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2nd International Conference on Computational Modeling, Simulation and Data Analysis, CMSDA 2022

作者： Zhang, Meiping Wang, Shoujun Zhou, Xuejun Tianjin University of Technology Tianjin Key Laboratory of Advanced Electromechanical System Design and Intelligent Control Tianjin300384 China Tianjin Sino-German University of Applied Technology Tianjin300350 China

ISBN: (纸本)9798350345759

In order to study the internal flow state of the mixed-flow turbine, this paper takes the modified HLTZ60-LJ-233 model turbine as the research object, combines with the modeling software UG, uses the grid division software ICEM, and then imports the flow field analysis software Fluent, and the turbine full-flow flow field analysis based on the k-ω turbulence model. © 2022 IEEE.

关键词： Turbulence models

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Research on Image Based on Improved SURF Feature Matching

Research on Image Based on Improved SURF Feature Matching

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International Symposium on Computational Intelligence and design, ISCID

作者： Yanling Liu Sihang Ma Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced Mechatronical System Tianjin University of Technology China

ISBN: (纸本)9781479970063

Image matching is widely used in machine vision, computer technology, industry and agriculture and other fields. Matching the characteristics of traditional methods such as SIFT has advantages of compressed information quantity, high precision, but there are also some deficiencies such as the large of calculation, long time, the object to be measured of position should be required accurately and etc. This paper presents image matching method based on improved SURF feature, and the analysis and comparison are made for the three kinds of image matching methods. The experiment proved: Sometimes it can also be A single SIFT or SURF, The improved SURF more can meet the requirements of parameter estimation accuracy and real-time. It can carry out accurate judgment, recognition for the digital image. It has certain theoretical value and practical value.

关键词： Feature extraction Image matching Vectors Accuracy Algorithm design and analysis Histograms Signal processing algorithms

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Structure design and dynamic modelling of a novel modular self-reconfigurable robot

Structure design and dynamic modelling of a novel modular se...

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IEEE International Conference on Mechatronics and Automation

作者： Jie Huang Weimin Ge Xiaofeng Wang Jun Liu Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced Mechatronical System Tianjin University of Technology Tianjin China

ISBN: (纸本)9781509023974

Reconfigurability of the modular robot is becoming curial to be a high flexibility for the wide varieties of tasks and environments. In this paper, a novel self-reconfigurable modular robot called M 2 sbot is designed, which has the approximate cuboid shaping structure. The unit model is with one active and five passive connection surfaces, compact structure and flexible motion. It is characterized by using the unique hook-claw docking mechanism as the docking part of the neighbor modular. And the responding control system based on STM32F103VET6 is also implemented. The forward kinematic equations of the chain robot are established, and then the dynamic equation is generated by the recursive Newton-Euler method based on the global matrix description. Finally, the calculation and simulation analysis of the six-module configuration with two branches demonstrates the feasibility of the proposed method in the generation of motion equation.

关键词： Gears Mathematical model Kinematics DC motors Robot sensing systems Robot kinematics

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Temperature control Based on Fuzzy Logic Two-degree-of-freedom Smith Internal Model

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Instrumentation 2020年第2期7卷 1-8页

作者： WANG Zhigang HE Meng Tianjin Key Laboratory for Advanced Mechanical System Design and Intelligent Control Tianjin University of TechnologyTianjin 300384China National Demonstration Centre for Experimental Mechanical and Electrical Engineering Education Tianjin University of TechnologyTianjin 300384China

According to the characteristics of the large time delay,nonlinearity and the great inertia of temperature control system in biomass pyrolysis reactor,a two-degree-of-freedom Smith internal model controller based on fuzzy control is ***,the mathematical model of the temperature control system is established by using the step response method,and then the two-degree-of-freedom Smith internal model controller is designed,and the good tracking performance and disturbance suppression performance can be obtained by designing the set value tracking controller and interference rejection ***,the fuzzy control algorithm is used to realize the on-line tuning of the control parameters of the two-degree-of-freedom Smith internal model *** simulation results show that,compared with the traditional internal model control,fuzzy internal model PID control and two-degree-of-freedom Smith internal model control,the algorithm proposed in this paper improves the influence of lag time on the control system,realizes the separation control of set point tracking and anti-jamming performance and the self-tuning of control parameters,and improves the control performance of the system.

关键词： Smith Predictive controller Internal Model control Two Degrees of Freedom Fuzzy control Algorithm

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Exploration and Practice of Cultivating Methods of Undergraduates' Ability to Apply Knowledge: Taking Engineering Drawing course as an example 23

Exploration and Practice of Cultivating Methods of Undergrad...

