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6th International Conference on Robotics, control and Automation Engineering, RCAE 2023

作者： He, Yikang Yang, Sen Lin, Shuyu He, Wen Yang, Zhen Zhejiang University Key Laboratory of Advanced Manufacturing Technology of Zhejiang Province Hangzhou China School of Astronautics Harbin Institute of Technology Harbin China Shanghai Institute of Spaceflight Control Technology Shanghai China

ISBN: (纸本)9798350315301

To recover the satellite operations in emergency conditions, a control design scheme for emergency mode that utilizes reaction wheels and magnetic torques is presented in this paper. Firstly, based on a highly reliable sensor suite comprising sun sensors and magnetometers, a suitable attitude control law is designed to complete the satellite attitude missions of rate damping and sun-pointing. Then, considering that there are only two workable reaction wheels due to one reaction wheel failures, a control allocation law is designed to determine the control torque provided by two reaction wheels and the magnetic moment provided by magnetic torquers. Finally, the proposed method is compared with the purely magnetic control method by numerical simulations. The results indicate that the proposed method can achieve the attitude control missions after the satellite enters emergency mode, and performs better in terms of convergence and accuracy. © 2023 IEEE.

关键词： Attitude control

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Visual localization and map construction based on ground texture 19th

Visual localization and map construction based on ground tex...

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19th Chinese Intelligent Systems Conference, CISC 2023

作者： Chen, Xin Yu, Lei School of Mechanical and Electric Engineering Soochow University Suzhou China Key Laboratory of Opto-Technology and Intelligent Control Ministry of Education Lanzhou Jiaotong University Lanzhou China Jiangsu Key Laboratory of Advanced Manufacturing Technology Huaiyin Institute of Technology Huai’an China

ISBN: (纸本)9789819968817

This paper describes a visual localization and map construction method based on ground texture. The ground texture is scanned twice in a zigzag pattern and divided into a grid to avoid distortion of the stitched image. A global optimization method is used to calculate the image pose by reprojection constraint and key frame selection to stitch the global map. For positioning, the global positioning is transformed into a local positioning process through global search and local optimization, which improves the speed and accuracy of positioning. For map updating, local optimization is performed by constructing loopbacks for possible stain occlusion or breakage problems to solve tracking loss and repositioning problems. Experimental results show that the ground texture stitching and localization results after global optimization match well with the true values, and the global maps constructed by stitching are aligned with the true physical locations. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.

关键词： Textures

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Simulation research on trajectory tracking control system of manipulator based on fuzzy PID control

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International Journal of Innovative Computing and Applications 2022年第5-6期13卷 269-277页

作者： Ma, Ruyi Li, Zeshen Jiang, Du Yun, Juntong Liu, Ying Liu, Yibo Bai, Dongxu Li, Gongfa Key Laboratory of Metallurgical Equipment and Control Technology Ministry of Education Wuhan University of Science and Technology Hubei Wuhan430081 China Hubei Key Laboratory of Mechanical Transmission and Manufacturing Engineering Wuhan University of Science and Technology Hubei Wuhan430081 China Research Centre for Biomimetic Robot and Intelligent Measurement and Control Wuhan University of Science and Technology Wuhan430081 China Institute of Precision Manufacturing Wuhan University of Science and Technology Wuhan430081 China

In view of the influence of external environment interference, parameter changing and random noise in the process of manipulator trajectory tracking, as well as the problems of fuzzy PID control, such as fuzzy rules are not easy to set, quantisation interval and parameters are affected by subjective consciousness, which leads to the problem of insufficient performance of manipulator system. In this paper, firstly, in the MATLAB simulation environment, based on the D-H parameter model, the linkage model of the four degree of freedom manipulator is established, and the homogeneous transformation matrix of the manipulator is calculated. Then, through the application of fuzzy PID control in the Simulink toolbox, the optimal parameters of the controller are found by using the proportion factor self-adjusting strategy, and the corresponding trajectory tracking and forward inverse kinematics simulation are studied. The trajectory tracking curve of the manipulator is obtained. The research method and experimental results in the paper are of great significance for the simulation of articulated manipulator. Copyright © 2022 Inderscience Enterprises Ltd.

