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Journal of Bionic Engineering 2024年第3期21卷 1238-1252页

作者： Zhipeng Huang Xinjie Li Xikang Guan Xueqing Sun Chenxu Wang Yuepeng Xu Bin Yu Xiangdong Kong School of Mechanical Engineering Yanshan UniversityQinhuangdao066004China School of Arts and Design Yanshan UniversityQinhuangdao066004China Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control Qinhuangdao066004China

The lightweight design of hydraulic quadruped robots,especially the lightweight design of the leg joint Hydraulic Drive Unit(HDU),can improve the robot's response speed,motion speed,endurance,and load ***,the lightweight design of HDU is a huge challenge due to the need for structural *** paper is inspired by the geometric shape of fish bones and biomimetic reinforcing ribs on the surface of the HDU shell are designed to increase its strength and reduce its ***,a HDU shell with biomimetic fish bone reinforcing ribs structure is ***,the MATLAB toolbox and ANSYS finite element analysis module are used to optimize the parameters of the biomimetic reinforcing ribs structure and the overall layout of the ***,the HDU shell is manufactured using additive manufacturing technology,and a performance testing platform is built to conduct dynamic and static performance tests on the designed *** experimental results show that the HDU with biomimetic fish bone reinforcing ribs has excellent dynamic performance and better static performance than the prototype model,and the weight of the shell is reduced by 20%compared to the prototype *** work has broad application prospects in the lightweight and high-strength design of closed-pressure vessel components.

关键词： Hydraulic drive unit Lightweight design of shell Biomimetic fish bone structure design Dynamic and static performance testing

Target Controllability of Multi-Layer Networks With High-Dimensional Nodes

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IEEE/CAA Journal of Automatica Sinica 2024年第9期11卷 1999-2010页

作者： Lifu Wang Zhaofei Li Ge Guo Zhi Kong School of Control Engineering Northeastern University at QinhuangdaoQinhuangdao 066004China

This paper studies the target controllability of multilayer complex networked systems,in which the nodes are highdimensional linear time invariant(LTI)dynamical systems,and the network topology is directed and *** influence of inter-layer couplings on the target controllability of multi-layer networks is *** is found that even if there exists a layer which is not target controllable,the entire multi-layer network can still be target controllable due to the inter-layer *** the multi-layer networks with general structure,a necessary and sufficient condition for target controllability is given by establishing the relationship between uncontrollable subspace and output *** the derived condition,it can be found that the system may be target controllable even if it is not state *** this basis,two corollaries are derived,which clarify the relationship between target controllability,state controllability and output *** the multi-layer networks where the inter-layer couplings are directed chains and directed stars,sufficient conditions for target controllability of networked systems are given,*** conditions are easier to verify than the classic criterion.

关键词： High-dimensional nodes inter-layer couplings multi-layer networks target controllability

A Two-stage Service-oriented Task Offloading Framework with Edge-cloud Collaboration:A Game Theory Approach

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Journal of Systems Science and Systems Engineering 2024年第5期33卷 521-551页

作者： Shiyong Li Wenzhe Li Huan Liu Wei Sun School of Economics and Management Yanshan UniversityQinhuangdao 066004

With the fast development of Mobile Internet,data traffic generated by end devices is anticipated to witness substantial growth in the future ***,processing tasks locally will cause latency due to the limited resources of the end ***-cloud collaboration,an effective solution for latency-sensitive applications,is attracting greater attention from both industry and *** combines the advantages of the cloud center with abundant computing resources and edge nodes with low-latency *** this paper,we propose a two-stage task offloading framework with edge-cloud collaboration to assist end devices processing latency-sensitive tasks either on the edge servers or in the cloud *** for homogeneous task offloading,in the first stage,the competitive end devices offload tasks to the edge *** formulate the selfish task offloading problem among end devices as a potential *** the second stage,the edge nodes request resources from the cloud center to process end devices tasks due to their limited ***,we consider the heterogeneous task offloading problem and use intelligent optimization algorithm to obtain the optimal offloading *** results show that the service prices of edge nodes influence the decisions and task offloading costs of end *** also verify the intelligent optimization algorithm can achieve optimal performance with low complexity and fast convergence.

