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Analysis of Mixed Model in Gear Transmission Based on ADAMS

Chinese Journal of Mechanical Engineering 2012年第5期25卷 968-973页

作者： LI Xiufeng WANG Yabin National Key Laboratory on Electromechanical Dynamic Control Beijing Institute of TechnologyBeijing 100081China

The traditional method of mechanical gear driving simulation includes gear pair method and solid to solid contact method. The former has higher solving efficiency but lower results accuracy; the latter usually obtains higher precision of results while the calculation process is complex, also it is not easy to converge. Currently, most of the researches are focused on the description of geometric models and the definition of boundary conditions. However, none of them can solve the problems fundamentally. To improve the simulation efficiency while ensure the results with high accuracy, a mixed model method which uses gear tooth profiles to take the place of the solid gear to simulate gear movement is presented under these circumstances. In the process of modeling, build the solid models of the mechanism in the SolidWorks firstly; Then collect the point coordinates of outline curves of the gear using SolidWorks API and create fit curves in Adams based on the point coordinates; Next, adjust the position of those fitting curves according to the position of the contact area; Finally, define the loading conditions, boundary conditions and simulation parameters. The method provides gear shape information by tooth profile curves; simulates the mesh process through tooth profile curve to curve contact and offer mass as well as inertia data via solid gear models. This simulation process combines the two models to complete the gear driving analysis. In order to verify the validity of the method presented, both theoretical derivation and numerical simulation on a runaway escapement are conducted. The results show that the computational efficiency of the mixed model method is 1.4 times over the traditional method which contains solid to solid contact. Meanwhile, the simulation results are more closely to theoretical calculations. Consequently, mixed model method has a high application value regarding to the study of the dynamics of gear mechanism.

关键词： mixed model contact gear transmission runaway escapement

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CODEI: Resource-Efficient Task-Driven Co-Design of Perception and Decision Making for Mobile Robots Applied to Autonomous Vehicles

arXiv

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arXiv 2025年

作者： Milojevic, Dejan Zardini, Gioele Elser, Miriam Censi, Andrea Frazzoli, Emilio Institute for Dynamic Systems and Control ETH Zürich Zurich Switzerland Chemical Energy Carriers and Vehicle Systems Laboratory Empa - Swiss Federal Laboratories for Materials Science and Technology Dübendorf Switzerland Laboratory for Information and Decision Systems Massachusetts Institute of Technology CambridgeMA United States

This paper discusses the integration challenges and strategies for designing mobile robots, by focusing on the task-driven, optimal selection of hardware and software to balance safety, efficiency, and minimal usage of resources such as costs, energy, computational requirements, and weight. We emphasize the interplay between perception and motion planning in decision-making by introducing the concept of occupancy queries to quantify the perception requirements for sampling-based motion planners. Sensor and algorithm performance are evaluated using False Negative Rate (FNR) and False Positive Rate (FPR) across various factors such as geometric relationships, object properties, sensor resolution, and environmental conditions. By integrating perception requirements with perception performance, an Integer Linear Programming (ILP) approach is proposed for efficient sensor and algorithm selection and placement. This forms the basis for a co-design optimization that includes the robot body, motion planner, perception pipeline, and computing unit. We refer to this framework for solving the co-design problem of mobile robots as CODEI, short for Co-design of Embodied Intelligence. A case study on developing an Autonomous Vehicle (AV) for urban scenarios provides actionable information for designers, and shows that complex tasks escalate resource demands, with task performance affecting choices of the autonomy stack. The study demonstrates that resource prioritization influences sensor choice: cameras are preferred for cost-effective and lightweight designs, while lidar sensors are chosen for better energy and computational efficiency. Copyright © 2025, The Authors. All rights reserved.

