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IEEE International Conference on mechatronics and Automation

作者： Xiaoliang Jin Shuxiang Guo Jian Guo Peng Shi Dapeng Song Faculty of Engineering and Design Kagawa University 2217-20 Hayashi-cho Takamatsu Kagawa Japan Key Laboratory of Convergence Medical Engineering System and Healthcare Technology the Ministry of Industry and Information Technology School of Life Science Beijing Institute of Technology Beijing China Tianjin Key Laboratory for Control Theory and Application in Complicated Systems and Intelligent Robot Laboratory Tianjin University of Technology Tianjin China

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164175

In the research of vascular interventional surgery robotic system, the force information acquisition of surgical tools (guidewires and catheters) has a significant affect on the safety of surgery, especially the contact force between the catheter tip and vascular wall. Therefore. In order to obtain this contact force, we noticed the pressure sensitive rubber because of its piezoresistive effect and easy processing into any shape. a force sensor based on the pressure sensitive rubber was developed in this paper. Once a force is applied on the force sensor attached to the catheter tip, the contact force can be approximated by the piezoresistive effect of the pressure sensitive rubber. The feasibility of the developed force sensor was verified by the experiments in “Vitro”. And the results showed that the force sensor was developed in this paper can accurately detect the contact force between the catheter tip and vascular wall at different positions in the vascular model, the extraction of contact force information of catheter tip is of great significance to the safety of surgery, and the application potential of pressure sensitive rubber.

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Core-shell [email protected] 2 O-graphene-polydopamine interdigitated microelectrode array sensor for in situ determination of salicylic acid in cucumber leaves

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Sensors and Actuators B: Chemical 2021年 341卷

作者： Dandan Liu Mingji Li Hongji Li Cuiping Li Guilian Wang Penghai Li Baohe Yang Tianjin Key Laboratory of Film Electronic and Communication Devices Engineering Research Center of Optoelectronic Devices & Communication Technology (Ministry of Education) School of Electrical and Electronic Engineering Tianjin University of Technology Tianjin 300384 PR China Tianjin Key Laboratory of Organic Solar Cells and Photochemical Conversion Tianjin Key Laboratory of Drug Targeting and Bioimaging School of Chemistry and Chemical Engineering Tianjin University of Technology Tianjin 300384 PR China Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control Tianjin University of Technology Tianjin 300384 PR China

The in situ detection of active small molecules in plants is one of the key technologies for the development of precision agriculture. An interdigitated microelectrode (IDME) array electrochemical sensor is constructed herein, with three groups of IDME arrays as a three-electrode system. The core-shell [email protected] 2 O-graphene (Gr)-polydopamine (PDA) nanoparticles are densely packed on Al microelectrodes using a three-potential step pulse electrodeposition method. Each of the over 2000 individual microelectrodes is approximately 1 μm wide and 1100 μm in length. The sensor has a high response to salicylic acid (SA) due to the synergistic electrocatalysis of [email protected] 2 O, Gr, and PDA, and the high-density arrangement of the three-electrode unit with microelectrodes. The sensor has a linear concentration range of 0.01–100 μM for SA and the detection limit is as low as 1.16 nM. The SA concentration in cucumber leaves is monitored from the early growth stage to the fruiting stage using the IDME array sensor, and the juice and living stems of the cucumber are detected. The flat structure of the [email protected] 2 O-Gr-PDA IDME array sensor is suitable for attachment onto plant tissues, especially for the in situ detection of SA in leaves.

关键词： Core-shell [email protected] 2 O-graphene-polydopamine Interdigitated microelectrode array Sensor Salicylic acid Plant

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Kinematic Analysis of a Redundant Actuated Five Degrees of Freedom Parallel Mechanism

Kinematic Analysis of a Redundant Actuated Five Degrees of F...

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2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018

作者： Xiaolong, Yin Bin, Li Xinhua, Zhao Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control Tianjin University of Technology China Fac. of Natl. Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin300384 China

ISBN: (纸本)9781728103761

A 5 degree of freedom parallel mechanism with 6 branched redundant actuators is proposed. The mechanism is composed of 4 -SPS and 2-RPS kinematic branches. The mechanism can achieve three rotational and two translational motion. The performance of the forward and inverse kinematics, singularity and workspace, is analyzed, firstly, using the vector algebra method and Newton iteration method, the forward and inverse kinematics model were obtained from numerical solution and analytic solution;on this basis, get the Jacobian matrix of mechanism, and on the basis of the three kinds of performance parameters of matrix the singularity of the mechanism was analyzed;finally with the help of Monte Carlo method, obtaining the workspace of the mechanism. The related kinematic analysis will lay a theoretical foundation for the future study of the dynamics. © 2018 IEEE.

