检索结果-南通市图书馆

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

维普期刊数据库评论

在线全文

维普期刊数据库

学校读者我要写书评

暂无评论

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 terrains.This study presents a novel cable-driven legged landing gear(CLG)with differential transmission for unmanned helicopters in complex landing environments.To 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 forces.The non-dominated sorting genetic algorithmⅡis employed to numerically acquire the optimal scale parameters that guide the mechanical design of the CLG.An unmanned helicopter prototype equipped with the devised CLG is developed with key performance assessment.Experimental 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 tests.These 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

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

在线全文

学校读者我要写书评

暂无评论

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 exploration.However,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 application.To research the power consumption characteristics of robot mobile system is beneficial to speed up it toward practicability.Based on the configuration and walking modes of robot,the mathematical model of the power consumption of mobile system is set up.In 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 distribution.Then,the power consumption of robot mobile system is solved under different working conditions.The 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 span.The articulated rotational zones and the ranges of body height and span are determined under the lowest power consumption.According 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 span.Then,the feasibility and correctness of theory analysis are verified in the power consumption of robot mobile system.The 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

Simulation and analysis of asteroid force closure anchoring performance based on discrete element method

在线全文

学校读者我要写书评

暂无评论

Chinese Journal of Aeronautics 2023年第8期36卷 381-394页

作者： Tingzhang WANG Qiquan QUAN Hongshuai GAO Mengxue LI Dewei TANG zongquan deng State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

Asteroid exploration is significant for studying the origin of the solar system,establishing planetary defenses,and alleviating the resource crisis of the Earth.Asteroid anchoring is the basis of in-situ exploration and resource development and utilization.Therefore,the performance of asteroid force-closure anchoring is investigated using the discrete element method.The micro parameters of the simulated materials are calibrated with angle of repose and uniaxial compression experiments,based on which the regional modeling method is adopted to establish the anchoring discrete element model.Asteroid anchoring experiments are conducted on a self-developed microgravity simulation platform to verify the accuracy of the simulation model.The asteroid anchoring simulations are performed to investigate the influence of external force on the anchoring performance.The analysis of anchoring force varying with time and the interaction between the anchor and regolith particles reveals the influence mechanism of external force direction on the anchoring performance.The external force direction affects the critical anchoring force by influencing the failure of the force-closure structure.The comprehensive analysis of simulation results clarifies the variation of the critical anchoring force with the external forces.Finally,a stable anchoring region is established,beneficial for asteroid anchoring device design.

关键词： Anchoringforce Asteroid exploration Discrete element method Force closureanchoring Simulationverification

Research progress of space non-pyrotechnic low-shock connection and separation technology(SNLT):A review

在线全文

学校读者我要写书评

暂无评论

Chinese Journal of Aeronautics 2022年第11期35卷 113-154页

作者： Honghao YUE Yifei YANG Yifan LU Fei YANG Jun WU Qi RUAN zongquan deng State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 15000lChina

Space missions have become diversified in recent years, where connection and separation devices play a crucial role as key components of various spacecraft. Traditional pyrotechnic devices have the advantages of large carrying capacity, rapid motion and functional reliability. However,their shortcomings such as great release shock, poor safety, unrepeatability and other prominent defects make them unsuitable for new generation spacecraft such as microsatellites to separate at low shock or lock repeatedly, etc. Therefore, it is necessary to develop space non-pyrotechnic low-shock connection and separation devices(SNLD) which are required for advanced aerospace missions. In this paper, the progress of the research on space non-pyrotechnic low-shock connection and separation technology(SNLT) is summarized and reviewed. Proceed from the principle of reducing shock for non-pyrotechnic devices, present studies are classified from the perspective of actuating technology and systematic designing methods. For non-pyrotechnic actuating techniques,according to different driving sources, the separation devices are classified into several main categories: electric, magnetic, gas and thermal actuating devices. The actuation principle and application prospect of separation techniques are introduced and the working process, dimension and mechanical properties of typical devices are compared and evaluated. For the systematic designing method, the common mechanism types of SNLDs are summarized according to the designing concept of reducing shock. Then connection configurations are classified according to the structural forms of connection devices, of which the principles, bearing capacities and general applications are discussed. This paper systematically summarizes the key problems, puts forward the future development trend of SNLT, and points out the breakthrough direction for related scholars.

关键词： Connection Low-shock Non-pyrotechnic Separation Space

Dynamic Finite Element Modeling and Simulation of Soft Robots

在线全文

学校读者我要写书评

暂无评论

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 level.An increasing number of researchers are interested in their designing,manufacturing,modeling,and control.However,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 structures.In this study,a novel multi-flexible body dynamic modeling and simulation technique is introduced for soft robots.Various 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 accuracy.The proposed technique can be widely applied for the modeling and dynamic simulation of other soft robots,including hybrid actuated robots and rigid-flexible coupling robots.This 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

Learning physical characteristics like animals for legged robots

在线全文

学校读者我要写书评

暂无评论

National Science Review 2023年第5期10卷 22-37页

作者： Peng Xu Liang Ding Zhengyang Li Huaiguang Yang Zhikai Wang Haibo Gao Ruyi Zhou Yang Su zongquan deng Yanlong Huang Key Laboratory of Robotics and Systems Harbin Institute of Technology School of Computing University of Leeds

