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IEEE International Conference on Mechatronics and Automation

作者： Xu Ma Shuxiang Guo Liguo Li Yuehui Ji Yunliang Wang Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems Tianjin University of Technology Tianjin China

Spherical amphibious robots, as a kind of novel robot, are being studied by researchers. Underwater analysis is an important field in underwater robot research. Underwater movement of the robot which this article mentioned is accomplished by interaction of servo motor and hydraulic motor. This paper presents the investigation of hydrodynamic performance of spherical amphibious robot with two essential motions, vertical motion and horizontal motion. Gambit 2.4.6 is employed to establish the 3D models and mesh. Meanwhile, simulation calculation and analysis of two models is implemented by Computational fluid dynamics (CFD) code, FLUENT 6.3.26. Finally, the velocity vectors, pressure contours, drag coefficient as well as force report for two states of motion are gained. Resistance of the report data shows that the robot is mainly subjected to differential pressure resistance.

关键词： Robots Immune system Hydrodynamics Analytical models Computational modeling Conferences Computational fluid dynamics

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Numerical simulation of influence parameters during droplet generation in a microfluidic T-junction

Numerical simulation of influence parameters during droplet ...

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IEEE International Conference on Mechatronics and Automation

作者： Wei Wei Fang Wu Shuxiang Guo Jian Guo Yuehui Ji Xu Ma Biomedical Robot Laboratory Tianjin University of Technology Tianjin China Tianjin Key Laboratory for Control Theory and Applications in Complicated System Tianjin University of Technology Tianjin China

Droplets had a significant advantage that each droplet could be regarded as an individual chemical reactor. However, the microchip for droplets generation was very difficult to design. Numerical simulation was done in order to provide a theoretical basis for microchip design. This paper described a three-dimensional numerical simulation on droplets behavior in a microfluidic T-shaped based on volume-of-fluid (VOF) model. The wetting property, the velocity and viscosity of continuous phase, the surface tension between two phases and the size of microchannel had been analyzed, which impacted the droplets' behavior. Droplets can be generated when the contact angle was set from 0 degree to 90 degrees. With the velocity and viscosity of continuous phase increasing, droplets diameter would decrease gradually. The diameter of droplets increased according to the improvement of the surface tension between two phases. The droplets diameter was found to exhibit a linear dependence on the microchannel size. This work would contribute to the design of droplet microchips for better biochemical analysis, pharmaceuticals and so on.

关键词： Microchannels Surface tension Viscosity Force Mathematical model Numerical simulation

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A novel algorithm of space vector pulse width without sector calculation

A novel algorithm of space vector pulse width without sector...

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IEEE International Conference on Mechatronics and Automation

作者： Chunjie Wang Yongxin Tian Le Ge Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems Tianjin University of Technology 391 Tianjin China

ISBN: (纸本)9781479939800

Motor drive technology is the key to the development of electric vehicles, Voltage space vector pulse width modulation (SVPWM) method has been widely used due to its characteristics of convenient implementation and easy manipulation. Traditional space vector pulse width modulation (SVPWM) must calculation the sector, then deal with the complex calculations about the trigonometric function and irrational number, so the real-time control precision has been affected seriously. In this paper, through the thoroughly analyze of the principle of Voltage space vector pulse width modulation (SVPWM), a novel algorithm without sector calculation based on three vector synthesis has been proposed. By the synthesis of the two-axis components of the space vector in the two-phase stationary coordinate, it eliminates the sector and trigonometric calculations, makes the digital implementation easer and improves the accuracy of real-time control. The simulation shows the validity and feasibility of the algorithm.

关键词： Conferences Mechatronics Automation

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Estimation of power battery SOC based on improved BP neural network

Estimation of power battery SOC based on improved BP neural ...

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IEEE International Conference on Mechatronics and Automation

作者： Chao Dong Guanlan Wang Tianjin Key Laboratory of Control Theory & Application in Complicated System Tianjin University of Technology Tianjin China

ISBN: (纸本)9781479939800

According to the limitations and shortcomings of BP neural network in estimating the battery state of charge(State of Charge, SOC), such as slow convergence speed and poor generalization, this paper puts forward an improved BP neural network method of battery SOC estimation. Train the improved BP neural network with the experimental data. It compares the trained neural network of SOC with the real values, and uses Matlab to simulate in order to verify the correctness of the algorithm.

