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Synergistic strengthening mechanism of gradient structure AZ31 magnesium alloy plate in hard plate rolling

Progress in Natural science:Materials International 2023年第5期33卷 652-659页

作者： Wen Tao Niu Feng Li Jia Yang Zhang Chao Li Lu Sun School of Materials Science and Chemical Engineering Harbin University of Science and Technology Key Laboratory of Advanced Manufacturing and Intelligent Technology Ministry of Education Harbin University of Science and Technology Heilongjiang Provincial Key Laboratory of Light Metal Materials Modification & Green Forming Technology Harbin University of Science and Technology

Compared with homogeneous structural materials, gradient structural materials are easier to realize the strengthductility optimization. Research on the strengthening mechanism of different gradient structure materials is a meaningful way to broaden the application of gradient structure materials. In this paper, the AZ31 magnesium alloy plate was rolled by hard plate rolling. The gradient structure was controlled by changing the initial plate thickness. When the initial plate thickness was 4 mm, AZ31 magnesium alloy shows excellent strength and ductility, the tensile strength was 282.2 MPa, and the ductility was 28.4 %. The change of the initial plate thickness changes the stress state which forming a gradient structure with different characteristic layers. The extra strengthening between different characteristic layers improves the properties of gradient structure, which makes the magnesium alloy change from a uniaxial stress state to a multi-axial stress state during the tensile process. The increase of the characteristic layer induces more geometrically necessary dislocation accumulation, improving the gradient structure's strength and ductility. This research provides a new design strategy for the forming and performance optimization of gradient structure magnesium alloy plate by hard plate rolling, which has good industrial production and application potential.

关键词： Hard plate rolling Gradient structure AZ31 magnesium alloy Extra strengthening Geometrically necessary dislocation

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Model-driven path planning for robotic plasma cutting of branch pipe with single Y-groove based on pipe-rotating scheme

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Advances in Manufacturing 2024年第1期12卷 94-107页

作者： Yan Liu Qiu Tang Xin-Cheng Tian School of Control Science and Engineering Shandong UniversityJinan250061People’s Republic of China Engineering Research Center of Intelligent Unmanned System Ministry of EducationJinan250061People’s Republic of China School of Mechanical and Electronic Engineering Shandong Jianzhu UniversityJinan250101People’s Republic of China

The automatic cutting of intersecting pipes is a challenging task in *** improved automation and accuracy,this paper proposes a model-driven path planning approach for the robotic plasma cutting of a branch pipe with a single ***,it summarizes the intersection forms and introduces a dual-pipe intersection *** on this model,the moving three-plane structure(a description unit of the geometric characteristics of the intersecting curve)is constructed,and a geometric model of the branch pipe with a single Y-groove is ***,a novel mathematical model for plasma radius and taper compensation is ***,the compensation model and groove model are integrated by establishing movable ***,to prevent collisions between the plasma torch and workpiece,the torch height is planned and a branch pipe-rotating scheme is *** the established models and moving frames,the planned path description of cutting robot is provided in this novel *** accuracy of the proposed method is verified by simulations and robotic cutting experiments.

关键词： Automatic groove cutting of intersecting pipes Model-driven robot path planning Plasma beam radius and taper compensation

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Path Planning of AUV for Obstacle Avoidance with Improved Artificial Potential Field 49

Path Planning of AUV for Obstacle Avoidance with Improved Ar...

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49th Annual Conference of the IEEE Industrial Electronics Society, IECON 2023

作者： Yan, Zheping Zhao, Luoyin Wang, Yuqing Zhang, Mingyao Yang, Haoyu Zhang, Chao Harbin Engineering University College of Intelligent Systems Science and Engineering Harbin China School of Electrical and Electronic Engineering Harbin University of Science and Technology Harbin China

ISBN: (纸本)9798350331820

An improved artificial potential field (IAPF) algorithm is proposed in this paper to promote the path planning characteristics of autonomous underwater vehicle (AUV). There are two critical problems restricting the application of obstacle avoidance path planning for the artificial potential field (APF) algorithm, one is the local minima and the other is the target unreachability problem. Therefore, the distance between the target and the AUV in attractive field is introduced into the repulsive potential field to modify the repulsive force so as to solve the problem of target unreachability. Moreover, an additional force is added to the resultant force to break the equilibrium when the local minima situation occurs. Ultimately, the simulation experiment validates that the improved artificial potential field method is an efficient way to realize the path planning for AUV in 3D space. © 2023 IEEE.

关键词： Motion planning

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Double-loop Human-Robot Shared Control for Trajectory Tracking of an Underwater Robot

Double-loop Human-Robot Shared Control for Trajectory Tracki...

