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Development of Deep-Sea Resonant Sandwich Linear Ultrasonic Motor

Journal of Applied Mathematics and Physics 2018年第1期6卷 296-300页

作者： Shaopeng He Shengjun Shi Weishan Chen State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

A deep-sea resonant sandwich linear ultrasonic motor is proposed and designed. We determine the parameter of its structure by finite-element analysis. The piezoelectric actuator adopts compound vibration mode of fifth order bending vibration and second order longitudinal. The mode degeneracy of that is completed. We manufacture the prototype to measure the performance of it. We measure its vibration mode and resonant frequency. The velocity of prototype can reach 264.5 mm/s while the water pressure is 8 MPa and the voltage signal with frequency of 30.30 kHz and voltage amplitude of 150 V.

关键词： Piezoelectric Actuator Finite-Element Analysis Hybrid Mode Fluid-Solid Coupling

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Multi-class classification method for strip steel surface defects based on support vector machine with adjustable hyper-sphere

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Journal of Iron and Steel Research International 2018年第7期25卷 706-716页

作者： Mao-xiang Chu Xiao-ping Liu Rong-fen Gong Jie Zhao School of Electronic and Information Engineering University of Science and Technology Liaoning Anshan 114051 Liaoning China Department of Electrical Engineering Lakehead University Thunder Bay P7B 5E1 ON Canada State Key Laboratory of Robotics and System (HIT) Harbin 150001 Heilongjiang China

Focusing on strip steel surface defects classification, a novel support vector machine with adjustable hyper-sphere （AHSVM） is formulated. Meanwhile, a new multi-class classification method is proposed. Originated from support vector data description, AHSVM adopts hyper-sphere to solve classification problem. AHSVM can obey two principles： the margin maximization and inner-class dispersion minimization. Moreover, the hyper-sphere of AHSVM is adjustable, which makes the final classification hyper-sphere optimal for training dataset. On the other hand, AHSVM is combined with binary tree to solve multi-class classification for steel surface defects. A scheme of samples pruning in mapped feature space is provided, which can reduce the number of training samples under the premise of classification accuracy, resulting in the improvements of classification speed. Finally, some testing experiments are done for eight types of strip steel surface defects. Experimental results show that multi-class AHSVM classifier exhibits satisfactory results in classification accuracy and efficiency.

关键词： Strip steel surface defect Multi-class classification Supporting vector machine Adjustable hyper-sphere

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Recent Advances in Triboelectric Nanogenerators: From Technological Progress to Commercial Applications

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ACS Nano 2023年第12期17卷 11087-11219页

作者： Choi, Dongwhi Lee, Younghoon Lin, Zong-Hong Cho, Sumin Kim, Miso Ao, Chi Kit Soh, Siowling Sohn, Changwan Jeong, Chang Kyu Lee, Jeongwan Lee, Minbaek Lee, Seungah Ryu, Jungho Parashar, Parag Cho, Yujang Ahn, Jaewan Kim, Il-Doo Jiang, Feng Lee, Pooi See Khandelwal, Gaurav Kim, Sang-Jae Kim, Hyun Soo Song, Hyun-Cheol Kim, Minje Nah, Junghyo Kim, Wook Menge, Habtamu Gebeyehu Park, Yong Tae Xu, Wei Hao, Jianhua Park, Hyosik Lee, Ju-Hyuck Lee, Dong-Min Kim, Sang-Woo Park, Ji Young Zhang, Haixia Zi, Yunlong Guo, Ru Cheng, Jia Yang, Ze Xie, Yannan Lee, Sangmin Chung, Jihoon Oh, Il-Kwon Kim, Ji-Seok Cheng, Tinghai Gao, Qi Cheng, Gang Gu, Guangqin Shim, Minseob Jung, Jeehoon Yun, Changwoo Zhang, Chi Liu, Guoxu Chen, Yufeng Kim, Suhan Chen, Xiangyu Hu, Jun Pu, Xiong Guo, Zi Hao Wang, Xudong Chen, Jun Xiao, Xiao Xie, Xing Jarin, Mourin Zhang, Hulin Lai, Ying-Chih He, Tianyiyi Kim, Hakjeong Park, Inkyu Ahn, Junseong Huynh, Nghia Dinh Yang, Ya Wang, Zhong Lin Baik, Jeong Min Choi, Dukhyun Kyung Hee University Gyeonggi Yongin17104 Korea Republic of Department of Electrical Engineering and Computer Science Massachusetts Institute of Technology 77 Massachusetts Avenue CambridgeMA02139 United States Department of Mechanical Engineering Soft Robotics Research Center Seoul National University Seoul08826 Korea Republic of Department of Mechanical Engineering Gachon University Seongnam13120 Korea Republic of Department of Biomedical Engineering National Taiwan University Taipei10617 Taiwan Frontier Research Center on Fundamental and Applied Sciences of Matters National Tsing Hua University Hsinchu30013 Taiwan School of Advanced Materials Science & Engineering Sungkyunkwan University Suwon16419 Korea Republic of Sungkyunkwan University 2066 Seobu-ro Gyeonggi Suwon16419 Korea Republic of Department of Chemical and Biomolecular Engineering National University of Singapore 4 Engineering Drive 4 117585 Singapore Division of Advanced Materials Engineering Jeonbuk National University 567 Baekje-daero Jeonbuk Jeonju54896 Korea Republic of Jeonbuk National University 567 Baekje-daero Jeonbuk Jeonju54896 Korea Republic of Department of Physics Inha University 100 Inha-ro Incheon22212 Korea Republic of School of Materials Science & Engineering Yeungnam University Gyeongbuk Gyeongsan38541 Korea Republic of 291 Daehak-ro Daejeon34141 Korea Republic of School of Materials Science and Engineering Nanyang Technological University 50 Nanyang Avenue 639798 Singapore Institute of Flexible Electronics Technology of Tsinghua Zhejiang Jiaxing314000 China Nanomaterials and System Lab Major of Mechatronics Engineering Faculty of Applied Energy System Jeju National University Jeju632-43 Korea Republic of School of Engineering University of Glasgow GlasgowG128QQ United Kingdom Seoul02792 Korea Republic of Department of Physics Inha University Incheon22212 Korea Republic of Suwon16419 Korea Republic of Department of

