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Bionic lightweight design of limb leg units for hydraulic quadruped robots by additive manufacturing and topology optimization

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Bio-Design and Manufacturing 2024年第1期7卷 1-13页

作者： Huaizhi Zong Junhui Zhang Lei Jiang Kun Zhang Jun Shen Zhenyu Lu Ke Wang Yanli Wang Bing Xu The State Key Laboratory of Fluid Power and mechatronic systems Zhejiang UniversityHangzhou 310058China Unmanned Vehicle Research and Development Center China North Vehicle Research InstituteBeijing 100072China School of mechatronic Engineering Nanchang UniversityNanchang 330031China Auclean High-Tech Ltd. Wuxi 214108China

Galloping cheetahs,climbing mountain goats,and load hauling horses all show desirable locomotion capability,which motivates the development of quadruped *** various quadruped robots,hydraulically driven quadruped robots show great potential in unstructured environments due to their discrete landing positions and large *** the most critical movement unit of a quadruped robot,the limb leg unit(LLU)directly affects movement speed and reliability,and requires a compact and lightweight *** by the dexterous skeleton–muscle systems of cheetahs and humans,this paper proposes a highly integrated bionic actuator system for a better dynamic performance of an *** propose that a cylinder barrel with multiple element interfaces and internal smooth channels is realized using metal additive manufacturing,and hybrid lattice structures are introduced into the lightweight design of the piston *** addition,additive manufacturing and topology optimization are incorporated to reduce the redundant material of the structural parts of the *** mechanical properties of the actuator system are verified by numerical simulation and experiments,and the power density of the actuators is far greater than that of cheetah *** mass of the optimized LLU is reduced by 24.5%,and the optimized LLU shows better response time performance when given a step signal,and presents a good trajectory tracking ability with the increase in motion frequency.

关键词： Additive manufacturing Bionic lightweight design Limb leg unit Quadruped robot Trajectory tracking

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Theoretical and experimental research on static stiffness,performance,and lift-off characteristics of multi-layer gas foil thrust bearings

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Friction 2024年第11期12卷 2458-2479页

作者： Yang HU Pengjing DING Fangling WU Xiaojing WANG Bo LIANG Yonggang MENG School of mechatronic Engineering and Automation Shanghai UniversityShanghai 200072China Aviation Key Laboratory of Science and Technology on Aero Electromechanical System Integration Nanjing Engineering Institute of Aircraft SystemsNanjing 211106China State Key Laboratory of Tribology Tsinghua UniversityBeijing 100084China

In this study,a new comprehensive fully coupled elastic–hydrodynamic model is developed for a multi-layer gas foil thrust bearing(GFTB).The interaction effects among the top foil,back board,middle foil,and bottom foil,as well as the Coulomb friction effect,are *** stiffness and static characteristics obtained by the experimental and theoretical approaches are in good agreement,which verifies the accuracy of the *** contribution of each foil layer to the overall stiffness and the load-carrying mechanism are *** effects of the load,preload,and rotational speed on the static performance are investigated ***,start–stop tests are performed to achieve the lift-off speed,start-up torque,and shut-down torque under various operating conditions.

关键词： multi-layer gas foil thrust bearing(GFTB) load carrying mechanism static performance

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New formula for predicting the plastic buckling pressure of steel torispherical heads under internal pressure

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Journal of Zhejiang University-Science A(Applied Physics & Engineering) 2024年第8期25卷 618-630页

作者： Sheng YE Keming LI Jinyang ZHENG Shan SUN institute of Process Equipment Zhejiang UniversityHangzhou 310027China Engineering Research Center for High Pressure Process Equipment and Safety of Ministry of Education Hangzhou 310027China State Key Laboratory of Fluid Power and mechatronic systems Hangzhou 310058China

