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International Conference on Advanced Robotics and Mechatronics (ICARM)

作者： Hongye Wu Ping Lin Yue Ma Bin Li Qi Liu Hongqing Li Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin China

Considering the diversity of topological structures of parallel mechanisms (PMs), this paper presents an approach for the automated generation of topological structure models based on CAD technology. In this method, joints and links are treated as fundamental elements in the skeleton model of a mechanical system, leading to the development of a library of fundamental components readily available to compose a variety of limbs and PMs. A connection graph and its data structure are then developed for describing, in a hierarchical manner, the assembly information among the fundamental components. Equipped with the knowledge and information mentioned above, the limbs and PMs can finally be assembled automatically by identifying and imposing the geometrical constraints that have been already embedded in the models. The merit of this method lies in that 3D schematic diagrams (termed topological structure models) of various limbs and PMs can be created in an illustrative manner by properly selecting a set of fundamental components and then setting their connections, leading to the digitalized and visible topological structure models that are readily for kinematic performance evaluation. Combined with the CAD-CAE integration technology for the mechanical structure design and static/dynamic performance evaluation, a digital design and simulation framework can be formulated for the rapid design of parallel robotic equipment.

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Research on Robot Optimal Working Space Based on Spiral Theory

Research on Robot Optimal Working Space Based on Spiral Theo...

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2022 International Symposium on Robotics, Artificial Intelligence, and Information Engineering, RAIIE 2022

作者： Li, Yu-Fei Ge, Wei-Min Zhang, Zhi-Li Zhao, Xiang-Bin College of Mechanical Engineering TianJin University of Technology TianJin province TianJin300074 China Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin300384 China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin300384 China Intelligent Manufacturing College Tianjin Sino-German University of Applied Science Tianjin300350 China

ISBN: (纸本)9781510660137

Because industrial robots have uneven positioning accuracy in the overall working space, they have greatly limited their applications in the fields of high-precision production and *** this status quo, this article focuses on analyzing the optimal working space of industrial robots, and screening and limiting the optimal working scope of the selected industrial robots to ensure that the robot end is at a relatively high position with high positioning *** article selects the collaborative robot AUBO E3 for modeling, analysis and simulation. Calculate the robot based on the Jacques matrix and the number of conditions under the spiral theory, quantitatively depict the exercise performance of the *** excellent working space is visually simulated, and finally uses the API laser tracker to measure the end error of the robot. As a result, the accuracy of the end point in the optimal working space is higher than the endpoint accuracy of the overall work space. © 2022 SPIE.

关键词： Industrial robots

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Research on Crack Detection of Nonlinear Rotor Based on Energy Tracks 17

Research on Crack Detection of Nonlinear Rotor Based on Ener...

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17th IEEE International Conference on Mechatronics and Automation, ICMA 2020

作者： Zhang, Yu Liu, Jun Han, Zhu Tianjin University of Technology Tianjin Key Laboratory for Advanced Mechanical System Design and Intelligent Control Tianjin300384 China

ISBN: (纸本)9781728164151

In rotating machinery, because of high-speed working characteristics and terrible working conditions with variable cycles and variable loads, it is easy for rotors to cause a crack initiation and propagation, which may cause serious harm or even the life-threatening. The super harmonic component is an important role of the crack detection. But it is difficult to reflect the super harmonic component in the high-speed region after super harmonic resonances. In this paper, the dynamic equation of a nonlinear rotor system with a crack is considered, the potential energy expression of the cracked rotor is derived, and the concept of energy tracks is proposed. In the distortion of energy tracks, the effects of different crack parameters and nonlinear parameters on the vibration characteristics of the rotor system are compared. The results show that the energy trajectory distortion can diagnose the crack fault. It provides a new research method for vibration response analyses and fault diagnoses of cracked rotor system. © 2020 IEEE.

关键词： Crack detection

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Research on Asymmetrical Dual-rotor system Based on the Energy Orbit 17

Research on Asymmetrical Dual-rotor System Based on the Ener...

