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27th International Conference on Advanced Communications technology, ICACT 2025

作者： Liu, Jinyue Gao, Xiang Yang, Haowei Zhang, Jihao Liu, Yuhan Gong, Peng National Key Laboratory of Mechatronic Engineering and Control School of Mechatronical Engineering Beijing Institute of Technology Beijing China Institute of Computer Application Technology Norinco Group Beijing China

ISBN: (纸本)9791188428137

In modern battlefields, the stability of wireless communications is crucial for intelligence transmission, command coordination, and maintaining strategic advantage. However, with the rapid advancement of communication technologies, the electromagnetic environment has become increasingly complex, making intelligent decision-making in communication countermeasures a prominent research focus. However, most existing studies adopt deep learning and reinforcement learning methods, which require extensive data samples and computational resources. To address these limitations, this paper proposes a game-theoretic model for intelligent radio communication countermeasures under incomplete information. It quantitatively evaluates common attack and defense tactcis used in communication countermeasures and explores the mixed-strategy equilibrium of the game when both the attackers and defenders consist of multiple types. Furthermore, simulation-based comparative analyses are conducted to assess the factors influencing the utility of both the attacker and defender. The findings offer theoretical insights and decision-making support for the deployment of communication countermeasure strategies in practical military operations, contributing to significant strategic value. © 2025 Institute of Electrical and Electronics Engineers Inc.. All rights reserved.

关键词： Deep reinforcement learning

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Performance Analysis and Flexible control of a Novel Ball Double-screw Hydraulic Robot Knee Joint

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Journal of Bionic engineering 2023年第5期20卷 2147-2163页

作者： Jie Shao Yongming Bian Meng Yang Guangjun Liu School of Mechanical Engineering Tongji UniversityShanghai201804China State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang UniversityHangzhou310027China Department of Control Science and Engineering Tongji UniversityShanghai201804China National Engineering Technology Research Center for Prefabrication Construction in Civil Engineering Tongji UniversityShanghai200092China

Focusing on the ball double-screw hydraulic knee joint as the research object,this paper analyzes the load driving performance of the hydraulic knee *** the posture data of the human body such as walking,squatting and landing buffer as initial learning objects,motion features are *** simplifying the trajectories of different motion actions into key feature control points and flexible trajectory fitting,the trajectory of joint actions is *** method can realize the adaptability of the hydraulic robot knee joint in different movements,and take the flexible action as the optimization goal under the condition of ensuring the movement performance,so as to reduce the damage to the knee joint caused by the foot impact in *** simulation model was built by Adams and Matlab to complete the performance analysis and motion optimization experiment of the knee *** simulation results show that the foot impact force of the experimental model decreases gradually through ***,the method is applied to the hydraulic joint experimental prototype to prove its load capacity and flexible motion control performance.

关键词： Bionic robot Ball double-screw hydraulic joint Robot knee joint Performance analysis Humanoid motion control Flexible control

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An origami-inspired nonlinear energy sink:design,modeling,and analysis

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Applied Mathematics and Mechanics(English Edition) 2025年第4期46卷 601-616页

作者： Youcheng ZENG Hu DING J.C.JI Shanghai Key Laboratory of Mechanics in Energy Engineering Shanghai Institute of Applied Mathematics and MechanicsSchool of Mechanics and Engineering ScienceShanghai UniversityShanghai 200444China School of Mechanical and Mechatronic Engineering University of Technology SydneyNSW 2007Australia Shaoxing Institute of Technology Shanghai UniversityShaoxing 312074Zhejiang ProvinceChina Shanghai Institute of Aircraft Mechanics and Control Shanghai 200092China

