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3D laser scanning strategy based on cascaded deep neural network

Defence technology（防务技术） 2022年第9期18卷 1727-1739页

作者： Xiao-bin Xu Ming-hui Zhao Jian Yang Yi-yang Xiong Feng-lin Pang Zhi-ying Tan Min-zhou Luo College of Mechanical&Electrical Engineering Hohai UniversityChangzhou213022China Jiangsu Key Laboratory of Special Robot Technology Hohai UniversityChangzhou213022China College of Mechanical Engineering Yangzhou UniversityYangzhou225127China

A 3D laser scanning strategy based on cascaded deep neural network is proposed for the scanning system converted from 2D Lidar with a pitching motion device. The strategy is aimed at moving target detection and monitoring. Combining the device characteristics, the strategy first proposes a cascaded deep neural network, which inputs 2D point cloud, color image and pitching angle. The outputs are target distance and speed classification. And the cross-entropy loss function of network is modified by using focal loss and uniform distribution to improve the recognition accuracy. Then a pitching range and speed model are proposed to determine pitching motion parameters. Finally, the adaptive scanning is realized by integral separate speed PID. The experimental results show that the accuracies of the improved network target detection box, distance and speed classification are 90.17%, 96.87% and 96.97%, respectively. The average speed error of the improved PID is 0.4239°/s, and the average strategy execution time is 0.1521 *** range and speed model can effectively reduce the collection of useless information and the deformation of the target point cloud. Conclusively, the experimental of overall scanning strategy show that it can improve target point cloud integrity and density while ensuring the capture of target.

关键词： Scanning strategy Cascaded deep neural network Improved cross entropy loss function Pitching range and speed model Integral separate speed PID

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Shape recovery from fusion of polarization binocular vision and shading

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APPLIED OPTICS 2023年第23期62卷 6194-6204页

作者： Tan, Zhiying Kong, Weifeng Ji, Yan Tao, Xu Zhao, Jinying Wang, Meiling Xu, Xiaobin Hohai Univ Coll Mech & Elect Engn Changzhou 213022 Peoples R China Hohai Univ Jiangsu Key Lab Special Robot Technol Changzhou 213022 Peoples R China Chinese Acad Sci Hefei Inst Phys Sci Hefei 230031 Peoples R China

The shape from polarization can recover the fine texture of the target surface. However, the gradient field for shape recovery by polarization is ambiguous, which is caused by the multi-value of the azimuth angle. In response to the problem, a method of correcting the ambiguity by the fusion of polarization binocular vision and shading information is proposed in this paper. An iterative optimization algorithm is designed to estimate the direction of the light source, which provides the basis for the shading method to calculate the depth map. Additionally. the low-frequency depth map generated by binocular matching is used to correct the polarization gradient field. The polarization gradient field of the holes and small zenith angle regions in the binocular are corrected by the improved shading method. In the experiment, four different material target objects were used for shape recovery and compared with other methods. The results of the fusion method proposed are better in terms of fine texture. At the camera working distance of 700 mm, the resolving power performs well and demonstrates that changes in the depth of at least 0.1 mm can be distinguished from that recovery result. (c) 2023 Optica Publishing Group

关键词： Binocular vision Image quality Imaging systems Imaging techniques Multispectral imaging Optical imaging

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Inflatable Particle-Jammed robotic Gripper Based on Integration of Positive Pressure and Partial Filling

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SOFT robotICS 2022年第2期9卷 309-323页

作者： Wang, Yanjie Yang, Zhiwei Zhou, Han Zhao, Chun Barimah, Benjamin Li, Bo Xiang, Chaoqun Li, Lijie Gou, Xiaofan Luo, Minzhou Hohai Univ Jiangsu Prov Key Lab Special Robot Technol Changzhou Campus Changzhou 213022 Jiangsu Peoples R China Swansea Univ Coll Engn Multidisciplinary Nanotechnol Ctr Swansea W Glam Wales Xi An Jiao Tong Univ Sch Mech Engn Shaanxi Key Lab Intelligent Robots Xian 710049 Peoples R China Univ Bristol Bristol Robot Lab Bristol Avon England

