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arXiv 2023年

作者： Wu, Jinze Zino, Lorenzo Lin, Zhiyun Rizzo, Alessandro The Department of Electronics and Telecommunications Politecnico di Torino Torino Italy Shenzhen Key Laboratory of Control Theory and Intelligent Systems School of System Design and Intelligent Manufacturing Southern University of Science and Technology Shenzhen China Peng Cheng Laboratory Shenzhen China The Institute for Invention Innovation and Entrepreneurship New York University Tandon School of Engineering BrooklynNY United States

This paper addresses the distributed localization problem for a network of sensors placed in a three-dimensional space, in which sensors are able to perform range measurements, i.e., measure the relative distance between them, and exchange information on a network structure. First, we derive a necessary and sufficient condition for node localizability using barycentric coordinates. Then, building on this theoretical result, we design a distributed localizability verification algorithm, in which we propose and employ a novel distributed finite-time algorithm for sum consensus. Finally, we develop a distributed localization algorithm based on conjugate gradient method, and we derive a theoretical guarantee on its performance, which ensures finite-time convergence to the exact position for all localizable nodes. The efficiency of our algorithm compared to the existing ones from the state-of-the-art literature is further demonstrated through numerical simulations. © 2023, CC BY.

关键词： Conjugate gradient method

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Base Station Network Traffic Prediction Approach Based on LMA -DeepAR 6

Base Station Network Traffic Prediction Approach Based on LM...

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6th IEEE International Conference on Computer and Communication systems, ICCCS 2021

作者： Zhang, Jiachen Zuo, Xingquan Xu, Mingying Han, Jing Zhang, Baisheng Key Laboratory of Trustworthy Distributed Computing and Service Ministry of Education Beijing Uinversity of Posts and Telecommunications Beijing China Key Laboratory of Intelligent Telecommunication Software and Multimedia Beijing Uinversity of Posts and Telecommunications Beijing China Network Interface Virtualization Shanghai System Design Deptment Zhongxing Telecommunication Equipment Corporation Shanghai China

ISBN: (纸本)9780738126043

Accurate network traffic prediction of base station cell is very vital for the expansion and reduction of wireless devices in base station cell. The burst and uncertainty of base station cell network traffic makes the network traffic nonlinear and nonstationary, which brings challenges to the long-term prediction of network traffic. In this paper, the traffic model LMA-DeepAR for base station network is established based on DeepAR. Acordding to the distribution characteristics of network traffic, this paper proposes an artificial feature sequence calculation method based on local moving average (LMA). The feature sequence is input into DeepAR as covariant, which makes the statistical characteristics of network traffic near a period of time in the past be considered when updating parameters, and the interference of non-stationary network traffic on model training will be reduced. Experimental results show that the proposed prediction approach (LMA-DeepAR) outperforms other methods in the overall long-term prediction performance and stability of multi cell network traffic. © 2021 IEEE.

关键词： Base stations

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Exploring the Reform of Mechanical Drawing Teaching and Undergraduate Training Based on the “Integration of Competition-Oriented Education and Industry-University Collaboration”

Exploring the Reform of Mechanical Drawing Teaching and Unde...

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International Conference on Educational and Information Technology (ICEIT)

作者： Zhang Runfeng Ming Yankun Liu Zhenzhong Wu Jianguo Wang Xiaofei Sun Yanfang 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 Hanhailanfan Marine Technology Co. Ltd. Tianjin China

ISBN: (数字)9798350372663

ISBN: (纸本)9798350372670

This study aims to explore the reform of mechanical drawing teaching and the undergraduate training model with the goal of cultivating high-quality mechanical engineering undergraduate students. Grounded in the concepts of “synergy between science and education” and “integration of competition-oriented education and industry-university collaboration,” this research places talent cultivation as the central focus, linking it with discipline construction and emphasizing scientific research. The study promotes the reform of a collaborative education mechanism known as “integration of competition-oriented education and industry-university collaboration,” effectively establishing a multi-level and multi-dimensional undergraduate training model for mechanical engineering students that incorporates the “dual mentor system” and integrates theory, practice, and application. To apply this model in teaching practice, this research has undertaken the reform of traditional engineering drawing education, specifically addressing the issue of the gap between theory and practice in conventional teaching approaches. The proposed training program not only facilitates the development of innovative mechanical engineering professionals but also offers insights for the reform of undergraduate teaching models in the context of constructing “new engineering disciplines”.

关键词： Training Couplings Technological innovation Engineering drawings Collaboration Mechanical engineering Machinery

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Modeling, Simulation, and Parameter design of Actuation Mechanisms Based on New Magnetic Control Materials

Modeling, Simulation, and Parameter Design of Actuation Mech...