Designing,modeling,and analyzing novel nonlinear elastic elements for the nonlinear energy sink(NES)have long been an attractive research *** gravity is difficult to overcome,previous NES research mainly focused on horizontal vibration *** study proposes an origami-inspired NES.A stacked Miura-origami(SMO)structure,consisting of two Miura-ori sheets,is adopted to construct a nonlinear elastic *** adjusting the initial angle and the connecting crease torsional stiffness,the quasi-zero stiffness(QZS)and load-bearing capacity can be customized to match the corresponding mass,establishing the vertical *** dynamic model of the SMO-NES coupled with a linear oscillator(LO)is derived for vibrations in the vertical *** approximate analytical solutions of the dynamic equation are obtained by the harmonic balance method(HBM),and the solutions are verified *** parameter design principle of the SMO-NES is ***,the vibration reduction performance of the SMO-NES is *** results show that the proposed SMONES can overcome gravity and achieve quasi-zero nonlinear restoring ***,the SMO-NES has the ability of wide-frequency vibration reduction,and can effectively suppress vertical *** adjusting the initial angle and connecting the crease torsional stiffness of the SMO,the SMO-NES can be achieved with different loading weights,effectively suppressing the vibrations with different primary system masses and excitation *** conclusion,with the help of popular origami structures,this study proposes a novel NES,and starts the research of combining origami and NES.

关键词： nonlinear energy sink(NES) stacked Miura-origami(SMO) vertical vibration quasi-zero stiffness(QZS)

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Flow and thermal modeling of liquid metal in expanded microchannel heat sink

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Frontiers in Energy 2023年第6期17卷 796-810页

作者： Mingkuan ZHANG Xudong ZHANG Luna GUO Xuan LI Wei RAO Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical EngineeringTianjin University of TechnologyTianjin 300384China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of TechnologyTianjin 300384China Key Laboratory for Thermal Science and Power Engineering of the Ministry of Education Department of Engineering MechanicsTsinghua UniversityBeijing 100084China School of Mechanical Engineering Tianjin University of CommerceTianjin 300134China Institute of Refrigeration and Cryogenics Shanghai Jiao Tong UniversityShanghai 200240China Beijing Key Laboratory of CryoBiomedical Engineering and Key Laboratory of Cryogenics Beijing 100190China

Liquid metal-based microchannel heat sinks (MCHSs) suffer from the low heat capacity of coolant, resulting in an excessive temperature rise of coolant and heat sink when dealing with high-power heat dissipation. In this paper, it was found that expanded space at the top of fins could distribute the heat inside microchannels, reducing the temperature rise of coolant and heat sink. The orthogonal experiments revealed that expanding the top space of channels yielded similar temperature reductions to changing the channel width. The flow and thermal modeling of expanded microchannel heat sink (E-MCHS) were analyzed by both using the 3-dimensional (3D) numerical simulation and the 1-dimensional (1D) thermal resistance model. The fin efficiency of E-MCHS was derived to improve the accuracy of the 1D thermal resistance model. The heat conduction of liquid metal in Z direction and the heat convection between the top surface of fins and the liquid metal could reduce the total thermal resistance (Rt). The above process was effective for microchannels with low channel aspect ratio, low mean velocity (Um) or long heat sink length. The maximum thermal resistance reduction in the example of this paper reached 36.0%. The expanded space endowed the heat sink with lower pressure, which might further reduce the pumping power (P). This rule was feasible both when fins were truncated (h_(2) < 0, h_(2) is the height of expanded channel for E-MCHS) and when over plate was raised (h_(2) > 0).

关键词： liquid metal cooling heat sink expanded microchannel flow and thermal modeling

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Single-gait crawling robot:A solution for improving mobility and payload of soft locomotor via simple structure and easy control

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science China(Technological sciences) 2024年第11期67卷 3626-3628页

作者： MA Hao HAO TianZe MA JiChao SUN ZhenHao LI Xiang LIU YiBo XIAO HuaPing LIU ShuHai College of Mechanical and Transportation Engineering China University of Petroleum-BeijingBeijing 102249China Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical EngineeringTianjin University of TechnologyTianjin 300384China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education(Tianjin University of Technology) Tianjin 300384China

Motion performance,including movement speed,adaptability to various environments,and load-carrying capability,is crucial for soft crawling robots,tasked with field exploration and the transporting material in often complex and unstructured environments.A wide variety of soft crawling robots,which are driven by electricity[1],chemical power[2],and pressurized fluid[3]to move forward via cyclic deformation,have thus far been inspired by the mobile patterns of soft-bodied animals,such as worms[4],snake[5],octopus[6],*** performance of soft robots in terms of speed and load has developed impressively in recent years.