关键词： Motion planning

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Three-dimension micro magnetic detector based on GMI effect

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Journal of Beijing Institute of technology 2014年第2期23卷 143-146页

作者：魏双成邓甲昊韩超杨雨迎 Science and Technology on Electromechanical Dynamic Control Laboratory School of Mechatronics EngineeringBeijing Institute of Technology

The giant magneto-impedance（GMI）effect of amorphous wire was analyzed *** amorphous wire had strong GMI effect in the stimulation of sharp pulse of 680kHz and18 mV.A pulse generator was designed to provide high frequency pulse to a magnetic impedance（MI）*** induced voltage on the pickup coil wound on the amorphous wire was sampled and held with a detect circuit using analog switch.A stable magnetic sensor was constructed.A three-dimension micro magnetic field detector was designed with a central controller *** stability and sensitivity were obtained in the MI sensor with the detect *** results showed that the resolution of the detector was 1nT in the full scale of±2 Oe and the detector worked stably from the room temperature to about 80℃.A small ferromagnetic target was detected by the three-dimension detector in laboratory environment without magnetic *** target moving direction was ascertained with the wave shape of axis parallel in that direction.

关键词： giant magneto-impedance（GMI）effect amorphous wire three dimension detector pulse generator analog switch

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Analysis for Cooperative Combat System of Manned-unmanned Aerial Vehicles and Combat Simulation

Analysis for Cooperative Combat System of Manned-unmanned Ae...

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2017 IEEE International Conference on Unmanned Systems (ICUS)

作者： Jieru Fan Dongguang Li Rupeng Li Tianyuan Yang Qixian Wang Science and Technology on Electromechanical Dynamic Control Laboratory Beijing Institute of Technology

ISBN: (纸本)9781538631089;9781538631072

Manned-unmanned aerial vehicle cooperative combat has became a focus in the research of combat operation *** maximizes the UAVs' autonomous combat capability and the manned aircraft's command and control capability so that it improves the comprehensive operational *** present,the research on manned-unmanned aerial vehicles cooperative combat is still in exploration *** concept of cooperative combat is incomplete,and further simulation experiments need to be *** this paper,the basic concept of cooperative combat of manned-unmanned aerial vehicle is described,system composition and structure are analyzed,and collaborative combat process is given.A new generalized Lanchester combat model with battlefield sensing coefficient and command & control capacity is *** simulation results show that improving the cooperative combat capability,such as overall sensing capability and command &control capability is beneficial for a combat with relatively smaller *** combat model has theoretical reference value to research information war.

关键词： UAV Combined formation Cooperative engagement Generalized Lanchester combat model Battlefield sensing coefficient

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Roll Estimation for Smart Munitions Using a 3D Magnetometer Only

Roll Estimation for Smart Munitions Using a 3D Magnetometer ...

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2017 IEEE International Conference on Unmanned Systems (ICUS)

作者： Qixian Wang Dongguang Li Rupeng Li Jieru Fan Tianyuan Yang Science and Technology on Electromechanical Dynamic Control Laboratory Beijing Institute of Technology

ISBN: (纸本)9781538631089;9781538631072

Accurate roll angle and roll angular rate are important to improve the target detection accuracy for the smart *** of the limited space in the fuze,only a three-axis magnetometer is used to estimate the roll attitude on the whole *** two methods of roll estimation are proposed and *** is an iterative method based on the attitude transformation matrix,in which the pitch angle and yaw angle at the previous moment are utilized to estimate the roll angle at the moment and then the three angles are kept being *** the other is an extended Kalman filter(EKF) *** state space model is derived by the dynamic characteristic of the smart munitions,and the measurement model is derived by the relationship between geomagnetic field and the output of a three-axis *** simulation results show that the EKF method is able to accurately estimate the roll attitude and is more practical than the iterative method.

