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A real-time multi-head mixed attention mechanism-based prediction method for tunnel boring machine disc cutter wear

Science China(Technological Sciences) 2025年第1期68卷 286-307页

作者： Haodi WANG Chengjin QIN Honggan YU Zhinan ZHANG Guoqiang HUANG Zhengyang LIU Chengliang LIU State Key Laboratory of Mechanical System and Vibration School of Mechanical EngineeringShanghai Jiao Tong UniversityShanghai 200240China

In the process of hard rock tunnel excavation,workers often need to enter the tunnel boring machine(TBM)cutterhead at regular intervals to measure cutter ***,this method is time-consuming and *** cutter prediction models primarily rely on geological parameters to predict overall cutter wear before construction,making it challenging to monitor real-time wear at different locations of the cutter and obtain accurate geological *** address these challenges,this paper proposes a multi-head mixed attention mechanism-based method for real-time wear prediction of TBM disc ***,a method of cutter wear normalization to eliminate measurement noise is ***,considering the complex correlation of TBM operating parameters in feature and time dimensions,a new multi-head mixed attention mechanism model is designed to establish the dependency between different features and different moments,to better establish the mapping model between operating parameters and cutter ***,the current cutter wear state can be calculated by accumulating the wear amount of all previous small excavation *** effectiveness of the method is verified by using field data from the Mumbai *** results demonstrate that the method is capable of real-time prediction of front cutter and edge cutter wear on the test set,achieving an average accuracy rate of 95.75%.Moreover,the method can update the cutter wear status after every meter of excavation,which has good real-time *** addition,the average accuracy of cutter wear prediction of the proposed method is 11.75%,10.375%,3.875%,3.625%,1.375%,3.125%,2.25%,and 0.75%higher than that of LSTM,CNN,LSTM-CNN,CACNN,SACNN,MMADNN,MTACNN,and *** summary,this approach offers an accurate prediction of cutter wear state while reducing inspection time and costs and has high application value.

关键词： tunnel boring machine cutter wear estimation multi-head mixed attention mechanism real time

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Novel multi-waypoint planning methods based on intermediate state optimization

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Science China(Technological Sciences) 2025年第3期68卷 179-191页

作者： Xinyu QIN Guangbao ZHAO Zixuan LIAO Chao LIU Zhenhua XIONG State Key Laboratory of Mechanical System and Vibration School of Mechanical EngineeringShanghai Jiao Tong UniversityShanghai200240China

Multi-waypoint planning is essential for manipulators to execute complex tasks *** requires the manipulator to swiftly traverse designated waypoints while adhering to all the kinematic ***,previous research has not fully exploited the kinematic capabilities of manipulators and has overlooked collision *** address these problems,this paper presents two novel methods called recursive intermediate state optimization(RISO)and overall intermediate state optimization(OISO).RISO decomposes the multi-waypoint planning problem into a sequence of one-waypoint planning tasks,employing a recursive approach to generate feasible solutions *** utilizes an improved whale optimization algorithm(WOA),incorporating multiple iterative processes to perform secondary optimization in high-dimensional space based on the initial value,yielding better *** proposed methods have been validated on a six-degree-of-freedom manipulator platform and compared with several traditional algorithms,as well as the state-of-the-art algorithm,*** results show that RISO outperforms Ruckig in scenarios where computation time is critical,while OISO is better suited for scenarios where trajectory quality is prioritized over ***,the proposed methods can also handle collisions,ensuring the generation of collision-free trajectories.