关键词： robot payload environments

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Position Regulation of Industrial Robots via Bounded Integral Terminal Sliding Mode control Algorithm

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IEEE Transactions on Industrial Electronics 2024年第7期71卷 7403-7412页

作者： Cong, Yongzheng Du, Haibo Zhu, Wenwu Chen, Chih-Chiang Hefei University of Technology School of Electrical Engineering and Automation Hefei230009 China Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Nanjing210096 China National Cheng Kung University Department of Systems and Naval Mechatronic Engineering Tainan70101 Taiwan

For the position regulation problem of six degrees of freedom (6-DOF) industrial robots, a novel bounded finite-time position regulate algorithm is developed and employed to improve the dynamic performance of the industrial robots. First, based on the model feature, a bounded finite-time position regulate law is proposed to overcome input saturation constraints for the considered systems. Rigorous analysis guarantees the finite-time stability of the closed-loop system in the absence of disturbance. Then, to improve the disturbance rejection property of the robot systems in the presence of disturbance, an improved bounded finite-time control law based on the integral terminal sliding mode is constructed. Finally, simulations and experimental results are provided to show the effectiveness of the proposed bounded control law. © 1982-2012 IEEE.

关键词： Asymptotic stability

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An automatic docking method for large-scale sections based on real-time pose measuring and assembly deviation control

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Optoelectronics Letters 2023年第11期19卷 686-692页

作者： QIAO Zhifeng FU Kang LIU Zhenzhong Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical EngineeringTianjin University of TechnologyTianjin300384China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of TechnologyTianjin300384China

Aiming at the problem of poor accuracy consistency of large sections’docking assembly,an automatic docking method using multiple laser trackers to measure the position and posture of the docking sections in real time was *** the solution of the pose of the docking section,real-time pose measurement of the docking section was realized by establishing a global coordinate system and a coordinate fusion method of three or more laser *** the automatic control of the docking process,the real-time communication protocol and the circular negative feedback control strategy of measurement-adjustment-re-measurement are adopted,and the fully-automated docking of large sections is ***,an experimental verification system was set up,and the docking of the large-scale section reduction models was realized under the requirements of docking accuracy,and the effectiveness of the automatic docking scheme was successfully verified.

关键词： coordinate deviation system

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Fault Diagnosis of Rolling Bearing in Broad Learning System Based on Multi-domain Feature Selection

Fault Diagnosis of Rolling Bearing in Broad Learning System ...

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TEPEN International Workshop on Fault Diagnostics and Prognostics, TEPEN-IWFDP 2024

作者： Ouyang, Bing Zhang, Chao Wu, Le Liu, Guiyi Wu, Yangbiao Xu, Shuai School of Mechanical Engineering Inner Monglia University of Science and Technology Baotou014010 China Inner Monglia Key Laboratory of Intelligent Diagnosis and Control of Mechatronic System Baotou014010 China

ISBN: (纸本)9783031734069

This paper presents a novel solution for bearing fault diagnosis based on a Broad Learning System with multi-domain feature selection. Currently, the diagnosis of bearing faults is beset with numerous challenges, including operation under complex and fluctuating conditions, the subtlety of early fault indicators, noise interference in measurement signals, variations in operational conditions, and a broad spectrum of potential fault types. These factors collectively contribute to the complexity of accurately identifying and classifying bearing faults. The Broad Learning System introduced in this paper, by integrating multi-domain feature selection, enhances the model's capability to extract and utilize relevant features from noisy or incomplete data, potentially increasing diagnostic accuracy in suboptimal sensor environments. By leveraging features across multiple domains, the method based on the Broad Learning System can capture a wider array of fault characteristics, thereby broadening its applicability across various types of bearing faults and operational conditions. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： Roller bearings

