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Smartphone-based bridge frequency identification using vehicle contact-point response

Earthquake Engineering and Engineering Vibration 2023年第4期22卷 1031-1043页

作者： Liu Chengyin Zhu Yipeng Zeng Qing Wu Xiaodong Shenzhen Key Laboratory of Intelligent Structure System in Civil Engineering Harbin Institute of TechnologyShenzhen 518055China

Bridge frequency(BF)identification using the vehicle scanning method has attracted considerable attention during the last two ***,most previous studies have adopted unrealistic vehicle models,thus finding limited practical *** study proposes a smartphone-based BF identification method that uses the contact-point acceleration response of a four degree-of-freedom vehicle *** said response can be inferred from the vehicle body response measured by a *** realizing practical applications,this method is incorporated into a self-developed smartphone app to obtain data smoothly and identify BFs in a timely *** and experimental investigations are performed to verify the effectiveness of the proposed *** particular,the robustness of this method is investigated numerically against various factors,including the vehicle speed,bridge span,road roughness,and bridge ***,laboratory calibration tests are performed to investigate the accuracy of the smartphone gyroscope in measuring the angular velocity,where anomalous data are detected and *** experiment results for a simply supported bridge indicate that the proposed method can be used to identify the first two BFs with acceptable accuracy.

关键词： bridge frequency(BF)identification vehicle–bridge interaction four degree-of-freedom(DOF)vehicle model contact-point response smartphone

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Unifying Fixed Time and Prescribed Time Control for Strict-Feedback Nonlinear systems

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IEEE/CAA Journal of Automatica Sinica 2025年第2期12卷 347-355页

作者： Xiang Chen Yujuan Wang Yongduan Song the State Key Laboratory of Power Transmission Equipment & System Security and New Technology and School of Automation Chongqing University IEEE

This paper investigates the prescribed-time tracking control problem for a class of multi-input multi-output(MIMO)nonlinear strict-feedback systems subject to non-vanishing uncertainties. The inherent unmatched and non-vanishing uncertainties make the prescribed-time control problem become much more nontrivial. The solution to address the challenges mentioned above involves incorporating a prescribed-time filter, as opposed to a finite-time filter, and formulating a prescribed-time Lyapunov stability lemma(Lemma 5). The prescribed-time Lyapunov stability lemma is based on time axis shifting time-varying yet bounded gain, which establishes a novel link between the fixed-time and prescribed-time control method. This allows the restriction condition that the time-varying gain function must satisfy as imposed in most exist prescribed-time control works to be removed. Under the proposed control method, the desire trajectory is ensured to closely track the output of the system in prescribed time. The effectiveness of the theoretical results are verified through numerical simulation.

关键词： Prescribed-time control prescribed-time filter robust control state feedback strict-feedback systems

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Buckling optimization of curvilinear fiber-reinforced composite structures using a parametric level set method

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Frontiers of Mechanical Engineering 2024年第1期19卷 149-160页

作者： Ye TIAN Tielin SHI Qi XIA State Key Laboratory of Intelligent Manufacturing Equipment and Technology Huazhong University of Science and TechnologyWuhan 430074China

Owing to their excellent performance and large design space,curvilinear fiber-reinforced composite structures have gained considerable attention in engineering fields such as aerospace and *** addition to the stiffness and strength of such structures,their stability also needs to be taken into account in the *** study proposes a level-set-based optimization framework for maximizing the buckling load of curvilinear fiber-reinforced composite *** the proposed method,the contours of the level set function are used to represent fiber *** a composite laminate with a certain number of layers,one level set function is defined by radial basis functions and expansion coefficients for each ***,the fiber angle at an arbitrary point is the tangent orientation of the contour through this *** the finite element of buckling,the stiffness and geometry matrices of an element are related to the fiber angle at the element *** study considers the parallelism constraint for fiber *** the sensitivity calculation of the objective and constraint functions,the method of moving asymptotes is utilized to iteratively update all the expansion coefficients regarded as design *** numerical examples under different boundary conditions are given to validate the proposed *** show that the optimized curved fiber paths tend to be parallel and equidistant regardless of whether the composite laminates contain holes or ***,the buckling resistance of the final design is significantly improved.

