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2024 4th International Conference on mechatronics Technology and Aerospace Engineering, ICMTAE 2024

作者： Zhao, Jian Chen, Yanjiang Zhang, Hao Yu, Guangwei Li, Tongtong Beijing Institute of Precision Mechatronics and Controls Beijing100076 China Innovation Center for Control Actuators Beijing100076 China

Space manipulators and ground cooperative manipulators exhibit dynamic differences, including the effects of zero gravity, the lower joint stiffness of space manipulators, their slightly weaker dynamic response characteristics, and the fact that they are often considered to have floating bases. These differences result in higher control difficulty for space manipulators compared to ground manipulators. At the same time, due to the limitations of in-orbit hardware computing power, the recognition cycle of visual positioning algorithms is long, making mobile target grasping one of the most challenging tasks for space manipulators. Joints are the core components of space manipulators. Solving the problem of joint jamming and preventing the normal use of space manipulators can effectively improve the service life and quality of space manipulators in orbit. This paper proposes a deep reinforcement learning-based method for executing mobile target capture tasks when a single joint of a space manipulator becomes stuck and loses one degree of freedom. In a simulation environment, a model of a faulty space manipulator is built. Dynamic characteristics and signal delay conditions that are close to the real state are input to train the mobile target capture task. The obtained model meets the requirements of task implementation in the simulation environment. © 2025 Institute of Physics Publishing. All rights reserved.

关键词： Orbits

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Research on high-speed milling of high-strength steel 10

Research on high-speed milling of high-strength steel

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2024 10th International Forum on Manufacturing Technology and Engineering Materials, ICMTEM 2024

作者： Luo, Zhiwen Huang, Kui Yuan, Guifang Liang, Binyan He, Chao Liu, Hongwei Beijing Institute of Precision Mechatronics and Controls Beijing100076 China Laboratory of Aerospace Servo Actuation and Transmission Beijing100076 China

PCrNi3MoVA is a prevalently employed high-strength steel, primarily utilized in aerospace, the national defense industry, the nuclear industry, medicine, and other domains. This study mainly probed into the milling forces and surface roughness of PCrNi3MoVA steel when it was milled at high speed with a 10 mm solid carbide end mill on the side and made a comparison by end milling. The primary factors influencing surface roughness and milling forces in both milling approaches were determined, and a prediction model for cutting forces was obtained. © Published under licence by IOP Publishing Ltd.

关键词： Milling (machining)

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Impact of Dead Time in Inverter Switching on Torque Ripple in PMSM Drives

Impact of Dead Time in Inverter Switching on Torque Ripple i...

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2025 IEEE Texas Power and Energy Conference, TPEC 2025

作者： Joseph, Jyothis Raja, Ramakrishnan Sebastian, Tomy Krishnamoorthy, Harish S Motor Controls HL Mechatronics Bay CityMI United States Univeristy of Houston Electrical Engineering HoustonTX United States

ISBN: (纸本)9798331541125

In electrical propulsion applications, precise control of torque produced by Permanent Magnet Synchronous Motors (PMSM) is critical for system performance and reliability. Two widely used methods for torque control are current mode control and voltage mode control. Current mode control utilizes a closed-loop current regulation strategy to generate the required duty cycle for torque control. In contrast, voltage mode control directly calculates the voltage needed for the desired torque based on motor parameters, offering a viable alternative in scenarios where current sensors fail. However, voltage mode control is susceptible to higher torque ripple, influenced by factors such as dead time in the switching cycle. This project investigates the impact of dead time on torque ripple during voltage mode control and proposes methods to mitigate it through optimized dead time tuning. The findings aim to enhance the performance and reliability of PMSM drive systems in critical applications. © 2025 IEEE.

关键词： Electric propulsion

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Vibration and Noise Optimization of Surfaced Mounted PMSM used in EMP

Vibration and Noise Optimization of Surfaced Mounted PMSM us...

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2025 IEEE International Conference on mechatronics, ICM 2025

作者： Wu, Feiao Liu, Huijuan Li, Dong Cao, Junci Wang, Yi Yang, Chenwei School of Electrical Engineering Beijing Jiaotong University Beijing100044 China Beijing Institute of Precision Mechatronics and Controls Beijing100076 China

ISBN: (纸本)9798331533892

Take advantages of the high power density, fast response, heavy load capacity, Electrical Motor Pump (EMP) has been widely used in airplane, ships, and mineral equipment. For some special applications, extreme low vibration and noise are required. The surfaced mounted Permanent Magnet Synchronous Motor (SPMSM) has low torque ripples, thus it also has low vibration and noise. However, it is still far from the extreme requirements. Optimizing the stator structure by chamfering or slotting is the main means for scholars to weaken the vibration and noise of the motor at present, while the structural optimization of the shape of the stator tooth tip and the stator yoke is seldom investigated, and this paper puts forward a new stator structure scheme optimizing the shape of the stator tooth tip and the stator yoke slotting. Firstly, the temporal and spatial order of motor vibration and noise caused by first-order tooth harmonics is analyzed theoretically;secondly, the trajectory of quadratic function (parabola) is successively used as the shape of stator tooth profile, and a series of slotting optimization measures are carried out for yoke;finally, in order to verify the validity of the scheme, a prototype machine is designed in this paper and compared with the simulation results, which is within an acceptable range of error, further proving the reliability of the scheme. proved the reliability of the program. © 2025 IEEE.

