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Segment-wise learning control for trajectory tracking of robot manipulators under iteration-dependent periods

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Science China(Information Sciences) 2024年第3期67卷 155-166页

作者： Fan ZHANG Deyuan MENG Kaiquan CAI The Seventh Research Division Beihang University School of Automation Science and Electrical Engineering Beihang University School of Electronics and Information Engineering Beihang University

This paper is concerned with the amplitude boundedness problem of adaptive iterative learning control(AILC) for robot manipulators operating with iteration-dependent periods. By introducing virtual memory slots for storing historical data, a practical AILC method is proposed to achieve the segmentwise learning. This method requires less memory storage for historical information of previous iterations,especially in comparison with that of the conventional AILC methods using point-wise learning strategies.It is shown that not only the energy boundedness but also the amplitude boundedness of estimates and inputs of practical AILC can be guaranteed. Moreover, the practical AILC method can achieve the perfect tracking objective regardless of iteration-dependent periods when the robot manipulators have a persistent full learning property. In addition, a solution to the visual manipulator platform is provided and deployed based on Coppeliasim and Matlab, which helps to show the amplitude boundedness of learning results and the perfect tracking performances of the proposed practical AILC method for robot manipulators.

关键词： amplitude boundedness iteration-dependent period iterative learning control robot manipulator segment-wise virtual memory slot

Effect of Ni content on the wear behavior of Al-Si-Cu-Mg-Ni/SiC particles composites

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International Journal of Minerals,Metallurgy and Materials 2024年第2期31卷 374-383页

作者： Yanyu Liu Lina Jia Wenbo Wang Zuheng Jin Hu Zhang School of Materials Science and Engineering Beihang UniversityBeijing 100191China Ningbo Institute of Technology Beihang UniversityNingbo 315100China Qingdao Research Institute of Beihang University Qingdao 266000China Research Institute for Frontier Science Beihang UniversityBeijing 100191China

In recent years,the addition of Ni has been widely acknowledged to be capable of enhancing the mechanical properties of Al-Si alloys.However,the effect of Ni on the wear behaviors of Al-Si alloys and Al matrix composites,particularly at elevated temperat-ures,remains an understudied area.In this study,Al-Si-Cu-Mg-Ni/20wt%SiC particles(SiCp)composites with varying Ni contents were prepared by using a semisolid stir casting method.The effect of Ni content on the dry sliding wear behavior of the prepared compos-ites was investigated through sliding tests at 25 and 350℃.Results indicated that theθ-Al_(2)Cu phase gradually diminished and eventually disappeared as the Ni content increased from 0wt%to 3wt%.This change was accompanied by the formation and increase inδ-Al_(3)CuNi andε-Al_(3)Ni phases in microstructures.The hardness and ultimate tensile strength of the as-cast composites improved,and the wear rates of the composites decreased from 5.29×10^(−4)to 1.94×10^(−4)mm^(3)/(N∙m)at 25℃and from 20.2×10^(−4)to 7×10^(−4)mm^(3)/(N∙m)at 350℃with the increase in Ni content from 0wt%to 2wt%.The enhancement in performance was due to the presence of strengthening network structures and additional Ni-containing phases in the composites.However,the wear rate of the 3Ni composite was approximately two times higher than that of the 2Ni composite due to the fracture and debonding of theε-Al_(3)Ni phase.Abrasive wear,delamination wear,and oxidation wear were the predominant wear mechanisms of the investigated composites at 25℃,whereas delamination wear and oxid-ation wear were dominant during sliding at 350℃.

关键词： Al matrix composite microstructure sliding test high temperature wear mechanism

Mismatch loss analysis of solar array output power on stratospheric airship during flight

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Chinese Journal of Aeronautics 2024年第2期37卷 371-384页

作者： Siyu LIU Kangwen SUN Haoquan LIANG Xinzhe JI Tong ZOU Chuan SHAN School of Aeronautic Science and Engineering Beihang UniversityBeijing 100191China Yunnan Innovation Institute Beihang UniversityKunming 650233China Institute of Unmanned System Beihang UniversityBeijing 100191China

Stratospheric airships are long-endurance aerostats and have broad applications.All of the energy required for their operation is obtained from solar radiation,which makes accurate calculation of the energy output from the solar array crucial to the design and flight planning of the airships.However,the status of each photovoltaic module in the solar array may differ due to the airship curvature,resulting in mismatch losses and lowered output power,which has not been widely studied.In this paper,an irradiation model and a thermal model are established based on the actual arrangement of the modules.The output power model is established considering the non-uniform radiation in the array.The mismatch losses of the array are analyzed under different flight conditions.The output power of the solar array is decreased by up to 31.6%compared to the ideal state.Moreover,the proportion of mismatch losses increases with latitude,but the maximum mismatch loss power occurs at mid-latitudes.Then,an array reconfiguration method is proposed based on the irradiance dispersion index and position dispersion index.The reconfigured array increases output power by 11.5%and can maintain energy balance in continuous flight.The results can be used to correct the overestimation of the output power during the airship design or to guide the configuration of the solar array.