Physical characteristics of terrains,such as softness and friction,provide essential information for legged robots to avoid non-geometric obstacles,like mires and slippery stones,in the wild.The perception of such characteristics often relies on tactile perception and vision prediction.Although tactile perception is more accurate,it is limited to close-range us e;by contrast,establishing a supervised or self-supervised contactless prediction system using computer vision re quires adequate labeled data and lacks the ability to adapt to the dynamic environment.In this paper,we simulate the behavior of animals and propose an unsupervised learning framework for legged robots to learn the physical characteristics of terrains,which is the first report to manage it online,incrementally and with the ability to solve cognitive conflicts.The proposed scheme allows robots to interact with the environment and adjust their cognition in real time,therefore endowing robots with the adaptation ability.Indoor and outdoor experiments on a hexapod robot are carried out to show that the robot can extract tactile and visual features of terrains to create cognitive networks independently;an associative layer between visual and tactile features is created during the robot’s exploration;with the layer,the robot can autonomously generate a physical segmentation model of terrains and solve cognitive conflicts in an ever-changing environment,facilitating its safe navigation.

关键词： legged robot unsupervised learning environmental perception cognitive learning

Watt Linkage–Based Legged Deployable Landing Mechanism for Reusable Launch Vehicle: Principle, Prototype Design, and Experimental Validation

在线全文

同方期刊数据库

学校读者我要写书评

暂无评论

Engineering 2023年第1期20卷 120-133页

作者： Haitao Yu Baolin Tian Zhen Yan Haibo Gao Hongjian Zhang Huiqiang Wu Yingchao Wang Yuhong Shi zongquan deng State Key Laboratory of Robotics and Systems Harbin Institute of TechnologyHarbin 150080China Beijing Institute of Aerospace Systems Engineering Beijing 100076China

The reusable launch vehicle (RLV) presents a new avenue for reducing cost of space transportation. The landing mechanism, which provides landing support and impact absorption, is a vital component of the RLV at final stage of recovery. This study proposes a novel legged deployable landing mechanism (LDLM) for RLV. The Watt-II six-bar mechanism is adopted to obtain the preferred configuration via the application of the linkage variation approach. To endow the proposed LDLM with advantages of large landing support region, lightweight, and reasonable linkage internal forces, a multi-objective optimization paradigm is developed. Furthermore, the optimal scale parameters for guiding the LDLM prototype design is obtained numerically using the non-dominated sorting genetic algorithm-II (NSGA-II) evolutionary algorithm. A fully-functional scaled RLV prototype is developed by integrating the gravity-governed deploying scheme to facilitate unfolding action to avoid full-range actuation, a dual-backup locking mechanism to enhance reliability of structure stiffening as fully deployed, and a shock absorber (SA) with multistage honeycomb to offer reliable shock absorbing performance. The experimental results demonstrate that the proposed LDLM is capable of providing rapid and smooth deployment (duration less than 1.5 s) with mild posture disturbance to the cabin (yaw and pitch fluctuations less than 6°). In addition, it provides satisfactory impact attenuation (acceleration peak less than 10g (g is the gravitational acceleration)) in the 0.2 m freefall test, which makes the proposed LDLM a potential alternative for developing future RLV archetype.

关键词： Reusable launch vehicle(RLV) Deployable mechanism Optimization desi gn

Microbes in mass extinction: an accomplice or a savior?

维普期刊数据库评论

在线全文

维普期刊数据库

学校读者我要写书评

暂无评论

National Science Review 2024年第1期11卷 12-15页

作者： Genming Luo deng Liu Hao Yang China University of Geosciences (Wuhan) State Key Laboratory of Geobiology and Environmental Geology

Microbes include various types of organisms that are invisible to the naked eye,e.g. bacteria, archaea and microeukaryotes. Although the precise number remains largely unknown, microbes are recognized as the unseen majority of our biosphere [1]. As a group of organisms classified by body size, microbes cover a considerable spectrum of metabolisms,

关键词： AFTERMATH

Deterministic and Robust Volt-var Control Methods of Power System Based on Convex Deep Learning

在线全文

同方期刊数据库

学校读者我要写书评

暂无评论

Journal of Modern Power Systems and Clean Energy 2024年第3期12卷 719-729页

作者： Qing Ma Changhong deng IEEE the School of Electrical Engineering and Automation Wuhan University

Volt-var control(VVC) is essentially a non-convex optimization problem due to the non-convexity of power flow(PF) constraints, resulting in the difficulty in obtaining the optimum without convexity conversion. The existing second-order cone method for the convexity conversion often leads to a sharp increase in PF constraints and optimization variables, which in turn increases the optimization difficulty or even leads to optimization failure. This paper first proposes a deterministic VVC method based on convex deep learning power flow(DLPF). This method uses the input convex neural network(ICNN) to establish a single convex mapping between state parameters and node voltage to complete the convexity conversion while the optimization variables only correspond to reactive power equipment, which can ensure the global optimum with extremely fast computation speed. To cope with the impact brought by the uncertainty of distributed energy and omit the additional worst scenario search of traditional robust VVC, this paper proposes robust VVC method based on convex deep learning interval power flow(DLIPF), which continues to adopt ICNN to establish another convex mapping between state parameters and node voltage interval. Combining DLIPF with DLPF, this method decreases the modeling and optimization difficulty of robust VVC significantly. Test results on 30-bus, 118-bus, and 200-bus systems prove the correctness and rapidity of the proposed methods.

关键词： Optimization Reactive power Mathematical models Deep learning Uncertainty Load flow Programming