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Research Progress on Pole-Climbing Robots: A Review

Recent Patents on Engineering 2024年第8期18卷 32-59页

作者： Tang, Dedong Yu, Wenzhuo Lv, Xin Wang, Gang Shen, Wenshuo School of Mechanical and Power Engineering Key Laboratory of Advanced Manufacturing and Intelligent Technology Ministry of Education Harbin University of Science and Technology Harbin150080 China

Background: Pole-climbing robots are a type of application robot commonly used for quality inspection, cleaning, and maintenance of utility poles, high voltage lines, bridge cables, transmission pipelines, and other important facilities with a certain height. The working conditions are often harsh and dangerous, making manual participation unsafe. The pole-climbing robot can provide a platform for maintenance and cleaning work. Remote control operation of the pole-climbing robot is achieved through communication and control technology. It has been created to improve efficiency and reduce personnel accidents greatly. At the same time, the continuous development of science and technology has led to the expansion of robot design concepts. It has also brought about great changes and growth in the development of pole-climbing robots. Objective: The purpose of this paper is to report the latest progress in the research of pole-climbing robots from bionic and non-bionic perspectives and to provide a research reference for researchers in this field. Method: By analyzing academic theses and published patents, this paper presents a new classification of pole-climbing robots from the perspective of bionic and non-bionic. By summarizing the literature, the structural characteristics of various pole-climbing robots and their differences and applications are summarized. Results: The performance of the pole-climbing robots is analyzed from the viewpoint of structural characteristics and action execution methods. In turn, the characteristics of various types of pole-climbing robots are summarized. Finally, based on the above discussion, the future problems and development directions of pole-climbing robots are predicted. Conclusion: The pole-climbing robots can be divided into two categories, bionic and non-bionic, based on the analysis of design features. Both bionic and non-bionic pole-climbing robots have good development and applications in their respective directions. Also, bi

关键词： Poles

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Atomistic study of inverse size effect induced by interfacial plasticity in pearlitic multi-principal element alloy

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Rare Metals 2024年第7期43卷 3341-3355页

作者： Chen Yang Qiao-Sheng Xia Cun-Hong Yin Dong-Peng Hua College of Mechanical Engineering Guizhou UniversityGuiyang 550025China Key Laboratory of Advanced Manufacturing Technology Ministry of EducationGuizhou UniversityGuiyang 550025China State Key Laboratory of Solidification Processing Center of Advanced Lubrication and Seal MaterialsNorthwestern Polytechnical UniversityXi'an 710072China

Owing to the fine nano-laminated structure,the pearlitic multi-principal element alloy(PMPEA) exhibits excellent mechanical and tribological ***,the incomplete understanding of the size effect of its lamella thickness and the unclear understanding of the plasticity-interface interaction mechanism limit further optimization of *** this study,the FeCoNi/Ni_3Ti interface-mediated plastic deformation behavior in PMPEA and the variation of mechanical and tribological properties with lamella thickness within the nanoscale range using molecular dynamics(MD) simulation were *** results indicate that the mechanical and tribological properties of the PMPEA with lamella thicknesses below 10 nm have a significant inverse size effect,i.e.,the smaller the lamella thickness,the weaker the *** is because the plastic carrier-interface interaction mechanism changes from a strengthening mechanism that hinders dislocations to a weakening mechanism that promotes dislocations with the decreases in the lamella thickness,and the weakening effect becomes more pronounced as the lamella thickness decreases and the number of interfaces *** particular,the deformation behavior of Ni_3Ti lamellae changes from crystal-like to amorphous-like with decreasing ***,in the sample with larger lamella thickness,the occurrence of hierarchical slips in the body-centered cubic(BCC) phase due to the multiprincipal elements effect can better alleviate the stress concentration caused by the dislocation accumulation at the interface,so that the phase interface exhibits outstanding load-bearing *** the dislocation pattern in BCC phase shows a firm high-density cell,which makes the substrate exhibit a stable tribological response.

