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第三十三届中国控制会议

作者： Ling Zhao Xiu You Fuchun Sun Zhixin Liu Hongjiu Yang Hebei Province Key Laboratory of Heveay Machinery Fluid Power Transmission and Control College of Mechanical EngineeringYanshan University Key Laboratory of Advanced Forging & Stamping Technology and Science (Yanshan University) Ministry of Education of China College of Mechanical EngineeringYanshan University Institute of Electrical Engineering Yanshan University Department of Computer Science and Technology Tsinghua University

ISBN: (纸本)9781479947249

This paper studies an attitude synchronization problem for spacecraft formation with switching interaction *** adaptive control architecture which allows for parameter uncertainties and unknown external disturbances is established for the decentralized controllers *** paper also shows that the attitude synchronization under dynamically changing interaction topologies can be achieved asymptotically if the union of the switching communication graphs is jointly connected in a finite time ***,some simulations indicate the capabilities of the proposed results.

关键词： Spacecraft formulation attitude synchronization adaptive control switching topology.

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Phase and CCT Diagram of an N-Containing 8%Cr Roller Steel

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Journal of Harbin Institute of technology(New Series) 2013年第6期20卷 112-117页

作者： Shu-Hua Sun Bo Wang Zhen-Hua Wang Yang Gao Ming-Wei Guo Wan-Tang Fu State Key Laboratory of Metastable Materials Science and Technology Yanshan University College of Sciences Yanshan University Key Laboratory of Advanced Forging & Stamping Technology and Science (Yanshan University) Ministry of Education of China China First Heavy Industries

The pseudo-equilibrium phase diagram and continuous cooling transformation diagram of an N-containing 8％ Cr roller steel were investigated by using thermodynamic calculation,differential scanning calorimetry,Ⅹ-ray diffraction,expansion method,and so *** equilibrium conditions,the main carbonitrides are MX,M7C3,and M23C6 *** measured Ac1,Ac3,start temperature of martensitic transformation,and M7C3 transformation temperatures are 811,855,324,and 1100 ℃,*** appears at cooling rates ranging from 0.5 to 5 ℃/s and ferrite forms at grain boundaries at a cooling rate lower than 0.5 ℃/***,the effects of adding N and lowering the C content on workability and mechanical properties of common 8％Cr steel were discussed.

关键词： high Cr roller steel phase diagram continuous cooling transformation N alloyingCLC number：TG142.45 Document code：AArticle ID：1005-9113（2013）06-0112-06

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Kinematics and Dynamics Analysis of a Quadruped Walking Robot with Parallel Leg Mechanism

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Chinese Journal of Mechanical Engineering 2013年第5期26卷 881-891页

作者： WANG Hongbo SANG Lingfeng HU Xing ZHANG Dianfan YU Hongnian Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education Yanshan University Xi’an University of Architecture and Technology Science and Technology Research Institute Yanshan University School of Design Engineering and ComputingBournemouth University

It is desired to require a walking robot for the elderly and the disabled to have large capacity,high stiffness,stability,***,the existing walking robots cannot achieve these requirements because of the weight-payload ratio and simple ***,Improvement of enhancing capacity and functions of the walking robot is an important research *** to walking requirements and combining modularization and reconfigurable ideas,a quadruped/biped reconfigurable walking robot with parallel leg mechanism is *** proposed robot can be used for both a biped and a quadruped walking *** kinematics and performance analysis of a 3-UPU parallel mechanism which is the basic leg mechanism of a quadruped walking robot are conducted and the structural parameters are *** results show that performance of the walking robot is optimal when the circumradius R,r of the upper and lower platform of leg mechanism are 161.7 mm,57.7 mm,*** on the optimal results,the kinematics and dynamics of the quadruped walking robot in the static walking mode are derived with the application of parallel mechanism and influence coefficient theory,and the optimal coordination distribution of the dynamic load for the quadruped walking robot with over-determinate inputs is analyzed,which solves dynamic load coupling caused by the branches’ constraint of the robot in the walk *** laying a theoretical foundation for development of the prototype,the kinematics and dynamics studies on the quadruped walking robot also boost the theoretical research of the quadruped walking and the practical applications of parallel mechanism.

