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IEEE International Conference on Robotics and Biomimetics

作者： Niansong Zhang Gang Liu Yiqing Li Ke Li Zhiyuan Yu Haiteng Wu Yixiang Liu Yibin Li School of Mechanical Engineering Nanjing University of Science and Technology Nanjing China School of Automotive Engineering Chengdu Aeronautic Polytechnic Chengdu China School of Mechatronics Engineering and Automation Harbin Institute of Technology Shenzhen Shenzhen China Laboratory of Aerospace Servo Actuation and Transmission Beijing Institute of Precision Mechatronics and Controls Beijing China Zhejiang Key Laboratory of Intelligent Operation and Maintenance Robot Hangzhou Shenhao Technology Co. Ltd Hangzhou China School of Control Science and Engineering Shandong University Jinan China Key Laboratory of Bionic Engineering (Ministry of Education) Jilin University Jilin China

ISBN: (数字)9798331509644

ISBN: (纸本)9798331509651

Tensegrity structure constitutes a self-supporting and self-stressed spatial grid framework, comprising distinct compression components and continuous tension components, which integrates the benefits of rigid structure and flexible structure. This paper introduces TensWheBot, a robot designed with deformable wheels based on tensegrity structure. Based on the force density method, the form-finding of the tensegrity module is accomplished. The tensegrity module can actively alter its shape through the central driving compression rod, thereby modifying the width and the wheel diameter of the robot. The robot's motion law is derived from kinematic modeling. The assembly of the prototype, the establishment of the robot model, and the results of related simulation experiments have validated the effectiveness of the robot. The tensegrity wheeled robot meets the needs of complex and variable environments, as well as diverse tasks such as disaster rescue and terrain exploration.

关键词： Vibrations Robot motion Shape Wheels Kinematics Mobile robots Flexible structures Servomotors Robots Research and development

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Remaining useful life prediction of multi-sensor monitored degradation systems with health indicator

Remaining useful life prediction of multi-sensor monitored d...

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Sensing, Measurement & Data Analytics in the era of Artificial Intelligence (ICSMD), International Conference on

作者： Xucong Huang Zhaoqin Peng Diyin Tang Zaiping Zheng Juan Chen School of Automation Science and Electrical Engineering Beihang University Beijing China Laboratory of Aerospace Servo Actuation and Transmission Beijing Insititue of Precise Mechatronics and Controls Beijing China School of Mechanical Engineering and Automation Beihang University Beijing China

Rolling bearings are kernel components of machinery devices. To evaluate degradation processes of rolling bears in real-time devices, health indicators (HIs) are required to be built. Due to the constraints of sensors, the degradation pattern cannot be denoted by commonly used signals such as vibration data. Moreover, the practical requirements of HI for prognostics are always ignored, such as monotonicity and trendability. Therefore, a novel HI construction method based on reinforcement learning (RL) is proposed. Firstly, the HI construction process is regarded a data fusion process. Observed multi-sensor data is used to abstract degradation information. In this way, the determination of HI is changed into the optimization of fusion coefficient vector. Secondly, a RL agent is established to automatically learn the strategy though the intergradation with environment. Then the trained strategy is directly used for real-time HI construction. The effectiveness of proposed approach is verified though a real bearing dataset.

关键词： Degradation Vibrations Data integration Rolling bearings Reinforcement learning Real-time systems Sensors

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Synchronous Control Method and Simulation Research of Multi-degree of Freedom Humanoid Space Manipulator

Synchronous Control Method and Simulation Research of Multi-...

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Service Robotics (ICoSR), International Conference on

作者： Tao Yang Fang Xu Baosen Du Yongjian Ni Chao Yu Yan Shi State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences University of Chinese Academy of Sciences Beijing China Laboratory of Aerospace Servo Actuation and Transmission Beijing Institute of Precision Mechatronics and Controls State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China

The high-precision multi-joint synchronous control problem of the 7 DOF humanoid manipulator is studied. The control system uses a distributed control architecture based on EtherCAT. synchronization error causes tracking error between the end trajectory of the manipulator with theoretical trajectory. In order to achieve the purpose of high-precision synchronous control of manipulators, the kinematics model of manipulators is analyzed, and the method of network distributed clock control mode based on EtherCAT is proposed. Firstly, according to the source of synchronous error of the manipulator, the distributed network clock is used to calibrate the controller master station and the servo slave station to reduce the sampling and control synchronization error of each joint, and then improve the real-time performance of the main station Linux operating system. The station position command synchronization error is calibrated. Finally, the semi-physical simulation system of the joint and manipulator controller in the ring is designed. The simulation experiment analysis of the humanoid manipulator in the joint space and Cartesian space is carried out. The results show that the clock is distributed based on the EtherCAT network. The multi-joint synchronization control method can realize high-precision position control of the humanoid manipulator.

