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Mechatronics and robotics Engineering (ICMRE), International Conference on

作者： Yue Bai Guang Yang Hong Xiao Hongwei Guo Rongqiang Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (数字)9798350394276

ISBN: (纸本)9798350394283

Fixed-wing aircraft cannot accommodate different flight conditions. Numerous studies have demonstrated the potential of Bio-inspired morphing wings as a viable solution to tackle this issue. In this paper, a Bio-inspired Flexible Skin Variable Sweep and Flip wing is proposed through the analysis of the deformation and structural forms of seagulls and albatrosses. The bio-inspired morphing wing consists of mechanisms, composite skins, and actuators, which can achieve a sweep angle of 20-70 degrees, a wingtip flip of ± 20 degrees, and a wing area change of $31.4 \%$. The aerodynamic performance and deformation capability of the wing at multiple sweep angles were analyzed. Finally, a prototype was developed, and effectiveness of the design were verified through deformation capability test.

关键词： Actuators Mechatronics Deformation Biomimetics Prototypes Aerodynamics Skin

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PCEB-YOLOV8: An Improved PCB Defect Detection Method Based on YOLOV8 8

PCEB-YOLOV8: An Improved PCB Defect Detection Method Based o...

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8th International Conference on Electrical, Mechanical and Computer Engineering, ICEMCE 2024

作者： Li, Meihui Song, Chunhe Yu, Xia Chu, Mengmeng Li, Rui Shenyang University of Technology State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Key Laboratory of Networked Control Systems Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang Shenyang China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Key Laboratory of Networked Control Systems Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang Shenyang China Shenyang University of Technology Shenyang China

ISBN: (纸本)9798331506230

Printed circuit board defect recognition is of great significance to ensuring the quality of electronic products. This paper proposes an improved PCB defect detection method based on YOLOV8. Firstly, the data augmentation method PredMix (prediction mix) is adopted to simulate scenarios such as overlapping and occlusion in images, where the displays are incomplete or blurred, thereby enhancing the robustness of the network model. Secondly, BiFPN is used to replace PAN-FPN in the fusion layer to strengthen the feature fusion capability. Finally, the CESE_C2f module is employed in the Backbone part, leveraging a lightweight attention mechanism to improve the detection effect while reducing the number of parameters. Experimental results show that compared with the original YOLOV8, the MAP value of this improved algorithm reaches 92.6%, with a 2.3% increase in accuracy. © 2024 IEEE.

关键词： Deep learning

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High-performance flexible organic field effect transistors with print-based nanowires

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Microsystems & Nanoengineering 2023年第3期9卷 83-93页

作者： Liangkun Lu Dazhi Wang Changchang Pu Yanyan Cao Yikang Li Pengfei Xu Xiangji Chen Chang Liu Shiwen Liang Liujia Suo Yan Cui Zhiyuan Zhao Yunlong Guo Junsheng Liang Yunqi Liu Laboratory for Micro/Nano Technology and System of Liaoning Province Dalian University of TechnologyDalian 116024China State Key Laboratory of High-Performance Precision Manufacturing Dalian University of TechnologyDalianChina Ningbo Institute of Dalian University of Technology Ningbo 315000China Beijing National Laboratory for Molecular Sciences Key Laboratory of Organic SolidsInstitute of ChemistryChinese Academy of SciencesBeijing 100190China

