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Design and optimization of origami-inspired inflatable deployable tubular structures

Chinese Journal of Aeronautics 2025年第3期38卷 645-661页

作者： Bo QIN Shengnan LYU Shiwei LIU Xilun DING School of Mechanical Engineering and Automation Beihang UniversityBeijing 100191China

Inflatable deployable structures inspired by origami have significant applications in space missions such as solar arrays and *** this paper,a generalized Miura-ori tubular cell(GMTC)is presented as the basic cell to design a family of inflatable origami tubular structures with the targeted ***,the classification of rigid foldable degree-4 vertices is studied *** the proposed GMTC is comprised of forming units(FU)and linking units(LU),types of FUs and LUs are investigated based on the classification of degree-4 vertices,*** rigid foldability of the GMTC is presented by studying the kinematics of the FUs and *** of the GMTC is analyzed to investigate multistable configurations of the basic *** variations in volume of the GMTC offer great potential for developing the inflatable tubular *** method and parametric optimization of the tubular structure with targeted configuration are *** feasibility of the approach is validated by the approximation of four different cases,namely parabolic,semicircular,trapezoidal,and straight-arc hybrid tubular structures.

关键词： Rigid origamil Inflatable deployable structure Variable volume Multistable configuration Parametric optimization design

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Contact Dynamics Modeling and Control During the Combination Process of Air-Ground Robots

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Chinese Journal of mechanical engineering 2025年第1期38卷 306-322页

作者： Xueying Jin Haoyuan Liu Guiyu Dong Kun Xu Xilun Ding School of Mechanical Engineering and Automation Beihang UniversityBeijing 100191China

In recent years,there has been a surge of interest in air-ground collaborative robotics *** research group designs a novel combination-separation air-ground robot(CSAGR),which exhibits rapid automatic combination and separation *** the combination process,contact effects between robots,as well as between robots and the environment,are ***,it is essential to conduct detailed and accurate modeling and analysis of the collision impact intensity and transmission pathways within the robotic system to ensure the successful execution of the combination *** paper addresses the intricate surface geometries and multi-point contact challenges present in the contact regions of dual robots by making appropriate modifications to the traditional continuous contact force model and applying equivalent processing *** validity of the developed model is confirmed through comparisons with results obtained from finite element analysis(FEA),which demonstrates its high ***,the impact of this model on control performance is analyzed within the flight control system,thereby further ensuring the successful completion of the combination *** research represents a pioneering application and validation of continuous contact theory in the dynamics of collisions within dual robot systems.

关键词： Air-ground robot Combination-separation function Contact force Dynamic modeling Finite element analysis

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Genetic Algorithm Optimization Design of Gradient Conformal Chiral Metamaterials and 3D Printing Verifiction for Morphing Wings

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Chinese Journal of mechanical engineering 2024年第6期37卷 346-364页

作者： Qian Zheng Weijun Zhu Quan Zhi Henglun Sun Dongsheng Li Xilun Ding School of Mechanical Engineering and Automation Beihang UniversityBeijing 100191China

This paper proposes a gradient conformal design technique to modify the multi-directional stiffness characteristics of 3D printed chiral metamaterials,using various airfoil *** method ensures the integrity of chiral cell nodal circles while improving load transmission efficiency and enhancing manufacturing precision for 3D printing applications.A parametric design framework,integrating finite element analysis and optimization modules,is developed to enhance the wing’s multidirectional *** optimization process demonstrates that the distribution of chiral structural ligaments and nodal circles significantly affects wing *** stiffness gradient optimization results reveal a variation of over 78%in tail stiffness performance between the best and worst parameter *** outcomes suggest that this strategy can develop metamaterials with enhanced deformability,offering a promising approach for designing morphing wings.

关键词： Morphing wings Chiral metamaterials Gradient conformal design Genetic algorithm optimization 3D printing

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Towards complex scenes: A deep learning-based camouflaged people detection method for snapshot multispectral images

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Defence Technology（防务技术） 2024年第4期34卷 269-281页

作者： Shu Wang Dawei Zeng Yixuan Xu Gonghan Yang Feng Huang Liqiong Chen School of Mechanical Engineering and Automation Fuzhou UniversityFuzhou 350108China