关键词： walking robot parallel leg mechanism kinematics dynamics over-determinate inputs

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Thesis on combination stock forecasting model with wavelet denoising and optimized arima method

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ICIC Express Letters 2014年第8期8卷 2315-2320页

作者： Shan, Rui Shi, Sutong Liu, Wen Zhao, Jingyi School of Science No. 438 Hebei Ave. Qinhuangdao 066004 China Key Laboratory of Advanced Forging and Stamping Technology and Science Ministry of Education of China No. 438 Hebei Ave. Qinhuangdao 066004 China Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control Yanshan University No. 438 Hebei Ave. Qinhuangdao 066004 China

Stock market prediction is utility important in the economic system. With the rapid development of economy, stock data is becoming increasingly complex. This paper presents a new method using the principles of wavelet transform and wavelet denoising to de-noise the stock data, and then the improved Auto-Regressive Integrated Moving Average (ARIMA) model is used to predict the future trends of stock data. The presented model is compared with some other classical forecasting methods such as ARIMA model method, BP model method and the method proposed by Dai. The results tested with data indicate: this forecasting method introduced in this paper can realize multi-step prediction and the forecasting accuracy is higher than that of stock data which is predicted by the ARIMA model or the other forecasting model. © 2014 ICIC International.

关键词： Conjugate gradient method

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Feeding mathematical modeling of superalloy vacuum-electromagnetic casting and its application

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2012 International Conference on Material Sciences and Manufacturing technology, ICMSMT 2012

作者： Jin, Wenzhong Li, Sufang Zhang, Wei Luoyang Key Laboratory of Advanced Materials Forming Technology Luoyang Institute of Science and Technology Luoyang 471023 China

ISBN: (纸本)9783037855768

The new technology of superalloy vacuum-electromagnetic casting was developed and the feeding mathematical model melt in vacuum-electromagnetic casting was established. The availability of mathematical model was approved by the experiments of the IN100 superalloy. The experimental results indicate that the feeding capacity of melt in vacuum casting can be greatly increased by imposing the 50Hz, 60A rotating electromagnetic stirring, which can decrease the central shrinkage cavity in superalloy ingots, so the quality of the superalloy ingots can be wide-range improved. © (2013) Trans Tech Publications, Switzerland.

关键词： Feeding

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The stability performances improvement through kinematic and dynamic modeling of the hopping robots

The stability performances improvement through kinematic and...

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UKACC International Conference on Control (CONTROL)

作者： Adrian Bruja Luige Vladareanu Gal Ionel Alexandru Hongbo Wang Hongnian Yu Jingjing Liu Institute of Solid Mechanics of Romanian Academy (IMSAR) Bucharest Romania School of Design Engineering and Computing Boumemouth University Poole Dorset UK Parallel Robot and Mechatronic System Laboratory of Hebei Province Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education Yanshan University Qinhuangdao China

The paper presents an innovative design for a wheeled hopping robot. Our main objective was to obtain a stable and efficient robot, which can jump over obstacles and has the ability to reach a certain ledge. The innovative design of our robot has the capability to jump to a certain distance even with a zero initial velocity provided by the wheels movement. Also, we took into consideration the wind speed which can prevent our robot to reach the desired destination, and compensated with an initial velocity on the direction of movement. For testing we designed a simulation which had as inputs different initial conditions to test and present the jumping capability of our robot in different jumping conditions. In the end we provide a jump area which the robot can reach for certain initial conditions, so we can later chose the optimal one for reaching the target position.

关键词： Mobile robots Springs Wheels Trajectory Collision avoidance Shafts

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Control of the IN100 superalloy ingot solidification structure with inear electromagnetic stirring

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2012 International Conference on Material Sciences and Manufacturing technology, ICMSMT 2012

作者： Jin, Wenzhong Li, Sufang Zhang, Wei Luoyang Key Laboratory of Advanced Materials Forming Technology Luoyang Institute of Science and Technology Luoyang 471023 China

ISBN: (纸本)9783037855768

In order to achieve high quality superalloy ingots, an investigation of applying linear electromagnetic stirring to the superalloy vacuum casting solidifying process has been put into effect with electroprobe microanalysis and optical microscope. The results indicate that an one sided, upward linear electromagnetic stirring with 50Hz frequency and 140A current can effectively refine the isometric crystals and shorten the ratio of central shrinkage cavity in superalloy ingots. © (2013) Trans Tech Publications, Switzerland.

