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RSC Applied Polymers 2024年第5期2卷 795-804页

作者： Tang, Gangqiang Zhao, Xin Mei, Dong Zhao, Chun Wang, Yanjie Jiangsu Provincial Key Laboratory of Special Robot Technology Hohai University Changzhou campus Changzhou 213022 China

Ionic polymer metal composites (IPMCs) are a versatile class of ionic polymer-based transducers with excellent electromechanical properties and wide application potential in the fields of bionic robots, medical devices and wearable devices as actuators and sensors. In this perspective, we discuss the development of polymer matrices and applications of IPMCs, from actuating to multifunctional sensing. The latest ionic polymer matrixes for IPMCs show the trend toward being printable, programmable and degradable, which will facilitate multi-scenario applications of IPMCs. Regarding the applications, IPMCs have been widely used in various fields as actuators and multi-parameter sensors, and related devices will be further developed in the direction of miniaturization, integration and intelligence. Furthermore, some suggestions are put forward to facilitate the further development and wide application of IPMCs. © 2024 RSC.

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Influence of Contact Characteristics on Pressure Sensing of IPMC Sensors 16th

Influence of Contact Characteristics on Pressure Sensing of ...

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16th International Conference on Intelligent robotics and Applications, ICIRA 2023

作者： Tang, Gangqiang Zhao, Xin Ji, Yujun Zhao, Chun Mei, Dong Wang, Yanjie Jiangsu Provincial Key Laboratory of Special Robot Technology Hohai University Changzhou Campus Changzhou213022 China

ISBN: (纸本)9789819964826

Ionic flexible sensors have shown broad application prospects in wearable devices, special environmental monitoring and intelligent human-computer interaction. As a typical kind of ionic flexible sensor, ionic polymer (IPMC) metal composite can response to stimuli like bending, pressure, humidity and so on. However, the current researches about pressure sensing of IPMC mainly considers that IPMC is in full contact with the object, but how the characteristics of the contact object affect the pressure sensing performance of IPMC have not been revealed. In this paper, we studied the influence of different contact characteristics on the pressure sensing signal of IPMC by designing a series of contact objects with cone, prism and planar structures through 3D printing. Then the pressure sensing process were simulated in multi-physical fields based on Zhu’s model to verify the experimental results. The conclusion may provide a potential for the identification of different contact characteristics using ionic flexible sensors. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Human computer interaction

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Study on Design and Performance of a Bionic Fish Driven by Four IPMC Fins 1

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16th International Conference on Intelligent robotics and Applications, ICIRA 2023

作者： Ji, Yujun Tang, Gangqiang Zhao, Chun Pan, Yifan Zhu, Denglin Wang, Yanjie Jiangsu Provincial Key Laboratory of Special Robot Technology Hohai University Changzhou Campus Changzhou213022 China

ISBN: (数字)9789819964987

ISBN: (纸本)9789819964970

Bionic fish, as a combination of fish swimming mechanism and robot technology, provides a new idea for the development of underwater vehicles, and has important research value and application prospect. According to the structure and swimming mechanism of fish pectoral fin, a bionic pectoral fin which can flexibly bend and swing under low voltage is designed by using IPMC material, which has the advantages of simple structure, no noise and low power consumption. At the same time, the bionic fish adopts symmetrical structure design, and uses the mutual force compensation between four IPMC pectoral fins to swim along a fixed trajectory. Experiments show that the swimming speed of IPMC bionic fish can reach 1 mm/s, and keep uniform linear motion, which has the advantages of high flexibility and strong controllability. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.

关键词： Bionics

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Study of hybrid electric vehicle energy-saving control based on multi-agent

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International Journal of Vehicle Systems Modelling and Testing 2023年第3期16卷 212-228页

作者： Niu, Limin Zhang, Quanquan Zhu, Fentian Lv, Jianmei Yang, Hongyuan School of Mechanical Engineering AnHui Province Key Laboratory of Special Heavy Load Robot Anhui University of Technology Maanshan243032 China

In order to reduce the fuel consumption of hybrid electric vehicles (HEV), a multi-agent energy saving control method is proposed. The engine, motor, battery and other powertrain components subsystem agent model is established, meanwhile, the powertrain coordinated control framework based on multi-agent system is built. A multi-objective optimisation algorithm of power distribution for minimum global energy cost combined with the minimum equivalent fuel consumption (ECMS) is proposed. All agents optimise its operating efficiency to limit the request torque, and the control of HEV powertrain is coordinated by the interaction between different agents about compensation torque information. The hardware in the loop simulation based on D2P (From Development to Production) system of the powertrain multi-agent system is verified. Simulation and bench test results show that the HEV powertrain multi-agent coordinated control algorithm can distribute the power according to different driving cycles adaptively, and the HEV fuel economy is improved effectively. Copyright © 2022 Inderscience Enterprises Ltd.

