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International Conference on Information Science and control Engineering (ICISCE)

作者： Shuang Liu Wei Chen Hang Wu Wenchang Zhang Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Tianjin University of Technology Tianjin China Academy of Military Sciences of Chinese PLA Institute of Medical Support Technology Tianjin China

With the development of technology, parallel mobile robots have been paid more attention in various industries due to the strong load capacity, high running stability and rapid response speed. However, step-length optimization is an important but challenging task for this kind of mobile robot. Step length has dramatic effect on the stability of robot and the performance of electric cylinder. Balancing the speed characteristics and stability margin, we propose a genetic algorithm to solve this problem and design a novel fitness function that can measure the motion characteristics of parallel mobile robot. Effectiveness of our method is verified by experiments.

关键词： Industries Information science control engineering Service robots Mobile robots Motion measurement Task analysis

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Study on Rotating Speed control of Dissimilar Metal Friction Stir Welding based on Fuzzy PID

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Journal of Physics: Conference Series 2022年第1期2206卷

作者： Yongning Liu Zhifeng Qiao Qingjian Liu Jiahao Huang Kang Fu Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin 300384 China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education (Tianjin University of Technology)

The demand for lightweight vehicles that achieve energy conservation and emission reduction continues to grow. Aluminum alloys were commonly applied to the automotive industry to reduce the structural quality of the entire vehicle. However, the cost of aluminum alloy was higher than that of steel, so the industry considered the use of aluminum in combination with low-cost materials such as steel. Traditional welding technology was limited by the great physical difference between aluminum alloy and steel. Friction Stir Welding, a solid phase welding technology, can overcome the connection problem of aluminum and its alloys with steel, but the process parameters of FSW directly affect the welding quality. This paper established the FSW process of two different metals of DC05 and AL6061. Aimed to get a good welding joint, the error of tool speed is reduced by fuzzy PID system established in this paper, and the tool speed is controlled stably. Simulink simulation was established, and compared with the simulation results, fuzzy PID control can control the precision and stability of the tool speed of FSW, improve the welding quality, and provide a certain theoretical basis for the tool speed control.

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Influence of vibration on mechanical polishing micro-structured surface using discrete element method

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International Journal of Machining and Machinability of Materials 2020年第1期22卷 24-46页

作者： Wang, Guilian Lv, Bingrui Liu, Li Liu, Bin Zhou, Haibo Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin300384 China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin300384 China Tianjin Laboratory of Control Theory and Applications in Complicated System Tianjin300384 China School of Electrical and Electronic Engineering Tianjin University of Technology Tianjin300384 China

A model using discrete element method (DEM) was conducted to simulate vibration assisted mechanical polishing micro-structured surface process by particle flow code in three dimensions (PFC3D). The effect laws of vibration frequency and amplitude on abrasive grains and polishing force were researched in detail according to the simulation results. The effects of vibration on the particles average motion velocity in one fluid cell were researched, and the simulation results show that average velocity increases with increase of vibration frequency and amplitude on the whole. The effects of vibration on the unbalanced force acting on the workpiece surface were quantified at first. The changes of average unbalanced force obviously increase for low feed rate with increase of frequency and increase approximately linearly with increase of amplitude. It is concluded that vibration with high frequency and great amplitude can significantly increase machining efficiency and improve surface quality in micro-structured surface polishing. Copyright © 2019 Inderscience Enterprises Ltd.

关键词： Finite difference method

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Analysis of Anchor-Based and Anchor-Free Object Detection Methods Based on Deep Learning

Analysis of Anchor-Based and Anchor-Free Object Detection Me...

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IEEE International Conference on mechatronics and Automation

作者： Shujian Liu Haibo Zhou Chenming Li Shuo Wang Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin China

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164175

As one of the core mission of computer vision, object detection has been widely applied with the rapid development of computer technology, especially in the fields of face detection, behavior detection, auto driving, and intelligent monitoring. Aiming at the shortcomings of the traditional object detection, such as low detection accuracy, low efficiency and poor robustness, this article summarizes deep learning-based detectors of two kinds of modules: Anchor-Based and Anchor-Free. The performance of each detector is compared and analyzed in this paper as well. In addition, we summarize the development of object detection's key technologies from the aspect of improvement of Backbone, the optimization of NMS, imbalance of positive and negative samples' solution etc. Finally, the development trend of object detection is discussed from the prospect of lightweight detection model, weakly supervision detection and small object detection etc.

