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Cable-driven legged landing gear for unmanned helicopter:Prototype design,optimization and performance assessment

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Science China(Technological Sciences) 2024年第4期67卷 1196-1214页

作者： TIAN BaoLin gao haibo YU HaiTao SHAN HaoMin HOU JunChen YU HongYing DENG ZongQuan State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China China Academy of Aerospace Science and Innovation Beijing 100048China

Unmanned helicopters equipped with adaptive landing gear will dramatically extend their application especially in dealing with challenging *** study presents a novel cable-driven legged landing gear(CLG)with differential transmission for unmanned helicopters in complex landing *** obtain the preferred configuration of the legged mechanism,a multi-objective optimization framework for the CLG is constructed by concurrently considering terrain adaptability,landing stability and reasonable linkage of internal *** non-dominated sorting genetic algorithmⅡis employed to numerically acquire the optimal scale parameters that guide the mechanical design of the *** unmanned helicopter prototype equipped with the devised CLG is developed with key performance *** results show that the devised CLG can provide energy-efficient support over uneven terrains(totally driven torque demand less than 0.1 N m)in quasi-static landing tests,and favorable terrain adaptability(posture fluctuation of the fuselage less than±1°)in unknown slope landing *** exhibited merits give the proposed CLG the potential to enhance the landing performance of future aircraft in extreme environments.

关键词： unmanned helicopter adaptive landing gear experimental verification

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自否定辩证法的建构与重建:黑格尔与马克思

东南学术 2024年第3期 41-53页

作者：高海波中南民族大学马克思主义学院

澄明马克思超越黑格尔辩证法的关键概念是“自否定”。黑格尔自否定辩证法发端于《基督教的精神及其命运》并定型于《精神现象学》,以概念自身推动与创造、突破与扬弃、实现与外化自身呈现。马克思与黑格尔在自否定辩证法上的决定性差别... 详细信息

澄明马克思超越黑格尔辩证法的关键概念是“自否定”。黑格尔自否定辩证法发端于《基督教的精神及其命运》并定型于《精神现象学》,以概念自身推动与创造、突破与扬弃、实现与外化自身呈现。马克思与黑格尔在自否定辩证法上的决定性差别是,后者在思维中先于事物的自身运动设定自否定辩证法的运动机制,前者则在思维中基于事物的自身运动反映出自否定辩证法的运动机制。《资本论》通过价值形式分析重建自否定辩证法,本质上是对资本主义社会历史现实运动的呈现。由于马克思的价值形式分析完成了资本主义社会的特殊运动规律与人类社会的一般运动规律的辩证统一,关于资本主义社会的自否定辩证法即唯物史观的具体化。

关键词：马克思黑格尔自否定价值形式唯物史观

“精神哲学”的现代展开:张学智教授的中国哲学研究

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中国哲学史 2024年第2期 33-38页

作者：高海波清华大学哲学系

张学智老师认为中国哲学是“生命的学问”,他认为这是中国哲学的根本特点。在其中,他特别重视中国哲学的主体性,这种主体性融合了王阳明、贺麟、黑格尔、牟宗三思想的要素,张老师将其发展为“精神”的概念,用以阐释中国哲学的一个主要... 详细信息

张学智老师认为中国哲学是“生命的学问”,他认为这是中国哲学的根本特点。在其中,他特别重视中国哲学的主体性,这种主体性融合了王阳明、贺麟、黑格尔、牟宗三思想的要素,张老师将其发展为“精神”的概念,用以阐释中国哲学的一个主要特征。在他看来,中国哲学的主体是一个精神活动的综合主体,而不同于西方哲学的逻辑、理智主体。这种精神主体当中既包含逻辑、理智的主体(知识主体),也包含道德主体,审美主体,宗教主体,是知、情、意等理性、非理性因素的综合。这种对于精神主体的理解和阐释,也体现了学智老师对于中国哲学现代化的独特理解。从某种意义上说,张学智老师的上述思想可以称为一种“精神哲学”的现代展开。

关键词：生命的学问主体性精神王阳明精神哲学

基于概率稀疏自注意力的船舶短期电力负荷预测

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大连海事大学学报 2024年第1期50卷 134-142页

作者：王谦高海波左文武汉理工大学船海与能源动力工程学院武汉430063 武汉海翎光电科技有限公司数据采集部门武汉430035

针对船舶电力负荷数据预测时存在的实时性差、存储数据量小且质量低等问题,提出一种结合数据插补、小波阈值去噪与概率稀疏自注意力(ProbSparse self⁃atten⁃tion)机制的新型短期负荷预测方法。首先,在数据预处理阶段,在不影响原始数据... 详细信息