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17th IEEE International Conference on Mechatronics and Automation, ICMA 2020

作者： Han, Zhu Liu, Jun Zhang, Yu Tianjin University of Technology Tianjin Key Laboratory for Advanced Mechanical System Design and Intelligent Control Tianjin300384 China

ISBN: (纸本)9781728164151

Studying the vibration of asymmetrical dual-rotor is very important for aero engines. In this paper, based on the vibration characteristics of an aero-engine, a different novel coupled dynamic model is proposed based on the spring recovery characteristics of rotor. The model dynamic equations of asymmetrical dual-rotor are obtained by the Lagrange equation, and vibration resonance curves of high pressure and low pressure rotors are numerically simulated and theoretically analyzed by using the Runge-Kutta algorithm. The research show that the system occurs combined vibration, harmonic vibration and superharmonic vibration. In addition, the vibration occurring mechanism was investigated and verified in detail through numerical simulation. For the first time, the concept of energy orbit was introduced into the dual-rotor model system. The energy orbit represents the vibration characteristics and energy exchange process of the model system. Energy orbit is a new energy orbit method for analyzing vibration characteristics of rotor system. The new researches of this paper will show a different research direction for complex dual-rotor systems. © 2020 IEEE.

关键词： Equations of motion

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Numerical Investigation into the Transient Behavior of the Spike-Type Rotating Stall for a Transonic Compressor Rotor

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Fluid Dynamics & Materials Processing 2022年第3期18卷 761-773页

作者： Pengfei Ju Fangfei Ning Zhiting Tong Jingying Wang Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical EngineeringTianjin University of TechnologyTianjin300384China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education(Tianjin University of Technology) Tianjin300384China Research Institute of Aero-Engine Beihang UniversityBeijing100191China National Key Laboratory of Science and Technology on Aero-Engine Aero-Thermodynamics School of Energy and Power EngineeringBeihang UniversityBeijing100191China School of Energy and Power Engineering Shandong UniversityJinan250061China Shandong Engineering Laboratory for High-Efficiency Energy Conservation and Energy Storage Technology&Equipment Shandong UniversityJinan250061China

In this paper,a numerical investigation into a spike-type rotating stall process is carried out considering a transonic compressor rotor(the NASA Rotor 37).Through solution of the Unsteady Reynolds-Averaged Navier-Stokes(URANS)equations,the evolution process from an initially circumferentially-symmetric near-stall flow field to a stable stall condition is simulated without adding any artificial *** the near-stall operating point,periodic fluctuations are present in the overall flow of the ***,the blockage region in the channel periodically shifts from middle span to the *** fluctuating condition does not directly lead to stall,while the full-annulus calculation eventually evolves to ***,a kind of“early disturbance”feature appears in the dynamic signals,which propagates forward ahead of the rotor.

关键词： Transonic compressor spike stall numerical simulation early disturbance dynamic signal

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Tuning Mechanical Behaviors of Highly Entangled Hydrogels with the Random Distribution of Mobile Entanglements

SSRN

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SSRN 2023年

作者： Liu, Jinlong Lu, Di Chen, Bin Department of Engineering Mechanics Zhejiang University Hangzhou China Intelligent Robotic Research Center Zhejiang Laboratory Hangzhou311100 China Key Laboratory of Soft Machines and Smart Devices of Zhejiang Province Hangzhou China Beijing System Design Institute of the Electro-mechanic Engineering Beijing China

Highly entangled hydrogels exhibit excellent mechanical properties, including high toughness, high stretchability, low hysteresis, etc. By considering the evolution of randomly distributed entanglements within the polymer network upon mechanical stretches, here we have developed a constitutive theory to describe the large stretch behaviors of these hydrogels. In the theory, we utilize a representative volume element in the shape of a cube, within which there exist one averaged chain segment along each edge and a mobile entanglement at each corner. By employing an explicit method, we decouple the elasticity of the hydrogels from the sliding motion of the entanglements within them and derive the stress-stretch relations for these hydrogels. Our theoretical analysis is in agreement with experiment and highlights the significant influence of the entanglement distribution within the hydrogels on their elasticity. We have also implemented our developed constitutive theory into a commercial finite element software and subsequent simulations demonstrate that the exact distribution of entanglements strongly affects mechanical behaviors of structures of these hydrogels. Overall, our theory provides valuable insights into the deformation mechanism of highly entangled hydrogels and can aid in the design of these hydrogels with enhanced performance. © 2023, The Authors. All rights reserved.