关键词： Hybrid vehicles

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H_(∞)/Passive Synchronization of Semi-Markov Jump Neural Networks Subject to Hybrid Attacks via an Activation Function Division Approach

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Journal of Systems Science & Complexity 2024年第3期37卷 1023-1036页

作者： ZHANG Ziwei SHEN Hao SU Lei School of Electrical and Information Engineering Anhui University of TechnologyMa'anshan 243002China Anhui Province Key Laboratory of Special Heavy Load Robot and School of Electrical and Information Engineering Anhui University of TechnologyMa'anshan243002China

In this work,an H_(∞)/passive-based secure synchronization control problem is investigated for continuous-time semi-Markov neural networks subject to hybrid attacks,in which hybrid attacks are the combinations of denial-of-service attacks and deception attacks,and they are described by two groups of independent Bernoulli *** this foundation,via the Lyapunov stability theory and linear matrix inequality technology,the H_(∞)/passive-based performance criteria for semi-Markov jump neural networks are ***,an activation function division approach for neural networks is adopted to further reduce the conservatism of the ***,a simulation example is provided to verify the validity and feasibility of the proposed method.

关键词： Activation function division approach deception attacks denial-of-service attacks H_(∞)/passive synchronization semi-Markov jump neural networks

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Effect of Mg-treatment on transformation of oxide inclusions in X80 pipeline steel

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Journal of Iron and Steel Research International 2024年第11期31卷 2802-2814页

作者： Ping Shen Hao Zhang Kang Xu Shuai Liu Jin-xing Jiang Jian-xun Fu Center for Advanced Solidification Technology(CAST) State Key Laboratory of Advanced Special SteelShanghai UniversityShanghai200444China Nanjing Iron and Steel Co. Ltd.Nanjing210000JiangsuChina

In order to investigate the modification behavior and regularity of inclusions in X80 pipeline steel by Mg-treatment, the comparative industrial experiments of Mg-treatment and Ca-treatment in X80 pipeline steel were carried out. Mg and Ca were added to the steel in the form of cored wire after RH (Ruhrstahl-Hereaeus vacuum degassing) process. After adding Ca-containing cored wire, the inclusions were transformed into CaO–Al_(2)O_(3) in the steel. With the progress of smelting, the cleanliness of molten steel became worse, and the equivalent diameter of inclusions was at a higher level. Mg-treatment had a good effect on the modification of inclusions. After Mg-containing cored wire was added to the steel, Al_(2)O_(3) and CaO–Al_(2)O_(3) in the steel were transformed into MgO, MgO·Al_(2)O_(3), and CaO–MgO–Al_(2)O_(3) inclusions, which were basically spherical. The initial precipitated MgO became the core of other inclusions in the steel, which promotes the precipitation of MgO·Al_(2)O_(3). After Mg-treatment, almost no unmodified calcium aluminate inclusions existed in the hot rolled plate, and the cleanliness of the steel was improved. The effect of Ca and Mg on the transformation of inclusions in pipeline steel was studied by thermodynamic calculation, the result of which is consistent with the experimental results.

关键词： Pipeline steel Mg-treatment Ca-treatment Calcium aluminate MgO·Al_(2)O_(3)

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Circular Pose Detection under Monocular Vision based on Line Laser 5

Circular Pose Detection under Monocular Vision based on Line...

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5th International Symposium on robotics and Intelligent Manufacturing technology, ISRIMT 2023

作者： Tao, Xu Tan, Zhiying School of Mechanical and Electrical Engineering Hohai University Changzhou213200 China Jiangsu Key Laboratory of Special Robot Technology Changzhou213200 China

ISBN: (纸本)9798350316087

Solving spatial circle poses in monocular field of view will have ambiguity, that is, two sets of poses containing ambiguous solutions. Aiming at the ambiguity of circle pose, this paper uses the property of the linear direction vector of the line laser stripe and the correct circle normal vector perpendicular to each other, first solves the two sets of poses of the space circle containing ambiguous solutions in the camera coordinate system, and then uses the Steger algorithm to extract the center line of the light stripe, combines the calibrated light plane equation to obtain the three-dimensional point cloud of the straight line under the camera coordinate system, and then uses the singular value decomposition to calculate the linear normal vector, and finally judges the disambiguation solution according to the angle between the linear direction vector and the two sets of normal vectors of the circle. Get the correct round position. © 2023 IEEE.

