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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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Planning of a Single Flow Channel in Valve Blocks Based on Additive manufacturing and the Ant Colony Algorithm

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Chinese Journal of Mechanical Engineering 2024年第5期37卷 191-202页

作者： Jin Zhang Ziyang Li Yuying Zhang Yandong Liu Ying Li Xiangdong Kong School of Mechanical Engineering Yanshan UniversityQinhuangdao 066004China Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control Qinhuangdao 066004China National&Local Joint Engineering Research Center for Advanced Manufacturing Technology and Equipment Qinhuangdao 066004China State Key Laboratory of Fluid Power and Mechatronic Systems Hangzhou 310027China

As electro-hydrostatic actuator(EHA)technology advances towards lightweight and integration,the demand for enhanced internal flow pathways in hydraulic valve blocks ***,owing to the constraints imposed by traditional manufacturing processes,conventional hydraulic integrated valve blocks fail to satisfy the demands of a more compact channel layout and lower energy ***,the subjectivity in the arrangement of internal passages results in a time-consuming and labor-intensive *** study employed additive manufacturing technology and the ant colony algorithm and B-spline curves for the meticulous design of internal passages within an aviation EHA valve *** layout environment for the valve block passages was established,and path optimization was achieved using the ant colony algorithm,complemented by smoothing using B-spline ***-dimensional modeling was performed using SolidWorks software,revealing a 10.03%reduction in volume for the optimized passages compared with the original *** fluid dynamics(CFD)simulations were performed using Fluent software,demonstrating that the algorithmically optimized passages effectively prevented the occurrence of vortices at right-angled locations,exhibited superior flow characteristics,and concurrently reduced pressure losses by 34.09%-36.36%.The small discrepancy between the experimental and simulation results validated the efficacy of the ant colony algorithm and B-spline curves in optimizing the passage design,offering a viable solution for channel design in additive manufacturing.

关键词： Hydraulic valve block Flow channel B-spline curve Additive manufacturing Ant colony algorithm

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A bionic approach for the mechanical and electrical decoupling of an MEMS capacitive sensor in ultralow force measurement

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Frontiers of Mechanical Engineering 2023年第2期18卷 297-317页

作者： Wendi GAO Bian TIAN Cunlang LIU Yingbiao MI Chen JIA Libo ZHAO Tao LIU Nan ZHU Ping YANG Qijing LIN Zhuangde JIANG Dong SUN State Key Laboratory for Manufacturing Systems Engineering International Joint Laboratory for Micro/Nano Manufacturing and Measurement TechnologiesOverseas Expertise Introduction Center for Micro/Nano Manufacturing and Nano Measurement Technologies Discipline InnovationXi’an Jiaotong University(Yantai)Research Institute for Intelligent Sensing Technology and SystemSchool of Mechanical EngineeringXi’an Jiaotong UniversityXi’an 710049China Shandong Laboratory of Yantai Advanced Materials and Green Manufacturing Yantai 265599China State Key Laboratory of Robotics and Systems(HIT) Harbin 150006China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of TechnologyBeijing 100081China Department of Biomedical Engineering City University of Hong KongHong KongChina

Capacitive sensors are efficient tools for biophysical force measurement,which is essential for the exploration of cellular ***,attention has been rarely given on the influences of external mechanical and internal electrical interferences on capacitive *** this work,a bionic swallow structure design norm was developed for mechanical decoupling,and the influences of structural parameters on mechanical behavior were fully analyzed and optimized.A bionic feather comb distribution strategy and a portable readout circuit were proposed for eliminating electrostatic *** instability was evaluated,and electrostatic decoupling performance was verified on the basis of a novel measurement method utilizing four complementary comb arrays and applicationspecific integrated circuit *** electrostatic pulling experiment showed that the bionic swallow structure hardly moved by 0.770 nm,and the measurement error was less than 0.009% for the area-variant sensor and 1.118% for the gap-variant sensor,which can be easily compensated in *** proposed sensor also exhibited high resistance against electrostatic rotation,and the resulting measurement error dropped below 0.751%.The rotation interferences were less than 0.330 nm and(1.829×10^(-7))°,which were 35 times smaller than those of the traditional differential *** on the proposed bionic decoupling method,the fabricated sensor exhibited overwhelming capacitive sensitivity values of 7.078 and 1.473 pF/μm for gap-variant and area-variant devices,respectively,which were the highest among the current *** immunity to mechanical disturbances was maintained simultaneously,i.e.,less than 0.369% and 0.058% of the sensor outputs for the gap-variant and area-variant devices,respectively,indicating its great performance improvements over existing devices and feasibility in ultralow biomedical force measurement.

