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Design and Analysis of Gecko-like Robot

Chinese Journal of mechanical engineering 2011年第2期24卷 224-236页

作者： MENG Cai WANG Tianmiao GUAN Shengguo ZHANG Long WANG Jing LI Xiaohu school of Astronautics Beihang University Beijing 100191 China School of Mechanical Engineering andAutomation Reihang University Beijing 100191 China school of mechanical engineering Beijing University of Science and Technology Beijing 100083 China

Gecko-like robot（Geckobot）,an important branch of bionic robotics,is a robot that simulates gecko＇s capacity to climb walls and ceilings.The work environment of the traditional wall-climbing robot is greatly limited as the moving structure and adsorption principle of the robot have nothing to do with the real gecko.However,the adsorption principle and moving mode of the real gecko can provide a new way to break through the restrictions of the traditional wall-climbing robot.Inspired by the moving mechanism of geckos, this paper develops the Geckobot with motile body.Two types of Geckobots are addressed：one with compliant flat bar as the body,and the other with prismatic joint as the body.The compliant body not only resembles the moving mode of the real gecko body,but also simplifies the Geckobot＇s structure.The prismatic joint body is used to adapt the change of body length in ground-to-wall transition. The gait planning on the plane and the transition between perpendicular intersectional planes is discussed,with an emphasis on the analysis of the kinematics degree of freedom（DOF） and body posture.Central pattern generator（CPG） neural network is realized in LabVIEW and utilized to control Geckobot＇s movement.The CPG scheme in Lab VIEW is given,and how CPG is used to control Geckobot to turn or move forward is explored.Simulations are conducted in ADAMS to verify the feasibility of the structure design and gait planning and to acquire some parameters for practical Geckobot development.The experiment with Geckobot-Ⅰand Geckobot-Ⅱon their crawling capacity on the plane and the ground-to-wall transition finds that the robot can complete the crawling movement and ground-to-wall transition,verifying the feasibility of the structure design,gait planning and the CPG motion control.The Geckobot structure design approach,gait planning and the CPG motion control presented would be useful for the research on wall-climbing robots.

关键词： gecko-like robot structure design gait planning ground-to-wall transition central pattern generator

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Modeling of Ship Maneuvering Motion Using Neural Networks

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Journal of Marine Science and Application 2016年第4期15卷 426-432页

作者： Weilin Luo Zhicheng Zhang School of Mechanical Engineering andAutomation Fuzhou University Fuzhou 350116 China Fujian Province Key Laboratory of Structural Performances in Ship and Ocean engineering Fuzhou 350116 China

在这篇论文，神经网络(NN ) 在当模特儿调遣运动的轮船被使用。一个非线性的反应模型和轮船调遣的一个线性水动力学模型打手势也被调查。在模型的可操作性索引和线性非维的水动力学衍生物被使用识别二层喂前面的 NN。参量的评价的稳定... 详细信息

在这篇论文，神经网络(NN ) 在当模特儿调遣运动的轮船被使用。一个非线性的反应模型和轮船调遣的一个线性水动力学模型打手势也被调查。在模型的可操作性索引和线性非维的水动力学衍生物被使用识别二层喂前面的 NN。参量的评价的稳定性被证实。然后，调遣运动的轮船基于获得的模型被预言。在预言的结果和模型测试结果之间的比较表明建议当模特儿的方法的有效性。

关键词：发货调遣反应当模特儿 MMG 模型系统鉴定神经网络

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Dynamic Characteristics Analysis and Vibration Experiment of Upper-time of Flight Counter (U-ToFC)

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Chinese Journal of mechanical engineering 2012年第5期25卷 868-874页

作者： WU Qiong ZHANG Yidu SONG Sunguang State Key Lab of Virtual Reality Technology and Systems Beihang UniversityBeijing 100191China School of Mechanical Engineering andAutomation Beihang UniversityBeijing 100191China

