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Targets capture by distributed active swarms via bio-inspired reinforcement learning

Science China(Physics,Mechanics & Astronomy) 2025年第1期Mechanics & Astronomy) .卷 210-221页

作者： Kun Xu Yue Li Jun Sun Shuyuan Du Xinpeng Di Yuguang Yang Bo Li institute of Biomechanics and Medical engineering Applied Mechanics Laboratory Department of Engineering MechanicsTsinghua University institute of Nuclear and New Energy Technology Tsinghua University Shanghai Aerospace control Technology institute Shanghai Key Laboratory of Aerospace Intelligent control Technology College of Automation engineering Nanjing University of Aeronautics and Astronautics

Natural swarms arranged from cells to herds are usually decentralized but display intriguing collective intelligence in coordinating individuals across large scales to efficiently achieve their common goals. Learning from nature may provide new strategies for controlling collective dynamics of synthetic swarms to accomplish specific functions. Here, we present a bioinspired computational framework that steers distributed active swarms to collectively capture and merge targets via reinforcement learning. We exploit collective milling structures of natural herds to cage the targets, and adopt a switching control policy inspired by sperms' chiral dynamics to optimize the trajectories of individuals, through which the active swarms can selforganize to enclose single or multiple distant targets in a dynamical, adaptive and scalable manner. There exists a critical swarm size, beyond which the excessive competition between agents would generate large mechanical forces, leading to capture instability but enabling the transition from short-distance to long-distance merging capture of multiple targets. This work provides physical insights into distributed active swarms and could offer a multilevel, decentralized strategy toward controlling swarm robotics in wide applications such as bio-medical devices, machine immunity, and target clearance.

关键词： swarm intelligence robotics multi-tasks artificial intelligence bionics

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Near-perfect replication on amorphous alloys through active force modulation based on machine learning/neural network parameter prediction

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Science China(Physics,Mechanics & Astronomy) 2025年第1期Mechanics & Astronomy) .卷 181-191页

作者： Senkuan Meng Zheng Wang Ruisong Zhu Ruijie Liu Jiang Ma Lina Hu Weihua Wang Key Laboratory for Liquid-Solid Structural Evolution and Processing of Materials (Ministry of Education) School of Materials Science and Engineering Shandong University College of Mechatronics and control engineering Shenzhen University Songshan Lake Materials Laboratory institute of Physics Chinese Academy of Sciences

As a microforming technique, micro/nano-structural replication possesses advantages of high precision and efficiency. With the remarkable superplasticity in the supercooled liquid region, amorphous alloys or metallic glasses(MGs) are regarded as ideal materials for miniature fabrication. However, due to the intrinsic metastable nature of supercooled liquids, the design of imprinting processes for MGs poses a challenge. In the past, process parameters have largely relied on trial-and-error *** this work, a low-frequency active force modulation system is employed to apply a stable, precise, and real-time feedback stress field for imprinting of MG samples. Low-frequency vibrations can facilitate the filling of microstructures on the template surface by reducing the effective viscosity of the supercooled liquid. With the dataset composed of orthogonal experiments, a machine learning strategy based on back-propagation(BP) neural networks was utilized to construct a 3D parameter space for temperature, stress, and time, and to predict the corresponding filling ratio. Furthermore, the optimal combination of imprinting process parameters was identified, and its filling ratio was experimentally validated to reach as high as 0.94. The near-perfect replication of microstructures confirms the superiority of the active force modulation system and the data-driven strategy of machine learning-assisted parameter design. At the same time, this one-step microforming process provides a new approach to addressing the accuracy-cost trade-off dilemma in precision manufacturing.

关键词： metallic glass amorphous alloy microforming imprinting machine learning

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Chatter prediction for uncertain parameters

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Advances in Manufacturing 2018年第3期6卷 319-333页

作者： Michael Loser Andreas Otto Steffen Ihlenfeidt Günter Radons institute of machine tools and control engineering TU Dresden 01069 Dresden Germany institute of Physics Chemnitz University of Technology09107 Chemnitz Germany

The occurrence of chatter in milling processeswas investigated in this study. The prediction of the sta-bility lobes of metal cutting processes requires a model ofthe cutting force and a model of the dynamic machine toolbehavior. Parameter uncertainties in the models may leadto significant differences between the predicted and mea-sured stability behavior. One approach towards robuststability consists of running a large number of simulationswith a random sample of uncertain parameters and deter-mining the confidence levels for the chatter vibrations,which is a time-consuming task. In this paper, an efficientimplementation of the multi frequency solution and theconstruction of an approximate solution is presented. Theapproximate solution requires the explicit calculation of themulti frequency solution only at a few parameter points,and the approximation error can be kept small. This studyfound that the calculation of the robust stability lobe dia-gram, which is based on the approximate solution, is sig-nificantly more efficient than an explicit calculation at allrandom parameter points. The numerically determinedrobust stability diagrams were in good agreement with theexperimentally determined stability lobes.