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Influence of Micro-texture Parameters on Bone Drilling Force and Torque: A Finite Element Model 4

Influence of Micro-texture Parameters on Bone Drilling Force...

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2018 4th International Conference on Mechanical Engineering and Automation Science, ICMEAS 2018

作者： Hu, Yahui Li, Xiangjun Chen, Chuncheng Su, Lili Zheng, Qingchun Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin300384 China Tianjin University of Technology 391 Binshui West Road Tianjin Xiqing District300384 China

The micro-texture on the tool surface is an effective way to improve the quality of the drilling. While high-performance micro-texture plays an important role in improving the quality of working surface and prolonging the life of tool. In this study, a three-dimensional finite element model was established to study the relationship between drilling thrust, torque and microstructure parameters (micro-pit depth, micro-pit diameter and micro-pit spacing) during drilling of cortical bone. The model was validated by cortical bone drilling using a micro-structured tool. On basis of this, the thrust and torque prediction models of the micro-texture parameters were obtained. The results indicate that the thrust and torque increased with the increase of micro-pit diameter;while the increase of the micro-pit spacing caused the thrust and torque to decrease. When the depth of the micro-pit increased, the thrust and torque decreased first and then increased, and we found that the effect of micro-pit spacing and micro-pit depth on force and torque is insignificant. © Published under licence by IOP Publishing Ltd.

关键词： Torque

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Multi-objective Dimensional Optimization of a 3-DOF Translational PKM Considering Transmission Properties

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International Journal of Automation and computing 2019年第6期16卷 748-760页

作者： Song Lu Yang-Min Li Bing-Xiao Ding Department of Electromechanical Engineering University of MacaoTaipaMacao 853China Department of Industrial and Systems Engineering The Hong Kong Polytechnic UniversityKowloonHong Kong 852China Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced Mechatronical System Tianjin University of TechnologyTianjin 300384China

Multi-objective dimensional optimization of parallel kinematic manipulators(PKMs) remains a challenging and worthwhile research endeavor. This paper presents a straightforward and systematic methodology for implementing the structure optimization analysis of a 3-prismatic-universal-universal(PUU) PKM when simultaneously considering motion transmission, velocity transmission and acceleration transmission. Firstly, inspired by a planar four-bar linkage mechanism, the motion transmission index of the spatial parallel manipulator is based on transmission angle which is defined as the pressure angle amongst limbs. Then, the velocity transmission index and acceleration transmission index are derived through the corresponding kinematics model. The multi-objective dimensional optimization under specific constraints is carried out by the improved non-dominated sorting genetic algorithm(NSGA Ⅱ), resulting in a set of Pareto optimal solutions. The final chosen solution shows that the manipulator with the optimized structure parameters can provide excellent motion, velocity and acceleration transmission properties.

关键词： Multi-objective optimization parallel kinematic manipulator transmission property non-dominated sorting genetic algorithm(NSGA Ⅱ)

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Visual servoing of magnetic swimming robot based on mean shift and fast template matching algorithm

Visual servoing of magnetic swimming robot based on mean shi...

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2019 IEEE International Conference on Robotics and Biomimetics, ROBIO 2019

作者： Xiang, Hongbiao Zhang, Tilei Li, Mengwei Wang, Shoujun Yang, Xiuping Tianjin University of Technology Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin300384 China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin300384 China

ISBN: (纸本)9781728163215

The actuation and control of mini-scale swimming robots have exhibit promising potential in limited and constrained environments, such as biomedical, micro-assembly and microfluidic applications. However, closed-loop control is still a challenging for the precision and repeatability in those applications. In this paper, a new type of soft-micro swimming robot based on magnetoelastic composite material is designed, and the swimmer can move freely on the water surface controlled by a rotating magnetic field with visual servoing. The visual feedback control strategy is proposed based on Mean Shift Algorithm and Fast Template Matching. The algorithm includes three parts: prediction, template matching, target positioning and template updating. To understand the characteristics of the swimmer, the relationship between swimming speed and magnetic field strength and frequency is verified by the algorithm in experiments. Furthermore, the proposed path following method with visual servoing applied in this control system. The experimental results show that the algorithm runs fast, has high accuracy and good real-time performance, and can provide great potential in mini-scale robot applications. © 2019 IEEE.

关键词： Visual servoing

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Swimming characteristics of soft robot with magnetoelastic material

Swimming characteristics of soft robot with magnetoelastic m...

