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Innovation design and operation control method of the minimally invasive vascular interventional surgery robot system

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Biotechnology: An Indian Journal 2013年第12期8卷 1604-1613页

作者： Xue, Yang Hongbo, Wang Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao 066004 China Key Laboratory of Advanced Forging and Stamping Technology and Science of Ministry of Education Yanshan University Qinhuangdao 066004 China

A novel minimally invasive vascular interventional surgery robot system is proposed. The system includes a positioning arm, a catheter interventional device and its manipulation *** operation control method for the positioning arm is presented, which is to drag a six-dimensional force sensor fixed on the end of the arm. A six-dimensional force signal will be outputted and transformed into a position and orientation matrix respective to the positioning arm. A fictitious joint is added to the arm with five-degree of freedom (DOF) in accordance with certain principles to change it into a six-DOF configuration. Using the obtained position and orientationmatrix to do inverse kinematic of the six-DOFmechanism, the inverse kinematic of the five-DOF mechanism can be obtained. Take these values as position control commands to the corresponding jointmotors to realize the motion control of the positioning *** example is given to verify the correctness of the proposed method. A master-slave system composed by a catheter interventional device and its manipulation device is proposed. The corresponding actions of every operation states and the master-slave control principle are given. The mapping relations between the displacement distances of the manipulation handle and the promoting finger and between the rotation angles of the handle wheel and the catheter/guide wire are described. By setting different proportionality coefficients, themulti-gear control can be *** the help of master-slave operational method, the doctors can do operations outside the operation room to protect themselves from radiation. Moreover, the systemcan realize force feedback which can help the operator to have force telepresence and to increase the sense of reality and immersion. © 2013 Trade science Inc. - INDIA.

关键词： Degrees of freedom (mechanics)

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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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Design of a new solution for the wheeled hopping robot

Design of a new solution for the wheeled hopping robot

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UKACC International Conference on Control (CONTROL)

作者： Jingjing Liu Hongbo Wang Hongnian Yu Lili Zhang Luige Vladareanu Adrian Bruja Gal I. Alexandru 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 College of Electrical Engineering Yanshan University Qinhuangdao China School of Design Engineering and Computing Bournemouth University Poole UK Robotics and Mechatronic Department Institute of Solid Mechanics Bucharest Romania

In recent years many researchers are trying to combine wheeled movement with legged movement or hopping movement to strengthen the robots adaptability to environment. Hybrid robots are playing a more and more important role in our modern life. However, their controls are mostly complicated. So in this paper we present a new solution for the wheeled hopping robot. Based on the mechanical design, this robot has two movement modes: wheeled and hopping movement mode. While the center of gravity of the mechanism is under the wheels center, the wheeled hopping robot which is like a tumbler can keep its stability even when the wheels' velocity is zero. In this paper, we firstly introduce the description and design of the wheeled hopping robot. Then we explain how to choose the robot parameters and lastly we describe, how the robot through hopping, successfully traverses obstacles and ditches.

关键词： Mobile robots Shafts Wheels Springs Robot kinematics Force

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Simulation on the transient thermal stress field of the wall-shaped part deposited by laser direct metal powder deposition

Simulation on the transient thermal stress field of the wall...

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2012 International Conference on Biomaterial and Bioengineering, ICBB 2012

作者： Xi, Mingzhe Key Laboratory of Advanced Forging and Stamping Technology and Science Yanshan University Ministry of Education of China Qinhuangdao City 066004 Hebei Province China

ISBN: (纸本)9783037855973

A thermo-kinetic model for the transient thermal stress field of the wall-shaped part produced using laser direct powder deposition process is developed. In case of numerical modeling, the capabilities of ANSYS parametric design language and the the 'birth and death' element technique were employed. The distribution of the thermal stress of the wall-shaped part at different time was calculated by the model. Results show that during process, the X-direction thermal stress within top layer of the wall-shape part and that within the interior deposited layers of the wall-shape part was tensile stress and compressive stress, respectively. The deformation of the wall-shaped part and base plate was also calculated. © (2013) Trans Tech Publications, Switzerland.

关键词： Finite element method

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Investigation on the microstructures and tensile properties of TA15 titanium alloy thick-wall parts formed by laser rapid forming process

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2012 International Conference on Advances in Materials science and Engineering, AMSE 2012

作者： Xi, Mingzhe Key Laboratory of Advanced Forging and Stamping Technology and Science Yanshan University Ministry of Education of China Qinhuangdao City 066004 Hebei Province China

ISBN: (纸本)9783037855997

TA15 titanium alloy thick-wall parts have been deposited by Laser rapid forming (LRF) process. In this paper, a new overlap method between two adjacent laser tracks has been used to deposit the thick-wall titanium part. Results showed that the LRFed thick-wall titanium part was good in shape by using the new overlap method. The microstructure of the LRFed titanium alloy primarily consists of columnar prior-beta grain, which is perpendicular to the substrate resulting from directionally solidification. It also could be observed that the size of alpha phase increased with increasing laser power and decreasing scanning velocity. Tensile properties of LRFed titanium was slightly lower than that of the wrought annealed TA15 titanium alloy, after the heat-treatment of 940°C/1h/AC, the heat-treated titanium alloy showed good tensile properties which were equivalent to that of the wrought annealed TA15 titanium alloy. © (2013) Trans Tech Publications, Switzerland.