Thin-walled torispherical heads under internal pressure can fail by plastic buckling because of compressive circumferential stresses in the head ***,existing formulas still have limitations,such as complicated expressions and low accuracy,in determining buckling *** this paper,we propose a new formula for calculating the buckling pressure of torispherical heads based on elastic-plastic analysis and experimental ***,a finite element(FE)method based on the arc-length method is established to calculate the plastic buckling pressure of torispherical heads,considering the effects of material strain hardening and geometrical *** buckling pressure results calculated by the FE method in this paper have good consistency with those of BOSOR5,which is a program for calculating the elastic-plastic bifurcation buckling pressure based on the finite difference energy ***,the effects of geometric parameters,material parameters,and restraint form of head edge on buckling pressure are ***,a new formula for calculating plastic buckling pressure is developed by fitting the curve of FE results and introducing a reduction factor determined from experimental ***,based on the experimental results,we compare the predictions of the new formula with those of existing *** is shown that the new formula has a higher accuracy than the existing ones.

关键词： Torispherical head Plastic buckling Elastic-plastic analysis Prediction formula Finite element method

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A 3D-printed microhemispherical shell resonator with electrostatic tuning for a Coriolis vibratory gyroscope

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Microsystems & Nanoengineering 2024年第2期10卷 25-35页

作者： Baoyin Hou Ye Zhu Chaofan He Weidong Wang Zhi Ding Wen He Yong He Lufeng Che College of Information Science and Electronic Engineering Zhejiang UniversityHangzhou310027China Center for Microelectronics Shaoxing InstituteZhejiang UniversityShaoxing312035China State Key Laboratory of Fluid Power and mechatronic systems Zhejiang UniversityHangzhou310058China School of Mechanical Engineering Zhejiang UniversityHangzhou310058China

The emergence of microhemispherical resonant gyroscopes,which integrate the advantages of exceptional stability and long lifetime with miniaturization,has afforded new possibilities for the development of whole-angle ***,existing methods used for manufacturing microhemispherical resonant gyroscopes based on MEMS technology face the primary drawback of intricate and costly ***,we report the design,fabrication,and characterization of the first 3D-printable microhemispherical shell resonator for a Coriolis vibrating *** remarkably achieve fabrication in just two steps bypassing the dozen or so steps required in traditional *** utilizing the intricate shaping capability and ultrahigh precision offered by projection microstereolithography,we fabricate 3D high-aspect-ratio resonant structures and controllable capacitive air gaps,both of which are extremely difficult to obtain via MEMS *** addition,the resonance frequency of the fabricated resonators can be tuned by electrostatic forces,and the fabricated resonators exhibit a higher quality factor in air than do typical MEMS microhemispherical *** work demonstrates the feasibility of rapidly batch-manufacturing microhemispherical shell resonators,paving the way for the development of microhemispherical resonator gyroscopes for portable inertial ***,this particular design concept could be further applied to increase uptake of resonator tools in the MEMS community.

关键词： resonator tuning electrostatic

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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

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Shape estimation for a TPU-based multi-material 3D printed soft pneumatic actuator using deep learning models

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Science China(Technological Sciences) 2024年第5期67卷 1470-1481页

作者： HU Yu TANG Wei QU Yang XU HuXiu KRAMARENKO Yu.Elena ZOU Jun State Key Laboratory of Fluid Power and mechatronic systems Zhejiang UniversityHangzhou310058China School of Mechanical Engineering Zhejiang UniversityHangzhou310027China institute of Process Equipment College of Energy EngineeringZhejiang UniversityHangzhou310027China Faculty of Physics Lomonosov Moscow State UniversityMoscow119991Russia Enikolopov institute of Synthetic Polymeric Materials of Russian Academy of Sciences Moscow117393Russia