关键词： Milling Chatter Uncertainties Vibration Stability

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Modelling and simulation of fixtures during grinding

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Science China(Technological Sciences) 2009年第7期52卷 1821-1829页

作者： Matthias KLAERNER Juergen LEOPOLD Lothar KROLL institute of Mechanical and Polymer engineering Chemnitz University of Technology09107 ChemnitzGermany Fraunhofer institute for machine tools and Forming Technology 09126 ChemnitzGermany

The complex workpiece-fixture behaviour during machining is an essential component of the fixture development *** detail,the forces acting on fixture components have to be analysed.A method for the prediction of the reaction forces due to process and clamping loads is presented in this *** the beginning,detailed information about the workpiece-fixture behaviour during the process is determined by a complex finite element ***,the reduction of the number of elements leads to a smaller model with less computation time,validated and used for the variation of process ***,an analytical description is developed based on the combination of both *** the help of the empiric equation it is possible to predict the reaction forces and the dependency on several process *** method has been validated by modelling shape grinding of a nozzle guide vane.

关键词： clamping forces grinding finite element method fixture

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Interferometric measurement of injection nozzles using ultra-small fiber-optical probes

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Chinese Optics Letters 2011年第7期9卷 37-40页

作者： Tilo Pfeifer Robert Schmitt Niels Knig Guilherme Francisco Mallmann Fraunhofer institute for Production Technology Steinbachstr. 17 52074 Aachen Germany Laboratory for machine tools and Production engineering of RWTH Aachen University

The measurement of boreholes with diameters smaller than 500 μm is a demanding task that cannot be performed using state-of-the-art production metrology. In this letter, a miniaturized fiber probe with a diameter of 80μm is presented. A probe is used for low-coherence interferometry to conduct highly precise measurements of form deviations of small boreholes. Measurements conducted in nozzles are also presented. The results prove the potential of the fiber-optical sensor for quality inspection of high-precision parts, such as injection nozzles, for common-rail diesel engines.

关键词： Charge coupled devices Fizeau interferometry Low coherence interferometry Metrology Michelson interferometers Optical fibers

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Data Mining and machine Learning Methods Applied to A Numerical Clinching Model

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Computer Modeling in engineering & Sciences 2018年第12期117卷 387-423页

作者： Marco Gotz Ferenc Leichsenring Thomas Kropp Peter Müller Tobias Falk Wolfgang Graf Michael Kaliske Welf-Guntram Drossel institute for Structural Analysis Technische UniversitatDresdenGermany Fraunhofer institute for machine tools and Forming Technology DresdenGermany

Numerical mechanical models used for design of structures and processes are very complex and high-dimensionally *** understanding of the model characteristics is of interest for engineering tasks and subsequently for an efficient *** analysis methods are known and available to gain insight into existing *** this contribution,selected methods from various fields are applied to a real world mechanical engineering example of a currently developed clinching *** selection of introduced methods comprises techniques of machine learning and data mining,in which the utilization is aiming at a decreased numerical *** methods of choice are basically discussed and references are given as well as challenges in the context of meta-modelling and sensitivities are *** incremental knowledge gain is provided by a step-bystep application of the numerical methods,whereas resulting consequences for further applications are ***,a visualisation method aiming at an easy design guideline is *** visual decision maps incorporate the uncertainty coming from the reduction of dimensionality and can be applied in early stage of design.