关键词： Edge-cloud collaboration task offloading potential game simulation annealing algorithm

Optimization Control of Multi-Mode Coupling All-Wheel Drive System for Hybrid Vehicle

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Chinese Journal of Mechanical Engineering 2024年第2期37卷 340-355页

作者： Lipeng Zhang Zijian Wang Liandong Wang Changan Ren School of Vehicle and Energy Yanshan UniversityQinhuangdao 066004China

The all-wheel drive(AWD)hybrid system is a research focus on high-performance new energy vehicles that can meet the demands of dynamic performance and passing *** optimization of the power and economy of hybrid vehicles becomes an issue.A unique multi-mode coupling(MMC)AWD hybrid system is presented to realize the distributed and centralized driving of the front and rear axles to achieve vectored distribution and full utilization of the system power between the axles of *** on the parameters of the benchmarking model of a hybrid vehicle,the best model-predictive control-based energy management strategy is ***,the drive system model was built after the analysis of the MMC-AWD’s drive ***,three fundamental strategies were established to address power distribution adjustment and battery SOC maintenance when the SOC changed,which was followed by the design of a road driving force ***,the energy consumption rate in the average time domain was processed before designing the minimum fuel consumption controller based on the equivalent fuel consumption ***,the advantage of the MMC-AWD was confirmed by comparison with the dynamic performance and economy of the BYD Song PLUS *** findings indicate that,in comparison to the comparative hybrid system at road adhesion coefficients of 0.8 and 0.6,the MMC-AWD’s capacity to accelerate increases by 5.26%and 7.92%,*** the road adhesion coefficient is 0.8,0.6,and 0.4,the maximum climbing ability increases by 14.22%,12.88%,and 4.55%,*** a result,the dynamic performance is greatly enhanced,and the fuel savings rate per 100 km of mileage reaches 12.06%,which is also very *** proposed control strategies for the new hybrid AWD vehicle can optimize the power and economy simultaneously.

关键词： Hybrid vehicle All-wheel drive Multi-mode coupling Energy management Model predictive control

Limits of Uneven Battery Power in Modular Multilevel Converter-based Battery Energy Storage Systems

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CSEE Journal of Power and Energy Systems 2024年第2期10卷 686-695页

作者： Yao Pan Xiaofeng Sun Wei Zhao Xin Li Yao Cai Institute of Electrical Engineering Yanshan UniversityQinhuangdao 066004China

For modular multilevel converter-based battery energy storage systems (MMC-BESS), uneven power among batteries of SMs will be deduced by battery aging, battery fault, etc., which will degrade performance and even lead to system failure. For maintaining the balance of capacitor voltage, this paper analyzes the limits of the uneven power of batteries, which are presented as the current limits in this paper. According to analysis, an analytical method is proposed that only the dc and fundamental frequency components of the arm current are used to calculate current limits. With the current limits it is able to evaluate the reasonability of power distribution among batteries. Meanwhile, increase of fundamental frequency component will enhance the current limits, and the dc component determines the size relationship between the absolute values of the upper and lower current limits. Finally, simulation model and experiment prototype are built for verifying the theoretical analysis and current limits calculation method, and satisfactory results are provided.

关键词： Arm current balance of capacitor voltage current limits MMC-BESS uneven power

Customer Joining Behavior and Regulation Strategy in Visible Multi-Server Queues with Synchronous Vacations of Partial Servers

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Journal of Systems Science & Complexity 2024年第3期37卷 1209-1232页

作者： SUN Wei WANG Hao XIE Xumeng LI Shiyong School of Economics and Management Yanshan UniversityQinhuangdao 066004China

