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Chinese Physics B 2021年第5期30卷 206-214页

作者： Huayan Pei Guanghui Yan Huanmin Wang School of Electronic and information Engineering Lanzhou Jiaotong UniversityLanzhou 730070China mechatronics T&R institute Lanzhou Jiaotong UniversityLanzhou 730070China

To study the incentive mechanisms of cooperation, we propose a preference rewarding mechanism in the spatial prisoner’s dilemma game, which simultaneously considers reputational preference, other-regarding preference and the dynamic adjustment of vertex weight. The vertex weight of a player is adaptively adjusted according to the comparison result of his own reputation and the average reputation value of his immediate neighbors. Players are inclined to pay a personal cost to reward the cooperative neighbor with the greatest vertex weight. The vertex weight of a player is proportional to the preference rewards he can obtain from direct neighbors. We find that the preference rewarding mechanism significantly facilitates the evolution of cooperation, and the dynamic adjustment of vertex weight has powerful effect on the emergence of cooperative behavior. To validate multiple effects, strategy distribution and the average payoff and fitness of players are discussed in a microcosmic view.

关键词： cooperation rewarding mechanism reputational preference other-regarding preference

Entrance Effect on Load Capacity of Orifice Compensated Aerostatic Bearing with Feeding Pocket

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Chinese Journal of Mechanical Engineering 2010年第4期23卷 451-459页

作者： LONG Wei BAO Gang School of mechatronics Engineering Harbin Institute of Technology Harbin 150001 China

The current research of the aerostatic thrust bearing mainly focuses on the porous material bearing and inherent compensated air bearing, which aims at obtaining small physical dimension and large load capacity. Although porous material bearing appears larger load capacity, materials anisotropy itself and void content distortion caused in heat-treating, and machining processes add greater complexity to internal flow transfer process. Inherent compensated air bearing has the advantages of simple structure and good stability, but its load capacity and static stiffness is not worth somewhat. In this paper, based on hydrostatic lubrication theory, finite volume method is presented for taking entrance effects into account in computing pressure distribution, load capacity and mass flow rates of circular aerostatic thrust bearings. Technical analysis, numerical simulations and laboratory demonstration tests of influence of pocket diameter and pocket depth on loading capacity of aerostatic thrust bearing are carried out on simple orifice compensated air bearings with feeding pockets. The static parameters, such as air consumption and pressure distributions, are measured as a function of supply pressure and air gap height for several different orifices and pockets size. Entrance effects are described in term of typical throttling types, and the effect of pocket diameter and pocket depth on load capacity is systematically described respectively. The proposed research results uncover the causation of throttling action of the orifice compensated air bearing with feed pocket and further develop and improve the design theory of air bearing.

关键词： aerostatic thrust bearing feeding pocket entrance effects

A Soft Robotic Fish with Variable-stiffness Decoupled Mechanisms

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Journal of Bionic Engineering 2018年第4期15卷 599-609页

作者： Kangkang Li Hongzhou Jiang Siyu Wang Jianmin Yu School of mechatronics Engineering Harbin Institute of Technology Harbin 150001 China

A Body and/or Caudal Fin （BCF） fish modulate its body stiffness by mechanisms consisting of antagonistic muscles. The mecha- nisms can be considered as Redundant Planar Rotational Parallel Mechanisms （RPRPM） with antagonistic flexible elements. For a typical RPRPM, its stiffness consists of the adjustable stiffness resulting from internal forces and the inherent stiffness caused by inherent com- pliances of flexible elements. In order to decouple the adjustable stiffness from the inherent stiffness and expand the range of stiffness variation, a variable-stiffness decoupled mechanism based on the Mechanically Adjustable Compliance and Controllable Equilibrium Position Actuator （MACCEPA） is presented and used to construct a soft robotic fish with large stiffness variation. According to the analysis of the evolution from RPRPM to MACCEPA, it can be found that MACCEPA is just a special type of RPRPM with only an adjustable stiffness. In addition, MACCEPA existed before RPRPM mechanism. The prototype of the soft robotic fish with variable- stiffness decoupled mechanisms is built to explore the relationships between the body stiffness and the swimming performance. It is validated experimentally that the stiffness variation multiple of the robotic fish is raised, the swimming performance of the robotic fish is improved when the stiffness is modulated to match the driving frequency.