关键词： Multi-principal element alloy Nano-laminated structure Molecular dynamics simulation Nanoindentation and nanoscratch

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Review on Research Progress of Flexible Soft Manipulator

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Recent Patents on Engineering 2023年第3期17卷 1-11页

作者： Tang, Liqiang Xie, Baocheng Key Laboratory of Advanced Manufacturing and Intelligent Technology Ministry of Education Harbin University of Science and Technology Harbin150080 China

Background: Manipulator is widely used in the manufacturing industry because it can imitate some movements of human hands, and replace human hands to complete some high-risk and heavy labor or carry out man-machine cooperation. Flexible soft manipulator made of flexible materials is a new field of the manipulator. Investigation of the material and driving mode of the flexible soft manipulator is helpful to improve the flexibility and force position control when grasping ob-jects. Therefore, researchers pay more and more attention to the development trend of the flexible soft manipulator. Objective: In order to optimize the driving mode and materials of a flexible soft manipulator, pneu-matic-driven flexible soft manipulator and variable stiffness flexible soft manipulator are developed. Methods: This paper summarizes the selection, classification and introduction of patents related to pneumatic drive and variable stiffness in the flexible soft manipulator. Results: Through the investigation of various patents on flexible soft manipulators, the main existing problems in flexible soft manipulators, such as small grasping range and insufficient driving force, are summarized and analyzed. In addition, the development trend of flexible soft manipulators is also discussed. Conclusion: The optimization of the driving mode and materials of the manipulator is beneficial to improve the driving force and grasping force. More related patents will be invented in the future. © 2023 Bentham Science Publishers.

关键词： Position control

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Substituent Modulated Electronic Properties of Cu(Ⅰ)Active Site in Metal-Organic Halides for Boosting Hydrogen Evolution Reaction

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Chinese Journal of Chemistry 2024年第22期42卷 2845-2852页

作者： Jing Wu Pingping Wang Yuzhe Fu Yi Shen Bin Wang Feng Hu Mengkai Zuo Wei Huang Dayu Wu Jiangsu Key Laboratory of Advanced Catalytic Materials and Technology Advanced Catalysis&Green Manufacturing Collaborative Innovation CenterSchoolof Petrochemical EngineeringChangzhou UniversityChangzhouJiangsu 213164China

Development of heterogeneous molecular photocatalysts for promising light-driven hydrogen evolution reaction(HER)is highly demanding but still ***,we report the blue-greenish emitting dinuclear metal–organic halides as photocatalyst by incorporating site-specific single copper(Ⅰ)atoms that exhibit an efficient carbon-negative H_(2) ***,the electronic properties,including the spin and charge density of central Cu(Ⅰ)active site,can be triggered by substituent modulation in metal–organic halides,which greatly affect the exciton dissociation kinetics and thus the HER *** optimized spin density in these heterogeneous photocatalysts drastically boosts the hydrogen production rate from 1250 to 3130μmol·g^(–1)·h^(–1).Our molecular strategy provides a platform that rationally facilitates electronic modulation of copper(Ⅰ)atoms,tunes the macroscopic optoelectronic properties of photocatalysts and boosts carbon-negative HER activity,extending the boundaries of conventional molecular-based photocatalysts.

关键词： Metal-organic halides Photocatalysis Hydrogen evolution Microenvironment modulation Hybrid copper(Ⅰ)halids Ligand effects Substituent effects Spin density

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Hybrid 3D printed three-axis force sensor aided by machine learning decoupling

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International Journal of Smart and Nano Materials 2024年第2期15卷 261-278页

作者： Guotao Liu Peishi Yu Yin Tao Tao Liu Hezun Liu Junhua Zhao Jiangnan Key Laboratory of Advanced Food Manufacturing Equipment and Technology School of Mechanical EngineeringJiangnan UniversityWuxiPR China Jiangsu Province Engineering Research Center of Micro-Nano Additive and Subtractive Manufacturing Institute of Advanced TechnologyJiangnan UniversityWuxiPR China

Identification of magnitude and orientation for spatially applied loading is highly desired in the fields of not only the machinery components but also human-machine *** the fact that the 3-axis force sensor with different structures has been proposed to measure the spatial force,there are still some common limitations including the multi-step manufacturing-assembly processes and complicated testing of decoupling ***,we propose a rapid fabrication strategy with low-cost to achieve high-precision 3-axis force *** sensor is designed to compose of structural Maltese cross base and sensing *** is directly fabricated within one step by a hybrid 3D printing technology combining deposition modeling(FDM)with direct-ink-writing(DIW).In particular,a machine learning(ML)model is used to convert the strain signal to the force *** of a mount of calibration tests,this ML model is trained by sufficient simulation data based on programmed batch finite element *** sensor is capable of continuously identifying a spatial force with varying magnitude and orientation,which successfully quantify the applied force of traditional Chinese medicine physiotherapy including Gua Sha and *** work provides insight for design and rapid fabrication of multi-axis force sensors,as well as potential applications.

