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Corrigendum to ‘Design and experimental study of an origami-inspired constant-force mechanism’ [Mechanism and Machine Theory 179 (2023) 105117]

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Mechanism and Machine Theory 2023年 182卷

作者： Shiwei Liu Gaoliang Peng Zhixiong Li Weihua Li Kang Jin Hongzhao Lin State Key Laboratory of Robotics and System Harbin Institute of Technology No. 92 Xidazhi Street Harbin 150001 Heilongjiang Province PR China Yonsei Frontier Lab Yonsei University 50 Yonsei-ro Seodaemun-gu Seoul 03722 Republic of Korea Faculty of Mechanical Engineering Opole University of Technology Opole 45758 Poland School of Mechanical Materials Mechatronic and Biomedical Engineering University of Wollongong Wollongong NSW 2522 Australia

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Fast feature matching based on r-nearest k-means searching

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CAAI Transactions on Intelligence Technology 2018年第4期3卷 198-207页

作者： Ke Wang Ningyu Zhu Yao Cheng Ruifeng Li Tianxiang Zhou Xuexiong Long State Key Laboratory of Robotics and System School of MechatronicsHarbin Institute of TechnologyHarbin 150001People’s Republic of China China Mobile (Hangzhou) Information Technology Co. LtdHangzhou 311100People’s Republic of China

Feature matching has been frequently applied in computer vision and pattern *** this paper,the authors propose a fast feature matching algorithm for vector-based *** algorithm searches r-nearest neighborhood clusters for the query point after a k-means clustering,which shows higher efficiency in three ***,it does not reformat the data into a complex tree,so it shortens the construction time ***,their algorithm adopts the r-nearest searching strategy to increase the probability to contain the exact nearest neighbor(NN)and take this NN as the global one,which can accelerate the searching speed by 170 ***,they set up a matching rule with a variant distance threshold to eliminate wrong *** algorithm has been tested on large SIFT databases with different scales and compared with two widely applied algorithms,priority search km-tree and random *** results show that their algorithm outperforms both algorithms in terms of speed up over linear search,and consumes less time than ***,they carry out the CFI test based on ISKLRS database using their *** test results show that their algorithm can greatly improve the recognition speed without affecting the recognition rate.

关键词： Feature matching

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Cloud-based manufacturing execution system: Case study FMS

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International Journal of Industrial and systems engineering 2018年第4期30卷 449-467页

作者： Barenji, Ali Vatankhah Guangdong Provincial Key Laboratory of Computer Integrated Manufacturing System School of Electromechanical Engineering Guangdong University of Technology Guangzhou510006 China Mechatronics Engineering Department Kennesaw State University MariettaGA United States

This paper proposed a cloud based manufacturing execution system (CbMES) for covering existing gaps between manufacturing execution system(MES) and enterprise resource planning(ERP) in the small and medium sized enterprises. The proposed system used a frame work based on the model driven architecture (MDA) for evaluation the proposed system, a flexible manufacturing system is selected as the case study. The proposed CbMES is developed for flexible manufacturing system and has been implemented within the oracle cloud platform, for the evaluation of this system, a simulation platform based on the colour Petri net is utilised. The result of simulation indicates that the proposed CbMAS is capable of closing the gaps between MES and ERP;therefore, the outcome of the results showed that the uptime productivity and the production rate of flexible manufacturing systems increased considerably meaning that the system is an effective and viable solution for the IT infrastructure. © 2018 Inderscience Enterprises Ltd.

关键词： Enterprise resource planning

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Large deflection ofa compliant beam with non-uniform stiffness distribution using a PRB-3R model

Large deflection ofa compliant beam with non-uniform stiffne...