关键词： Hydrogels

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Joint design of Radar Receive Filter and Unimodular ISAC Waveform with Sidelobe Level Control

arXiv

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arXiv 2025年

作者： Zhang, Kecheng Liu, Ya-Feng Wang, Zhongbin Yuan, Weijie Keskin, Musa Furkan Wymeersch, Henk Xia, Shuqiang School of System Design and Intelligent Manufacturing The Shenzhen Key Laboratory of Robotics and Computer Vision Southern University of Science and Technology Shenzhen518055 China State Key Laboratory of Scientific and Engineering Computing Institute of Computational Mathematics and Scientific/Engineering Computing Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing100190 China Department of Electrical Engineering Chalmers University of Technology Gothenburg41296 Sweden ZTE Corporation The State Key Laboratory of Mobile Network and Mobile Multimedia Technology Shenzhen518055 China

Integrated sensing and communication (ISAC) has been considered a key feature of next-generation wireless networks. This paper investigates the joint design of the radar receive filter and dual-functional transmit waveform for the multiple-input multiple-output (MIMO) ISAC system. While optimizing the mean square error (MSE) of the radar receive spatial response and maximizing the achievable rate at the communication receiver, besides the constraints of full-power radar receiving filter and unimodular transmit sequence, we control the maximum range sidelobe level, which is often overlooked in existing ISAC waveform design literature, for better radar imaging performance. To solve the formulated optimization problem with convex and nonconvex constraints, we propose an inexact augmented Lagrangian method (ALM) algorithm. For each subproblem in the proposed inexact ALM algorithm, we custom-design a block successive upper-bound minimization (BSUM) scheme with closed-form solutions for all blocks of variable to enhance the computational efficiency. Convergence analysis shows that the proposed algorithm is guaranteed to provide a stationary and feasible solution. Extensive simulations are performed to investigate the impact of different system parameters on communication and radar imaging performance. Comparison with the existing works shows the superiority of the proposed algorithm. © 2025, CC BY-NC-SA.

关键词： Mean square error

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Crushing Behavior of Contact-Aided Alsi10mg Sandwich Structure Based on Chiral Mechanical Metamaterials

SSRN

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SSRN 2023年

作者： Xu, Weiyun Zhang, Lei Zhang, Boqin Zhang, Hanyu Liu, Zhao Zhu, Ping The State Key Laboratory of Mechanical System and Vibration National Engineering Research Center of Automotive Power and Intelligent Control School of Mechanical Engineering Shanghai Jiao Tong University Shanghai China School of Design Shanghai Jiao Tong University Shanghai China

Mechanical metamaterials with unique properties inaccessible for their constituent materials have aroused great interest in various fields. As metamaterials with additional screw degrees of freedom, chiral mechanical metamaterials reveal a prosect in impact resistance and energy absorption recently by not only facilitating the bending-dominated characteristics in deformation but also enabling possible energy dissipation through contact among unit cells. However, the corresponding energy absorbing capabilities are still understudied considering more complex deformation modes. In this paper, we systematically investigated the impact of the compression-to-twist effect of chiral metamaterials on the crushing behavior. By introducing intercellular contact during twisting deformation to the design method, AlSi10Mg sandwich structures composed of chiral metamaterials were designed, manufactured, and tested. We demonstrated and discussed the unique deformation mechanism and failure mode which showed a multi-segment mechanical responses to a flat compression, followed by the structure-property relationships with respect to specific energy absorption (SEA) and compressive modulus. The proposed metamaterials with a contact-aided twist indicated a practical way of combining bending-dominated lattices and stretching-dominated ones, paving the road for designing metamaterials with graded energy absorption performance, rigid-flexible coupling properties, multi-functional responses, etc. © 2023, The Authors. All rights reserved.

