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Data-Driven Design Space Exploration and Exploitation for Design for Additive Manufacturing (vol 141, 101101, 2019)

JOURNAL OF MECHANICAL DESIGN 2019年第11期141卷 1-12页

作者： Xiong, Yi Pham Luu Trung Duong Wang, Dong Park, Sang-In Ge, Qi Raghavan, Nagarajan Rosen, David W. Digital Manufacturing and Design Centre Singapore University of Technology and Design Digital Manufacturing and Design Centre Singapore University of Technology and Design Robotics Institute School of Mechanical EngineeringState Key Laboratory of Mechanical System and VibrationShanghai Jiao Tong University Department of Mechanical Engineering and Robotics Incheon National University Science and Math Cluster and Digital Manufacturing and Design Centre Singapore University of Technology and Design Engineering Product Development Pillar and Digital Manufacturing and Design Centre Singapore University of Technology and Design Digital Manufacturing and Design Centre Singapore University of Technology and Design The G. W. Woodruff School of Mechanical Engineering Georgia Institute of Technology

Recently, design for additive manufacturing has been proposed to maximize product performance through the rational and integrated design of the product, its materials, and their manufacturing processes. Searching design solutions in such a multidimensional design space is a challenging task. Notably, no existing design support method is both rapid and tailored to the design process. In this study, we propose a holistic approach that applies data-driven methods in design search and optimization at successive stages of a design process. More specifically, a two-step surrogate model-based design method is proposed for the embodiment and detailed design stages. The Bayesian network classifier is used as the reasoning framework to explore the design space in the embodiment design stage, while the Gaussian process regression model is used as the evaluation function for an optimization method to exploit the design space in detailed design. These models are constructed based on one dataset that is created by the Latin hypercube sampling method and then refined by the Markov Chain Monte Carlo sampling method. This cost-effective data-driven approach is demonstrated in the design of a customized ankle brace that has a tunable mechanical performance by using a highly stretchable design concept with tailored stiffnesses.

关键词： Design

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Profile Detection and Surface Fitting Based on The key Optical Components of The Seeker

Profile Detection and Surface Fitting Based on The Key Optic...

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IEEE International Conference on Mechatronics and Automation

作者： Si Wu Xianming Li Weibin Rong Jun Zhou Xue Tian Zhun Deng Zhong Sheng State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang China Beijing Institute of Remote Sensing Equipment China Aerospace Science & Industry Corp Beijing China

This paper proposes a new method for measuring thickness data of surface compensation gasket and an algorithm for ellipse fitting and multiple ellipse fitting. First of all, the laser ranging sensor is used to scan the surface to obtain the data types of different specifications and to analyze the advantages and disadvantages of the data types. Secondly, the least square method is used to fit the data and analyze algorithm error. Finally, a new multi-ellipse fitting algorithm is proposed for determining the position of the fastening hole. It will facilitate the application of force sensors.

关键词： Laser distance measuring sensor Optical component assembly Surface detection Ellipse fitting

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Plantbot: A New ROS-based robot platform for fast building and developing

arXiv

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arXiv 2018年

作者： Ma, Liulong Liu, Yanjie Gao, Yibo Zhu, ChuanMing State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang15000 China School of Mechanical Engineering Tongji University 4800 Cao'an Highway Shanghai201804 China

In recent years, the Robot Operating system (ROS) is developing rapidly and has been widely used in robotics research because of its flexible, open source, and easy-to-expand advantages. In scientific research, the corresponding hardware platform is indispensable for the experiment. In the field of mobile robots, PR2, Turtlebot2, and Fetch are commonly used as research platforms. Although these platforms are fully functional and widely used, they are expensive and bulky. What’s more, these robots are not easily redesigned and expanded according to requirements. To overcome these limitations, we propose Plantbot, an easy-building, low-cost robot platform that can be redesigned and expanded according to requirements. It can be applied to not only fast algorithm verification, but also simple factory inspection and ROS teaching. This article describes this robot platform from several aspects such as hardware design, kinematics, and control methods. At last two experiments, SLAM and Navigation, on the robot platform are performed. The source code of this platform is available1. Copyright © 2018, The Authors. All rights reserved.