关键词： Batteries Biological neural networks system-on-chip Training Genetic algorithms Algorithm design and analysis

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Three-dimensional Finite Element Analysis of Implants with Different Crown-to-Root Ratio and Different High Thread

Three-dimensional Finite Element Analysis of Implants with D...

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2014 International Conference on Experimental and Applied Mechanics(EAM 2014)

作者： Yingjie Duan Ling Chen Tao Xiong Xinghua Niu Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems School of Mechanical Engineering Tianjin University of Technology

To compare the strain and stress distribution on jaw bone around the implant with different crown-root and different teeth high in teeth repairing, three-dimensional geometric model of the implant was created and analyzed through UG and finite element analysis *** came to workbench software after it was drawn and assembly by 3D mapping software of *** material properties of the model, meshing, boundary conditions and forces applied for *** was Obtained that the size and distribution of stress and strain about jaw bone and implant under different *** influence of jaw bone and implant in different conditions was *** main results of the study are as follows: different implant and crown-root, maximum stress with the crown-root increases, but the maximum stress is *** in the high thread where the maximum stress with high thread show an inverted "U" shape, the maximum strain with high thread becomes flat.

关键词： Crown-root ratio High thread Three-dimensional finite element analysis

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A kinematic modeling of an amphibious spherical robot system

A kinematic modeling of an amphibious spherical robot system

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IEEE International Conference on Mechatronics and Automation

作者： Shuxiang Guo Yuehui Ji Lin Bi Xu Ma Yunliang Wang Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems and Biomedical Robot Laboratory Tianjin University of Technology Tianjin China

ISBN: (纸本)9781479939800

This paper presents a kinematic model of an amphibious spherical robot through the Denavit-Hartenberg parameters method which will allow us to describe the link to the next or the previous. Then it is going to allow us to precisely define the frames which are going to move with the links, but also allow us to connect with the base through the structure to the end-actuator. Based on the known position and orientation of the robot, a series of kinematics equations are deduced through homogeneous transformation matrix based on the kinematics model and the inverse kinematics and each joint angle can be obtained. The prototype of amphibious robot includes four water-jet propellers and eight servo motors, which can be capable of changing walking mode between water-jet system and quadruped walking system. The walking speed and direction of amphibious robot can be handled by controlling the PWM pulse duty ratio. At last, some gait experiments had been carried out on the flat floor. The results of experiments verified that the model can give important guidance to gait trajectory planning for amphibious spherical robot.

关键词： Legged locomotion Kinematics Robot kinematics Joints Educational institutions Equations

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Based on WINCC calibration of flow-meter system

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Yi Qi Yi Biao Xue Bao/Chinese Journal of Scientific Instrument 2014年第12 SUPPL.期34卷 63-66页

作者： Li, Songmei Li, Dong Zhao, Hongye Tianjin CNOOC Engineering Design Co. Ltd. Tianjin 300384 China Tianjin Key Laboratory for Control Theory and Applications in Complicated Systems Tianjin University of Technology Tianjin 300384 China

With the development of science and technology, various fields more and more high to the requirement of traffic detection accuracy, in order to guarantee the accuracy of the flow meter measurement, requires a flow calibration system for calibration, the calibration system of flow-meter is put forward higher request, not only requires to achieve detection precision is high enough, also want to have high test efficiency. According to current situation of this industry, flowmeter calibration system based on WINCC is designed. The system improves the calibration efficiency, saves the calibration cost, and has certain versatility and practical value.

关键词： Calibration

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Studying The Effects Of Different Materials And Thickness Of Titanium Layer To Implant Based On The Finite Element Method

Studying The Effects Of Different Materials And Thickness Of...