关键词： Hybrid 3D printing 3-axis force sensor machine learning nonlinear decoupling

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Summary of Research Progress on Friction Stir Welding of Dissimilar Metals

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Recent Patents on Engineering 2023年第1期17卷 12-24页

作者： Zhang, Tingliang Gao, Huaqiang Xie, Baocheng Key Laboratory of Advanced Manufacturing and Intelligent Technology Ministry of Education Harbin University of Science and Technology Harbin150080 China

Background: Friction stir welding technology is widely applied in the welding of dissimilar metal materials because of its high welding efficiency, low welding process cost, high welding joint strength and reliability, and green environmental protection. The research on the processing methods and working principle of friction stir welding of dissimilar metals is beneficial to improve the mechanical properties of the joint and reduce weld defects. Therefore, the development of reliable friction stir welding technologies for dissimilar metals joining has been paid increasing attention in recent years. Objective: The study aims to satisfy the processing of various dissimilar metals and improve the joint performance and weld defects. Friction stir welding has developed into bobbin tool friction stir welding and stationary shoulder friction stir welding. Methods: This paper retraces various current representative patents relative to friction stir welding, bobbin tool friction stir welding, and stationary shoulder friction stir welding. Results: Through the investigation of a large number of patents on friction stir welding, the main current existing problems, such as poor mechanical properties of the joints and defects in the welds, are summarized and analyzed. In addition, the development trend of friction stir welding in dissimilar metal welding is also discussed. Conclusion: The research on friction stir welding methods and devices is beneficial to improve the mechanical properties of welded joints and reduce weld defects. More correlative patents will be invented in the future. © 2023 Bentham Science Publishers.

关键词： Friction stir welding

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Combustion characteristics of millimeter-sized aluminum particles in fluidized bed under various O_(2)/CO_(2)/H_(2)O atmospheres Author links open overlay panel

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Particuology 2024年第8期91卷 315-322页

作者： Jialing Zhou Rui Zhang Dong Liu Key Laboratory of Thermal Control of Electronic Equipment Ministry of Industry and Information TechnologyNanjing210094China Advanced Combustion Laboratory School of Energy and Power EngineeringNanjing University of Science and TechnologyNanjing210094China

Aluminum is an attractive alternative fuel,but it burns very inefficiently due to the formation of a dense Al_(2)O_(3)layer which prevents O_(2)from diffusion to the surface of Al *** previous experiments,the combustion of millimeter-sized Al(mAl)particles in the fluidized bed has achieved a substantial increase in the combustion efficiency,but further improvements are still *** this study,the effects of reaction atmosphere on the fluidized combustion of mAl particles were *** experiments with different O_(2)/H_(2)O/CO_(2)concentrations were *** experimental results indicate that the combustion efficiency of mAl particles in fluidized bed increases as the mole fraction of O_(2),H_(2)O or CO_(2)increases,and the highest combustion efficiency can reach 38.7%.After the analysis of the oxide film on the surface of aluminum particles,it was found that it is easier to generate the unstableθ-Al_(2)O_(3)under CO_(2)atmosphere,and it is easier to generate the unstableγ-Al_(2)O_(3)andθ-Al_(2)O_(3)under H_(2)O *** unstable Al_(2)O_(3)film is more likely to be abraded in the fluidized bed,which leads to the effective improvement of the combustion efficiency.