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2019 IEEE International Conference on Real-Time Computing and robotics, RCAR 2019

作者： Jin, Hu Fang, Tao Chen, Haoyao Yildirim, Tanju Li, Weihua Zhang, Shiwu Department of Precision Machinery and Precision Instrumentation University of Science and Technology of China 96 Jinzhai Rd. Hefei230026 China School of Mechanical Engineering and Automation in Harbin Institute of Technology Shenzhen State Key Laboratory of Robotics and System China Department of Materials and Mechatronic Engineering University of Wollongong WollongongNSW2522 Australia

ISBN: (纸本)9781728137261

Soft arms of service robots for safe manipulation, or soft legs of mobile robots for efficient locomotion have been intensively developed. The deflection of complaint beams for the soft arms or soft legs is a key criterion for design and control of robotic motions. Pseud-rigid-body (PRB) model are commonly used to predict deflection of the compliant beams with a uniform stiffness. However, soft robotic arms and legs often possess a non-uniform stiffness distribution for improving manipulation effectiveness and locomotion efficiency. In this work, a PRB-3R model is used to predict large deflections of a compliant beam with a non-uniform distribution of stiffness. By using the Euler-Bernoulli beam theory, the large deflection of a cantilever beam with a non-uniform stiffness distribution under an applied load was also derived. Results show that the PRB-3R model can precisely predict mechanical behavior of compliant beams that are not too sharp. It is not proper to apply this model to beams with very large slope. This work provides an effective design method for the soft appendages of a biomimetic robot. © 2018 IEEE

关键词： Stiffness

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Anti-jackknife reverse perpendicular parking control of tractor-trailer vehicle via MPC technique

Anti-jackknife reverse perpendicular parking control of trac...

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IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent systems

作者： Minglei Fan Ming Yue Hongzhi Zhang Zhiyuan Liu School of Automotive Engineering Dalian University of Technology Dalian China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (数字)9781728107707

ISBN: (纸本)9781728107714

In this paper, a jackknife avoidance trajectory tracking control strategy for tractor-trailer vehicle is proposed based on constrained Model Predictive Control (MPC) in the process of reversing perpendicular parking. Firstly, a critical hitch angle is provided for jackknife avoidance and collision-free constraint, through analyzing the influencing factors of the size and stability of the vehicle hitch angle. Next, the conundrums of preventing collision and avoiding jackknife are converted into constraint problem. Therefore, the jackknife and collision problem of tractor-trailer could be solved by using MPC algorithm with the advantage of being able to handle multiple constraints issues. Finally, the simulation results illustrate that the presented control strategy plays an expected role during reversing process of this kind of complicated vehicle system.

关键词： Agricultural machinery Vehicle dynamics Roads Trajectory Mathematical model Process control Axles

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Adaptive tracking control for WMRs with skidding and slipping: a double closed-loop strategy

Adaptive tracking control for WMRs with skidding and slippin...

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IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent systems

作者： Yuan Xu Ming Yue Zenan Lin Haoyu Tian School of Automotive Engineering Dalian University of Technology Dalian China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (数字)9781728107707

ISBN: (纸本)9781728107714

This paper develops a double closed-loop control strategy aiming at the trajectory tracking control of wheeled mobile robots (WMRs) under the skidding and slipping. Firstly, a skidding kinematic model and a slipping dynamic model are proposed to describe the WMR under the skidding and slipping, respectively. Then, an anti-skidding controller based on Lyapunov direct control and an anti-slipping controller based on terminal sliding mode control (TSMC) are separately devoted. All of them consist an double closed-loop control strategy to effectively solve the skidding and the slipping at the same time. In addition, the radial basis function neural network (RBFNN) is employed to estimate the disturbance force caused by slipping, thereby satisfactory adaptive and robust capabilities can be provided for the WMR. The simulation results in last demonstrate the effectiveness of the proposed control strategy.

关键词： Kinematics Robot kinematics Wheels Force Mobile robots Adaptive systems

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Digital Quadruplets for Cyber-Physical-Social systems based Parallel Driving: From Concept to Applications

arXiv

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arXiv 2020年

作者： Liu, Teng Yang, Xing Wang, Hong Tang, Xiaolin Chen, Long Yu, Huilong Wang, Fei-Yue State Key Laboratory of Mechanical Transmissions College of Automotive Engineering Chongqing University Chongqing400044 China Department of Mechanical and Aerospace Engineering Nanyang Technological University Singapore School of Vehicle and Mobility Tsinghua University Beijing China Waytous Inc. Qingdao Shandong266109 China Department of Mechanical and Mechatronics Engineering University of Waterloo N2L 3G1 Canada State Key Laboratory for Management and Control of Complex System Institute of Automation Beijing China

