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2019 IEEE International Conference on Robotics and Biomimetics, ROBIO 2019

作者： Xiang, Hongbiao Li, Mengwei Zhang, Tilei Wang, Shoujun Yang, Xiuping Tianjin University of Technology 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

ISBN: (纸本)9781728163215

Cable-less micro-robots have exhibit great capabilities for remote applications in small and constrained environments, especially in biotechnology and healthcare. This paper presents a swimmer propelled by its undulatory deformation using magnetoelastic composite material. The robot can move freely on water surface driven through a function of magnetic field, such as forward, backward and steering with different velocity. The magnetic field is generated by 3D Helmholtz coils, and the locomotion of the micro swimming robot is controlled by different applied magnetic field. To understand the characteristics of the swimmer, the force balance equation is established, and the morphologies of swimmer with different magnetic field are analyzed and described through finite element analysis method. Furthermore, we discuss and analyze relationship between the parameters of magnetic field and the speed of the swimmer. The experimental results verified the speed model of the swimming robot, which is influenced by the frequency and strength of magnetic field. © 2019 IEEE.

关键词： Magnetic fields

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Visual servoing of magnetic swimming robot based on mean shift and fast template matching algorithm

Visual servoing of magnetic swimming robot based on mean shi...

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2019 IEEE International Conference on Robotics and Biomimetics, ROBIO 2019

作者： Xiang, Hongbiao Zhang, Tilei Li, Mengwei Wang, Shoujun Yang, Xiuping Tianjin University of Technology 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

ISBN: (纸本)9781728163215

The actuation and control of mini-scale swimming robots have exhibit promising potential in limited and constrained environments, such as biomedical, micro-assembly and microfluidic applications. However, closed-loop control is still a challenging for the precision and repeatability in those applications. In this paper, a new type of soft-micro swimming robot based on magnetoelastic composite material is designed, and the swimmer can move freely on the water surface controlled by a rotating magnetic field with visual servoing. The visual feedback control strategy is proposed based on Mean Shift Algorithm and Fast Template Matching. The algorithm includes three parts: prediction, template matching, target positioning and template updating. To understand the characteristics of the swimmer, the relationship between swimming speed and magnetic field strength and frequency is verified by the algorithm in experiments. Furthermore, the proposed path following method with visual servoing applied in this control system. The experimental results show that the algorithm runs fast, has high accuracy and good real-time performance, and can provide great potential in mini-scale robot applications. © 2019 IEEE.

关键词： Visual servoing

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Numerical simulation and analysis of temperature and flow field of high-speed axial piston motor pump

Numerical simulation and analysis of temperature and flow fi...

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19th International Conference of Fluid Power and mechatronic control engineering 2018

作者： Gao, Dianrong Zhang, Zongyi Sun, Yanan Xu, Senhao Liu, Jingcheng Zhang, Yan College of Mechanical Engineering Yanshan University Qinhuangdao China National Key Laboratory of Science and Technology on Aircraft Control Facri Xi'an China

Based on the theories of heat transfer and the method of computational fluid dynamics, a liquid-solid mathematical model of heat transfer of an axial piston hydraulic motor pump is constructed in this study. Through the finite volume method, the model with different cooling runners has been solved. Meanwhile, the oil flow regularity of runner and temperature distribution of the motor pump and oil duct has been obtained. On the basis of the model of long-strip runner, the influence of ambient temperature on the motor pump's temperature rise has been analysed. The result shows that the cooling channels on the housing of the hydraulic motor pump effectively reduce the temperature rise, and a long-strip channel is for optimum cooling. The average temperature rise of the motor pump increases linearly with the increase of ambient temperature. © 2019 Institution of engineering and technology. All rights reserved.

关键词： Cooling

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Operating performance assessment for industrial process with hybrid qualitative and quantitative information using modified fuzzy probabilistic rough set

Operating performance assessment for industrial process with...

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Chinese Automation Congress (CAC)

作者： Xiaoyu Zou Fuli Wang Yuqing Chang Jie Pan School of Mechatronic Engineering China University of Mining and Technology Xuzhou China State Key Laboratory of Process Automation in Mining & Metallurgy Beijing China College of Information Science & Engineering Northeastern University Shenyang China School of Information and Control Engineering Xuzhou China

ISBN: (数字)9781728176871

ISBN: (纸本)9781728176888

Since satisfactory operating performance helps guarantee high comprehensive economic benefit under normal working condition for industrial processes, it is crucial to conduct accurate performance assessment on the degree of optimality for modern industry. Process online assessment judges how well the process is working. However, the coexistence of the qualitative and quantitative information renders the conventional performance assessment approaches inappropriate. To solve the above problem, a modified version of fuzzy probabilistic rough set (FPRS) is proposed for performance assessment in this research. The modified FPRS is employed to establish a valid online assessment strategy of operating performance for complicated industrial processes with the coexistence of both the qualitative and quantitative information. The proposed technique is finally validated by a gold hydrometallurgy process.