In this work, we proposed an inflatable particle-jamming gripper based on a novel grasping strategy of integrating the positive pressure and partial filling, in which the positive pressure increases the contact area between the gripper and objects, and the grain package in a partial-filled state provides significant grasping adaptation for the gripper. First, we design and fabricate the inflatable particle-jamming gripper and clarify its working mechanism. Then three kinds of grippers, including the proposed inflatable gripper, full-filled gripper, and partial-filled gripper, are experimentally compared for the capability of grasping objects of various sizes, and their performances from four metrics (compliance, reliability, grasping robustness, and lifting efficiency) are evaluated as well. Furthermore, a theoretical analysis is carried out for different grasping performances among the three kinds of grippers, in which the inflatable gripper performs a more promising grasping performance. In this article, by inflating the gripper to an ordered extent with positive pressure, the originally full-filled gripper turns into a partial-filled state. Based on the unique grasping strategy of the proposed gripper, it is possible to achieve a brilliant compliance and robust grasps. Even though the object is located 20 mm away from the gripper-center-axis, valid grasps are observed as well. It is concluded that the proposed gripper could potentially have a wide range of applications in the industry and daily activities.

关键词： soft robotics jamming gripper grasping strategy partially-filled scheme

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Performance Optimization of Ionic Polymer Sensors through Characteristic Regulation of Chemically Prepared Interfacial Electrodes

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ACS APPLIED MATERIALS & INTERFACES 2023年第1期16卷 1837-1845页

作者： Tang, Gangqiang Zhao, Xin Ji, Yujun Mei, Dong Zhao, Chun Tang, Zirong Ru, Jie Li, Lijie Wang, Yanjie Hohai Univ Jiangsu Prov Key Lab Special Robot Technol Changzhou 213022 Peoples R China Huaibei Normal Univ Sch Chem & Mat Sci Key Lab Green & Precise Synthet Chem & Applicat Minist Educ Huaibei 235000 Peoples R China Swansea Univ Coll Engn Swansea SA1 8EN Wales

Ionic polymer sensors (IPSs) have broad application prospects in health monitoring, environmental perception, and human-computer interaction. The performance of IPSs with chemically prepared electrodes is generally superior to that with physically prepared electrodes due to the area difference of the electric double layer (EDL), but the effects of the electrode characteristics prepared by chemical methods on the performance of IPSs have not been revealed. Therefore, in this paper, we studied the impact of the characteristics of chemically prepared electrodes on the performance of IPSs and realized the performance optimization of IPSs through electrode characteristic regulation. By controlling the matrix surface roughening, immersion reduction plating (IRP) cycles, and electroplating (EP) time, the sensing performances of IPS samples with different electrode interface roughnesses, electrode penetration depths, and surface resistances were investigated, respectively. The experimental results indicated that the response voltage of the IPS can be improved by increasing the electrode interface roughness and the electrode penetration depth and reducing the surface resistance. In addition, we have proven that the sensing performance of the IPS is determined by its intrinsic capacitance characteristics. Through coupling electrode characteristic regulations such as roughening and increasing IRP cycles and EP time, a high-performance IPS was obtained, and its response amplitude was improved by 237.8%. The obtained high-performance sensor has been applied in human motion detection, which has good potential to develop wearable devices with high stability for physiological activity monitoring.

关键词： ionic polymer sensors electrode characteristics sensing performance chemical methods motiondetection

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Complex modal optimization of the disk brake based on thermal-structural coupling

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MECHANICS BASED DESIGN OF STRUCTURES AND MACHINES 2024年第12期52卷 10422-10438页

作者： Yang, Meisheng Jiang, Wen Bao, Jiahan Zhang, Changwei Anhui Univ Technol Anhui Prov Key Lab Special Heavy Load Robot Maanshan Peoples R China Chongqing Jiaotong Univ Minist Educ Key Lab Hydraul & Waterway Engn Chongqing Peoples R China Changzhou Univ Jiangsu Key Lab Green Proc Equipment Changzhou Peoples R China Anhui Univ Technol Sch Mech Engn Maanshan Peoples R China Anhui Univ Technol Engn Technol Res Ctr Hydraul Vibrat Technol Maanshan Peoples R China

The brake disk and friction material parameters were taken as design variables, with the negative damping ratio of the unstable mode as the optimization target. The central composite design method was employed to obtain suitable data sample points. A neural network response surface model was constructed to predict the real part values of the unstable mode. Structural optimization design was then conducted using a screening method to derive optimized parameters for the brake disk structure and physical parameters such as density, elastic modulus, and Poisson's ratio of the friction material. The optimized coefficient of the negative damping ratio of the brake system's unstable mode was enhanced, thereby reducing the likelihood of brake squeal. Harmonic response analysis showed a significant optimization effect on the curve of brake disk amplitude fluctuations with frequency. These findings offer valuable insights for improving the stability of disk brake systems.