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system Simulation Technology and its Application (CCSSTA), IEEE China Conference on

作者： Ruixuan Shen He Tian Guanqiao Zhao Ziliang Zhu Jiangping Li Chao Liang Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology National Demonstration Center for Experimental Mechanical and Electrical Engineering Education (Tianjin University of Technology) Tianjin China Tianjin Sanyuan Power Equipment Manufacturing Co. Ltd Tianjin China

ISBN: (数字)9798350366600

ISBN: (纸本)9798350366617

With the rapid advancement of technology, the reliability and efficiency of power systems have become increasingly critical. In power systems, pole-mounted circuit breakers play a vital role. This paper presents a design scheme for an actuation mechanism of a pole-mounted circuit breaker based on new magnetic control materials. By analyzing the working principle of this actuation mechanism, a mathematical model was constructed, and a corresponding virtual prototype model was established using multi-body dynamics simulation software ADAMS and the dynamics mathematical model of this type of actuation mechanism. key performance parameters of the circuit breaker were optimized using a quantum genetic algorithm. Simulation experiments verified that the proposed parameter settings achieved a closing time of 7.6 ms, demonstrating significant improvements in circuit breaker performance. The results of this study are of great importance for the optimization design and performance enhancement of circuit breakers in power systems.

关键词： Vacuum systems Circuit breakers Power system dynamics Mathematical models Software systems simulation Integrated circuit modeling Magnetic circuits Optimization Genetic algorithms

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The design and Research of Resistance Instrument in Ship Towing Test

The Design and Research of Resistance Instrument in Ship Tow...

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IEEE International Conference on Mechatronics and Automation

作者： Nan Li Nan Liu Xueqi Zhang Chao Cui National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin China Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control Tianjin University of Technology Tianjin China Tianjin Baolai Precision Machinery Industry Group Co. Ltd Tianjin China

ISBN: (数字)9798350388077

ISBN: (纸本)9798350388084

Based on the requirements of ship resistance towing test, a strain gauge type of resistance instrument has been designed, which consisting of the frame, towing component, course component, measuring component, etc. The towing component is responsible for the towing movement of the ship model, and the course component is responsible for constructing different course angles in the test requirements. An automatic brake mechanism has been equipped in measuring component, which can ensure the stability and accuracy of the tension sensor in towing test. The strength limit on the key components of the resistance instrument has been calculated by finite element analysis software, the optimization has been used in vulnerable components, and the instrument strength and reliability has been insured in the test.

关键词： Resistance Instruments Force Strain measurement Stability analysis Finite element analysis Electrical resistance measurement

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Analysis of Strengthening Mechanism and Thermal Stability of M23c6 and Laves Phase in a Ferrite Matrix

SSRN

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SSRN 2023年

作者： Jin, Tiejian Shen, Junjie Ruan, Taotao Zhang, Dechang Xu, Yu Ren, He Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin300384 China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin300384 China

The strengthening of ferrite matrix steel depends on the strengthening mechanism and thermal stability of M23C6 and Laves phases. This study investigated M23C6(Fe,Cr)23C6 and Laves(Fe2Nb) phase-strengthened ferritic steels. The creep microstructure, the interface structure, and the nanoindentation creep behavior of the second phase were studied. Results showed that the dislocation density in (Fe,Cr)23C6 strengthened ferritic steel after creep is lower than Fe2Nb strengthened ferritic steel. The dislocations in the crept (Fe,Cr)23C6 strengthened ferritic steel are straight without accumulation, significantly bending. The dislocations bend and entangle, forming dislocation walls in the crept Fe2Nb-strengthened ferritic steel. The orientation relationships between (Fe,Cr)23C6/Fe2Nb and ferrite matrix are [001]α-Fe//[011](Fe,Cr)23C6, (020)α-Fe//(71[[EQUATION]])(***)23C6,[001]α-Fe//[5[[EQUATION]]]Fe2Nb,(01[[EQUATION]])α-Fe//(03[[EQUATION]])Fe2Nb. The atomic interface mismatch between M23C6/Fe2Nb and the ferrite matrix is 20% of the semi-coherent interface and 1.6% of the coherent interface. The thermal stability of Fe2Nb is better than (Fe,Cr)23C6. The creep stress exponents of (Fe,Cr)23C6 and Fe2Nb in the ferrite matrix are 4.4 and 12.2, respectively. The alloy’s creep deformation follows dislocation climbing over the second phase. Second-phase Fe2Nb strengthening played a more significant role than (Fe,Cr)23C6 in enhancing the ferrite matrix. The results provide a theoretical foundation for developing ferritic heat-resistant steel based on Laves (Fe2Nb) phase strengthening. © 2023, The Authors. All rights reserved.

关键词： Creep

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design of Multi-Channel Gas sensor Circuit with Large Dynamic Range and High-Precision

Design of Multi-Channel Gas Sensor Circuit with Large Dynami...

