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IEEE International Conference on Mechatronics and Automation

作者： Hongbo Wang Li He Qi Li When Zhang Dong Zhang Peng Xu Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao Hebei Province China Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education Yanshan University Qinhuangdao Hebei Province China

ISBN: (纸本)9781479939800

A kind of leg-wheel stair-climbing wheelchair is proposed. The device adopts a leg-wheel composite structure. Both leg type and wheel type can achieve the function of climbing stairs independently, but together they complement each other nicely to strengthen the performance. Stair climbing is completed by coordinating the movement of the legs and the mobile system. There are two control schemes proposed in the control system. Two different kinds of motors, including DC servo motors and DC motors, are controlled. The device has simple operation and good performance which can realize the free conversion from ground model to stair model.

关键词： Conferences Mechatronics Automation

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Application of Parallel Mechanism in Varistructured Quadruped/Biped Human-carrying Walking Chair Robot

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International Journal of Automation and computing 2013年第5期10卷 447-454页

作者： Ling-Feng Sang Hong-Bo Wang Dian-Fan Zhang Zhen-Hua Tian Fu-Hai Deng De-Lei Fang Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education Yanshan University Science and Technology Research Institute Yanshan University

For the existing problems of walking chair robot such as simple function,lower bearing capacity and not walking in complex environment,a novel varistructured quadruped / biped human-carrying walking chair robot is *** proposed robot could be used as biped and quadruped walking chair *** the conversion of the walking chair robot from the quadruped to the biped or vice versa,6-UPS and 2-UPS＋UP（U,P and S are universal joint,the prismatic pair,and sphere joint,respectively） parallel mechanisms are selected as the leg mechanism of the biped walking robot and quadruped walking robot,*** the screw theory and theory of mechanism,the degrees of freedom of the leg mechanism and the body mechanism in diferent motion states are computed so as to meet the requirements of mechanism *** motion characteristics of the 2-UPS＋UP parallel mechanism which is the key part of the walking chair robot are ***,the workspace of the moving platform is drawn and the efect of the structural parameters on the workspace volume is ***,it is found that the volume of the workspace of the moving platform is bigger when the side length ratio and the vertex angle ratio of the fxed platform and the moving platform which are isosceles triangles are close to *** study provides a theoretical foundation for the prototype development.

关键词： Human-carrying walking chair robot parallel leg mechanism degree of freedom varistructure workspace kinematics

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Kinematics and Dynamics Analysis of a Quadruped Walking Robot with Parallel Leg Mechanism

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Chinese Journal of Mechanical Engineering 2013年第5期26卷 881-891页

作者： WANG Hongbo SANG Lingfeng HU Xing ZHANG Dianfan YU Hongnian Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education Yanshan University Xi’an University of Architecture and Technology Science and Technology Research Institute Yanshan University School of Design Engineering and ComputingBournemouth University

It is desired to require a walking robot for the elderly and the disabled to have large capacity,high stiffness,stability,***,the existing walking robots cannot achieve these requirements because of the weight-payload ratio and simple ***,Improvement of enhancing capacity and functions of the walking robot is an important research *** to walking requirements and combining modularization and reconfigurable ideas,a quadruped/biped reconfigurable walking robot with parallel leg mechanism is *** proposed robot can be used for both a biped and a quadruped walking *** kinematics and performance analysis of a 3-UPU parallel mechanism which is the basic leg mechanism of a quadruped walking robot are conducted and the structural parameters are *** results show that performance of the walking robot is optimal when the circumradius R,r of the upper and lower platform of leg mechanism are 161.7 mm,57.7 mm,*** on the optimal results,the kinematics and dynamics of the quadruped walking robot in the static walking mode are derived with the application of parallel mechanism and influence coefficient theory,and the optimal coordination distribution of the dynamic load for the quadruped walking robot with over-determinate inputs is analyzed,which solves dynamic load coupling caused by the branches’ constraint of the robot in the walk *** laying a theoretical foundation for development of the prototype,the kinematics and dynamics studies on the quadruped walking robot also boost the theoretical research of the quadruped walking and the practical applications of parallel mechanism.

