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Design and characteristic research of a novel electromechanical-hydraulic hybrid actuator with two transmission mechanisms

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Frontiers of Mechanical Engineering 2023年第2期18卷 189-204页

作者： Shufei QIAO Long QUAN Yunxiao HAO Lei GE Lianpeng XIA Key Laboratory of Advanced Transducers and Intelligent Control System of Ministry of Education Taiyuan University of TechnologyTaiyuan 030024China

Servo-hydraulic actuators(SHAs)are widely used in mechanical equipment to drive heavy-duty ***,their energy efficiency is low,and their motion characteristics are inevitably affected by uncertain *** actuators(EMAs)possess superior energy efficiency and motion ***,they cannot easily drive heavy-duty mechanisms because of weak bearing *** study proposes and designs a novel electromechanical-hydraulic hybrid actuator(EMHA)that integrates the advantages of EMA and *** mainly features two transmission *** piston of the hydraulic transmission mechanism and the ball screw pair of the electromechanical transmission mechanism are mechanically fixed together through screw bolts,realizing the integration of two types of transmission *** control scheme of the electromechanical transmission mechanism is used for motion control,and the hydraulic transmission mechanism is used for power ***,the mathematical model,structure,and parameter design of the new EMHA are ***,the EMHA prototype and test platform are *** test results prove that the EMHA has good working characteristics and high energy *** with the valve-controlled hydraulic cylinder system,EMHA exhibits a velocity tracking error and energy consumption reduced by 49.7% and 54%,respectively,under the same working conditions.

关键词： electromechanical-hydraulic hybrid actuator(EMHA) integration transmission mechanisms power assistance energy efficiency working characteristics

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High-efficiency inspecting method for mobile robots based on task planning for heat transfer tubes in a steam generator

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Frontiers of Mechanical Engineering 2023年第2期18卷 161-175页

作者： Biying XU Xuehe ZHANG Yue OU Kuan ZHANG Zhenming XING Hegao CAI Jie ZHAO Jizhuang FAN State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

Many heat transfer tubes are distributed on the tube plates of a steam generator that requires periodic inspection by *** inspection robots are usually involved in issues:Robots with manipulators need complicated installation due to their fixed base;tube mobile robots suffer from low running efficiency because of their structural *** there are thousands of tubes to be checked,task planning is essential to guarantee the precise,orderly,and efficient inspection *** in-service robots check the task tubes using row-by-row and column-bycolumn *** leads to unnecessary inspections,resulting in a long shutdown and affecting the regular operation of a nuclear power ***,this paper introduces the structure and control system of a dexterous robot and proposes a task planning *** method proceeds into three steps:task allocation,base position search,and sequence *** allocate the task regions,this method calculates the tool work matrix and proposes a criterion to evaluate a *** then all tasks contained in the sub-region are considered globally to search the base ***,we apply an improved ant colony algorithm for base sequence planning and determine the inspection orders according to the planned *** validated the optimized algorithm by conducting task planning experiments using our robot on a tube *** results show that the proposed method can accomplish full task coverage with few repetitive or redundant inspections and it increases the efficiency by 33.31% compared to the traditional planning algorithms.

关键词： steam generator transfer tubes mobile robot dexterous structure task planning efficient inspection

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RaSTFormer: region-aware spatiotemporal transformer for visual homogenization recognition in short videos

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Neural Computing and Applications 2024年第18期36卷 10713-10732页

作者： Zhang, Shuying Zhang, Jing Zhang, Hui Zhuo, Li Faculty of Information Technology Beijing University of Technology Beijing China Beijing Key Laboratory of Computational Intelligence and Intelligent System Beijing University of Technology Beijing China

With the surge in network traffic, the homogenization of short video content is becoming increasingly prominent, resulting in low-quality entertainment due to proliferation and infringement. Therefore, recognizing visual homogeneity in short videos is of great significance. Considering the extremely similar dynamic evolution in specific regions from intra and inter-frames, introducing region-aware attention is attractive to achieve homogenization recognition. Therefore, we propose a region-aware spatiotemporal Transformer (RaSTFormer) for visual homogenization recognition, including: (1) a region-aware Transformer encoder is designed to extract multi-region frame-level features from short videos;(2) a multi-layer spatiotemporal Transformer decoder is used to aggregate multi-region frame-level features, generating shot-level spatiotemporal features;and (3) measuring symmetric shot-level chamfer similarity to recognize visual homogeneous content. Specially, we established a real-world video homogenization dataset, BJUT-HCD, and conducted extensive experiments. The proposed RaSTFormer achieved the highest mean average precision (mAP) of 98.13% and a top-1 accuracy of 99.37%, outperforming SOTA methods. The results show that our method achieves competitive performance in visual homogenization recognition in short videos. © The Author(s), under exclusive licence to Springer-Verlag London Ltd., part of Springer Nature 2024.