Real-time proprioception presents a significant challenge for soft robots due to their infinite degrees of freedom and intrinsic *** studies mostly focused on specific sensors and *** is still a lack of generalizable technologies for integrating soft sensing elements into soft actuators and mapping sensor signals to proprioception *** tackle this problem,we employed multi-material 3D printing technology to fabricate sensorized soft-bending actuators(SBAs)using plain and conductive thermoplastic polyurethane(TPU)*** designed various geometric shapes for the sensors and investigated their strain-resistive performance during *** address the nonlinear time-variant behavior of the sensors during dynamic modeling,we adopted a data-driven approach using different deep neural networks to learn the relationship between sensor signals and system states.A series of experiments in various actuation scenarios were conducted,and the results demonstrated the effectiveness of this *** sensing and shape prediction steps can run in real-time at a frequency of50 Hz on a consumer-level ***,a method is proposed to enhance the robustness of the learning models using data augmentation to handle unexpected sensor *** the methods are efficient,not only for in-plane 2D shape estimation but also for out-of-plane 3D shape *** aim of this study is to introduce a methodology for the proprioception of soft pneumatic actuators,including manufacturing and sensing modeling,that can be generalized to other soft robots.

关键词： shape estimation soft sensors and actuators 3D printing deep learning in robotics

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Improving Heat Transfer in Parabolic Trough Solar Collectors by Magnetic Nanofluids

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Energy Engineering 2024年第4期121卷 835-848页

作者： Ritesh Singh Abhishek Gupta Akshoy Ranjan Paul Bireswar Paul Suvash C.Saha Department of Applied Mechanics Motilal Nehru National Institute of Technology AllahabadPrayagrajIndia Department of Mechanical and mechatronic Engineering University of Technology SydneySydneyAustralia

A parabolic trough solar collector(PTSC)converts solar radiation into thermal ***,low thermal efficiency of PTSC poses a hindrance to the deployment of solar thermal power *** performance of PTSC is enhanced in this study by incorporating magnetic nanoparticles into the working *** circular receiver pipe,with dimensions of 66 mm diameter,2 mm thickness,and 24 m length,is exposed to uniform temperature and velocity *** working fluid,Therminol-66,is supplemented with Fe3O4 magnetic nanoparticles at concentrations ranging from 1%to 4%.The findings demonstrate that the inclusion of nanoparticles increases the convective heat transfer coefficient(HTC)of the PTSC,with higher nanoparticle volume fractions leading to greater heat transfer but increased pressure *** thermal enhancement factor(TEF)of the PTSC is positively affected by the volume fraction of nanoparticles,both with and without a magnetic ***,the scenario with a 4%nanoparticle volume fraction and a magnetic field strength of 250 G exhibits the highest TEF,indicating superior thermal *** findings offer potential avenues for improving the efficiency of PTSCs in solar thermal plants by introducing magnetic nanoparticles into the working fluid.

关键词： Parabolic trough solar collector(PTSC) magnetic nanofluid(MNF) heat transfer convective heat transfer coefficient(HTC) thermal enhancement factor(TEF)

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Machine Learning-Aided Data Analysis in Single-Protein Conductance Measurement with Electron Tunneling Probes

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Chinese Journal of Chemistry 2024年第1期42卷 67-72页

作者： Yuxin Yang Tao Jiang Ye Tian Biaofeng Zeng Longhua Tang State Key Laboratoryof Extreme Photonics and Instrumentation College of Optical Science and EngineeringZhejiang University HangzhouZhejiang 310027China Nanhu Brain-computer Interface institute HangzhouZhejiang 311100China State Key Laboratory of Fluid Power and mechatronic systems College of Mechanical EngineeringZhejiang University HangzhouZhejiang 310027China

The electrical tunneling sensors have excellent potential in the next generation of single-molecule measurement and sequencing technologies due to their high sensitivity and spatial resolution *** tunneling signals that have been measured at a high sampling rate may provide detailed molecular *** the extraordinarily large amount of data that has been gathered,it is still difficult to correlate signal transformations with molecular processes,which creates great obstacles for signal *** learning is an effective tool for data analysis that is currently gaining more *** has demonstrated promising results when used to analyze data from single-molecule electrical *** order to extract meaningful information from raw measurement data,we have combined intelligent machine learning with tunneling electrical *** the purpose of analyzing tunneling electrical signals,we investigated the clustering approach,which is a classic algorithm in machine learning.A clustering model was built that combines the advantages of hierarchical clustering and Gaussian mixture model ***,customized statistical algorithms were *** has been proven to efficiently gather molecular information and enhance the effectiveness of data analysis.