关键词： Al combustion Fluidized bed Atmosphere Combustion efficiency

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A Review of the control System of a 3D Printer

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Recent Patents on Engineering 2023年第1期17卷 25-41页

作者： Xie, Baocheng Gao, Huaqiang Zhang, Tingliang Key Laboratory of Advanced Manufacturing and Intelligent Technology Ministry of Education Harbin University of Science and Technology Harbin150080 China

Background: Three-dimensional printing technology is widely applied in the medical, aviation, automotive, construction, and consumer goods industries because of its characteristics of forming shapes without mold, not limited by part complexity, and fully digitalization control. The control system, a core element of a three-dimensional printer, controls the orderly working procedure of all elements of the printer and plays a vital role in the printing efficiency and printing quality of the three-dimensional printing. Therefore, the development trend of the control system of the three-dimensional printer has been paid increasing attention. Objective: To evaluate the latest technology in the 3D printer control system, we assess the existing 3D printer control system to improve printing accuracy and printing efficiency. In this review, the open-loop control system and closed-loop control system of the 3D printer are discussed emphatically. In conclusion, the future research direction of a 3D printer control system is discussed. Methods: This paper reviews the current various representative patents related to the control system of a 3D printer. Results: Through investigating a large number of patents on the control system of 3D printers, the closed-loop control system and the opened-loop control system of the 3D printer are analyzed, and the development trend of the 3D printer control system is discussed. Conclusion: The optimization of the control system of the 3D printer is conducive to increasing printing efficiency and printing quality in the 3D printing process. More relevant patents need to be invented in the future. © 2023 Bentham Science Publishers.

关键词： 3D printing

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High-Order Fully Actuated System Models for Strict-Feedback Systems With Increasing Dimensions

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IEEE/CAA Journal of Automatica Sinica 2024年第12期11卷 2451-2462页

作者： Xiang Xu Guang-Ren Duan Shenzhen Key Laboratory of Control Theory and Intelligent Systems Southern University of Science and TechnologyShenzhen 518055 the School of System Design and Intelligent Manufacturing Southern University of Science and TechnologyShenzhen 518055China

This paper mainly addresses control problems of strict-feedback systems(SFSs)with increasing *** with the commonly-considered SFSs where the subsystems have the same dimension,we aim to handle more complex cases,i.e.,the subsystems in the considered SFSs are assumed to have increasing *** transforming the systems into highorder fully-actuated system(HOFAS)models,the stabilizing controllers can be directly *** first-order SFSs,secondorder and high-order SFSs are also considered.

关键词： Increasing dimensions high-order fully-actuated system nonlinear systems strict-feedback systems

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Learning-based tracking control of AUV:Mixed policy improvement and game-based disturbance rejection

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CAAI Transactions on Intelligence technology 2025年第2期10卷 510-528页

作者： Jun Ye Hongbo Gao Manjiang Hu Yougang Bian Qingjia Cui Xiaohui Qin Rongjun Ding State Key Laboratory of Advanced Design and Manufacturing Technology for Vehicle College of Mechanical and Vehicle EngineeringHunan UniversityChangshaChina School of Information Science and Technology and Institute of Advanced TechnologyUniversity of Science and Technology of ChinaHefeiChina Nanyang Technological University SingaporeSingapore Wuxi Intelligent Control Research Institute of Hunan University Hunan UniversityWuxiChina

A mixed adaptive dynamic programming(ADP)scheme based on zero-sum game theory is developed to address optimal control problems of autonomous underwater vehicle(AUV)systems subject to disturbances and safe *** combining prior dynamic knowledge and actual sampled data,the proposed approach effectively mitigates the defect caused by the inaccurate dynamic model and significantly improves the training speed of the ADP ***,the dataset is enriched with sufficient reference data collected based on a nominal model without considering modelling ***,the control object interacts with the real environment and continuously gathers adequate sampled data in the *** comprehensively leverage the advantages of model-based and model-free methods during training,an adaptive tuning factor is introduced based on the dataset that possesses model-referenced information and conforms to the distribution of the real-world environment,which balances the influence of model-based control law and data-driven policy gradient on the direction of policy *** a result,the proposed approach accelerates the learning speed compared to data-driven methods,concurrently also enhancing the tracking performance in comparison to model-based control ***,the optimal control problem under disturbances is formulated as a zero-sum game,and the actor-critic-disturbance framework is introduced to approximate the optimal control input,cost function,and disturbance policy,***,the convergence property of the proposed algorithm based on the value iteration method is ***,an example of AUV path following based on the improved line-of-sight guidance is presented to demonstrate the effectiveness of the proposed method.

关键词： adaptive dynamic programming autonomous underwater vehicle game theory optimal control reinforcement learning

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