Digital quadruplets aiming to improve road safety, traffic efficiency and driving cooperation for future connected automated vehicles are proposed with the enlightenment of ACP based parallel driving. The ACP method denotes Artificial societies, Computational experiments and Parallel execution modules for cyber-physical-social systems. Four agents are designed in the framework of digital quadruplets: descriptive vehicles, predictive vehicles, prescriptive vehicles and real vehicles. The three virtual vehicles (descriptive, predictive, and prescriptive) dynamically interact with the real one in order to enhance the safety and performance of the real vehicle. The details of the three virtual vehicles in the digital quadruplets are described. Then, the interactions between the virtual and real vehicles are presented. The experimental results of the digital quadruplets demonstrate the effectiveness of the proposed framework. Copyright © 2020, The Authors. All rights reserved.

关键词： Vehicles

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Mechanical Design of a 4-DOF Minimally Invasive Surgical Instrument

Mechanical Design of a 4-DOF Minimally Invasive Surgical Ins...

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IEEE International Conference on robotics and Biomimetics

作者： Kun Li Jihua Li Lei Li Shuai Ji Xianju Meng Yili Fu School of Mechanical and Electronic Engineering Shandong Jianzhu University Jinan China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

In order to meet design requirements in minimally invasive surgery (MIS), it is necessary to conduct basic operations in the narrow working space. Taking a grasper for example, a 4DOF MIS instrument driven by servo motors and transmitted by cables is designed. The design of the end of surgical instrument driven by cables is suitable for long-distance transmission, which improves dexterity of the surgical instrument working in narrow space. The mechanism principle including the wrist, graspers and shaft rolling are described. Kinematic coupling between the wrist and grasper are analyzed. Prototype of the surgical instrument is presented. This instrument prototype can be applied in most MIS operations.

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Optimal Reaction Control for the Flexible Base Redundant Manipulator system*

Optimal Reaction Control for the Flexible Base Redundant Man...

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IEEE International Conference on robotics and Biomimetics

作者： Yaowen Zhang Yechao Liu Zongwu Xie Mehrdad Moallem State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China School of Mechatronic Systems Engineering Simon Fraser University Vancouver Canada

The null space of the Jacobian for the redundant manipulators can be utilized to reach dual control goals and optimal effects. For the flexible base redundant manipulator system, the reaction force from the motion of the manipulator should be carefully handled while the end effector is tracking a desired trajectory. Different optimal goals are discussed, including the minimization of base deflection force/torque and base energy dissipation path. Considering the base reaction dynamic, the reaction force/torque is treated as the input of the base and the deflection energy is treated as the output, an integrated optimal goal is built and solved based on the LQR control to get an optimal feedback for the closed-loop dynamics. We discuss the different optimal goals and implement trough the redefined acceleration. We test the different control laws on the three- link manipulators which mounted on a three-DoF flexible base. Simulation results demonstrate that optimal goal in LQR form can be advantageous in terms of flexible base manipulator.

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Multi-Objective Optimization of Less-Rare-Earth Interior Permanent Magnet Synchronous Machines Used for Electric Vehicles

Multi-Objective Optimization of Less-Rare-Earth Interior Per...

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International Conference on Electrical Machines and systems (ICEMS)

作者： Weinan Wang Mingqiao Wang Jiaxu Guo Yong Liu Ping Zheng Zhenxing Fu School of Electrical Engineering & Automation Harbin Institute of Technology Harbin China School of Electrical Engineering & Automation State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781728133997

The less-rare-earth interior permanent-magnet synchronous machines (LRE-IPMSM), which have the advantages of high electromagnetic performance and low cost, draw more and more attention nowadays in the field of the electric vehicles. The requirements of the machines used for electric vehicles include high torque and high efficiency. Hence, the multi-objective optimization is crucial to LRE-IPMSM. In this paper, firstly, the effects of the permanent magnet (PM) thickness and width on the torque and efficiency are studied. Then, the PM widths are selected as the optimization variables based on the performance analysis. Lastly, the optimized design is obtained by the multi-objective optimization analysis.

关键词： Torque Optimization Electric vehicles Permanent magnet machines Synchronous machines

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