harbin Institute of TechnologyShenzhen 518055China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

Large-scale flapping-wing flying robotic birds have huge application potential in outdoor tasks,such as military reconnaissance,environment exploring,disaster rescue and so *** this paper,a multiple modes flight control method and system are proposed for a large-scale robotic bird which has 2.3 m wingspan and 650 g *** from small flapping wing aerial vehicle,the mass of its wings cannot be neglected and the flapping frequency are much ***,the influence of transient aerodynamics instead of only mean value are considered in attitude estimation and controller ***,flight attitude and trajectory are highly coupled,and the robot has only three actuators----one for wings flapping and two for tail adjustment,it is very difficult to simultaneously control the attitude and ***,a fuzzy control strategy is addressed to determine the command of each actuator by considering the priority of attitude stabilization,trajectory tracking and the flight ***,the on-board controller is designed based on *** not only satisfies the strict restrictions on mass,size,power and space but also meets the autonomous,semi-autonomous and manual flight control ***,the developed control system was integrated to the robotic prototype,*** experiments under different environment conditions such as sunny and windy weather were completed to verify the control method and system.

关键词： Autonomous flight control Flapping-wing Free RTOS HIT-Phoenix Robotic bird

来源：评论

学校读者我要写书评

暂无评论

Robust tracking control design for a flexible air-breathing hypersonic vehicle

引用

Journal of Central South University 2014年第1期21卷 130-139页

作者：张垚鲜斌刁琛赵勃郭建川 Institute of Robotics and Autonomous System Tianjin Key Laboratory of Process Measurement and ControlSchool of Electrical Engineering and AutomationTianjin University

A nonlinear robust controller was presented to improve the tracking control performance of a flexible air-breathing hypersonic vehicle(AHV) which is subjected to system parametric uncertainties and unknown additive time-varying *** longitudinal dynamic model for the flexible AHV was used for the control ***-gain observers were designed to compensate for the system uncertainties and additive *** gain theorem and Lyapunov based stability analysis were utilized to prove the stability of the closed loop *** uniformly ultimately bounded tracking of the vehicle's velocity,altitude and attack angle were achieved under aeroelastic effects,system parametric uncertainties and unknown additive ***/Simulink simulation results were provided to validate the robustness of the proposed control *** simulation results demonstrate that the tracking errors stay in a small region around zero.

关键词： hypersonic vehicles nonlinear robust control flexible mode small gain theorem Lyapunov

来源：评论

学校读者我要写书评

暂无评论

Nonlinear asymptotic attitude tracking control of an underactuated 3-degree-of-freedom helicopter using neural network feedforward term

引用

控制理论与应用（英文版） 2013年第3期11卷 428-435页

作者： Xiang LIU Bin XIAN Jianchuan GUO Bo ZHAO Chen DIAO Institute of Robotics and Autonomous System Tianjin Key Laboratory of Process Measurement and Control and School of Electrical Engineering and Automation Tianjin University

This paper proposes a new asymptotic attitude tracking controller for an underactuated 3-degree-of-freedom （DOF） laboratory helicopter system by using a nonlinear robust feedback and a neural network （NN） feedforward term. The nonlinear robust control law is developed through a modified inner-outer loop approach. The application of the NN-based feedforward is to compensate for the system uncertainties. The proposed control design strategy requires very limited knowledge of the system dynamic model, and achieves good robustness with respect to system parametric uncertainties. A Lyapunov-based stability analysis shows that the proposed algorithms can ensure asymptotic tracking of the helicopter＇s elevation and travel motion, while keeping the stability of the closed-loop system. Real-time experiment results demonstrate that the controller has achieved good tracking performance.

关键词： 3-DOF helicopter Nonlinear Robust control Asymptotic tracking

来源：评论

学校读者我要写书评

暂无评论

SUBPIXEL EDGE LOCALIZATION BASED ON CONVERTED INTENSITY SUMMATION UNDER STABLE EDGE REGION

arXiv

引用

arXiv 2025年

作者： Yang, Yingyuan Liang, Guoyuan Wang, Xianwen Wang, Kaiming Wang, Can Wu, Xiaojun Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China University of Chinese Academy of Sciences Beijing10049 China Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China Guilin University of Technology Guilin541000 China School of Mechanical Engineering and Automation Harbin Institute of Technology at Shenzhen Shenzhen518055 China

To satisfy the rigorous requirements of precise edge detection in critical high-accuracy measurements, this article proposes a series of efficient approaches for localizing subpixel edge. In contrast to the fitting based methods, which consider pixel intensity as a sample value derived from a specific model. We take an innovative perspective by assuming that the intensity at the pixel level can be interpreted as a local integral mapping in the intensity model for subpixel localization. Consequently, we propose a straightforward subpixel edge localization method called Converted Intensity Summation (CIS). To address the limited robustness associated with focusing solely on the localization of individual edge points, a Stable Edge Region (SER) based algorithm is presented to alleviate local interference near edges. Given the observation that the consistency of edge statistics exists in the local region, the algorithm seeks correlated stable regions in the vicinity of edges to facilitate the acquisition of robust parameters and achieve higher precision positioning. In addition, an edge complement method based on extension-adjustment is also introduced to rectify the irregular edges through the efficient migration of SERs. A large number of experiments are conducted on both synthetic and real image datasets which cover common edge patterns as well as various real scenarios such as industrial PCB images, remote sensing and medical images. It is verified that CIS can achieve higher accuracy than the state-of-the-art method, while requiring less execution time. Moreover, by integrating SER into CIS, the proposed algorithm demonstrates excellent performance in further improving the anti-interference capability and positioning accuracy. Copyright © 2025, The Authors. All rights reserved.

关键词： Pixels

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：