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A Hyper-redundant Elephant’s Trunk Robot with an Open Structure:Design,Kinematics,Control and Prototype

Chinese Journal of Mechanical Engineering 2020年第6期33卷 158-176页

作者： yongjie zhao Xiaogang Song Xingwei Zhang Xinjian Lu Department of Mechatronics Engineering Shantou UniversityShantou515063China Guangdong Goldenwork Robot Technology Ltd. Foshan528226China

As for the complex operational tasks in the unstructured environment with narrow workspace and numerous obstacles,the traditional robots cannot accomplish these mentioned complex operational tasks and meet the dexterity *** hyper-redundant bionic robots can complete complex tasks in the unstructured environments by simulating the motion characteristics of the elephant’s trunk and octopus *** with traditional robots,the hyper-redundant bionic robots can accomplish complex tasks because of their flexible structure.A hyper-redundant elephant’s trunk robot(HRETR)with an open structure is developed in this *** content includes mechanical structure design,kinematic analysis,virtual prototype simulation,control system design,and prototype *** design is inspired by the flexible motion of an elephant’s trunk,which is expansible and is composed of six unit modules,namely,3UPS-PS parallel in ***,the mechanical design of the HRETR is completed according to the motion characteristics of an elephant’s trunk and based on the principle of mechanical bionic *** that,the backbone mode method is used to establish the kinematic model of the *** simulation software SolidWorks and ADAMS are combined to analyze the kinematic characteristics when the trajectory of the end moving platform of the robot is *** the help of ANSYS,the static stiffness of each component and the whole robot is *** this basis,the materials of the weak parts of the mechanical structure and the hardware are selected ***,the extensible structures of software and hardware control system are constructed according to the modular and hierarchical design ***,the prototype is built and its performance is *** proposed research provides a method for the design and development for the hyper-redundant bionic robot.

关键词： Hyper-redundant elephant's trunk robot Mechanical structure design Kinematic analysis Virtual prototype simulation Control system Prototype building

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A New Single-blade Based Hybrid CFD Method for Hovering and Forward-flight Rotor Computation

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Chinese Journal of Aeronautics 2011年第2期24卷 127-135页

作者： SHI yongjie zhao Qijun FAN Feng XU Guohua National Key Laboratory of Rotorcraft Aeromechanics Nanjing University of Aeronautics and Astronautics Nanjing 210016 China

A hybrid Euler/full potential/Lagrangian wake method,based on single-blade simulation,for predicting unsteady aerodynamic flow around helicopter rotors in hover and forward flight has been *** this method,an Euler solver is used to model the near wake evolution and transonic flow phenomena in the vicinity of the blade,and a full potential equation（FPE） is used to model the isentropic potential flow region far away from the rotor,while the wake effects of other blades and the far wake are incorporated into the flow solution as an induced inflow distribution using a Lagrangian based wake *** further reduce the execution time,the computational fluid dynamics（CFD） solution and rotor wake analysis（including induced velocity up-date） are conducted parallelly,and a load balancing strategy is employed to account for the information exchange between two *** the developed method,several hover and forward-flight cases on Caradonna-Tung and Helishape 7A rotors are *** agreements of the loadings on blade surface with available measured data demonstrate the validation of the ***,the CPU time required for different computation runs is compared in the paper,and the results show that the pre-sent hybrid method is superior to conventional CFD method in time cost,and will be more efficient with the number of blades increasing.

关键词： hybrid CFD method Euler equations full potential equations wake model rotor helicopters

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Inverse Displacement Analysis of a Hyper-redundant Elephant＇s Trunk Robot

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Journal of Bionic Engineering 2018年第2期15卷 397-407页

作者： yongjie zhao Lei Jin Peng Zhang Jianyuan Li Department of Mechatronics Engineering Shantou University Shantou 515063 China

This paper deals with inverse displacement analysis of a Hyper-redundant Elephant＇s Trunk Robot （HRETR）. The HRETR is connected in series with n modules of 3UPS-PRU parallel mechanism where the underline P denotes an active prismatic joint. Based on the idea of differential geometry, backbone curve of the robot is formulated by using a parametric fimction consisting of sub-fimctions and control parameters. A general algorithm for generating a backbone curve and fitting the modules to the backbone curve is proposed. In this way, the inverse displacement analysis of the robot can be carried out by solving the inverse displacement problem of each parallel mechanism module and taking into account the length limits of the links. A HRETR with 6 modules is taken as an example to demonstrate the applicability of the algorithm.

