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IEEE International Conference on Robotics and Biomimetics

作者： Hongbiao Xiang Tilei Zhang Mengwei Li Shoujun Wang Xiuping Yang Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control Tianjin University of Technology Tianjin China

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.

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A novel method to increase energy density of permanent magnet machine based on multi-physical field analysis

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UPB Scientific Bulletin, Series D: mechanical Engineering 2020年第4期82卷 79-92页

作者： Zheng, Qingchun Zhao, Yangyang Zhu, Peihao Wang, Sen Liu, Jingna Ma, Wenpeng Li, Xiang Xiao, Yinhong Wang, Naixin Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin300384 China School of Computer Science Tianjin University of Technology Tianjin300384 China School of Automation Shenyang Institute of Engineering Shenyang110136 China Baoding Power Supply Company Hebei Electric Power Company State Grid Corporation of China Baoding071000 China

As an important component of all-electric aircraft, the main propulsion machine is developing towards high energy density, high efficiency and high fault tolerance. In order to improve the energy density of main propulsion machine for all-electric aircraft, a novel approach, which can be used for excellent performance improvement of electric machine of all-electric aircraft, is reported in this paper. The analytical formula of energy density is put forward and the design method of high energy density permanent magnet machine is presented. A high energy density machine with rated power of 30kW is designed, and the electromagnetic field simulation analysis, strength and stress structure verification, temperature field simulation analysis and multi-physical field coupling analysis are obtained. A prototype is developed, the experiment platform is established, and experiments are performed. The energy density of main propulsion machine designed is up to 21kW·N·m/kg2, and the index is increased by 3.2 times. The optimal method based on the multi-physical field analysis can be also applied to other high energy density machines. © 2020, Politechnica University of Bucharest. All rights reserved.

关键词： Electromagnetic fields

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Simulation of crystal plasticity of P92 heat resistant steel considering martensitic lath structure

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Journal of Physics: Conference Series 2021年第1期2079卷

作者： Xinyu Wang Junjie Shen Xiangru Guo Jixin Qiao 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

Based on the theory of crystal plasticity, coupled with dislocation and lath hardening models, this paper establishes a crystal plasticity finite element model describing the high temperature creep of P92 steel. Open source software was used to generate lath models with an average size of 350nm, 650nm and 950nm to explore the effect of lath coarsening on the high-temperature creep behavior of P92 steel. The results show that the roughening of the slats increases the rate of creep deformation, resulting in a decrease in the service life of the material. Observing the slat model, it can be seen that the roughening of the slats enlarges the numerical gradient of stress and strain, and aggravates the overall plastic strain of the model. The coarsening of the slats accelerates the movement of dislocations, causing the density of movable dislocations to increase, and at the same time the shear strain amplitude of the slip system increases, thereby reducing the hardening behavior of the material.

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Selection of fundamental period components of vibration modeling for non-faulty planetary gearboxes

Selection of fundamental period components of vibration mode...

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Prognostics and system Health Management Conference (PHM-Qingdao)

作者： Xinguang Ma Li Zhan Jie Liu Lin Zhang Jun Liu Mian Zhang Nuclear Power Institute of China Chengdu China Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced Mechanical System Tianjin University of Technology China

Planetary gearboxes are `hearts' of transmission train among heavy industrials. The health condition of planetary gearboxes is the key to maintain reliable operation of industrial and promote harmonious social development. Frequency spectrum analysis of vibration measurements is a popular way for condition assessing. As prior guidance for spectrum analyzing, phenomenological modeling emerges as a simple and effective mathematical description of the vibration measurements referring to the sensor. A reasonable model of a non-faulty planetary gearbox is the essential work, either in understanding the motion behavior, or in condition monitoring and even for fault diagnosis. In this paper, traditional models are reexamined and investigated: we found the contradicting results from two classical references on the selection of fundamental period components when constructing models. The rationality of the traditional models is mathematically and experimentally studied, the more reasonable one is indicated.

关键词： Vibrations Fault diagnosis Analytical models Vibration measurement Frequency measurement Mathematical model Spectral analysis

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Research on Fast Error Calibration Methods for Flexible Measuring Arm

Research on Fast Error Calibration Methods for Flexible Meas...

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International Conference on Artificial Intelligence and advanced Manufacturing (AIAM)

作者： Xinhua Zhao Lei Zhao Liangping Ji Jiaxing Zhang School of Mechanical Engineering Tianjin University of Technology Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin China 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

Based on the structure of the joint coordinate measuring machine, the error calibration of the flexible measuring arm is systematically and deeply researched. The straightness error data of the two linear guide rails are obtained by measuring the high-precision square box. Then, the slope of the straightness error curve is obtained by least squares method, and the verticality error can be also calculated. The parallelism error for two rotation axes can be calibrated by test a precision flat. Its result can be quickly compute based on the sampling data. The proposing calibration methods have low cost, easy operation, high efficiency and small environmental restrictions than external calibration by expensive instruments. The experiment has proved the validity and feasibility of the above method.