Camouflaged people are extremely expert in actively concealing themselves by effectively utilizing cover and the surrounding environment. Despite advancements in optical detection capabilities through imaging systems, including spectral, polarization, and infrared technologies, there is still a lack of effective real-time method for accurately detecting small-size and high-efficient camouflaged people in complex real-world scenes. Here, this study proposes a snapshot multispectral image-based camouflaged detection model, multispectral YOLO(MS-YOLO), which utilizes the SPD-Conv and Sim AM modules to effectively represent targets and suppress background interference by exploiting the spatial-spectral target information. Besides, the study constructs the first real-shot multispectral camouflaged people dataset(MSCPD), which encompasses diverse scenes, target scales, and attitudes. To minimize information redundancy, MS-YOLO selects an optimal subset of 12 bands with strong feature representation and minimal inter-band correlation as input. Through experiments on the MSCPD, MS-YOLO achieves a mean Average Precision of 94.31% and real-time detection at 65 frames per second, which confirms the effectiveness and efficiency of our method in detecting camouflaged people in various typical desert and forest scenes. Our approach offers valuable support to improve the perception capabilities of unmanned aerial vehicles in detecting enemy forces and rescuing personnel in battlefield.

关键词： Camouflaged people detection Snapshot multispectral imaging Optimal band selection MS-YOLO Complex remote sensing scenes

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Interface property of dissimilar Ti-6Al-4V/AA1050 composite laminate made by non-equal channel lateral co-extrusion and heat treatment

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Defence Technology（防务技术） 2024年第3期33卷 197-208页

作者： Juan Liao Mengmeng Tian Xin Xue School of Mechanical Engineering and Automation Fuzhou UniversityFuzhou 350116China

The purpose of this paper is to examine the effect of processing parameters and subsequent heat treatments on the microstructures and bonding strengths of Ti-6Al-4V/AA1050 laminations formed via a non-equal channel lateral co-extrusion *** microstructural evolution and growth mechanism in the diffusion layer were discussed further to optimize the bonding quality by appropriately adjusting process *** electron microscopes(SEM),energy dispersive spectrometer(EDS),and X-ray diffraction(XRD)were used to characterize interfacial diffusion *** shear test was used to determine the mechanical properties of the interfacial diffusion *** experimental results indicate that it is possible to co-extrusion Ti-6Al-4V/AA1050 compound profiles using non-equal channel lateral *** heat treatment processes affect the thickness of the diffusion *** the temperature and time of heat treatment increase,the thickness of the reaction layers increases ***,the shear strength of the Ti-6Al-4V/AA1050 composite interface is proportional to the diffusion layer *** is observed that a medium interface thickness results in superior mechanical performance when compared to neither a greater nor a lesser interface *** characterization of all heat treatments reveals that the only intermetallic compound observed in the diffusion layers is TiAl_(3).Due to the inter-diffusion of Ti and Al atoms,the TiAl_(3) layer grows primarily at AA1050/TiAl_(3) interfaces.

关键词： Shear strength Co-extrusion Heat treatment Microstructure Intermetallic compounds

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Mole-inspired Forepaw Design and Optimization Based on Resistive Force Theory

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Journal of Bionic engineering 2025年第1期22卷 171-180页

作者： Tao Zhang Zhaofeng Liang Hongmin Zheng Zibiao Chen Kunquan Zheng Ran Xu Jiabin Liu Haifei Zhu Yisheng Guan Kun Xu Xilun Ding School of Mechanical Engineering and Automation Beihang UniversityBeijing100191China School of Electro-mechanical Engineering Guangdong University of TechnologyGuangzhou510006China

Moles exhibit highly effective capabilities due to their unique body structures and digging techniques,making them ideal models for biomimetic ***,a major challenge for mole-inspired robots lies in overcoming resistance in granular media when burrowing with *** the absence of effective forepaw design strategies,most robotic designs rely on increased power to enhance *** address this issue,this paper employs Resistive Force Theory to optimize mole-inspired forepaws,aiming to enhance burrowing *** analyzing the relationship between geometric parameters and burrowing forces,we propose several forepaw design *** granular resistance assessments,an effective forepaw configuration is identified and further refined using parameters such as longitudinal and transverse ***,the Particle Swarm Optimization algorithm is applied to determine the optimal forepaw *** force-loading tests,the optimized forepaw demonstrated a 79.44%reduction in granular lift force and a 22.55%increase in propulsive force compared with the control *** robotic burrowing experiments,the optimized forepaw achieved the longest burrow displacement(179.528 mm)and the lowest burrowing lift force(0.9355 mm/s),verifying its effectiveness in reducing the lift force and enhancing the propulsive force.