关键词： walking robot parallel leg mechanism kinematics dynamics over-determinate inputs

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Phase and CCT Diagram of an N-Containing 8%Cr Roller Steel

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Journal of Harbin Institute of technology(New Series) 2013年第6期20卷 112-117页

作者： Shu-Hua Sun Bo Wang Zhen-Hua Wang Yang Gao Ming-Wei Guo Wan-Tang Fu State Key Laboratory of Metastable Materials Science and Technology Yanshan University College of Sciences Yanshan University Key Laboratory of Advanced Forging & Stamping Technology and Science (Yanshan University) Ministry of Education of China China First Heavy Industries

The pseudo-equilibrium phase diagram and continuous cooling transformation diagram of an N-containing 8％ Cr roller steel were investigated by using thermodynamic calculation,differential scanning calorimetry,Ⅹ-ray diffraction,expansion method,and so *** equilibrium conditions,the main carbonitrides are MX,M7C3,and M23C6 *** measured Ac1,Ac3,start temperature of martensitic transformation,and M7C3 transformation temperatures are 811,855,324,and 1100 ℃,*** appears at cooling rates ranging from 0.5 to 5 ℃/s and ferrite forms at grain boundaries at a cooling rate lower than 0.5 ℃/***,the effects of adding N and lowering the C content on workability and mechanical properties of common 8％Cr steel were discussed.

关键词： high Cr roller steel phase diagram continuous cooling transformation N alloyingCLC number：TG142.45 Document code：AArticle ID：1005-9113（2013）06-0112-06

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A new tracking control method for synchronization of spacecraft formation with switching topologies

A new tracking control method for synchronization of spacecr...

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第三十三届中国控制会议

作者： Ling Zhao Xiu You Fuchun Sun Zhixin Liu Hongjiu Yang Hebei Province Key Laboratory of Heveay Machinery Fluid Power Transmission and Control College of Mechanical EngineeringYanshan University Key Laboratory of Advanced Forging & Stamping Technology and Science (Yanshan University) Ministry of Education of China College of Mechanical EngineeringYanshan University Institute of Electrical Engineering Yanshan University Department of Computer Science and Technology Tsinghua University

ISBN: (纸本)9781479947249

This paper studies an attitude synchronization problem for spacecraft formation with switching interaction *** adaptive control architecture which allows for parameter uncertainties and unknown external disturbances is established for the decentralized controllers *** paper also shows that the attitude synchronization under dynamically changing interaction topologies can be achieved asymptotically if the union of the switching communication graphs is jointly connected in a finite time ***,some simulations indicate the capabilities of the proposed results.

关键词： Spacecraft formulation attitude synchronization adaptive control switching topology.

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Joint power control and interference management in two-tier CDMA femtocell networks for multi-agent systems

Joint power control and interference management in two-tier ...

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第三十三届中国控制会议

作者： Lili Hao Juhai Ma Ling Zhao Hongjiu Yang Zhixin Liu Institute of Electrical Engineering Yanshan University Hebei Province Key Laboratory of Heveay Machinery Fluid Power Transmission and Control College of Mechanical EngineeringYanshan University Key Laboratory of Advanced Forging & Stamping Technology and Science (Yanshan University) Ministry of Education of China College of Mechanical EngineeringYanshan University

ISBN: (纸本)9781479947249

As energy saving and environmental protection become an inevitable trend,this paper studied the problem of the efficient resource allocation via power control and interference management approaches for multi-agents in two-tier femtocell *** this paper,a distributed power control algorithm is proposed to investigate the resource allocation using hierarchical game for two-tier femtocell *** the algorithm,the protection of higher-priority multi-agents’uplink communication and the optimal power allocation for lower-priority multi-agents are simultaneously *** manage the cross-tier interference and suppress the near-far effect in the code-division multiple access system,an adaptive pricing scheme is *** example is given to illustrate the effectiveness of the developed algorithms.

关键词： Multi-agent Femtocell Resource allocation Hierarchical game Adaptive pricing.

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Thesis on combination stock forecasting model with wavelet denoising and optimized arima method

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ICIC Express Letters 2014年第8期8卷 2315-2320页

作者： Shan, Rui Shi, Sutong Liu, Wen Zhao, Jingyi School of Science No. 438 Hebei Ave. Qinhuangdao 066004 China Key Laboratory of Advanced Forging and Stamping Technology and Science Ministry of Education of China No. 438 Hebei Ave. Qinhuangdao 066004 China Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control Yanshan University No. 438 Hebei Ave. Qinhuangdao 066004 China

Stock market prediction is utility important in the economic system. With the rapid development of economy, stock data is becoming increasingly complex. This paper presents a new method using the principles of wavelet transform and wavelet denoising to de-noise the stock data, and then the improved Auto-Regressive Integrated Moving Average (ARIMA) model is used to predict the future trends of stock data. The presented model is compared with some other classical forecasting methods such as ARIMA model method, BP model method and the method proposed by Dai. The results tested with data indicate: this forecasting method introduced in this paper can realize multi-step prediction and the forecasting accuracy is higher than that of stock data which is predicted by the ARIMA model or the other forecasting model. © 2014 ICIC International.