关键词： Crystal structure

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Forced responses of field modulated magnetic gear system

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ICIC Express Letters 2014年第7期8卷 2025-2030页

作者： Yuan, Xiaoming Zhang, Lijie Du, Bing Hao, Xiuhong Key Laboratory of Advanced Forging and Stamping Technology and Science Ministry of Education of China Yanshan University No. 438 Hebei Ave. Qinhuangdao 066004 China Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control Yanshan University No. 438 Hebei Ave. Qinhuangdao 066004 China School of Mechanical Engineering Yanshan University No. 438 Hebei Ave. Qinhuangdao 066004 China

Considering the torque ripples on the rotors, the dynamic model and the dynamic differential equations of field modulated magnetic gear (FMMG) system are founded. When the excitation frequency is close to a certain natural frequency of FMMG system, the expressions of the forced responses are deduced and the laws of the resonance responses are discussed. Results show that the amplitude of only a certain degree of freedom is always much bigger than others, because the electromagnetic coupling stiffnesses are weaker than the supporting stiffnesses. Forced responses of FMMG system can provide the theoretical basis for the parameter optimization during designing. © 2014 ISSN 1881-803X.

关键词： Dynamic models

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Mechanism and Inhibition of Grain Coarsening of Al-Mg-Si Alloy in Hot forming

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Journal of Harbin Institute of technology(New Series) 2013年第3期20卷 67-74页

作者： Ying-Ping Guan Zhen-Hua Wang Bin Wu Wei-Xin Wang Wan-Tang Fu Key Laboratory of Advanced Forging & Stamping Technology and Science(Yanshan University) Ministry of Education of China College of Mechanical Engineering and Applied Electronic Technology Beijing University of Technology CITIC Dicastal Wheel Manufacturing Co. Ltd. State Key Laboratory of Metastable Materials Science and Technology Yanshan University

A high-Ti 6061 alloy was rolled with strains up to 0. 8 - 2. 0 and at 350 - 550 ℃ . Microstructures that developed during deformation and subsequent solution heat treatment (SHT) were observed by using optical and transmission electron microscopy. Microstructure evolution during SHT depends mainly on the initial rolling temperature,and it was found that the higher this temperature is,the coarser the grains are. After rolling at 400 ℃ ,well-defined cells and subgrains were formed, which induced further sites for recrystallization nucleation during subsequent SHT. The recrystallization mechanism was found to be subgrain rotation,with a final grain size smaller than 200 μm. Increasing the rolling temperature to 500 ℃ results in a low density of dislocations distributed uniformly in the deformed matrix and fewer nucleation sites during subsequent SHT. The recrystallization mechanism is grain boundary bulging,while the final grain size approaches several millimeters. Finally,a hot forming process of high-Ti 6061 alloy for inhibiting grain coarsening was proposed,and verified by experiments.

关键词： aluminum alloy grain size recrystallization nucleation mechanism

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Design of a new solution for the wheeled hopping robot

Design of a new solution for the wheeled hopping robot

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UKACC International Conference on Control (CONTROL)

作者： Jingjing Liu Hongbo Wang Hongnian Yu Lili Zhang Luige Vladareanu Adrian Bruja Gal I. Alexandru Parallel Robot and Mechatronic System Laboratory of Hebei Province Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education Yanshan University Qinhuangdao China College of Electrical Engineering Yanshan University Qinhuangdao China School of Design Engineering and Computing Bournemouth University Poole UK Robotics and Mechatronic Department Institute of Solid Mechanics Bucharest Romania

In recent years many researchers are trying to combine wheeled movement with legged movement or hopping movement to strengthen the robots adaptability to environment. Hybrid robots are playing a more and more important role in our modern life. However, their controls are mostly complicated. So in this paper we present a new solution for the wheeled hopping robot. Based on the mechanical design, this robot has two movement modes: wheeled and hopping movement mode. While the center of gravity of the mechanism is under the wheels center, the wheeled hopping robot which is like a tumbler can keep its stability even when the wheels' velocity is zero. In this paper, we firstly introduce the description and design of the wheeled hopping robot. Then we explain how to choose the robot parameters and lastly we describe, how the robot through hopping, successfully traverses obstacles and ditches.

关键词： Mobile robots Shafts Wheels Springs Robot kinematics Force

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