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An Aerial–Wall Robotic Insect That Can Land, Climb, and Take Off from Vertical Surfaces

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Research 2024年第1期2023卷 149-163页

作者： Qian Li Haoze Li Huan Shen Yangguang Yu Haoran He Xincheng Feng Yi Sun Zhiyuan Mao Guangming Chen Zongjun Tian Lida Shen Xiangming Zheng Aihong Ji college of mechanical and Electrical engineering Nanjing University of Aeronautics and AstronauticsNanjingChina college of aerospace engineering Nanjing University of Aeronautics and AstronauticsNanjingChina State Key Laboratory of Mechanics and Control for aerospace Structures Nanjing University of Aeronautics and AstronauticsNanjingChina

Insects that can perform flapping-wing flight,climb on a wall,and switch smoothly between the 2 locomotion regimes provide us with excellent biomimetic ***,very few biomimetic robots can perform complex locomotion tasks that combine the 2 abilities of climbing and ***,we describe an aerial–wall amphibious robot that is self-contained for flying and climbing,and that can seamlessly move between the air and *** adopts a flapping/rotor hybrid power layout,which realizes not only efficient and controllable flight in the air but also attachment to,and climbing on,the vertical wall through a synergistic combination of the aerodynamic negative pressure adsorption of the rotor power and a climbing mechanism with bionic adhesion *** the basis of the attachment mechanism of insect foot pads,the prepared biomimetic adhesive materials of the robot can be applied to various types of wall surfaces to achieve stable *** longitudinal axis layout design of the rotor dynamics and control strategy realize a unique cross-domain movement during the flying–climbing transition,which has important implications in understanding the takeoff and landing of ***,it enables the robot to cross the air–wall boundary in 0.4 s(landing),and cross the wall–air boundary in 0.7 s(taking off).The aerial–wall amphibious robot expands the working space of traditional flying and climbing robots,which can pave the way for future robots that can perform autonomous visual monitoring,human search and rescue,and tracking tasks in complex air–wall environments.

关键词： robot smoothly Vertical

Pipeline thickness estimation using the dispersion of higher-order SH guided waves

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Chinese Physics B 2024年第7期33卷 389-396页

作者：代政辰刘金霞龙云飞张建海 Tribikram Kundu 崔志文 Department of Acoustics and Microwave Physics College of PhysicsJilin UniversityChangchun 130012China School of mechanical and aerospace engineering Jilin UniversityChangchun 130025China Department of Civil and Architectural engineering and Mechanics University of ArizonaTucsonArizona 85721USA college of aerospace and mechanical engineering University of ArizonaTucsonAZ 85721USA State Key Laboratory of Acoustics Institute of AcousticsChinese Academy of SciencesBeijing 100190China

Thickness measurement plays an important role in the monitoring of pipeline corrosion damage. However, the requirement for prior knowledge of the shear wave velocity in the pipeline material for popular ultrasonic thickness measurement limits its widespread application. This paper proposes a method that utilizes cylindrical shear horizontal(SH) guided waves to estimate pipeline thickness without prior knowledge of shear wave velocity. The inversion formulas are derived from the dispersion of higher-order modes with the high-frequency approximation. The waveform of the example problems is simulated using the real-axis integral method. The data points on the dispersion curves are processed in the frequency domain using the wave-number method. These extracted data are then substituted into the derived formulas. The results verify that employing higher-order SH guided waves for the evaluation of thickness and shear wave velocity yields less than1% error. This method can be applied to both metallic and non-metallic pipelines, thus opening new possibilities for health monitoring of pipeline structures.

关键词： pipeline wall thickness higher-order modes SH guided waves dispersion

Fault Estimation for a Class of Markov Jump Piecewise-Affine Systems: Current Feedback Based Iterative Learning Approach

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IEEE/CAA Journal of Automatica Sinica 2024年第2期11卷 418-429页

作者： Yanzheng Zhu Nuo Xu Fen Wu Xinkai Chen Donghua Zhou IEEE college of Electrical engineering and Automation Shandong University of Science and TechnologyQingdao 266590China college of mechanical engineering and Automation Huaqiao UniversityXiamen 361021China Department of mechanical and aerospace engineering North Carolina State UniversityRaleigh NC 27695 USA Department of Electronic and Information Systems Shibaura Institute of TechnologySaitama 337-8570Japan

In this paper, the issues of stochastic stability analysis and fault estimation are investigated for a class of continuoustime Markov jump piecewise-affine(PWA) systems against actuator and sensor faults. Firstly, a novel mode-dependent PWA iterative learning observer with current feedback is designed to estimate the system states and faults, simultaneously, which contains both the previous iteration information and the current feedback mechanism. The auxiliary feedback channel optimizes the response speed of the observer, therefore the estimation error would converge to zero rapidly. Then, sufficient conditions for stochastic stability with guaranteed performance are demonstrated for the estimation error system, and the equivalence relations between the system information and the estimated information can be established via iterative accumulating ***, two illustrative examples containing a class of tunnel diode circuit systems are presented to fully demonstrate the effectiveness and superiority of the proposed iterative learning observer with current feedback.

