检索结果-内蒙古大学图书馆

Design of a SMA actuated freeplay elimination device for stiffness enhancement of a folding fin

Mechanical systems and Signal Processing 2025年 234卷

作者： Rongru Zhang Gang Chen Honghao Yue Mingyu Si State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin 150001 China Beijing Institute of Electronic System Engineering Beijing 100854 China

The folding fin, essential for controlling aircraft flight attitude and maintaining stability, is extensively employed in aerospace vehicles. Inevitable freeplay within the structure, due to design, installation, and mechanical wear, reduce the stiffness of the folding fins and impair the aircraft’s aerodynamic performance. Therefore, eliminating the freeplay in the folding fin is crucial for enhancing the aircraft’s flight accuracy and stability. This paper introduces a novel freeplay elimination device utilizing SMA columns, which neither increases mass nor alters the aircraft’s external dimensions. The device effectively alleviates nonlinear issues associated with gaps in the fin system and enhances both the dynamic and static stiffness of the folding fin. A parametric design model for the gap elimination device has been developed, delineating the relationship between the structure and layout of the SMA columns, the actuation temperature, load, and the target gap for elimination. We conducted static load tests along with modal tests at room and elevated temperatures to evaluate the stiffness enhancement performance of the folding fin before and after gap elimination. The experiments verified that the designed gap elimination device significantly enhances both the static and dynamic stiffness of the folding fin. Additionally, the first-order frequency of the folding fin increased by 40 % at room temperature and by 36.7 % at 200 °C. This paper provides quantifiable guidance for the structural and parametric design of gap elimination devices in folding fins. Optimal structural parameters, determined based on aerodynamic loads and gap elimination requirements, enhance the stiffness of the folding fin, thus improving the aircraft’s flight performance.

关键词：

来源：评论

学校读者我要写书评

暂无评论

A colorimetric-bionic sensor for multimodal molecular sensing using hierarchical metamaterials

Device

引用

Device 2025年第5期3卷

作者： Geng, Wenhui Zhou, Ying Huang, Kang Ying, Yibin Xie, Lijuan College of Biosystems Engineering and Food Science Zhejiang University 866 Yuhangtang Road Hangzhou 310058 China The National Key Laboratory of Agricultural Equipment Technology Beijing 100083 China Zhejiang Key Laboratory of Intelligent Sensing and Robotics for Agriculture Hangzhou 310058 China Hangzhou Customs Technology Center 398 Jianshe San Road Xiaoshan District Hangzhou City China Department of Biological Systems Engineering Washington State University Pullman 99164 WA United States

Metamaterials can enhance a local electric field for molecular sensing. However, the difficulty in specifically recognizing target molecules and integrating multiple functionalities restricts their development. Here, we present a hierarchical metamaterial-based colorimetric-bionic sensor (HMm-CBs) using a layer-by-layer assembly method for multimodal molecular sensing. The CBs layers offer molecular recognition ability by enabling the specific perception of analytes, and the HMm layers provide coupling of vibrations between analyte molecules at the terahertz (THz) frequency. The HMm-CBs have broadband adaptability in controlling electromagnetic waves from optical to THz frequency. As a proof of principle, we designed a sensor for analyzing tetracycline hydrochlorides (TCHs). The sensor, in conjunction with a back propagation neural network (BPNN), identifies four types of TCHs. As a demonstration, a multichannel indicator is created for real-time monitoring of shrimp freshness and volatile metabolites. © 2025 The Author(s)

关键词： antibiotics carbon nanotubes chemometric algorithms colorimetric sensor array DTI-3: Develop metamaterials

来源：评论

学校读者我要写书评

暂无评论

Laser Powder Bed Fusion of Titanium-Coated Diamond-Reinforced Aluminum Matrix Composites

引用

Advanced Engineering Materials 2025年

作者： Hu, Peichen Li, Guotai Yu, Tianyu State Key Laboratory of Robotics and System Harbin Institute of Technology Heilongjiang Harbin150001 China Key Laboratory of Micro-systems and Micro-structures Manufacturing Harbin Institute of Technology Heilongjiang Harbin150001 China

Diamond-reinforced aluminum matrix composite (DAMC) presents superior thermal conductivity and strength/weight ratio. Laser powder bed fusion (L-PBF) technology could offer new possibilities for these materials by enabling fabrication of parts with complex geometries and desired compositions. This article studies different diamond content (3 and 5 wt%) and diamond surface treating (titanium-coated or uncoated) on the formation behavior of DAMC produced by L-PBF. A comprehensive analysis is conducted to examine different defect generation mechanisms encountered during L-PBF. Additionally, process parameters for DAMC with varying diamond contents are optimized. It indicates that the DAMC with 3 wt% titanium-coated diamond achieves a high relative density of 99.0%. Better thermal conductivity and strength are obtained compared to the base material, AlSi10Mg alloys. The wear performance of the composites is evaluated using a ball-on-disk tribometer. It shows excellent wear resistance, with a reduction in wear rate by 94.8–96.2% compared to the base AlSi10Mg alloy. © 2025 Wiley-VCH GmbH.