关键词： Simulink

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An end-to-end instance segmentation method based on improved ConvNeXt V2

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International Journal of Wireless and Mobile Computing 2024年第4期26卷 384-392页

作者： Wang, Wenlu Sun, Ying Xu, Manman Bai, Dongxu Huang, Li Zou, Chunlong Chen, Baojia Tang, Dalai Key Laboratory of Metallurgical Equipment and Control Technology of Ministry of Education 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 Hubei Key Laboratory of Mechanical Transmission and Manufacturing Engineering Wuhan University of Science and Technology Hubei Wuhan China College of Computer Science and Technology Wuhan University of Science and Technology Hubei Wuhan China Hubei Province Key Laboratory of Intelligent Information Processing and Real-time Industrial System Wuhan University of Science and Technology Hubei Wuhan China College of Mechanical Engineering Hubei University of Automotive Technology Hubei Shiyan China Hubei Key Laboratory of Hydroelectric Machinery Design and Maintenance China Three Gorges University Hubei Yichang China School of Computer Information Management Inner Mongolia University of Finance and Economics Hohhot China

In order to improve the efficiency of indoor mobile robots in locating and segmenting environmental instances, an instance segmentation method based on RTMDet is proposed. Firstly, the more powerful ConvNeXt V2 is used as the backbone network of the model, which improves the performance of the existing RTMDet model. Subsequently, NAS-FPN is used as a converged network to detect the network at any given time. Finally, AdamW is used as the model optimiser, which effectively solves the problem of excessive memory occupation when updating parameters and improves the performance of the model. The proposed method obtains the highest evaluation index in all cases. After training and testing on the Cityscapes data set, the recognition accuracy reaches 65.0%. © 2024 Inderscience Enterprises Ltd.

关键词： Statistical tests

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Synergistic effect of Pd single atoms and clusters on the de/re-hydrogenation performance of MgH_(2)

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Journal of Materials Science & technology 2024年第24期191卷 49-62页

作者： Nuo Xu Haoran Zhou Mingqiang Zhang Yuchuan Ye Kaiwen Wang Yingtang Zhou Yunfeng Zhu Yao Zhang School of Materials Science and Engineering Jiangsu Key Laboratory of Advanced Metallic MaterialsSoutheast UniversityNanjing 211189China Zhejiang Key Laboratory of Petrochemical Environmental Pollution Control National Engineering Research Center for Marine AquacultureMarine Science and Technology CollegeZhejiang Ocean UniversityZhoushan 316004China ICFO-Institut de Ciències Fotòniques The Barcelona Institute of Science and TechnologyCastelldefels(Barcelona)08860Spain Faculty of Materials and Manufacturing Beijing University of TechnologyBeijing 100124China College of Materials Science and Engineering Jiangsu Collaborative Innovation Centre for Advanced InorganicFunction CompositesNanjing Tech UniversityNanjing 211816China

Hydrogen storage plays a pivotal role in the hydrogen industry,yet its current status presents a *** strategies have emerged in recent years to address this ***_(2) has stood out as a promising solid-state hydrogen storage material due to its impressive gravimetric and volumetric hydrogen density,but its practical application is hampered by elevated thermal stability and sluggish *** this study,we introduce a solution by synthesizing Pd metallene through a one-pot solvothermal method,revealing a distinctive highly curved lamellar structure with a thickness of around 1.6 *** this Pd metallene into MgH_(2) results in a composite system wherein the starting dehydrogenation temperature is significantly lowered to 439 K and complete dehydrogenation occurs at 583 K,releasing 6.14 wt.%*** activation energy of dehydrogenation for MgH_(2) was reduced from 170.4 kJ mol^(-1) to 79.85 kJ mol^(-1) after Pd metallene *** enthalpy of dehydrogenation of the MgH_(2)-10 wt.%Pd sample was calculated to be 73 kJ mol^(-1) H_(2)^(-1) and decreased by 4.4 kJ mol^(-1) H_(2)^(-1) from that of dehydrogenation of pure MgH_(2)(77.4 kJ mol^(-1) H_(2)-1).Theoretical calculations show that the average formation energy and average adsorption energy of hydrogen vacancies can be significantly reduced in the presence of both Pd clusters and Pd single atoms on the surface of MgH_(2)/Mg,*** suggests that the synergistic effect of in situ formed Pd single atoms and clusters significantly improves the hydrogenation and dehydrogenation *** identified active sites in this study hold potential as references for forthcoming multi-sized active site catalysts,underscoring a significant advancement toward resolving hydrogen storage limitations.

关键词： MgH_(2) Metallene Single atoms Clusters Hydrogen storage

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Modelling and Dynamic Characteristics for a Non-metal Pressurized Reservoir with Variable Volume

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Chinese Journal of Mechanical Engineering 2022年第2期35卷 159-173页

作者： Pei Wang Jing Yao Baidong Feng Mandi Li Dingyu Wang School of Mechanical Engineering Yanshan UniversityQinhuangdao 066004China Advanced Manufacturing Forming Technology and Equipment Qinhuangdao 066004China Hebei Provincial Key Laboratory of Heavy Fluid Power Transmission and Control Yanshan UniversityQinhuangdao 066004China

