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Science China(Technological Sciences) 2022年第9期65卷 1913-1914页

作者： HUANG YongAn yin zhouping State Key Laboratory of Digital Manufacturing Equipment and Technology School of Mechanical Science and EngineeringHuazhong University of Science and TechnologyWuhan 430074China

Huazhong University of Science and Technology (HUST) is a key research-based comprehensive university in Wuhan, China,under the direct supervision of the Ministry of Education of China. Renowned as the epitome of the development of higher education in new China, it is a “211” Project,“985” Project,“Double First-Class” university in China.

关键词： owned China education

Flexible hybrid electronics:Enabling integration techniques and applications

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Science China(Technological Sciences) 2022年第9期65卷 1995-2006页

作者： WU Hao HUANG YongAn yin zhouping Flexible Electronics Research Center State Key Laboratory of Digital Manufacturing Equipment and TechnologySchool of Mechanical Science and EngineeringHuazhong University of Science and TechnologyWuhan 430074China

The conventional electronic systems enabled by rigid electronic are prone to malfunction under deformation,greatly limiting their application *** an emerging platform for applications in healthcare monitoring and human-machine interface(HMI),flexible electronics have attracted growing attention due to its remarkable advantages,such as stretchability,flexibility,conformability,and wearing ***,to realize the overall electronic systems,rigid components are also required for functions such as signal acquisition and ***,flexible hybrid electronics(FHE),which simultaneously possesses the desirable flexibility and enables the integration of rigid components for functionality,has been emerging as a promising *** paper reviews the enabling integration techniques for FHE,including technologies for two-dimensional/three-dimensional(2 D/3 D) interconnects,bonding of rigid integrated circuit(IC) chips to soft substrate,stress-isolation structures,and representative applications of *** addition,future challenges and opportunities involved in FHE-based systems are also discussed.

关键词： deformation electronics bonding

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Automatic surface localization by defining weighted-iteration distance function and Lyapunov-test statistic

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Science China(Technological Sciences) 2012年第3期55卷 684-693页

作者： LI WenLong yin zhouping State Key Laboratory of Digital Manufacturing Equipment and Technology Huazhong University of Science and TechnologyWuhan 430074China

Automatic localization,aligning the measured points with the design model,is a basic task in free-form surface *** main difficulty of current localization algorithms is how to define effective distance function and localization reliability *** paper proposes a new method of calculating motion parameters and evaluating localization ***,improved modified coefficient is defined and applied to weighted-iteration distance function,which better approximates the point-to-surface closest *** can control the contribution ratios of different measured points by considering the curvature feature and iterative ***,the mapping relationship between localization error and geometric error is analyzed,from which a Lyapunov-test statistic is derived to define a frame-independence ***,the determination of localization reliability changes into a supposition examination *** can avoid rejecting correct motion parameters,which exists in the traditional judgment of absolute root-mean-square *** addition,two test experiments are implemented to demonstrate the proposed localization algorithm.

关键词： free-form surface rigid motion weighted-iteration distance function localization reliability Lyapunov-test statistic

Defective point data reconstruction based on improved process of morphological operations

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Science China(Technological Sciences) 2011年第12期54卷 3166-3179页

作者： yin zhouping MO Kun XIONG YouLun State Key Laboratory of Digital Manufacturing Equipment and Technology Huazhong University of Science and Technology Wuhan 430074 China

In industry,the defective point data often make most surface reconstruction methods suffer from inherent problems that some specific aided information is difficult to obtain. To solve the problem,a novel implicit reconstruction method without any such information is proposed. This approach extends morphological operations into 3D space and provides an improved procedure to construct off-set gradient functions for indirect approximation. By this method,the dual relative functions guarantee a minimal crust surrounding the point data. They can generate a smooth and watertight resulting surface,filling holes and merging overlapping samples reasonably. Compared with other existing methods,the proposed method is better suited to handle defective point clouds in a convenient and efficient manner. The feasibility and effectiveness of the method are demonstrated through a series of practical examples.