关键词： Tunneling sensor Single-molecule measurement Machine learning Single-protein conductance Molecular electrochemistry Nanotechnology Molecular electronics

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Preliminary study of the electrospray DPE peculiarities from the liquid surface in the presence of the CSWs

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Plasma Science and Technology 2024年第5期26卷 110-120页

作者：贺伟国霍卫杰韩罗峰朱康武王锋王泽坤 School of mechatronic Engineering and Automation Shanghai UniversityShanghai 200444People’s Republic of China Shanghai Aerospace Electronic Technology institute Shanghai 201109People’s Republic of China Shanghai Aerospace Control Technology institute Shanghai 201109People’s Republic of China

The Ultrasonic Electric Propulsion(UEP)system is a cutting-edge propulsion technology that is mostly used on platforms for small satellites(less than 10 kg).The characteristics of droplet partial emissions(DPEs)in the UEP system are investigated using a high-speed imaging technique(an ultra-high speed camera(NAC HX-6)and a long-distance microscope)in this *** experiments demonstrate that there are a few partial emission modes,including left-side emission,double-side emission,and right-side emission,that are present in the droplet emission process of the UEP *** modes are primarily caused by the partial formation of capillary standing waves(CSWs)on the emission surface of the ultrasonic *** emission rate for single-and double-sided emissions varies at different times,indicating that there are different CSWs engaged in droplet emission due to variations in the liquid film thickness and charge state of the liquid ***,as the droplets emit continuously,a raised area on the emission surface appears,with several droplets emitting there as a result of charge ***,photos of the CSWs with emitting droplets are obtained,which highlights the CSWs'distinctive wave morphology.

关键词： ultrasonic electric propulsion system microsatellite high-speed imaging technique droplet partial emissions electric field

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Availability evaluation of controller area networks under the influence of intermittent connection faults

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Frontiers of Information Technology & Electronic Engineering 2024年第4期25卷 555-568页

作者： Longkai WANG Leiming ZHANG Yong LEI State Key Laboratory of Fluid Power and mechatronic systems Zhejiang UniversityHangzhou 310027China The 14th Research institute of China Electronics Technology Group Corporation Nanjing 210039China

Controller area networks(CANs),as one of the widely used fieldbuses in the industry,have been extended to the automation field with strict standards for safety and *** practice,factors such as fatigue and insulation wear of the cables can cause intermittent connection(IC)faults to occur frequently in the CAN,which will affect the dynamic behavior and the safety of the ***,quantitatively evaluating the performance of the CAN under the influence of IC faults is crucial to real-time health monitoring of the *** this paper,a novel methodology is proposed for real-time quantitative evaluation of CAN availability when considering IC faults,with the system availability parameter being calculated based on the network state transition ***,the causal relationship between IC fault and network error response is constructed,based on which the IC fault arrival rate is ***,the states of the network considering IC faults are analyzed,and the deterministic and stochastic Petri net(DSPN)model is applied to describe the transition relationship of the ***,the parameters of the DSPN model are determined and the availability of the system is calculated based on the probability distribution and physical meaning of markings in the DSPN model.A testbed is constructed and case studies are conducted to verify the proposed methodology under various experimental *** results show that the estimation results obtained using the proposed method agree well with the actual values.

关键词： Controller area network Intermittent connection fault Arrival rate Deterministic and stochastic Petri net Availability evaluation

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