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A Bionic Starfish Adsorption Crawling Soft Robot

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Journal of Bionic Engineering 2024年第1期21卷 149-165页

作者： Xiangang Huang Chenghao Zhang Wenqi Feng Xiangye Zhang Deyuan Zhang Yanqiang Liu Institute of Bionic and Micro-Nano Systems School of Mechanical Engineering and AutomationBeihang UniversityBeijing 100191China

A variety of soft wall-climbing robots have been developed that can move in certain *** of these soft robots can only move on conventional surfaces and lack adaptability to complex *** the adaptability of soft robots on complex surfaces is still a challenging *** this end,we study the layered structure of the starfish tube foot and the valve flap structure in the water vascular system,and use an ultrasonic stress detector to study the stiffness distribution of the arm *** by the motion of the starfish,we present a bionic soft wall-climbing robot,which is driven by two groups of pneumatic feet and achieves body bending through active adaptation *** design the structure of the foot to flex to provide driving force,and there are suction cups at the end of the foot to provide *** soft foot has a simple structure design,adapts to a variety of surfaces,and does not damage the surface of the *** stiffness layers achieve stiffness changes by the principle of line *** Central Pattern Generator theory is introduced to coordinately control the multiple feet of the *** experiments,we verify the adaptability of the soft robot to curved *** research may provide a reference for the design and development of crawling soft robots on complex surfaces.

关键词： Starfish Tube foot Biomimetic robot Soft robot Climbing robot

Number of Solitons Emerged in the Initial Profile of Shallow Water Using Convolutional Neural Networks

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Journal of Systems Science & Complexity 2024年第2期37卷 463-479页

作者： WANG Zhen CUI Shikun School of Mathematical Sciences Dalian University of TechnologyDalian 116024China School of Mathematical Sciences Beihang UniversityBeijing 100191China

The soliton resolution conjecture proposes that the initial value problem can evolve into a dispersion part and a soliton ***,the problem of determining the number of solitons that form in a given initial profile remains unsolved,except for a few specific *** this paper,the authors use the deep learning method to predict the number of solitons in a given initial value of the Korteweg-de Vries(KdV)*** leveraging the analytical relationship between Asech^(2)(x)initial values and the number of solitons,the authors train a Convolutional Neural Network(CNN)that can accurately identify the soliton count from spatio-temporal *** trained neural network is capable of predicting the number of solitons with other given initial values without any additional *** extensive calculations,the authors demonstrate the effectiveness and high performance of the proposed method.

关键词： Convolutional neural network deep learning method KdV equation soliton

High-precision alkali-atom density measurement and control methods using light absorption for dual-beam SERF magnetometers

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Chinese Optics Letters 2024年第5期22卷 41-46页

作者：刘子傲陆吉玺胡朝晖李晓昱闫一凡詹迪李建利 Key Laboratory of Ultra-Weak Magnetic Field Measurement Technology Ministry of EducationSchool of Instrumentation and Optoelectronic EngineeringBeihang UniversityBeijing 100191China Zhejiang Provincial Key Laboratory of Ultra-Weak Magnetic-Field Space and Applied Technology Hangzhou Innovation InstituteBeihang UniversityHangzhou 310051China Hefei National Laboratory Hefei 230088China Shen Yuan Honors College Beihang UniversityBeijing 100191China

The alkali-atom density measurement method based on light absorption is highly suitable for a spin-exchange relaxationfree(SERF)atomic magnetometer because of its high-precision measurement and complete nonmagnetic *** this study,the optical rotation angle detection system based on polarization balance detection is utilized to realize the alkali-atom density real-time measurement without affecting magnetic field *** discovered that there exists an optimal frequency detuning of the probe light,which offers the highest sensitivity in alkali-atom density measurement and the lowest susceptibility to temperature fluctuations in terms of the scale *** contrast to conventional light absorption measurements based on pump light,this method demonstrated a threefold improvement in alkali-atom density measurement sensitivity while remaining immune to ambient magnetic fields and incident light intensity ***,we utilized this method to achieve closed-loop temperature control with an accuracy of 0.04℃.