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2023 China Automation Congress, CAC 2023

作者： He, Yongxu Zhao, Yuxin Xu, Geng College of Intelligent Systems Science and Engineering Harbin Engineering University Harbin China School of Automation Harbin University of Science and Technology Harbin China

ISBN: (纸本)9798350303759

This paper addresses the challenge of achieving a compromise between tracking a desired trajectory and responding to a human operator's command for a remotely operated underwater robot. The proposed human-robot shared control scheme is structured as a double-loop system, comprising a kinematic controller and a dynamic controller. The outer-loop kinematic controller incorporates the control commands provided by the human operator. To enable a rapid and smooth transition between trajectory tracking and human command following, we employ a convex blending law that uses the human intent measure to adjust the weight of human input and the automatic control signal. The inner-loop dynamic controller tracks velocity reference in the presence of significant system uncertainties, external disturbances, and limitations in actuator saturation. The sparse online Gaussian process technique is leveraged to learn and compensate for unknown dynamics. By integrating the posterior means and variances into an integral sliding mode control framework, the designed dynamic controller ensures asymptotic convergence of velocity tracking errors with a speci-fied probability. Simulation results demonstrate the effectiveness of the proposed shared-control method. © 2023 IEEE.

关键词： Sliding mode control

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Recent Patent for Walking Device of Corn Harvester

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Recent Patents on engineering 2023年第6期17卷 63-73页

作者： Bao, Yudong Zhang, Jianlong Zhao, Yafei School of Mechanical and Power Engineering Harbin University of Science and Technology Harbin150080 China Key Laboratory of Advanced Manufacturing and Intelligent Technology Ministry of Education Harbin University of Science and Technology Harbin150080 China

Background: Corn harvesting is an important part of the entire corn production process. Corn harvester power, turning radius and dehulling device will directly affect harvest efficiency and the quality of harvested corn. Obtaining better performance peeling device with strong power and minimum turning radius is the research direction in this field. Objective: This paper summarizes the patents of the walking system of corn harvesters at home and abroad in recent years, and introduces the characteristics and development of knapsack harvesters, trailed harvesters and self-propelled harvesters, such as power, turning radius and artificial intelli-gence. summarize its development trend, and provide reference for the development of various as-pects of crop harvester. Methods: This paper reviewed the research status of the corn harvester walking system in recent years, and discussed the structure types and applications of various harvester walking systems. Results: By summarizing the patents of the walking system of the corn harvester, this paper obtains the current patent application status, analyzes the main problems in its development, and discusses the problems existing in the walking system of the harvester and the future research direction. Conclusion: The running device of the existing harvester needs to be further improved in terms of reliability, power system, turning radius, etc. The patent of the walking device of the harvester is yet to be developed. With the application of GPS, sensing and detection, information processing, automatic control and other technologies in the field of harvesting, the mechanized corn harvesting is gradually developing towards intelligence and automation. © 2023 Bentham science Publishers.

关键词： Crops

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Recent Patent on the Spindle Rotation Accuracy Detection Device

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Recent Patents on engineering 2023年第6期17卷 74-89页

作者： Bao, Yudong Zhou, Zhentao School of Mechanical and Power Engineering Harbin University of Science and Technology Harbin150080 China Key Laboratory of Advanced Manufacturing and Intelligent Technology Ministry of Education Harbin University of Science and Technology Harbin150080 China

Background: Based on the high-speed operation of the spindle, the influence of the rotation accuracy of the spindle on the system will increase with the increase of the rotation speed. Therefore, how to predict rotation accuracy becomes very important for mechanical equipment based on the spindle. Methods: The current status of various representative patents related to spindle rotation accuracy testing equipment is analyzed. According to the characteristics of testing equipment, the development level of existing testing equipment in error separation and high-speed detection of the spindle is analyzed, and the latest patented technology is expounded and compared. Results: The structure of the spindle rotation accuracy detection device is analyzed and compared, and the typical characteristics are summarized. The problems existing in the detection of spindle rotation accuracy are analyzed, and their development trend is prospected. Conclusion: It is obtained that the contact-type rotary accuracy testing equipment is generally suitable for static measurement, the single-probe and multi-probe testing equipment can be basically sat-isfied with the measurement, and the optical testing equipment can be widely used in the measurement under the high-speed rotation of the spindle. There is room for further development in the dynamic load detection of the spindle. © 2023 Bentham science Publishers.

关键词： Dynamic loads

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Recent Patents on Intervention Auxiliary Device of Tracheal Stent

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Recent Patents on engineering 2023年第6期17卷 147-161页

作者： Bao, Yudong Zhan, Yang Li, Xu Qu, Shengqian School of Mechanical and Power Engineering Harbin University of Science and Technology Harbin150080 China Key Laboratory of Advanced Manufacturing and Intelligent Technology Harbin University of Science and Technology Ministry of Education Harbin150080 China