关键词： multi-waypoint planning intermediate state optimization aerial photography task

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A novel domain decomposition-based model for efficient dynamic predictions of large composite machine tools

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Science China(Technological Sciences) 2024年第6期67卷 1765-1782页

作者： YU YangBo JI Yu Lei CHEN YanRen XU Kun BI QingZhen State Key Laboratory of Mechanical System and Vibration School of Mechanical EngineeringShanghai Jiao Tong UniversityShanghai200240China

We propose a large combined moving component composed of carbon fiber reinforced polymer(CFRP)laminates for making lightweight machine tools with high dynamic *** accurate dynamic prediction of composite machine tools is essential for the new generation machine *** paper aims to address two challenges in numerical dynamic modeling and the design of composite machine tools to enhance development efficiency.(1)Anisotropic composite laminates,which form the composite machine tool,exhibit coupling in various *** propose the generalized continuity condition of the boundary to tackle this dynamic modeling challenge.(2)Composite machine tools feature numerous composite-metal coupled *** mechanical model correction of isotropic metals is performed to address their *** take the example of a five-axis gantry machine tool with composite moving parts,establish a dynamic model for efficient prediction,and verify it through simulation and *** proposed method yields remarkable results,with an average relative error of only 3.85%in modal frequency prediction and a staggering 99.7%reduction in solution time compared to finite element *** further discuss the dynamic performance of the machine tool under varied stacking angles and layer numbers of the composite machine *** propose general design criteria for composite machine tools to consider the modal frequency and manufacturing cost of machine tools.

关键词： machine tool dynamics carbon fiber reinforced polymer composite laminates

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A residual denoising and multiscale attention-based weighted domain adaptation network for tunnel boring machine main bearing fault diagnosis

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Science China(Technological Sciences) 2024年第8期67卷 2594-2618页

作者： ZHONG Tao QIN ChengJin SHI Gang ZHANG ZhiNan TAO JianFeng LIU ChengLiang State Key Laboratory of Mechanical System and Vibration School of Mechanical EngineeringShanghai Jiao Tong UniversityShanghai 200240China

As a critical component of a tunnel boring machine(TBM),the precise condition monitoring and fault analysis of the main bearing is essential to guarantee the safety and efficiency of the TBM cutter ***,under conditions of strong noise and complex working environments,traditional signal decomposition and machine learning methods struggle to extract weak fault features and achieve high fault classification *** address these issues,we propose a novel residual denoising and multiscale attention-based weighted domain adaptation network(RDMA-WDAN)for TBM main bearing fault *** approach skillfully designs a deep feature extractor incorporating residual denoising and multiscale attention modules,achieving better domain adaptation despite significant domain *** residual denoising component utilizes a convolutional block to extract noise features,removing them via residual ***,the multiscale attention module uses a 4-branch convolution and 3 pooling strategy-based channel–spatial attention mechanism to extract multiscale features,concentrating on deep fault *** training,a weighting mechanism is introduced to prioritize domain samples with clear fault *** optimizes the deep feature extractor to obtain common features,enhancing domain adaptation.A low-speed and heavy-loaded bearing testbed was built,and fault data sets were established to validate the proposed *** experiments show that in noise domain adaptation tasks,proposed the RDMA–WDAN significantly improves target domain classification accuracy by 42.544%,23.088%,43.133%,16.344%,5.022%,and 9.233%over dense connection network(DenseNet),squeeze–excitation residual network(SE-ResNet),antinoise multiscale convolutional neural network(ANMSCNN),multiscale attention module-based convolutional neural network(MSAMCNN),domain adaptation network,and hybrid weighted domain adaptation(HWDA).In combined noise and working condition domain a

关键词： tunnel boring machine(TBM) main bearing fault diagnosis domain adaptation antinoise cross working RDMA-WDAN

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A variable structure passivity control method for elastic joint robots based on cascaded high-order state estimation

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Science China(Technological Sciences) 2024年第2期67卷 395-407页

作者： ZHANG JieXin NIE PingYun ZHANG Bo State Key Laboratory of Mechanical System and Vibration School of Mechanical EngineeringShanghai Jiao Tong UniversityShanghai200240China

