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IEEE International Conference on robotics and Automation (ICRA)

作者： Jingdong Zhao Zirui Wang Ziyi Liu Liangliang Zhao Qifan Duan Hong Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Chang Guang Satellite Technology Co. Ltd. Changchun China Beijing Honor Device Co. Ltd. Beijing China

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

The construction of large-scale space facilities requires the use of on-orbit construction technology. However, several of its key components, such as standard interface design, compliant control methods, and path planning for multi-branch robots, still need improvement before practical application. This paper presents a comprehensive solution for on-orbit construction tasks, encompassing a novel standard interface, docking control method, and path planning method for space multi-branch robots. Firstly, a novel standard interface is introduced, which features multiple mating modes and a lightweight design. Additionally, a compliant docking method is provided to generate lower contact forces along the Z-direction. Furthermore, for four-armed space robots, a hierarchical planning method is proposed, which innovates in environment map construction and locomotion planning. Specifically, the closed-form Minkowski sum method is employed to solve the robot’s free space, and a concise locomotion method is elucidated based on transition support points. Finally, simulations and experiments are conducted.

关键词： Visualization Machine vision Prototypes Aerospace electronics Path planning Planning Task analysis

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Optimal Scheduling of Pumped Storage Power Station with Double-Fed Variable Speed Unit Based on Reservoir Regional Operation Strategy 4

Optimal Scheduling of Pumped Storage Power Station with Doub...

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4th Asia-Pacific Conference on Communications technology and Computer Science, ACCTCS 2024

作者： Ma, Yuhan An, Yining Ge, Xiaohui Zhao, Bo State Grid Zhejiang Electric Power Co. Ltd. Research Institute Zhejiang Hangzhou China Northeast Electric Power University Key Laboratory of Modern Power System Simulation and Control & Renewable Energy Technology Jilin Jilin China

ISBN: (纸本)9798350359985

The conventional pumping unit lacks the ability to continuously adjust input power during pumping operations, and exhibits poor adaptability when integrating new energy sources into the grid. In this study, we propose a novel 'domain operation' strategy that allocates resources based on real-time reservoir conditions across all levels of hydropower stations, while optimizing operations through the implementation of doubly fed units. © 2024 IEEE.

关键词： Hydroelectric power

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A systematic Review on Vision-Based Proactive Human Assembly Intention Recognition for Human-Centric Smart Manufacturing in Industry 5.0

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IEEE Internet of Things Journal 2025年

作者： Ma, Dongxu Zhang, Chao Zhou, Guanghui Xu, Qingfeng Li, Jinqiang Zhao, Dan Leng, Jiewu Xi’an Jiaotong University School of Mechanical Engineering Xi’an710049 China Xi’an Jiaotong University State Key Laboratory for Manufacturing Systems Engineering Xi’an710054 China Guangdong University of Technology Guangdong Provincial Key Laboratory of Computer Integrated Manufacturing System State Key Laboratory of Precision Electronic Manufacturing Technology and Equipment Guangzhou510006 China

Proactive human-robot collaborative (HRC) assembly has caught great attention as emerging paradigm for flexible mass personalization in manufacturing with respect to Industry 5.0. To realize adaptive and ergonomic collaboration, it is essential to enable robots recognize human assembly intention based on context-aware information precisely at edge side with Industrial Internet of Thing, also known as human assembly intention recognition (HAIR). For this purpose, this paper systematically reviewed the most relevant papers from major digital databases, where 127 papers are investigated with designed search procedure that published until July 2024. And reviewed papers are summarized from the perspective of: (1) assembly scene perception based on multimodalities data;(2) understanding of HAIR based on machine learning;(3) HAIR application for HRC process. In addition, four current challenges and future research trends are also discussed to facilitate full-adaptive and mutual-cognitive HRC assembly environments. © 2014 IEEE.

关键词： Collaborative robots

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RESEARCH ON VIBRATION FATIGUE SPECTRUM METHOD OF CARBON FIBER COMPOSITE MATERIALS 30

RESEARCH ON VIBRATION FATIGUE SPECTRUM METHOD OF CARBON FIBE...

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30th International Congress on Sound and Vibration, ICSV 2024

作者： Wang, Yuzhu Kong, Deshuai Fan, Zinan Zhang, Shuang State Key Laboratory of Traction and Control System of EMU and Locomotive Beijing100081 China China Academy of Railway Sciences Locomotive & Car Research Institute Beijing Zongheng Electro-Mechanical Technology Co. Ltd. Beijing100094 China

ISBN: (纸本)9789090390581

The anisotropic properties of carbon fiber composite materials make the use of metal material vibration fatigue analysis methods in the analysis process unsuitable, especially efficient spectral analysis methods. This article presents a vibration fatigue spectrum analysis method suitable for carbon fiber composite materials by applying random excitation based on PSD spectrum and analyzing its specific fatigue life under specific PSD spectrum. And the effectiveness of this method was verified through a series of validation experiments. © 2024 Proceedings of the International Congress on Sound and Vibration. All rights reserved.