关键词： Stratospheric airship Solar panels Solar energy Non-uniform irradiation Mismatch loss assessment Reconfiguration

A discussion of fatigue properties of notched specimens subjected to prestressing treatment machined from FGH4097

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Chinese Journal of Aeronautics 2024年第4期37卷 508-523页

作者： Rongxi SHI Dasheng WEI Le HAN Shun YANG School of Energy and Power Engineering Beihang UniversityBeijing 100191China Jiangxi Research Institute Beihang UniversityNanchang 330096China Research Institute of Aero-Engine Beihang UniversityBeijing 100191China

Experimental and numerical investigations were performed to reveal the effect of prestress on the fatigue properties of FGH4097 so as to quantitatively evaluate the overspeed benefit of the disc of aeroengine. A corresponding experiment was performed to examine the effect of prestress on the fatigue life of FGH97. A complete model describing the fatigue properties of the prestressed notch specimen was proposed. After the modification of mean stress, stress gradient and prestressing treatment, the model is finally verified by fatigue test of presstressed notch specimens machined from FGH4097 with satisfactory accuracy and good engineering applicability. The new model highlights that for the variable fatigue loads, the introduction of appropriate prestress is expected to benefit to the notch specimens and certainly to the disc of aeroengine regards of their fatigue properties. Both the calculation method of fatigue life parameters and the prestress correction model are proved to have good prediction accuracy.

关键词： Turbine blisk Overspeed test Prestress Fatigue life prediction FGH4097

A Secure Mutual Authentication Protocol Based on Visual Cryptography Technique for IoT-Cloud

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Chinese Journal of Electronics 2024年第1期33卷 43-57页

作者： Brou Bernard Ehui Chen CHEN Shirui WANG Hua GUO Jianwei LIU School of Cyber Sciences and Technology Beihang University State Key Laboratory of Software Development Environment Beihang University Sino-French Engineering School Beihang University beihang Hangzhou Innovation Institute Yuhang

Because of the increasing number of threats in the IoT cloud, an advanced security mechanism is needed to guard data against hacking or attacks. A user authentication mechanism is also required to authenticate the user accessing the cloud services. The conventional cryptographic algorithms used to provide security mechanisms in cloud networks are often vulnerable to various cyber-attacks and inefficient against new attacks. Therefore,developing new solutions based on different mechanisms from traditional cryptography methods is required to protect data and users’ privacy from attacks. Different from the conventional cryptography method, we suggest a secure mutual authentication protocol based on the visual cryptography technique in this paper. We use visual cryptography to encrypt and decrypt the secret images. The mutual authentication is based on two secret images and tickets.The user requests the ticket from the authentication server(AS) to obtain the permission for accessing the cloud services. Three shared secret keys are used for encrypting and decrypting the authentication process. We analyze the protocol using the Barrows-Abadi-Needham(BAN)-logic method and the results show that the protocol is robust and can protect the user against various attacks. Also, it can provide a secure mutual authentication mechanism.

关键词： Internet of things Visual cryptography Security Mutual authentication IoT-cloud

Modified constitutive models for Inconel 718 considering current density and temperature in electrically assisted forming process

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Chinese Journal of Aeronautics 2024年第2期37卷 524-540页

作者： Xuan CUI Rui ZHAO Min WAN School of Mechanical Engineering and Automation Beihang UniversityBeijing 100191China Jiangxi Research Institute of Beihang University Jiangxi 330000China

Electrically Assisted Forming(EAF)technology has obvious advantages in material forming.To develop an effective constitutive model considering electrical effects,room temperature and electrically assisted quasi-static uniaxial tensile tests were conducted using ultrathin nickelbased superalloy plates with a thickness of 0.25 mm.The research focused on the two most widely recognized effects:the Joule thermal and the electric athermal effects.The mechanism of current action can be divided into two scenarios:one considering the Joule thermal effect only,and the other considering both effects simultaneously.Two basic constitutive models,namely the Modified-Hollomon model and the Johnson-Cook(J-C)model,were selected to be optimized through the classification of two different situations,and four optimized constitutive models were proposed.It was found that the J-C model with simultaneous consideration of the Joule thermal effect and electric athermal effect had the best prediction effect by comparing the results of these four models.Finally,the accuracy of the optimization model was verified by finite element simulation of the electrically assisted stretching optimization model.The results show that the constitutive model can effectively predict the temperature effect caused by the Joule heat effect and the athermal effect of current on the material.