关键词： Rough sets Probabilistic logic Uncertainty Production Process control Indexes Gold

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Tool Path Generation Method for Three-dimensional Vibration-assisted Machining 16

Tool Path Generation Method for Three-dimensional Vibration-...

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16th IEEE International Conference on mechatronics and Automation, ICMA 2019

作者： Wang, Guilian Lv, Bingrui Liu, Bin Mu, Haozhi 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 China Tianjin Laboratory of Control Theory and Applications in Complicated System Tianjin300384 China School of Electrical and Electronic Engineering Tianjin University of Technology Tianjin300384 China

ISBN: (纸本)9781728116983

In this paper, a new tool path generation method is proposed for the 3D (three-dimensional) vibration-assisted 6-DOF (six degree of freedom) machine tool machining system. The tool feed path is generated by the tangent point method and the coordinate transformation theory. It is worth noting that this method needle is only used when the tool and workpiece surface topography can be mathematically described. Finally, a numeric simulation method is used to simulate the tool path which is required when machining workpiece surfaces with different topography tools. The results show that the tool path generation method is widely applicable to tools and workpieces of various shapes, and it is of great significance to reveal the influences of different tool shapes on the tool path. © 2019 IEEE.

关键词： Machine tools

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Research on Stress-Relaxation Property of Different Layers ment under Compression 16

Research on Stress-Relaxation Property of Different Layers m...

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16th IEEE International Conference on mechatronics and Automation, ICMA 2019

作者： Zhou, Jinlai Song, Yang Shi, Xue Xu, Chenguang Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control Tianjin University of Technology School of Mechanical Engineering Tianjin University of Technology Tianjin300384 China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology China Periodontitis Department Tianjin Stomatological Hospital Tianjin300041 China

ISBN: (纸本)9781728116983

As a connective tissue connecting teeth and alveolar bone, periodontal ligament (PDL) has the mechanical properties of nonlinearity, viscoelasticity, anisotropy. In this paper, the pig mandibular central incisors were taken as subjects, a loading machine(CARE-MI00) was used to perform compression tests and the PDL stress-relaxation characteristics under different strain conditions were obtained. The stress-time curves and the relaxation modulus curves were obtained. The three-parameters Zener model and five-parameter generalized Maxwell model proposed by the author were used to fit the data. The experimental results show that the elastic modulus of PDL decreases gradually in the apex(ranges from 2.64 to 3.06 MPa), cervical margin(ranges from 1.44 to 1.76 MPa) and midroot (ranges from 1.03 to 1. 06MPa). Zener model has a relatively high fitting degree, and the squared correction coefficient is about 0.98, however, the adjusted R square of the five-parameter model was above 0.99. Compared with the Zener model, the five-parameter model can better reflect the sudden drop of relaxation modulus at the initial stage, which is more suitable for describing stress-relaxation in viscoelastic behavior of PDL. The advantage of this paper is to compare the descriptive ability of three-parameter and five-parameter generalized Maxwell equation to the mechanical properties of PDL and to provide an effective procedure for the preparation of PDL specimens. © 2019 IEEE.

关键词： Elastic moduli

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Finite Element Analysis of Series Elastic Actuator for Exoskeleton Robot Joint

Finite Element Analysis of Series Elastic Actuator for Exosk...

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IEEE International Conference on mechatronics and Automation

作者： Pengyu Xi Weimin Ge Sen Zhang Zhili Zhang Teresa Zielinska 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 Intelligent Manufacturing College Tianjin Sino-German University of Applied Science Tianjin China Institute of Aeronautics and Applied Mechanics Warsaw University of Technology Warsaw Poland

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164175

The finite element simulation for the joints of an exoskeleton robot is conducted in this paper. Using software OpenSim to simulate the normal walking gait of the human body, the motion angle and moment of the human hip, knee and ankle joints are obtained. Using the obtained data as the input parameters in the finite element simulation of the simulation software Ls-dyna, the strain diagrams and contact force curves of the circular roller and cam disk were obtained. In this study, three commonly used materials are selected: alloy steel, ductile iron and hard aluminum alloy. Finally, the effects of different materials on the key components of the series elastic actuator are studied.