关键词： Homogenization method

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Detection method of forward-scatter signal based on Rényi entropy

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Journal of systems Engineering and Electronics 2024年第4期35卷 865-873页

作者： ZHENG Yuqing AI Xiaofeng YANG Yong ZHAO Feng XIAO Shunping State Key Laboratory of Complex Electromagnetic Environment Effects on Electronics and Information System National University of Defense TechnologyChangsha 410073China

The application scope of the forward scatter radar(FSR)based on the Global Navigation Satellite system(GNSS)can be expanded by improving the detection ***,the forward-scatter signal model when the target crosses the baseline is ***,the detection method of the for-ward-scatter signal based on the Rényi entropy of time-fre-quency distribution is proposed and the detection performance with different time-frequency distributions is ***-tion results show that the method based on the smooth pseudo Wigner-Ville distribution(SPWVD)can achieve the best ***,combined with the geometry of FSR,the influence on detection performance of the relative distance between the target and the baseline is ***,the proposed method is validated by the anechoic chamber measurements and the results show that the detection ability has a 10 dB improvement compared with the common constant false alarm rate(CFAR)detection.

关键词： forward scatter radar(FSR) Global Navigation Satellite system(GNSS) time-frequency distribution Rényi entropy signal detection

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Security-constrained Transmission Maintenance Optimization Considering Generation and Operational Risk Costs

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Journal of Modern Power systems and Clean Energy 2024年第3期12卷 767-781页

作者： Dan Xu Zhi Cai Qian Cheng Guodong Huang Jingyang Zhou Junjie Tang Beijing Key Laboratory of Research and System Evaluation of Power Dispatching Automation Technology China Electric Power Research InstituteBeijing 100192China State Key Laboratory of Power Transmission Equipment&System Security and New Technology Chongqing UniversityChongqing 400044China

With the large-scale integration of renewable energy,the traditional maintenance arrangement during the load valley period cannot satisfy the transmission demand of renewable energy ***,in a market-oriented operation mode,the power dispatching control center aims to reduce the overall power purchase cost while ensuring the security of the power ***,a security-constrained transmission maintenance optimization model considering generation and operational risk costs is proposed *** model is built on double-layer optimization framework,where the upper-layer model is used for maintenance and generation planning,and the lowerlayer model is primarily used to address the operational security risk arising from the random prediction error and N-1 transmission ***,a generation-maintenance iterative algorithm based on a defined cost feedback is included to increase solution *** cost is determined using long-term security-constrained unit commitment,and the operational risk cost is obtained using a double-layer N-1 risk assessment *** electrical correlation coupling coefficient is proposed for the solution process to avoid maintenance of associated equipment simultaneously,thereby improving model convergence *** IEEE 118-bus system is used as a test case for illustration,and test results suggest that the proposed model and algorithm can reduce the total cost of transmission maintenance and system operation while effectively improving the solution efficiency of the joint optimization model.

关键词： Transmission maintenance security-constrained unit commitment iterative algorithm cost feedback N−1 risk assessment

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Neural-based prescribed-time consensus control for multiagent systems via dynamic memory event-triggered mechanism

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Science China(Technological Sciences) 2025年第3期68卷 217-227页

作者： Xiaohong ZHENG Hui MA Qi ZHOU Hongyi LI School of Automation Guangdong-Hong Kong Joint Laboratory for Intelligent Decision and Cooperative Controland Guangdong Provincial Key Laboratory for Intelligent Decision and Cooperative ControlGuangdong University of TechnologyGuangzhou510006China School of Mathematics and Statistics Guangdong University of TechnologyGuangzhou510006China College of Electronic and Information Engineering and the Chongqing Key Laboratory of Generic Technology and System of Service Robots Southwest UniversityChongqing400715China

This work investigates the implementation of distributed prescribed-time neural network(NN)control for nonlinear multiagent systems(MASs)using a dynamic memory event-triggered mechanism(DMETM).First,it introduces a composite learning technique in NN *** method leverages the prediction error within the NN update law to enhance the accuracy of the unknown nonlinearity ***,by introducing a time-varying transformation,the study establishes a distributed prescribed-time control *** notable feature of this algorithm is its ability to predetermine the convergence time independently of initial conditions or control ***,the DMETM is established to reduce the actuation frequency of the *** the conventional memoryless dynamic event-triggered mechanism,the DMETM incorporates a memory term to further increase triggering *** a distributed estimator for the leader,the DMETM-based NN prescribed-time controller is designed in a fully distributed manner,which guarantees that all signals in the closed-loop system remain bounded within the prescribed ***,simulation results are presented to validate the effectiveness of the proposed algorithm.