关键词： Vibration analysis

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Calculation of conductive ions distribution in icicle and melting water conductivity

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High Voltage 2021年第4期6卷 702-710页

作者： Yanqing Liu Lichun Shu Qin Hu Xingliang Jiang Meilin Zhu Jianbo Yu State Key Laboratory of Power Transmission Equipment&System Security and New Technology Chongqing UniversityChongqingChina State Grid Chongqing Electric Power Company ChongqingChina

The flashover problem of ice-covered insulators has seriously affected the safe operation of transmission *** researches have shown that the high conductivity water film on the surface is determined by the conductive ions distribution in the icicle which is the key factor affecting the flashover voltage of ice-covered *** our previous work,the conductive ions distribution in the icicle has been obtained through experi-ments and simulation *** order to calculate the conductivity of the water film,the conductive ion-specific content at different positions in the icicle has been calculated *** addition,based on the simulation of icicle melting process,the icicle melting process is analysed,and the melting water conductivity of the icicle is ***,melting ice test is carried out in artificial climate chamber to verify the validity of the calculation *** calculated results are in good agreement with the test *** conclusion obtained here would provide theoretical basis for establishing a flashover model of ice-covered insulators.

关键词： conductivity conductive distribution

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Active Adjustable Coil Receiver for Adaptive Output Power Based on Wireless Power Transfer

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International Journal of Circuit Theory and Applications 2025年

作者： Dai, Zhongyu Wang, Huihui Ma, Yayun Li, Musong Zhou, Yitong Zhang, Xian State Key Laboratory of Intelligent Power Distribution Equipment and System Key Laboratory of Electromagnetic Field and Electrical Apparatus Reliability of Hebei Province Key Laboratory of Flexible DC Transmission Equipment and Technology Demonstration of Hebei Province Electrical Engineering Department Hebei University of Technology Tianjin China State Grid Tangshan Power Supply Company Tangshan China

The wireless power transfer (WPT) system operates under variable load conditions. During different stages of charging, the power required by the load varies. Therefore, the WPT needs to adjust the voltage and power in real-time to meet these differing demands. The power transfer power of WPT can be optimized for variable loads. This paper introduces an active adjustable coil receiver with adaptive output power. The end of the sliding rod is connected to the accessible part of each subcoil. The sliding rod can slide outward from the center of the coil or inward toward the center along the accessible part, determining the number of coil turns to be involved in coupling within the circuit. The proposed design can achieve the stabilized output power of ACR in the range of 10 to 30 W with a transmission distance varying from 5 to 10 cm, 10–38 W with a radial offset distance of 0.6–10 cm and 3–21 W with load of 20–40 (Formula presented.). The receiver can meet the different power requirements of the load and is not sensitive to factors such as transmission distance and offset. The system can reduce the complexity of charging and power supply system design and effectively promote the application of wireless power transmission in the field of multiload equipment. © 2025 John Wiley & Sons Ltd.

关键词： Inductive power transmission

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SLAM-Based Joint Calibration of Differential RSS Sensor Array and Source Localization 49

SLAM-Based Joint Calibration of Differential RSS Sensor Arra...

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

作者： Fu, Linya Qiao, Xu Huang, Shoudong Mao, Guoqiang Lin, Zhiyun Li, Youfu Kong, He Robotics Institute Uni. of Technology Sydney Sydney Australia Xidian University State Key Laboratory of Integrated Services Networks China City University of Hong Kong Department of Mechanical Engineering China Southern Uni. of Sci. and Tech. Shenzhen Key Laboratory of Control Theory and Intelligent Systems Shenzhen China Southern Uni. of Sci. and Tech. Guangdong Prov. Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Shenzhen China

ISBN: (纸本)9798350331820

Sensor arrays generating differential received signal strength (DRSS) measurements have found many applications in robotics. However, accurate calibration of these sensor arrays remains a challenge. Most existing methods are impractical in that they assume to know signal source positions or certain parameters (i.e., path loss exponent), and try to estimate the others. In this paper, we adopt graph simultaneous localization and mapping (SLAM) as a general framework for jointly estimating the source positions and parameters of the DRSS sensor array. Our contributions are twofold. On the one hand, by using a Fisher information matrix approach, we conduct a systematic observability analysis of the corresponding SLAM setup for the calibration problem. On the other hand, we propose an effective procedure to select the initial value which is fed to Levenberg-Marquardt iterations for further improving optimization accuracy and convergence. Extensive simulation and hardware experiments show that the proposed method renders high-quality calibration results. All the codes and data are publicly available at https://***/SUSTech2022/DRSS-sensor-array-calibration. © 2023 IEEE.