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8th International Conference on Distance Education and Learning, ICDEL 2023

作者： Wang, Xiaofei Wang, Jutao Zhang, Runfeng Yuan, Jingyao Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced Mechatronical System Natl. Demonstration Ctr. for Exp. Mech. and Elec. Eng. Education Tianjin University of Technology Tianjin University of Technolog China Tianjin University of Technology China

ISBN: (纸本)9798400700422

The ability to apply knowledge is one of the most important abilities for university students. In the paper, it introduces that how to foster the ability in the teaching of engineering drawing course, and presents some views about and exploration of the reform of the engineering drawing course for cultivating engineers with modern consciousness and innovation quality. In accordance with the standards of engineering education accreditation, based on the idea of Conceive-design-Implement-Operate (CDIO), ideological and political of curriculum is merged into the course. The course reform better improve the quality of engineering education, lay a solid foundation of the specialty, and cultivate students' spatial thinking ability. At the same time, the course reform help students have a more comprehensive understanding to product-formation process, and then enhance students' sense of macro control of products. Combined with the characteristic of the engineering education accreditation and the CDIO in the teaching syllabus, curriculum structure, teaching methods and experiments are reformed. Following the pace of technological development, starting from stimulating students' interest in learning, integrating a 3D printing project into the teaching reform of engineering drawing is explored. There are two different level of introducing 3D printing into the course. They are shallow introduction and deep participation in producing a product by 3D printing. In the teaching mode of deep integration, students participate in the whole process of product design, modeling, 3D printing and all other 3D printing links. The implementation of this model is conducive to arousing students' interest in learning, giving free reign to their subjective initiative, enabling students to enjoy the learning process. Finally, the teaching objectives are realized, and their innovative ability are improved. © 2023 ACM.

关键词： Curricula

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Research on vision detection technology based on photometric calibration

Research on vision detection technology based on photometric...

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2021 IEEE International Conference on Computer Science, Electronic Information Engineering and intelligent control Technology, CEI 2021

作者： Sun, Guoqing Zhou, Haibo Li, Chenming Zhao, Yijiao Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control Tianjin300384 China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin300384 China

ISBN: (纸本)9780738146492

The camera is affected by illumination changes and vignetting effect during the shooting process, resulting in the lack of brightness information, which affects the accuracy of target detection. In order to reduce the impact of illumination changes and vignetting effect on image quality, obtain images closer to the real scene, and improve the accuracy of target detection, this paper conducts photometric calibration on the image from two aspects: the calibration of CRF (Camera Response Function) and the compensation function of vignetting effect. This paper first uses the N-degree polynomial model to construct the camera response function, proposes a functional model of vignetting compensation based on the position of the pixel point, and finally combines the first two experimental results and conducts experimental verification on the data set before and after the photometric calibration on different algorithms of target detection. The experimental results show that the application of photometric calibration in the field of machine vision can improve the adaptability of machine vision to illumination changes and vignetting effect to a certain extent. The self-made data set is trained and tested, when IoU is 0.7, the mAP calculated by the test set after photometric calibration is improved by 2.3% compared with the original data set. © 2021 IEEE.

关键词： Computer vision

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Nonreciprocity of energy transfer in a nonlinear asymmetric oscillator system with various vibration states

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Applied Mathematics and Mechanics(English Edition) 2023年第5期44卷 727-744页

作者： Jian’en CHEN Jianling LI Minghui YAO Jun LIU Jianhua ZHANG Min SUN 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 School of Aeronautics and Astronautics Tiangong UniversityTianjin 300387China Agricultural Information Institute of Chinese Academy of Agricultural Sciences Key Laboratory of Agricultural Big DataMinistry of Agriculture and Rural AffairsBeijing 100081China School of Science Tianjin Chengjian UniversityTianjin 300384China

The nonreciprocity of energy transfer is constructed in a nonlinear asymmetric oscillator system that comprises two nonlinear oscillators with different parameters placed between two identical linear *** slow-flow equation of the system is derived by the complexification-averaging *** semi-analytical solutions to this equation are obtained by the least squares method,which are compared with the numerical solutions obtained by the Runge-Kutta *** distribution of the average energy in the system is studied under periodic and chaotic vibration states,and the energy transfer along two opposite directions is *** effect of the excitation amplitude on the nonreciprocity of the system producing the periodic responses is analyzed,where a three-stage energy transfer phenomenon is *** the first stage,the energy transfer along the two opposite directions is approximately equal,whereas in the second stage,the asymmetric energy transfer is *** energy transfer is also asymmetric in the third stage,but the direction is reversed compared with the second ***,the excitation amplitude for exciting the bifurcation also shows an asymmetric *** vibrations are generated around the resonant frequency,irrespective of which linear oscillator is *** excitation threshold of these chaotic vibrations is dependent on the linear oscillator that is being *** addition,the difference between the energy transfer in the two opposite directions is used to further analyze the nonreciprocity in the *** results show that the nonreciprocity significantly depends on the excitation frequency and the excitation amplitude.