关键词： Joule heating Elastoplasticity Plastic deformation Superalloys Constitutive models

Microstructure evolution and mechanical properties of brazing joint for ultra-thin-walled Inconel 718 considering grain size effect and brazing temperature

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Chinese Journal of Aeronautics 2024年第2期37卷 541-556页

作者： Rui ZHAO Yueshuai SONG Hui KANG Min WAN School of Mechanical Engineering and Automation Beihang UniversityBeijing 100191China Jiangxi Research Institute of Beihang University Jiangxi 330000China

The systematic investigation of the mechanical properties and microstructure evolution process of ultra-thin-walled Inconel 718 capillary brazing joints is of great significance because of the exceptionally high demands on its application.To achieve this objective,this study investigates the impact of three distinct brazing temperatures and five typical grain sizes on the brazed joints’mechanical properties and microstructure evolution process.Microstructural evolution analysis was conducted based on Electron Back Scatter Diffraction(EBSD),Scanning Electron Microscopy(SEM),X-Ray Diffraction(XRD),High-Resolution Transmission Electron Microscopy(HRTEM),and Focused Ion Beam(FIB).Besides,the mechanical properties and fracture behavior were studied based on the uniaxial tension tests and in-situ tension tests.The findings reveal that the brazing joint’s strength is higher for the fine-grain capillary than the coarse-grain one,primarily due to the formation of a dense branch structure composed of G-phase in the brazing seam.The effects of grain size,such as pinning and splitting,are amplified at higher brazing temperatures.Additionally,micro-cracks initiate around brittle intermetallic compounds and propagate through the eutectic zone,leading to a cleavage fracture mode.The fracture stress of fine-grain specimens is higher than that of coarse-grain due to the complex micro-crack path.Therefore,this study contributes significantly to the literature by highlighting the crucial impact of grain size on the brazing properties of ultra-thin-walled Inconel 718 structures.

关键词： EYWORDS Ultra-thin-walled structure Brazing Inconel 718 Grain size effect Brazing temperature

Automatic modeling algorithm of stochastic error for inertial sensors

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Control Theory and Technology 2024年第1期22卷 81-91页

作者： Luodi Zhao Long Zhao School of Automation Science and Electrical Engineering Beihang UniversityBeijing100191China Digital Navigation Center Beihang UniversityBeijing100191China Science and Technology on Aircraft Control Laboratory Beihang UniversityBeijing100191China

This paper proposes an automatic algorithm to determine the properties of stochastic processes and their parameters for inertial error. The proposed approach is based on a recently developed method called the generalized method of wavelet moments (GMWM), whose estimator was proven to be consistent and asymptotically normally distributed. This algorithm is suitable mainly (but not only) for the combination of several stochastic processes, where the model identification and parameter estimation are quite difficult for the traditional methods, such as the Allan variance and the power spectral density analysis. This algorithm further explores the complete stochastic error models and the candidate model ranking criterion to realize automatic model identification and determination. The best model is selected by making the trade-off between the model accuracy and the model complexity. The validation of this approach is verified by practical examples of model selection for MEMS-IMUs (micro-electro-mechanical system inertial measurement units) in varying dynamic conditions.

关键词： GMWM Stochastic process Inertial sensor Sensor calibration Error model Allan variance

Numerical investigation and modeling of sweep effects on inlet flow field of axial compressor cascades

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Chinese Journal of Aeronautics 2024年第2期37卷 296-308页

作者： Jiancheng ZHANG Donghai JIN Xingmin GUI School of Energy and Power Engineering Beihang UniversityBeijing 100191China Jiangxi Research Institue of Beihang University Nanchang 330096China

Swept blades are widely utilized in transonic compressors/fans and provide high load,high through-flow,high efficiency,and adequate stall margin.However,there is limited quantitative research on the mechanism of the effect of swept blades on the flow field,resulting in a lack of direct quantitative guidance for the design and analysis of swept blades in fans/compressors.To better understand this mechanism,this study employs a reduced-dimensional force equilibrium method to analyze more than 1500 swept cascades data.Results verify that circumferential fluctuation terms are responsible for inducing radial migration in the inlet airflow field of the swept blade,resulting in variations in the incidence angle and consequently leading to changes in the characteristics of the swept blade.Thus,a combination of simple functions and machine learning is utilized to model the circumferential fluctuation terms and quantify the sweep mechanism.The prediction accuracy of the model is high,with coefficient of determination greater than 0.95 on the test set.When the model is applied in a meridional flow analysis program,the calculation accuracy of the program for the incidence angle is improved by 0.4°and 0.6°at the design and off-design conditions respectively,compensating for the program’s original deficiencies.Meanwhile,the model can also provide quantitative guidance for the design of swept blades,thereby reducing the number of design iterations and improving design efficiency.

关键词： Turbomachinery Sweep aerodynamics Quasi-3D method Incidence angle Circumferential fluctuation Machine learning