关键词： light absorption temperature measurement and control dual-beam SERF magnetometer

Adaptive active inceptor design under shared control architecture for nonlinear pilot-induced oscillations

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Chinese Journal of Aeronautics 2024年第6期37卷 276-292页

作者： Xiaoyu LIU Liguo SUN Wenqian TAN Shuting XU Junkai JIAO School of Aeronautic Science and Engineering Beihang UniversityBeijing 100191China College of Engineering Beijing Forestry UniversityBeijing 100083China

This paper presents a Shared Control Architecture(SCA)between a human pilot and a smart inceptor for nonlinear Pilot Induced Oscillations(PIOs),e.g.,category II or III *** innovation of this paper is that an intelligent shared control architecture is developed based on the intelligent active inceptor technique,i.e.,Smart Adaptive Flight Effective Cue(SAFE-Cue).A deep reinforcement learning approach namely Deep Deterministic Policy Gradient(DDPG)method is chosen to design a gain adaptation mechanism for the SAFE-Cue *** doing this,the gains of the SAFE-Cue will be intelligently tuned once nonlinear PIOs triggered;meanwhile,the human pilot will receive a force cue from the SAFE-Cue,and will consequently adapting his/her control *** second innovation of this paper is that the reward function of the DDPG based gain adaptation approach is constructed according to flying *** the premise of considering failure situation,task completion qualities and pilot workload are also taken into ***,the proposed approach is validated using numerical simulation experiments with two types of scenarios:lower actuator rate limits and airframe *** Inceptor Peak Power-Phase(IPPP)metric is adopted to analyze the human-vehicle system simulation *** and analysis show that the DDPG based sharing control approach can well address nonlinear PIO problems consisting of Categories Ⅱ and Ⅲ PIO events.

关键词： Shared control architecture Activeinceptor Deep reinforcement learning Nonlinear pilot-induced oscillations Human-vehicle system

Study on the Impact of Imbalance between Transmission Lines on Crosstalk: a Novel Perspective of Displacement Current

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Chinese Journal of Electronics 2024年

作者： Xiaozhu LU Lingnan SONG Hui XU Donglin SU School of Electronics and Information Engineering Beihang University Research Institute for Frontier Science Beihang University

This paper systematically studies the impact of imbalances between adjacent lines and effects on crosstalk. A novel perspective of displacement current is introduced to analyze and explain the simulated observations. The imbalances caused by coupling between single-single, single-differential, and differential-differential lines are studied and analyzed by considering the near-field coupling through the generated displacement currents. Measurements are conducted for various cases of coupled adjacent lines. An equivalent model considering the variation of displacement current with geometrical parameters is also proposed, and the corresponding coupling coefficients are extracted based on simulations to characterize the impact of imbalances. The methods and results presented in this paper provide useful guidelines for designing high-speed circuit layouts with closely spaced transmission lines.

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State of the art in movement around a remote point:a review of remote center of motion in robotics

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Frontiers of Mechanical Engineering 2024年第2期19卷 1-28页

作者： Wuxiang ZHANG Zhi WANG Ke MA Fei LIU Pengzhi CHENG Xilun DING School of Mechanical Engineering and Automation Beihang UniversityBeijing 100191China Ningbo Institute of Technology Beihang UniversityNingbo 315832China Intelligent Aerospace Manufacturing Engineering Technology Co. Ltd.Beijing 100191China

The concept of remote center of motion(RCM)is pivotal in a myriad of robotic applications,encompa-ssing areas such as medical robotics,orientation devices,and exoskeletal *** efficacy of RCM technology is a determining factor in the success of these robotic *** paper offers an exhaustive review of RCM technologies,elaborating on their various methodologies and practical *** delves into the unique characteristics of RCM across different degrees of freedom(DOFs),aiming to distill their fundamental *** addition,this paper categorizes RCM approaches into two primary classifications:design based and control *** are further organized according to their respective DOFs,providing a concise summary of their core *** upon the understanding of RCM’s versatile capabilities,this paper then transitions to an in-depth exploration of its applications across diverse robotic *** this review,we critically analyze the existing research challenges and issues that are inherently present in both RCM methodologies and their *** discussion is intended to serve as a guiding framework for future research endeavors and practical deployments in related areas.