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Electrical Engineering and Mechatronics Technology (ICEEMT), IEEE International Conference on

作者： Kun Li Jiaheng Meng Yuzhe Liu Jingli Shi Kaicheng Liu Qing Liu Tianjin Key Laboratory of Film Electronic and Communication Device Tianjin University of Technology Tianjin China Tianjin Space Power Technology Co. Ltd Tianjin China Tianjin Lantian Solar Tech Co. Ltd. Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control Tianjin University of Technology Tianjin China

In order to realize a multi-channel exhalation detection device with large dynamic range and high precision, a well designed signal processing and sampling circuit is essential for gas sensors. In this paper, a particular circuit is designed to meet above requirement. The proposed circuit uses a constant current source to achieve linear transformation of resistance value and output voltage, and uses a voltage follower for impedance transformation to minimize the impact of the AD acquisition on the front-end circuit. Since the gas sensor can be regarded as a variable resistor, the proposed circuit is tested with variable resistors varying from 10k$\Omega$ to 50M$\Omega$, over three orders of magnitude. In order to increase the sensitivity of the gas sensors, it is need to heat the sensor. Then a multi-channel heating circuit is designed with independent adjustable heating current in each channel, which can be controlled with multi-channel PWM signal from the MCU. With simulation and experiment, the performance of the proposed circuit has been verified to be excellent. Furthermore, the circuit has the advantage of being used in various fields.

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Learning Pre-Grasp Manipulation of Flat Objects in Cluttered Environments using Sliding Primitives

Learning Pre-Grasp Manipulation of Flat Objects in Cluttered...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Jiaxi Wu Haoran Wu Shanlin Zhong Quqin Sun Yinlin Li State Key Laboratory of Turbulence and Complex Systems Intelligent Biomimetic Design Lab College of Engineering Peking University Beijing China Department of Automation University of Science and Technology of China Heifei China State Key Laboratory of Management and Control for Complex System Institute of Automation Chinese Academy of Science Beijing China Science and Technology on Thermal Energy and Power Laboratory Wuhan China

Flat objects with negligible thicknesses like books and disks are challenging to be grasped by the robot because of the width limit of the robot's gripper, especially when they are in cluttered environments. Pre-grasp manipulation is conducive to rearranging objects on the table and moving the flat objects to the table edge, making them graspable. In this paper, we formulate this task as Parameterized Action Markov Decision Process, and a novel method based on deep reinforcement learning is proposed to address this problem by introducing sliding primitives as actions. A weight-sharing policy network is utilized to predict the sliding primitive's parameters for each object, and a Q-network is adopted to select the acted object among all the candidates on the table. Meanwhile, via integrating a curriculum learning scheme, our method can be scaled to cluttered environments with more objects. In both simulation and real-world experiments, our method surpasses the existing methods and achieves pre-grasp manipulation with higher task success rates and fewer action steps. Without fine-tuning, it can be generalized to novel shapes and household objects with more than 85% success rates in the real world. Videos and supplementary materials are available at https://***/view/pre-grasp-sliding.

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Numerical Trajectory Planning of Panel Installation with Optimal Energy Consumption for Redundant Articulating Crane

SSRN

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SSRN 2024年

作者： Li, Penghao Zhang, Bangji Zhang, Zheshuo Hu, Wen Zhang, Jie Dai, Di State Key Laboratory of Advanced Design and Manufacturing Technology for Vehicle Hunan University Changsha China Intelligent Transportation System Research Center Hangzhou City University Hangzhou China School of Vehicle and Mobility Tsinghua University Beijing China College of Automotive and Mechanical Engineering Changsha University of Science and Technology Changsha China

The automatic installation of panels has become crucial in numerous industries scenarios. This paper proposed a trajectory planning method to addresses the position and posture adjustment of panel installation using redundant articulating cranes. Configuration space of the crane and rotation matrix are combined to investigate the strong coupling of the panel's position and posture. Moreover, the study combines the motion modes of the crane with the sequential analysis of redundant motion to assess energy consumption, incorporating energy efficiency as one of the planning objectives. Simultaneously, an intrinsic connection between the motion sequences within the C-space and safety considerations is analyzed. The installation experiment is performed with a real crane. The experimental results indicate that the proposed method achieves the function of installation of panels, which can make both the panel’s position and posture safely reach the predetermined state with less energy consume. © 2024, The Authors. All rights reserved.

关键词： Cranes

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design of an Embedded Leg Capsule Robot

Design of an Embedded Leg Capsule Robot

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IEEE International Conference on Mechatronics and Automation

作者： Yihui Wang Tao Xue Jing Wang Yimuranjiang Yueliwasi Tianjin Key Laboratory for Advanced Electromechanical System Design and Intelligent Control Tianjin University of Technology 391 Binshui Xidao Tianjin China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology 391 Binshui Xidao Tianjin China

The capsule robot enters the patient’s intestinal system directly by swallowing and takes continuous images using the miniature camera unit it carries, but during its travel, its own gravity and the peristaltic movement of the intestine make the physician limited in obtaining images of the intestine and making a diagnosis. In order to solve this problem, a capsule endoscope with an embedded leg mechanism is proposed. Compared to commercially available capsule robot. This capsule robot can easily move through the intestine autonomously by means of the relationship between the leg, the screw nut and the linkage, enabling forward, backward and stationary functions. The capsule robot has a diameter of 14 mm, a length of 30 mm and a maximum diameter of 26.66 mm with the legs spread out. The hollow space is allocated to include basic endoscopic components such as a miniature camera and a rotating motor. A series of tests, including in vitro tests, were carried out to test the feasibility of the leg mechanism of this capsule robot. Based on the results of the experiments, the proposed leg mechanism can effectively act on the Micro-capsule endoscope, and is able to move effectively through the intestine.

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