关键词： Disc brake optimization complex eigenvalue method negative damping ratio coefficient harmonic

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Stimuli-responsive actuators in water environment:a review and future research agenda

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International Journal of Extreme Manufacturing 2025年第2期7卷 459-508页

作者： Xin Zhao Gangqiang Tang Dong Mei Chun Zhao Lijie Li Yanjie Wang Jiangsu Provincial Key Laboratory of Special Robot Technology Hohai UniversityChangzhou CampusChangzhou 213200People’s Republic of China College of Engineering Swansea UniversitySwansea SA18ENUnited Kingdom

Flexible underwater vehicles with high maneuverability,high efficiency,high speed,and low disturbance have shown great application potential and research significance in underwater engineering,ocean exploration,scientific investigation and other *** research and development of flexible stimulus-responsive actuators is key to the development of high-performance underwater *** present,the main drive methods for underwater devices include electric drive,magnetic drive,light drive,thermal drive,and chemical *** this work,the research progress of stimuli-responsive actuators in water environment is reviewed from the stimuli-responsive patterns,functional design,fabrication methods,and applications in water ***,the actuation principles and characteristics of electro-responsive,magnetic-responsive,photo-responsive,thermo-responsive actuators,and chemically responsive actuators are ***,several design requirements for the desired flexible actuators are *** that,the common fabrication methods are *** typical application of the stimuli-responsive actuator in the water environment is further discussed in combination with the multi-stimuli-responsive ***,the challenges faced by the application of stimuli-responsive actuators in the water environment are analyzed,and the corresponding viewpoints are *** review offers guidance for designing and preparing stimulus-responsive actuators and outlines directions for further development in fields such as ocean energy exploration and surface reconnaissance.

关键词： underwater vehicles stimuli-responsive actuators functional design fabrication methods water environment application

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Tumro: A Tunable Multimodal Wheeled Jumping robot Based on the Bionic Mechanism of Jumping Beetles

ADVANCED INTELLIGENT SYSTEMS

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ADVANCED INTELLIGENT SYSTEMS 2024年第9期6卷

作者： Pan, Yifan Tang, Gangqiang Liu, Shilong Mei, Dong He, Lei Zhu, Sisi Wang, Yanjie Hohai Univ Jiangsu Prov Key Lab Special Robot Technol Changzhou Campus Changzhou 213200 Peoples R China China Yangtze Power Co Ltd CYPC Hydropower Maintenance Technol Res Inst Yichang 443000 Peoples R China Swansea Univ Coll Engn Swansea SA1 8EN Wales

The implementation of multimodal motion ensures the stable operation in complex terrain environments, thus providing an effective guarantee for system performance. The crawling-jumping robot has the ability to navigate in various road conditions utilizing different modes of movement. However, the mobility of the current multimodal jumping robots remains somewhat constrained by their jumping capability and the recovery time after each jump. Drawing inspiration from the energy-storage jumping mechanism of jumping beetles, a tuneable multimodal jumping robot (Tumro) capable of executing multimodal movements including wheeled locomotion and ground-based jumping, which can achieve a jump height of up to 3 m and swiftly recover its wheeled crawling state without requiring posture correction post-jump, is presented. Through a specific structural design, the robot can storage energy and switch motions to jump in the desired direction based on the preset angle according to actual demand. The jumping process is thoroughly analyzed, and the kinematics and dynamics models are derived in meticulous detail. In addition, the performance of the robot is comprehensively assessed from aspects of wheel action versus vertical jump capability, power consumption, and endurance across various motion modes. The simulation scene experiment demonstrates the robot's exceptional jumping capability and efficient wheeled mobility. The proposed adjustable multimodal jumping robot (Tumro) draws inspiration from the energy-storage jumping mechanism of the jumping beetle. It is capable of executing various modes of movement, including wheel motion and ground jumping. With a maximum jumping height of 3.0 m, Tumro can swiftly regain its wheeled crawling state without requiring post-jump posture *** (c) 2024 WILEY-VCH GmbH

关键词： bio-inspired designs energy storages jumping robots milli-robotics multimodes

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Parametric Optimization of a Permanent Magnet Driver for Implantable Intramedullary Nail 23rd

Parametric Optimization of a Permanent Magnet Driver for Imp...