关键词： inverse displacement analysis hyper-redundant bionic robot elephant's trunk robot 3UPS-PRU parallel mechanism backbone curve

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Phase transformation and shape evolution of iron oxide nanocrystals synthesized in the ethylene glycol-water system

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Science China(Physics,Mechanics & Astronomy) 2011年第7期54卷 1271-1276页

作者： LIU RongZheng zhao YuZhen HUANG RongXia zhao yongjie ZHOU HePing State Key Laboratory of New Ceramics and Fine Processing Department of Materials Science and Engineering Tsinghua University Beijing 100084 China

Iron oxide particles with various shapes,sizes and phase concentrations(including--Fe2O3 and Fe3O4) have been synthesized through a simple hydrothermal method in the ethylene glycol(EG)-water *** the preparation conditions,ferric chloride(FeCl3.6H2O) was used as the iron source in the presence of sodium hydroxide(NaOH) without any *** adjusting the experimental parameters(EG/H2O ratio,base content,iron ions concentration,etc.),the shape,the size,the phase and the magnetic property of the products could be easily *** products were characterized by using X-ray diffraction(XRD),scanning electron microscopy(SEM),and a vibrating sample magnetometer(VSM).A further investigation revealed that high EG content and high alkaline condition favored the formation of Fe3O4 phase.A possible growth mechanism was proposed based on the experimental *** magnetic properties were deeply affected by the morphology and phase of the as-synthesized *** controlled shape,size and phase structure of the iron oxides through simple synthetic procedures provides potential opportunities to realize the promising size and shape-dependent applications.

关键词： iron oxide shape size phase transformation magnetic property

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Influence of barrier shape on impact dynamics of debris flow entraining a boulder onto rigid barriers

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Journal of Mountain Science 2024年第12期21卷 3971-3985页

作者： zhao yongjie MA Yuangang LUO Gang SHEN Weigang GAO Guohui zhao Meng CHEN Wei State Key Laboratory of Bridge Intelligent and Green Construction Wuhan 430034China China Railway Bridge Science Research Institute Co. LtdWuhan 430034China Faculty of Geosciences and Engineering Southwest Jiaotong UniversityChengdu 611756China

Rigid barrier is a straightforward and effective countermeasure widely used for mitigating debris ***,in current designs,it remains unclear how to optimize the rigid barrier to enhance its mechanical ***,this study investigates the influence of the shape of the upstream face of the rigid barrier,referred to as the'barrier shape',on the impact dynamics of debris flow entraining a boulder onto rigid *** study employs a coupled numerical approach involving smoothed particle hydrodynamics(SPH),the discrete element method(DEM),and the finite element method(FEM).The simulation results demonstrate that the barrier shape can affect the mechanical properties of the rigid barrier by altering the interaction mode between the debris flow and the *** to vertical and slanted barriers,a curved barrier exhibits superior mechanical properties when subjected to debris flow ***,reducing the slope of the upstream face appropriately proves to be an effective method for enhancing the impact resistance of slanted *** relevant findings from this study can serve as valuable references for the structural optimization of rigid barriers.

关键词： Debris flow Rigid barrier Barrier shape Impact dynamics Numerical modelling

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Using an improved lightweight YOLOv8 model for real-time detection of multi-stage apple fruit in complex orchard environments

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Artificial Intelligence in Agriculture 2024年第1期11卷 70-82页

作者： Baoling Ma Zhixin Hua Yuchen Wen Hongxing Deng yongjie zhao Liuru Pu Huaibo Song College of Mechanical and Electronic Engineering Northwest A&F UniversityYanglingShaanxi 712100China Key Laboratory of Agricultural Internet of Things Ministry of Agricultureand Rural AffairsYanglingShaanxi 712100China Shaanxi Key Laboratory of Agricultural Information Perception and Intelligent Services YanglingShaanxi 712100China

For the purpose of monitoring apple fruits effectively throughout the entire growth period in smart orchards.A lightweight model named YOLOv8n-ShuffleNetv2-Ghost-SE was *** ShuffleNetv2 basic modules and down-sampling modules were alternately connected,replacing the Backbone of YOLOv8n *** Ghost modules replaced the Conv modules and the C2fGhost modules replaced the C2f modules in the Neck part of the ***2 reduced the memory access cost through channel splitting *** Ghost module combined linear and non-linear convolutions to reduce the network computation *** Wise-IoU(WIoU)replaced the CIoU for calculating the bounding box regression loss,which dynamically adjusted the anchor box quality threshold and gradient gain allocation strategy,optimizing the size and position of predicted bounding *** Squeeze-and-Excitation(SE)was embedded in the Backbone and Neck part of YOLOv8n to enhance the representation ability of feature *** algorithm ensured high precision while having small model size and fast detection speed,which facilitated model migration and *** 9652 images validated the effectiveness of the *** YOLOv8n-ShuffleNetv2-Ghost-SE model achieved Precision of 94.1%,Recall of 82.6%,mean Average Precision of 91.4%,model size of 2.6 MB,parameters of 1.18 M,FLOPs of 3.9 G,and detection speed of 39.37 *** detection speeds on the Jetson Xavier NX development board were 3.17 *** with advanced models including Faster R-CNN,SSD,YOLOv5s,YOLOv7‑tiny,YOLOv8s,YOLOv8n,MobileNetv3_small-Faster,MobileNetv3_small-Ghost,ShuflleNetv2-Faster,ShuflleNetv2-Ghost,ShuflleNetv2-Ghost-CBAM,ShuflleNetv2-Ghost-ECA,and ShuflleNetv2-Ghost-CA demonstrated that the method achieved smaller model and faster detection *** research can provide reference for the development of smart devices in apple orchards.