This paper studies customer joining behavior and system regulation strategy in nonexhaustive visible M/M/m queues with synchronous vacations of a part of the *** this part of the servers are idle,they take multiple vacations simultaneously(vacation period).Until there are customers waiting in the queue,they are reactivated and all servers are busy or idle(busy period).The authors call this part of the servers as“partial servers”.In view of the fully visible queue and the almost visible queue,the authors obtain customers’equilibrium joining threshold strategies and their socially optimal joining threshold strategies,respectively,and observe that customer joining behavior in equilibrium generally makes the system overcrowded,which makes the equilibrium social welfare lower than the optimal social *** regulation,interestingly,for optimizing social welfare,the system manager hopes not only customers arriving in vacation period pay attention to the number of partial servers,but also customers arriving in busy period should care about it rather than ***,arranging more servers for vacation does not necessarily lead to the decrease of social welfare on condition that the number of partial servers is close to *** for the information advantage of the fully visible case,it is not obvious for increasing social welfare and even unfavorable to servers’profit unless the number of partial servers is big ***,given the different composition of social welfare,there exists the optimal number of partial servers and the optimal arrival rate of customers for maximizing social welfare.

关键词： Customer behavior non-exhaustive service partial servers regulation strategy synchronous vacations visible queue

Identification of Motor Nuclei in the Medulla Oblongata of Carp for Biological Control

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Journal of Bionic Engineering 2024年第2期21卷 842-851页

作者： Yang Zhao Yong Peng Yudong Wen Lingjun Han Yanhong Yan Xueying Dong Hui Zhang Zheng Zhao Xiaoyue Liu School of Electrical Engineering Yanshan UniversityQinhuangdao066004China School of Mechanical Engineering Yanshan UniversityQinhuangdao066004China Key Laboratory of National Defense of Mechanical Structure and Material Science Under Extreme Conditions Yanshan UniversityQinhuangdao066004China Institute of Marine Science and Engineering Yanshan UniversityQinhuangdao066004China Shijiazhuang University Shijiazhuang050035China

Brain-controlled technology is the key technology in biological control,and the corresponding relationship between animal brain nuclei and motor behavior is the *** purpose of this study was to explore the motor nuclei of the medulla oblongata in *** carps were subjected to electrical stimulation and chemical stimulation experiments,respectively,in the water-free state,and the effective chemical stimulation sites were injected with the pontamine sky blue *** brain tissue sections were obtained by paraffin tissue section technology and the neutral red staining *** comparing the positions of the brain nuclei shown in earlier studies,the motor nerve nuclei in the medulla oblongata were *** brain electrode was implanted into the motor nucleus of the medulla oblongata,and the underwater control experiment and behavioral tests were carried out with different electrical stimulation *** results showed that the abducens nucleus(NVI)was the motor nucleus that controls the ipsilateral steering,and the facial nucleus(NVII)was the motor nucleus that controls the forward *** adjusting the stimulation voltage and the stimulation pulse number,the carp can be stably controlled to achieve a left–right steering motion of 30°–180°and a forward motion of more than 80 cm/*** study indicated that the quantitative control of the steering and forward behavior of the carp can be achieved by electrical stimulation of the NVI and NVII,which provided a certain experimental basis for the accurate control of the carp robot.

关键词： Biological control Carp Medulla oblongata motor nucleus Electrical stimulation technique Chemical stimulation technique

Effects of Sinusoidal Vibration of Crystallization Roller on Composite Microstructure of Ti/Al Laminated Composites by Twin-Roll Casting

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Journal of Wuhan University of Technology(Materials Science) 2024年第1期39卷 196-205页

作者：李励杜凤山 National Engineering Research Center for Equipment and Technology of Cold Strip Rolling Yanshan UniversityQinhuangdao 066004China College of Mechanical Engineering Yanshan UniversityQinhuangdao 066004China