Polymer nanowire(NW)organic field-effect transistors(OFETs)integrated on highly aligned large-area flexible substrates are candidate structures for the development of high-performance flexible *** work presents a universal technique,coaxial focused electrohydrodynamic jet(CFEJ)printing technology,to fabricate highly aligned 90-nm-diameter polymer *** method allows for the preparation of uniformly shaped and precisely positioned nanowires directly on flexible substrates without transfer,thus ensuring their electrical *** indacenodithiophene-co-benzothiadiazole(IDT-BT)and poly(9,9-dioctylfluorene-co-benzothiadiazole)(F8-BT)as example materials,5 cm^(2) arrays were prepared with only minute size variations,which is extremely difficult to do using previously reported *** to 2D-GIXRD analysis,the molecules inside the nanowires mainly adopted face-onπ-stacking crystallite *** is quite different from the mixed arrangement of thin ***-based OFETs exhibited a high average hole mobility of 1.1 cm^(2) V^(−1) s^(−1) and good device uniformity,indicating the applicability of CFEJ printing as a potential batch manufacturing and integration process for high-performance,scalable polymer nanowire-based OFET *** technique can be used to fabricate various polymer arrays,enabling the use of organic polymer semiconductors in large-area,high-performance electronic devices and providing a new path for the fabrication of flexible displays and wearable electronics in the future.

关键词： performance nanowires arrangement

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A Collision Detection Algorithm of Inspection Robot for Steam Generator Heat Transfer Tubes

A Collision Detection Algorithm of Inspection Robot for Stea...

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IEEE International Conference on Mechatronics and Automation

作者： Xuan Yu Biying Xu Jinghan Lin Kuan Zhang Jizhuang Fan Jie Zhao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (数字)9798350388077

ISBN: (纸本)9798350388084

Ensuring the operational safety of inspection robot for steam generator heat transfer tubes necessitates continuous internal collision detection to prevent self-collision and external collision detection to avoid contact with the surrounding environment. However, current collision detection algorithms struggle to balance accuracy with computational efficiency and are not fully applicable to the unique conditions of a nuclear power plant. This paper introduces a novel collision detection algorithm specifically tailored for a crawler-type inspection robot for steam generator heat transfer tubes. By translating three-dimensional collision issues into two-dimensional intersection problems, the algorithm simplifies the complexity of collision detection while ensuring accuracy. Simulation results indicate that the algorithm achieves an average computation speed of 0.02 seconds per instance, which is sufficient to meet real-time planning requirements during autonomous operations. Furthermore, even in the presence of motion errors, the algorithm maintains a 100% safety rate, guaranteeing absolute safety of the robot's movement. These findings further validate the feasibility and practicality of the proposed algorithm for use within the nuclear power plant environment.

关键词： Accuracy Inspection Generators Real-time systems Safety Electron tubes Planning

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A Trajectory Planning Framework for Experimental Module Manipulator On-Orbit Servicing

A Trajectory Planning Framework for Experimental Module Mani...

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2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Ma, Boyu Cao, Baoshi Liu, Yang Xie, Yuteng Yang, Xiaohang Wang, Wei Hu, Handong Zhou, Xiaokai Ji, Yiming Wang, Zhengpu Li, Mengfei Sun, Haoran Sun, Wandong Xie, Zongwu Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin150080 China Northeast Agricultural University School of Resources and Environment Harbin150030 China

ISBN: (纸本)9798350325706

This article proposes a novel trajectory planning framework for the Experimental Module Manipulator (EMM) on-orbit servicing (OOS). For a start, the simulation system of the EMM based on Open Inventor is developed, and the trajectory planning technical route of the EMM for OOS missions is illustrated, including two main phases: large-scale transfer and small-scale approach. Before trajectory planning, the Gilbert-Johnson-Keerthi convex bounding boxes of the CSS and the EMM are modeled. Moreover, we present a Cartesian-space collision-free planning scheme. For the different task requirements in the above two phases, two corresponding collision-free trajectory planning schemes in joint space are proposed. Finally, simulations of the EMM supporting an astronaut extra-vehicular activity verify the effectiveness of our trajectory planning framework and all of the schemes presented in this article. © 2023 IEEE.