关键词： Design data mining computational intelligence meta-modelling permissible design space sensitivity analysis self-organizing maps inverse problem early stage of design clinching

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Biomimetics in Production Organization -A Literature Study and Framework

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Journal of Bionic engineering 2016年第2期13卷 200-212页

作者： Kirsten Reisen Ulrich Teschemacher Michael Niehues Gunther Reinhart institute for machine tools and Industrial Management Technische Universitat Miinchen ( TUM) Boltzmannstrafle 15 85748 Garch ing Germany

Biomimetics is an established field in research and industry. Current approaches focus on the use of biological principles in product development, while large potentials have also been identified for transferring organisational principles from nature to production organisation. This study gives a comprehensive overview of existing literature and illustrates that only fragmented research is being conducted at present. In order to enable systematic translation into methods that are available to practitioners, a framework is developed which allows the body of literature to be structured and potential fields not being researched at present to be identified. It also points out that some biological principles receive more attention in research approaches and practical implementation in production organisation than others. Furthermore, correlations between biological principles and principles in production are identified that there have already been successful translations of biomimetic approaches to production organisation. On the other hand, it suggests that there are numerous promising approaches only described in an initial paper that need further research before they can be implemented in practice.

关键词： biomimetics framework production organisation optimization

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Consensus of high-order dynamic multi-agent systems with switching topology and time-varying delays

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控制理论与应用（英文版） 2010年第1期8卷 52-60页

作者： Fangcui JIANG,Long WANG,Guangming XIE(institute of Intelligent engineering,Center for Systems and control,College of engineering,and Key Laboratory of machine Perception(Ministry of Education),Peking University,Beijing 100871,China) institute of Intelligent engineering Center for Systems and Control College of Engineering and Key Laboratory of Machine Perception (Ministry of Education) Peking University Beijing China

This paper studies the consensus problems for a group of agents with switching topology and time-varying communication delays, where the dynamics of agents is modeled as a high-order integrator. A linear distributed consensus protocol is proposed, which only depends on the agent＇s own information and its neighbors＇ partial information. By introducing a decomposition of the state vector and performing a state space transformation, the closed-loop dynamics of the multi-agent system is converted into two decoupled subsystems. Based on the decoupled subsystems, some sufficient conditions for the convergence to consensus are established, which provide the upper bounds on the admissible communication delays. Also, the explicit expression of the consensus state is derived. Moreover, the results on the consensus seeking of the group of high-order agents have been extended to a network of agents with dynamics modeled as a completely controllable linear time-invariant system. It is proved that the convergence to consensus of this network is equivalent to that of the group of high-order agents. Finally, some numerical examples are given to demonstrate the effectiveness of the main results.

关键词： Consensus problems Distributed control Multi-agent systems Switching topology Time-varying delays Lyapunov-Krasovskii approach

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FFT and Wavelet-Based Analysis of the Influence of machine Vibrations on Hard Turned Surface Topographies

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Tsinghua Science and Technology 2007年第4期12卷 441-446页

作者：李好胜吴甦 Hubert Kratz Department of Industrial engineering Tsinghua University Laboratory for machine tools and Production engineering (WZL) RWTH Aachen University of Technology Aachen 52074 Germany

With hard turning, which is an attractive alternative to existing grinding processes, surface quality is of great importance. Signal processing techniques were used to relate workpiece surface topography to the dynamic behavior of the machine tool. Spatial domain frequency analyses based on fast Fourier transform were used to analyze the tool behavior. Wavelet reconstruction was used for profile filtering. The results show that machine vibration remarkably affects the surface topography at small feed rates, but has negligible effect at high feed rates. The analyses also show how to control the surface quality during hard turning.

关键词： surface topography fast Fourier transform (FFT) wavelet hard turning machine vibration

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APPROACHES FOR SUSTAINABLE MANUFACTURING

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Chinese Journal of Mechanical engineering 2007年第1期20卷 86-90页

作者： GüNTHER Seliger SEBASTIAN Kernbaum MARCO Zettl Department Assembly Technology and Factory Management Institute for Machine Tools and Factory Management Technical University Berlin Berlin 10587 Germany

Sustainable development is a holistic approach harmonizing ecological, economical and socio-political needs with respect to the superior objective of enhancing human living standards. Thereby the availability of natural resources and the conservation of the ecosystems have to be considered that future generations have the possibility to meet their own needs. A long-term economical development demands the transition from a souree-sink economy to a cycle economy as a result of limited resources, limited environmental capacities to absorb waste and emissions as well as increasing needs of a growing population. A reference model for snstainability in manufacturing is presented and used to illustrate sustainable approaches with respect to management, technology, process and product. Adaptation of products and components is a vital element for supporting efficient reuse of products and components. Consequently adaptation contributes to the ambitions goals of snstainability. Technological enablers for adaptation as modularity, information and communication technology are exemplarily introduced. Moreover, approaches for disseminating knowledge in sustainability are given.

关键词： Sustainability Manufacturing Adaptation Modularization Life cycle unit

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