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23rd IFToMM China International Conference on Mechanism and Machine Science and Engineering, IFToMM CCMMS 2022

作者： Lee, ShiKeat Nie, Zhenguo Xu, Handing Hu, Kai Lin, Hanwei Liu, Xin-Jun The State Key Laboratory of Tribology Department of Mechanical Engineering Tsinghua University Beijing100084 China Beijing Key Lab of Precision/Ultra-precision Manufacturing Equipments and Control Tsinghua University Beijing100084 China Jiangsu Key Lab of Special Robot Technology Hohai University Jiangshu Changzhou213022 China

ISBN: (纸本)9789811993978

An intramedullary lengthening nail avoids complications frequently found in the external fixator and shows remarkable clinical results. The magnetic drive is the mainstream actuation method for intramedullary lengthening nails which shows good results, but clinicians claim insufficient distraction torque of the intramedullary lengthening nail will occur occasionally. In this paper, we investigate the optimal parameters for magnetic drive intramedullary lengthening nail based on parametric modeling to ensure the rotor magnet is rotated synchronously and the distraction torque is sufficient for bone lengthening. The driver-rotor magnet model is established, and parametric optimization of the angular position of the driver magnet local coordinate system, the angular velocity of the driver magnet, the number of driver magnets, and the number of pole pairs of the driver magnet to determine optimal values. Optimal parameters are selected and verified by experiments. The results show that a pair of single-pole pairs of the driver magnet rotating with an angular speed of 50 rpm can meet the minimal distraction torque of 1.5 N mm, which is around 5.6 N mm. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Permanent magnets

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Optimization of the suspension system and analysis of the ride performance of the crawler-type coal mine search and rescue robot

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JOURNAL OF THE BRAZILIAN SOCIETY OF MECHANICAL SCIENCES AND ENGINEERING 2022年第5期44卷 1-14页

作者： Li, Yutan Wang, Chengjun Zhang, Chuanjin Jiangsu Vocat Inst Architectural Technol Sch Intelligent Mfg Xuzhou 221116 Jiangsu Peoples R China Anhui Univ Sci & Technol Anhui Key Lab Mine Intelligent Equipment & Techno Huainan 232001 Peoples R China Special Robot Engn Res Ctr Jiangsu Xuzhou 221116 Jiangsu Peoples R China

To improve the ride performance of the crawler-type coal mine search and rescue robot, this paper analyzes the commonly used crawler passive suspension system and optimizes the parameters of the selected suspension system, while further proposing an analytical method for robot ride performance considering the effect of the track. First, the equivalent dynamic model of a single suspension unit in the suspension system was established, and the equivalent stiffness and equivalent damping were analyzed. Next, a dynamic model of a 1/2 robot chassis with 7 degrees of freedom was established, and a MATlab/Simulink-based solution program was written using the fourth-order Runge-Kutta method to solve the optimal suspension system parameters. Finally, a crawler-type robot ride performance analysis method, including the tracked impact, was proposed. The crawler-type robot using the selected and optimized suspension system was simulated and tested for typical terrain. The simulation results were consistent with the test results. Therefore, the suspension system optimization and ride performance analysis methods proposed in this paper are of great significance to improve the ride performance of the crawler-type coal mine search and rescue robot.

关键词： Rubber crawler robot Suspension system Ride performance analysis Vibration model Track filter model

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Growth simulation based on diffusion-limited aggregation method for dendritic interfacial electrodes inside IPMC

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SMART MATERIALS AND STRUCTURES 2023年第9期32卷 09LT01-09LT01页

作者： Zhao, Chun Yan, Yuting Tang, Gangqiang Zhao, Xin Mei, Dong Wang, Yanjie Hohai Univ Jiangsu Prov Key Lab Special Robot Technol Changzhou Campus Changzhou 213022 Peoples R China

Ionic polymer metal composites (IPMCs) with dendritic interfacial electrodes (DIEs) have attracted attention in recent years due to their excellent actuation performance. Although considerable efforts have been made to develop aggregation models of metal particles for the electrode formation of IPMC, there are few reports to simulate the growth of DIEs inside IPMC. In this work, we proposed an electrode model based on diffusion-limited aggregation method to simulate the growth process of DIEs inside IPMC by referring their preparation parameters and morphology characteristics. Meanwhile, the effects of immersion reduction (IR) cycles, immersion electroplating (IEP) time, IEP cycles, current intensity and voltage amplitude on the morphology and microstructure of DIEs were studied. It was found that the depth and the density of DIEs inside IPMC gradually increased with the increase of IR cycles, IEP time and IEP cycles. However, the growth depth of DIEs decreased significantly with the increase of current intensity. In addition, the voltage amplitude has little effect on the DIEs. This model is of great significance to the study of the formation mechanism of IPMC with DIEs.

关键词： IPMC dendritic interface electrodes (DIEs) diffusion-limited aggregation (DLA) growth simulation

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