A new,innovative vibration cast-rolling technology of “electromagnetic stirring+dendrite breaking+asynchronous rolling” was proposed with the adoption of sinusoidal vibration of crystallization roller to prepare Ti/Al laminated composites,and the effect of sinusoidal vibration of crystallization roller on composite microstructure was investigated in *** results show that the metallurgical bonding of titanium and aluminum is realized by mesh interweaving and mosaic meshing,instead of transition bonding by forming metal compound *** meshing depth between titanium and aluminum layers (6.6μm) of cast-rolling materials with strong vibration of crystallization roller (amplitude 0.87 mm,vibration frequency 25 Hz) is doubled compared with that of traditional cast-rolling materials (3.1μm),and the composite interfacial strength(27.0 N/mm) is twice as high as that of traditional cast-rolling materials (14.9 N/mm).This is because with the action of high-speed superposition of strong tension along the rolling direction,strong pressure along the width direction and rolling force,the composite linearity evolves from "straight line" with traditional casting-rolling to "curved line",and the depth and number of cracks in the interface increases greatly compared with those with traditional cast-rolling,which leads to the deep expansion of the meshing area between interfacial layers and promotes the stable enhancement of composite quality.

关键词： laminated composites sinusoidal vibration composite microstructure

Force Compensation Control for Electro-Hydraulic Servo System with Pump-Valve Compound Drive via QFT-DTOC

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Chinese Journal of Mechanical Engineering 2024年第2期37卷 228-246页

作者： Kaixian Ba Yuan Wang Xiaolong He Chunyu Wang Bin Yu Yaliang Liu Xiangdong Kong Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control Qinhuangdao 066004China School of Mechanical Engineering Yanshan UniversityQinhuangdao 066004China National Engineering Research Center for Local Joint of Advanced Manufacturing Technology and Equipment Yanshan UniversityQinhuangdao 066004China

Each joint of a hydraulic-driven legged robot adopts a highly integrated hydraulic drive unit(HDU),which features a high power-weight ***,most HDUs are throttling-valve-controlled cylinder systems,which exhibit high energy *** contrast,pump control systems offer a high ***,their response ability is *** fully utilize the advantages of pump and valve control systems,in this study,a new type of pump-valve compound drive system(PCDS)is designed,which can not only effectively reduce the energy loss,but can also ensure the response speed and response accuracy of the HDUs in robot joints to satisfy the performance requirements of ***,considering the force control requirements of energy conservation,high precision,and fast response of the robot joint HDU,a nonlinear mathematical model of the PCDS force control system is first *** addition,pressure-flow nonlinearity,friction nonlinearity,load complexity and variability,and other factors affecting the system are considered,and a novel force control method based on quantitative feedback theory(QFT)and a disturbance torque observer(DTO)is designed,which is denoted as QFT-DTOC *** method improves the control accuracy and robustness of the force control system,reduces the effect of the disturbance torque on the control performance of the servo motor,and improves the overall force control performance of the ***,experimental verification is performed using the PCDS performance test *** experimental results and quantitative data show that the QFT-DTOC proposed herein can significantly improve the force control performance of the *** relevant force control method can be used as a bottom-control method for the hydraulic servo system to provide a foundation for implementing the top-level trajectory planning of the robot.

关键词： Legged robot Pump-valve compound drive system(PCDS) Force compensation control Quantitative feedback theory(QFT) Disturbance torque observer(DTO)

Thermal and mechanical behavior of casting copper alloy wheel during wheel and belt continuous casting process

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China Foundry 2024年第1期21卷 82-90页

作者： Kun Gao Yan Peng School of Mechanical Engineering Yanshan UniversityQinhuangdao 066004HebeiChina

To investigate the thermal and mechanical behavior of casting wheel,a two-dimensional thermoelastic-plastic finite element model was used to predict the temperature,stress and distortion distribution of the casting wheel during the wheel and belt continuous casting *** effects of grinding thickness and casting speed on the thermal and mechanical behaviors of the center of the hot face of the casting wheel were discussed in *** each rotation,the casting wheel passes through four different spray *** results show that the temperature distribution of the casting wheel in different spray zones is similar,the temperature of the hot face is the highest and the temperature reaches the peak in the spray zoneⅢ.The stress and distortion depend on the temperature distribution,and the maximum stress and distortion of the hot face are 358.2 MPa and 1.82 mm,*** temperature at the center of the hot face decreases with increasing grinding thickness and increases with increasing casting speed.

关键词： casting wheel finite element model grinding thickness casting speed hot face spray zones