关键词： Resistive force theory Mole-inspired forepaw design Structural optimization Bioinspired robot

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Optimisation of parameters of a dual-axis soil remediation device based on response surface methodology and machine learning algorithm

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Particuology 2025年第1期96卷 26-43页

作者： Zhipeng Wang Tong Zhu Youzhao Wang Feng Ma Chaoyue Zhao Xu Li Yanping Zhang Institute of Process Equipment and Environmental Engineering School of Mechanical Engineering and AutomationNortheastern UniversityShenyang110819China

To accelerate the recycling of black soil,it is necessary to develop a new type of soil remediation equipment to improve its working *** one-way test was used to determine the mean level value of the steepest climb test,and the combined equilibrium method was used to determine the upper and lower interval levels of the response surface test for parameter *** on the results of the response surface indices,machine learning was performed and the optimal model was *** results show that the predictive ability and stability of the decision tree model for the two indicators are better than that of random forest and support vector *** optimal parameter combinations determined using the decision tree model are:speed 73 rpm,homogenisation pitch 183 mm,homogenisation time 1 s,descent speed 0.06 m/*** error between the optimal value of the machine learning prediction model and the actual simulation is 1.1%and 5.72%,*** results of the study show that the effect of optimizing the parameters through machine learning achieves a satisfactory prediction accuracy.

关键词： Black soil Machine learning Mixing homogeneity Discrete element method Response surface methodology

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Cooperative Target Fencing of Multiple Vehicles for a General Target with Connectivity Preservation and Collision Avoidance

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Journal of Systems Science & Complexity 2024年第1期37卷 136-151页

作者： PAN Zini CHEN Ben M Department of Mechanical and Automation Engineering The Chinese University of Hong KongHong KongChina

In this paper,the authors study the cooperative target-fencing problem for n-dimensional systems and a target with a general *** using the velocity of the vehicles,a position feedback control law is proposed to fence the general target into the convex hull formed by the ***,the dynamics of each vehicle is described by a double-integrator *** potential functions are designed to guarantee connectivity preservation of the communication network and collision avoidance among the *** proposed approach can deal with a target whose trajectory is any twice continuously differentiable function of *** effectiveness of the result is verified by a numerical example.

关键词： Multi-agent systems networked systems target fencing

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Distributed Nash Equilibrium Seeking with Disturbances of Unknown Frequencies for High-Order Integrators over Jointly Strongly Connected Switching Networks

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Journal of Systems Science & Complexity 2025年第1期38卷 369-389页

作者： HE Xiongnan HUANG Jie Department of Mechanical and Automation Engineering The Chinese University of Hong KongHong Kong 999077China

In this paper,the authors study the problem of distributed Nash equilibrium seeking of N-player games with high-order integrator dynamics subject to disturbances generated by an uncertain *** problems have been studied for disturbances with an exactly known *** with the existing results of high-order integrator dynamics,which can only handle sinusoidal disturbances with known frequencies,this paper aims to handle multi-tone disturbances with unknown frequencies by introducing an adaptive control technique to estimate the unknown ***,when the exosystem is known,the disturbance can be dealt with by the Luenburger *** contrast,the Luenburger observer cannot deal with an uncertain *** authors combine the internal model design and some adaptive control technique to solve the proposed ***,the authors also establish the sufficient condition to guarantee the convergence of the estimated unknown frequencies to the actual values of these *** examples are given to verify the proposed algorithm.

关键词： Adaptive control disturbance rejection high-order integrator dynamics internal model jointly strongly connected switching graphs Nash equilibrium seeking

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Improved dynamic regret of distributed online multiple Frank-Wolfe convex optimization

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Science China(Information Sciences) 2024年第11期67卷 164-179页

作者： Wentao ZHANG Yang SHI Baoyong ZHANG Deming YUAN School of Automation Nanjing University of Science and Technology Department of Mechanical Engineering University of Victoria

In this paper, we explore a distributed online convex optimization problem over a time-varying multi-agent network. The network aims to minimize a global loss function through local computation and communication with neighboring agents. To effectively handle the optimization problem which involves highdimensional and structural constraint sets, we develop a distributed online multiple Frank-Wolfe algorithm that circumvents the expensive computational cost associated with projection operations. The dynamic regret bounds are established as O(T1-γ+ HT) with the linear oracle number O(T1+γ), which depends on the horizon（total iteration number） T, the function variation HT, and the tuning parameter 0 < γ < *** particular, when the prior knowledge of HTand T is available, the bound can be enhanced to O（1 +HT）. Moreover, we explore the significant advantages provided by the multiple iteration technique and reveal a trade-off between dynamic regret bound, computational cost, and communication cost. Finally,the performance of our algorithm is validated and compared through the distributed online ridge regression problems with two constraint sets.

关键词： distributed online convex optimization multiple iterations Frank-Wolfe algorithm dynamic regret gradient tracking method

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