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Multi-Objective Optimal Feedback controls for Under-Actuated Dynamical system

Journal of Shanghai Jiaotong university(Science) 2020年第5期25卷 545-552页

作者： QIN Zhichang XIN Ying SUN Jianqiao School of Transportation and Vehicle Engineering Shandong University of TechnologyZibo 255000ShandongChina School of Mechanical Engineering Tianjin University of TechnologyTianjin 300384China Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control Tianjin University of TechnologyTianjin 300384China School of Engineering University of California MercedCA 95343USA

This paper presents a study of optimal control design for a single-inverted pendulum(SIP)system with the multi-objective particle swarm optimization(MOPSO)*** proportional derivative(PD)control algorithm is utilized to control the *** the SIP system is nonlinear and the output(the pendulum angle)cannot be directly controlled(it is under-actuated),the PD control gains are not tuned with classical *** this work,the MOPSO method is used to obtain the best PD *** use of multi-objective optimization algorithm allows the control design of the system without the need of linearization,which is not provided by using classical *** multi-objective optimal control design of the nonlinear system involves four design parameters(PD gains)and six objective functions(time-domain performance indices).The HausdorfF distances of consecutive Pareto sets,obtained in the MOPSO iterations,are computed to check the convergence of the MOPSO *** MOPSO algorithm finds the Pareto set and the Pareto front *** simulations and experiments of the rotary inverted pendulum system are done to verify this design *** and experimental results show that the multi-objective optimal controls offer a wide range of choices including the ones that have comparable performances to the linear quadratic regulator(LQR)control.

关键词： multi-objective optimal control under-actuated system particle swarm optimization(PSO) rotary inverted pendulum

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Step-length optimization based on genetic algorithm for a parallel mobile robot 7

Step-length optimization based on genetic algorithm for a pa...

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7th International Conference on Information Science and control Engineering, ICISCE 2020

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

ISBN: (纸本)9781728164069

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. © 2020 IEEE.

关键词： Mobile robots

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Curriculum reform of "fundamentals of mechanical design" for non-mechanical majors based on OBE engineering education concept 3

Curriculum reform of "fundamentals of mechanical design" for...

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3rd International Conference on Education Technology Management, ICETM 2020

作者： Liu, Jingna Hao, Pujun Lyu, Linwei Ma, Wenpeng 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 China

ISBN: (纸本)9781450388757

Focusing on the non-mechanical students' weak mechanical knowledge, a new cultivation mode founded on the outcome-oriented education (OBE) is suggested to improve the teaching effect for "Fundamentals of mechanical design". The teaching course contents are optimized to make students' learning process proceed simultaneously with project case study. The teaching methods of innovative project driven and problem-oriented are adopted. Students can be guide to change the passive learning mode by autonomous learning mode with the online learning resources. The innovative methods can be recommended to the process of curriculum design to reform the content. The course experiment has been changed into online and offline mixed teaching, so as to improve students' experimental practice time and cultivate their ability of integrating theory with practice, analyzing problems and solving problems. Finally, the formative evaluation mode with the learning results as the assessment index is adopted to improve the students' comprehensive ability. Compared with the control class, the experimental class has greatly improved the excellent rate and pass rate. In the questionnaire survey, the experimental class students have a higher recognition for the curriculum reform. © 2020 ACM.

关键词： Students

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Performance Analysis and Comparison of Different Corrugated Structures and a Novel Alternative Elliptical Twisted Tube in Supercritical Co2 Tower Solar Receivers

SSRN

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SSRN 2022年

作者： Liu, Yun Dong, Yue Li, Tao Zhang, Chuan-Zhi Hebei Key Laboratory of Low Carbon and High Efficiency Power Generation Technology School of Energy Power and Mechanical Engineering North China Electric Power University Baoding071003 China Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering 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

The concentrated solar power generation system with supercritical CO 2 as working medium has high cycle efficiency, which can effectively reduce the volume of heat exchange equipment and reduce the investment cost. However, there is no systematic comparative study on the effect of tube structure on the performance of supercritical CO 2 , but the structure of tubes has a significant effect on the heat transfer performance of supercritical CO 2 , so it is necessary to study it. In this contribution, we firstly analyze the effects of different structures of tubes on the performance of supercritical CO 2 . Then, we design a novel alternative elliptical twisted tube. Finally, we further analyze the effects of the novel tube on the heat transfer performance of supercritical CO 2 by using the field synergy principle. The results show that the novel alternative elliptical twisted tube is the best structure. When the mass flow is 0.08 kg·s - © 2022, The Authors. All rights reserved.

