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17th IEEE International Conference on mechatronics and Automation, ICMA 2020

作者： Wang, Xiaofei Chen, Chenfei Li, Zhaotong Tianjin University of Technology Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin300384 China

ISBN: (纸本)9781728164151

Augmented reality (AR) technology is a cutting technology. It can enhance the perception of reality and provide more information of the real world. AR technology is used in many fields, like medical, industry, and education. In this paper, AR is introduced into engineering drawing course. Engineering drawing course is difficult to learn as it is a knowledge that students rarely contact with. To have a close contact with the models and the views, a convenient AR application (AR app) is proposed in the paper. With the help of the AR app, virtual models and real views are combined well. The models can be moved and rotated by touching the screen. Some videos of model assembly and disassembly can be obtained when scanning the quick response code (QR code). Thus, it is convenient for students to use mobile phone to study engineering drawing effectively. The interactive teaching environment enhances students' spatial thinking and cultivates their sense of innovation. © 2020 IEEE.

关键词： Augmented reality

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Trajectory Optimization and control Method Based on Multistage Nonlinear Model Predictive control

Trajectory Optimization and Control Method Based on Multista...

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Artificial Intelligence, Networking and Information Technology (AINIT), International Seminar on

作者： Qingchun Zheng Zhi Peng Peihao Zhu Ran Zhai Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control Tianjin University of Technology Tianjin China School of Mechanical Engineering Tianjin University of Technology Tianjin China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin China

To improve the trajectory optimization efficiency of robot manipulators, this paper proposes a novel approach for trajectory optimization and control of manipulators based on multistage nonlinear model predictive control (msNLMPC). This approach is realized by using a neural state space model as the prediction model of nonlinear model predictive control (NLMPC). The simulation results show that the actual trajectory of the manipulator in our proposed scheme coincides with the desired trajectory. The manipulator achieves the control task of following the optimal trajectory. Our proposed method improves the trajectory optimization efficiency of the robot manipulator.

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Surgical Gesture Recognition in Open Surgery Based on 3DCNN and SlowFast

Surgical Gesture Recognition in Open Surgery Based on 3DCNN ...

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IEEE Information Technology, Networking, Electronic and Automation control Conference

作者： Yutao Men Jian Luo Zixian Zhao Hang Wu Feng Luo Guang Zhang Ming Yu Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education(Tianjin University of Technology) Tianjin China Systems Engineering Institute Academy of Military Sciences People's Liberation Army Tianjin China

ISBN: (数字)9798350370805

ISBN: (纸本)9798350370812

In the field of computer-aided medicine, automated surgical gesture recognition is an important research direction. Its main applications include automated skills assessment, intraoperative guidance, and education and training systems. Current research has focused on robotic surgery, and there is less research on surgical gestures for open surgery. Therefore, in this study, a new simulated open surgery dataset was developed, and a series of surgical gestures for open surgery were defined for closure the abdomen surgery with the cooperation of professional doctors. In addition, this paper uses the classical algorithm 3DCNN and SlowFast model in the field of action recognition to perform offline recognition of surgical gestures for open surgery on the dataset. 3DCNN uses R3D and R(2+1)D models. The experimental results show that on the self-built open surgical dataset, the R3D model has the best surgical gesture recognition results, with an accuracy rate of 90.4%, a precision rate of 90.5%, and a recall rate of 90.0%.

关键词： Training Automation Accuracy Surgery Gesture recognition Medical services Information technology Robots Abdomen

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Design of Underwater Vehicle for Ship Draft Observation

Design of Underwater Vehicle for Ship Draft Observation

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mechatronics and Robotics Engineering (ICMRE), International Conference on

作者： Jingyuan Zhu Meng Han Hongliang Zhang Lan Qi Lianyu Zhao Chenglin Wang Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin China Deepinfar Ocean Technology Inc Tianjin China

Underwater Vehicles are very important underwater operation equipment, and a new underwater vehicle is designed in order to realize the measurement of the ship draft. The design is based on the ROV(Remote Operated Vehicle) structure, and the mobile power supply and the upper computer are mounted on the underwater vehicle body, aiming to accomplish the task of disconnecting the underwater vehicle from the cable under complex sea conditions. In this paper, the system communication and power supply scheme design, thruster arrangement, the center of gravity and floating center position design, and 3D model design are completed in turn to obtain a structural design scheme of the underwater vehicle based on the actual engineering background. Subsequently, the strength check of the overall frame was carried out based on ANSYS WORKBENCH, which proved that the material selection and structural design met the reliability requirements. Finally, the hydrodynamic characteristics of the robot were analyzed using ANSYS CFD.