关键词： micro-electro-mechanical system capacitive sensor bionics operation instability mechanical and electrical decoupling biomedical force measurement

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Design of a handheld automatic acupuncture device based on Arduino

Design of a handheld automatic acupuncture device based on A...

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2023 International Conference on Mechatronic Engineering and Artificial Intelligence, MEAI 2023

作者： Liu, Yuxuan Ma, Zhonghai Nie, Songlin Research Center of Novel Hydraulic Transmission and Control Faculty of Materials and Manufacturing Beijing University of Technology Beijing100124 China Beijing Key Laboratory of Advanced Manufacturing Technology Beijing University of Technology Beijing100124 China

ISBN: (纸本)9781510674608

Traditional Chinese medicine (TCM) is one of the recognized non-pharmaceutical treatment methods worldwide. Acupuncture, as a form of TCM, uses needle stimulation on specific acupoints to treat various diseases, especially for some difficult and complicated conditions. However, traditional acupuncture has some limitations, such as the difficulty of operation, long treatment time, and uncertain therapeutic effects. In order to address these issues, this paper proposes a handheld automatic acupuncture device that can perform acupuncture automatically. The device uses a linear actuator and a rotating motor to achieve two common acupuncture techniques, namely needle thrusting and lifting, and twisting, respectively. The two actions are controlled by Arduino to achieve the desired therapeutic effect. Through 3D modeling and prototype experiments, we found that the device reduces human errors and achieves typical acupuncture treatment techniques such as needle thrusting and lifting and twisting. Therefore, it is expected to promote the quantification of acupuncture treatment and potentially replace doctors in performing acupuncture, thus reducing unnecessary medical accidents. © 2024 SPIE.

关键词： Acupuncture

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Contact Mechanism of Rail Grinding with Open-Structured Abrasive Belt Based on Pressure Grinding Plate

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Chinese Journal of Mechanical Engineering 2023年第2期36卷 341-351页

作者： Zhiwei Wu Wengang Fan Chang Qian Guangyou Hou School of Mechanical Electronic and Control EngineeringBeijing Jiaotong UniversityBeijing 100044China Key Laboratory of Vehicle Advanced Manufacturing Measuring and Control TechnologyMinistry of EducationBeijing 100044China Railway Engineering Research Institute China Academy of Railway SciencesBeijing 100081China

The current research of abrasive belt grinding rail mainly focuses on the contact mechanism and structural *** with the closed structure abrasive belt grinding,open-structured abrasive belt grinding has excellent performance in dynamic stability,consistency of grinding quality,extension of grinding mileage and improvement of working ***,in the contact structure design,the open-structured abrasive belt grinding rail using a profiling pressure grinding plate and the closed structure abrasive belt using the contact wheel are different,and the contact mechanisms of the two are *** this paper,based on the conformal contact and Hertz theory,the contact mechanism of the pressure grinding plate,abrasive belt and rail is *** finite element simulation and static pressure experiment,the contact behavior of pressure grinding plate,abrasive belt and rail under single concentrated force,uniform force and multiple concentrated force was studied,and the distribution characteristics of contact stress on rail surface were *** results show that under the same external load,there are three contact areas under the three loading *** outer contour of the middle contact area is rectangular,and the inner contour is *** the contact area at both ends,the stress is extremely small under a single concentrated force,the internal stress is drop-shaped under a uniform force,and the internal stress under multiple concentration forces is *** with the three,the maximum stress is the smallest and the stress distribution is more uniform under multiple concentrated ***,the multiple concentrated forces is the best grinding pressure loading *** research provides support for the application of rail grinding with open-structured abrasive belt based on pressure grinding plate,such as contact mechanism and grinding pressure mode selection.