关键词： Electric heating

来源：评论

学校读者我要写书评

暂无评论

Sketch-SparseNet: Sparse convolution framework for sketch recognition

引用

Pattern Recognition 2025年 167卷

作者： Yang, Jingru Wang, Jin Zhou, Yang Lu, Guodong Sun, Yu Yu, Huan Fang, Heming Li, Zhihui He, Shengfeng Zhejiang University State Key Laboratory of Fluid Power & Mechatronic Systems Hangzhou Zhejiang310027 China Zhejiang University Engineering Research Center for Design Engineering and Digital Twin of Zhejiang Province School of Mechanical Engineering Hangzhou Zhejiang310027 China Robotics Research Center of Yuyao City Yuyao Ningbo Zhejiang315400 China Zhejiang Sealand Technology Co. Yuhang District Hangzhou Zhejiang311100 China Singapore Management University 178903 Singapore

In free-hand sketch recognition, state-of-the-art methods often struggle to extract spatial features from sketches with sparse distributions, which are characterized by significant blank regions devoid of informative content. To address this challenge, we introduce a novel framework for sketch recognition, termed Sketch-SparseNet. This framework incorporates an advanced convolutional component: the Sketch-Driven Dilated Deformable Block (SD3B). This component excels at extracting spatial features and accurately recognizing free-hand sketches with sparse distributions. The SD3B component innovatively bridges gaps in the blank areas of sketches by establishing spatial relationships among disconnected stroke points through adaptive reshaping of convolution kernels. These kernels are deformable, dilatable, and dynamically positioned relative to the sketch strokes, ensuring the preservation of spatial information from sketch points. Consequently, Sketch-SparseNet extracts a more accurate and compact representation of spatial features, enhancing sketch recognition performance. Additionally, we introduce the SmoothAlign loss function, which minimizes the disparity between the output features of parallel SD3B and CNNs, facilitating effective feature fusion. Extensive evaluations on the QuickDraw-414k and TU-Berlin datasets highlight our method's state-of-the-art performance, achieving accuracies of 79.52% and 85.78%, respectively. To our knowledge, this work represents the first application of a sparse convolution framework that substantially alleviates the adverse effects of sparse sketch points. The codes are available at https://***/kingbackyang/Sketch-SparseNet. © 2025

关键词： Character recognition

来源：评论

学校读者我要写书评

暂无评论

Enhanced Autonomous Exploration and Mapping of an Unknown Environment with the Fusion of Dual RGB-D Sensors

引用

Engineering 2019年第1期5卷 164-172页

作者： Ningbo Yu Shirong Wang Institute of Robotics and Automatic Information Systems Nankai University Tianjin 300353 China Tianjin Key Laboratory of Intelligent Robotics Nankai University Tianjin 300353 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China

The autonomous exploration and mapping of an unknown environment is useful in a wide range of applications and thus holds great significance. Existing methods mostly use range sensors to generate twodimensional (2D) grid maps. Red/green/blue-depth (RGB-D) sensors provide both color and depth information on the environment, thereby enabling the generation of a three-dimensional (3D) point cloud map that is intuitive for human perception. In this paper, we present a systematic approach with dual RGB-D sensors to achieve the autonomous exploration and mapping of an unknown indoor environment. With the synchronized and processed RGB-D data, location points were generated and a 3D point cloud map and 2D grid map were incrementally built. Next, the exploration was modeled as a partially observable Markov decision process. Partial map simulation and global frontier search methods were combined for autonomous exploration, and dynamic action constraints were utilized in motion control. In this way, the local optimum can be avoided and the exploration efficacy can be ensured. Experiments with single connected and multi-branched regions demonstrated the high robustness, efficiency, and superiority of the developed system and methods.

关键词： Autonomous exploration Red/green/blue-depth Sensor fusion Point cloud Partial map simulation Global frontier search

来源：评论

学校读者我要写书评

暂无评论

A novel magnetoelastic torque sensor with planar spiral coil probes

引用

Biomimetic Intelligence and robotics 2025年

作者： Zijian Zhang Zitao Wang MingShao Yangyang Dong Fenglei Ni School of Astronautics Nanjing University of Aeronautics and Astronautics Nanjing 210016 China State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin 150001 China

Humanoid robot joints require real-time torque detection to provide accurate force feedback information for the control system. To meet the measurement requirements and realize the miniaturization of the sensor, a torque sensor based on the magnetoelastic effect is developed, utilizing planar spiral coils as detection probes. In this work, a planar spiral coil mutual inductance calculation model is established to solve the mutual inductance coefficient, and the mechanical structure and circuit design of the sensor are completed. Finally, a torque loading platform is built to perform calibration experiments, and the hysteresis model is improved to compensate for the hysteresis phenomenon. The calibration results indicate that the sensor shows excellent loaded nonlinearity of 3.08%F.S., unloaded nonlinearity of 2.71%F.S., loaded repeatability of 2.48%F.S., unloaded repeatability of 1.89%F.S. and hysteresis of 1.9%F.S., at a compact probe size of 13.8 × 9 . 9 × 1.8 mm.