Passivity-based controllers are widely used to facilitate physical interaction between humans and elastic joint robots,as they enhance the stability of the interaction ***,the joint position tracking performance can be limited by the structures of these controllers when the system is faced with uncertainties and rough high-order system state measurements(such as joint accelerations and jerks).This study presents a variable structure passivity(VSP)control method for joint position tracking of elastic joint robots,which combines the advantages of passive control and variable structure *** method ensures the tracking error converges in a finite time,even when the system faces *** method also preserves the passivity of the ***,a cascaded observer,called CHOSSO,is also proposed to accurately estimate high-order system states,relying only on position and velocity *** observer allows independent implementation of disturbance compensation in the acceleration and jerk estimation *** particular,the observer has an enhanced ability to handle fast time-varying disturbances in physical human-robot *** effectiveness of the proposed method is verified through simulations and experiments on a lower limb rehabilitation robot equipped with elastic joints.

关键词： motion control elastic joint robot finite-time convergence high-order system state estimation physical human-robot interaction

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Task-Oriented Topology system Synthesis of Reconfigurable Legged Mobile Lander Integrating Active and Passive Metamorphoses

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Chinese Journal of mechanical engineering 2023年第3期36卷 89-109页

作者： Youcheng Han Ziyue Li Gaohan Zhu Weizhong Guo Jianzhong Yang Wei Liu State Key Lab of Mechanical System and Vibration School of Mechanical EngineeringShanghai Jiao Tong UniversityShanghai 200240China Beijing Institute of Spacecraft System Engineering Beijing 100094China

To explore hostile extraterrestrial landforms and construct an engineering prototype,this paper presents the task-oriented topology system synthesis of reconfigurable legged mobile lander(ReLML)with three operation modes from adjusting,landing,to *** with our preceding works,the adjusting mode with three rotations(3R)provides a totally novel exploration approach to geometrically matching and securely arriving at complex terrains dangerous to visit currently;the landing mode is redefined by two rotations one translation(2R1T),identical with the tried-and-tested Apollo and Chang'E landers to enhance survivability via reasonable touchdown buffering motion;roving mode also utilizes 2R1T motion for good motion and force *** reconfigurable mechanism theory is first brought into synthesizing legged mobile lander integrating active and passive metamorphoses,composed of two types of metamorphic joints and metamorphic execution and transmission *** reveal metamorphic principles with multiple finite motions,the finite screw theory is developed to present the procedure from unified mathematical representation,modes and source phase derivations,metamorphic joint and limb design,to final structure *** identify the prototype topology,the 3D optimal selection matrix method is proposed considering three operation modes,five evaluation criteria,and two topological ***,simulation verifies the whole task implementation process to ensure the reasonability of design.

关键词： Legged mobile lander Topology synthesis Active and passive metamorphoses Finite screw Metamorphic joint Reconfigurable mechanism

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Effect of the yaw angle on turbulent flow structures around the submarine model

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Journal of Hydrodynamics 2024年第3期36卷 421-434页

作者： Yi-jing Hu Yi Qu Qin Wu Biao Huang School of Mechanical Engineering Beijing Institute of TechnologyBeijing100081China Beijing Institute of Electronic System Engineering Beijing100854China

The objective of this paper is to investigate the turbulent flow structures around the submarine model and evaluate the effect of the yaw angle on the turbulent flow *** large eddy simulation based on the boundary data immersion method is used to *** computational domain consists of 1.2×10^(8)uniformly distributed Cartesian orthogonal grid nodes to capture the basic flow characteristics around the *** pressure coefficient,friction coefficient and wake velocity distribution are in good agreement with the experimental *** different types of vortex structures were mainly captured around the model,including horseshoe vortex,sail tip vortex and crossflow separation *** the increase of the yaw angle,the asymmetry of the horseshoe vortex and the tip vortex gradually increases,and the vortex strength of the vortex leg on the windward of the horseshoe vortex and the vortex strength of the tip vortex also increase *** the crossflow separation vortex,the flow separation zone gradually expands and migrates downstream with the increase of the yaw angle.