The dynamic characteristic parameters of Up-time of Flight Counter （U-ToFC） are important for research of structure optimization and reliability. However, the current simulation is performed based on homogenous material and simplified constraint model, the correct and reliability of results are difficult to be guaranteed. The finite element method based on identification of material parameters is proposed for this investigation on dynamic analysis, simulation and vibration experiment of the U-ToFC. The structure of the U-ToFC is complicated. Its＇ outside is made of aluminum alloy and inside contains electronic components such as capacitors, resistors, inductors, and integrated circuits. The accurate material parameters of model are identified difficultly. Hence, the parameters identification tests are performed to obtain the material parameters of this structure. On the basis of the above parameters, the experiment and FEA are conducted to the U-ToFC. In terms of the flight acceptance test level, and two kinds of joints condition between the U-ToFC and fixture are considered. The natural frequencies, vibration shapes and the response of the power spectral density of the U-ToFC are obtained. The results show simulation which is based on parameters identification is similar with vibration experiment in natural frequencies and responses. The errors are less than 10%. The vibration modes of simulation and experiment are consistent. The paper provides a more reliable computing method for the dynamic characteristic analysis of large complicated structure.

关键词： random vibration dynamical characteristic parameters finite element analysis identification of material parameters

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Principal Face-based Recognition Approach for Machining Features of Aircraft Integral Panels

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Chinese Journal of mechanical engineering 2011年第6期24卷 976-982页

作者： YU Fangfang ZHENG Guolei RAO Youfu DU Baorui CHU Hongzhen Department of mechanical engineering Beijing Armored Force Engineering Institute Beijing 100072 China School of Mechanical Engineering andAutomation Beihang University Beijing 100191 China Shenyang Aircraft Industry （Group） Corporation Ltd. Shenyang 110034 China

Feature recognition aims at extracting manufacturing features with geometrical information from solid model and is considered to be an efficient way of changing the interactive NC machining programming mode.Existing recognition methods have some disadvantages in practical applications.They can essentially handle prismatic components with regular shapes and are difficult to recognize the intersecting features and curved surfaces.Besides,the robustness of them is not strong enough.A new feature recognition approach is proposed based on the analysis of aircraft integral panels＇ geometry and machining characteristics.In this approach,the aircraft integral panel is divided into a number of local machining domains.The machining domains are extracted and recognized first by finding the principal face of machining domain and extracting the sides around the principal face.Then the machining domains are divided into various features in terms of the face type.The main sections of the proposed method are presented including the definition,classification and structure of machining domain,the relationship between machining domain and principal face loop,the rules of machining domains recognition,and the algorithm of machining feature recognition.In addition,a robotic feature recognition module is developed for aircraft integral panels and tested with several panels.Test results show that the strategy presented is robust and valid.Features extracted can be post processed and linked to various downstream applications.The approach is able to solve the difficulties in recognizing the aircraft integral panel＇s features and automatic obtaining the machining zone in NC programming,and can be used to further develop the automatic programming of NC machining.

关键词： numerical control aircraft integral panel computer aided manufacturing feature extraction

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Optimization of the Tuned Mass Damper for Chatter Suppression in Turning

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Chinese Journal of mechanical engineering 2010年第6期23卷 717-724页

作者： YANG Yiqing LIU Qiang WANG Min School of Mechanical Engineering andAutomation Beihang University Beijing 100191 China Research and Application Center of Advanced CNC Machining Technology Beihang University Beijing 100191 China College of mechanical engineering and Applied Electronics Technology Beijing University of Technology Beijing 100124 China

