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2024 IEEE International Conference on Electrical Energy Conversion Systems and Control, IEECSC 2024

作者： Zhang, Jinyong Shao, Dingguo Wei, Yitong School of Electromechanical Engineering and Automation Shanghai University Shanghai China

ISBN: (纸本)9798350389357

The safety and reliability of the motor is the basis and guarantee of the stable operation of the motor, so it is of great significance to be able to quickly and accurately diagnose the early motor faults to avoid unnecessary downtime or even more serious consequences due to motor faults. In this paper, we diagnose the early inter-turn short-circuit fault of the motor from the two aspects of motor fault modeling and early fault signal processing. As the early fault signal of the motor is not obvious, we use the Variable Modal Decomposition (VMD) algorithm to process the fault signal, and use the whale optimization algorithm (WOA) to optimize the parameters of the VMD algorithm. After simulation verification results show that the best combination of parameters obtained after the whale optimization algorithm is applied to the VMD algorithm to decompose the fault signal, which can effectively eliminate the noise interference to extract the fault characteristics. © 2024 IEEE.

关键词： Adaptive boosting

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Proportional solenoid valve comprehensive test system 6

Proportional solenoid valve comprehensive test system

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6th International Conference on Energy, Power and Grid, ICEPG 2024

作者： An, Zhufu Li, Xingke Shanghai University School of Electromechanical Engineering and Automation Shanghai China

ISBN: (纸本)9798350377798

Based on LabVIEW software development platform, according to the relevant national standards and user standards to design a set of proportional solenoid valve test system for the various tests. This paper mainly focuses on the current-pressure curve test introduces the hydraulic system, electrical system and test software development. Through the proportional amplifier output precision, tremor frequency on the experiment to analyze the impact of the comparison of different precision under the changes in the experimental curve, and optimize it to meet the requirements of the test curve. © 2024 IEEE.

关键词： Solenoid valves

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A real-time multiple tunneling parameter prediction method of TBM steady phase based on dual recurrent neural networks

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Neural Computing and Applications 2024年第26期36卷 15981-16000页

作者： Yu, Shuangfei Xu, Jinchang Hu, Jiacheng Li, Jian Liu, Jiabin Chen, Haowen Guan, Yisheng Xu, Kun Zhang, Tao School of Electromechanical Engineering Guangdong University of Technology Guangzhou China School of Intelligent Engineering Shaoguan University Shaoguan China School of Mechanical Engineering and Automation Beihang University Beijing China

Due to the uncertainty of geological conditions during the tunneling process, advanced prediction of TBM tunneling parameters is significant for evaluating operational safety and efficiency, especially for real-time prediction of key tunneling parameters during the steady phase of TBM operation. At present, although there are studies on constructing predictive models based on machine learning algorithms, multiparameter prediction consistent with the actual tunneling process remains challenging due to the complexity of the TBM tunneling process and the numerous tunneling parameters. Therefore, this paper proposes a real-time multiple tunneling parameters prediction method of TBM steady phase based on dual recurrent neural networks. Firstly, the irregular multidimensional time series of tunneling parameters are analyzed and processed, which are divided into an idle-push phase, a rising phase, and a steady phase;secondly, the parameters of rising phase are analyzed using a recurrent neural network, and the parameters relevant for constructing a real-time prediction model are screened;then, based on the screened parameters, the Bayesian-optimized gated recurrent unit (GRU, a kind of recursive neural network) is proposed to construct a real-time prediction model for the four key tunneling parameters during the steady phase. Finally, the effectiveness and practicality of the proposed method are demonstrated by verification on real TBM tunnel datasets and comparing it with the models constructed by six commonly used machine learning algorithms. The results of this paper show that the designed prediction method is able to achieve a good combination of performance in terms of accuracy and computational time-consumption, with an average prediction accuracy of 91.1% for the four parameters for different rock grades of geology, the multiparameter prediction time for 100 samples is only 11 ms. In addition, three current similar studies using deep learning methods were compared t

关键词： Forecasting

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Construction and manipulation of origami-inspired tubular structures with controlled mechanical buckling for collection and transportation of microspheres based on optically induced electrokinetics

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Science China(Technological Sciences) 2024年第9期67卷 2954-2964页

作者： YANG WenGuang WANG WenHao TENG XiangYu QIAO ZeZheng YU HaiBo School of Electromechanical and Automotive Engineering Yantai UniversityYantai 264005China State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China

The development of microengineered hydrogels has opened up unlimited possibilities for designing complex structures at the microscale. In this study, we constructed an origami-inspired tubular structure with controlled mechanical buckling based on optically induced electrokinetics(OEK). By inducing a stress gradient in the thickness, a tubular structure can be formed from a poly(ethylene glycol) diacrylate(PEGDA) hydrogel film of various shapes that have been custom fabricated. To achieve an ideal three-dimensional(3D) structure, the amplitude of the tubular structure can be controlled by adjusting the aspect ratios or polymerization time. Furthermore, the tubular structure can be manipulated for the collection and transportation of *** summary, we provide an effective method for designing 3D structures at the micro-nano scale. This forming method holds great potential for achieving various functions in tissue engineering, drug packaging, and transportation in the future.