关键词： Mechanisms

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Development of the Insect-inspired Biomimetic Underwater Microrobot for a Father-son Robot system

Development of the Insect-inspired Biomimetic Underwater Mic...

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IEEE International Conference on mechatronics and Automation

作者： Wenbo Sui Shuxiang Guo Liang Zheng Ruochen An Awa Tendeng Graduate School of Engineering Kagawa University Takamatsu Kagawa Japan Faculty of Engineering and Design Kagawa University Hayashi-cho Kagawa Japan Key Laboratory of Convergence Medical Engineering System and Healthcare Technology the Ministry of Industry and Information Technology School of Life Science Beijing Institute of Technology Beijing China Tianjin Key Laboratory for Control Theory and Application in Complicated Systems and Intelligent Robot Laboratory Tianjin University of Technology Tianjin China

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164175

In this paper, the lifting platform structure of the father robot and the development of the insect-inspired biomimetic underwater microrobot are presented. The objective is to decrease the load of microrobot and realize more functions. In previous researchers, the platform of the father robot is fixed, which is not conducive to adopt and release the son robot. The structure of the lifting platform can effectively solve the problem in theory. The insect-inspired microrobot used wood which has high hydrophilism. It causes the body of microrobot increased weight and short-term works. The fillable structure with waterproof character which is made by a 3D printer. The new structure also can be changed weight for achieving different functions underwater efficiently. Then, two kinds of communication between the light source and microrobot like chasing rotation and fixed distance chasing are described in order to prove the feasibility of the software. In all these cases, experimental results show the performance of the microrobot.

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design of wearable squat booster for automobile assembler based on ergonomics

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Journal of Physics: Conference Series 2020年第1期1635卷

作者： Zhewen Chen Zhifeng Qiao Tianxu Bao Fuchao Dou Xinpu Chen Tianjin University of Technology Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin China

Aiming at the problem that automobile assembler need to squat for a long time, a wearable squatting assistance system with low cost, simple control and easy to squat and walk is designed. Based on ergonomics and finite element theory, UG was used to draw a three-dimensional solid model of the wearable squatting power system for automobile assemblers. With the help of ANSYS software, the statics analysis of key components is carried out to check their strength and stiffness. It is concluded that the wearable squatting power assist device for automotive fitters based on ergonomics has reached the design requirements in terms of function use and strength and stiffness.

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Application of PID control based on BP neural network in the expansion machine of organic Rankine cycle system

Application of PID control based on BP neural network in the...

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Geothermal Resources Council 2018 Annual Meeting: Geothermal's Role in Today's Energy Market, GRC 2018

作者： He, Ruijie Wang, Zhigang Fu, Wencheng Tianjin Key Laboratory Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering United States National Demonstration Center Experimental Mechanical and Electrical Engineering Education United States Tianjin University of Technology China

ISBN: (纸本)0934412235

With the rapid development of China's economy, the relative shortage of energy has become one of the important factors restricting economic and social development. At present, the research and development of energy-saving technology in industrial process have important practical significance. The Organic Rankine Cycle (ORC) system is considered to be a technology for the efficient use of low-temperature heat energy, and many researchers have made efforts on the efficiency of ORC system. In this paper, the dynamic performance of the system is adjusted by using the neural network-based PID control method for the expander in the system. Firstly, the control model of the expander in the system is established, and then the control algorithm is applied to the controlled object to make the system run efficiently. The simulation results show that the algorithm has a good control effect compared with the traditional PID control. This control method can effectively improve the efficiency of ORC system. © 2018 International Journal of Caring Sciences. All rights reserved.

关键词： Rankine cycle

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Ionic liquid choline chloride-urea dissolving cattle bone extracted hydroxyapatite

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Journal of Bionanoscience 2018年第3期12卷 437-441页

作者： Song, Wei Yang, Yan Deng, Yu Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control Tianjin University of Technology Tianjin300384 China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin300384 China Department of Osteo-Internal Medicine Tianjin Hospital Tianjin300211 China School of Materials Science and Chemical Engineering Tianjin University of Science and Technology Tianjin300457 China