关键词： Slotting

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Impact of Dead Time in Inverter Switching on Torque Ripple in PMSM Drives

Impact of Dead Time in Inverter Switching on Torque Ripple i...

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IEEE Texas Power and Energy Conference (TPEC)

作者： Jyothis Joseph Ramakrishnan Raja Tomy Sebastian Harish S Krishnamoorthy Motor Controls HL Mechatronics Bay City MI USA Electrical Engineering Univeristy of Houston Houston TX USA

ISBN: (数字)9798331541125

ISBN: (纸本)9798331541132

关键词： Torque System performance Torque control Switches Propulsion Control systems Torque measurement Reliability Voltage control Tuning

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Vibration and Noise Optimization of Surfaced Mounted PMSM used in EMP

Vibration and Noise Optimization of Surfaced Mounted PMSM us...

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International Conference on mechatronics (ICM)

作者： Feiao Wu Huijuan Liu Dong Li Junci Cao Yi Wang Chenwei Yang School of Electrical Engineering Beijing Jiaotong University Beijing China Beijing Institute of Precision Mechatronics and Controls Beijing 100076 China

ISBN: (数字)9798331533892

ISBN: (纸本)9798331533908

Take advantages of the high power density, fast response, heavy load capacity, Electrical Motor Pump (EMP) has been widely used in airplane, ships, and mineral equipment. For some special applications, extreme low vibration and noise are required. The surfaced mounted Permanent Magnet Synchronous Motor (SPMSM) has low torque ripples, thus it also has low vibration and noise. However, it is still far from the extreme requirements. Optimizing the stator structure by chamfering or slotting is the main means for scholars to weaken the vibration and noise of the motor at present, while the structural optimization of the shape of the stator tooth tip and the stator yoke is seldom investigated, and this paper puts forward a new stator structure scheme optimizing the shape of the stator tooth tip and the stator yoke slotting. Firstly, the temporal and spatial order of motor vibration and noise caused by first-order tooth harmonics is analyzed theoretically; secondly, the trajectory of quadratic function (parabola) is successively used as the shape of stator tooth profile, and a series of slotting optimization measures are carried out for yoke; finally, in order to verify the validity of the scheme, a prototype machine is designed in this paper and compared with the simulation results, which is within an acceptable range of error, further proving the reliability of the scheme. proved the reliability of the program.

关键词： Vibrations Shape Simulation Shape measurement Noise Stators Vibration measurement Harmonic analysis Reliability engineering Optimization

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Modeling of channel characteristics for spacecraft-oriented DC power line communications 3

Modeling of channel characteristics for spacecraft-oriented ...

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3rd International Conference on Smart Energy and Electrical Engineering, SEEE 2024

作者： Wang, Wenze Du, Baosen Li, Zijun Ma, Jinliang Liu, Xiaosheng School of Electrical Engineering and Automation Harbin Institute of Technology Harbin150001 China Beijing Institute of Precision Mechatronics and Controls Beijing100076 China Laboratory of Aerospace Servo Actuation and Transmission Beijing100076 China

Spacecraft operate in a harsh environment, with a complex space electromagnetic environment, diverse loads, and high requirements for communication performance and reliability. As an optional communication technology within spacecraft, power line communication (PLC), in addition to facing the above problems, must first solve the problem of modeling channel characteristics of PLC in DC-powered environments. To this end, this paper proposes a channel analysis and modeling method for spacecraft DC PLC, gives the calculation and analysis process of W-element distribution parameters based on transmission line theory, establishes a specific cable and branch connector simulation model based on CST, and carries out a simulation study on the whole link of the cable, branch connector, and the channel of the DC PLC system. According to the simulation system, the corresponding experimental verification platform is built. The simulation and test results verify the effectiveness and accuracy of the proposed modeling method. © 2025 Institute of Physics Publishing. All rights reserved.