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Finite-Time Attitude Control for Coupled Spacecraft with Input Constraints

Finite-Time Attitude Control for Coupled Spacecraft with Inp...

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Chinese Control Conference (CCC)

作者： Wanwan Zhu Yang Yukai School of Information and Control Engineering China University of Mining and Technology Xuzhou China Engineering Research Center of Intelligent Control for Underground Space Ministry of Education China University of Mining and Technology Xuzhou China Beijing Institute of Precision Mechatronics and Controls Beijing China Laboratory of Aerospace Servo Actuation and Transmission Beijing China

In this paper, a finite-time saturated attitude control algorithm is proposed for coupled spacecraft under flexible vibration, liquid sloshing, model uncertainty and external disturbance. By adding a feedback term, a saturated super-twisting sliding mode control algorithm is designed to realize coupled spacecraft attitude control in finite time. The main feature of the proposed control algorithm is that it is continuous and control torque to regulate the coupled spacecraft system affected by lumped uncertainty in finite time. Finally, the simulation results are given to verify the effectiveness of the proposed control algorithm.

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Corrigendum to “The loose slipper fault diagnosis of variable-displacement pumps under time-varying operating conditions” [Volume 252, December 2024, RESS 110448]

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Reliability Engineering & System Safety 2025年 253卷

作者： Xinlei Xu Junhui Zhang Weidi Huang Bin Yu Fei Lyu Xiaolong Zhang Bing Xu State Key Laboratory of Fluid Power & Mechatronic Systems Zhejiang University Hangzhou 310058 China Beijing Institute of Precision Mechatronics and Controls Beijing 100076 China

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Digital automatic control precision assembly technology

Digital automatic control precision assembly technology

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World Conference on Mechanical Engineering and Intelligent Manufacturing (WCMEIM)

作者： Weiwei Zhou Zengkui Chen Jing Huang Chunying Heng Fengjiang Liu Qiwei Zhang Beijing Institute of Precision Mechatronics and Controls Beijing China Laboratory of Aerospace Servo Actuation and Transmission Beijing China China Academy of Launch Vehicle Technology Beijing China

ISBN: (纸本)9781665421737

At present, the interference couple parts are assembled manually which not only has a long assembly cycle, but also has uneven assembly quality according to personal ability. Combined with the current production situation, this paper studies the measurement method of motor keyway width accurately calculates the overall dimensions of keyway and flat key & calculates the appropriate interference range. Design the flat key press fitting tooling in a narrow space to effectively solve the reliable method of press fitting interference coupling parts. The press fitting force is calculated theoretically which is supplemented by simulation *** range of the actual press fitting force is obtained by using the automatic control digital press fitting technology, so as to realize the precision assembly of the interference couple. Through the research of this paper, the effectiveness of precision assembly technology of automatic control digital interference couple is verified.

关键词： Presses Shape measurement Fitting Force Interference Position measurement Size measurement

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Contact and wear modelling of rotary seals under mixed lubrication in piston pumps for aerospace electro-hydrostatic actuators

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Chinese Journal of Aeronautics 2025年

作者： Tuyuan YIN Kefei MIAO Huixiang LIU Jian FU Beijing Institute of Precision Mechatronics and Controls Beijing 100076 China Innovation Center for Controls Actuators Beijing 100076 China Laboratory of Aerospace Servo Actuation and Transmission Beijing 100076 China School of Mechanical Engineering and Automation Beihang University Beijing 100191 China

High-pressure piston pumps are an important component of electro-hydrostatic actuator in the aerospace. High-speed rotary lip/shaft seals (RSS) are applied in piston pumps at low medium pressure to prevent the oil medium from flowing out of pump chamber. Although the wear rate to the RSS has been researched, it is mainly based on the classical Archard formula under the dry contact regime without considering the dynamic stiffness asperities of the convex body. This method characterizes RSS lubrication behavior under Mixed Lubrication (ML) without considering micro convex body behavior. Thus, this paper establishes a radial shaft seal model and simulates the lubrication performance on tangential contact wear behaviors within the speed range of 5000 to 10000 r/min and temperature range of 5 to 60 °C. Fluid-solid-wear method on the RSS is taken to simulate micro convex body deformation and its wear rate. Micro convex bodies’ on wear deformation and loss of volume are evaluated through the roughness probability density function and interpolation. Moreover, the description of the RSS failure mechanism on the leakage rate is updated from the classical Couette flow theory based on wear simulation. This study also updates the mechanism of the RSS in the ML region for stable suction of piston pumps compared to previous studies.

关键词： Electro-hydrostatic actuators Piston pump Rotary/lip seal Multiscale simulation Mixed lubrication Leakage rate

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Research on the Aerospace Mechatronic Servo System’s Digital Production Line Construction

Research on the Aerospace Mechatronic Servo System’s Digita...