关键词： Experimental Module Manipulator (EMM) extra-vehicular activity (EVA) on-orbit servicing (OOS) Trajectory planning

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Blackening failure of poly-α-olefin impregnated porous polymide due to the splitting of lubrication oil catalyzed by iron

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Friction 2024年第9期12卷 1969-1979页

作者： Pengfei SHI Yang YIN Shaohua ZHANG Diankai ZHANG Yuanyuan JIANG Yang WANG Ningning ZHOU Tao QING Jintao WU Linmao QIAN Jiyang ZHANG Lei CHEN Tribology Research Institute State Key Laboratory of Rail Transit Vehicle SystemSchool of Mechanical EngineeringSouthwest Jiaotong UniversityChengdu 610031China Beijing Key Laboratory of Long-life Technology of Precise Rotation and Transmission Mechanisms Beijing Institute of Control EngineeringBeijing 100094China Technology and Equipment of Rail Transit Operation and Maintenance Key Laboratory of Sichuan Province School of Mechanical EngineeringSouthwest Jiaotong UniversityChengdu 610031China

Lubrication failure accompanying with blackening phenomenon significantly reduces the long-running operational reliability of porous polymide(PPI)lubricated with poly-α-olefin(PAO)***,the effects of lubrication condition and counter-surface chemistry on the blackening failure of PAO impregnated PPI were studied through the comparison of the tribological tests against GCr15 steel ball and Al_(2)O_(3)ceramic ball with and without PAO oil *** products were found to be formed on the PAO impregnated PPI surface slid against steel ball or Al_(2)O_(3)ball added with iron nano-particles,but be absent under the conditions without iron or PAO *** analysis indicated that the iron-catalyzed splitting of PAO oil into small molecule alkanes and following the formation of black organic matter should be mainly responsible for the blackening *** dynamic(MD)simulations demonstrated that the iron facilitated the separation of hydrogen atom and the following broken of C–C bonds in PAO molecules,final resulting in the splitting of PAO oil.

关键词： porous polyimide poly-α-olefin oil friction-induced blackening phenomenon tribological performance ReaxFF MD simulation

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Integrated Active Suspension and Anti-Lock Braking Control for Four-Wheel-Independent-Drive Electric Vehicles

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Chinese Journal of Mechanical Engineering 2024年第1期37卷 87-98页

作者： Ze Zhao Lei Zhang Xiaoling Ding Zhiqiang Zhang Shaohua Li Liang Gu National Engineering Research Center for Electric Vehicles Beijing Institute of TechnologyBeijing 100081China State Key Laboratory of Mechanical Behavior and System Safety of Traffic Engineering Structures Shijiazhuang Tiedao UniversityShijiazhuang 050043China

This paper presents an integrated control scheme for enhancing the ride comfort and handling performance of a four-wheel-independent-drive electric vehicle through the coordination of active suspension system(ASS)and anti-lock braking system(ABS).First,a longitudinal-vertical coupled vehicle dynamics model is established by integrating a road input *** the coupling mechanisms between longitudinal and vertical vehicle dynamics are *** ASS-ABS integrated control system is proposed,utilizing an H∞controller for ASS to optimize load transfer effect and a neural network sliding mode control for ABS ***,the effectiveness of the proposed control scheme is evaluated through comprehensive tests conducted on a hardware-in-loop(HIL)test *** HIL test results demonstrate that the proposed control scheme can significantly improve the braking performance and ride comfort compared to conventional ABS control methods.

关键词： Four-wheel-independent-drive electric vehicles Active suspension system(ASS) Anti-lock braking system(ABS) Vertical-longitudinal vehicle dynamics

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Working condition recognition of sucker rod pumping system based on 4-segment time-frequency signature matrix and deep learning

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Petroleum Science 2024年第1期21卷 641-653页

作者： Yun-Peng He Hai-Bo Cheng Peng Zeng Chuan-Zhi Zang Qing-Wei Dong Guang-Xi Wan Xiao-Ting Dong State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016LiaoningChina Key Laboratory of Networked Control Systems Chinese Academy of SciencesShenyang 110016LiaoningChina Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169LiaoningChina University of Chinese Academy of Sciences Beijing100049China School of Artifcial Intelligence Shenyang University of TechnologyShenyang 110870LiaoningChina