关键词： Machine design

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Experiments on the vibration of particles levitating in a standing wave acoustic field

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Proceedings of Meetings on Acoustics 2019年第1期38卷

作者： Huijuan Dong Yi Wang Yingzi Guan Guanyu Mu Jie Zhao 1State Key Laboratory of Robotics and System Harbin Institude of Technology Harbin Heilongjiang 150001 CHINA dhj@*** wangyiabc@*** guanyz@*** mu-guanyu@*** jzhao@***

Standing wave acoustic levitation and transmission technique has been widely used in many research areas. However, the vibration of particles in an acoustic field restricts their applications. In this work, a kind of mechanism is developed by the authors, in which not only a harmonic linear actuator but also position feedback are used to precisely adjust the distance between the radiator and the reflector with micrometric accuracy. And video computing software is applied to track the motion of the particle. The influence of the factors on the frequencies of the particle both in vertical and horizontal were detailed. Besides, the acceleration field was calculated, which is in good agreement with the model of spring oscillator of an acoustic field.

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Correction to “Dynamic Modeling and Control for a Deployable Grasping Manipulator”

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IEEE Access 2019年 7卷 46135-46135页

作者： Guotao Li Hailin Huang Hongwei Guo Bing Li Department of Mechanical Engineering and Automation Harbin Institute of Technology at Shenzhen Shenzhen China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

In the above paper [1] , the second author’s biography was incorrectly listed as:

关键词： Manipulator dynamics Grasping Object recognition Mechanical engineering Automation

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Extraction of Speed-Independent Vibration Features for Terrain Classification in Lugged-Wheel Rovers

Extraction of Speed-Independent Vibration Features for Terra...

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IEEE International Conference on robotics and Biomimetics

作者： Fengtian Lv Haibo Gao Yumeng Bai Nan Li Liang Ding Ruyi Zhou Zongquan Deng Guangjun Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China The High School Remin University of China Beijinz China Department of Aerospace Engineering Ryerson University Toronto Canada

ISBN: (纸本)9781728103785;9781728103778

Vibration characteristics of planetary rovers may contain features that can be effectively used for terrain classification, terrain properties estimation, and terrain traversability assessment. However, the conventional vibration features selected to represent the terrain induced wheel response vary with the wheel speed, which could cause misclassification. In order to extract speed-independent vibration features of wheels, this paper proposes vibration model of wheels traversing different types of terrains with consideration of the dynamics of lug-terrain interaction. Based on the proposed model, low-dimensional vibration features including frequency, amplitude, mean value, and mean square value are extracted from statistical features of vibration acceleration. Nondimensionalization is performed to make them independent on wheel speed. The features can represent the terrain characteristics decoupled from the wheel speed so that they can be used to reduce terrain misclassification in the future. Experimental results show that the vibration features extracted are independent on wheel speed and effective for terrain classification.

关键词： Wheels Vibrations Feature extraction Acceleration Soil Surface waves Robots

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Collision-free kinematics for redundant manipulators in dynamic scenes using optimal reciprocal velocity obstacles

arXiv

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arXiv 2018年

作者： Zhao, Liangliang Zhao, Jingdong Liu, Hong Manocha, Dinesh State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China Department of Computer Science and Electrical & Computer Engineering University of Maryland at College Park MD United States

We present a novel algorithm for collision-free kinematics of multiple manipulators in a shared workspace with moving obstacles. Our optimization-based approach simultaneously handles collision-free constraints based on reciprocal velocity obstacles and inverse kinematics constraints for high-DOF manipulators. We present an efficient method based on particle swarm optimization that can generate collision-free configurations for each redundant manipulator. Furthermore, our approach can be used to compute safe and oscillation-free trajectories in a few milli-seconds. We highlight the real-time performance of our algorithm on multiple Baxter robots with 14-DOF manipulators operating in a workspace with dynamic obstacles. Videos are available at https://***/view/collision-free-kinematics. Copyright © 2018, The Authors. All rights reserved.

