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International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)

作者： Xian YUE Aibin ZHU Jiyuan SONG Guangzhong CAO Delin AN Zhifu GUO Institute of Robotics & Intelligent Systems Shaanxi Key Laboratory of Intelligent Robots Xi'an Jiaotong University Xi'an China Shenzhen Key Laboratory of Electromagnetic Control Shenzhen University Shenzhen China Key Laboratory of Education Ministry for Modern Design and Rotor-Bearing System Xi’an China Taiyuan Institute Co.Ltd. of China Coal Technology and Engineering Group Taiyuan China

ISBN: (数字)9781728157153

ISBN: (纸本)9781728157160

Aiming at the existing problems of exoskeletons in human motion capture and recognition, causing human can only move passively in the exoskeleton, which is difficult to efficiently rebuild the connection between human muscles and nerves. This paper describes a system for the analysis of human motion capture based on CAN bus. The system adopts a distributed system architecture, which can collect data including plantar pressure, exoskeleton joint angle, and provide data support for subsequent motion recognition algorithm. The system has a simple measurement method and low dependence on measurement environment. The accuracy of the system is verified by the contrast experiment of Vicon 3D motion capture system. The results of the experiment indicate that the designed human motion capture system has a high accuracy, and meets the requirements of human motion perception when controlling the Rehabilitation Exoskeleton.

关键词： Robot sensing systems Exoskeletons Legged locomotion Foot Pressure sensors Acceleration

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

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

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IEEE International Conference on Mechatronics and Automation

作者： Zhu Han Jun Liu Yu Zhang Tianjin Key Laboratory for Advanced Mechanical System Design and Intelligent Control Tianjin University of Technology Tianjin China National Demonstration Centre for Experimental Mechanical and Electrical Engineering Education Tianjin University of technology

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164175

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.

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Research on Crack Detection of Nonlinear Rotor Based on Energy Tracks

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

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IEEE International Conference on Mechatronics and Automation

作者： Yu Zhang Jun Liu Zhu Han Tianjin Key Laboratory for Advanced Mechanical System Design and Intelligent Control Tianjin University of Technology Tianjin China National Demonstration Centre for Experimental Mechanical and Electrical Engineering Education Tianjin University of technology

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164175

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.

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Mechanical Analysis and Performance Optimization for the Lunar Rover’s Vane-Telescopic Walking Wheel

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Engineering 2020年第8期6卷 936-943页

作者： Lu Yang Bowen Cai Ronghui Zhang Kening Li Zixian Zhang Jiehao Lei Baichao Chen Rongben Wang Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical EngineeringTianjin University of TechnologyTianjin 300384China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of TechnologyTianjin 300384China Guangdong Key Laboratory of Intelligent Transportation System School of Intelligent Systems EngineeringSun Yat-sen UniversityGuangzhou 510275China College of Transportation Jilin UniversityChangchun 130025China Department of Mechanical Science and Engineering Tokyo Institute of TechnologyTokyo 152-8550Japan Armour College of Engineering Illinois Institute of TechnologyChicagoIL 60616USA China Academy of Space Technology Beijing 100029China

It is well-known that optimizing the wheel system of lunar rovers is ***,this is a difficult task due to the complex terrain of the moon and limited resources onboard lunar *** this study,an experimental prototype was set up to analyze the existing mechanical design of a lunar rover and improve its ***,a new vane-telescopic walking wheel was proposed for the lunar rover with a positive and negative quadrangle suspension,considering the complex terrain of the ***,the performance was optimized under the limitations of preserving the slope passage and minimizing power *** was achieved via analysis of the wheel force during ***,the effectiveness of the proposed method was demonstrated by several simulation *** newly designed wheel can protrude on demand and reduce energy consumption;it can be used as a reference for lunar rover development engineering in China.

关键词： intelligent vehicle Vane-telescopic walking wheel Performance optimization Vane spring Lunar rover

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A Novel Solution of Underdetermined Equations for DGTD based on Prior knowledge

A Novel Solution of Underdetermined Equations for DGTD based...