关键词： Magnetoelastic effect Torque sensor Planar spiral coil Mutual inductance calculation Hysteresis model

来源：评论

学校读者我要写书评

暂无评论

Virtual Simulation System with Path-following Control for Lunar Rovers Moving on Rough Terrain

引用

Chinese Journal of Mechanical Engineering 2012年第1期25卷 38-46页

作者： GAO Haibo DENG Zongquan DING Liang WANG Mengyu State Key Laboratory of Robotics and Systems Harbin Institute of TechnologyHarbin 150001China School of Mechatronics Harbin Institute of TechnologyHarbin 150001China

Virtual simulation technology is of great importance for the teleoperation of lunar rovers during the exploration phase, as well as the design of locomotion systems, performance evaluation, and control strategy verification during the R&D phase. The currently used simulation methods for lunar rovers have several disadvantages such as poor fidelity for wheel-soil interaction mechanics, difficulty in simulating rough terrains, and high complexity making it difficult to realize mobility control in simulation systems. This paper presents an approach for the construction of a virtual simulation system that integrates the features of 3D modeling, wheel-soil interaction mechanics, dynamics analysis, mobility control, and visualization for lunar rovers. Wheel-soil interaction experiments are carried out to test the forces and moments acted on a lunar rover’s wheel by the soil with a vertical load of 80 N and slip ratios of 0, 0.03, 0.05, 0.1, 0.2, 0.3, 0.4, and 0.6. The experimental results are referenced in order to set the parameters’ values for the PAC2002 tire model of the ADAMS/Tire module. In addition, the rough lunar terrain is simulated with 3DS Max software after analyzing its characteristics, and a data-transfer program is developed with Matlab to simulate the 3D reappearance of a lunar environment in ADAMS. The 3D model of a lunar rover is developed by using Pro/E software and is then imported into ADAMS. Finally, a virtual simulation system for lunar rovers is developed. A path-following control strategy based on slip compensation for a six-wheeled lunar rover prototype is researched. The controller is implemented by using Matlab/Simulink to carry out joint simulations with ADAMS. The designed virtual lunar rover could follow the planned path on a rough terrain. This paper can also provide a reference scheme for virtual simulation and performance analysis of rovers moving on rough lunar terrains.

关键词： lunar rover comprehensive simulation system rough terrain wheel-soil interaction mechanics path-following control

来源：评论

学校读者我要写书评

暂无评论

Designing and Optimization of an Off-line Programming System for Robotic Belt Grinding Process

引用

Chinese Journal of Mechanical Engineering 2011年第4期24卷 647-655页

作者： WANG Wei YUN Chao ZHANG Ling GAO Zhihui Robotics Institute Beihang University Beijing 100191 China State Key Laboratory for Manufacturing Systems Engineering Xi＇an Jiaotong University Xi＇an 710049 China

Off-line programming （OLP） system becomes one of the most important programming modules for the robotic belt grinding process, however there lacks research on increasing the grinding dexterous space depending on the OLP system. A new type of grinding robot and a novel robotic belt grinding workcell are forwarded, and their features are briefly introduced. An open and object-oriented off-line programming system is developed for this robotic belt grinding system. The parameters of the trimmed surface are read from the initial graphics exchange specification （IGES） file of the CAD model of the workpiece. The deBoor-Cox basis function is used to sample the grinding target with local contact frame on the workpiece. The numerical formula of inverse kinematics is set up based on Newton＇s iterative procedure, to calculate the grinding robot configurations corresponding to the grinding targets. After the grinding path is obtained, the OLP system turns to be more effective than the teach-by-showing system. In order to improve the grinding workspace, an optimization algorithm for dynamic tool frame is proposed and performed on the special robotic belt grinding system. The initial tool frame and the interval of neighboring tool frames are defined as the preparation of the algorithm. An optimized tool local frame can be selected to grind the complex surface for a maximum dexterity index of the robot. Under the optimization algorithm, a simulation of grinding a vane is included and comparison of grinding workspace is done before and after the tool frame optimization. By the algorithm, the grinding workspace can be enlarged. Moreover the dynamic tool frame can be considered to add one degree-of-freedom to the grinding kinematical chain, which provides the theoretical support for the improvement of robotic dexterity for the complex surface grinding.

