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Virtual Product Development Integrated with KBE

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武汉理工大学学报 2006年第S1期28卷 296-300页

作者： ZHU Wenhua1,MA Dengzhe2 (1.cims and robot center,Shanghai University,Shanghai 200072,China 2.CIM Research Institute,Shanghai JiaoTong University,Shanghai 200030,China) cims and robot center Shanghai UniversityShanghai 200072China CIM Research Institute Shanghai JiaoTong UniversityShanghai 200030China

This paper analyses the integration modes of the virtual product development with KBE. The system architecture of virtual product development with KBE has been built and the key technique has been studied to support the system. Knowledge driven method has been put forward based on the traditional theory as a new method of virtual product development. An applied case is presented by taking moving cone assembly as an example to illustrate the process of knowledge driven method in detail. This concludes virtual product development integrated with KBE is feasible to raise the design efficiency and promote the sharing of information and knowledge.

关键词： virtual product development knowledge based engineering(KBE) architecture knowledge driven

Model Construct Based Enterprise Model Architecture and Its Modeling Approach

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High Technology Letters 2002年第1期8卷 46-53页

作者：乔非 Wu Qidi YAN Junwei cims Research center Tongji University Shanghai 200092 P.R.China

In order to support enterprise integration, a kind of model construct based enterprise model architecture and its modeling approach are studied in this paper. First, the structural makeup and internal relationships of enterprise model architecture are discussed. Then, the concept of reusable model construct (MC) which belongs to the control view and can help to derive other views is proposed. The modeling approach based on model construct consists of three steps, reference model architecture synthesis, enterprise model customization, system design and implementation. According to MC based modeling approach a case study with the background of one-kind-product machinery manufacturing enterprises is illustrated. It is shown that proposal model construct based enterprise model architecture and modeling approach are practical and efficient.

关键词： Enterprise model architecture Modeling Model construct Reference model

GENERATION AND APPLICATION OF VARIATIONAL GEOMETRIC CONSTRAINTS NETWORK BASED ON ISO'S FEATURE

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Chinese Journal of Mechanical Engineering 2002年第4期15卷 319-323页

作者： Hu JieState cims Engineering Research center, Tsinghua University, Beijing 100084, ChinaWu Zhaotong Zhejiang University Tsinghua University State CIMS Engineering Research Center 北京 100084 Zhejiang University

The concept of variantional geometric constraints network is presented. Basedon ISO's feature, three kinds of variational geometric constraints are defined. The concepts ofmate tree (MT) and loop circuit (LC) are presented. The generation method of well-constrainedvariational geometric constraints network (VGCN) is studied. The network can be applied ingeneration of well-constrained tolerance types and tolerance chains. A simple example is analyzed toshow the scheme to be effective.

关键词： ISO's feature variational geometric constraint tolerance

The evolution of robotics:research and application progress of dental implant robotic systems

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International Journal of Oral Science 2024年第2期16卷 173-185页

作者： Chen Liu Yuchen Liu Rui Xie Zhiwen Li Shizhu Bai Yimin Zhao State Key Laboratory of Oral&Maxillofacial Reconstruction and Regeneration Xi’anChina National Clinical Research center for Oral Diseases Xi’anChina Shaanxi Key Laboratory of Stomatology Xi’anChina Digital center School of StomatologyThe Fourth Military Medical UniversityXi’anChina

The use of robots to augment human capabilities and assist in work has long been an *** has been developing since the 1960s when the first industrial robot was *** technology has advanced,robotic-assisted surgery has shown numerous advantages,including more precision,efficiency,minimal invasiveness,and safety than is possible with conventional techniques,which are research hotspots and cutting-edge *** article reviewed the history of medical robot development and seminal research papers about current research *** the autonomous dental implant robotic system as an example,the advantages and prospects of medical robotic systems would be discussed which would provide a reference for future research.

关键词： robot robotic application

A learning-based control pipeline for generic motor skills for quadruped robots

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Journal of Zhejiang University-Science A(Applied Physics & Engineering) 2024年第6期25卷 443-454页

作者： Yecheng SHAO Yongbin JIN Zhilong HUANG Hongtao WANG Wei YANG center for X-Mechanics Zhejiang UniversityHangzhou310027China ZJU-Hangzhou Global Scientific and Technological Innovation center Hangzhou311200China State Key Laboratory of Fluid Power&Mechatronic Systems Zhejiang UniversityHangzhou310058China Institute of Applied Mechanics Zhejiang UniversityHangzhou310027China