关键词： Energy absorption

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Anomaly Detection of Logistics Packages Based on CNN and Image Recognition Technology

Anomaly Detection of Logistics Packages Based on CNN and Ima...

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Data Science and Computer Application (ICDSCA), IEEE International Conference on

作者： Kun Liang Hang Zhang School of Management Tianjin University of Technology Tianjin China Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin China

ISBN: (数字)9798350368239

ISBN: (纸本)9798350368246

To address abnormal situations such as packaging damage, liquid leakage, and item displacement during logistics package transportation, this paper introduces Convolutional Neural Network (CNN) and image recognition technology to achieve real-time anomaly detection and alarm, improving the response speed and accuracy of the logistics system. First, by designing multiple layers of convolution and pooling layers, adding Batch Normalization layers and Dropout layers to prevent overfitting, a CNN deep learning model suitable for logistics package anomaly detection is constructed. key features are extracted through image preprocessing methods such as normalization and data enhancement to ensure that the model has high recognition adaptability to various abnormal situations such as damage and leakage. Secondly, through data enhancement methods such as rotation, scaling, brightness adjustment, and transfer learning using pre-trained models, the model's adaptability in different lighting, angles, and occlusion conditions is improved. Finally, the model is applied to actual monitoring, and real-time alarms are issued for abnormalities such as damage and leakage, which are then fed back to the system closed-loop management. This method is significantly better than traditional methods in terms of detection accuracy and response speed. Under natural light environment, the model detection accuracy is as high as 98.4%, reducing false positives and false negatives. Combining CNN's anomaly detection technology effectively improves the accuracy and efficiency of logistics monitoring and provides technical support for intelligent logistics management.

关键词： Industries Adaptation models Accuracy Image recognition Data models Real-time systems Convolutional neural networks Anomaly detection Monitoring Logistics

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Significant Wave Height Prediction Based on VMD-SA-MLP-BP

Significant Wave Height Prediction Based on VMD-SA-MLP-BP

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2023 China Automation Congress, CAC 2023

作者： Wu, Yining Zhang, Runfeng Liu, Fang Liu, Zhenzhong Wu, Jianguo Dong, Haonan School of Mechanical Engineering Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control Tianjin University of Technology Tianjin300384 China Tianjin University of Technology National Demonstration Center for Experimental Mechanical and Electrical Engineering Education China Yichang Research Institute of Testing Technology Yichang443003 China Tianjin Hanhailanfan Marine Technology Co. Ltd. Tianjin300457 China School of Computer Science and Engineering Tianjin University of Technology Tianjin300384 China

ISBN: (纸本)9798350303759

Waves seriously impact port construction, worldwide route planning, military activities, and wave power generation. To improve the accuracy of significant wave height prediction, we proposed a novel prediction method, a multi-layer perceptron combined with a backpropagation adjustment (MLP-BP) prediction model that combines mutation mode decomposition (VMD) and a simulated annealing optimization algorithm (SA). Firstly, we use the variable modulus method to decompose the significant wave height sequence data and transform the wave height sequence into multiple different sub-modes (IMF) to reduce the complexity and non-stationarity of the data. Secondly, the simulated annealing algorithm (SA) is used to optimize the weight and bias of the MLP-BP neural network to find the optimal parameter configuration and improve the performance and generalization ability of the prediction model. Finally, the decomposed sub-modal components of each significant wave height sequence are inserted into the MLP-BP neural network and the predicted values of each element are summed to obtain the final significant wave height prediction. The prediction results of the SSA-MLP-BP, PSO-MLP-BP, SA-MLP-BP, and VMD-SA-MLP-BP were compared and demonstrated that the VMD-SA-MLP-BP model performed best. The MAE, MAPE, MSE, RMSE, and R2 of the prediction evaluation indexes were 0.036 m, 11.7%, 0.004 m2, 0.067 m, and 0.983, respectively, which performed well in predicting significant wave height. © 2023 IEEE.

关键词： Variational mode decomposition

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