关键词： Weight measurement Underwater cables Solid modeling Three-dimensional displays Power supplies Hydrodynamics Finite element analysis

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Cavitation of a Submerged Jet at the Spherical Valve Plate/Cylinder Block Interface for Axial Piston Pump

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Chinese Journal of Mechanical Engineering 2020年第5期33卷 197-211页

作者： Bin Zhao Weiwei Guo Long Quan College of Mechanical and Vehicle Engineering Taiyuan University of TechnologyTaiyuan 030024China Transducers and Intelligent Control System of Ministry of Education and Shanxi Province Taiyuan University of TechnologyTaiyuan 030024China The State Key Laboratory of Fluid Power&Mechatronic Systems Zhejiang UniversityHangzhou 310027China

The spherical valve plate/cylinder block pair has the advantages of strong overturning resistance and large bearing ***,the configurations of the unloading and pre-boosting triangular grooves on the spherical valve plate are different from those in the planar valve plate,resulting in special cavitation phenomenon on the spherical port plate *** order to study cavitation characteristics of spherical port plate pair,a dynamic CFD model of the piston pump including turbulence model,cavitation model and fluid compressibility is established.A detailed UDF compilation scheme is provided for modelling of the micron-sized spherical oil film mesh,which makes up for the lack of research on the meshing of the spherical oil *** this paper,using CFD simulation tools,from the perspectives of pressure field,velocity field and gas volume fraction change,a detailed analysis of the transient evolution of the submerged cavitation jet in a axial piston pump with spherical valve plate is carried *** study indicates the movement direction of the cavitation cloud cluster through the cloud image and the velocity vector direction of the observation *** sharp decrease of velocity and gas volume fraction indicates the collapse phenomenon of bubbles on the part wall *** discoveries verify the special erosion effect in case of the spherical valve plate/cylinder block *** submerged cavitation jet generated by the unloading triangular grooves distributed on the spherical valve plate not only cause denudation of the inner wall surface of the valve plate,but also cause strong impact and denudation on the lower surface of the cylinder ***,the direction of the unloading triangular groove was modified to extend the distance between it and the wall surface which can effectively alleviate the erosion effect.

关键词： Cavitation submerged jet Spherical valve plate/cylinder block pair Axial piston pump

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Dynamic Analysis of the Tapered Roller Bearings Driven by Digital Twin

SSRN

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SSRN 2024年

作者： Zhao, Wentao Zhang, Chao Wang, Jianguo Gu, Fengshou Peyrano, Oscar García Wang, Shuai Lv, Da School of Mechanical Engineering Inner Mongolia University of Science and Technology Baotou China Inner Mongolia Key Laboratory of Intelligent Diagnosis and Control of Mechatronic System Baotou China Centre for Efficiency and Performance Engineering University of Huddersfield HuddersfieldHD1 3DH United Kingdom Balseiro Institute Cuyo University San Carlos de Bariloche Argentina

The article suggests a technique that utilizes digital twins to analyze the dynamic properties of tapered roller bearings. Developing digital twin of bearings requires a thorough analysis of multiple aspects like radial clearance, temperature, lubrication, centrifugal force, flexible body, and mixed load. By comparing the results of advanced dynamic models, it has been noticed that the simulation results of digital twins more closely resemble the real operating condition of bearings. In addition, the study findings on dynamic properties exhibit a greater degree of precision and dependability. The dynamic properties of bearings are significantly influenced by radial clearance. The results indicate that the use of digital twin technology provides a new method for studying the changing properties of bearings. © 2024, The Authors. All rights reserved.

关键词： Rollers (machine components)

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OLMNE+FT: Multiplex network embedding based on overlapping links

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Physica A: Statistical Mechanics and its Applications 2022年 596卷

作者： Liang, Bo Wang, Lin Wang, Xiaofan Department of Automation Shanghai Jiao Tong University and Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China Shanghai Key Laboratory of Power Station Automation Technology School of Mechatronic Engineering and Automation Shanghai University Shanghai China

Network embedding or graph representation learning has recently attracted more researchers’ attention and achieved state-of-the-art performance in many areas and tasks. Nevertheless, most of these methods are targeted for monolayer networks and ignore the multiplexity property of nodes which refers to the multifaceted relationships between two elements. Multiplexity provides multiple types of auxiliary information to refine the characteristics of nodes and can be modeled as a multiplex network. In this study, we propose a multiplex network embedding algorithm to learn a unique embedding for each node in each layer or each relation type. A biased path-dependency random walk strategy is adopted to generate node sequences for integrating different types of relations between nodes, which pays more attention to overlapping links and makes neighbor nodes in the sampling sequence more similar to each other. Then the skip-gram model is used to learn an overall embedding over node sequences. To strengthen the expressive power of the embedding in a specific layer, a fine tuning strategy with low time cost is employed to make the embedding comprise information of nodes at this particular layer and preserve their distinctive properties, and the unique embedding is achieved ultimately. To verify the effectiveness of our algorithms, we validate the performance of our algorithm and other baseline methods in the link prediction task. The results demonstrate that the learned embedding can capture the interlayer relationships and preserve the specific characteristics of nodes, and our algorithms can stably obtain better or comparable performance compared with other methods. © 2022 Elsevier B.V.