关键词： off-line programming robotic belt grinding path generation tool optimization

来源：评论

学校读者我要写书评

暂无评论

BAN: A Universal Paradigm for Cross-Scene Classification Under Noisy Annotations From RGB and Hyperspectral Remote Sensing Images

引用

IEEE Transactions on Geoscience and Remote Sensing 2025年 63卷

作者： Chen, Wentang Wen, Yibin Zheng, Juepeng Huang, Jianxi Fu, Haohuan Sun Yat-sen University School of Artificial Intelligence Zhuhai519082 China Zhejiang University State Key Laboratory of Fluid Power and Mechatronic Systems Engineering Research Center for Design Engineering and Digital Twin of Zhejiang Province School of Mechanical Engineering Robotics Institute Hangzhou310027 China Southwest Jiaotong University Faculty of Geosciences and Engineering Chengdu610032 China China Agricultural University College of Land Science and Technology Beijing100107 China Ministry of Agriculture and Rural Affairs Key Laboratory of Remote Sensing for Agri-Hazards Beijing100125 China Tsinghua University Tsinghua Shenzhen International Graduate School Shenzhen518071 China Tsinghua University Ministry of Education Key Laboratory for Earth System Modeling Department of Earth System Science Beijing100190 China National Supercomputer Center in Shenzhen Shenzhen518071 China

While domain adaptation (DA) methods have made significant strides in remote sensing community, most current works assume that the source domain labels are accurate. However, limited emphasis has been placed on the scenario where source data are mislabeled with noisy annotations, which is more common in real applications and referred to as noisy DA (NDA). This article formulates remote sensing cross-scene classification on NDA scenarios and proposes a novel network called bilateral adaptation network (BAN), which consists of two parts: 1) forward learning (FL), which utilizes a model learning from the noisy source domain and transfers knowledge to target domain;and 2) backward learning (BL), which utilizes a dual model to acquire knowledge from the target domain and transfer it to source domain. We conduct two parts alternately and adopt a symmetrical Kullback-Leibler (KL) loss to align predictions of the model and its dual model in the same domain. This interactive strategy is able to explore bilateral relationships between domains, implicitly reducing label noise in the source domain. In addition, BAN could serve as a universal paradigm to not only improve the existing NDA methods but also enhance recent DA approaches. Comprehensive evaluations on three publicly available RGB-band remote sensing datasets and two hyperspectral datasets validate the superior effectiveness of our proposed BAN. BAN improves the average accuracy by 6.70%-15.70% on RGB datasets and overall accuracy (OA) by 1.36%-3.14% on hyperspectral datasets with flip-20% noise compared to other state-of-the-art DA and NDA approaches. Promising results indicate the potential of our approach in tackling more general and practical problems with noisy source domain. © 2025 IEEE.

关键词： Contrastive Learning

来源：评论

学校读者我要写书评

暂无评论

Brain-inspired analogical mixture prototypes for few-shot class-incremental learning

arXiv

引用

arXiv 2025年

作者： Li, Wanyi Wei, Wei Luo, Yongkang Wang, Peng State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China School of Artificial Intelligence University of Chinese Academy of Sciences Beijing100049 China CAS Center for Excellence in Brain Science and Intelligence Technology Chinese Academy of Sciences Shanghai200031 China Centre for Artificial Intelligence and Robotics Hong Kong Institute of Science and Innovation Chinese Academy of Sciences 999077 Hong Kong

Few-shot class-incremental learning (FSCIL) poses significant challenges for artificial neural networks due to the need to efficiently learn from limited data while retaining knowledge of previously learned tasks. Inspired by the brain’s mechanisms for categorization and analogical learning, we propose a novel approach called Brain-inspired Analogical Mixture Prototypes (BAMP). BAMP has three components: mixed prototypical feature learning, statistical analogy, and soft voting. Starting from a pre-trained Vision Transformer (ViT), mixed prototypical feature learning represents each class using a mixture of prototypes and fine-tunes these representations during the base session. The statistical analogy calibrates the mean and covariance matrix of prototypes for new classes according to similarity to the base classes, and computes classification score with Mahalanobis distance. Soft voting combines both merits of statistical analogy and an off-shelf FSCIL method. Our experiments on benchmark datasets demonstrate that BAMP outperforms state-of-the-art on both traditional big start FSCIL setting and challenging small start FSCIL setting. The study suggests that brain-inspired analogical mixture prototypes can alleviate catastrophic forgetting and over-fitting problems in FSCIL. Copyright © 2025, The Authors. All rights reserved.

关键词： Contrastive Learning

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：