关键词： Vortex structure submarine model boundary data immersion method yaw angle

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Conceptual design and analysis of legged landers with orientation capability

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Chinese Journal of Aeronautics 2023年第3期36卷 171-183页

作者： Rongfu LIN Weizhong GUO Changjie ZHAO Mingda HE State Key Laboratory of Mechanical System and Vibration School of Mechanical EngineeringShanghai Jiao Tong University200240China

The lander with orientation capability is of fundamental importance for the“Returning”mission because its body can be the base with a suitable launching angle for the ascender lifting *** paper proposes the conceptual design and verification of Landers with Orientation Capability(LOCs).Firstly,the topological composition of the lander is analyzed and expressed in the form of Lie group,which provides the fundamental principle for the type synthesis of ***,the type synthesis approach for designing LOCs is proposed,which includes designing the Equivalent Parallel Mechanism(EPM)and the auxiliary *** mechanisms of LOCs with twodimensional rotational motions are obtained based on the type synthesis approach by developing and combining the EPMs and auxiliary ***,kinematics and Jacobian matrix of a typical legged lander are developed,the workspace is analyzed,singularity configurations are analyzed based on the wrench graph method,and finally,the orientation capability is *** pitch and yaw angle reach 17.5°,considering the permissible range of *** proposed types of LOCs offer potential candidate for the“Returning”mission of the exploration mission.

关键词： Legged lander Orientation analysis Orientation capability Parallel mechanism Type synthesis

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Stair Overcoming Robot Using Splitting Wheel

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Journal of Institute of Control, Robotics and systems 2024年第3期30卷 219-225页

作者： Shin, Ju-Hyeop Lim, Ji-Ho Shin, Dongwon Department of Mechanical System Engineering Kumoh National Institute of Techology Korea Republic of

In this study, we introduce the design of a mobile robot with a splitting wheel to improve stability when overcoming stairs. The designed mobile robot usually moves on circular wheels but can convert into a split shape to climb stairs. Splitting wheels differ from traditional transformable wheels in that they split apart rather than transform into a leg-like structure, making the separation process more reliable. The splitting wheel allows the robot to switch from circular wheels for regular movement to a split configuration for climbing stairs. Furthermore, unlike traditional transformable wheels, the splitting wheels keep contact with the stairs while climbing, reducing the robot's swaying and enhancing stability. The performance of the designed robot was validated using a dynamic analysis program that compared a robot with a splitting wheel to one with traditional transformable wheels. This performance involved simulating wheel-stair separation moments and assessing the robot's stability in motion. Subsequently, we built the robot and tested its ability to climb stairs. Such a robot using a splitting wheel will likely find applications in various fields, including delivery and office-related tasks. © ICROS 2024.

关键词： Mobile robots

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Radius-increasing Expanding Wheel for Rough Terrain Robots

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Journal of Institute of Control, Robotics and systems 2024年第3期30卷 234-240页

作者： Kim, Seon-Woo Kim, Min-Soo Choi, Kyung-Jin Shin, Dongwon Department of Mechanical System Engineering Kumoh National Institute of Technology Korea Republic of

This study proposes the radius-increasing expanding wheel to solve problems encountered by conventional variable wheels. Conventional wheels have difficulty achieving high-speed travel due to their incomplete circular shape during transformation, leading to non-contact spaces and impacts that contribute to wheel durability deterioration. However, the expanding wheel addresses these issues by improving obstacle-surmounting performance through wheel extension. Three expanding wheels, spaced 45 degrees apart, maintain a circular shape after expansion, reducing non-contact spaces during travel while retaining the advantage of fast travel inherent to wheel locomotion. The expanding wheel is powered by a dual-motor system that allows transitions between regular driving mode, wheel expansion mode, and expansion driving mode, dependent on the relative movement of each motor. The proper movement of the expanding wheel was tested through dynamic analysis using simulation programs. The comparison of expansion velocity to theoretical calculations proved the expansion mechanism’s normal motion. The expanding wheel’s capability to overcome rough terrain makes it a promising solution for mobile robot navigation, with applications in delivery and transportation. © ICROS 2024.

关键词： Wheels

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