Performing diverse motor skills with a universal controller has been a longstanding challenge for legged *** motion imitation-based reinforcement learning(RL)has shown remarkable performance in reproducing designed motor skills,the trained controller is only suitable for one specific type of *** synthesis has been well developed to generate a variety of different motions for character animation,but those motions only contain kinematic information and cannot be used for *** this study,we introduce a control pipeline combining motion synthesis and motion imitation-based RL for generic motor *** design an animation state machine to synthesize motion from various sources and feed the generated kinematic reference trajectory to the RL controller as part of the *** the proposed method,we show that a single policy is able to learn various motor skills ***,we notice the ability of the policy to uncover the correlations lurking behind the reference motions to improve control *** analyze this ability based on the predictability of the reference trajectory and use the quantified measurements to optimize the design of the *** demonstrate the effectiveness of our method,we deploy the trained policy on hardware and,with a single control policy,the quadruped robot can perform various learned skills,including automatic gait transitions,high kick,and forward jump.

关键词： Quadruped robot Reinforcement learning(RL) Motion synthesis Control

A Magnetic-Driven Multi-motion robot with Position/Orientation Sensing Capability

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Research 2024年第1期2023卷 675-685页

作者： Liwen Zhang Song Zhao Xinzhao Zhou Xueshan Jing Yu Zhou Yan Wang Yantong Zhu Xiaolin Liu Zehui Zhao Deyuan Zhang Lin Feng Huawei Chen School of Mechanical Engineering and Automation Beihang UniversityBeijingChina Beijing Advanced Innovation center for Biomedical Engineering Beihang UniversityBeijingChina

Miniature magnetic-driven robots with multimode motions and high-precision pose sensing capacity(position and orientation)are greatly demanded in in situ manipulation in narrow opaque enclosed *** magnetic robots have been carried out,whereas their deformations normally remain in single mode,and the lack of the robot’s real-time status leads to its beyond-sight remagnetization and manipulation being *** function integration of pose sensing and multimode motion is still of ***,a multimotion thin-film robot is created in a novel multilayer structure with a magneticdriven layer covered by a heating-sensing conductive *** a heating-sensing layer not only can segmentally and on-demand heat the magnetic-driven layer for in situ magnetization reprogramming and multimode motions but also can precisely detect the robot’s pose(position and orientation)from its electrical-resistance effect by creating a small deformation under preset magnetic fields.

关键词： robot robot motion

Development of a Simulation Package with Expert System for FMS in Windows Environment

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High Technology Letters 1996年第1期2卷 5-8页

作者：张浩 cims Research center Tongji UniversityShanghai 200092P.R.China

This paper introduces the method of developing a simulation package with expert systemfor a flexible manufacturing system(FMS)in Windows environment and presents some sim-ulation results for real examples.

关键词： FMS Expert system Dynamic graphics simulation Object-oriented programming

Real-Time Control for CPS of Digital Airplane Assembly with Robust H-Infinity Theory

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Tsinghua Science and Technology 2015年第4期20卷 376-384页

作者： Hui Li Linxuan Zhang Tianyuan Xiao Jietao Dong State cims Engineering Research Cente at Tsinghua University

This study introduces a real-time controller design method under the effects of network time delay and external disturbance. The study first introduces the digital, virtual, intelligent trend of airplane assembly and reveals the status and problems of digital airplane assembly studies. The Cyber-Physical System （CPS） structure is then proposed for digital airplane assembly, and the real-time control issues are discussed. Then, the question of real- time control undertaken by a parallel robot is simplified to a control question with bounded time delay and complex interference, and a mathematical description is presented. Next, a robust Hoo controller with a disturbance degree of decay 7 is designed according to the mathematical description. Finally, a simulation is conducted. All of the experiment results show the feasibility of the above proposed methods.

关键词： cyber physical system network time delay robust H-infinity control linear matrix inequality

Study on an Configuration Framework for Product Family

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High Technology Letters 2001年第4期7卷 58-62页

作者：董建华 Xiao Tianyuan Qiao Guixiu National cims Engineering Research center Tsinghua University

In implementing mass customization, how to respond rapidly to customers’ requirements is a key problem. Configuration design is considered effective in early stage of product design. This paper studies a configuration method based on constraints and fuzzy decision for product family. The configuration method is evolved from constraint based product configuration. It employs fuzzy optimum selection in the reasoning process, which can select similar components when customers’ requirements can not be met precisely. In the configurator, product family is represented with GBOM(Generic Bill Of Material) and ACL(Article Characteristic List). Every node of GBOM has an ACL to list all instances of a component family. Constraints are attached to every node, which involves variable definition and constraints definition. In the reasoning process, constraint satisfaction and fuzzy optimum selection interact to search optimum solution. A prototype is developted to demonstrate how to run the configurator. The paper ends with a discussion of advantages, future work of the configuration method.

关键词： Mass customization Product family Configuration design Constraints Fuzzy decision