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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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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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Test piece design, mechanical properties and fracture strain in two-step tensile testing of lightweight materials at high strain rates

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International Journal of Impact Engineering 2025年 206卷

作者： Da Cai Hao Jiang Peng Wang Qing Wang Weifeng Gan Junjia Cui Guangyao Li State Key Laboratory of Advanced Design and Manufacturing Technology for Vehicle Hunan University Changsha 410082 China Battery System Development Department Contemporary Amperex Technology Co. Ltd Ningde 352100 China Shenzhen Huashun Intelligent Equipment Co. Ltd Shenzhen 518119 China Shenzhen Automotive Research Institute Beijing Institute of Technology Shenzhen 518119 China

Continuous forming at high strain rates is an important research direction for future precision forming of light alloys. In this study, dynamic behavior of AA5052 aluminum alloy in two-step tensile testing at high strain rates were investigated. Special two-step tensile test piece at high strain rate was designed. The test piece of the special design contained a weak structural notch area and a dog-bone shaped area. The test piece was pre-stretched to a pre-determined strain so that the weak region broke. Then a secondary stretching was performed. The response surface equations of pre-strain and pre-strain rate were established separately to evaluate the functional relationship between the notch interval, tensile velocity and strain rate, and equivalent plastic strain. The effects of the parameters on the fracture strain were compared. The results showed that the test pieces could meet the requirements of the two-step tensile test at high strain rates. The pre-strain and pre-strain rate were affected by the size of the notch interval and the tensile velocity. The increase of tensile strength was related to pre-strain and secondary strain rate. The linear cumulative damage criterion can be used to interpret the two-step stretching at high strain rates. When the strain rate in single-step stretching is the same as the strain rate in each step of two-step stretching, the fracture strain in single-step stretching can be substituted for the fracture strain in two-step stretching. Research can help solve the problems of poor formability and early failure of lightweight alloys.

关键词： Fracture strain High strain rate Machinal performance Test piece design Two-step tensile test

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Modal Analysis of Optical Waveguide using a Novel Symplectic Compact FDTD Schemes

Modal Analysis of Optical Waveguide using a Novel Symplectic...

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

作者： Xiaojing Kuang Kong Meng Qi Qi Xin Zeng Zhixiang Huang Mingshen Chen The Anhui Province key laboratory of simulation & design for electronic information system Hefei Normal University Hefei China Digital circuit design east china institute of photo-electronic Suzhou China Key laboratory of intelligent & computing & signal processing Anhui University Hefei China School of Electronic Engineering Huainan Normal University Huainan China

ISBN: (数字)9781728169668

ISBN: (纸本)9781728169675

For modal analysis of longitudinally invariant optical devices, the compact-finite-difference time-domain is an efficient algorithm for alleviating the large amount of storage space and computing time under the 3D complex structure simulation. However, this algorithm needs to scale down the time step to mitigate the numerical dispersion errors while simulating optical waveguide working at high frequency. Here, a novel high-order symplectic compact FDTD scheme is proposed, which is attributed to the theory combination of the fast-spatial scheme and stable temporal scheme. The research results not only verify the effectiveness by numerical experiment on a planar dielectric waveguide with complex cross section, but also provide efficient theoretical guidance for the design and optimization of optical devices at the nanometer scale.

关键词： Electromagnetic waveguides Optical waveguide theory Adaptive optics Numerical models Time-domain analysis Optical waveguides Finite difference methods

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Step-length optimization based on genetic algorithm for a parallel mobile robot

Step-length optimization based on genetic algorithm for a pa...

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International Conference on Information Science and Control Engineering (ICISCE)

作者： Shuang Liu Wei Chen Hang Wu Wenchang Zhang Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Tianjin University of Technology Tianjin China Academy of Military Sciences of Chinese PLA Institute of Medical Support Technology Tianjin China

With the development of technology, parallel mobile robots have been paid more attention in various industries due to the strong load capacity, high running stability and rapid response speed. However, step-length optimization is an important but challenging task for this kind of mobile robot. Step length has dramatic effect on the stability of robot and the performance of electric cylinder. Balancing the speed characteristics and stability margin, we propose a genetic algorithm to solve this problem and design a novel fitness function that can measure the motion characteristics of parallel mobile robot. Effectiveness of our method is verified by experiments.

