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Development of a Landing Leg with Active Buffering and Anchoring Functions Applied to the Small Body Landing Mechanism

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Development of a Landing Leg with Active Buffering and Ancho...

IEEE International Conference on Mechatronics and Automation

作者： Zhijun Zhao Tao Xiao Zixin Tang Xiangyu Gao Xin Liu Wenming Zhang Bin Liu Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing Institute of Spacecraft System Engineering Beijing China

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164175

It is microgravity on the small body, and its medium is unknown and diverse. The lander is easy to rebound or tip over when landing and easy to drift away after landing. Thus, the lander should have the functions such as cushioning, terrain adapting and anchoring. At present, the moon and Mars landers mostly use honeycomb aluminum to achieve passive buffering. Honeycomb aluminum has good buffering effect under heavy load. This paper proposes an electromagnetic damping and anchoring leg for the small body lander. The leg integrates the folding mechanism and the buffering mechanism as a part and can sense the landing force. This force signal is used to realize the buffering function of the landing leg. An ultrasonic drill is attached at the end of the landing leg to realize anchoring after landing. Landing and anchoring performances of the landing leg are tested.

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Brightness-Enhanced Electroluminescence Driven by Triboelectric Nanogenerators Through Permittivity Manipulation and Impedance Matching

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SSRN 2022年

作者： Gu, Mingwei Chen, Yunfeng Gu, Shaoqiang Wang, Can Chen, Liguo Shen, Hao Chen, Guanyu Sun, Xuhui Huang, Haibo Zhou, Yunlei Wen, Zhen Institute of Mechanical and Electric Engineering Jiangsu Provincial Key Laboratory of Advanced Robotics Soochow University Suzhou215123 China Jiangsu Key Laboratory for Carbon-Based Functional Materials and Devices Soochow University Suzhou215123 China College of Chemical Engineering and Technology Hebei University of Technology Tianjin300130 China Key Laboratory of Advanced Technologies of Materials Ministry of Education School of Materials Science and Engineering Southwest Jiaotong University Chengdu610031 China State Key Laboratory of Digital Manufacturing Equipment and Technology Flexible Electronics Research Center Huazhong University of Science and Technology Wuhan430074 China Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China

Triboelectric nanogenerator-driven electroluminescence (TDEL) that can convert human kinetic energy into visible light has attracted extensive attention in wearable electronics. However, the brightness is usually low due to the low electric field strength on the phosphors caused by impedance mismatch. In this work, a TDEL system with optimal brightness has been proposed by adjusting the dielectric constant of nanocomposite and matching impedance with TENG. The circuit model of the TDEL system is established and the voltage at both ends of the EL layer is predicted through simulation, which error is within 4.7%. Finite element simulation is used to simulate the optimal field strength of phosphors under the dual effects of voltage drop and polarization enhancement of EL layer caused by the increase of dielectric constant of nanocomposites in TDEL system. When the volume ratio of ZnS:Cu is 40% and the dielectric constant of the composite increases from 12 to 22.8, the optimal brightness value increases by 172%. Finally, a patterned TDEL system driven by walking or running to realize the functions of night alarm and information exchange is demonstrated. This study opens the window to improve the brightness of TDEL system through permittivity manipulation and impedance matching, which is applicable to different types of TENG, luminescent particles and dielectric nanocomposites. © 2022, The Authors. All rights reserved.

关键词： Nanogenerators

Lift Analysis and Anti-Rolling Control system Design of Magnus Rotating Roll Stabilizer with Full Speed

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SSRN 2023年

作者： Sun, Mingxiao Lian, Houxin Luan, Tiantian Zhang, Xiaoshuang Wu, Baoqi Wang, Hanxu School of Automation Harbin University of Science and Technology No.52 Xuefu Road Nangang District Heilongjiang Province Harbin City150080 China Heilongjiang Provincial Key Laboratory of Complex Intelligent System and Integration Harbin University of Science and Technology No.52 Xuefu Road Nangang District Heilongjiang Province Harbin City150080 China Key Laboratory of Advanced Manufacturing and Intelligent Technology Ministry of Education Harbin University of Science and Technology No.52 Xuefu Road Nangang District Heilongjiang Province Harbin City150080 China Jiangsu Automation Research Institute No. 18 Shenghu Road Haizhou District Jiangsu Province Lianyungang City222000 China

To shorten the deviation between the roll motion model of ships equipped with Magnus rotating roll stabilizer and actual motion, a full-speed lift calculation method is proposed. By combining the micro-element method with the mechanism of the Magnus effect force, the lift law of the rotating stabilizer in different modes could be obtained theoretically. Subsequently, correction factors are fitted for different operating conditions to correct the full-speed lift model through hydrodynamic simulation analysis of the stabilizer. In addition, RBF neural networks are also introduced to address the uncertainty and nonlinearity of ship models under high winds and waves. This network is used to predict nonlinear ship models with uncertainty to optimize the anti-rolling effect of the sliding mode controller. As a result, the corrected lift model can accurately predict the real-time lift changes of the Magnus rotating stabilizer in both rotating and swing-rotating modes. The maximum deviation rate doesn’t exceed 8.5% compared to the simulation. The adaptability of the anti-rolling control system is improved. And the sliding mode control algorithm based on RBF neural network has the outstanding anti-rolling ability under various conditions, with a maximum anti-rolling efficiency of over 98%. © 2023, The Authors. All rights reserved.