With the increasing demand to reduce emissions and save energy,hydraulic reservoirs require new architecture to optimize their weight,space,and *** open reservoirs are large,heavy,and easily polluted,and threaten the operation of hydraulic systems.A closed reservoir provides the advantages of small volume and light weight,compared to open *** this study,a non-metallic pressure reservoir with variable volume is designed and manufactured for closed-circuit hydraulic *** reservoir housing is made of rubber,and the Mooney-Rivlin model is chosen based on the rubber strain *** FEA simulation for the reservoir is performed using ANSYS Workbench to obtain the structural *** major contribution is the establishment of mathematical models for this reservoir,including the volume equation changing with height,flow equation,and force balance equation,to explore the output characteristics of this *** on these results,simulation models were built to analyze the output characteristics of the ***,the test rig of a conventional hydraulic system was transformed into a closed-circuit asymmetric hydraulic system for the reservoir,and preliminary verification experiments were conducted on *** results demonstrate that the designed reservoir can absorb and discharge oil and supercharge pump inlet to benefit system *** changes in the volume and pressure with displacements under different volume ratios and frequencies were obtained,which verified the accuracy of the mathematical *** to its lightweight design and small volume,the reservoir can replace conventional open reservoirs,and this lays a foundation for future theoretical research on this reservoir.

关键词： Hydraulic reservoir Variable volume Pressure reservoir Non-metal Lightweight

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A theoretical and deep learning hybrid model for predicting surface roughness of diamond-turned polycrystalline materials

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International Journal of Extreme manufacturing 2023年第3期5卷 620-644页

作者： Chunlei He Jiwang Yan Shuqi Wang Shuo Zhang Guang Chen Chengzu Ren Tianjin Key Laboratory of Equipment Design and Manufacturing Technology Department of Mechanical EngineeringTianjin UniversityTianjin 30054People’s Republic of China Department of Mechanical Engineering Keio UniversityYokohama 223-8522Japan Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced Mechatronical System School of Mechanical EngineeringTianjin University of TechnologyTianjin 300384People’s Republic of China School of Mechanical Engineering Yanshan UniversityQinhuangdao 066004People’s Republic of China

Polycrystalline materials are extensively employed in *** surface roughness significantly affects the working *** defects,particularly grain boundaries,have a great impact on the achieved surface roughness of polycrystalline ***,it is difficult to establish a purely theoretical model for surface roughness with consideration of the grain boundary effect using conventional analytical *** this work,a theoretical and deep learning hybrid model for predicting the surface roughness of diamond-turned polycrystalline materials is *** kinematic–dynamic roughness component in relation to the tool profile duplication effect,work material plastic side flow,relative vibration between the diamond tool and workpiece,etc,is theoretically *** material-defect roughness component is modeled with a cascade forward neural *** the neural network,the ratio of maximum undeformed chip thickness to cutting edge radius RT S,work material properties(misorientation angle θ_(g) and grain size d_(g)),and spindle rotation speed n s are configured as input *** material-defect roughness component is set as the output *** validate the developed model,polycrystalline copper with a gradient distribution of grains prepared by friction stir processing is machined with various processing parameters and different diamond *** with the previously developed model,obvious improvement in the prediction accuracy is observed with this hybrid prediction *** on this model,the influences of different factors on the surface roughness of polycrystalline materials are *** influencing mechanism of the misorientation angle and grain size is quantitatively *** fracture modes,including transcrystalline and intercrystalline fractures at different RTS values,are ***,optimal processing parameters are obtained with a simulated annealing *** experiments are performed with

关键词： diamond turning material-defect roughness component polycrystalline copper neural network simulated annealing algorithm

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Highly sensitive piezoresistive and thermally responsive fibrous networks from the in situ growth of PEDOT on MWCNT-decorated electrospun PU fibers for pressure and temperature sensing

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Microsystems & Nanoengineering 2023年第5期9卷 73-85页

作者： Yunyun Luo Libo Zhao Guoxi Luo Linxi Dong Yong Xia Min Li Ziping Li Kaifei Wang Ryutaro Maeda Zhuangde Jiang State Key Laboratory for Manufacturing Systems Engineering International Joint Laboratory for Micro/Nano Manufacturing and Measurement TechnologiesXi’an Jiaotong University(Yantai)Research Institute for Intelligent Sensing Technology and SystemXi’an Jiaotong UniversityXi’anChina School of Mechanical Engineering Xi’an Jiaotong UniversityXi’anChina Shandong Laboratory of Yantai Advanced Materials and Green Manufacturing YantaiChina Ministry of Education Engineering Research Center of Smart Microsensors and Microsystems College of Electronics and InformationHangzhou Dianzi UniversityHangzhouChina Department of Emergency The First Affiliated Hospital of Xi’an Jiaotong UniversityXi’anChina