关键词： Current feedback fault estimation iterative learning observer Markov jump piecewise-affine system

A physics-informed deep learning framework for spacecraft pursuit-evasion task assessment

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Chinese Journal of Aeronautics 2024年第5期37卷 363-376页

作者： Fuyunxiang YANG Leping YANG Yanwei ZHU college of aerospace Science and engineering National University of Defense TechnologyChangsha 410073China

Qualitative spacecraft pursuit-evasion problem which focuses on feasibility is rarely studied because of high-dimensional dynamics,intractable terminal constraints and heavy computational *** this paper,A physics-informed framework is proposed for the problem,providing an intuitive method for spacecraft threat relationship determination,situation assessment,mission feasibility analysis and orbital game rules *** the first time,situation adjustment suggestions can be provided for the weak player in orbital ***,a dimension-reduction dynamics is derived in the line-of-sight rotation coordinate system and the qualitative model is determined,reducing complexity and avoiding the difficulty of target set presentation caused by individual ***,the Backwards Reachable Set(BRS)of the target set is used for state space partition and capture zone ***-time analysis can eliminate the influence of changeable initial state and enable the proposed framework to analyze plural situations ***,a time-dependent Hamilton-Jacobi-Isaacs(HJI)Partial Differential Equation(PDE)is established to describe BRS evolution driven by dimension-reduction dynamics,based on level set ***,Physics-Informed Neural Networks(PINNs)are extended to HJI PDE final value problem,supporting orbital game rules summarization through capture zone evolution ***,numerical results demonstrate the feasibility and efficiency of the proposed framework.

关键词： Spacecraft pursuit-evasion Qualitative differential game Physics-Informed Neural Networks(PINNs) Reachability analysis Hamilton-Jacobi-Isaacs(HJI) Partial Differential Equations(PDEs)

Semi-supervised remote sensing image scene classification with prototype-based consistency

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Chinese Journal of Aeronautics 2024年第2期37卷 459-470页

作者： Yang LI Zhang LI Zi WANG Kun WANG Qifeng YU college of aerospace Science and engineering National University of Defense TechnologyChangsha 410073China

Deep learning significantly improves the accuracy of remote sensing image scene classification,benefiting from the large-scale ***,annotating the remote sensing images is time-consuming and even tough for *** neural networks trained using a few labeled samples usually generalize less to new unseen *** this paper,we propose a semi-supervised approach for remote sensing image scene classification based on the prototype-based consistency,by exploring massive unlabeled *** this end,we,first,propose a feature enhancement module to extract discriminative *** is achieved by focusing the model on the foreground ***,the prototype-based classifier is introduced to the framework,which is used to acquire consistent feature *** conduct a series of experiments on NWPU-RESISC45 and Aerial Image Dataset(AID).Our method improves the State-Of-The-Art(SOTA)method on NWPU-RESISC45 from 92.03%to 93.08%and on AID from 94.25%to 95.24%in terms of accuracy.

关键词： Semi-supervised learning Remote sensing Scene classification Prototype network Deep learning

Accurately tracking hypersonic gliding vehicles via an LEO mega-constellation in relay tracking mode

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Journal of Systems engineering and Electronics 2024年第1期35卷 211-221页

作者： LI Zhao WANG Yidi ZHENG Wei college of aerospace Science and engineering National University of Defense TechnologyChangsha 410073China

In order to effectively defend against the threats of the hypersonic gliding vehicles(HGVs),HGVs should be tracked as early as possible,which is beyond the capability of the ground-based *** benefited by the developing megaconstellations in low-Earth orbit,this paper proposes a relay tracking mode to track HGVs to overcome the above *** whole tracking mission is composed of several tracking intervals with the same *** each tracking interval,several appropriate satellites are dispatched to track the *** that are planned to take part in the tracking mission are selected by a new derived observability *** tracking performances of the proposed tracking mode and the other two traditional tracking modes,including the stare and track-rate modes,are compared by *** results show that the relay tracking mode can track the whole trajectory of a HGV,while the stare mode can only provide a very short tracking ***,the relay tracking mode achieve higher tracking accuracy with fewer attitude controls than the track-rate mode.

