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arXiv 2024年

作者： Liu, Hao Zhao, Yanbin Zheng, Huarong Fan, Xiulin Deng, Zhihua Chen, Mengchi Wang, Xingkai Liu, Zhiyang Lu, Jianguo Chen, Jian State Key Laboratory of Fluid Power Components and Mechatronic Systems School of Mechanical Engineering Zhejiang University Hangzhou China Ocean College Zhejiang University Hangzhou China State Key Laboratory of Silicon and Advanced Semiconductor Materials School of Materials Science and Engineering Zhejiang University Hangzhou China Nanyang Technological University Singapore School of Control Science and Engineering Zhejiang University Hangzhou China School of Materials Science and Engineering Tianjin University Tianjin China School of System Design and Intelligent Manufacturing Southern University of Science and Technology Shenzhen China

Prognosis and diagnosis play an important role in accelerating the development of lithium-ion batteries, as well as reliable and long-life operation. In this work, we answer an important question: What is the minimum amount of data required to extract features for accurate battery prognosis and diagnosis? Based on the first principle, we successfully extracted the best two-point feature (BTPF) for accurate battery prognosis and diagnosis using the fewest data points (only two) and the simplest feature selection method (Pearson correlation coefficient). The BTPF extraction method is tested on 820 cells from 6 open-source datasets (covering five different chemistry types, seven manufacturers, and three data types). It achieves comparable accuracy to state-of-the-art features in both prognosis and diagnosis tasks. This work challenges the cognition of existing studies on the difficulty of battery prognosis and diagnosis tasks, subverts the fixed pattern of establishing prognosis and diagnosis methods for complex dynamic systems through deliberate feature engineering, highlights the promise of data-driven methods for field battery prognosis and diagnosis applications, and provides a new benchmark for future studies. Copyright © 2024, The Authors. All rights reserved.

关键词： Lithium-ion batteries

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Quantum-classical correspondence and mechanical analysis ofa classical-quantum chaotic system

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Chinese Physics B 2020年第2期29卷 148-158页

作者： Haiyun Bi Guoyuan Qi Jianbing Hu Qiliang Wu School of Mechanical Engineering Tiangong UniversityTianjin 300384China Tianjin Key Laboratory of Advanced Technology of Electrical Engineering and Energy Tiangong UniversityTianjin 300384China The Key Laboratory of Advanced Perception and Intelligent Control of High-end Equipment Ministry of Educationand School of Mathematics and PhysicsAnhui Polytechnic UniversityWuhu 241000China Post-doctorate Research Station of Mechanical Engineering School of Electrical Engineering and AutomationTiangong UniversityTianjin 300384China

Quantum-classical correspondence is affirmed via performing Wigner function and a classical-quantum chaotic system containing random *** classical-quantum system is transformed into a Kolmogorov model for force and energy *** different forces,the system is divided into two categories:conservative and non-conservative,revealing the mechanical characteristic of the classical-quantum *** Casimir power,an analysis tool,is employed to find the key factors governing the orbital trajectory and the energy cycle of the *** analyses using the Casimir power and an energy transformation uncover the causes of the different dynamic behaviors,especially *** the corresponding classical Hamiltonian system when Planck’s constant h→0,the supremum bound of the system is derived *** between the classical-quantum system and the classical Hamiltonian system is displayed through trajectories and ***-classical correspondences are further demonstrated by comparing phase portrait,kinetic,potential and Casimir energies of the two systems.

关键词： quantum Wigner function Hamiltonian system force and energy transformation

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Research on Feedforward control Based on Robot Dynamics Parameters Identification 17

Research on Feedforward Control Based on Robot Dynamics Para...

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17th IEEE International Conference on Mechatronics and Automation, ICMA 2020

作者： Shao, Xingmao Wang, Shoujun Yang, Liusong Liu, Nan Tianjin University of Technology Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control Tianjin300384 China Citic Heavy Industries Company Ltd. Luoyang471003 China

ISBN: (纸本)9781728164151

Accurate robot dynamics model can effectively improve the motion control performance of robot, and accurate dynamics parameters are the basis for establishing dynamics model. This paper discusses the parameter identification method of the tandem manipulator and the feedforward control scheme based on dynamics. First, we deduced the basic parameters of the first three joints of the UR5 manipulator, and identified the parameters through experimental sampling and calculation. Secondly, we established a feedforward control mechanism based on dynamics using the Simulink platform, and simulated and verified the feedforward control of the robot three-axis system. The experimental results show that the feedforward control scheme based on robot dynamics can effectively improve the error convergence performance, which proves the effectiveness of the method. © 2020 IEEE.