The tuned mass damper（TMD） has been successfully applied to the vibration control in machining, while the most widely adopted tuning is equal peaks, which splits the magnitude of the frequency response function（FRF） into equal peaks. However, chatter is a special self-excited problem and a chatter-flee machining is determined by FRF at the cutting zone. A TMD tuning aiming at achieving the maximum chatter stability is studied, and it is formulated as an optimization problem of maximizing the minimum negative real part of FRF. By employing the steepest descend method, the optimum frequency and damping ratio of TMD are obtained, and they are compared against the equal peaks tuning. The advantage of the proposed tuning is demonstrated numerically by comparing the minimum point of the negative real part, and is further verified by damping a flexible mode from the fixture of a turning machine. A TMD is designed and placed on the fixture along the vibration of the target mode after performing modal analysis and mode shape visualization. Both of the above two ttmings are applied to modify the tool point FRF by tuning TMD respectively. Chatter stability chart of the turning shows that the proposed tuning can increase the critical depth of cut 37% more than the equal peaks. Cutting tests with an increasing depth of cut are conducted on the turning machine in order to distinguish the stability limit. The tool vibrations during the machining are compared to validate the simulation results. The proposed damping design and optimization routine are able to further increase the chatter suppression effect.

关键词： tuned mass damper frequency response function chatter suppression optimization ~rning

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Preface:Celebrating the 70th Anniversary of school of mechanical Science and engineering,Huazhong University of Science and Technology

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Science China(Technological Sciences) 2022年第9期65卷 1913-1914页

作者： HUANG YongAn YIN ZhouPing State Key Laboratory of Digital Manufacturing Equipment and Technology School of Mechanical Science and EngineeringHuazhong University of Science and TechnologyWuhan 430074China

Huazhong University of Science and Technology (HUST) is a key research-based comprehensive university in Wuhan, China,under the direct supervision of the Ministry of Education of China. Renowned as the epitome of the development of higher education in new China, it is a “211” Project,“985” Project,“Double First-Class” university in China.

关键词： owned China education

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Model-Based Degree Estimation of Unbalance and Misalignment in Flexible Coupling-rotor System

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Chinese Journal of mechanical engineering 2009年第4期22卷 550-556页

作者： LI Changyou XU Minqiang GUO Song WANG Yuewu WANG Rixin school of Astronautics Harbin Institute of Technology Harbin 150001 China school of Computer Science and Technology Harbin Engineering University Harbin 150001 China school ofmechanicalengineering andautomation Northeastern University Shenyang 110004 China

The condition of rotor system must be assessed in order to develop condition-based maintenance for rotating machinery. It is determined by multiple variables such as unbalance degree, misalignment degree, the amount of bending deformation of the shaft, occurrence of shaft crack of rotor system and so on. The estimation of the degrees of unbalance and misalignment in flexible coupling-rotor system is discussed. The model-based approach is employed to solve this problem. The models of the equivalent external loads for unbalance and misalignment are derived and analyzed. Then, the degrees of unbalance and misalignment are estimated by analyzing the components of the equivalent external loads of which the frequencies are equal to the 1 and 2 times running frequency respectively. The equivalent external loads are calculated according to the dynamic equation of the original rotor system and the differences between the dynamical responses in normal case and the vibrations when the degree of unbalance or misalignment or both changes. The denoise method based on bandpass filter is used to decrease the effect of noise on the estimation accuracy. The numerical examples are given to show that the proposed approach can estimate the degrees of unbalance and misalignment of the flexible coupling-rotor system accurately.

关键词： model-based approach degree estimation misalignment unbalance rotor system flexible coupling

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Human Visual Attention Mechanism-Inspired Point-and-Line Stereo Visual Odometry for Environments with Uneven Distributed Features

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Chinese Journal of mechanical engineering 2023年第3期36卷 191-204页

作者： Chang Wang Jianhua Zhang Yan Zhao Youjie Zhou Jincheng Jiang school of mechanical engineering University of Science and Technology BeijingBeijing 100083China school of mechanical engineering Shandong UniversityJinan 250100China school of mechanical engineering Hebei University of TechnologyTianjin 300401China