The dissolving technique of ionic liquid (IL) was applied in extraction process of hydroxyapatite (HAp). Product HAp was extracted by IL choline chloride-urea (ChCl-Urea) dissolving cattle bone. The optimum conditions for regeneration process of cattle bone were determined by single factor, orthogonal and verification experiments. IR spectra of regenerated bone, undissolved bone and raw bone showed that the main groups of regenerated bone did not change. It was indicated that ionic liquid did not damage the bone collagen of raw bone, and the collagen was only dissolved by IL. IR spectrum of the product HAp revealed that its components were similar to those of the natural bone. SEM pattern showed that the crystal shape of the product HAp appeared rod-like shape mostly, and the crystal structure was relatively complete. XRD diffraction explained that there was no difference between product HAp and standard HAp for the crystalline form and compositions. Copyright © 2018 American Scientific Publishers All rights reserved.

关键词： Hydroxyapatite

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Cooling Performance for Cylindrical Film-Cooling Hole with Divided Downstream Crescent-Shaped Block

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IOP Conference Series: Earth and Environmental Science 2020年第1期461卷

作者： Pengfei Zhang Zhiting Tong Fei Wang Linchao Bai Chao Zhang Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control Tianjin University of Technology Tianjin 300384 China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin 300384 China

The cooling performances for the cylindrical film-cooling hole with divided downstream crescent-shaped blocks were numerically investigated in present study. Four configurations with divided crescent-shaped block, i.e. linear, 30° convergence, 30° expansion, and 30° curved expansion, were studied at typical flow conditions. The successive crescent-shaped block case and the no block case were also solved in comparison. The temperature profiles, the local and lateral averaged cooling effectiveness at blowing ratios of 0.5 to 1.5 were obtained. As compared with the successive block case, the lateral coolant coverage were widened by using the divided block, and thus the lateral averaged cooling effectiveness were improved, especially at higher blowing ratios. Comparatively, the cylindrical hole with 30° expansion crescent-shaped block exhibited highest cooling performance.

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The temperature control of blackbody radiation source based on ADRC 15

The temperature control of blackbody radiation source based ...

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15th IEEE International Conference on mechatronics and Automation, ICMA 2018

作者： Wang, Zhigang Yun, Zerong Wang, Lingling Wang, Jinghui Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin China Tianjin University of Technology Tianjin China Natinal Institute of Metrology China Beijing China

ISBN: (纸本)9781538660720

Blackbody radiation source is used as a standard device for infrared thermometer, it plays increasingly important roles in the field of calibration. Through experiment discoveries that it is a typical nonlinear system and has a large transport delay when the blackbody is rise temperature or cooling in order to reach set temperature points. Based on the temperature control of blackbody is a kind of typical multi-variable, strong coupling and time-varying nonlinear control system. The paper proposes applying the theory of active disturbance rejection controller (ADRC) to suppress various disturbances and improve the dynamic performance of blackbody radiation source. First of all, describing the working principle of blackbody radiation source and building its mathematical model. Secondly, introducing the control method of ADRC, which is applied to the temperature control system of blackbody radiation source. Finally, through MATLAB/SIMULINK platform to simulate and compare the temperature control performances of blackbody among ADRC, PID and Smith predictor(SP) control strategies. The simulation results show that proposed ADRC algorithm improves the abilities of anti-interference of system and it is without overshoot. In addition, the results also indicated that the control method of ADRC shortens plant stable time and has a strong prospect for practical applications. © 2018 IEEE.

关键词： Temperature control

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Dynamic modeling and simulation of flexible load system operated by reconfigurable manipulators under different constraints 15

Dynamic modeling and simulation of flexible load system oper...

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15th IEEE International Conference on mechatronics and Automation, ICMA 2018

作者： Ma, Huidong Guo, Jinjin Ge, Weimin Wang, Xiaofeng School of Mechanical Engineering Tianjin University of Technology China Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced Mechatronical System Binshui Xidao 391 Xiqing District Tianjin300384 China

ISBN: (纸本)9781538660720

This paper aims at solving the problems that the manipulator will be constrained by the flexible load, and the caused constraint force is difficult to control. Based on the deflection screw theory, the dynamic model of the manipulator system is established by using the Lagrange equation. Firstly, according to the interaction of the end effector, the flexible load and the environmental constraints of the manipulator, the equation of motion of the entire system is built. Secondly, the dynamic model of the manipulator system is set up, that the system including the flexible load and the manipulator. Finally, Under the certain known environmental constraints, the dynamic modeling of a manipulator is performed. The effectiveness of the proposed method is verified by the simulation of a flexible beam operated by a 3-DOF manipulator. © 2018 IEEE.

关键词： Screws

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