关键词： Manipulators

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Dynamic analysis of a mobile parallel manipulator with imperfect revolute joints

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Robotica 2025年

作者： Yang, Yuwei Lv, Xingchang Li, Zhaotong Yin, Jiapeng Wang, Haoyu Li, Shuo Wang, Jutao Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin300384 China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin300384 China

Due to the effects of tolerance, design, and manufacturing deviations, there are clearances in the revolute joints of mechanical arms. These clearances can easily lead to system impacts and vibrations, resulting in a decrease in dynamic performance and affecting the trajectory tracking accuracy of the end effector. The existing dynamic models of mechanisms with clearance in revolute joints lack comprehensiveness, universality, and systematicity, and have not addressed the impact of joint reaction forces within clearance revolute joints on the system. The impact collision problem of the revolute joints with clearance was systematically, accurately, and comprehensively modeled and simulated in this study based on multibody dynamics theory. Based on Hertz's elastic theory, the LuGre friction model, and joint reaction forces, this paper constructs constraint and mechanical models of revolute joints with clearance based on the theory of multibody dynamics. To facilitate multibody dynamics analysis, the collision impact direction matrix is proposed and used for the first time to transform the mechanical model of revolute joints with clearance into external forces. The dynamic models of mobile parallel and double serial manipulators are then constructed. Through numerical simulations on different clearance amounts, tracking trajectories, and load parameters, the impact of revolute joint clearances on system dynamic performance is analyzed. The engineering significance of this research in dynamic analysis of mobile parallel manipulators under imperfect revolute joint conditions is also discussed. © The Author(s), 2025.

关键词： Vibration analysis

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RETRACTED ARTICLE:Thermal,mechanical,and tribological properties of sodium-montmorillonite-nanoparticle-reinforced polyethersulfone and polytetrafluoroethylene ternary composites

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Friction 2022年第7期10卷 1134-1134页

作者： Shicheng YAN Yahong XUE Yahui HU Shoujun WANG Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical EngineeringTianjin University of TechnologyTianjin 300384China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of TechnologyTianjin 300384China College of Mechanical Engineering Tianjin University of TechnologyTianjin 300384China

The Editor-in-Chief has retracted this article[1]because a large number of figures as well significant parts of the text overlap with the 2017 *** by Zhen Zuo[2].All authors agree to this retraction.[1]Yan S C,Xue Y H,Hu Y H,Wang S ***,mechanical,and tribological properties of sodium-montmorillonite-nanoparticlereinforced polyethersulfone and polytetrafluoroethylene ternary ***(2020).https://***/10.1007/s40544-019-0343-x.[2]Zuo *** on tribological property and friction interface interaction of PES/PTFE ***.D ***(China):Yanshan University,2017.

关键词： friction Friction tribological

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The Analysis of Muscle-Synergy Similarity between Walking and Pedaling Based on Variational Mode Decomposition and Non-Negative Matrix Factorization

The Analysis of Muscle-Synergy Similarity between Walking an...

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IEEE International Conference on Engineering, Technology and Innovation

作者： Wangyang Ge Jinhua She Shijie Guo Feng Wang Juan Zhao Seiichi Kawata School of Automation China University of Geosciences Wuhan China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan China School of Engineering Tokyo University of Technology Hachioji Tokyo Japan Engineering Research Center of the Ministry of Education for Intelligent Rehabilitation Equipment and Detection Technologies Hebei Key Laboratory of Robot Sensing and Human-Robot Interaction Tianjin China School of Mechanical Engineering Hebei University of Technology Tianjin China

ISBN: (数字)9798350362435

ISBN: (纸本)9798350362442

Pedaling lower-limb rehabilitation robots are widely used in various stages of lower-limb rehabilitation because of their high safety and low requirements for patients' lower-limb strength. Researchers found that the activation sequence of the surface electromyographic (sEMG) signals of the muscles of the lower limb during pedaling is very similar to that of walking, which makes it possible to simulate the muscle force generation during walking by changing the pedal load during pedaling training. However, most pedaling lower-limb rehabilitation robots use constant loads, and it is of great importance to study the relationship between load and muscle synergy and to design load phase angle trajectories with higher muscle synergy consistency in the walking-pedaling motion to optimize the training effect of pedal-type rehabilitation robots. In this paper, we used variational mode decomposition (VMD) and nonnegative matrix factorization (NMF) to extract the muscle synergy features in each band of sEMG during walking and pedaling and to study the similarity of pedaling and walking and the influence of pedal load on muscle synergy consistency.

关键词： Legged locomotion Training Technological innovation Time series analysis Muscles Assistive robots Feature extraction Trajectory Safety Matrix decomposition

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Finite Element Analysis of Series Elastic Actuator for Exoskeleton Robot Joint 17

Finite Element Analysis of Series Elastic Actuator for Exosk...

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17th IEEE International Conference on Mechatronics and Automation, ICMA 2020

作者： Xi, Pengyu Ge, Weimin Zhang, Sen Zhang, Zhili Zielinska, Teresa Tianjin University of Technology Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin300384 China Tianjin Sino-German University of Applied Science Intelligent Manufacturing College Tianjin300384 China Institute of Aeronautics and Applied Mechanics Warsaw University of Technology Warsaw00665 Poland

ISBN: (纸本)9781728164151

The finite element simulation for the joints of an exoskeleton robot is conducted in this paper. Using software OpenSim to simulate the normal walking gait of the human body, the motion angle and moment of the human hip, knee and ankle joints are obtained. Using the obtained data as the input parameters in the finite element simulation of the simulation software Ls-dyna, the strain diagrams and contact force curves of the circular roller and cam disk were obtained. In this study, three commonly used materials are selected: alloy steel, ductile iron and hard aluminum alloy. Finally, the effects of different materials on the key components of the series elastic actuator are studied. © 2020 IEEE.