关键词： buckling optimization curvilinear fiber composite structure level set method manufacturing constraint

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An M-VCUT level set-based data-driven model of microstructures and optimization of two-scale structures

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Frontiers of Mechanical Engineering 2024年第4期19卷 73-86页

作者： Minjie SHAO Tielin SHI Qi XIA State Key Laboratory of Intelligent Manufacturing Equipment and Technology Huazhong University of Science and TechnologyWuhan 430074China

The optimization of two-scale structures can adapt to the different needs of materials in various regions by reasonably arranging different microstructures at the macro scale,thereby considerably improving structural ***,a multiple variable cutting(M-VCUT)level set-based data-driven model of microstructures is presented,and a method based on this model is proposed for the optimal design of two-scale *** geometry of the microstructure is described using the M-VCUT level set method,and the effective mechanical properties of microstructures are computed by the homogenization ***,a database of microstructures containing their geometric and mechanical parameters is *** two sets of parameters are adopted as input and output datasets,and a mapping relationship between the two datasets is established to build the data-driven model of *** the optimization of two-scale structures,the data-driven model is used for macroscale finite element and sensitivity *** efficiency of the analysis and optimization of two-scale structures is improved because the computational costs of invoking such a data-driven model are much smaller than those of homogenization.

关键词： two-scale structure structural optimization M-VCUT level set homogenization radial basis function data-driven

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A data-driven rolling optimization method for trajectory tracking error prediction of CNC machine tools

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Science China(Technological Sciences) 2025年第1期68卷 270-285页

作者： Yinxin GUAN Jixiang YANG Shizhong TAN Han DING School of Mechanical Science and Engineering State Key Laboratory of Intelligent Manufacturing Equipment and TechnologyHuazhong University of Science and TechnologyWuhan 430074China

The dynamic performance of the feed-drive system in CNC machine tools directly influences the accuracy of machined *** enhance the motion control performance of CNC machine tools,a high-precision model of the feed-drive system is ***,current modeling methods for feed-drive systems seldom consider time-varying factors such as loads,wear,and *** a result,the model accuracy degrades when the system characteristics are affected by these time-varying *** this paper,a rolling optimization method with partial weights frozen is developed to realize quick iterative learning of a data-driven model for a feed drive system with time-varying characteristics using a small amount of ***,the long short-term memory fully connected(LSTM-FC)network is built and divided into feature extraction and output fitting parts based on their ***,a weight freezing-based rolling optimization method is *** weights in the feature extraction part are frozen,which preserves the learned common knowledge and patterns by solidifying the way that high-dimensional features are extracted from the *** adjusting the weights in the output fitting part,the extracted highdimensional features are remapped to the new data distribution changed by time-varying ***,the performance of the developed rolling optimization method is confirmed by *** results show that the proposed rolling optimization method reduces the maximum prediction errors by 49.5%and the total training time by 96.3%compared with existing methods,which demonstrates that the proposed method can restore model accuracy when the system characteristics change due to timevarying factors,and significantly accelerate the optimization process by rolling optimization.

关键词： rolling optimization feed-drive system data-driven time-varying machine tool

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Concurrent Two-Scale Topology Optimization of Thermoelastic Structures Using a M-VCUT Level Set Based Model of Microstructures

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Computer Modeling in Engineering & Sciences 2024年第11期141卷 1327-1345页

作者： Jin Zhou Minjie Shao Ye Tian Qi Xia State Key Laboratory of Intelligent Manufacturing Equipment and Technology Huazhong University of Science and TechnologyWuhan430074China

By analyzing the results of compliance minimization of thermoelastic structures,we observed that microstructures play an important role in this optimization ***,we propose to use a multiple variable cutting(M-VCUT)level set-based model of microstructures to solve the concurrent two-scale topology optimization of thermoelastic structures.A microstructure is obtained by combining multiple virtual microstructures that are derived respectively from multiple microstructure prototypes,thus giving more diversity of microstructure and more flexibility in design *** effective mechanical properties of microstructures are computed in an off-line phase by using the homogenization method,and then a mapping relationship between the design variables and the effective properties is established,which gives a data-driven model of *** the online phase,the data-driven model is used in the finite element analysis to improve the computational *** compliance minimization problem is considered,and the results of numerical examples prove that the proposed method is effective.

关键词： Two-scale structure topology optimization multiple variable cutting level set data-driven radial basis function thermoelastic structure

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An efficient self-reconfiguration method to deploy space modular robots

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Science China(Technological Sciences) 2024年第12期67卷 3962-3964页

作者： ZHAO Ning GAO YongSheng QI Jian YANG ZhiYuan ZHAO SiKai SUI Xin HAN Kai ZHAO Jie ZHU YanHe State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

intelligent robots play a crucial role in space exploration,representing a significant trend in space automation *** robots,which can regenerate configurations and functions through self-reconfiguration[1],offer distinct adaptability and versatility[2,3]over traditional robots with fixed structures and single-purpose ***,self-reconfiguration is regarded as a highly promising capability for space exploration and remains a primary motivation for research in this field[4].