关键词： surface reconstruction morphology operation weighted vector median fdter gradient function off-set surface

Driving force planning in shield tunneling based on Markov decision processes

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Science China(Technological Sciences) 2012年第4期55卷 1022-1030页

作者： HU XiangTao HUANG YongAn yin zhouping XIONG YouLun State Key Laboratory of Digital Manufacturing Equipment&Technology Huazhong University of Science&TechnologyWuhan 430074China

In shield tunneling, the control system needs very reliable capability of deviation rectifying in order to ensure that the tunnel trajectory meets the permissible criterion. To this goal, we present an approach that adopts Markov decision process (MDP) theory to plan the driving force with explicit representation of the uncertainty during excavation. The shield attitudes of possi- ble world and driving forces during excavation are scattered as a state set and an action set, respectively. In particular, an evaluation function is proposed with consideration of the stability of driving force and the deviation of shield attitude. Unlike the deterministic approach, the driving forces based on MDP model lead to an uncertain effect and the attitude is known only with an imprecise probability. We consider the case that the transition probability varies in a given domain estimated by field data, and discuss the optimal policy based on the interval arithmetic. The validity of the approach is discussed by comparing the driving force planning with the actual operating data from the field records of Line 9 in Tianjin. It is proved that the MDP model is reasonable enough to predict the driving force for automatic deviation rectifying.

关键词： shield tunneling Markov decision process automatic deviation rectifying interval arithmetic driving force planning

The quaternion beam model for hard-magnetic flexible cantilevers

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Applied Mathematics and Mechanics(English Edition) 2023年第5期44卷 787-808页

作者： Wei CHEN Guozhen WANG Yiqun LI Lin WANG zhouping yin State Key Laboratory of Digital Manufacturing Equipment and Technology School of Mechanical Science and EngineeringHuazhong University of Science and TechnologyWuhan 430074China Flexible Electronics Research Center Huazhong University of Science and TechnologyWuhan 430074China Department of Engineering Mechanics School of Aerospace EngineeringHuazhong University of Science and TechnologyWuhan 430074China Hubei Key Laboratory for Engineering Structural Analysis and Safety Assessment Huazhong University of Science and TechnologyWuhan 430074China

The recently developed hard-magnetic soft(HMS)materials manufactured by embedding high-coercivity micro-particles into soft matrices have received considerable attention from researchers in diverse fields,e.g.,soft robotics,flexible electronics,and *** investigations on large deformations of HMS structures are significant foundations of their *** work is devoted to developing a powerful theoretical tool for modeling and computing the complicated nonplanar deformations of flexible beams.A so-called quaternion beam model is proposed to break the singularity limitation of the existing geometrically exact(GE)beam *** singularity-free governing equations for the three-dimensional(3D)large deformations of an HMS beam are first derived,and then solved with the Galerkin discretization method and the trustregion-dogleg iterative *** correctness of this new model and the utilized algorithms is verified by comparing the present results with the previous *** superiority of a quaternion beam model in calculating the complicated large deformations of a flexible beam is shown through several benchmark *** is found that the purpose of the HMS beam deformation is to eliminate the direction deviation between the residual magnetization and the applied magnetic *** proposed new model and the revealed mechanism are supposed to be useful for guiding the engineering applications of flexible structures.

关键词： quaternion beam model singularity-free formulation hard-magnetic soft(HMS)beam geometrically exact(GE)equation three-dimensional(3D)large deformation

Robust adaptive control for a nonholonomic mobile robot with unknown parameters

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控制理论与应用（英文版） 2009年第2期7卷 212-218页

作者： Jinbo WU Guohua XU zhouping yin School of Naval Architecture and Ocean Engineering Huazhong University of Science and Technology Wuhan Hubei 430074 China State Key Lab of Digital Manufacturing and Technology Huazhong University of Science and Technology Wuhan Hubei 430074 China

A robust adaptive controller for a nonholonomic mobile robot with unknown kinematic and dynamic parameters is proposed. A kinematic controller whose output is the input of the relevant dynamic controller is provided by using the concept of backstepping. An adaptive algorithm is developed in the kinematic controller to approximate the unknown kinematic parameters, and a simple single-layer neural network is used to express the highly nonlinear robot dynamics in terms of the known and unknown parameters. In order to attenuate the effects of the uncertainties and disturbances on tracking performance, a sliding mode control term is added to the dynamic controller. In the deterministic design of feedback controllers for the uncertain dynamic systems, upper bounds on the norm of the uncertainties are an important clue to guarantee the stability of the closed-loop system. However, sometimes these upper bounds may not be easily obtained because of the complexity of the structure of the uncertainties. Thereby, simple adaptation laws are proposed to approximate upper bounds on the norm of the uncertainties to address this problem. The stability of the proposed control system is shown through the Lyapunov method. Lastly, a design example for a mobile robot with two actuated wheels is provided and the feasibility of the controller is demonstrated by numerical simulations.