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Higher-Order Kinematics Modeling of 3-RRS Parallel Mechanism Based on CGA

Research Square

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Research Square 2020年

作者： Wang, Chang Zhao, Tie-Shi Li, Er-Wei Zhao, Yan-Zhi Bian, Hui Geng, Ming-Chao Parallel Robot and Mechatronic System Laboratory Yanshan University Qinhuangdao066004 China Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of National Education Yanshan University Qinhuangdao066004 China School of Mechanical Engineering Hebei University of Architecture Zhangjiakou075000 China

Higher-order kinematics of mechanisms has been applied in servo motor control, human-robot interaction and machinery life design fields, etc. The representations of acceleration and jerk by screws have been fully developed by researchers with the methods of the differential of the matrix representation of SE(3) group. Clifford algebra, which is tighter and with higher computational efficiency than the matrix method, is another representation of the motions of rigid bodies. It has been used in position kinematics, grub task motion planning, and robot vision for its convenience of geometric representations and calculations. As far as we know, the work of higher-order kinematics of mechanisms based on Clifford algebra is rare. First, after recalling the based theory of motion representation in conformal geometric algebra (CGA), the mathematical relationships between flag and motor are built. Second, a method for the higher-order kinematics modeling of serial chain mechanisms is proposed. Finally, the higher-order kinematics of the 3-RRS parallel mechanism is built to prove the correctness of the algorithm. This work further enriches the application of CGA for the higher-order kinematics modeling of parallel mechanisms. © 2020, CC BY.

关键词： Kinematics

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Measurement-Induced Boolean Dynamics from Open Quantum Networks ⁎

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IFAC-PapersOnLine 2020年第2期53卷 275-280页

作者： Hongsheng Qi Biqiang Mu Ian R. Petersen Guodong Shi Key Laboratory of Systems and Control Institute of Systems Science Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing 100190 China School of Mathematical Sciences University of Chinese Academy of Sciences Beijing 100049 China Research School of Electrical Energy and Materials Engineering The Australian National University Canberra 0200 Australia Australian Center for Field Robotics School of Aerospace Mechanical and Mechatronic Engineering The University of Sydney NSW 2008 Australia

In this paper, we study the induced probabilistic Boolean dynamics for dynamical quantum networks subject to sequential quantum measurements. In this part of the paper, we focus on closed networks of quits whose states evolutions are described by a continuous Lindblad master equation. When measurements are performed sequentially along such continuous dynamics, the quantum network states undergo random jumps and the corresponding measurement outcomes can be described by a probabilistic Boolean network. First of all, we show that the state transition of the induced Boolean networks can be explicitly represented through realification of the master equation. Next, when the open quantum dynamics is relaxing in the sense that it possesses a unique equilibrium as a global attractor, structural properties including absorbing states, reducibility, and periodicity for the induced Boolean network are direct consequences of the relaxing property. Finally, we show that for quantum consensus networks as a type of non-relaxing open quantum network dynamics, the communication classes of the measurement-induced Boolean networks are encoded in the quantum Laplacian of the underlying interaction graph.

关键词： quantum networks open quantum systems quantum measurements Boolean networks

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Multi-criteria consensus sorting model with flexible linguistic preferences based on fuzzy information granulation from the perspective of preference disaggregation

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engineering Applications of Artificial Intelligence 2025年 154卷

作者： Zhang, Shiji Zhang, Shitao Tian, Hao Deveci, Muhammet Liu, Xiaodi School of Microelectronics and Data Science Anhui University of Technology Ma'anshan243032 China Key Laboratory of Multidisciplinary Management and Control of Complex Systems of Anhui Higher Education Institutes Anhui University of Technology Ma'anshan243002 China Anhui Provincial Joint Key Laboratory of Disciplines for Industrial Big Data Analysis and Intelligent Decision Ma'anshan243032 China Department of Industrial Engineering Turkish Naval Academy National Defence University Tuzla Istanbul34942 Turkey The Bartlett School of Sustainable Construction University College London LondonWC1E 6BT United Kingdom Department of Information Technologies Western Caspian University Baku1001 Azerbaijan

Multi-criteria group sorting (MCGS) that considers linguistic preferences involves multiple individuals evaluating alternatives and assigning them to pre-determined ordered categories based on specific criteria. Nevertheless, due to the limited availability of class information and the constrained cognitive capacity of decision-makers (DMs), it becomes challenging for DMs to furnish explicit preference information to reach consensus. Besides, decision parameters such as consensus threshold and class thresholds are also too hard to be assumed in advance. Therefore, this paper studies the preference disaggregation problem in MCGS, in which DMs are allowed to provide their pairwise comparisons in flexible linguistic expressions (FLEs) as preference information. To more fully utilize the preferences, semantic granulation is introduced. First, an individual consistency recognition model is proposed to identify inconsistent preferences and provide modification directions to the corresponding individuals. Next, semantic granulation and maximum entropy are combined into a granulation-driven information transformation model to convert the preference information based on FLEs into triangular fuzzy numbers (TFNs). Subsequently, in the consensus-driven preference disaggregation model, decision parameters and sorting results can be obtained at the premise of consensus by adjusting weights. Ultimately, to substantiate the effectiveness of the proposal, two numerical applications concerning the sorting of government venture capitals and information system suppliers are presented, along with comparative analysis, sensitivity analysis, and simulation analysis. © 2025 The Authors

关键词： Information granules

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