关键词： Microstructure

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Prediction and experimental verification of springback control on tailor welded blanks of high strength steel air bending process

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ICIC Express Letters 2013年第10期7卷 2811-2816页

作者： Duan, Yongchuan Guan, Yingping Wu, Bin Key Laboratory of Advanced Forging and Stamping Technology and Science Ministry of Education of China Yanshan University No. 438 Hebei Ave Qinhuangdao 066004 China School of Mechanical Engineering and Applied Electronics Technology Beijing University of Technology No. 100 Pingleyuan Chaoyang District Beijing 100022 China

The analytical springback prediction model of tailor welded blanks (TWBs) of high strength steel for air bending process is put forward;the forming process is divided into non-warp around condition and warp around condition respectively. At the air bending unloading phase, the interaction moment of the two parent blanks is introduced to the model, and then the unloaded angle is obtained based on a single parent plate. The comparison is made for constant elastic modulus and variable elastic modulus with plastic deformation increasing. The nonlinear implicit relationship between punch displacement and the unloaded angle is solved by the incremental numerical method. The experiment results of TWBs of the thickness ratio (0.586/0.9) and analytical prediction result agreed well with each other, so it is the foundation of the theory and experiment for TWBs' air bending process real-time control technology. © 2013 ICIC International.

关键词： Real time control

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The feedback control and simulation of a new chaotic system

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ICIC Express Letters 2013年第11期7卷 2927-2932页

作者： Liu, Wen Cui, Yanling Zhao, Jingyi Zhang, Hui College of science Yanshan University No. 438 Hebei Ave Qinhuangdao 066004 China 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

In this paper, a new 3D autonomous chaotic system is presented. The chaotic behavior of the system, the stability at the equilibriums and control problems are discussed. Based on Lyapunov stability theory, utilizing the feedback control method, the linear and nonlinear feedback controllers are designed. Under the effective controllers, the sufficient condition of the unstable equilibrium is obtained. The theoretical analysis and simulation results are given to show the effectiveness of the method. © 2013 ISSN 1881-803X.

关键词： Feedback control

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Numerical Simulation and Analysis to the behavior of Inner Hole Defect of Integral Top Cover for pressure Vessel

Numerical Simulation and Analysis to the behavior of Inner H...

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2013 2nd International Conference on Manufacture Engineering,Quality and Production System(ICMEQP 2013)

作者： Zhaoqing Yu Shaomin Nie Shaoyin Qi Rongsheng Qi Xingang Liu Miao Jin Key Laboratory of Advanced Forging & Stamping Technology and Science (Yanshan University) Ministry of Education of China

The integral top cover for nuclear reactor pressure vessel is an important force component in the pressure vessel. It works under the HPHT and radiation long time, which increases forging difficultly and needs extremely high quality. Due to the effect of bi-directional tensile stress in spherical part during the shape forming stage of the integral top cover, it is easy to make holes and other defects of the blank extend. Then, it is necessary to study the behavior of the inner hole defect of integral top cover. This paper, by numerical simulation technology, concrete analyses the volume of the hole defect, the size of the hole defect and variation of the hole edges in the stress-strain fields during the shape forming stage of the integral top cover. It researches the control scope of the original size of blank holes when the integral top cover forging meet the requirements of the flaw detection. Research results show that, according to the requirements of volume and maximum size permissible value, the diameter of holes in the integral top cover blank should be respectively less than 1.8 mm, 1.5 mm.

关键词： Integral top cover Hole defect Numerical simulation analysis Permissible value

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Reliability optimization of multi-state hydraulic system based on T-S fault tree and extended PSO algorithm

Reliability optimization of multi-state hydraulic system bas...

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6th IFAC Symposium on Mechatronic Systems, MECH 2013

作者： Yao, Chengyu Wang, Bin Chen, Dongning Key Laboratory of Industrial Computer Control Engineering of Hebei Province Yanshan University Qinhuangdao China Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control Yanshan University Qinhuangdao China Key Laboratory of Advanced Forging and Stamping Technology and Science Yanshan University Ministry of Education of China Qinhuangdao China

ISBN: (纸本)9783902823311

In order to overcome the difficulty of constructing the multi-state system's reliability optimization model, and the shortage of premature convergence of PSO (Particle Swarm Optimization) algorithm, a new reliability optimization method based on T-S fault tree and EPSO (Extended PSO) algorithm is proposed. According to the T-S fault tree and T-S rules of the events, the multi-state system reliability optimization model is constructed, at the same time, given constraint conditions on the system cost, weight and volume, and combined with the death penalty to construct the fitness function. Furthermore, EPSO algorithm based on the attraction and repulsion forces in the artificial physics is applied to the reliability optimization of multi-state hydraulic system. Comparing with PSO algorithm, the results of EPSO algorithm are in a better performance in obtaining global optimal solution. © 2013 IFAC.

关键词： Trees (mathematics)

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