关键词： Conjugate gradient method

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The stability performances improvement through kinematic and dynamic modeling of the hopping robots

The stability performances improvement through kinematic and...

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UKACC International Conference on Control (CONTROL)

作者： Adrian Bruja Luige Vladareanu Gal Ionel Alexandru Hongbo Wang Hongnian Yu Jingjing Liu Institute of Solid Mechanics of Romanian Academy (IMSAR) Bucharest Romania School of Design Engineering and Computing Boumemouth University Poole Dorset UK Parallel Robot and Mechatronic System Laboratory of Hebei Province Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education Yanshan University Qinhuangdao China

The paper presents an innovative design for a wheeled hopping robot. Our main objective was to obtain a stable and efficient robot, which can jump over obstacles and has the ability to reach a certain ledge. The innovative design of our robot has the capability to jump to a certain distance even with a zero initial velocity provided by the wheels movement. Also, we took into consideration the wind speed which can prevent our robot to reach the desired destination, and compensated with an initial velocity on the direction of movement. For testing we designed a simulation which had as inputs different initial conditions to test and present the jumping capability of our robot in different jumping conditions. In the end we provide a jump area which the robot can reach for certain initial conditions, so we can later chose the optimal one for reaching the target position.

关键词： Mobile robots Springs Wheels Trajectory Collision avoidance Shafts

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Mechanism and Inhibition of Grain Coarsening of Al-Mg-Si Alloy in Hot forming

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Journal of Harbin Institute of technology(New Series) 2013年第3期20卷 67-74页

作者： Ying-Ping Guan Zhen-Hua Wang Bin Wu Wei-Xin Wang Wan-Tang Fu Key Laboratory of Advanced Forging & Stamping Technology and Science(Yanshan University) Ministry of Education of China College of Mechanical Engineering and Applied Electronic Technology Beijing University of Technology CITIC Dicastal Wheel Manufacturing Co. Ltd. State Key Laboratory of Metastable Materials Science and Technology Yanshan University

A high-Ti 6061 alloy was rolled with strains up to 0. 8 - 2. 0 and at 350 - 550 ℃ . Microstructures that developed during deformation and subsequent solution heat treatment (SHT) were observed by using optical and transmission electron microscopy. Microstructure evolution during SHT depends mainly on the initial rolling temperature,and it was found that the higher this temperature is,the coarser the grains are. After rolling at 400 ℃ ,well-defined cells and subgrains were formed, which induced further sites for recrystallization nucleation during subsequent SHT. The recrystallization mechanism was found to be subgrain rotation,with a final grain size smaller than 200 μm. Increasing the rolling temperature to 500 ℃ results in a low density of dislocations distributed uniformly in the deformed matrix and fewer nucleation sites during subsequent SHT. The recrystallization mechanism is grain boundary bulging,while the final grain size approaches several millimeters. Finally,a hot forming process of high-Ti 6061 alloy for inhibiting grain coarsening was proposed,and verified by experiments.

关键词： aluminum alloy grain size recrystallization nucleation mechanism

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Forced responses of field modulated magnetic gear system

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ICIC Express Letters 2014年第7期8卷 2025-2030页

作者： Yuan, Xiaoming Zhang, Lijie Du, Bing Hao, Xiuhong Key Laboratory of Advanced Forging and Stamping Technology and Science Ministry of Education of China Yanshan University No. 438 Hebei Ave. Qinhuangdao 066004 China Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control Yanshan University No. 438 Hebei Ave. Qinhuangdao 066004 China School of Mechanical Engineering Yanshan University No. 438 Hebei Ave. Qinhuangdao 066004 China

Considering the torque ripples on the rotors, the dynamic model and the dynamic differential equations of field modulated magnetic gear (FMMG) system are founded. When the excitation frequency is close to a certain natural frequency of FMMG system, the expressions of the forced responses are deduced and the laws of the resonance responses are discussed. Results show that the amplitude of only a certain degree of freedom is always much bigger than others, because the electromagnetic coupling stiffnesses are weaker than the supporting stiffnesses. Forced responses of FMMG system can provide the theoretical basis for the parameter optimization during designing. © 2014 ISSN 1881-803X.

关键词： Dynamic models

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