关键词： technology functions figuration

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Light weight design and integrated method for manufacturing hydraulic wheel-legged robots

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Journal of Zhejiang University-Science A(Applied Physics & Engineering) 2024年第9期25卷 701-715页

作者： Xu LI Haoyang YU Huaizhi ZONG Haibo FENG Yili FU State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang UniversityHangzhou 310058China

Design and manufacturing play pivotal roles in hydraulic-driven robotic ***,previous studies have emphasized mainly results and performance,often overlooking the specifics of the design and manufacturing *** paper introduces a novel approach known as light weight design and integrated manufacturing(LD&IM)for hydraulic wheel-legged *** LD&IM method leverages topology optimization and generative design techniques to achieve a substantial 45%weight reduction,enhancing the robot’s dynamic motion *** innovative design method not only streamlines the design process but also upholds the crucial attributes of light weight construction and high strength essential for hydraulic wheel-legged ***,the integrated manufacturing method,incorporating selective laser melting(SLM)and high-precision subtractive manufacturing(SM)processes,expedites the fabrication of high-quality *** the LD&IM approach,a hydraulic-driven single wheel-legged robot,denoted as WLR-IV,has been successfully *** robot boasts low mass and inertia,high strength,and a simplified component *** assess its dynamic jumping capabilities,the control loop integrates a linear quadratic regulator(LQR)and zero dynamic-based controller,while trajectory planning uses the spring-loaded inverted pendulum(SLIP)*** jumping results confirm the WLR-IV single-legged robot’s exceptional dynamic performance,validating both the effectiveness of the LD&IM method and the rationale behind the control strategy.

关键词： Wheel-legged robot Hydraulic driven Topology optimization Wheel-legged robot Hydraulic driven Topology optimization Additive manufacturing(AM) Jump control

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PMM-Net: Single-Stage Multi-Agent Trajectory Prediction with Patching-Based Embedding and Explicit Modal Modulation

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IEEE Robotics and Automation Letters 2025年第7期10卷 6664-6671页

作者： Huajian, Liu Wei, Dong Kunpeng, Fan Chao, Wang Yongzhuo, Gao Harbin Institute of Technology State Key Laboratory of Robotics and System China

Analyzing and forecasting trajectories of agents like pedestrians plays a pivotal role for embodied intelligent applications. The inherent indeterminacy of human behavior and complex social interaction among a rich variety of agents makes this task more challenging than common time-series forecasting. In this letter, we aim to explore a distinct formulation for multi-agent trajectory prediction framework. Specifically, we propose a patching-based temporal feature extraction module and a graph-based social feature extraction module, enabling effective feature extraction and cross-scenario generalization. Moreover, we reassess the role of social interaction and present a novel method based on explicit modality modulation to integrate temporal and social features, thereby constructing an efficient single-stage inference pipeline. Results on public benchmark datasets demonstrate the superior performance of our model compared with the state-of-the-art methods. The code is available at: https://***/TIB-K330/pmm-net. © 2016 IEEE.

关键词： Signal modulation

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Design and experiments of a small resonant inchworm piezoelectric robot

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Science China(Technological Sciences) 2023年第3期66卷 821-829页

作者： DENG Jie YANG ChengLin LIU YingXiang ZHANG ShiJing LI Jing MA XueFeng XIE Hui State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

A small resonant inchworm piezoelectric robot with six driving feet which are set evenly along the circumference is proposed and tested.A bonded-type structure is adopted to realize a small *** radial bending vibration mode and longitudinal vibration mode are excited at the same *** superposition of these two vibration modes makes the driving feet produce elliptical *** the driving force can be generated by friction coupling between the driving foot and the operating *** structure of the robot is designed by finite element *** geometric parameters are adjusted to make the resonant frequencies of the vibration modes as close as *** elliptical trajectories generated at the driving feet are discussed in *** vibration and motion characteristics of the prototype are tested,and the resonant frequencies of the radial bending mode and the longitudinal vibration mode are degenerated *** optimal working frequency of the prototype is 21.5 *** maximum speed of the prototype is 200 mm/s,and the displacement resolution is 0.71μ*** measured results show that the resonant inchworm piezoelectric robot can be used for fast and high-precision transportation in narrow space.

关键词： piezoelectric robot resonant actuation inchworm movement bending and longitudinal vibration

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