关键词： origami-inspired tubular structures optically induced electrokinetics microfabrication mechanical buckling

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Comprehensive Exergoeconomic Analysis and Optimization of a Novel Zero-Carbon-Emission Multi-Generation System based on Carbon Dioxide Cycle

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Journal of Thermal Science 2024年第3期33卷 1065-1081页

作者： SUN Yan LI Hongwei WANG Di DU Changhe School of Energy and Power Engineering Northeast Electric Power UniversityJilin132012China School of Automation Engineering Northeast Electric Power UniversityJilin132012China Xi’an Institute of Electromechanical Information Technology Xi’an710065China

This paper aims to conduct a comprehensive exergoeconomic analysis of a novel zero-carbon-emission multi-generation system and propose a fast optimization method combined with machine *** detailed exergoeconomic analysis of a novel combined power,freshwater and cooling multi-generation system is performed in this *** exergoeconomic analysis model is established by exergy flow theory.A comprehensive exergy,exergoeconomic and environmental analysis is carried *** critical decision variables are researched to bring out effects on the multi-generation system exergoeconomic performance.A novel fast optimization method combining genetic algorithm and Bagging neural network is *** advanced nature comparison is made between the proposed system and four similar *** display that increasing the turbine inlet temperature can improve exergy efficiency and decrease the total product unit *** multi-generation system exergy destruction directly determines exergy efficiency and total exergy destruction cost *** total product unit cost in the cost optimal design case is reduced by 7.7%and 25%,respectively,compared with exergy efficiency optimal design case and basic design *** with four similar cases,the proposed multi-generation system has great advantages in thermodynamic performance and exergoeconomic *** paper can provide research methods and ideas for performance analysis and fast optimization of multi-generation system.

关键词： waste heat recovery exergoeconomic analysis supercritical carbon dioxide optimization machine learning

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An Untethered Miniature Soft Jumping Robot Inspired by Quadrupeds

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Journal of Bionic engineering 2023年第4期20卷 1467-1480页

作者： Tianliang Zhong Fanan Wei Zhushan Zhai Wenguang Yang School of Mechanical Engineering and Automation Fuzhou UniversityFuzhou350108China School of Electromechanical and Automotive Engineering Yantai UniversityYantai264005ShandongChina State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang110016LiaoningChina

In recent years,designing a soft robot that can jump continuously and quickly explore in a narrow space has been a hot research *** the continuous efforts of researchers,many types of actuators have been developed and successfully employed to actuate the rapid locomotion of soft *** these mechanisms have enabled soft robots with excellent movement capabilities,they largely rely on external energy supply cables,which greatly limits their ***,it is still a big challenge to realize the unconstrained movement of the soft robot and the flexible adjustment of the movement direction in a narrow ***,a wireless magnetically controlled soft jumping robot with single-leg is proposed,which can achieve continuous and rapid jumping ***'s more interesting is that by changing the frequency and waveform of the control signal,this soft robot can easily switch between forward and backward *** motion direction switching function enables the magnetically controlled soft robot to return to the initial position without adjusting the direction when it completes the operation in a narrow pipe or takes the wrong path,which greatly improves the motion efficiency of the soft jumping robot and broadens its application field.

关键词： Wireless Magnetically controlled Soft robot Jumping Bidirectional motion

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Expansion of Self-assembled Structures of Heteroarray NdFeB Semicircular Arc Magnetic Minirobots

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Journal of Bionic engineering 2024年第5期21卷 2258-2270页

作者： Wenguang Yang Huibin Liu Qinghao Guo Wenhao Wang Haibo Yu Anqin Liu School of Electromechanical and Automotive Engineering Yantai UniversityYantai264005China State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang110016China School of Mechanical and Electrical Engineering Yantai Institute of TechnologyYantai264005China

Researching the cooperative operation and functional expansion of multiple minirobot assemblies has the potential to bring about significant advancements in the practical applications of *** this study,we present a novel assembly sys-tem comprised of arc-shaped NdFeB magnetic *** minirobots can be individually utilized as assembly units,allowing for function expansion and comprehensive capability *** fabricate four Semicircular Arc Magnetic Minirobots(SAMM)arranged in different configurations and analyze their force and motion ***,by using this unit as a base,various expansion structures such as latches,petals,and rings can be assembled through reason-able *** define the comprehensive reinforcement interval by comparatively analyzing changes in the unit's motion characteristics and operational *** motion manipulation is employed to verify the rationality of the basic unit structure and the feasibility of the assembly *** proposed self-assembly scheme for magnetic minirobots exhibits great potential and may be used as a paradigm for future research on expanding the functionality of minirobots.