关键词： Solar energy

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Rigid-flexible and Fluid-structure Coupling Dynamics of Folding Plate

Rigid-flexible and Fluid-structure Coupling Dynamics of Fold...

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第八届国际振动工程会议

作者： Sanya Chen Wenhua Hu Yalu Zhao Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical EngineeringTianjin University of Technology National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology

The variable configuration of the folding wings is beneficial to take into account the maneuverability and endurance of the aircraft. During the flight, the elastic deformation and folding motion of the folding wing will induce additional aerodynamic forces, which will produce new deformation and new aerodynamic forces on the wing structure, and this reciprocal coupling will make the folding wing response may tend to diverge and lead to structural damage. In this paper,the principle of geometric similarity is used to simplify the folding wing into a folding plate and study its rigid-flexible aerodynamic coupling dynamics, which has certain practical significance as well as the theoretical value.

关键词： Rigid-flexible and Fluid-structure Coupling Dynamics of Folding Plate

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Study on Scanning Forming Methods of Machining Work-Piece Surface

Research Square

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Research Square 2021年

作者： Wang, Xueteng Niu, Xinghua Yu, Zizhao Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced Mechatronical System National Demonstration Center for Experimental Mechanical and Electrical Engineering China School of Mechanical Engineering Tianjin University of Technology Tianjin300384 China

In the process of machine tool cutting, there are strict geometric relations among the cutting edge curve / tool surface, machine tool movement and workpiece surface, and the machine tool movement is also related to the type of tool. Firstly, the forming methods of cutting workpiece surface are analyzed and summarized from the geometric point of view, and the scanning forming method and its geometric expression are studied, and the research technical route of forming turning scanning forming is put forward. Then, the mathematical modeling and Simulation of forming turning are carried out according to the proposed technical route. Finally, taking the groove of the inner ring of the formed turning ball bearing as an example, the mathematical modeling of the design surface of the workpiece and the machined surface of the workpiece is carried out. The radial dimension changes of the workpiece caused by the cutting force and tool wear are analyzed, and the simulation of the machined surface of the workpiece is carried out. © 2021, CC BY.

关键词： Scanning

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Individual Dynamic Graduation Requirements Achievements of Students 2020

Individual Dynamic Graduation Requirements Achievements of S...

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5th International Conference on Distance Education and Learning, ICDEL 2020

作者： Zhao, Yalu Hao, Shuying Yang, Lu Xia, Guofeng Hu, Wenhua 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 Chongqing Engineering Research Center for Advanced Intelligent Manufacturing Technology Chongqing China

ISBN: (纸本)9781450377546

In the engineering education accreditation system, it is clearly required that the major applying for certification should prove the achievement of graduation requirements with appraisal. The common appraisal methods of graduation requirements achievements (GRAs) focus on the whole situation of graduates, which lacks personalized guidance for students at school. Based on the analytical method of exam scores in the common methods, the paper presents the achievement of individual graduation requirements and designs algorithms to dynamically appraise every student with real examples, which may provide detailed data and immediate guidance for the major and its own students. The dynamic appraisal method can improve the GRAs of the major, and also can strengthen the core concepts of engineering education accreditation. © 2020 ACM.

关键词： Students

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Optimization of Experiment Teaching in the Course of mechanical Principle 2020

Optimization of Experiment Teaching in the Course of Mechani...