关键词： Calibration

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Comprehensive Study of Plastic Deformation Mechanism of Polycrystalline Copper Using Crystal Plasticity Finite Element

SSRN

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SSRN 2024年

作者： Zhou, Xingying Zan, Shusong Zeng, Yifei Guo, Ruiyang Wang, Guangzhou Wang, Tingzhang Zhao, Linjie Chen, Mingjun State Key Laboratory of Robotics and System Harbin Institute of Technology Heilongjiang Harbin150001 China Machining and Condition Monitoring Group Faculty of Engineering University of Nottingham NG81BB United Kingdom

Graded polycrystalline copper materials have been expected in the field of scientific research and engineering in recent years because the core of the material has enough toughness and a sufficient surface strength. However, the plastic deformation mechanism, gradient grain generation mechanism and material strengthening principle of polycrystalline copper are still not well understood. Therefore, it is urgent to further analyze the plastic deformation of polycrystalline copper. In this study, the micron scale plastic deformation behavior of polycrystalline copper is simulated based on the crystal plasticity finite element method. The simulation analysis is carried out from the aspects of grain size, grain shape, crystal orientation type and quantity, loading mode and so on. The effects of the above parameters on the Mises stress nephogram and stress-strain curve of polycrystalline copper were analyzed. At the end of the article, the EBSD orientation distribution information of graded polycrystalline copper grains obtained in the cutting process is analyzed comprehensively and the formation mechanism of graded polycrystalline copper is explained by combining the simulation results. © 2024, The Authors. All rights reserved.

关键词： Crystal orientation

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Cold and humid climates enrich soil carbon stock in the Third Pole grasslands

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The Innovation 2024年第1期5卷 9-10页

作者： Yanfen Wang Anquan Xia Kai Xue College of Resources and Environment University of Chinese Academy of SciencesBeijing 100049China Beijing Yanshan Earth Critical Zone National Research Station University of Chinese Academy of SciencesBeijing 101408China State Key Laboratory of Tibetan Plateau Earth System Resources and Environment(TPESRE)Institute of Tibetan Plateau ResearchChinese Academy of SciencesBeijing 100101China State Key Laboratory of Plateau Ecology and Agriculture Qinghai UniversityXining 810016China Key Laboratory of Adaptation and Evolution of Plateau Biota Northwest Institute of Plateau BiologyChinese Academy of SciencesXining 810001China Binzhou Institute of Technology Weiqiao-UCAS Science and Technology ParkBinzhou 256606China

As a unique geographic unit,the Third Pole is globally recognized as the largest and highest mountainous *** amounts of soil organic carbon(SOC)are stored in this region,whose top layer is active in biochemical processes and highly sensitive to environmental *** warming intensity in the Third Pole has been predicted to be at least 0.3℃ higher than the global average by the end of the 21^(st) century.1 Therefore,it is essential to understand the underlying mechanisms,especially the hydrothermal factors,controlling the top layer SOC in the Third *** may help to predict the dynamics of soil carbon stock in future climate scenarios.

关键词： soil mountainous globally

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Experimental Investigation of the Impact of I-Shape Coil Width on Multi-Layered Al-Cu Joint Fabricated by Electromagnetic Pulse Welding for Lithium-ion Battery

Experimental Investigation of the Impact of I-Shape Coil Wid...

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2023 IEEE Pulsed Power Conference, PPC 2023

作者： Zhou, Yan Chen, Dan Shen, Ting Wang, Xianmin Wu, Zhaoxiao Li, Chengxiang Chongqing University State Key Laboratory of Power Transmission Equipment & System Security and New Technology School of Electrical Engineering Chongqing China Chongqing College of Electronic Engineering School of Electronics and IoT Chongqing China

ISBN: (纸本)9798350332339

A pulsed magnetic field forces metals to collide violently and form metallurgical bonding in electromagnetic pulse welding (EMPW). Because of its advantages of fast, high efficiency, and no continuous vibration effect, the EMPW has the potential in welding multi-layered aluminum (A1) tabs to the copper (Cu) busbar for lithium-ion batteries (LIBs). To further study the impact of the I-shape coil width on the EMPW for multi-layered dissimilar materials, a comprehensive experimental platform of EMPW was established in this work. The welding experiments of three layers of Al tabs and a single Cu busbar were carried out by changing the cross-section width of the I-shape coil. The effect of the coil width on the multi-layered Al-Cu dissimilar EMPW joint for LIBs was analyzed by macroscopic morphology and tensile testing. The results showed that when the discharge energy was constant and the coil width became narrow, it would not affect the discharging current. The corresponding deformation area width on the surface of the Al sheet also became narrow, the changing range of the collision velocity and collision angle got larger, the joints between the Al tab and Al tab, the Al tab and Cu busbar were easier to obtain, and the joint quality was better. However, the Al sheet would be broken when the coil was too narrow. This work could provide an experimental basis for the design of the coil for the EMPW of the electric vehicle's LIBs. © 2023 IEEE.

关键词： Electromagnetic pulse

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