关键词： Nonholonomic constraints Mobile robot Sliding mode control Adaptive control Robustness Neural network

Real-time adaptive particle image velocimetry for accurate unsteady flow field measurements

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Science China(Technological Sciences) 2022年第9期65卷 2143-2155页

作者： OUYANG ZhenXing YANG Hua LU Jin HUANG YongAn yin zhouping State Key Laboratory of Digital Manufacturing Equipment and Technology School of Mechanical Science and EngineeringHuazhong University of Science and TechnologyWuhan 430074China

Almost all conventional open-loop particle image velocimetry(PIV) methods employ fixed-interval-time optical imaging technology and the time-consuming cross-correlation-based PIV measurement algorithm to calculate the velocity *** this study,a novel real-time adaptive particle image velocity(RTA-PIV) method is proposed to accurately measure the instantaneous velocity field of an unsteady flow *** the proposed closed-loop RTA-PIV method,a new correlation-filter-based PIV measurement algorithm is introduced to calculate the velocity field in real ***,a Kalman predictor model is established to predict the velocity of the next time instant and a suitable interval time can be *** adaptively adjust the interval time for capturing two particle images,a new high-speed frame-straddling vision system is developed for the proposed RTA-PIV *** fully analyze the performance of the RTA-PIV method,we conducted a series of numerical experiments on ground-truth image pairs and on real-world image sequences.

关键词： real-time adaptive particle image velocimetry flow field measurement high-speed vision correlation filter

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Design of 3D-printed Cable Driven Humanoid Hand Based on Bidirectional Elastomeric Passive Transmission

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Chinese Journal of Mechanical Engineering 2021年第4期34卷 225-235页

作者： Teru Chen Xingwei Zhao Guocai Ma Bo Tao zhouping yin State Key Laboratory of Digital Manufacturing Equipment and Technology Huazhong University of Science and TechnologyWuhan 430074China State Key Laboratory of Intelligent Manufacturing System Technology Beijing Institute of Electronic System EngineeringBeijing 100854China

Motion control of the human hand is the most complex part of the human *** has always been a challenge for a good balance between the cost,weight,responding speed,grasping force,finger extension,and dexterity of prosthetic *** solve these issues,a 3D-printed cable driven humanoid hand based on bidirectional elastomeric passive transmission(BEPT)is designed in this paper.A semi-static model of BEPT is investigated based on energy conservation law to analyze the mechanical properties of BEPT and a dynamical simulation of finger grasping is *** a good imitation of human hand and an excellent grasping performance,specific BEPT is selected according to human finger grasping *** advantage of BEPT based humanoid hand is that a good balance between the price and performance of the humanoid hand is *** proved that the designed prosthetic hand’s single fingertip force can reach 33 N and the fastest fingertip grasping speed realized 0.6 s/180°.It also has a good force compliance effect with only 430g’s *** can not only grab fragile objects like raw eggs and paper cup,but also achieve strong grasping force to damage metal *** humanoid hand has considerable application prospects in artificial prosthesis,human-computer interaction,and robot operation.

关键词： Humanoid hand Bidirectional elastomeric passive transmission Artificial prosthesis

Planning method of droplet fusion scheduling based on mixedinteger programming

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Science China(Technological Sciences) 2024年第1期67卷 157-171页

作者： XIONG JiaCong CHEN JianKui WANG YiXin yin zhouping LI YiQun State Key Laboratory of Intelligent Manufacturing Equipment and Technology School of Mechanical Science and EngineeringHuazhong University of Science and TechnologyWuhan 430074China

The emergence of new display devices,such as organic light-emitting diodes,has brought about numerous advantages,including high material utilization,low cost,and high *** devices are manufactured using inkjet printing and possess the potential to become a key technology for display ***,a challenge in achieving this is the display effect that reveals uneven brightness and darkness,which can be avoided by controlling the volume of ink solution in a pixel to within 5%.Currently,the volume difference among the nozzles of commercial printheads does not meet the requirements for volume uniformity,thus challenging the printing ***,designing a suitable printing method that allows for the fusion of different volumes of ink droplets,ultimately reducing the error of the post fusion process,is *** this study,we propose a print display droplet fusion scheduling method comprising two main ***,we use a dichotomous trust domain algorithm to obtain a feasible range of printhead docking point spacings for different nozzle and pixel panel ***,we model the printing process as a droplet fusion scheduling model based on mixed integer programming,with the optimization objective of achieving intra pixel volume uniformity via ensuring the volume uniformity of ink droplets within all *** verified this method through numerical simulations and printing experiments using 394 pixels per inch(ppi)pixel panels and successfully reduced the volume uniformity error among pixels to within 5%.

关键词： printing display droplet fusion mixed-integer programming dichotomous trust domain

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