关键词： bionic soft robotic fish variable stiffness decoupled MACCEPA pretension

A compact bimorph rotary piezoelectric actuator with customized small power supply

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Science China(Technological Sciences) 2024年第4期67卷 1185-1195页

作者： DENG Jie LIU DaQing WANG WeiYi LIU YingXiang School of mechatronics and Engineering Harbin Institute of TechnologyHarbin 150001China

Inertial piezoelectric actuators are widely applied in precision devices with simple structure and accurate ***,existing inertial piezoelectric actuators still face the challenges of rollback motion and bulky power *** this work,an alternate excitation strategy and a customized small power supply for a bimorph rotary piezoelectric actuator(BRPA)are proposed to solve the *** BRPA prototype is designed with a bipedal symmetrical structure,measuring 35 mm in height and 32 mm in diameter,which has a maximum rotation velocity of 0.247 rad/s and a resolution of 0.66μ*** to the bipedal symmetrical structure,the friction directions between the driving feet and the rotor can be coordinated to suppress the *** rollback ratio is almost zero when the phase difference of the exciting signal is set as 180°.The customized power supply is designed and manufactured,whose size is 58 mm×56 mm×46 *** can output signals for the single step mode and the continuous mode,and they are adopted to excite BRPA to achieve a small stroke with one single step and a large stroke with continuous step,***,an experimental system for optical fiber alignment is developed based on the BRPA and the customized small power supply,the experiment has verified the practicability of this work in the precision fields,especially in the miniaturized precision systems.

关键词： inertial piezoelectric actuator customized small power supply single step mode continuous mode rollback suppression miniaturized precision system

Variable stiffness design of redundantly actuated planar rotational parallel mechanisms

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Chinese Journal of Aeronautics 2017年第2期30卷 818-826页

作者： Li Kangkang Jiang Hongzhou Cui Zuo Huang Qun School of mechatronics Engineering Harbin Institute of Technology Harbin 150001 China

Redundantly actuated planar rotational parallel mechanisms（RAPRPMs） adapt to the requirements of robots under different working conditions by changing the antagonistic internal force to tune their *** geometrical parameters of the mechanism impact the performances of modulating *** expressions relating stiffness and geometrical parameters of the mechanism were formulated to obtain the necessary conditions of variable stiffness.A novel method of variable stiffness design was presented to optimize the geometrical parameters of the *** stiffness variation with the internal force was *** dynamic change of stiffness with the dynamic location of the mechanism was minimized,and the robustness of stiffness during the motion of the mechanism was *** new approach to variable stiffness design can enable off-line planning of the internal force to avoid the difficulties of on-line control of the internal force.

关键词： Internal force Parallel mechanisms Redundantly actuated Robustness Variable stiffness

A new energy harvester using a piezoelectric and suspension electromagnetic mechanism

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Journal of Zhejiang University-Science A(Applied Physics & Engineering) 2013年第12期14卷 890-897页

作者： Xiao-biao SHAN Shi-wei GUAN Zhang-shi LIU Zhen-long XU Tao XIE School of mechatronics Engineering Harbin institute of Technology Shenyang institute of Automation Chinese Academy of Science

This study presents a new design of a piezoelectric-electromagnetic energy harvester to enlarge the frequency bandwidth and obtain a larger energy *** harvester consists of a primary piezoelectric energy harvesting device,in which a suspension electromagnetic component is added.A coupling mathematical model of the two independent energy harvesting techniques was *** results show that the piezoelectric-electromagnetic energy harvester has three times the bandwidth and higher power output in comparison with the corresponding stand-alone,single harvesting mode *** finite element models of the piezoelectric and electromagnetic systems were developed,respectively.A finite element analysis was *** were carried out to verify the validity of the numerical simulation and the finite element *** shows that the power output and the peak frequency obtained from the numerical analysis and the finite element simulation are in good agreement with the experimental *** study provides a promising method to broaden the frequency bandwidth and increase the energy harvesting power output for energy harvesters.