针对船舶电力负荷数据预测时存在的实时性差、存储数据量小且质量低等问题,提出一种结合数据插补、小波阈值去噪与概率稀疏自注意力(ProbSparse self⁃atten⁃tion)机制的新型短期负荷预测方法。首先,在数据预处理阶段,在不影响原始数据特征及趋势前提下通过插值填补缺失数据,扩充数据库以满足模型训练要求,同时考虑到原始船舶电力负荷数据可能存在噪声干扰等问题,为减小其对模型预测效果的影响,对原信号采用了小波阈值去噪处理的方法来改善数据质量。其次,在预测模型中引入概率稀疏自注意力机制,在有效捕获时序电力数据中的依赖关系和重要特征的同时,降低内存资源占用,减小模型复杂度,满足船舶电力负荷预测实时性要求,实现了预测精度与效率双优化。相较传统Transformer模型、ARIMA和LSTM模型,本文模型在均方根误差和平均绝对百分比误差上平均分别降低了13.1%、18.6%,效率平均提高24.0%以上,表明本文方法在船舶电力负荷数据预测模型准确度及效率上具有明显优势。

关键词：船舶电力负荷短期预测数据预处理概率稀疏自注意力机制

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从朱子、船山看宋明理学意志思想的展开

船山学刊 2024年第2期 49-63页

作者：高海波清华大学哲学系北京100084

朱子晚年比较重视意志问题的讨论,区分意与志,认为与意相比,志是深层、稳定的心理意向,而意则是与具体的念虑、选择、权衡相关的心理意念。立志对于为学与修养具有重要的基础作用。不过,朱子始终认为志与意都属于已发之情,未发阶段不能... 详细信息

朱子晚年比较重视意志问题的讨论,区分意与志,认为与意相比,志是深层、稳定的心理意向,而意则是与具体的念虑、选择、权衡相关的心理意念。立志对于为学与修养具有重要的基础作用。不过,朱子始终认为志与意都属于已发之情,未发阶段不能有立志、持志的工夫。朱子的这一看法使得其“心统性情”的工夫论,缺了未发时意志对心的主宰。与之相联系,朱子在诠释《大学》“正心”工夫时,也倾向于从深层未发心体的虚灵无滞加以解释。船山对这一看法提出了严厉批评,认为朱子的看法一方面混同于佛老的心灵观,另一方面,也忽视了儒家未发之心的道德主宰性,对儒家之心的意志主义特征缺乏深入的体认。因此,船山主张“持志”是《大学》“正心”工夫的主要内容。同时,与朱子相似,船山严格区分“意”“志”,认为志有恒体而“意无恒体”,肯定志对于意的基础地位及其主宰性。不过,船山的志并不是一种先验的道德意志。沿着这一思路,必然应该肯定一种先验的道德意志,晚明王栋、刘宗周所强调的意就是一种先验的道德意志。

关键词：意志心统性情持志正心朱子船山

Power Consumption Characteristics Research on Mobile System of Electrically Driven Large-Load-Ratio Six-Legged Robot

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Chinese Journal of Mechanical Engineering 2023年第1期36卷 237-267页

作者： Hongchao Zhuang Ning Wang haibo gao Zongquan Deng School of Mechanical Engineering Tianjin University of Technology and EducationTianjin300222China School of Information Technology Engineering Tianjin University of Technology and EducationTianjin300222China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin150001China

The electrically driven large-load-ratio six-legged robot with engineering capability can be widely used in outdoor and planetary ***,due to the particularity of its parallel structure,the effective utilization rate of energy is not high,which has become an important obstacle to its practical *** research the power consumption characteristics of robot mobile system is beneficial to speed up it toward *** on the configuration and walking modes of robot,the mathematical model of the power consumption of mobile system is set *** view of the tripod gait is often selected for the six-legged robots,the simplified power consumption model of mobile system under the tripod gait is established by means of reducing the dimension of the robot’s statically indeterminate problem and constructing the equal force ***,the power consumption of robot mobile system is solved under different working *** variable tendencies of the power consumption of robot mobile system are respectively obtained with changes in the rotational angles of hip joint and knee joint,body height,and *** articulated rotational zones and the ranges of body height and span are determined under the lowest power *** to the walking experiments of prototype,the variable tendencies of the average power consumption of robot mobile system are respectively acquired with changes in duty ratio,body height,and ***,the feasibility and correctness of theory analysis are verified in the power consumption of robot mobile *** proposed analysis method in this paper can provide a reference on the lower power research of the large-load-ratio multi-legged robots.