关键词： Inverse problems

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Investigation of low space harmonic six-phase PMSM with FSCWS for electric vehicle applications

Investigation of low space harmonic six-phase PMSM with FSCW...

引用

2017 IEEE Transportation Electrification Conference and Expo, Asia-Pacific, ITEC Asia-Pacific 2017

作者： Cheng, Luming Sui, Yi Zheng, Ping Yin, Zuosheng Wang, Chuanze Department of Electrical Engineering Harbin Institute of Technology Harbin China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781538628942

A six-phase permanent magnet synchronous machine (PMSM) with a new fractional-slot winding arrangement is proposed for the electric vehicle application. With a 105° electrical angle between the two sets of three-phase windings, the most harmful 5th harmonic in the air-gap magnetomotive force (MMF) can be completely cancelled in a 7-pair-pole machine. To highlight its advantages, a comparative study is performed by Finite element analysis (FEA). When compared with a conventional 12-slot/14pole three-phase machine and a conventional 12-slot/14pole six-phase machine equipped with fractional-slot concentrated winding (FSCW), the machine with the proposed winding arrangement can offer lower losses, high efficiency, lower torque ripple and lower required voltage of battery. © 2017 IEEE.

关键词： Electric vehicles

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Semantic Region Estimation of Assistant Robot for the Elderly Long-Term Operation in Indoor Environment

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China Communications 2016年第5期13卷 1-15页

作者： Guanglei Huo Lijun Zhao Ke Wang Ruifeng Li State Key Laboratory of Robotics and System Harbin Institute of Technology

In this work, in order to improve spatial recognition abilities for the long-term operation tasks of the assistant robot for the elderly, a novel approach of semantic region estimation is proposed. We define a novel graphbased semantic region descriptions, which are estimated in a dynamically fashion. We propose a two-level update algorithm, namely, Symbols update level and Regions update level. The algorithm firstly adopts particle filter to update weights of the symbols, and then use the Viterbi algorithm to estimate the region the robot stays in based on those weights, optimally. Experimental results demonstrate that our proposed approach can solve problems of the long-term operation and kidnapped robot problem.

关键词： service robot semantic region estimation particle filter viterbi algorithm long-term tasks

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Corrigendum to “A critical review on mechanical micro-drilling of glass and carbon fibre reinforced polymer (GFRP and CFRP) composites” [Compos B: Eng 254 (2023) 110589]

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Composites Part B: Engineering 2023年 262卷

作者： Norbert Geier Karali Patra Ravi Shankar Anand Sam Ashworth Barnabás Zoltán Balázs Tamás Lukács Gergely Magyar Péter Tamás-Bényei Jinyang Xu J Paulo Davim Budapest University of Technology and Economics Faculty of Mechanical Engineering Department of Manufacturing Science and Engineering Budapest 1111 Hungary Indian Institute of Technology Patna Department of Mechanical Engineering Patna 801103 India Birla Institute of Technology Department of Mechanical Engineering Patna Campus Patna 800014 India North of England Robotics Innovation Centre The University of Salford Salford Greater Manchester UK Budapest University of Technology and Economics Faculty of Mechanical Engineering Department of Polymer Engineering Műegyetem rkp. 3 Budapest 1111 Hungary ELKH–BME Research Group for Composite Science and Technology Műegyetem rkp. 3 Budapest 1111 Hungary Shanghai Jiao Tong University School of Mechanical Engineering State Key Laboratory of Mechanical System and Vibration Shanghai 200240 PR China University of Aveiro Department of Mechanical Engineering Centre for Mechanical Engineering and Automation (TEMA) Campus Santiago Aveiro 3810-193 Portugal

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