关键词： consensus control composite learning control dynamic memory event-triggered control prescribed-time control multiagent systems(MASs)

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Combining permissioned blockchain and Bayesian best-worst method for transparent supplier selection in supply chain management

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Science China(Technological Sciences) 2024年第8期67卷 2579-2593页

作者： LIU JiaJun ZHANG Jie LENG JieWu Shanghai Engineering Research Center of Industrial Big Data and Intelligent System Institute of Artificial IntelligenceDonghua UniversityShanghai 201620China State Key Laboratory of Precision Electronic Manufacturing Technology and Equipment Guangdong University of TechnologyGuangzhou 510006China

Supplier selection is an important business activity in order to realize the purchasing function in supply chain *** supplier selection process includes four stages,i.e.,bidding inviting,bidding,group decision-making,and results disclosure,involving the participation of manufacturing service demanders(MSDs),manufacturing service suppliers(MSSs),and ***,all the participants have raised concerns about the increased transparency in supplier ***,this study proposes a transparent supplier selection method by considering the engagement of *** this method,the Bayesian best-worst method(Bayesian BWM)is used to aggregate decision-makers'preferences into the overall optimal weights of the alternative MSSs,and the MSS with the largest weight is considered the suitable MSS for ***,blockchain is introduced to record the decision-making process information about supplier selection through a customized smart contract,where MSSs act as supervisors to supervise the decision-making process through the distributed consensus mechanism rather than directly participate in the decision-making ***,a case study of supplier selection in purchasing vibration acceleration sensors is *** result shows that the proposed method can support MSDs in selecting suitable MSS from alternative MSSs by aggregating decision-makers'preferences,and blockchain can provide credible information about the supplier selection process for MSSs,MSDs,and *** this way,the transparency of supplier selection is enhanced.

关键词： blockchain supplier selection supply chain transparency Bayesian BWM group decision-making

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An angular blinking jamming method based on electronically controlled corner reflectors

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Journal of systems Engineering and Electronics 2024年第2期35卷 330-338页

作者： GAN Lin WU Zehao WANG Xuesong LI Jianbing State Key Laboratory of Complex Electromagnetic Environmental Effects on Electronics and Information System National University of Defense TechnologyChangsha 410073China

Passive jamming is believed to have very good potential in countermeasure *** this paper,a passive angular blinking jamming method based on electronically controlled corner reflectors is *** amplitude of the incident wave can be modulated by switching the corner reflector between the penetration state and the reflection state,and the ensemble of multiple corner reflectors with towing rope can result in complex angle decoying *** of the decoying effect on corner reflectors’radar cross section and positions are analyzed and *** show that the angle measured by a monopulse radar can be significantly interfered by this method while the automatic tracking is employed.

关键词： monopulse radar angular blinking jamming corner reflector amplitude-comparison angle measurement metasurface

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Motor Imagery Classification Based on Plain Convolutional Neural Network and Linear Interpolation

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Journal of Shanghai Jiaotong university(Science) 2024年第6期29卷 958-966页

作者： LI Mingai WEI Lina Faculty of Information Technology Beijing University of TechnologyBeijing 100124China Beijing Key Laboratory of Computational Intelligence and Intelligent System Beijing 100124China

Deep learning has been applied for motor imagery electroencephalogram(MI-EEG)classification in brain-computer system to help people who suffer from serious neuromotor *** inefficiency network and data shortage are the primary issues that the researchers face and need to solve.A novel MI-EEG classification method is proposed in this paper.A plain convolutional neural network(pCNN),which contains two convolution layers,is designed to extract the temporal-spatial information of MI-EEG,and a linear interpolation-based data augmentation(LIDA)method is introduced,by which any two unrepeated trials are randomly selected to generate a new *** on two publicly available brain-computer interface competition datasets,the experiments are conducted to confirm the structure of pCNN and optimize the parameters of pCNN and LIDA as *** average classification accuracy values achieve 90.27%and 98.23%,and the average Kappa values are 0.805 and 0.965 *** experiment results show the advantage of the proposed classification method in both accuracy and statistical consistency,compared with the existing methods.

关键词： motor imagery classification convolutional neural network data augmentation deep learning braincomputer interface

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Hemispherical resonator with low subsurface damage machined by small ball-end fine diamond grinding wheel:A novel grinding technique

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Chinese Journal of Aeronautics 2024年第5期37卷 570-585页

作者： Biao QIN Henan LIU Jian CHENG Jinchuan TIAN Jiangang SUN Zihan ZHOU Chuanzhen MA Mingjun CHEN State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China Center for Precision Engineering Harbin Institute of TechnologyHarbin 150001China

As for the ultra-precision grinding of the hemispherical fused silica resonator,due to the hard and brittle nature of fused silica,subsurface damage(SSD)is easily generated,which enormously influences the performance of such ***,ultra-precision grinding experiments are carried out to investigate the surface/subsurface quality of the hemispherical resonator machined by the small ball-end fine diamond grinding *** influence of grinding parameters on the surface roughness(SR)and SSD depth of fused silica samples is then *** experimental results indicate that the SR and SSD depth decreased with the increase of grinding speed and the decrease of feed rate and grinding *** addition,based on the material strain rate and the maximum undeformed chip thickness,the effect of grinding parameters on the subsurface damage mechanism of fused silica samples is ***,a multi-step ultra-precision grinding technique of the hemispherical resonator is proposed based on the interaction influence between grinding depth and feed ***,the hemispherical resonator is processed by the proposed grinding technique,and the SR is improved from 454.328 nm to 110.449 nm while the SSD depth is reduced by 94%from 40μm to 2.379μ*** multi-step grinding technique proposed in this paper can guide the fabrication of the hemispherical resonator.

关键词： Fused silica Ultra-precision grinding Hemispherical resonator Subsurface damage Grinding technique

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