关键词： Electrically driven Large-load-ratio six-legged robot Power consumption Mobile system

基于BRB-PSO的船舶舵机模型参数辨识方法研究

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武汉理工大学学报（交通科学与工程版） 2024年第2期48卷 255-260,266页

作者：徐晓滨孙松张雪林何宏高海波杭州电子科技大学自动化学院杭州310018 中国-奥地利人工智能与先进制造“一带一路”联合实验室杭州310018 杭州电子科技大学计算机学院杭州310018 武汉理工大学能源与动力工程学院武汉430063

文中提出一种基于BRB-PSO的船舶舵机模型参数辨识方法.构造关于船舶舵机模型参数的BRB-PSO辨识模型,以描述模型输入(指令舵角和实际舵角信号)与模型输出(舵机模型参数)之间的非线性关系;建立置信规则库(BRB),通过置信规则推理得到惯性... 详细信息

文中提出一种基于BRB-PSO的船舶舵机模型参数辨识方法.构造关于船舶舵机模型参数的BRB-PSO辨识模型,以描述模型输入(指令舵角和实际舵角信号)与模型输出(舵机模型参数)之间的非线性关系;建立置信规则库(BRB),通过置信规则推理得到惯性权重变化量的估计值并更新惯性权重;基于该惯性权重调整粒子群算法(PSO)中粒子的速度、位置等参数,依次迭代,直到达到停止要求,实现舵机模型参数的辨识.通过与其他典型参数辨识方法的实验结果对比,进一步说明BRB-PSO辨识方法在舵机模型参数辨识方面的优越性.

关键词：舵机置信规则库粒子群算法参数辨识

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A Real-Time Planning and Control Framework for Robust and Dynamic Quadrupedal Locomotion

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Journal of Bionic Engineering 2023年第4期20卷 1449-1466页

作者： Jun Li haibo gao Yuhui Wan Haitao Yu Chengxu Zhou State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin150001China School of Mechanical Engineering University of LeedsLeedsLS29JTUK

Legged locomotion poses significant challenges due to its nonlinear,underactuated and hybrid dynamic *** challenges are exacerbated by the high-speed motion and presence of aerial phases in dynamic legged locomotion,which highlights the requirement for online planning based on current states to cope with uncertainty and *** article proposes a real-time planning and control framework integrating motion planning and whole-body *** the framework,the designed motion planner allows a wider body rotation range and fast reactive behaviors based on the 3-D single rigid body *** addition,the combination of a Bézier curve based trajectory interpolator and a heuristic-based foothold planner helps generate continuous and smooth foot *** developed whole-body controller uses hierarchical quadratic optimization coupled with the full system dynamics,which ensures tasks are prioritized based on importance and joint commands are physically *** performance of the framework is successfully validated in experiments with a torque-controlled quadrupedal robot for generating dynamic motions.

关键词： Bionic robot Legged locomotion Motion planning Whole-body control

Dynamic Finite Element Modeling and Simulation of Soft Robots

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Chinese Journal of Mechanical Engineering 2022年第2期35卷 45-55页

作者： Liang Ding Lizhou Niu Yang Su Huaiguang Yang Guangjun Liu haibo gao Zongquan Deng State Key Laboratory of Robotics and Systems Harbin Institute of TechnologyHarbin 150001China Department of Aerospace Engineering Ryerson UniversityTorontoON M5B 2K3Canada

Soft robots have become important members of the robot community with many potential applications owing to their unique flexibility and security embedded at the material *** increasing number of researchers are interested in their designing,manufacturing,modeling,and ***,the dynamic simulation of soft robots is difficult owing to their infinite degrees of freedom and nonlinear characteristics that are associated with soft materials and flexible geometric *** this study,a novel multi-flexible body dynamic modeling and simulation technique is introduced for soft *** actuators for soft robots are modeled in a virtual environment,including soft cable-driven,spring actuation,and pneumatic driving.A pneumatic driving simulation was demonstrated by the bending modules with different materials.A cable-driven soft robot arm prototype and a cylindrical soft module actuated by shape memory alley springs inspired by an octopus were manufactured and used to validate the simulation model,and the experimental results demonstrated adequate *** proposed technique can be widely applied for the modeling and dynamic simulation of other soft robots,including hybrid actuated robots and rigid-flexible coupling *** study also provides a fundamental framework for simulating soft mobile robots and soft manipulators in contact with the environment.

关键词： Soft robot Finite-element modeling Dynamic simulation