关键词： Cameras

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Effect of removing Al and Ti elements on peak flow stress of nickel-based heat-resistant alloy 617

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Journal of Iron and Steel Research International 2023年第2期30卷 384-391页

作者： Chen Dong Zheng-zong Chen Zheng-dong Liu Han-sheng Bao Zhen Liu Zheng-jun Wang Faculty of Mechanical and Material Engineering Huaiyin Institute of TechnologyHuaian223003JiangsuChina Jiangsu Key Laboratory of Advanced Manufacturing Technology Huaiyin Institute of TechnologyHuaian223003JiangsuChina Institute for Special Steels Central Iron and Steel Research Institute Co.Ltd.Beijing100081China

The hot deformation behavior and the microstructure characteristics of alloy 617 and alloy C-HRA-2 were compared and *** removal of Al and Ti elements has a significant change in the hot deformation of the alloy,and there are two opposite effects on the flow stress before and after *** results show that the removal of Al and Ti elements increases the flow stress of the alloy under high temperature or low strain rate deformation *** is mainly due to the increase in the stacking fault energy of the alloy so that the alloy contains a higher twin boundary fraction after dynamic recrystallization(DRX).However,before DRX occurs,that is,at low temperature and high strain rate,the flow stress of this alloy is relatively *** is due to the reduction in Peierls-Nabarro stress,making the alloy more prone to dislocation slip.

关键词： Peak flow stress Nickel-based heat-resistant alloy Slip band Stacking fault energy

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Improved Double Deep Q Network Algorithm Based on Average Q-Value Estimation and Reward Redistribution for robot Path Planning

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Computers, Materials & Continua 2024年第11期81卷 2769-2790页

作者： Yameng Yin Lieping Zhang Xiaoxu Shi Yilin Wang Jiansheng Peng Jianchu Zou Key Laboratory of Advanced Manufacturing and Automation Technology Guilin University of TechnologyEducation Department of Guangxi Zhuang Autonomous RegionGuilin541006China Guangxi Key Laboratory of Special Engineering Equipment and Control Guilin University of Aerospace TechnologyGuilin541004China Guilin Mingfu Robot Technology Company Limited Guilin541199China Key Laboratory of AI and Information Processing Education Department of Guangxi Zhuang Autonomous RegionHechi UniversityYizhou546300China

By integrating deep neural networks with reinforcement learning,the Double Deep Q Network(DDQN)algorithm overcomes the limitations of Q-learning in handling continuous spaces and is widely applied in the path planning of mobile ***,the traditional DDQN algorithm suffers from sparse rewards and inefficient utilization of high-quality *** those problems,an improved DDQN algorithm based on average Q-value estimation and reward redistribution was ***,to enhance the precision of the target Q-value,the average of multiple previously learned Q-values from the target Q network is used to replace the single Q-value from the current target Q ***,a reward redistribution mechanism is designed to overcome the sparse reward problem by adjusting the final reward of each action using the round reward from trajectory ***,a reward-prioritized experience selection method is introduced,which ranks experience samples according to reward values to ensure frequent utilization of high-quality ***,simulation experiments are conducted to verify the effectiveness of the proposed algorithm in fixed-position scenario and random *** experimental results show that compared to the traditional DDQN algorithm,the proposed algorithm achieves shorter average running time,higher average return and fewer average *** performance of the proposed algorithm is improved by 11.43%in the fixed scenario and 8.33%in random *** not only plans economic and safe paths but also significantly improves efficiency and generalization in path planning,making it suitable for widespread application in autonomous navigation and industrial automation.

关键词： Double Deep Q Network path planning average Q-value estimation reward redistribution mechanism reward-prioritized experience selection method

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Measuring scalar illuminance: simulations, error analysis, and the way to improve its accuracy

Measuring scalar illuminance: simulations, error analysis, a...

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International Conference on Display technology, ICDT 2022

作者： Xia, Ling Zhang, Tingting Liu, Xiaofeng Jiangsu Key Laboratory of Special Robot Technology College of IoT Engineering Hohai University Changzhou China

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