关键词： nonreciprocity strong nonlinearity energy transfer chaotic vibration higher branch of response

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The Prediction Model of Surface Roughness Based on Experiments of Turning Titanium Alloy

The Prediction Model of Surface Roughness Based on Experimen...

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IEEE International Conference on Mechatronics and Automation

作者： Cuilei Yang Qingchun Zheng Yahui Hu Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced Mechatronical System Tianjin University of Technology Tianjin 300384 China

ISBN: (纸本)9781509023974

The experiments of turning titanium alloy are carried out by using central composite design, the influences of cutting speed, feed rate and cutting depth on surface roughness are analyzed. The surface roughness prediction model is established based on the response surface method. The significance of the regression equation is validated and the influences of the cutting parameters on surface roughness are compared. The results show that: within the range of cutting parameters used in the experiments, the most significant parameter on surface roughness is given by feed rate, followed by cutting depth, and the cutting speed has minimal effect on surface roughness;the prediction model is significant. It can be used to select various suitable parameters before the machining processing to predict and control the surface roughness.

关键词： Titanium alloy Surface roughness Turning Parameters

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One-Pot Synthesis of Tetraarylpyrrolo[3,2-b]pyrrole Dopant-Free Hole-Transport Materials for Inverted Perovskite Solar Cells

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Chinese Journal of Chemical Physics 2021年第2期34卷 217-226,I0002页

作者： Liang-sheng Duan Quan-ping Wu Yuan-yuan Xu Hui Wang Zhe Sun Yu Chen Song Xue School of Materials Science and Engineering Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced Mechanical SystemSchool of Mechanical EngineeringTianjin University of TechnologyTianjin 300384China

Four organic smallmolecule hole transport materials(D41, D42,D43 and D44) of tetraarylpyrrolo[3,2-b]pyrroles were prepared. They can be used without doping in the manufacture of the inverted planar perovskite solar cells. Tetraarylpyrrolo[3,2-b]pyrroles are accessible for one-pot synthesis.D42, D43 and D44 possess acceptor-π-donor-π-acceptor structure, on which the aryl bearing substitutes of cyan, fluorine and trifluoromethyl, respectively. Instead, the aryl moiety of D41 is in presence of methyl with a donor-π-donor-π-donor structure. The different substitutes significantly affected their molecular surface charge distribution and thin-film morphology, attributing to the electron-rich properties of fused pyrrole ring. The size of perovskite crystalline growth particles is affected by different molecular structures,and the electron-withdrawing cyan group of D42 is most conducive to the formation of large perovskite grains. The D42 fabricated devices with power conversion efficiency of17.3% and retained 55% of the initial photoelectric conversion efficiency after 22 days in dark condition. The pyrrolo[3,2-b]pyrrole is efficient electron-donating moiety for hole transporting materials to form good substrate in producing perovskite thin film.

关键词： Pyrrole[3,2-b]pyrrole Hole-transporting materials Organic small molecules Dopant-free Perovskite solar cells

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Single-gait crawling robot:A solution for improving mobility and payload of soft locomotor via simple structure and easy control

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Science China(Technological Sciences) 2024年第11期67卷 3626-3628页

作者： MA Hao HAO TianZe MA JiChao SUN ZhenHao LI Xiang LIU YiBo XIAO HuaPing LIU ShuHai College of Mechanical and Transportation Engineering China University of Petroleum-BeijingBeijing 102249China 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 Technology) Tianjin 300384China

Motion performance,including movement speed,adaptability to various environments,and load-carrying capability,is crucial for soft crawling robots,tasked with field exploration and the transporting material in often complex and unstructured environments.A wide variety of soft crawling robots,which are driven by electricity[1],chemical power[2],and pressurized fluid[3]to move forward via cyclic deformation,have thus far been inspired by the mobile patterns of soft-bodied animals,such as worms[4],snake[5],octopus[6],*** performance of soft robots in terms of speed and load has developed impressively in recent years.

关键词： robot payload environments

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