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International Conference on Information Science and control Engineering (ICISCE)

作者： Shuang Liu Wei Chen Hang Wu Wenchang Zhang Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Tianjin University of Technology Tianjin China Academy of Military Sciences of Chinese PLA Institute of Medical Support Technology Tianjin China

With the development of technology, parallel mobile robots have been paid more attention in various industries due to the strong load capacity, high running stability and rapid response speed. However, step-length optimization is an important but challenging task for this kind of mobile robot. Step length has dramatic effect on the stability of robot and the performance of electric cylinder. Balancing the speed characteristics and stability margin, we propose a genetic algorithm to solve this problem and design a novel fitness function that can measure the motion characteristics of parallel mobile robot. Effectiveness of our method is verified by experiments.

关键词： Industries Information science control engineering Service robots Mobile robots Motion measurement Task analysis

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A SSVEP-Based Wireless Retrieval Robot system

A SSVEP-Based Wireless Retrieval Robot System

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Chinese Automation Congress (CAC)

作者： Sihao Yang Tao Xue Shicheng Yan Zekun Tian Yuxin Zhang Qihuai Zhang Jintao Chen Zhongli Bai Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin China Tianjin Key Laboratory for Control Theory and Applications in Complicated Systems Tianjin University of Technology Tianjin China

ISBN: (数字)9781728176871

ISBN: (纸本)9781728176888

The brain-computer interface (BCI) plays an important role in assisting the disabled in life support and entertainment. In this study, a wireless retrieval robot system for steady-state visual evoked potential (SSVEP) based BCI system was proposed. In order to improve the recognition accuracy and system stability of BCI system for subjects' instructions, in this study, offline and online experiments are used to study and solve the performance parameters, obstacle avoidance and retrieval performance of BCI respectively. In the offline experiment, 5 types of SSVEP data of 4 subjects were used. Based on CCA algorithm, the multi-channel fusion recognition accuracy, time window length (TWL), command activation margin and other aspects are studied. The optimal experimental parameters are determined. Online experiments are based on the optimal test parameters of offline experiments, 8 subjects were used to study the performance of obstacle avoidance and retrieval. The online experiments achieved an average accuracy of 87.89 ± 6.62% with an ITR of 23.6 ± 4.76 bit/min. Furthermore, the rate of success in grasping three kinds of different difficulty preset targets was 61.38%.

关键词： Electroencephalography Robots Electrodes Correlation coefficient Task analysis Visualization Liquid crystal displays

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Study on Rotating Speed control of Dissimilar Metal Friction Stir Welding based on Fuzzy PID

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Journal of Physics: Conference Series 2022年第1期2206卷

作者： Yongning Liu Zhifeng Qiao Qingjian Liu Jiahao Huang Kang Fu Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin 300384 China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education (Tianjin University of Technology)

The demand for lightweight vehicles that achieve energy conservation and emission reduction continues to grow. Aluminum alloys were commonly applied to the automotive industry to reduce the structural quality of the entire vehicle. However, the cost of aluminum alloy was higher than that of steel, so the industry considered the use of aluminum in combination with low-cost materials such as steel. Traditional welding technology was limited by the great physical difference between aluminum alloy and steel. Friction Stir Welding, a solid phase welding technology, can overcome the connection problem of aluminum and its alloys with steel, but the process parameters of FSW directly affect the welding quality. This paper established the FSW process of two different metals of DC05 and AL6061. Aimed to get a good welding joint, the error of tool speed is reduced by fuzzy PID system established in this paper, and the tool speed is controlled stably. Simulink simulation was established, and compared with the simulation results, fuzzy PID control can control the precision and stability of the tool speed of FSW, improve the welding quality, and provide a certain theoretical basis for the tool speed control.

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Compound nonlinear energy sink with multiple motion types for absorbing energy from wide excitation ranges

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Journal of Sound and Vibration 2025年 617卷

作者： Jianen Chen Jiaqi Zhao Wei Zhang Min Sun Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin 300384 China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin 300384 China School of Civil Engineering and Architecture Guangxi University Nanning 530004 China School of Science Tianjin Chengjian University Tianjin 300384 China

Nonlinear energy sink (NES) has garnered significant attention since its inception due to its notable broadband vibration reduction capability. However, the introduction of strong nonlinear characteristics by NESs complicates system responses, leading to a loss of effectiveness when the excitation force exceeds a specific threshold. Consequently, NESs have limited applicability in engineering because they are effective only within a constrained range of excitation amplitude. In this study, a compound NES (CNES) with multiple motion types is designed to extend the effective force range while maintaining broadband vibration reduction capability. The CNES is distinguished by its piecewise stiffness, collision mechanisms, and unique design of two-degree-of-freedom oscillators. The wide effective range of the CNES is demonstrated through slow linear sweep and fixed-frequency tests. The results indicate that the CNES effectively reduces vibrations in the primary oscillator (PO) with various resonant frequencies. Notably, the CNES achieves significant vibration reduction over a particularly wide range of excitation amplitude when controlling the PO with relatively high resonance frequencies (approximately 10.5 Hz and 19 Hz). However, a nonnegligible limitation of the CNES is its restricted effective range of excitation amplitude when the PO resonates at lower frequency (approximately 7 Hz). Moreover, five motion types of the CNES are identified and analyzed, with one motion type autonomously emerging in response to changes in excitation parameters, ensuring excellent vibration reduction performance across a wide excitation range. Finally, the performance of the CNES and a degraded single-degree-of-freedom CNES are compared to further demonstrate the extension effect of the multiple motion types on the effective range. The CNES can be used in scenarios where the parameters of protected systems and excitations vary widely, providing a thought to improve the NESs.