High-precision and real-time diagnosis of sucker rod pumping system(SRPS)is important for quickly mastering oil well *** learning-based method for classifying the dynamometer card(DC)of oil wells is an efficient diagnosis ***,the input of the DC as a two-dimensional image into the deep learning framework suffers from low feature utilization and high computational ***,different SRPSs in an oil field have various system parameters,and the same SRPS generates different DCs at different ***,there is heterogeneity in field data,which can dramatically impair the diagnostic *** solve the above problems,a working condition recognition method based on 4-segment time-frequency signature matrix(4S-TFSM)and deep learning is presented in this ***,the 4-segment time-frequency signature(4S-TFS)method that can reduce the computing power requirements is proposed for feature extraction of DC ***,the 4S-TFSM is constructed by relative normalization and matrix calculation to synthesize the features of multiple data and solve the problem of data ***,a convolutional neural network(CNN),one of the deep learning frameworks,is used to determine the functioning conditions based on the *** on field data verify that the proposed diagnostic method based on 4S-TFSM and CNN(4S-TFSM-CNN)can significantly improve the accuracy of working condition recognition with lower computational *** the best of our knowledge,this is the first work to discuss the effect of data heterogeneity on the working condition recognition performance of SRPS.

关键词： Sucker-rod pumping system Dynamometer card Working condition recognition Deep learning Time-frequency signature Time-frequency signature matrix

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Research on Digital Twin system Platform Framework and key Technologies of Unmanned Ground Equipment

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Complex system Modeling and Simulation 2024年第2期4卷 109-123页

作者： Kunyu Wang Lin Zhang Cheng Xu Han Lu Zhen Chen Hongbo Cheng Rui Guo the School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100191China the State Key Laboratory of Intelligent Manufacturing System Technology Beijing 100854China the Beijing Institute of Electronic System Engineering Beijing 100854China

As an emerging technology,digital twin is expected to bring novel application modes to the whole life cycle process of unmanned ground equipment,including research and development,design,control optimization,operation and maintenance,*** highly dynamic,complex,and uncertain characteristics of unmanned ground equipment and the battlefield environment also pose new challenges for digital twin *** from the new challenges faced by the digital twin of unmanned ground equipment,this paper designs a service-oriented cloud-edge-end collaborative platform architecture of the digital twin system of unmanned ground equipment,and further analyzes several key technologies supporting the implementation of the platform architecture.

关键词： unmanned ground equipment digital twin native cloud platform Modeling and Simulation(M&S) artificial intelligence

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Short-term Transmission Maintenance Scheduling Considering Network Topology Optimization

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Journal of Modern Power systems and Clean Energy 2022年第4期10卷 883-893页

作者： Weixin Zhang Bo Hu Kaigui Xie Changzheng Shao Tao Niu Jiahao Yan Lvbin Peng Maosen Cao Yue Sun State Key Laboratory of Power Transmission Equipment&System Security and New Technology at Chongqing University Chongqing 400044China

With the increasing penetration of renewable energy sources,transmission maintenance scheduling(TMS)will have a larger impact on the accommodation of wind ***,the more flexible transmission network topology owing to the network topology optimization(NTO)technique can ensure the secure and economic operation of power *** paper proposes a TMS model considering NTO to decrease the wind curtailment without adding control *** problem is formulated as a two-stage stochastic mixed-integer programming *** first stage arranges the maintenance periods of transmission *** second stage optimizes the transmission network topology to minimize the maintenance cost and system operation in different wind speed *** proposed model cannot be solved efficiently with off-theshelf solvers due to the binary variables in both ***,the progressive hedging algorithm is *** results on the modified IEEE RTS-79 system show that the proposed method can reduce the negative impact of transmission maintenance on wind accommodation by 65.49%,which proves its effectiveness.

关键词： Mixed-integer linear programming network topology optimization progressive hedging algorithm stochastic optimization transmission maintenance scheduling wind curtailment

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