关键词： Sliding mode control

Abnormal Data Cleaning for Wind Turbines by Image Segmentation Based on Active Shape Model and Class Uncertainty

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SSRN 2022年

作者： Liang, Guoyuan Su, Yahao Wu, Xinyu Ma, Jiajun Long, Huan Song, Zhe Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Guangdong Province Shenzhen China Guangdong Provincial Key Laboratory of Computer Vision and Virtual Reality Technology Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Guangdong Province Shenzhen China Guangdong-Hong Kong-Macao Joint Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Guangdong Province Shenzhen China School of Electrical Engineering Southeast University Jiang Su Province Nanjing China School of Business Nanjing University Jiang Su Province Nanjing China

Wind power curve describes the relationship between wind speed and output power of wind turbine, which may be contaminated due to various unexpected factors. Following the idea of image segmentation in our previous work, in this paper, we propose a novel image-based abnormal data cleaning algorithm aiming to provide high quality data for wind power curve modeling and relevant applications. For image binarization, a multiscale space is built to determine the optimal scale at which the most stable as well as informative shape representations are extracted. The Active Shape Model is utilized to model the power curve shape and generate a set of segmentation candidates for filtering abnormal data. To measure the cost of each candidate, the Class Uncertainty map based on dual feature images is built. And eventually the optimal segmentation boundary is determined by the optimization in the energy space. A series of comparative experiments conducted over the real-world datasets of 37 wind turbines have validated the superior performance of the proposed algorithm. © 2022, The Authors. All rights reserved.

关键词： Wind power

Study on Buffering and Motion Control of Quadruped Explorer 4

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Study on Buffering and Motion Control of Quadruped Explorer

4th IEEE advanced Information technology, Electronic and Automation Control Conference, IAEAC 2019

作者： Zhang, Pei Gao, Xiangyu Wei, Qingqing Wang, Chu Liu, Xin Beijing Key Laboratory of Intelligent Space Robotic System Technology and Application Beijing China Beijing Institute of Spacecraft System Engineering Beijing100094 China

ISBN: (纸本)9781728119076

To address the problem of insufficient driving capacity of wheel explorer in rugged terrain, a quadruped explorer with 12 DOF was proposed. The dynamic model of quadruped explorer was established in gazebo, the integrated method of buffering and motion control was verified through simulation which showed that the landing impact upon explorer landing leg was significantly reduced and the explorer gait motion was both stable and flexible. © 2019 IEEE.

关键词： Motion control

High-performance III-V/Si3N4 O-band External Cavity Tunable Laser

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High-performance III-V/Si3N4 O-band External Cavity Tunable ...

Conference on Lasers and Electro-Optics (CLEO)

作者： Yuyao Guo Xinhang Li Minhui Jin Chuxin Liu Weihan Xu Liangjun Lu Jingya Xie Jianping Chen Linjie Zhou Department of Electronic Engineering State Key Laboratory of Advanced Optical Communication Systems and Networks Shanghai Jiao Tong University Shanghai China SJTU-Pinghu Institute of Intelligent Optoelectronics Pinghu China Terahertz Technology Innovation Research Institute Terahertz Spectrum and Imaging Technology Cooperative Innovation Center Shanghai Key Lab of Modern Optical System University of Shanghai for Science and Technology Shanghai China

We present a III-V/Si 3 N 4 O-band hybrid laser, which shows a high output power of 42 mW, wide tuning range of 62 nm with side-mode suppression ratio >50 dB, and narrow intrinsic linewidth of ~600 Hz.

ISBN: (数字)9781957171050

ISBN: (纸本)9781665466660

关键词： Power lasers Lasers and electrooptics Hybrid power systems Laser tuning Electrooptical waveguides Power generation

A Multi-objective optimization model for simulation-based acquisition 7

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A Multi-objective optimization model for simulation-based ac...

7th IEEE International Conference on Progress in Informatics and Computing, PIC 2020

作者： Zhang, Xue Xue, Junjie Zhou, Junhua Shi, Guoqiang Yu, Yan Nanjing University of Science and Technology School of Computer Science and Engineering Nanjing China Beijing Simulation Center Beijing Complex Product Advanced Manufacturing Engineering Research Center Beijing China State Key Laboratory of Intelligent Manufacturing System Technology Beijing Institute of Electronic System Engineering Beijing China Science and Technology on Space System Simulation Laboratory Beijing Simulation Center Beijing China

ISBN: (纸本)9781728170862

Large-scale equipment presents the characteristics of technology-intensive, knowledge-intensive and complex, which brings high investment and high risk to equipment acquisition. This paper analyzes the various components of equipment acquisition to fully apply modeling and simulation technology to each stage of it. On the basis of multi-objective optimization theory, the objective function of the lowest risk and lowest cost of simulation-based acquisition (SBA) is proposed. Then establishing a multi-objective optimization model for simulation-based acquisition according to the corresponding constraints. The nondominated sorting genetic algorithm II (NSGA II) and multi-objective particle swarm optimization (MOPSO) algorithms are used to optimize the model, and the majority voting method is used for integration. The comparison of simulation examples proves that the multi-objective optimization model oriented to SBA designed in this paper can effectively realize the optimization of each objective of SBA under cost constraints. And the feasibility and efficiency of optimization solution are guaranteed. © 2020 IEEE.