关键词： Rail grinding Abrasive belt Pressure grinding plate Contact stress

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Design and Analysis of a Novel Shoulder Exoskeleton Based on a Parallel Mechanism

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Chinese Journal of Mechanical Engineering 2023年第2期36卷 261-278页

作者： Lianzheng Niu Sheng Guo Majun Song Yifan Wu Haibo Qu School of Mechanical Electronic and Control EngineeringBeijing Jiaotong UniversityBeijing 100044China Key Laboratory of Vehicle Advanced Manufacturing Measuring and Control TechnologyMinistry of EducationBeijing Jiaotong UniversityBeijing 100044China Hangzhou Innovation Institute Beihang UniversityHangzhou 100044China

Power-assisted upper-limb exoskeletons are primarily used to improve the handling efficiency and load ***,kinematic mismatch between the kinematics and biological joints is a major problem in most existing exoskeletons,because it reduces the boosting effect and causes pain and long-term joint damage in *** this study,a shoulder augmentation exoskeleton was designed based on a parallel mechanism that solves the shoulder dislocation problem using the upper arm as a passive ***,the human–machine synergy and wearability of the exoskeleton system were improved without increasing the volume and weight of the system.A parallel mechanism was used as the structural body of the shoulder joint exoskeleton,and its workspace,dexterity,and stiffness were ***,an ergonomic model was developed using the principle of virtual work,and a case analysis was performed considering the lifting of heavy *** results show that the upper arm reduces the driving force requirement in coordinated motion,enhances the load capacity of the system,and achieves excellent assistance.

关键词： Upper limb exoskeleton Parallel mechanism Human–machine compatibility Dynamics

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Force Compensation control for Electro-Hydraulic Servo System with Pump-Valve Compound Drive via QFT-DTOC

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Chinese Journal of Mechanical Engineering 2024年第2期37卷 228-246页

作者： Kaixian Ba Yuan Wang Xiaolong He Chunyu Wang Bin Yu Yaliang Liu Xiangdong Kong Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control Qinhuangdao 066004China School of Mechanical Engineering Yanshan UniversityQinhuangdao 066004China National Engineering Research Center for Local Joint of Advanced Manufacturing Technology and Equipment Yanshan UniversityQinhuangdao 066004China

Each joint of a hydraulic-driven legged robot adopts a highly integrated hydraulic drive unit(HDU),which features a high power-weight ***,most HDUs are throttling-valve-controlled cylinder systems,which exhibit high energy *** contrast,pump control systems offer a high ***,their response ability is *** fully utilize the advantages of pump and valve control systems,in this study,a new type of pump-valve compound drive system(PCDS)is designed,which can not only effectively reduce the energy loss,but can also ensure the response speed and response accuracy of the HDUs in robot joints to satisfy the performance requirements of ***,considering the force control requirements of energy conservation,high precision,and fast response of the robot joint HDU,a nonlinear mathematical model of the PCDS force control system is first *** addition,pressure-flow nonlinearity,friction nonlinearity,load complexity and variability,and other factors affecting the system are considered,and a novel force control method based on quantitative feedback theory(QFT)and a disturbance torque observer(DTO)is designed,which is denoted as QFT-DTOC *** method improves the control accuracy and robustness of the force control system,reduces the effect of the disturbance torque on the control performance of the servo motor,and improves the overall force control performance of the ***,experimental verification is performed using the PCDS performance test *** experimental results and quantitative data show that the QFT-DTOC proposed herein can significantly improve the force control performance of the *** relevant force control method can be used as a bottom-control method for the hydraulic servo system to provide a foundation for implementing the top-level trajectory planning of the robot.

关键词： Legged robot Pump-valve compound drive system(PCDS) Force compensation control Quantitative feedback theory(QFT) Disturbance torque observer(DTO)

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Multi-objective optimisation design of cross-shaft based on Kriging response surface optimisation model

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International Journal of Wireless and Mobile Computing 2024年第2期26卷 207-214页

作者： Xie, Yuanmin Xiong, Sijie Yun, Juntong Mao, Yanfeng Li, Boao Tang, Xinjie Cao, Yongcheng Key Laboratory of Metallurgical Equipment and Control Technology of Ministry of Education Wuhan University of Science and Technology Hubei Wuhan China Precision Manufacturing Research Institute Wuhan University of Science and Technology Hubei Wuhan China Research Centre for Biomimetic Robot and Intelligent Measurement and Control Wuhan University of Science and Technology Hubei Wuhan China Technology Research and Development Hubei Jingmen Wusan Machinery Equipment Manufacturing Co. Ltd. Hubei Jingmen China

Cross-universal coupling is a key component of the mechanical transmission system and the cross-shaft is the core component of the coupling for torque transmission. Under normal circumstances, cross-shafts are most susceptible to fatigue and deformation, mainly due to the large torques they carry and the irrationality of their structure. Traditional design methods rely on practical experience to determine the key dimensions of the cross-shaft, resulting in long design cycles and low reliability. To address this problem, parametric modelling of the cross-shaft is carried out in this paper and imported into ANSYS Workbench. In addition, static and finite element analyses are carried out to find the weak parts of the cross shaft as the objective function. Finally, sensitivity analysis is carried out using the main structural parameters of the cross-shaft as design variables. Based on the linear correlation matrix and sensitivity graph, the three design variables that have the greatest impact on the objective function, journal height, thickness and body length, are selected. © 2024 Inderscience Enterprises Ltd.