关键词： Multi-stage apple fruit Deep learning Real-time detection Lightweight model

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Formation of Stable Interphase of Polymer-in-Salt Electrolyte in All-Solid-State Lithium Batteries

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Energy Material Advances 2021年第1期2021卷 384-393页

作者： Hongcai Gao Nicholas S.Grundish yongjie zhao Aijun Zhou John B.Goodenough Texas Materials Institute The University of Texas at AustinAustin Texas 78712USA

The integration of solid-polymer electrolytes into all-solid-state lithium batteries is highly desirable to overcome the limitations of current battery configurations that have a low energy density and severe safety *** is an appealing matrix for solid-polymer electrolytes;however,the practical utilization of such polymer electrolytes in all-solid-state cells is impeded by inferior ionic conductivity and instability against a lithium-metal *** this work,we show that a polymer-in-salt electrolyte based on polyacrylonitrile with a lithium salt as the major component exhibits a wide electrochemically stable window,a high ionic conductivity,and an increased lithium-ion transference *** growth of dendrites from the lithium-metal anode was suppressed effectively by the polymer-in-salt electrolyte to increase the safety features of the *** addition,we found that a stable interphase was formed between the lithium-metal anode and the polymer-in-salt electrolyte to restrain the uncontrolled parasitic reactions,and we demonstrated an all-solid-state battery configuration with a LiFePO4 cathode and the polymer-in-salt electrolyte,which exhibited a superior cycling stability and rate capability.

关键词： battery lithium electrolyte

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Review on the Development of the Surfactant Industry in China During the “12^(th) Five-year Plan” Period

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China Detergent & Cosmetics 2018年第2期3卷 23-29页

作者： zhao yongjie China Information Center of Daily Chemical Industry

Overview2011～2015 was the five-year period of rapid development of the surfactant industry in China, during this period,industrial project construction,industrial integration,technological innovation and product upgrading were scaled up. Based on incomplete statistics, during the "12^(th) Five-year Plan" period, the annual compound growth rate of the surfactant market capacity in China was up to 3.5%.By 2015, the apparent consumption of domestic market exceeded 4.1 million tons, where there were hundreds

关键词：表面活性剂化工行业市场分析发展现状

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Analysis on Development of China’s Cosmetics Industry from 2019 to 2020

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China Detergent & Cosmetics 2020年第3期5卷 54-58页

作者： zhao yongjie China Information Center of Daily Chemical Industry China

This article discusses China’s current cosmetics market scale trend,industry economic indicators,enterprise filing layout,product development direction and consumption characteristics in *** points out that China has become the major consumer market of cosmetics in the world with a huge production and management system,whose product structure tends to be differentiated and diversified and the consumer demand rises from surface to ***,there still exists a gap between China and foreign countries in terms of product development,so it is crucial to conduct product development and technological innovation according to consumer’s concerns.

关键词： cosmetics market scale filed products licensing registration

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Temperature dependent conductivity of Bi_4Ti_3O_(12) ceramics induced by Sr dopants

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Journal of Advanced Ceramics 2018年第3期7卷 256-265页

作者： Lin WANG Mengqi GUI Hai-Bo JIN Xinyuan HU yongjie zhao Naseer Muhammad ADNAN Jing-Bo LI Beijing Key Laboratory of Construction Tailorable Advanced Functional Materials and Green Applications School of Materials Science and EngineeringBeijing Institute of Technology

Bi_4Ti_3O_(12) is an important lead-free ferroelectric *** modification of Bi_4Ti_3O_(12)has attracted great attention to improving its *** this work,the effect of Sr dopants on the microstructure,dielectric,and conductivity of Bi_4Ti_3O_(12) ceramic was investigated by XRD,SEM,and AC impedance *** of 1 at%Sr for Bi decreased the grain size,suppressed the dielectric dispersion of Bi_4Ti_3O_(12) ceramic at room temperature,and resulted in different effects on the conductivity of grains and grain *** conductivity of grains in Bi_4Ti_3O_(12) ceramic was increased by the small amount of Sr dopants in the whole experimental temperature *** the grain boundaries of 1 at%Sr-doped Bi_4Ti_3O_(12) exhibited lower conductivity than pure Bi_4Ti_3O_(12) below～380℃and higher conductivity above～380℃.The experimental phenomena were interpreted in term of compensating defects for Sr dopants.

关键词： dielectric impedance analysis electrical properties defects Aurivillius compound

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