关键词： target tracking mega-constellation hypersonic gliding vehicle(HGV) sensor selection observability analysis

Effect of nitrile butadiene rubber hardness on the sealing characteristics of hydraulic O-ring rod seals

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Journal of Zhejiang University-Science A(Applied Physics & engineering) 2024年第1期25卷 63-78页

作者： Xiaoxuan LI Bingqing WANG Xudong PENG Yuntang LI Xiaolu LI Yuan CHEN Jie JIN college of Quality and Safety engineering China Jiliang UniversityHangzhou310018China college of mechanical and Electrical engineering China Jiliang UniversityHangzhou310018China college of mechanical engineering Zhejiang University of TechnologyHangzhou310023China

The nitrile butadiene rubber(NBR)hardness effect on the sealing characteristics of hydraulic O-ring rod seals is analyzed based on a mixed lubrication elastohydrodynamic *** studies are conducted to reveal the mechanism of the influence of rubber hardness on the static and dynamic behavior of *** optimized selections of rubber hardness are then investigated under different *** show that the low hardness seal is prone to stress concentration due to the extrusion effect under high pressure conditions;it is also more prone to leaking.A high hardness seal can better prevent leakage by reducing film thickness but it will cause large frictional power loss and increase the probability of wear *** choice of low hardness is recommended to reduce friction with the premise that leakage requirements are met.

关键词： Nitrile butadiene rubber(NBR)hardness Sealing characteristics Optimized selection O-ring seal

Churning loss characteristics of a wet three-phase high-speed reluctance motor

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Journal of Zhejiang University-Science A(Applied Physics & engineering) 2024年第3期25卷 251-267页

作者： Zhenzhou ZHANG Mingzhu DAI Chenchen ZHANG Yi CHEN Bin MENG college of mechanical engineering Zhejiang University of TechnologyHangzhou 310023China

With the increasing requirements of electro-hydrostatic actuators(EHAs)for power,volume,and pressure,there is a growing tendency in the industry to combine the motor and pump to form a so-called'motor pump'to improve the *** this paper,a novel structure for a wet three-phase high-speed reluctance motor pump is proposed,which can further improve integration by removing the dynamic seal on the pump shaft,thereby avoiding the problems of dynamic seal wear and oil leakage and improving heat dissipation under high-speed working ***,after the motor is wetted,the churning loss caused by immersion of the rotor in the oil causes additional fluid resistance *** on fundamental fluid mechanics,an analytical model of the churning torque of a wet motor was *** verify the accuracy of the analytical model,a simulation model of churning loss was established based on computational fluid dynamics(CFD),and the churning torque and flow field state were ***,an experimental prototype was designed and manufactured,and a test bench for churning loss was *** oil churning torque was measured at different speeds and *** results from the analytical,simulation,and experimental models agreed *** experimental results validated the analytical model and CFD *** research provides a practical method for calculating the churning loss and serves as guidance for future optimization of churning loss reduction.

关键词： Motor pump Wet motor Churning loss Analytical model Computational fluid dynamics(CFD)

Epitaxial growth of borophene on graphene surface towards efficient and broadband photodetector

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Nano Research 2024年第4期17卷 3053-3060页

作者： Zenghui Wu Chen Shifan Zitong Wu Yi Liu Wei Shao Xinchao Liang Chuang Hou Guoan Tai The State Key Laboratory of Mechanics and Control of mechanical Structures and Laboratory of Intelligent Nano Materials and Devices of Ministry of Education College of Aerospace EngineeringNanjing University of Aeronautics and AstronauticsNanjing 210016China

In-situ integration of multiple materials with well-defined interfaces as heterostructures is of great interest due to their unique properties and potential for new device *** of its polymorphism and diverse bonding geometries,borophene is a promising candidate for two-dimensional heterostructures,but suitable synthesis conditions have limited its potential *** this end,we demonstrate the vertical borophene and graphene heterostructures which form by epitaxial growth of borophene onto multilayer graphene on Cu substrates via chemical vapor deposition,where hydrogen and NaBH_(4) are respectively used as the carrier gas and the boron *** lattice structure of the as-synthesized borophene well coincides with the predictedα′-boron *** borophene-based photodetector shows an excellent broadband photoresponse from the ultraviolet(255 nm)to the infrared(940 nm)wavelengths,with enhanced responsivity compared to pristine borophene or graphene *** work informs emerging efforts to integrate borophene into nanoelectronic applications for both fundamental investigations and technological applications.

关键词： borophene graphene heterostructure photodetector two-dimensional materials