关键词： Compound nonlinearity Compound features Vibration reduction Vibration test Multiple motion types Effective range

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Influence of Micro-texture Parameters on Bone Drilling Force and Torque: A Finite Element Model 4

Influence of Micro-texture Parameters on Bone Drilling Force...

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2018 4th International Conference on Mechanical Engineering and Automation Science, ICMEAS 2018

作者： Hu, Yahui Li, Xiangjun Chen, Chuncheng Su, Lili Zheng, Qingchun Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin300384 China Tianjin University of Technology 391 Binshui West Road Tianjin Xiqing District300384 China

The micro-texture on the tool surface is an effective way to improve the quality of the drilling. While high-performance micro-texture plays an important role in improving the quality of working surface and prolonging the life of tool. In this study, a three-dimensional finite element model was established to study the relationship between drilling thrust, torque and microstructure parameters (micro-pit depth, micro-pit diameter and micro-pit spacing) during drilling of cortical bone. The model was validated by cortical bone drilling using a micro-structured tool. On basis of this, the thrust and torque prediction models of the micro-texture parameters were obtained. The results indicate that the thrust and torque increased with the increase of micro-pit diameter;while the increase of the micro-pit spacing caused the thrust and torque to decrease. When the depth of the micro-pit increased, the thrust and torque decreased first and then increased, and we found that the effect of micro-pit spacing and micro-pit depth on force and torque is insignificant. © Published under licence by IOP Publishing Ltd.

关键词： Torque

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Analysis of Anchor-Based and Anchor-Free Object Detection Methods Based on Deep Learning

Analysis of Anchor-Based and Anchor-Free Object Detection Me...

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IEEE International Conference on mechatronics and Automation

作者： Shujian Liu Haibo Zhou Chenming Li Shuo Wang 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 Tianjin China

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164175

As one of the core mission of computer vision, object detection has been widely applied with the rapid development of computer technology, especially in the fields of face detection, behavior detection, auto driving, and intelligent monitoring. Aiming at the shortcomings of the traditional object detection, such as low detection accuracy, low efficiency and poor robustness, this article summarizes deep learning-based detectors of two kinds of modules: Anchor-Based and Anchor-Free. The performance of each detector is compared and analyzed in this paper as well. In addition, we summarize the development of object detection's key technologies from the aspect of improvement of Backbone, the optimization of NMS, imbalance of positive and negative samples' solution etc. Finally, the development trend of object detection is discussed from the prospect of lightweight detection model, weakly supervision detection and small object detection etc.

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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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IEEE International Conference on Robotics and Biomimetics

作者： Hongbiao Xiang Tilei Zhang Mengwei Li Shoujun Wang Xiuping Yang Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control Tianjin University of Technology Tianjin China

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.

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Transformer-LSTM-KOA: A novel approach for prediction of chlorophyll in the South China Sea

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Environmental Modelling & Software 2025年 192卷

作者： Gang Chen Zhenzhong Liu Runfeng Zhang Guobin Zhang Jutao Wang Tongrui Zhang Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin 300384 China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education (Tianjin University of Technology) Tianjin China School of Environmental Science and Safety Engineering Tianjin University of Technology Tianjin 300384 China Tianjin Hanhailanfan Marine Technology Co. Ltd. Tianjin 300457 China

Chlorophyll is a critical indicator of marine primary productivity and is essential in assessing aquatic ecosystem health. To address the limitations of current prediction models regarding accuracy, mobility, and reliability, this study proposes a novel Transformer-LSTM-KOA model for Chlorophyll prediction. Leveraging remote sensing data from the South China Sea, the model synergistically integrates Transformer's global analytical capabilities via self-attention and multi-head attention mechanisms with LSTM's proficiency in capturing long-term dependencies through gated mechanisms. The Kepler Optimization Algorithm (KOA) is subsequently employed to systematically optimize both global and local model parameters, thereby enhancing adaptability and robustness across diverse prediction datasets. Experimental results demonstrate superior performance with MSE and MAE values of 0.00011 and 0.00685, respectively, outperforming benchmark models. This enhanced modeling framework provides crucial technical support for marine ecological forecasting and early warning systems.

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Swimming characteristics of soft robot with magnetoelastic material

Swimming characteristics of soft robot with magnetoelastic m...

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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

关键词： Visual servoing

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