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International Conference on Microwave and Millimeter Wave Technology Proceedings

作者： Qi Qi Xinyuan Cao Mingsheng Chen Zhixiang Huang Yi Liu Xianliang Wu Key Laboratory of Intelligent Computing & Signal Processing Ministry of Education Anhui University Hefei Anhui Province Key Laboratory of Simulation and Design for Electronic Information System Hefei Normal University Hefei China School of Electronic Engineering Huainan Normal University Huainan China

ISBN: (数字)9781728157337

ISBN: (纸本)9781728157344

To accelerate solving transient electromagnetic problems by discontinuous Galerkin time domain (DGTD) method, a solution of underdetermined equations is established based on prior knowledge. In the proposed method, nodal basis function and a leapfrog scheme are used to Maxwell curl equations for spatial and time discretization. Electromagnetic fields in each element of computation domain are updated individually by applying conventional DGTD in initial time. When the electromagnetic wave covers the domain, the fields of all elements are updated as a whole. The underdetermined equations are established by randomly extracting rows from global mass matrix. Taking the results of a few previous time steps as the prior knowledge, a sparse transform is constructed. Then the underdetermined system of equations can be solved by recovery algorithms. Meanwhile,in order to maintain the advantage of low computational complexity, a restart mechanism is presented. The validity of the proposed method is verified by numerical experiments.

关键词： Microwave technology Millimeter wave technology Transforms Sparse matrices Electromagnetic fields Transient analysis Time-domain analysis

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A Spherical Mobile Robot Driven by Eccentric Pendulum and Self-stabilizing by Flywheel*

A Spherical Mobile Robot Driven by Eccentric Pendulum and Se...

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International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)

作者： Han Mao Aibin Zhu Yao Tu Zheng Zhang Dangchao Li Yulin Zhang Zhifu Guo Institute of Robotics & Intelligent Systems Shaanxi Key Laboratory of Intelligent Robots Xi'an Jiaotong University Xi'an China Institute of Robotics & Intelligent Systems Key Laboratory of Education Ministry for Modern Design and Rotor-Bearing System Xi'an Jiaotong University Xi'an China Taiyuan Institute Co. Ltd. of China Coal Technology and Engineering Group Taiyuan Shanxi China

ISBN: (数字)9781728157153

ISBN: (纸本)9781728157160

Aiming at the problem of insufficient stability of the existing spherical robot, a spherical robot driven by eccentric pendulums and self-stabilizing by flywheel is proposed in this paper. The robot is driven by the gravity shift of the pendulum and its stability is improved by flywheels rotating at high speed. This paper designed the structure of the robot and established a three-dimensional model in SolidWorks. After finishing the spherical robot prototype, its motion performance is verified by experiment. According to the experimental results, the maximum climbing angle of the spherical robot driven only by the eccentricity of the gravity pendulum is 7°, and the stability can be significantly improved when the flywheel is enabled. With fast braking of the flywheel, the robot can climb over the obstacles to the instantaneous climbing angle of 28° and move steadily in rugged terrain.

关键词： Flywheels Robot kinematics Mobile robots Acceleration Gears Gravity

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design and Experimental Study of Bidirectional Deformable Hexapod Robot

Design and Experimental Study of Bidirectional Deformable He...

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IEEE International Conference on Cyber Technology in Automation, Control, and intelligent systems

作者： Pengcheng Zhu Aibin Zhu Muhammad Affan Arif Han Mao Zhifu Guo Institute of Robotics & Intelligent Systems Shaanxi Key Laboratory of Intelligent Robots Xi'an Jiaotong University Xi'an China Institute of Robotics & Intelligent Systems Key Laboratory of Education Ministry for Modern Design and Rotor-Bearing System Xi'an Jiaotong University Xi'an China Taiyuan Institute Co. Ltd. of China Coal Technology and Engineering Group Taiyuan Shanxi China

ISBN: (数字)9781728190105

ISBN: (纸本)9781728190112

The hexapod robot simulates the movement mode of many kinds of insects and mammals through bionics, it has a high performance in complex environment. In this paper, a bidirectional deformable foot for hexapod robot was designed, and the influence of deformable foot pitch on the maximum stress of a spring steel with deformable angle is analyzed by finite element simulation, and a prototype was designed. Finally, the motion performance of the hexapod robot was verified by using C-legged, and the synchronized gait on flat ground, triangle gait on flat ground, jumping experiment of the hexapod robot was designed, which proved that the hexapod robot could reach the expected design goal.

关键词： Robots Stress Strain Legged locomotion Steel Springs Foot

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Reform and Practice in Experimental Teaching from the View of "Emerging Engineering": Case Study on the Field of Energy and Power Engineering

Reform and Practice in Experimental Teaching from the View o...