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2014 International Conference on Experimental and Applied Mechanics(EAM 2014)

作者： Yanqing Ma Ling Chen Shaokai Wang Xinghua Niu Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems School of Mechanical Engineering Tianjin University of Technology

Implant young's modulus has a decisive role on bone interface stress distribution and *** this paper, using UG software, change the traditional titanium implants into a new implant by the different thickness of the titanium layer wrapped in a variety of materials, and using ansys workbench changes thickness and Young's modulus of the core material, analysis of various the case of force and deformation of the implant, looking for a good biomechanics is both compatible with good mechanical properties and implant *** analysis, the ratio of all the results obtained: titanium layer thickness and Young's modulus of the core material has an impact on force and deformation.

关键词： Implant Finite element Young's modulus Titanium layer thickness

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The construction and analysis of the three-dimensional finite element model of dental implant and root bisection joint prosthesis

The construction and analysis of the three-dimensional finit...

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IEEE International Conference on Mechatronics and Automation

作者： Chen Ji Ling Chen Shaokai Wang Zhong Zhang Tianjin Key Laboratory for Control Theory & Applications in Complicated Industry Systems Tianjin University of Technology Tianjin PR China

ISBN: (纸本)9781479939800

Objective: The paper is to explore the construction of the joint prosthesis model of dental implant and root bisection and mechanical rules of the bone-implant interface of screw-type dental implant. Methods: The Mimics software is applied for loading the image scanned by CT and reverse engineering software for optimizing the model, and Pro/engineer UG software for constructing the three-dimensional model. The model contains all ceramic crown, periodontal ligament, post core, drill base, screw-type dental implant, half of the real teeth, root canal, spongy bone and bone cortex. All the three dimensional finite element models were analyzed using ANSYS Workbench software. Stress distribution on the teeth surface under vertical load (250 N) were calculated for the models. Results: The spongy bone of the dental implant and its stress distribution and deformation rule is obtained. The stress value at the root of the screw-type dental plant is maximum, which is 100.15Mpa; deformation occurs mainly on the real tooth body, the maximum of which is 0.022mm. Conclusions: Acting as the sensory receptor, the periodontal ligament limits the bite force of the joint implant. Thus from the perspective of mechanical engineering, we can conclude that the joint prosthesis of clinical dental implant and root bisection is an excellent repair method.

关键词： Implants Teeth Finite element analysis Dentistry Stress Solid modeling Load modeling

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Finite element analysis on the mechanical behavior of articular cartilage under rolling load

Finite element analysis on the mechanical behavior of articu...

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IEEE International Conference on Mechatronics and Automation

作者： Qiuyue Zhang Lilan Gao Pengpeng Xiao Chunqiu Zhang Jinduo Ye Tianjin Key Laboratory for Control Theory & Applications in Complicated Industry Systems Tianjin University of Technology Tianjin PR China

ISBN: (纸本)9781479939800

Objective: The normal displacement, pore pressure and strain of different layers for articular cartilage were obtained with different compressive strains and rolling rates by finite element simulation method. Methods: The fibril reinforced poroelastic model of cartilage was built by considering depth-dependent elastic modulus, initial void ratio, permeability of strain and collagen fiber. By utilizing ABAQUS software, the finite element analysis on mechanical behavior of articular cartilage under the condition of rolling load was conducted. Results: With time continues, the normal displacement of different layers for cartilage tends to increase firstly and then decrease under rolling load. The normal displacement of superficial layer is largest, middle layer is smaller and deep layer is smallest. The normal displacement of different layers increases with the increment of compressive strain, however the changing tendency is not obvious with different rolling rates. Strain of superficial is largest while it decreases gradually with depth increasing. The pore pressure of different layers for articular cartilage increases with the increment of compressive strain while the pore pressure decreases along cartilage depth from surface to deep layer. Conclusions: It is found that the normal displacement and strain vary with different layers for articular cartilage under rolling load. The change of normal displacement of different layers is different with compressive strain and rolling rates. The paper acquires the pore pressure changes, which is hard to obtain by the experiment. The study contributes to the evaluation on the mechanical properties of cartilage with more accuracy and is significant for articular cartilage disease treatment and cartilage defect repair.

关键词： Strain Load modeling Finite element analysis Analytical models Permeability Materials

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