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20th IEEE International Conference on Mechatronics and Automation, ICMA 2023

作者： Wang, Xinjie Li, Bin Ma, Yue Peng, Wei Peng, Pai Wang, Jinyuan Tianjin University of Technology Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin300384 China Tianjin University of Technology National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin China

ISBN: (纸本)9798350320831

Compared with the traditional rigid robots, the continuum robot has been widely studied because of its advantages of compact design and flexible motion. The design of continuum parallel robots are similar to that of the traditional rigid-link parallel robot, and the precision, stability and strength characteristics of rigid-link parallel robots are combined with the compactness and flexibility characteristics of continuum robots. In recent research advances, it is well appreciated to suggest that the use of parallel continuum robots with passive supports is supported by elastic rods. The passive branch undergoes deformation along its entire length and uses complex formulas to describe its shape and kinematics. According to different methods, this paper proposes the design of a parallel robot dual continuum translation passive branch chain. This continuum joint will assume a constant curvature bend and use this assumption for kinematic modeling. Since the continuum joint is a flexible joint that utilizes the characteristics of new materials, it uses material deformation to replace the motion pair, which successfully realizes that the passive branch joint can replace the universal joint and the ball hinge in the parallel robot, and the joint can be bent more than 90 0 to achieve a larger range of workspace. Each passive branch of the new continuum robot is a continuum structure composed of two mutually coupled flexible hinge joints, and the translational motion of the end effector is inherently realized by using its material properties. The paper includes a new mechanism description and kinematics modeling. © 2023 IEEE.

关键词： Kinematics

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A Model-Data Compound Driven Method For Compensating Robot Tracking Error 20

A Model-Data Compound Driven Method For Compensating Robot T...

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20th IEEE International Conference on Mechatronics and Automation, ICMA 2023

作者： Peng, Pai Liu, Qi Li, Bin Peng, Wei Wang, Xinjie Wang, Jinyuan Tianjin University of Technology Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin300384 China Tianjin University of Technology National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin China

ISBN: (纸本)9798350320831

Industrial robots are widely used in industrial production because of their high work efficiency and high flexibility, but their low tracking accuracy makes them unable to be applied on a large scale in high-precision manufacturing. Considering the modeling error of robot, the problem of low tracking accuracy should be solved by combining model-based methods and data-based methods. Thus, a model-data compound approach is proposed for compensating robot tracking error. This method comprehensively considers two error compensation methods of model-driven and data-driven, which constructed the input matrix by using the model-based information and the data-based information. The former includes the desired position, velocity, acceleration, torque and friction torque;and the latter includes the actual torque. For the purpose of predicting the correlation between the joint error and the historical joint motion state, the historical information of the joint motion is also added in the input matrix for improving the error prediction accuracy. Then, a convolutional neural network prediction model is constructed for predicting and compensating the tracking error of each actuated joint. The experimental results show that the proposed method has good prediction accuracy and compensation effect. Compared to joint control without using the proposed method, the root mean square of joint tracking errors was reduced by up to more than 69%. © 2023 IEEE.

关键词： Error compensation

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Gait Planning and Simulation of 3-RRP Legged Mobile Robot 20

Gait Planning and Simulation of 3-RRP Legged Mobile Robot

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20th IEEE International Conference on Mechatronics and Automation, ICMA 2023

作者： Wang, Jinyuan Li, Bin Ma, Yue Wang, Xinjie Peng, Pai Peng, Wei Tianjin University of Technology Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin300384 China Tianjin University of Technology National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin China

ISBN: (纸本)9798350320831

In order to meet the requirements of keeping the body posture level with the ground during the movement of the quadruped robots, this paper designs a quadruped robot with three joints and three degrees of freedom in each leg, which is a 3-RRP kinematic chain. The legs and body of the quadruped robot are virtually modeled by SolidWorks. Combining the forward and inverse kinematics analysis, the reasonable and ideal foot trajectory and body motion trajectory are planned in Matlab. The gait stability is based on the ZMP stability criterion and is quantified by the stability margin. According to the structural characteristics of the quadruped robot in this paper, the body posture adjustment strategy is proposed. Finally, the simulation is carried out under the two gait plannings of straight driving and turning using ADAMS. The simulation results show that the quadruped robot has a reasonable walking gait on the flat road surface with little impact on the body. The minimum stability margin of the strategy with body adjustment is improved compared with the strategy without body adjustment. © 2023 IEEE.