关键词： Sensitivity analysis

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SSD object detection algorithm based on knowledge map

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International Journal of Wireless and Mobile Computing 2024年第2期27卷 152-160页

作者： Huang, Li Wang, Xiaofeng Lu, Jianhua Hu, Wei Zhang, Changrong College of Computer Science and Technology Wuhan University of Science and Technology Hubei Wuhan China China Hubei Province Key Laboratory of Intelligent Information Processing and Real-time Industrial System Wuhan University of Science and Technology Hubei Wuhan China Key Laboratory of Metallurgical Equipment and Control Technology of the Ministry of Education Wuhan University of Science and Technology Hubei Wuhan China Precision Manufacturing Research Institute Research Centre for Biomimetic Robot and Intelligent Measurement and Control Wuhan University of Science and Technology Hubei Wuhan China

With the pervasive integration of artificial intelligence into all aspects of human life, talent emerges as a primary resource. Upon analysing the current state of talent training in higher education institutions, issues such as dispersed knowledge points, overlapping content, a singular practice approach and ineffective evaluation have been identified. In response to these challenges, this paper proposes a multidisciplinary and comprehensive practical teaching methodology grounded in the knowledge graph framework. It delves into diverse paths for practical teaching and assessment, including aspects like teaching objectives, problem decomposition, resource integration, implementation methods and performance evaluation. The practical application of the SSD algorithm in researching service robot indoor object detection serves as an illustrative example. Employing the holistic practical teaching approach facilitated by the knowledge graph, this model guides students in acquiring object detection expertise, thereby enhancing their comprehensive development. Copyright © 2024 Inderscience Enterprises Ltd.

关键词： Object detection

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RRT Autonomous Detection Algorithm Based on Multiple Pilot Point Bias Strategy and Karto SLAM Algorithm

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Computers, Materials & Continua 2024年第2期78卷 2111-2136页

作者： Lieping Zhang Xiaoxu Shi Liu Tang Yilin Wang Jiansheng Peng Jianchu Zou Key Laboratory of Advanced Manufacturing and Automation Technology(Guilin University of Technology) Education Department of Guangxi Zhuang Autonomous RegionGuilin541006China College of Mechanical and Control Engineering Guilin University of TechnologyGuilin541006China Guilin Mingfu Robot Technology Company Limited Guilin541199China Key Laboratory of AI and Information Processing(Hechi University) Education Department of Guangxi Zhuang Autonomous RegionYizhou546300China

A Rapid-exploration Random Tree(RRT)autonomous detection algorithm based on the multi-guide-node deflection strategy and Karto Simultaneous Localization and Mapping(SLAM)algorithm was proposed to solve the problems of low efficiency of detecting frontier boundary points and drift distortion in the process of map building in the traditional RRT algorithm in the autonomous detection strategy of mobile ***,an RRT global frontier boundary point detection algorithm based on the multi-guide-node deflection strategy was put forward,which introduces the reference value of guide nodes’deflection probability into the random sampling function so that the global search tree can detect frontier boundary points towards the guide nodes according to random *** that,a new autonomous detection algorithm for mobile robots was proposed by combining the graph optimization-based Karto SLAM algorithm with the previously improved RRT *** algorithm simulation platform based on the Gazebo platform was *** simulation results show that compared with the traditional RRT algorithm,the proposed RRT autonomous detection algorithm can effectively reduce the time of autonomous detection,plan the length of detection trajectory under the condition of high average detection coverage,and complete the task of autonomous detection mapping more ***,with the help of the ROS-based mobile robot experimental platform,the performance of the proposed algorithm was verified in the real environment of different *** experimental results show that in the actual environment of simple and complex obstacles,the proposed RRT autonomous detection algorithm was superior to the traditional RRT autonomous detection algorithm in the time of detection,length of detection trajectory,and average coverage,thus improving the efficiency and accuracy of autonomous detection.

关键词： Autonomous detection RRT algorithm mobile robot ROS Karto SLAM algorithm

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