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PATH OPTIMIZATION FOR DYNAMIC OBSTACLE AVOIDANCE OF PIONEER ROBOT BASED ON DDPG SMART AGENT

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UPB Scientific Bulletin, Series D: Mechanical engineering 2023年第2期85卷 29-42页

作者： Zheng, Qingchun Peng, Zhi Zhu, Peihao Zhao, Yangyang Ma, Wenpeng Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control Tianjin University of Technology Tianjin300384 China China School of Mechanical Engineering Tianjin University of Technology Tianjin300384 China School of Computer Science and Engineering Tianjin University of Technology Tianjin300384 China

To improve the path efficiency for dynamic obstacle avoidance algorithms of Pioneer robots, this paper proposes an approach to create deep deterministic policy gradient (DDPG) smart agents with recurrent neural networks (RNN) to optimize the path strategy. This approach is realized by training RNN with the backpropagation (BP) algorithm to train the agent. First, the SolidWorks model and obstacle avoidance model of the Pioneer robot is established. The LIDAR sensor is used to obtain environmental information. Further, deep reinforcement learning obstacle avoidance algorithm based on RNN is presented. The dynamic obstacle avoidance path of the Pioneer robot is further simulated in two different virtual robot experiment platform (V-REP) scenarios. The simulation results show that the proposed algorithm shortens the training time by 26.3% compared with the DDPG algorithm. Our proposed scheme can improve the path efficiency for dynamic obstacle avoidance of the Pioneer robot. © 2023, Politechnica University of Bucharest. All rights reserved.

关键词： Reinforcement learning

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Vibration control of fluid-conveying pipes: a state-of-the-art review

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Applied Mathematics and Mechanics(English Edition) 2023年第9期44卷 1423-1456页

作者： Hu DING J.C.JI Shanghai Key Laboratory of Mechanics in Energy Engineering School of Mechanics and Engineering ScienceShanghai UniversityShanghai 200072China Shaoxing Institute of Technology Shanghai UniversityShaoxing 312074Zhejiang ProvinceChina Shanghai Institute of Aircraft Mechanics and Control Shanghai 200092China School of Mechanical and Mechatronic Engineering University of Technology SydneyNew South Wales 2007Australia

Fluid-conveying pipes are widely used to transfer bulk fluids from one point to another in many engineering *** are subject to various excitations from the conveying fluids,the supporting structures,and the working environment,and thus are prone to vibrations such as flow-induced vibrations and acoustic-induced *** can generate variable dynamic stress and large deformation on fluid-conveying pipes,leading to vibration-induced fatigue and damage on the pipes,or even leading to failure of the entire piping system and catastrophic ***,the vibration control of fluid-conveying pipes is essential to ensure the integrity and safety of pipeline systems,and has attracted considerable attention from both researchers and *** present paper aims to provide an extensive review of the state-of-the-art research on the vibration control of fluid-conveying *** vibration analysis of fluid-conveying pipes is briefly discussed to show some key issues involved in the vibration ***,the research progress on the vibration control of fluid-conveying pipes is reviewed from four aspects in terms of passive control,active vibration control,semi-active vibration control,and structural optimization design for vibration ***,the main results of existing research on the vibration control of fluid-conveying pipes are summarized,and future promising research directions are recommended to address the current research *** paper contributes to the understanding of vibration control of fluid-conveying pipes,and will help the research work on the vibration control of fluidconveying pipes attract more attention.

关键词： fuid-conveying pipe vibration passive control nonlinear energy sink(NES) active control semi-active control

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