关键词： Stability criteria

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Corrosion Mechanisms and Differences of Inconel 617 and Incoloy 800h Under High-Temperature Air Ingress Accident

SSRN

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SSRN 2024年

作者： Li, Haoxiang Yan, Dapeng Li, Guodong Tian, Changqing An, Jiayi Tan, Jiaqi Zheng, Wei Du, Bin Yin, Huaqiang Science and Technology on Reactor System Design Technology Laboratory Nuclear Power Institute of China Chengdu610213 China State Key Laboratory of Advanced Nuclear Energy Technology Nuclear Power Institute of China Chengdu China Institute of Nuclear and New Energy Technology Key Laboratory of Advanced Reactor Engineering and Safety of Ministry of Education Tsinghua University Beijing China Tsinghua University China

In the high-temperature operation of very high-temperature gas-cooled reactors (VHTRs), "microclimate reaction" are one of the key corrosion reactions of concern. This study investigates the corrosion behavior and mechanisms of the two mainstream high-temperature alloys, Incoloy 800H and Inconel 617, under minor air ingress accidents. The main focus is on comparing and analyzing the "microclimate reaction" corrosion behavior and mechanisms of the two alloys, as well as exploring changes in their mechanical properties. The results show that during the experiment, both alloys primarily underwent oxidation and "microclimate reaction". The double-layer oxide of Cr2 O3 -MnCr2 O4 /MnFe2 O4 and the SiO2 layer on the surface of Incoloy 800H provide good resistance to "microclimate reaction," whereas the single-layer Cr2 O3 oxide on Inconel 617 is not effective in preventing "microclimate reaction". The mechanical property test results indicate that the decarburization caused by "microclimate reaction" does not significantly affect the basic mechanical properties of the alloy. Research on "microclimate reactions" should primarily focus on preventing the oxidation layer from cracking and reducing the time during which the alloy matrix is unprotected by a protective oxide layer. © 2024, The Authors. All rights reserved.

关键词： Gas cooled reactors

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Trajectory Optimization and Control Method Based on Multistage Nonlinear Model Predictive Control 4

Trajectory Optimization and Control Method Based on Multista...

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4th International Seminar on Artificial Intelligence, Networking and Information technology, AINIT 2023

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

ISBN: (纸本)9798350314526

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. © 2023 IEEE.

关键词： Model predictive control

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Fault diagnosis of PEMFC based on fatal and recoverable failures using multi-scale convolutional neural networks

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International Journal of Hydrogen Energy 2024年 80卷 916-925页

作者： Xu, Jiang-Hai Zhang, Ben-Xi Zhu, Kai-Qi Zheng, Xiu-Yan Zhang, Cong-Lei Chen, Zhang-Liang Yang, Yan-Ru Huang, Tai-Ming Bo, Zheng Wan, Zhong-Min Hsu, Shu-Han Yan, Wei-Mon Wang, Xiao-Dong State Key Laboratory of Alternate Electrical Power System with Renewable Energy Sources North China Electric Power University Beijing102206 China Research Center of Engineering Thermophysics North China Electric Power University Beijing102206 China College of Mechanical Engineering Hunan Institute of Science and Technology Yueyang414006 China State Key Laboratory of Clean Energy Utilization College of Energy Engineering Zhejiang University Zhejiang Province Hangzhou310027 China Department of Mechanical Engineering National Taipei University of Technology Taipei10608 Taiwan Department of Energy and Refrigerating Air-Conditioning Engineering National Taipei University of Technology Taipei10608 Taiwan

This study introduces a multi-scale convolutional neural network (MCNN) for diagnosing various faults in proton exchange membrane fuel cell (PEMFC) systems. Using simulated fault data from a 240 kW PEMFC stack, the MCNN method is validated. Compared to traditional methods like backpropagation neural network (BP), support vector machine (SVM), and temporal convolutional neural network (TCNN), MCNN achieves an average accuracy of 96.31%, outperforming BP (88.88%), SVM (90.67%), and TCNN (93.80%). The study demonstrates MCNN's effectiveness in diagnosing recoverable faults, fatal faults, and multiple faults in PEMFC systems, achieving fault diagnosis accuracies of over 97%. By leveraging its inherent advantages such as multi-channel processing, automatic feature learning, and parameter sharing, MCNN provides an effective solution for accurately diagnosing faults in PEMFC. The utilization of these advantages has enabled MCNN to perform efficient and accurate fault diagnosis in PEMFC systems. © 2024 Hydrogen Energy Publications LLC

关键词： Failure analysis

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Efficient design Optimization for Diffractive Deep Neural Networks

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IEEE Transactions on Computer-Aided design of Integrated Circuits and systems 2025年第3期44卷 1199-1203页

作者： Wu, Kun Liu, Yuncheng Gao, Hui Tao, Jun Xiong, Wei Li, Xin Wuhan University School of Electronic Information Wuhan430072 China Huazhong University of Science and Technology Wuhan National Laboratory for Optoelectronics The School of Optical and Electronic Information Wuhan430074 China Optics Valley Laboratory of Hubei Wuhan430074 China Fudan University State Key Laboratory of Integrated Chips and System School of Microelectronics Shanghai200433 China Duke Kunshan University Data Science Research Center Jiangsu Kunshan215316 China

Since diffractive deep neural network (D2NN) provides a full optical solution to implement deep neural networks (DNNs), it offers ultrafast operation speed and virtually unlimited bandwidth, yielding an alternative-yet-competitive approach for computer-based neural networks. A D2NN is composed of several 3D-printed phase masks as hidden layers and a number of optical detectors at the output. To enable automatic and efficient design of D2NNs, we propose an iterative optimization method to determine the optimal design parameters of D2NNs. During each iteration step, we first optimize the physical parameters for masks (e.g., thicknesses) while fixing the detector parameters (e.g., locations). Next, we exhaustively search the detector parameters with fixed masks. These two steps are repeated until convergence is reached. Our numerical experiments demonstrate that the proposed optimization algorithm can produce a high-performance D2NN achieving 97% accuracy for recognizing handwritten digits. © 2024 IEEE.