关键词： Industries Information science Control engineering Service robots Mobile robots Motion measurement Task analysis

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Compound nonlinear energy sink with multiple motion types for absorbing energy from wide excitation ranges

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Journal of Sound and Vibration 2025年 617卷

作者： Jianen Chen Jiaqi Zhao Wei Zhang Min Sun Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin 300384 China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin 300384 China School of Civil Engineering and Architecture Guangxi University Nanning 530004 China School of Science Tianjin Chengjian University Tianjin 300384 China

Nonlinear energy sink (NES) has garnered significant attention since its inception due to its notable broadband vibration reduction capability. However, the introduction of strong nonlinear characteristics by NESs complicates system responses, leading to a loss of effectiveness when the excitation force exceeds a specific threshold. Consequently, NESs have limited applicability in engineering because they are effective only within a constrained range of excitation amplitude. In this study, a compound NES (CNES) with multiple motion types is designed to extend the effective force range while maintaining broadband vibration reduction capability. The CNES is distinguished by its piecewise stiffness, collision mechanisms, and unique design of two-degree-of-freedom oscillators. The wide effective range of the CNES is demonstrated through slow linear sweep and fixed-frequency tests. The results indicate that the CNES effectively reduces vibrations in the primary oscillator (PO) with various resonant frequencies. Notably, the CNES achieves significant vibration reduction over a particularly wide range of excitation amplitude when controlling the PO with relatively high resonance frequencies (approximately 10.5 Hz and 19 Hz). However, a nonnegligible limitation of the CNES is its restricted effective range of excitation amplitude when the PO resonates at lower frequency (approximately 7 Hz). Moreover, five motion types of the CNES are identified and analyzed, with one motion type autonomously emerging in response to changes in excitation parameters, ensuring excellent vibration reduction performance across a wide excitation range. Finally, the performance of the CNES and a degraded single-degree-of-freedom CNES are compared to further demonstrate the extension effect of the multiple motion types on the effective range. The CNES can be used in scenarios where the parameters of protected systems and excitations vary widely, providing a thought to improve the NESs.

关键词： Compound nonlinearity Compound features Vibration reduction Vibration test Multiple motion types Effective range

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Study on Rotating Speed Control of Dissimilar Metal Friction Stir Welding based on Fuzzy PID

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Journal of Physics: Conference Series 2022年第1期2206卷

作者： Yongning Liu Zhifeng Qiao Qingjian Liu Jiahao Huang Kang Fu Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin 300384 China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education (Tianjin University of Technology)

The demand for lightweight vehicles that achieve energy conservation and emission reduction continues to grow. Aluminum alloys were commonly applied to the automotive industry to reduce the structural quality of the entire vehicle. However, the cost of aluminum alloy was higher than that of steel, so the industry considered the use of aluminum in combination with low-cost materials such as steel. Traditional welding technology was limited by the great physical difference between aluminum alloy and steel. Friction Stir Welding, a solid phase welding technology, can overcome the connection problem of aluminum and its alloys with steel, but the process parameters of FSW directly affect the welding quality. This paper established the FSW process of two different metals of DC05 and AL6061. Aimed to get a good welding joint, the error of tool speed is reduced by fuzzy PID system established in this paper, and the tool speed is controlled stably. Simulink simulation was established, and compared with the simulation results, fuzzy PID control can control the precision and stability of the tool speed of FSW, improve the welding quality, and provide a certain theoretical basis for the tool speed control.

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Anionic Chemistry Modulation Enabled Environmental Self-Charging Aqueous Zinc Batteries: The Case of Carbonate Ions

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Angewandte Chemie 2024年第39期136卷

作者： Guangmeng Qu Lu Wang Yongzheng Zhao Dedong Wang Xixi Zhang Bin Wang Fengbo Wang Zhongxin Jing Xijin Xu Liqiang Xu Hongfei Li Key Laboratory of Colloid and Interface Chemistry Ministry of Education School of Chemistry and Chemical Engineering Shandong University Jinan Shandong 250100 P. R. China School of Physics and Technology University of Jinan Jinan Shandong 250022 P. R. China School of System Design and Intelligent Manufacturing Southern University of Science and Technology Shenzhen Guangdong 518055 China

Anionic chemistry modulation represents a promising avenue to enhance the electrochemical performance and unlock versatile applications in cutting-edge energy storage devices. Herein, we propose a methodology that involves anionic chemistry of carbonate anions to tailor the electrochemical oxidation-reduction reactions of bismuth (Bi) electrodes, where the conversion energy barrier for Bi (0) to Bi (III) has been significantly reduced, endowing anionic full batteries with enhanced electrochemical kinetics and chemical self-charging property. The elaborately designed batteries with an air-switch demonstrate rapid self-recharging capabilities, recovering over 80 % of the electrochemical full charging capacity within a remarkably short timeframe of 1 hour and achieving a cumulative self-charging capacity of 5 Ah g −1 . The aqueous self-charging battery strategy induced by carbonate anion, as proposed in this study, holds the potential for extending to various anionic systems, including seawater-based Cl − ion batteries. This work offers a universal framework for advancing next-generation multi-functional power sources.

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