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World Conference on Mechanical Engineering and Intelligent Manufacturing (WCMEIM)

作者： Dongyan Chang Bo Yang Wei Lv Jing Huang Beijing Institute of Precision Mechatronics and Controls Beijing China Laboratory of Aerospace Servo Actuation and Transmission Beijing China X Military Representative Office of the PLA Rocket Force Beijing China

ISBN: (纸本)9781665421737

Based on the application in the aeronautics and astronautics area of the digital factory technology, the manufacturing modes feature and the technical bottleneck of the mechatronic servomechanism assembly and testing have been analyzed, the construction goals and overall plan of the digital production line have been brought up, and researches on the batch-production and technology have been implemented. By reconfiguring the assembly and testing technology process, optimizing the manufacturing arrangement and building the digital production equipment and software management control platform, a digital production line for multi-variety and small-batches EMAs has been constructed to improve the production capacity and management ability.

关键词： mechatronics Buildings Process control Production equipment Collaboration Software Manufacturing

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Controllable Electrical Characteristic of Ti3c2t2/Mos2 (T=Oh, F, O) Interfaces for High Performance Electronics: Insights from First-Principles

SSRN

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SSRN 2023年

作者： Zhang, Qiang Liu, Yan Zhang, Riguang Lv, Bohan Hao, Runfang Sang, Shengbo Shanxi Key Laboratory of Micro Nano Sensors & Artificial Intelligence Perception College of Electronic Information and Optical Engineering Taiyuan University of Technology Shanxi Taiyuan030024 China Key Lab of Advanced Transducers and Intelligent Control System of The Ministry of Education Taiyuan University of Technology Shanxi Taiyuan030024 China School of Software Taiyuan University of Technology Shanxi Taiyuan030024 China State Key Laboratory of Clean and Efficient Coal Utilization China Laboratory of Aerospace Servo Actuation and Transmission Beijing Institute of Precision Mechatronics and Controls Beijing100000 China

Two-dimensional (2D) semiconductors have shown competitive potential for applications into beyond-silicon electronics. However, the controllable electrical characteristic of metal-semiconductor interfaces is still a challenge for high performance electronics due to Fermi level pinning. To explore Ti3C2T2/MoS2 (T= OH, F, O) for high performance electronics, the vertical electric field and interlayer distance are adopted here to regulate the electrical characteristic of interfaces based on the first-principles calculations. Though this, the electrical characteristic of Ti3C2O2/MoS2 and Ti3C2F2/MoS2 are more sensitive to electric field or interlayer distance than that of Ti3C2(OH)2/MoS2. Especially, the negative electric field with larger than -0.2 V/Å makes Ti3C2O2/MoS2 interface change from p-type Schottky to n-type Schottky contact. Furthermore, the Ti3C2O2/MoS2 interface can not only switch from p-type Schottky to n-type Schottky contact, but also from p-type Schottky to n-type Ohmic contact by varying interlayer distance. Moreover, the tunneling barriers of all interfaces are more sensitive to interlayer distance than to electric field. This work provides vital insights for high-performance electronics of Ti3C2T2/MoS2 (T=OH, F, O) in experiments. © 2023, The Authors. All rights reserved.

关键词： Electric fields

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An Augmented Reality Spatial Referencing System for Mobile Robots

An Augmented Reality Spatial Referencing System for Mobile R...

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2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Sonia Mary Chacko Armando Granado Ashwin RajKumar Vikram Kapila Mechatronics Controls and Robotics Laboratory (MCRL) Mechanical and Aerospace Engineering NYU Tandon School of Engineering Brooklyn NY USA

ISBN: (数字)9781728162126

ISBN: (纸本)9781728162133

The deployment of a mobile service robot in domestic settings is a challenging task due to the dynamic and unstructured nature of such environments. Successful operation of the robot requires continuous human supervision to update its spatial knowledge about the dynamic environment. Thus, it is essential to develop a human-robot interaction (HRI) strategy that is suitable for novice end users to effortlessly provide task-specific spatial information to the robot. Although several approaches have been developed for this purpose, most of them are not feasible or convenient for use in domestic environments. In response, we have developed an augmented reality (AR) spatial referencing system (SRS), which allows a non-expert user to tag any specific locations on a physical surface to allocate tasks to be performed by the robot at those locations. Specifically, in the AR-SRS, the user provides a spatial reference by creating an AR virtual object with a semantic label. The real-world location of the user-created virtual object is estimated and stored as spatial data along with the user-specified semantic label. We present three different approaches to establish the correspondence between the user-created virtual object locations and the real-world coordinates on an a priori static map of the service area available to the robot. The performance of each approach is evaluated and reported. We also present use-case scenarios to demonstrate potential applications of the AR-SRS for mobile service robots.

关键词： Service robots Robot kinematics Semantics Spatial databases Mobile robots Task analysis Augmented reality

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