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Two methods of determining target orientation by robot visual principle

Two methods of determining target orientation by robot visua...

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作者： Liu, Gang School of Mechanical Engineering Tianjin University of Technology Tianjin Key Laboratory of Advanced Mechanical and Electrical System Design and Intelligent Control Tianjin300384 China

ISBN: (纸本)9781538636749

By analyzing the imaging principle of the fish-eye lens in the robot vision, two methods of determination of the target orientation based on the fish-eye lens are summarized. One method uses the distortion correction to determine the target orientation, and the other uses the relationship between the target in the actual orientation and its correspondence in the imaging coordinates to determine the target orientation, both methods all use image processing technology, fast and efficiently determine the orientation of the target in the fish eye image. In this paper, the theoretical basis and experimental process of the two methods are introduced respectively. By comparing the data after the experiment, the more accurate method is analyzed and applied to the target azimuth determination of the fish-eye lens. © 2017 IEEE.

关键词： Fish-eye lens Image processing Robot vision Target orientation

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Manipulator of robust fuzzy adaptive compensation control 3

Manipulator of robust fuzzy adaptive compensation control

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3rd Asia-Pacific Conference on intelligent Robot systems, ACIRS 2018

作者： Yangjian, Wang Xiaofei, Chen Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineeringline Binshui Xidao 391 Tianjin China

ISBN: (纸本)9781538672266

Dynamics system for reconfigurable manipulator of uncertainty, based on the fuzzy adaptive algorithm is proposed to approach the system control law from adaptation to friction and external disturbance, the compensation control of the reconfigurable robot arm. At the same time in order to improve the control law of compensation precision and anti-interference performance, reduce the approximation error of the algorithm and the robust items added in the control law. By Lyapunov stability theory proves that the proposed fuzzy adaptive robust fuzzy control law and the adaptive control law can be in reconfigurable manipulator dynamics contained in friction and the external disturbance to ensure the stability of the system. Last three do f reconfigurable robot arm as an example to design a reconfigurable robotic arm controller, the simulation results show that the algorithm has good trajectory tracking performance, and proves the feasibility and effectiveness of the algorithm. © 2018 IEEE.

关键词： Friction

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Orthogonal Experiment for Desalination Efficiency of Electromagnetic Desalination system

Orthogonal Experiment for Desalination Efficiency of Electro...

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2019 International Conference on Energy, Power, Environment and Computer Application(ICEPECA 2019)

作者： He TIAN Lu DANG Shi-min ZHOU Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology

Electromagnetic desalination system is designed by coupling effect of electric field and magnetic field. By designing the L27(313) orthogonal table as the experimental scheme, the electromagnetic desalination efficiency is used as the data of the range R analysis. The main and secondary factors influencing desalination efficiency are as follows: initial seawater concentration(F)>influent flow(G)>interaction of adsorption voltage(D) and magnetic field(E)> interaction of activated carbon pore size(A) and substrate material(B)>interaction of activated carbon pore size(A) and adsorption voltage(D)> adsorption voltage(D)>magnetic field(E)>number of electrodes(E)>substrate material(B)>activated carbon pore size(A).The best combination of seawater desalination is A2B2C1D3E3F1G2. The range R of factor F is 20.53, which indicates that the initial seawater concentration has a highly significant influence on the desalination effect of seawater.

关键词： Desalination system Orthogonal Experimental design Seawater Desalination Efficiency Influence Factors

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Research on Computer Network Technology system Based on Artificial Intelligence Technology

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Journal of Physics: Conference Series 2021年第4期1802卷

作者： Jinling Yao Jie Liu College of Electronic Information and Engineering Tianjin Vocational institute Tianjin 300000 China 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

This article introduces computer network intrusion detection systems and their classification based on artificial intelligence technology, and points out the challenges that intrusion detection systems (IDS) are facing in wireless sensor computer networks. On this basis, a hierarchical multi-layer wireless sensor network intrusion detection system and technology based on artificial intelligence technology Agent is proposed, and its network structure, working principle and performance are analysed.

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An accurate stop control method of high-speed rolling machine for automobile production line using laser ranging and two positon close loop

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Journal of Physics: Conference Series 2021年第1期1798卷

作者： Zhifeng Qiao Weimin Ge Haikang Zhang Huiyong Wei 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) Automotive Engineering Corporation (AE) NO.591 Changjiang Road Nankai District Tianjin China

The high-speed rolling machine is a key equipment in the automatic production line of automobile body-in-white welding. This article focuses on analyzing a method for accurately stopping the high-speed rolling machine using laser distance measurement. Firstly, through the analysis of the movement process, the calculation method of the length of each period in the 7-stage S-type acceleration and deceleration in the movement of the high-speed rolling machine is given; secondly, the system control theory model of the measurement and control system is established to analyze the dual-position closed-loop strategy The method of realizing the accurate stopping of the high-speed rolling machine; finally, the accurate stopping control method of the high-speed rolling machine proposed in this paper was verified by building an experimental system and developing the corresponding control program.

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