关键词： Roll estimation Magnetometer Iterative method EKF Smart Munition

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A hierarchical simulation framework incorporating full-link physical response for short-range infrared detection

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Defence technology 2025年

作者： Gao, Mingze Xu, Lixin Hu, Shiyuan Shi, Xiaolong Gao, Jiaming Wu, Yanjiang Chen, Huimin Science and Technology on Electromechanical Dynamic Control Laboratory Beijing Institute of Technology Beijing100081 China Tianjin Institute of Aerospace Mechanical and Electrical Equipment Tianjin300301 China

Missile-borne short-range infrared detection (SIRD) technology is commonly used in military ground target detection. In complex battlefield environments, achieving precise strike on ground target is a challenging task. However, real battlefield data is limited, and equivalent experiments are costly. Currently, there is a lack of comprehensive physical modeling and numerical simulation methods for SIRD. To this end, this study proposes a SIRD simulation framework incorporating full-link physical response, which is integrated through the radiative transfer layer, the sensor response layer, and the model-driven layer. In the radiative transfer layer, a coupled dynamic detection model is established to describe the external optical channel response of the SIRD system by combining the infrared radiation model and the geometric measurement model. In the sensor response layer, considering photoelectric conversion and signal processing, the internal signal response model of the SIRD system is established by a hybrid mode of parametric modeling and analog circuit analysis. In the model-driven layer, a co-simulation application based on a three-dimensional virtual environment is proposed to drive the full-link physical model, and a parallel ray tracing method is employed for real-time synchronous simulation. The proposed simulation framework can provide pixel-level signal output and is verified by the measured data. The evaluation results of the root mean square error (RMSE) and the Pearson correlation coefficient (PCC) show that the simulated data and the measured data achieve good consistency, and the evaluation results of the waveform eigenvalues indicate that the simulated signals exhibit low errors compared to the measured signals. The proposed simulation framework has the potential to acquire large sample datasets of SIRD under various complex battlefield environments and can provide an effective data source for SIRD application research. © 2025 China Ordnance Society

关键词： Radiative transfer

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Repeater jamming suppression method for pulse Doppler fuze based on identity recognition and chaotic encryption

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Defence technology（防务技术） 2021年第3期17卷 1002-1012页

作者： Jian Dai Xin-hong Hao Qiang Liu Xiao-peng Yan Ping Li Science and Technology on Electromechanical Dynamic Control Laboratory School of Mechatronical EngineeringBeijing Institute of TechnologyBeijing 100081China Ordnance Science Institute of China Beijing 100089China

Pulse Doppler(PD) fuze is widely used in current battlefield. However, with the threat of repeater jamming, especially digital radio frequency memory technology, the deficiency in the anti-repeater jamming of a traditional PD fuze increasingly emerges. Therefore, a repeater jamming suppression method for a PD fuze based on identity(ID) recognition and chaotic encryption is proposed. Every fuze has its own ID which is encrypted with different chaotic binary sequences in every pulse period of the transmitted signal. The thumbtack-shaped ambiguity function shows a good resolution and distance cutoff characteristic. The ability of anti-repeater jamming is emphatically analyzed, and the results at different signal-to-noise ratio(SNR) show a strong anti-repeater jamming ability and range resolution that the proposed method possesses. Furthermore, the anti-repeater jamming ability is influenced by processing gain, bit error rate(BER) and correlation function. The simulation result validates the theoretical analysis, it shows the proposed method can significantly improve the anti-repeater jamming ability of a PD fuze.

关键词： Pulse Doppler fuze ID Chaotic binary code Encryption Repeater jamming

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Path Planning for Coverage Spraying of Plants in Outdoor Wheeled Mobile Robots

Path Planning for Coverage Spraying of Plants in Outdoor Whe...

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Robotics, control and Automation (ICRCA), International Conference on

作者： Weixin Zhang Zhengxin Yu Shixin Mao Xuefeng Zhou Jia Pan Haifei Zhu School of ElectRomechanical Engineering Guangdong University of Technology Guangzhou China Jiutian Innovation (Guangdong) Intelligent Technology Co Ltd Foshan China Guangdong Key Laboratory of Modern Control Technology Institute of Intelligent Manufacturing Guangdong Academy of Sciences Guangzhou China Department of Computer Science The University of Hong Kong Hong Kong China