关键词： remote center of motion mechanism robotics medical robot orientation device exoskeleton

Experimental Study of Fuel-Air Mixing and Dilution Jets on Outlet Temperature Distribution in a Small Gas Turbine Combustor

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Journal of Thermal Science 2024年第5期33卷 1883-1896页

作者： CAI Wenzhe WU Jing HU Yingqi YANG Zhiqiang XUE Xin LIN Yuzhen National Key Laboratory of Science and Technology on Aero-Engine Aero-thermodynamics Research Institute of Aero-EngineBeihang UniversityBeijing 100191China Beijing Institute of Power Machinery Beijing 100074China School of Energy and Power Engineering Beihang UniversityBeijing 100191China

Experimental analysis was conducted to study the impact of fuel-air mixing and dilution jet on the temperature distribution in a small gas turbine combustor using various optical diagnostic *** strength and velocity of the swirler at the venturi exit were adjusted to modify the fuel-air mixture,which is presumed to dominate the heat release of the main combustion ***,the dilution hole configuration,including the number and size of the holes,was varied to investigate the dilution effect on outlet temperature *** optical diagnostic techniques,such as particle image velocimetry,planar Mie scattering,and OH~*chemiluminescence,were used to measure the flow field,fuel spray distribution,and flame structure,respectively.A reduction in swirling strength led to a decrease in the average flow rate in the throat,which improved the structure and symmetry of the axial vortex system in the sleeve,enhanced the mixing of fuel and gas in the dome swirling air,and ultimately,improved the temperature uniformity of the heat release *** to larger and sparse dilution jets,smaller and dense dilution jets tended to generate hot spots shifted towards the radial middle area.

关键词： small gas turbine combustor fuel-air mixing outlet temperature distribution dilution jet laser diagnostics

QAAS:quick accurate auto-scaling for streaming processing

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Frontiers of Computer Science 2024年第1期18卷 5-15页

作者： Shiyuan LIU Yunchun LI Hailong YANG Ming DUN Chen CHEN Huaitao ZHANG Wei LI State Key Laboratory of Software Development Environment Beijing 100191China School of Computer Science and Engineering Beihang UniversityBeijing 100191China School of Cyber Science and Technology Beihang UniversityBeijing 100191China School of Computer Science and Technology Xi’an Jiaotong UniversityXi’an 710049China

In recent years,the demand for real-time data processing has been increasing,and various stream processing systems have *** the amount of data input to the stream processing system fluctuates,the computing resources required by the stream processing job will also *** resources used by stream processing jobs need to be adjusted according to load changes,avoiding the waste of computing *** present,existing works adjust stream processing jobs based on the assumption that there is a linear relationship between the operator parallelism and operator resource consumption(e.g.,throughput),which makes a significant deviation when the operator parallelism *** paper proposes a nonlinear model to represent operator *** divide the operator performance into three stages,the Non-competition stage,the Non-full competition stage,and the Full competition *** our proposed performance model,given the parallelism of the operator,we can accurately predict the CPU utilization and operator *** with actual experiments,the prediction error of our model is below 5%.We also propose a quick accurate auto-scaling(QAAS)method that uses the operator performance model to implement the auto-scaling of the operator parallelism of the Flink *** to previous work,QAAS is able to maintain stable job performance under load changes,minimizing the number of job adjustments and reducing data backlogs by 50%.

关键词： stream processing performance model auto-scaling

A survey of composite robot for aviation intelligent manufacturing application

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High Technology Letters 2024年第1期30卷 85-98页

作者：陶永 XUE Jiao WEI Hongxing LIU Haitao GAO He WANG Tianmiao School of Mechanical Engineering&Automation Beihang UniversityBeijing 100191P.R.China Research Institute of Aero Engine Beihang UniversityBeijing 100191P.R.China

With the rapid development of the aviation industry,the development of intelligent manufacturing equipment represented by composite robots has been paid close attention by the aviation *** on the analysis of the background and main structure function of composite robots,this paper focuses on the analysis of key technologies such as composite robot hardware design,visual sensing and planning system,integrated control of‘hands,feet,and eyes',multi-robot collaborative operation,and *** typical applications of composite robots in aviation intelligent manufacturing such as automatic drilling and connection of aircraft,aircraft surface spraying and finishing,parts handling,aircraft measurement,and inspection are *** development trends such as standardization of composite robots,integration of‘5G+cloud computing+AI',and fusion of intelligent sensors are proposed.

关键词： aviation manufacturing composite robot key technology development trend safety