Flexible electronics have demonstrated various strategies to enhance the sensory ability for tactile perception and wearable physiological *** microstructures have attracted much interest because of their excellent mechanical properties and ***,a structurally robust fibrous mat was first fabricated by electrospinning,followed by a sequential process of functionalization utilizing ultrasonication treatment and in situ polymerization *** polyurethane(PU)microfibers were anchored with multi-walled carbon nanotubes(MWCNTs)to form conductive paths along each fiber by a scalable ultrasonic cavitation treatment in an MWCNT ***,a layer of poly(3,4-ethylene dioxythiophene)(PEDOT)was grown on the surface of PU fibers decorated with MWCNTs to enhance the conductive conjunctions of *** to the superior electromechanical behaviors and mechanical reinforcement of PEDOT,the PEDOT/MWCNT@PU mat-based device exhibits a wide working range(0–70 kPa),high sensitivity(1.6 kPa−1),and good mechanical robustness(over 18,000 cycles).The PEDOT/MWCNT@PU mat-based sensor also demonstrates a good linear response to different temperature variations because of the thermoelectricity of the PEDOT/MWCNT *** novel strategy for the fabrication of multifunctional fibrous mats provides a promising opportunity for future applications for high-performance wearable devices.

关键词： fibers PEDOT conductive

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Neural Dynamics for Cooperative Motion control of Omnidirectional Mobile Manipulators in the Presence of Noises: A Distributed Approach

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IEEE/CAA Journal of Automatica Sinica 2024年第7期11卷 1605-1620页

作者： Yufeng Lian Xingtian Xiao Jiliang Zhang Long Jin Junzhi Yu Zhongbo Sun the Department of Control Engineering Changchun University of TechnologyChangchun 130012China IEEE the College of Information Science and Engineering Northeastern UniversityShenyang 110819 the National Mobile Communications Research Laboratory Southeast UniversityNanjing 210096China the School of Information Science and Engineering Lanzhou UniversityLanzhou 730000China the State Key Laboratory for Turbulence and Complex Systems Department of Advanced Manufacturing and RoboticsCollege of EngineeringPeking UniversityBeijing 100871China

This paper presents a distributed scheme with limited communications, aiming to achieve cooperative motion control for multiple omnidirectional mobile manipulators(MOMMs).The proposed scheme extends the existing single-agent motion control to cater to scenarios involving the cooperative operation of MOMMs. Specifically, squeeze-free cooperative load transportation is achieved for the end-effectors of MOMMs by incorporating cooperative repetitive motion planning(CRMP), while guiding each individual to desired poses. Then, the distributed scheme is formulated as a time-varying quadratic programming(QP) and solved online utilizing a noise-tolerant zeroing neural network(NTZNN). Theoretical analysis shows that the NTZNN model converges globally to the optimal solution of QP in the presence of noise. Finally, the effectiveness of the control design is demonstrated by numerical simulations and physical platform experiments.

关键词： Cooperative motion control noise-tolerant zeroing neural network(NTZNN) omnidirectional mobile manipulator(OMM) repetitive motion planning

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An Intelligent Optimal Assignment Method of Collaborative Design Tasks 8th

An Intelligent Optimal Assignment Method of Collaborative De...

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8th Asia International Symposium on Mechatronics, AISM 2021

作者： Liu, Dian-ting Wu, Dan-ling Huang, Kang-zheng College of Mechanical and Control Engineering Guilin University of Technology Guilin541004 China Guangxi Key Laboratory of Manufacturing System and Advanced Manufacturing Technology Nanning530004 China

ISBN: (纸本)9789811913082

Aiming at the problem of collaborative design subtasks assignment in design team, a task assignment method based on bilateral matching between subtask and designer was proposed. Firstly, the matching between subtask and designer was transformed into knowledge similarity between subtask and designer from the perspective of knowledge quantification. Secondly, according to the designer’s evaluation of the subtasks under different attributes, the designer’s acceptance of subtasks were obtained. Then, based on the principle of maximum satisfaction between the two parties, a multi-objective optimization model for collaborative design task assignment based on bilateral matching was constructed, and the improved sparrow search algorithm (ISSA) was used to solve the model. Finally, taking the crankshaft linkage mechanism produced by one enterprise as an example, the matching result of 4 subtasks and 7 designers was obtained to determine the final assignment plan. At the same time, an example of 20 subtasks assigned to 30 designers was given. After the problem was run 50 times, the average maximum matching satisfaction calculated by the ISSA and the sparrow search algorithm (SSA) is 14.729 and 14.5403 respectively, which proved that the ISSA can assign tasks more effectively than the SSA in the large-scale collaborative design task assignment problem. © 2022, Science Press.

关键词： Crankshafts

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