Visual odometry is critical in visual simultaneous localization and mapping for robot navigation.However,the pose estimation performance of most current visual odometry algorithms degrades in scenes with unevenly distributed features because dense features occupy excessive weight.Herein,a new human visual attention mechanism for point-and-line stereo visual odometry,which is called point-line-weight-mechanism visual odometry(PLWM-VO),is proposed to describe scene features in a global and balanced manner.A weight-adaptive model based on region partition and region growth is generated for the human visual attention mechanism,where sufficient attention is assigned to position-distinctive objects(sparse features in the environment).Furthermore,the sum of absolute differences algorithm is used to improve the accuracy of initialization for line features.Compared with the state-of-the-art method(ORB-VO),PLWM-VO show a 36.79%reduction in the absolute trajectory error on the Kitti and Euroc datasets.Although the time consumption of PLWM-VO is higher than that of ORB-VO,online test results indicate that PLWM-VO satisfies the real-time demand.The proposed algorithm not only significantly promotes the environmental adaptability of visual odometry,but also quantitatively demonstrates the superiority of the human visual attention mechanism.

关键词： Visual odometry Human visual attention mechanism Environmental adaptability Uneven distributed features

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Modified Multifidelity Surrogate Model Based on Radial Basis Function with Adaptive Scale Factor

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Chinese Journal of mechanical engineering 2022年第4期35卷 109-123页

作者： Yin Liu Shuo Wang Qi Zhou Liye Lv Wei Sun Xueguan Song school of mechanical engineering Dalian University of Technology school of Aerospace engineering Huazhong University of Science and Technology school of mechanical engineering and Automation Zhejiang Sci-Tech University

Multifidelity surrogates(MFSs) replace computationally intensive models by synergistically combining information from different fidelity data with a significant improvement in modeling efficiency. In this paper, a modified MFS(MMFS) model based on a radial basis function(RBF) is proposed, in which two fidelities of information can be analyzed by adaptively obtaining the scale factor. In the MMFS, an RBF was employed to establish the low-fidelity model.The correlation matrix of the high-fidelity samples and corresponding low-fidelity responses were integrated into an expansion matrix to determine the scaling function parameters. The shape parameters of the basis function were optimized by minimizing the leave-one-out cross-validation error of the high-fidelity sample points. The performance of the MMFS was compared with those of other MFS models(MFS-RBF and cooperative RBF) and single-fidelity RBF using four benchmark test functions, by which the impacts of different high-fidelity sample sizes on the prediction accuracy were also analyzed. The sensitivity of the MMFS model to the randomness of the design of experiments(DoE) was investigated by repeating sampling plans with 20 different DoEs. Stress analysis of the steel plate is presented to highlight the prediction ability of the proposed MMFS model. This research proposes a new multifidelity modeling method that can fully use two fidelity sample sets, rapidly calculate model parameters, and exhibit good prediction accuracy and robustness.

关键词： Multi-fidelity surrogate RBF Adaptive scaling factor LOOCV Expansion matrix

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Steering and braking game control architecture based minimax robust stability control for emergency avoidance of autonomous vehicles

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Science China(Technological Sciences) 2022年第4期65卷 943-955页

作者： WU Jian WU DeXi YAN Yang ZHANG Ning BAO ChunJiang WANG FengBo school of mechanical and Automotive engineering Liaocheng UniversityLiaocheng 252000China school of mechanical engineering Southeast UniversityNanjing 211189China

The existing electronic stability control(ESC)system does not consider the steering intention of an autonomous driving system(ADS)during autonomous driving emergency avoidance.The distributed control scheme between ESC and ADS does not involve any information interaction,and the balance between path tracking and lateral stability is not optimal.A Nash game control scheme of steering and braking system is proposed to ensure that both path tracking and stability are simultaneously in the loop and solve the conflict by simulating the interaction between the two agents considering the impact on the interaction between a path following and lateral stability.Each agent considers its interests and the opponent’s interest,resulting in a global optimal control solution of steering control and ESC.Then,using minimax optimization theory,a lateral stability strategy is proposed to make the game control architecture under emergency avoidance more robust to uncertain lateral disturbances.Finally,simulation and hardware in the loop experiments show that the proposed scheme can consider both vehicle’s path following performance and lateral stability in the event of an emergency.

关键词： game framework emergency avoidance steering intention stability minimax theory

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