关键词： Electric lines

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HTEC foot:A novel foot structure for humanoid robots combining static stability and dynamic adaptability

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Defence Technology(防务技术) 2025年第2期44卷 30-51页

作者： Jintao Zhang Xuechao Chen Zhangguo Yu Lianqiang Han Zhifa Gao Qingrui Zhao Gao Huang Ke Li Qiang Huang School of Mechatronical Engineering Beijing Institute of TechnologyNo.5South StreetZhongguancunHaidian DistrictBeijing100081China Key Laboratory of Biomimetic Robots and Systems Ministry of EducationNo.5South StreetZhongguancunHaidian DistrictBeijing100081China School of Information Science and Technology Beijing University of TechnologyNo.100PingleyuanChaoyang DistrictBeijing100124China Innovation Center for Control Actuators Beijing Institute of Precision Mechatronics and ControlsDonggaodiFengtai DistrictBeijing100076China

Passive bionic feet,known for their human-like compliance,have garnered attention for their potential to achieve notable environmental *** this paper,a method was proposed to unifying passive bionic feet static supporting stability and dynamic terrain adaptability through the utilization of the Rigid-Elastic Hybrid(REH)dynamics ***,a bionic foot model,named the Hinge Tension Elastic Complex(HTEC)model,was developed by extracting key features from human ***,the kinematics and REH dynamics of the HTEC model were *** on the foot dynamics,a nonlinear optimization method for stiffness matching(NOSM)was ***,the HTEC-based foot was constructed and applied onto BHR-B2 humanoid *** foot static stability is *** enhanced adaptability is observed as the robot traverses square steel,lawn,and cobblestone *** proposed design method and structure,the mobility of the humanoid robot is improved.

关键词： Humanoid robot Bionic structure Passive foot structure Rigid-elastic hybrid dynamics model Optimal stiffness matching

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Design and Loss Analysis of the Additively Manufactured Windings With High Slot Fill Factor

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IEEE Transactions on Industry Applications 2025年

作者： Yang, Yue Huang, Xuzhen Tan, Qiang Li, Jing Fu, Jie Nanjing University of Aeronautics and Astronautics Department of Electrical Engineering Nanjing210016 China Laboratory of Aerospace Servo Actuation and Transmission Beijing Institute of Precision Mechatronics and Controls Beijing100071 China

As additive manufacturing (AM) technologies rapidly advance, their application in fabricating structural components for motors has received significant attention. This paper presents the design of two concentrated winding structures with variable cross-sectional shapes based on AM, which can significantly improve the slot fill factor. Achieving a high slot fill factor significantly enhances the motor's output torque. However, AM windings exhibit increased sensitivity to frequency variations, leading to higher winding losses. An analysis of the loss distribution in AM windings reveals that losses primarily concentrate in the conductors near the slot opening. To minimize these losses, this paper proposes a loss suppression strategy for AM windings that does not compromise the slot fill factor. The optimized windings demonstrate a 26.5% reduction in losses and a 13% decrease in winding temperature. Finally, two distinct prototypes are developed: one utilizing AM windings and the other conventional windings. Both prototypes are tested to assess their electromagnetic and thermal performance. © 1972-2012 IEEE.

关键词： Permanent magnets

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Multivariate fusion modeling for dynamic prediction of oxygen uptake during incremental load exercise in college students 24

Multivariate fusion modeling for dynamic prediction of oxyge...

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Proceedings of the 2024 International Conference on Sports Technology and Performance Analysis

作者： Zhen Wang Lei Pang Dongxue Liang Hui Li Shanjun Li Siyuan Fan Gang Sun Institute of Artificial Intelligence in Sports Capital University of Physical Education and Sports Beijing China Beijing Institute of Precision Mechatronics and Controls Innovation Center for Control Actuators Beijing China

ISBN: (纸本)9798400712234

The aim of this study is to construct a model that can easily and accurately predict oxygen uptake (VO2) in college students through multiple machine learning and deep learning methods. We collected data on triaxial acceleration, heart rate, and resting characteristics (e.g., weight and height) from 22 college students during incrementally loaded exercise for prediction using different time-series models, including LSTM, GRU, Transformer, and XGBoost. Model performance was thoroughly evaluated by using metrics such as RMSE, MAE, R² and Bland-Altman plots. The results show that LSTM and XGBoost exhibit high accuracy and stability in predicting oxygen uptake. Specifically, LSTM (RMSE=0.1973, R2=0.9563, MAE=0.1386) was able to effectively capture the time dependence in acceleration and heart rate data and excelled in oxygen uptake estimation by leveraging its ability to model long-term dependence and nonlinear relationships. XGBoost (RMSE=0.2077, R2=0.9515, MAE=0.1421), on the other hand, showed strong prediction stability and low error, especially when facing data with different exercise load intervals, the prediction accuracy was more balanced. In addition, we found that combining temporal features (heart rate and acceleration) and resting features (e.g., body weight, height, resting heart rate) as input features significantly improved the accuracy of oxygen uptake prediction. By integrating data from multiple sources, the model is able to comprehensively capture internal and external load changes during exercise and effectively address the delayed response of physiological metrics to exercise intensity in model predictions. This study provides a method and idea reference for oxygen uptake detection during exercise, personalized exercise plan customization, and exercise rehabilitation.

关键词： Deep Learning Models

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