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2020 3rd International Conference on Education Technology Management

作者： Pujun Hao Jingna Liu Wenpeng Ma Ruiqin Wu Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin and National Demonstration Center for Experimental Mechanical and Electrical Engineering Education (Tianjin University of Technology) China

ISBN: (纸本)9781450388757

Based on experience of former teaching reformation and philosophy of "Emerging Engineering Education", an experimental teaching reformation program that includes restructured knowledge system, modularization of experimental teaching process and diversified evaluation system is proposed. It is found that students have deeper and comprehensive understanding on knowledge and more enthusiasm in experimental process. Finally students have definite self-cognition about their division of labor in teamwork. Through gathering statistics, the effectiveness of reformation program is verified and this program can enrich practical experience of experimental teaching reformation.

关键词： experiment teaching diversified evaluation modular teaching process mechanical principle

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Curriculum Reform of "Fundamentals of mechanical design" for Non-mechanical Majors Based on OBE Engineering Education Concept 2020

Curriculum Reform of "Fundamentals of Mechanical Design" for...

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2020 3rd International Conference on Education Technology Management

作者： Jingna Liu Pujun Hao Linwei Lyu Wenpeng Ma Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin and National Demonstration Center for Experimental Mechanical and Electrical Engineering Education (Tianjin University of Technology) China

ISBN: (纸本)9781450388757

关键词： curriculum reform learning outcomes oriented Engineering education concept fundamentals of mechanical design

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Biomechanical Finite Element Methods Study of a Novel Internal Fixation system for Lumbar Spondylolysis

SSRN

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SSRN 2025年

作者： Li, Jingyuan Du, Chengfei Wang, Yulei Du, Di Liang, Jinlong Shao, Nengqi Feng, Fanzhe Xu, Wenhao Xu, Yongqing Cui, Yi Center for Joint Surgery Intelligent Manufacturing and Rehabilitation Engineering Center The First Affiliated Hospital of Army Medical University Chongqing400038 China Chongqing Municipal Science and Technology Bureau Key Laboratory of Precision Medicine in Joint Surgery Chongqing400038 China Chongqing Municipal Education Commission Key Laboratory of Joint Biology Chongqing400038 China Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of mechanical engineering Tianjin University of Technology Tianjin300384 China Department of Orthopaedic Surgery 920th Hospital of Joint Logistics Support Force Kunming650032 China Department of Orthopaedic Surgery 920th Hospital of Joint Logistics Support Force No. 212 of Da-Guan Road Xishan District Kunming650032 China

ObjectiveThis study aimed to verify the biomechanical efficacy of a novel internal fixation system for repairing lumbar spondylolysis (LS). Additionally, the changes in the mechanical performance of the novel internal fixation device during compression were *** healthy 25-year-old male volunteer was recruited for lumbar spine CT data acquisition to construct and validate a nonlinear finite element model of the L4-S1 spinal segment (A). Based on this, models were established for L5 spondylolysis (B), traditional internal fixation (C), and the pressurization process of the novel LS repair device fixation (D→E→F). For these six models, we constrained the lower surface of the S1 vertebral body while applying an axial compression force of 500 N and a moment load of 7.5 N·m on the upper surface of the L4 vertebral body to simulate six motions of the lumbar spine. The performance of each finite element model was evaluated by comparing the range of motion (ROM), maximum displacement, and maximum pressure experienced by the lumbar spine under different motion *** with Model C, Models D, E, and F exhibited a reduced ROM and maximum displacement (1%-38.5%, 12.8%-63.6%, and 32.8%-80.2%) compared with Model C during six different motions. Notably, compared with Model C, the novel internal fixation models consistently demonstrated a decreasing trend in the maximum stress on the intervertebral discs (IVD) and an increasing trend in the maximum stress on the articular cartilage and maximum stress and displacement of the bone graft. Moreover, the novel internal fixation model displayed larger ranges of evenly distributed stresses on the isthmus and reduced maximum stress on the internal fixation device across all six motions, with improved stiffness effects during the pressurization process of the novel internal fixation system (D→E→F).ConclusionsAccording to several mechanical comparisons, the novel internal fixation system had better biomechan

关键词： Axial compression

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