关键词： Finite element method

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Prediction model of bone drilling temperature based on heat source method in surgical rehabilitation

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Procedia CIRP 2020年 89卷 263-269页

作者： Yahui Hu Zhiqiang Yan Xiangjun Li Chunqiu Zhang Qingchun Zheng Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced Mechatronical System Tianjing University of Technology Tianjin China School of Mechanical Engineering Tianjin University of Technology Tianjin China

In order to feedback the cutting temperature in real time during the operation with the surgical robot, this study established a temperature prediction model to analyze the temperature distribution of the cortex. In this work, a three-dimensional governing equation for heat transfer of bone tissue during drilling is proposed, and the heat transfer of cortical bone is evaluated by a reverse heat transfer method. The prediction model was validated by experimental methods and the heat affected zone (HAZ) of cortical bone was analyzed. The results show that the prediction results are in good agreement with the relevant experimental results. HAZ increases with increasing rate of penetration; the closer the bone hole is, the earlier the temperature rises; and the temperature at which the cortical bone is difficult to measure (radial distance x < 0.5 mm) is predicted. The predictive model can accurately predict the temperature distribution of the cortical bone and prevent the occurrence of thermal damage. Provide technical support for the development of medical rehabilitation robots. And reduce the patient’s secondary injury, which is conducive to rapid recovery after surgery.

关键词： Cortical bone drilling Temperature estimation Inverse heat transfer problem Thermal damage rehabilitative

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Distribution of Dislocation-Twin Interaction in Twip Steel Under Different Loading Modes

SSRN

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SSRN 2022年

作者： Guo, Xiangru Mao, Ningdong Sun, Chaoyang Wang, Chunhui Cui, Yinan Xiong, Zhiping Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin300384 China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin300384 China School of Mechanical Engineering University of Science and Technology Beijing Beijing100083 China Applied Mechanics Lab School of Aerospace Engineering Tsinghua University Beijing100084 China National Key Laboratory of Science and Technology on Materials under Shock and Impact Beijing Institute of Technology Beijing100081 China

The tension-compression asymmetry and orientation effect of dislocation-twin boundary (TB) interactions in twinned TWIP steels were investigated using the discrete dislocation dynamics simulations and Schmid's law. The different types of dislocations dominate the TB migration in the twinned TWIP steel during tension and compression with the same loading orientation, and the asymmetric dislocation reactions at TB were attributed to the different leading partials produced after the dissociation of dislocation under different loading modes (tension or compression). Moreover, the complex dislocation-TB interactions, such as dislocations traversing TB, cross slip, dissociation, pile up and so on, were determined by considering the orientation effect of dislocation activation and the asymmetry of dislocation dissociation. The research advances the understanding of asymmetric behavior of twin and its influence on the macro hardening in plastic deformation of TWIP steels. © 2022, The Authors. All rights reserved.

关键词： Dissociation

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Non-reciprocity of energy transfer derived from cubic stiffness-induced nonlinear phenomena

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Results in Physics 2025年 73卷

作者： Kong, Na Sun, Min Chen, Jianen 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 Tianjin 300384 China School of Science Tianjin Chengjian University Tianjin 300384 China

Introducing purely nonlinear elastic elements can induce rich dynamic behaviors, such as bifurcations, jumps and isolated resonance curves, to linear systems. Therefore, these elements are suitable for constructing strong non-reciprocity of vibration energy transfer. First, the energy transfer along reciprocal directions in a three-degree-of-freedom system is investigated, where three oscillators are connected by cubic springs. The semi-analytical solutions of the system are obtained using the complexification-averaging method and the least squares method. The results are compared against numerical solutions obtained by the Runge-Kutta method. The excitation amplitude range that produces strong non-reciprocity of vibration energy is analyzed. The jump phenomenon under combined excitation is investigated, and a trigger method for constructing non-reciprocity using an impulse is proposed. Then, an oscillator chain with cubic stiffness and scaling parameters is embedded into a multi-degree-of-freedom linear oscillator system to further explore the effect of cubic stiffness. Energy transfer along two directions is compared by exciting the leftmost oscillator and the rightmost oscillator. Moreover, the trigger effect of the impulse on non-reciprocity is demonstrated. The results show significant differences in vibration energy transfer within three distinct frequency bands. The critical points between reciprocal and non-reciprocal states are obtained, and the three stages of reciprocity related to excitation amplitude are analyzed. Lastly, the modulation effect of the cubic stiffness on non-reciprocity is conducted by comparing the energy of the output oscillator. © 2025 The Authors

关键词： Cubic stiffness Energy transfer Jump phenomenon Non-reciprocity

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