Serious climate changes and energy-related environmental problems are currently critical issues in the world. In order to reduce carbon emissions and save our environment, renewable energy harvesting technologies will serve as a key solution in the near future. Among them, triboelectric nanogenerators (TENGs), which is one of the most promising mechanical energy harvesters by means of contact electrification phenomenon, are explosively developing due to abundant wasting mechanical energy sources and a number of superior advantages in a wide availability and selection of materials, relatively simple device configurations, and low-cost processing. Significant experimental and theoretical efforts have been achieved toward understanding fundamental behaviors and a wide range of demonstrations since its report in 2012. As a result, considerable technological advancement has been exhibited and it advances the timeline of achievement in the proposed roadmap. Now, the technology has reached the stage of prototype development with verification of performance beyond the lab scale environment toward its commercialization. In this review, distinguished authors in the world worked together to summarize the state of the art in theory, materials, devices, systems, circuits, and applications in TENG fields. The great research achievements of researchers in this field around the world over the past decade are expected to play a major role in coming to fruition of unexpectedly accelerated technological advances over the next decade. © 2023 The Authors. Published by American Chemical Society

关键词： Nanogenerators

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Doublet Thermal Metadevice

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Physical Review Applied 2019年第4期11卷 044021-044021页

作者： Jiaxin Li Ying Li Tianlong Li Wuyi Wang Longqiu Li Cheng-Wei Qiu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China Department of Electrical and Computer Engineering National University of Singapore Singapore 117583 Singapore Department of Analytical Physical and Colloidal Chemistry Institute of Pharmacy Sechenov University Moscow 119991 Russia

Thermal metamaterials have served as a practical way to manipulate heat flow thanks to their judiciously designed structures, which achieve various functionalities. However, the connection and interplay between various possible structural configurations and their functions’ switchability have long been neglected and this is usually perceived as “one configuration, one function.” Here, we propose a doublet thermal metadevice in which we utilize the local configuration of two unequal conductivity phases to manipulate global temperature distribution. Based on effective medium theory, we apply the phase interchange identity to show that the functionalities of transparency, cloaking, concentrating, and rotating can be unified. The doublet thermal metadevice is capable of realizing tunable multifunctions by simply adjusting the angular displacement of specific sublayers of the assembly. The functional diversity of the device can be further extended in two ways. One way is to use a secondary transformation and the other way is to alter the shape parameter of the unit phase. This work provides a different framework to understand and design thermal metamaterials, which might be extended to other disciplines such as optics, electromagnetics, and acoustics.

关键词： Heat transfer Thermal conductivity Energy applications Metamaterials

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Neural Network Based Terminal Sliding Mode Control for WMRs Affected by an Augmented Ground Friction With Slippage Effect

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IEEE/CAA Journal of Automatica Sinica 2017年第3期4卷 498-506页

作者： Ming Yue Linjiu Wang Teng Ma School of Automotive Engineering Dalian University of Technology State Key Laboratory of Robotics and System Harbin Institute of Technology

Wheeled mobile robots(WMRs) encounter unavoidable slippage especially on the low adhesion terrain such that the robots stability and accuracy are reduced *** overcome this drawback,this article presents a neural network(NN) based terminal sliding mode control(TSMC) for WMRs where an augmented ground friction model is reported by which the uncertain friction can be estimated and compensated according to the required *** contrast to the existing friction models,the developed augmented ground friction model corresponds to actual fact because not only the effects associated with the mobile platform velocity but also the slippage related to the wheel slip rate are concerned ***,the presented control approach can combine the merits of both TSMC and radial basis function(RBF) neural networks techniques,thereby providing numerous excellent performances for the closed-loop system,such as finite time convergence and faster friction estimation *** results validate the proposed friction model and robustness of controller;these research results will improve the autonomy and intelligence of WMRs,particularly when the mobile platform suffers from the sophisticated unstructured environment.