关键词： Multiobjective optimization

Anomalous Polarization-Switching Phenomena and Noteworthy Pyroelectricity in Ferroelectric Hf0.5zr0.5o2 Polycrystalline Films

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SSRN 2023年

作者： Wang, Xudong Zhou, Yong Xiong, Ke Wu, Shuyu Tu, Luqi Chen, Yan Wu, Shuaiqin Zeng, Jinhua Zheng, Yuqing Gu, Shiqun Luo, Man Lin, Tie Shen, Hong Meng, Xiangjian Liu, Qi Chu, Junhao Wang, Jianlu State Key Laboratory of Infrared Physics Shanghai Institute of Technical Physics Chinese Academy of Sciences Shanghai200083 China Key Laboratory of Microelectronics Device and Integrated Technology Institute of Microelectronics Chinese Academy of Sciences Beijing100029 China Frontier Institute of Chip and System Fudan University Shanghai200433 China Shanghai Frontier Base of Intelligent Optoelectronics and Perception Institute of Optoelectronics Fudan University Shanghai200433 China Hangzhou Institute for Advanced Study University of Chinese Academy of Sciences Chinese Academy of Sciences Hangzhou330106 China BirenTech Shanghai201114 China Jiangsu Key Laboratory of ASIC Design School of Information Science and Technology Nantong University Jiangsu Nantong226019 China

Hafnia-based oxide thin films exhibit unconventional robust ferroelectricity at the nanoscale, paving the way for advancements in next-generation nanoelectronics. However, the stability and dynamics of ferroelectric polarization in hafnia-based oxides films, particularly at the nanoscale, warrant further exploration. In this study, we delve into the factors influencing the formation of the ferroelectric phase. Our findings illuminate that the confinement effect of the capped layer enhances the stabilization of the metastable orthorhombic phase, thereby bolstering its ferroelectricity and endurance. Furthermore, we identify an unprecedented polarization-switching behavior in HfO2-based ferroelectric films, characterized by a decrease in the remanent polarization and an increase in the coercive field as the temperature drops. This peculiar phenomenon can be ascribed to the reduction in the long-range interaction of polarization dipoles upon cooling, as evidenced by the dielectric spectrum. The diminished long-range interaction results in the emergence of nanodomains and a re-entrant relaxer behavior, offering novel insights into the origin of ferroelectricity and the stability of ferroelectric polarization in hafnia-based thin films. Given the commendable compatibility of Hf0.5Zr0.5O2 films with Si substrates and a pyroelectric coefficient of -62.1 μC/m2·K, they emerge as a prime candidate for sensor device applications. © 2023, The Authors. All rights reserved.

关键词： Thin films

An Approach on Visual Detecting Multi-Targets in the Unstructured and Complex Scenes Based on RGB-D Images 5

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An Approach on Visual Detecting Multi-Targets in the Unstruc...

5th International Conference on Automation, Control and robotics Engineering, CACRE 2020

作者： Tan, Qimeng Sun, Yikun Xin, Pengfei Lin, Yimin Ma, Chao Wang, Xinyu Beijing Institute of Spacecraft System Engineering Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing China Beijing Special Engineering Design and Research Institute Propellant Injection Laboratory Beijing China Beijing University of Posts Telecommunications Institute of Optical Communication Optoelectronics Beijing China Beijing Information Science and Technology University School of Instrument Science and Optoelectronic Engineering Beijing China

ISBN: (纸本)9781728198880

The technology of detecting and identifying multitarget is of significance for robotic visual navigation within the unknown, unstructured, complex scenes, whose result could be considered as important references of 3D map building and path planning for mobile robot. Traditional algorithms of target detection can be applied to 2D images without depth information generally, which is disturbed by few factors such as illumination, view and scale easily. Therefore, an approach on visual detecting multi-target of unstructured and complex scenes based on RGBD images is proposed in this article to solve the above problem, which is composed of extracting descriptor of rotation and scale invariance feature, local encoding of targets, random ferns classifier training, Hough map generation, Hough voting theoretical model and local maximum search. Experimental results have shown that the proposed approach reduce the calculation of extracting and matching local feature, improve the accuracy of object recognition and detection in unknown complex environments, be capable of well robust against few disturbing factors i.e. rotation, scale, illumination, occlusion and non-rigid body deformation. © 2020 IEEE.

关键词： Motion planning