ISBN: (数字)9798331544577

ISBN: (纸本)9798331544584

In contemporary agricultural practices and pest management, the deployment of outdoor wheeled mobile robots for precise and efficient plant spraying is crucial to optimize chemical application and mitigate environmental impact. This study introduces an integrated path planning framework designed to systematically tackle the challenges of obstacle avoidance, adherence to kinematic constraints, and optimization of spraying operations, while ensuring complete coverage of target plants. The framework comprises three key components: a local route generator utilizing principal component analysis to minimize movement required for spraying, thereby enhancing efficiency; a global path optimizer that effectively sequences and connects the generated routes to produce collision-free paths; and a path regulator that fine-tunes the resulting paths to comply with the robot's kinematic constraints. Extensive simulations across various outdoor scenarios demonstrate that the proposed framework achieves comprehensive coverage, reduces path lengths, and improves operational efficiency, presenting a viable solution for advanced robotic spraying applications.

关键词： Regulators Robot kinematics Spraying Kinematics Path planning Real-time systems Mobile robots Collision avoidance Optimization Principal component analysis

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A microexplosive shockwave-based drug delivery microsystem for treating hard-to-reach areas in the human body

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Microsystems & Nanoengineering 2022年第5期8卷 137-148页

作者： Yi Sun Wenzhong Lou Hengzhen Feng Wenting Su Sining Lv Science and Technology on Electromechanical Dynamic Control Laboratory School of Mechatronical EngineeringBeijing Institute of technologyBeijingChina Beijing Institute of Technology Chongqing Innovation Center ChongqingChina

Implantable drug-delivery microsystems have the capacity to locally meet therapeutic requirements by maximizing local drug efficacy and minimizing potential side *** internal organs of the human body including the esophagus,gastrointestinal tract,and respiratory tract,with anfractuos contours,all manifest with endoluminal lesions often located in a curved or zigzag *** ability of localized drug delivery for these organs using existing therapeutic modalities is *** a drug onto these areas and using the adhesion and water absorption properties of the drug powder to attach to lesion areas can provide effective *** study aimed to report the development and application of microsystems based on microshockwave delivery of *** devices comprised a warhead-like shell with a powder placed at the head of the device and a flexible rod that could be inserted at the *** devices had the capacity to deposit drugs on mucous membranes in curved or zigzag areas of organs in the *** explosive impact characteristics of the device during drug delivery were analyzed by numerical *** the experiment of drug delivery in pig intestines,we described the biosafety and drug delivery capacity of the *** anticipate that such microsystems could be applied to a range of endoluminal diseases in curved or zigzag regions of the human body while maximizing the on-target effects of drugs.

关键词： organs drugs curved

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Radar emitter multi-label recognition based on residual network

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Defence technology（防务技术） 2022年第3期18卷 410-417页

作者： Yu Hong-hai Yan Xiao-peng Liu Shao-kun Li Ping Hao Xin-hong Science and Technology on Electromechanical Dynamic Control Laboratory School of Mechatronical EngineeringBeijing Institute of TechnologyBeijing100081China Beijing Institute of Telemetry Technology Beijing100081China

In low signal-to-noise ratio(SNR)environments,the traditional radar emitter recognition(RER)method struggles to recognize multiple radar emitter signals in *** paper proposes a multi-label classification and recognition method for multiple radar-emitter modulation types based on a residual *** method can quickly perform parallel classification and recognition of multi-modulation radar time-domain aliasing signals under low ***,we perform time-frequency analysis on the received signal to extract the normalized time-frequency image through the short-time Fourier transform(STFT).The time-frequency distribution image is then denoised using a deep normalized convolutional neural network(DNCNN).Secondly,the multi-label classification and recognition model for multi-modulation radar emitter time-domain aliasing signals is established,and learning the characteristics of radar signal time-frequency distribution image dataset to achieve the purpose of training ***,time-frequency image is recognized and classified through the model,thus completing the automatic classification and recognition of the time-domain aliasing *** results show that the proposed method can classify and recognize radar emitter signals of different modulation types in parallel under low SNRs.

关键词： Radar emitter recognition Image processing Parallel Residual network Multi-label

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