关键词： Deep neural networks

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Broadband Wide-Angle Linear-to-Circular Polarization Converter Based on Metal Strips Loaded Metasurface

Broadband Wide-Angle Linear-to-Circular Polarization Convert...

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2022 International Applied Computational Electromagnetics Society Symposium, ACES-China 2022

作者： Wang, Jingwen Deng, Shasha Chen, Weidong Zhang, Zhongxiang Chen, Chang University of Science and Technology of China School of Information Science and Technology Hefei230031 China Hefei Normal University Key Laboratory of Simulation and Design for Electronic Information System Hefei230601 China

ISBN: (纸本)9781665452366

A transmissive broadband wide-angle linear-to-circular polarization converter based on metal strips loaded metasurface is proposed in this paper. The converter is composed of three metallic layers separated by dielectric substrates and the metal strips printed on each layer keep orthogonal to each other. To further investigate the operating mechanism of the design, equivalent circuit models are presented. Moreover, the converter is verified to be effective in polarization conversion through the full-wave simulation. With the insertion loss less than 2 dB and 3 dB, the simulation 3-dB axial ratio (AR) bandwidth keeps 67% and 76%, respectively. Furthermore, at an increased incident angle of 40°, the device can still maintain an AR bandwidth over 47% at 2 dB insertion loss, which manifests the validity and rationality of the converter design. © 2022 IEEE.

关键词： Strip metal

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A Band Stop Decoupling Structure for Circularly Polarized Antennas With Different Intervals

A Band Stop Decoupling Structure for Circularly Polarized An...

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2022 International Applied Computational Electromagnetics Society Symposium, ACES-China 2022

作者： Ding, Yuhang Deng, Shasha Chen, Weidong Zhang, Zhongxiang Chen, Chang University of Science and Technology of China School of Information Science and Technology Hefei230031 China Hefei Normal University Key Laboratory of Simulation and Design for Electronic Information System Hefei230601 China

ISBN: (纸本)9781665452366

In this paper, a novel band stop decoupling structure (BSDS) for circularly polarized microstrip antenna array with different intervals to realize mutual coupling reduction is proposed. The BSDS is composed of complementary split-rings resonator (CSRRs) and split-rings resonator (SRRs), where the CSRRs block TM waves by electric resonance and the SRRs block TE waves by magnetic resonance, respectively. The proposed design is verified by the simulation and the results indicate that the isolation enhancement more than 35 dB can be obtained at the center frequency of 3.4 GHz when the center spacing is 0.37 λ0. Futhermore, when the center spacing reduces to 0.26 λ0, the mutual coupling remains below 25 dB. Besides, the BSDS can improve the radiation pattern offset without affecting the gain and the backward radiation of antennas. © 2022 IEEE.

关键词： Magnetic resonance

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High-Performance in N-Type Pbte Thermoelectric Materials by Defects Management and Extraordinary Role of Cd Alloying

SSRN

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SSRN 2024年

作者： Chen, Zhiyu Li, Mancang Chen, Zhang Wang, Yu Zhou, Daijie Huang, Xueliang Zhang, Xinhu Guo, Rui Liu, Xianbo Wang, Zhengshang Science and Technology on Reactor System Design Technology Laboratory Nuclear Power Institute of China Chengdu610213 China Sichuan Research Center of New Materials Chengdu610000 China

The conventional multiple isovalent alloying is proved to be effective for enhancing n-type PbTe thermoelectrics. However, the introduction of various elements undeniably leads to potential stability concerns during material application. Here, we propose a straightforward strategy that leverages Cd alloying and defect management to enhance the TE performance of n-type PbTe. The Cd doping facilitates band gap widening, resulting in increased effective mass and Seebeck coefficient, especially at elevated temperatures due to the improved Cd solubility. Furthermore, the introduction of excess Pb atoms serves to occupy intrinsic Pb vacancies, consequently enhancing carrier mobility. As a result, the maximum power factor of Cd-alloyed Pb1.01Te samples reaches 31.5 μW cm-1 K-2, signifying a remarkable improvement of 69.3% in comparison to pristine PbTe. Additionally, the enlarged band gap induced by Cd alloying also effectively mitigates bipolar diffusion, combining with the enhanced phonon scattering due to CdTe secondary phase, yields a 34.3% decrease in thermal conductivity. By harnessing the multifaceted effects of Cd alloying and defect management, the ZT value of Pb1.01Te-2%Cd samples reaches 1.35 at 782 K. The present findings provide a novel perspective on the versatile utilization of single isovalent element alloying and the optimization of performance across other TE materials. © 2024, The Authors. All rights reserved.

关键词： Energy gap

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