Background: The trachea is an essential part of the respiratory system. Lesions such as inflammatory granulomas cause Bronchial stenosis, which may be life-threatening. Tracheal stent placement is vital for treating airway stenosis, relieving dyspnea, and improving symptoms. Objective: This paper reviews the patents of tracheal stent placement and removal and auxiliary devices for diagnosis in recent years (from 2007 to the present) and introduces the characteristics and development of tracheal stent implantation, treatment, and assistive removal devices. In order to meet the need for more rapid operation and cause less harm to the human trachea, the structure of the tracheal stent surgical device needs to be improved continuously. Methods: This paper summarizes the research status of tracheal stent placement and removal and auxiliary devices for diagnosis and treatment in recent years and discusses the structural types and applications of tracheal stent auxiliary devices. Results: This paper summarizes the patent application of tracheal stent placement and removal and auxiliary devices for diagnosis and treatment at the present stage. This paper analyzes the main problems in its development and discusses the solutions to the problems and the future research di-rection. Conclusion: Tracheal stent surgical devices need further improvement in mechanical design, control strategy, etc. Tracheal stent surgical devices should be developed into universal, semi-automatic, and multi-functional machines. The relevant patents of the auxiliary device of the tracheal stent need to be developed. © 2023 Bentham science Publishers.

关键词： Stents

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Dynamic Recrystallization Mechanism and Texture Evolution during Interactive Alternating Extruded Magnesium Alloy

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Acta Metallurgica Sinica(English Letters) 2023年第8期36卷 1292-1304页

作者： Ronghe Gao Feng Li Huaqiu Du Pengda Huo School of Materials Science and Chemical Engineering Harbin University of Science and TechnologyHarbin150040China Key Laboratory of Advanced Manufacturing and Intelligent Technology Ministry of EducationHarbin University of Science and TechnologyHarbin150080China Heilongjiang Provincial Key Laboratory of Light Metal Materials Modification and Green Forming Technology Harbin150040China

Alternating extrusion(AFE)is a new way to effectively alter the texture and enhance the mechanical properties of the extruded ***,the mechanisms of microstructure evolution and enhancement of hardness are still unknown by different extrusion ratios(ERs)during *** work systematically investigated the microstructure and hardness of AZ31 alloy with various extrusion ratios of 8.1,15.6,and 24.8 by electron backscattered *** most striking result to emerge from the data is that when the ERs were increased from 8.1 to 15.6,the grain size was refined to 7.13μ***,when the ER reached 24.8,the average grain size was 11.43μ*** proportion of recrystallization was only 2.92%,there was a continuous rotation of sub-grains at coarse grain boundaries,and non-basal slipdislocations were activated and enriched near low-angle grain *** present,the recrystallization has not been *** grains of the product are coarsened,and the hardness is ***λ=15.6,the AFE has a significant grain refinement effect and the highest hardness value.

关键词： Alternate extrusion method AZ31 magnesium alloy Extrusion ratio-Grain refinement Hardness

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Recent Patents on Red Jujube Harvester

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Recent Patents on engineering 2023年第6期17卷 162-176页

作者： Bao, Yudong Zhao, Yafei Zhang, Jianlong School of Mechanical and Power Engineering Harbin University of Science and Technology Harbin150080 China Key Laboratory of Advanced Manufacturing and Intelligent Technology Harbin University of Science and Technology Ministry of Education Harbin150080 China

As the demand for jujubes grows, so does the acreage of jujubes. However, the main method of jujube picking is traditional manual picking, which is the most time-consuming and la-bor-intensive in the production chain. Through the analysis and discussion of the patents on the jujube harvester, some valuable conclusions are drawn to predict the research and development of the jujube harvester in the future. An overview of various representative patents of the current jujube harvester is provided in this paper. A large number of patents of jujube harvesting devices have been summarized, the characteristics of these patents have been analyzed and compared, and the further development trend of jujube harvesting machines has been developed. The research on the multi-function, intelligence and versatility of the jujube harvester is helpful to solve the problems of low efficiency, low quality, and poor versatility of the jujube harvester. © 2023 Bentham science Publishers.

关键词： Efficiency

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Research on Digital Twin system Platform Framework and Key Technologies of Unmanned Ground Equipment

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Complex system Modeling and Simulation 2024年第2期4卷 109-123页

作者： Kunyu Wang Lin Zhang Cheng Xu Han Lu Zhen Chen Hongbo Cheng Rui Guo the School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100191China the State Key Laboratory of Intelligent Manufacturing System Technology Beijing 100854China the Beijing Institute of Electronic System Engineering Beijing 100854China

As an emerging technology,digital twin is expected to bring novel application modes to the whole life cycle process of unmanned ground equipment,including research and development,design,control optimization,operation and maintenance,*** highly dynamic,complex,and uncertain characteristics of unmanned ground equipment and the battlefield environment also pose new challenges for digital twin *** from the new challenges faced by the digital twin of unmanned ground equipment,this paper designs a service-oriented cloud-edge-end collaborative platform architecture of the digital twin system of unmanned ground equipment,and further analyzes several key technologies supporting the implementation of the platform architecture.

关键词： unmanned ground equipment digital twin native cloud platform Modeling and Simulation(M&S) artificial intelligence

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