关键词： Network embeddings

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Research on Robot Optimal Working Space Based on Spiral Theory

Research on Robot Optimal Working Space Based on Spiral Theo...

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2022 International Symposium on Robotics, Artificial Intelligence, and Information Engineering, RAIIE 2022

作者： Li, Yu-Fei Ge, Wei-Min Zhang, Zhi-Li Zhao, Xiang-Bin College of Mechanical Engineering TianJin University of Technology TianJin province TianJin300074 China Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin300384 China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin300384 China Intelligent Manufacturing College Tianjin Sino-German University of Applied Science Tianjin300350 China

ISBN: (纸本)9781510660137

Because industrial robots have uneven positioning accuracy in the overall working space, they have greatly limited their applications in the fields of high-precision production and *** this status quo, this article focuses on analyzing the optimal working space of industrial robots, and screening and limiting the optimal working scope of the selected industrial robots to ensure that the robot end is at a relatively high position with high positioning *** article selects the collaborative robot AUBO E3 for modeling, analysis and simulation. Calculate the robot based on the Jacques matrix and the number of conditions under the spiral theory, quantitatively depict the exercise performance of the *** excellent working space is visually simulated, and finally uses the API laser tracker to measure the end error of the robot. As a result, the accuracy of the end point in the optimal working space is higher than the endpoint accuracy of the overall work space. © 2022 SPIE.

关键词： Industrial robots

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Design, Fabrication, and Characterization of Soft Robotic Claw Inspired by Parrot Feet for Grasping

SSRN

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SSRN 2024年

作者： Hao, Tianze Feng, Jingjing Ma, Yue Liu, Songtao Wang, Jutao Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin300384 China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology School of Mechanical Engineering Tianjin300384 China Automation Equipment Company Limited Tianjin301701 China Tianjin University of Technology China

Soft pneumatic actuators (SPAs) have demonstrated the ability to generate contraction, expansion, and bending strokes in three-dimensional space during pressurization. Gripper composed of SPAs are expected to serve as end effectors to improve the adaptability and lightweight of mobile robots in complex environments. In this study, a soft robotic claw inspired by the zygodactyl structure of parrot feet is developed featuring pneu-net actuators with oblique air chambers. These chambers enable bending and twisting movements, ensuring effective contact with the cylindrical landing objects. Integration of a thin steel sheet as the strain limiting layer not only improves static stability, but also augments the output force by approximately 57%, significantly ameliorating the claw’s gripping strength. Comparative gripping tests on diverse everyday items, indicate that while soft claw with vertical chambers adeptly handle centrosymmetric objects, whose with oblique chambers excel at at securing objects with large diameters, making them particularly suitable for perching applications on unmanned aerial vehicles. Moreover, enhancing the actuators with a uniformly soft surface texture, approximately 1.8 mm in height, notably increases friction force, thereby improving grip and stability. Comprehensive static stability assessments on birch logs confirmed its effective gripping and perching capabilities. The proposed soft claw has certain application prospects in situations that require flexible operation and complex grasping tasks due to its lightweight, flexibility, and strong adaptability. © 2024, The Authors. All rights reserved.

关键词： Pneumatic actuators

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Road Damage Detection and Classification Based on Multi-Scale Contextual Features

Road Damage Detection and Classification Based on Multi-Scal...

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IEEE International Conference on Big Data

作者： Lu Yang Hualin He Tao Liu Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin China

ISBN: (纸本)9781665480468

Road damage detection is particularly essential for improving road traffic safety. Existing methods do not perform well due to complex road conditions and sparse features contained in road damage. Therefore, we propose a new road damage detection network - YPLNet, which could obtain more refined multi-scale contextual features. Specifically, the network proposed in this paper is based on YOLOv5, by adding the PSA module to the backbone network, the spatial information of the feature map at multi-scale is obtained to enrich the feature space, and the long-term information dependence between channels is further constructed. In addition, in the feature fusion stage, the LCFI module is utilized to obtain contextual features under the multi-scale receptive fields, and these contextual features include rich low-level and high-level information. Our proposed network achieves a Mean-F1 Score of 0.635 in the competition. The source code and model are publicly available at https://***/hehualin-tut/YPLNet

关键词： Roads Source coding Big Data Feature extraction Data models Safety Context modeling

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