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2019 IEEE International Conference on Robotics and Biomimetics, ROBIO 2019

作者： Xiang, Hongbiao Li, Mengwei Zhang, Tilei Wang, Shoujun Yang, Xiuping Tianjin University of Technology Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin300384 China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin300384 China

ISBN: (纸本)9781728163215

Cable-less micro-robots have exhibit great capabilities for remote applications in small and constrained environments, especially in biotechnology and healthcare. This paper presents a swimmer propelled by its undulatory deformation using magnetoelastic composite material. The robot can move freely on water surface driven through a function of magnetic field, such as forward, backward and steering with different velocity. The magnetic field is generated by 3D Helmholtz coils, and the locomotion of the micro swimming robot is controlled by different applied magnetic field. To understand the characteristics of the swimmer, the force balance equation is established, and the morphologies of swimmer with different magnetic field are analyzed and described through finite element analysis method. Furthermore, we discuss and analyze relationship between the parameters of magnetic field and the speed of the swimmer. The experimental results verified the speed model of the swimming robot, which is influenced by the frequency and strength of magnetic field. © 2019 IEEE.

关键词： Magnetic fields

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SI-YOLO: A Deep Learning Algorithm Suitable for Surgical Instrument Detection

SSRN

引用

SSRN 2022年

作者： Liu, Zhenzhong Zhou, Yifan Sun, Qiyuan Wang, Yan Polat, Kemal Nour, Majid Alenezi, Fayadh Alhudhaif, Adi Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin300384 China Tianjin300384 China Department of Electrical and Electronics Engineering Bolu Abant Izzet Baysal University Bolu14280 Turkey Department of Electrical and Computer Engineering Faculty of Engineering King Abdulaziz University Jeddah21589 Saudi Arabia Department of Electrical Engineering College of Engineering Jouf University 72238 Saudi Arabia Department of Computer Science College of Computer Engineering and Sciences in Al-kharj Prince Sattam bin Abdulaziz University P.O. Box 151 Al-Kharj 11942 Saudi Arabia

Surgical instrument detection and tracking is one of the core technologies of surgical robots, which can assist clinicians in completing operations. However, existing methods need further improvement in terms of real-time performance and accuracy. We propose a deep learning algorithm, SI-YOLO, for detection of surgical instruments. SimAM attention mechanism is used to improve the feature extraction ability of YOLOv5. Replacing PANet with BiFPN in the neck network improves the feature fusion strategy. The α-IoU loss function is used to improve the regression accuracy of detection boxes. The mAP and FPS of the SI-YOLO reach 99.2% and 120 frames/sec, respectively. Aiming at the problem of ID transformation in the disappearance and occlusion of surgical instruments, the Inception-ResNet-v2 structure is added on the basis of the appearance feature extraction network Cosine of the DeepSort tracking algorithm. Combining SI-YOLO with the improved DeepSort implements the Tracking by Detection (TBD) algorithm. In the case of device disappearance or occlusion, the frequency of ID transitions is reduced by approximately 30%. Finally, we built a simulated surgery experimental platform, established our own data set, and realized the preliminary application of the proposed algorithm. © 2022, The Authors. All rights reserved.

关键词： Object detection

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Research on Crack Detection of Nonlinear Rotor Based on Energy Tracks

Research on Crack Detection of Nonlinear Rotor Based on Ener...

引用

IEEE International Conference on mechatronics and Automation

作者： Yu Zhang Jun Liu Zhu Han Tianjin Key Laboratory for Advanced Mechanical System Design and Intelligent Control Tianjin University of Technology Tianjin China National Demonstration Centre for Experimental Mechanical and Electrical Engineering Education Tianjin University of technology

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164175

In rotating machinery, because of high-speed working characteristics and terrible working conditions with variable cycles and variable loads, it is easy for rotors to cause a crack initiation and propagation, which may cause serious harm or even the life-threatening. The super harmonic component is an important role of the crack detection. But it is difficult to reflect the super harmonic component in the high-speed region after super harmonic resonances. In this paper, the dynamic equation of a nonlinear rotor system with a crack is considered, the potential energy expression of the cracked rotor is derived, and the concept of energy tracks is proposed. In the distortion of energy tracks, the effects of different crack parameters and nonlinear parameters on the vibration characteristics of the rotor system are compared. The results show that the energy trajectory distortion can diagnose the crack fault. It provides a new research method for vibration response analyses and fault diagnoses of cracked rotor system.

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