关键词： NdFeB Semicircular arc Cutoff frequency Assembly Cooperative work Magnetic minirobots

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Influence of lunar regolith compressibility on sampling performance of thick wall spiral drills

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Chinese Journal of Aeronautics 2023年第2期36卷 350-362页

作者： Yong PANG Tao ZHANG Hongyu WEI Ting ZENG Yinliang ZHANG Guidong MO Kun XU Shen YIN Guoxin WANG Xingwang ZHANG Xiaoming LAI Xilun DING Beijing Spacecrafts China Academy of Space TechnologyBeijing 100094China School of Mechanical Engineering and Automation Beihang UniversityBeijing 100191China School of Electromechanical Engineering Guangdong University of TechnologyGuangzhou 510006China

A 2 m class robotic drill was sent to the Moon and successfully collected and returned regolith samples in late 2020 by *** was a typical thick wall spiral drill(TWSD)with a hollow auger containing a complex coring system to retain subsurface regolith *** the robotic drill was launched,a series of laboratory tests were carried out to investigate and predict the possible drilling loads it may encounter in the lunar *** work presents how the sampling performance of the TWSD is affected by the regolith *** and analysis during the drilling and sampling process in a simulated lunar regolith environment were *** compressibility of a typical lunar regolith simulant(LRS)was measured through unidirectional compression tests to study the relationship between its inner regolith stress and bulk density.A theoretical model was established to elucidate the cutting discharge behavior by auger flights based on the aforementioned *** were conducted with the LRS,and the results show that the sampling performance is greatly affected by the flux of the drilled cuttings into the spiral flight *** work helped in scheduling reasonable drilling parameters to promote the sampling performance of the robotic drill in the Chinese Chang’E 5 mission.

关键词： Drilling mechanics Lunar drilling Lunar regolith compressibility Regolith sampling performance Thick wall spiral drill

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Mechanism Design of a Mole-Inspired Robot Burrowing with Forelimbs and Incisors for Planetary Subterranean Exploration

Mechanism Design of a Mole-Inspired Robot Burrowing with For...

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2024 IEEE International Conference on Robotics and Biomimetics, ROBIO 2024

作者： Zheng, Kunquan Chen, Zibiao Zheng, Hongmin Liang, Zhaofeng Zhu, Haifei Guan, Yisheng Xu, Kun Zhang, Tao School of Electromechanical Engineering Guangdong University of Technology Guangzhou China School of Mechanical Engineering and Automation Beihang University Beijing China

ISBN: (纸本)9781665481090

With the continuous development of planetary exploration, the significance of penetrating deep planetary soil has become increasingly prominent. Inspired by the burrowing mechanism of moles, this study designed a mole-inspired burrowing robot. First, the structural characteristics of mole burrowing with forelimbs and incisors were analyzed, providing important references for robot design. Subsequently, the overall structural plan of the robot was proposed, and its burrowing mechanism was detailed. Finally, the burrowing test of the forelimb mechanism and the incisor mechanism were conducted in a simulated soil environment. The results showed that the robot exhibits excellent burrowing performance. © 2024 IEEE.

关键词： Machine design

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Joint Space Variable Impedance Control in Stair Descent of a Wheeled Humanoid Robot 9

Joint Space Variable Impedance Control in Stair Descent of a...

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9th International Conference on Robotics, Control and automation, ICRCA 2025

作者： Li, Xiyuan Song, Yibo Sun, Guoli Cheng, Changwei Yantai University School of Electromechanical and Automotive Engineering Yantai China Shandong University of Science and Technology School of Electrical and Automation Engineering Qingdao China

ISBN: (纸本)9798331544577

This paper conducts a comprehensive investigation into joint space Variable Impedance Control (VIC) for a Wheeled Humanoid Robot (WHR) during stair descent. It starts by examining the structural characteristics, kinematics model, and equivalent dynamics model of the WHR, thereby establishing the theoretical foundation for designing the control algorithm. Subsequently, the principles of joint space VIC are elaborated, including impedance parameter selection, adjustment mechanisms, and how the control algorithm ensures joint compliance and stability. By continuously monitoring torso acceleration, roll angle, wheel-ground contact status, and dynamically modulating the joint impedance characteristics of the WHR accordingly, while simultaneously adjusting the target hip joint angles based on the torso's pitch angle, the proposed control strategy effectively manages joint torques. Simulation results demonstrate the superiority of the VIC approach compared to traditional fixed impedance control strategies in joint space. The findings clearly indicate that the VIC method enhances the stability and smoothness of the WHR's motion, enabling it to descend stairs with greater precision and confidence. This research significantly contributes to the field of WHRs by offering a more robust and adaptable control strategy for navigating complex terrains. © 2025 IEEE.

关键词： Anthropomorphic robots

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