关键词： Ground friction radial basis function(RBF) neural network(NN) slippage effect terminal sliding mode control(TSMC) wheeled mobile robot(WMR)

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Constraints analysis and motion planning for coordinated manipulation of a dual-arm robot

Constraints analysis and motion planning for coordinated man...

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2018 IEEE International Conference on Information and Automation, ICIA 2018

作者： Li, Jian Liu, Yixiang Zang, Xizhe First Research Institute Ministry of Public Security of PRC Beijing100044 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150080 China

ISBN: (纸本)9781538680698

Coordinated manipulation of dual-arm robots has attracted the interest of researchers from industry and academia. This paper presents constraints analysis and motion planning for coordinated manipulation of a dual-arm robot that is developed for remote maintenance for tokamak. The constraints of dual-arm manipulator including position and orientation constraints and velocity constraints are analyzed for loose coordinated operation and tight coordinated operation. On this basis, a motion planning method in Cartesian space is proposed for dual-arm manipulator coordinated movement, using polynomial interpolation to ensure the smoothness of joint position, velocity and acceleration. The correctness of constraints analysis and motion planning algorithm is verified by the simulation results of the dual-arm manipulator performing a coordinated carrying task. © 2018 IEEE.

关键词： Motion planning

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Fixed-time consensus tracking for multiple coupled harmonic oscillators 36

Fixed-time consensus tracking for multiple coupled harmonic ...

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第36届中国控制会议

作者： Guang-Ren Duan Weishun Sui Maorui Zhang State Key Laboratory of Robotics and System(HIT)

ISBN: (纸本)9781538629185

This paper investigates the distributed fixed-time consensus tracking problem for multiple coupled harmonic oscillators under the directed *** adopting fast terminal sliding-mode strategies,the new distributed consensus protocols are proposed for each harmonic oscillator *** achieves fixed-time consensus tracking,in which the bound of settling time are independent of initial ***,simulation examples are provided to demonstrate the performance of our theoretical results.

关键词： Fixed-time consensus Fast terminal sliding-mode Multi-agent system

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Human-Machine Interaction Control system of a Remote Maintenance Manipulator for Tokamak

Human-Machine Interaction Control System of a Remote Mainten...

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2018 Chinese Automation Congress, CAC 2018

作者： Li, Iian Liu, Yixiang Zang, Xizhe First Research Institute Ministry of Public Security of PRC Beijing100044 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150080 China

ISBN: (纸本)9781728113128

This paper presents the development of human-machine interaction control system of a remote maintenance manipulator for tokamak utilizing virtual reality. The human-machine interaction control system aims to achieve three major functions as virtual simulation, human-machine interaction, and collision detection. The graphical user interface of the control system is developed with the aid of the software Unity3D. In order to simplify system operations and improve user experience, 3D mouse and somatosensory controllers are adopted to realize scene exploration in the virtual environment and master-slave interaction control of the manipulators. A typical maintenance task is simulated using the human-machine interaction control system. The results indicate that the developed control system can help improve the safety and efficiency of remote maintenance operations significantly. © 2018 IEEE.

关键词： Manipulators

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Feedforward Control Based on Fourier Series Trajectory Fitting Method for Industrial Robot 29

Feedforward Control Based on Fourier Series Trajectory Fitti...

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第29届中国控制与决策会议

作者： Lianzheng Ge Jian Chen Ruifeng Li State Key Laboratory of Robotics and System(HIT)

ISBN: (纸本)9781509046584

Feedforward control is widely used in industrial robot as a valid control *** speed motion will bring the vibration for robot with flexible joints,which will affect the dynamic performance of *** residual vibration character is analyzed for palletizing robot using feedforward control method in this *** the vibration suppression constraints polynomials fitting method is used to compute the discrete data of ***,the discrete trajectory points are fitted based on Fourier series *** trajectory fitted model is optimized using genetic algorithm,and the high frequency harmonics included in feedforward drive torque is decreased under the premise of guaranteeing fitting precision and boundary *** results verified the Tightness of the proposed trajectory planning algorithm.

关键词： Feedforward control Vibration suppression Fourier series Trajectory planning

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Algorithm of Palletizing Robot Vibration Suppression Based on the Principle of Optimal Trajectory Planning 29

Algorithm of Palletizing Robot Vibration Suppression Based o...

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第29届中国控制与决策会议

作者： Lianzheng Ge Jian Chen Ruifeng Li State Key Laboratory of Robotics and System(HIT)

ISBN: (纸本)9781509046584

High speed motion will bring the residual vibration for palletizing robot with flexible joints,which will affect the dynamic performance of *** time-domain motion character of palletizing robot is analyzed based on modal analysis theory,and the residual vibration model is *** problem of residual vibration suppression using motion planning method is regarded as functional extreme value problem,and the functional extreme problem is converted to solving the BVPfboundary value problem) of ordinary differential equations based on the Pontryagin maximum *** vibration suppression trajectory planning algorithm is designed considering the flexible dynamic model of palletizing robot *** results verify the effectiveness of the optimal trajectory planning for the vibration suppression of palletizing robot.

关键词： Palletizing robot Vibration suppression Optimal control Trajectory planning

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