关键词： Hybrid energy harvesting Piezoelectric Electromagnetic Environmental vibration

Solving Boolean equation systems and applications in cryptanalysis

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Science China(information Sciences) 2016年第5期59卷 13-14页

作者： Xiaoshan GAO Zhenyu HUANG Academy of Mathematics and systems Science Chinese Academy of Sciences State Key Laboratory of information Security Institute of Information EngineeringChinese Academy of Sciences

Solving Boolean equation systems plays a fundamental role in many important fields such as coding theory,cryptology,and analysis of computer *** find efficient algorithms for solving Boolean equations and estimate their complexities are central issues in theoretic computer *** this note,we will survey recent results on the complexity of using the approximate algorithm to solve Boolean equation systems and on new characteristic set algorithms for solving Boolean equation systems and their applications in cryptanalysis.

关键词： MAX Solving Boolean equation systems and applications in cryptanalysis MQ TDCS

Stochastic bounded consensus of second-order multi-agent systems in noisy environment

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Chinese Physics B 2017年第10期26卷 112-121页

作者：任红卫邓飞其 School of Electronic information Guangdong University of Petrochemical Technology systems Engineering institute South China University of Technology

This paper investigates the stochastic bounded consensus of leader-following second-order multi-agent systems in a noisy environment. It is assumed that each agent received the information of its neighbors corrupted by noises and time delays. Based on the graph theory, stochastic tools, and the Lyapunov function method, we derive the sufficient conditions under which the systems would reach stochastic bounded consensus in mean square with the protocol we designed. Finally, a numerical simulation is illustrated to check the effectiveness of the proposed algorithms.

关键词： stochastic bounded consensus multi-agent systems noises time-delays

A new absolute nodal coordinate formulation beam element with multilayer circular cross section

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Acta Mechanica Sinica 2020年第1期36卷 82-96页

作者： Peng Lan Qinglong Tian Zuqing Yu School of mechatronics Engineering Harbin Institute of TechnologyHarbin150001China

A systematic numerical integration method is applied to the absolute nodal coordinate formulation(ANCF)fully parameterized beam element with smooth varying and continuous cross ***,the formulation for the integration points and weight coefficients are given in the method which is used to model the multilayer beam with a circular cross *** negate the effect of the bending stiffness for the element used to model the high-voltage electrical wire,the general continuum mechanical approach is ***,the insulation cover for some particular types of the wire is described by the nearly incompressible Mooney-Rivlin material ***,a static problem is presented to prove the accuracy and convergence properties of the element,and a dynamic problem of a flexible pendulum is simulated whereby the balance of the energy can be *** experiment is carried out in which a wire is released as a pendulum and falls on a steel *** configurations of the wire are captured by a high-speed camera and compared with the simulation *** feasibility of the wire model can therefore be demonstrated.

关键词： Circular cross-section beam Absolute nodal coordinate formulation Electrical wire modeling Contact

Bio-inspired Attachment Mechanism of Dynastes Hercules:Vertical Climbing for On-Orbit Assembly Legged Robots

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Journal of Bionic Engineering 2024年第1期21卷 137-148页

作者： Yuetian Shi Xuyan Hou Zhonglai Na Jie Zhou Nan Yu Song Liu Linbo Xin Guowei Gao Yuhui Liu School of mechatronics Engineering Harbin Institute of TechnologyHarbin 150001China

With the increasing size of space facilities,on-orbit assembly requires robots to move on different heights of *** paper proposes a bio-inspired attachment mechanism for robot feet to enable climbing on different heights of *** by the attachment and grasping abilities of Dynastes Hercules,we utilize its foot microstructures,such as microhooks and setae,to achieve efficient contact and firm grip with the *** morphology and arrangement of these structures can inspire the design of robot feet to improve their grasping and stability *** study the biological structure of Dynastes Hercules,design and optimize the bio-inspired structure,analyze the influence of various factors from theoretical and experimental perspectives,and verify the feasibility of the scheme through *** propose an ideal climbing strategy that provides useful reference for robot applications in ***,the influence laws of various factors in this paper can be applied to robot foot design to improve their operation ability and stability performance in the space *** bio-inspired mechanism can improve robot working range and efficiency,which is critical for on-orbit assemblyin space.

关键词： Space assembly robot Truss climbing Bionic structure Dynastes Hercules tarsus