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Information Communication Technologies Conference (ICTC)

作者： He Tian Lijian Liu Miao Tian Shimin Zhou Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control National Demonstration Center for Experimental Mechanical and Electrical Engineering Education (Tianjin University of Technology) School of Mechanical Engineering Tianjin University of Technology Tianjin China Tianjin Academy of Educational Science Tianjin China Tianjin Newborn New Energy Technology Co. Ltd Tianjin China

According to the idea of "Emerging Engineering Education" talent training model of Ministry of Education, students should be trained to have "metaphysical" concept, connection, imagination, macro thinking. Project-driven experiment teaching focuses on a project, and the goal is the completion of the project; the student is the center of teaching activities, which is supported by the inquiry process. This study analyzes the significance of the project-driven method in experimental teaching. This paper describes the implementation process of experimental teaching in the field of energy and power engineering in terms of project design, teaching system construction and so on under the project-driven method. By analyzing the results of a questionnaire survey distributed to students of energy and power in the College of Mechanical Engineering at the Tianjin University of Technology, it is found that the students are satisfied with the effects of project-driven experimental teaching, and the use of experimental teaching has greatly aroused the students' enthusiasm for learning. The ability of the students to engage in autonomous learning, engineering practice and innovation has been greatly improved, and a good teaching effect has been achieved.

关键词： Training Power engineering Technological innovation Education Solids Communications technology Mechanical engineering

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design of low-profile wide-band high-gain circularly polarized antenna based on metasurface

Design of low-profile wide-band high-gain circularly polariz...

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International Conference on Numerical Electromagnetic Modeling and Optimization for RF, Microwave, and Terahertz Applications (NEMO)

作者： Wei Zhang Liang Zhang Xianliang Wu key lab of intelligent computing & signal processing ministry of education anhui university Anhui University Hefei China key lab of intelligent computing & signal processing ministry of education anhui university AnHui Province Key Laboratory of simulation and design for Electronic information system Hefei Normal university Hefei Normal University Hefei China

ISBN: (数字)9781728169668

ISBN: (纸本)9781728169675

This paper proposes a wide-band low-profile high-gain microstrip slot antenna loaded with a mushroom-type metasurface structure. By directly loading the metamaterial structure on the upper surface of the slot antenna, low profile loading characteristics are realized and the antenna bandwidth is expanded. And by inserting the metal line array in the metamaterial dielectric board to improve the antenna gain. Change the gap width through the metasurface element with corner cut to produce a phase difference and realize circularly polarized. Simulation test and analysis of antenna through HFSS simulation software. The results show that the antenna with this metasurface has a profile height of only 0.09×λ(λ =27 mm), a relative impedance band-width of 20.4% (S 11

关键词： Slot antennas Microstrip antennas Metasurfaces Metamaterials Microstrip Loaded antennas Gain

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A SSVEP-Based Wireless Retrieval Robot system

A SSVEP-Based Wireless Retrieval Robot System

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Chinese Automation Congress (CAC)

作者： Sihao Yang Tao Xue Shicheng Yan Zekun Tian Yuxin Zhang Qihuai Zhang Jintao Chen Zhongli Bai Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin China Tianjin Key Laboratory for Control Theory and Applications in Complicated Systems Tianjin University of Technology Tianjin China

ISBN: (数字)9781728176871

ISBN: (纸本)9781728176888

The brain-computer interface (BCI) plays an important role in assisting the disabled in life support and entertainment. In this study, a wireless retrieval robot system for steady-state visual evoked potential (SSVEP) based BCI system was proposed. In order to improve the recognition accuracy and system stability of BCI system for subjects' instructions, in this study, offline and online experiments are used to study and solve the performance parameters, obstacle avoidance and retrieval performance of BCI respectively. In the offline experiment, 5 types of SSVEP data of 4 subjects were used. Based on CCA algorithm, the multi-channel fusion recognition accuracy, time window length (TWL), command activation margin and other aspects are studied. The optimal experimental parameters are determined. Online experiments are based on the optimal test parameters of offline experiments, 8 subjects were used to study the performance of obstacle avoidance and retrieval. The online experiments achieved an average accuracy of 87.89 ± 6.62% with an ITR of 23.6 ± 4.76 bit/min. Furthermore, the rate of success in grasping three kinds of different difficulty preset targets was 61.38%.

关键词： Electroencephalography Robots Electrodes Correlation coefficient Task analysis Visualization Liquid crystal displays

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