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Multi-model ensemble learning for battery state-of-health estimation:Recent advances and perspectives

Journal of Energy Chemistry 2025年第1期 739-759页

作者： Chuanping Lin Jun Xu Delong Jiang Jiayang Hou Ying Liang Zhongyue Zou Xuesong Mei State Key Laboratory for Manufacturing Systems engineering Xi'an Jiaotong University Shaanxi Key Laboratory of Intelligent Robots School of Mechanical Engineering Xi'an Jiaotong University Department of Electrical engineering and automation Luoyang Institute of Science and Technology school of mechanical engineering Hangzhou Dianzi University

The burgeoning market for lithium-ion batteries has stimulated a growing need for more reliable battery performance monitoring. Accurate state-of-health(SOH) estimation is critical for ensuring battery operational performance. Despite numerous data-driven methods reported in existing research for battery SOH estimation, these methods often exhibit inconsistent performance across different application scenarios. To address this issue and overcome the performance limitations of individual data-driven models,integrating multiple models for SOH estimation has received considerable attention. Ensemble learning(EL) typically leverages the strengths of multiple base models to achieve more robust and accurate outputs. However, the lack of a clear review of current research hinders the further development of ensemble methods in SOH estimation. Therefore, this paper comprehensively reviews multi-model ensemble learning methods for battery SOH estimation. First, existing ensemble methods are systematically categorized into 6 classes based on their combination strategies. Different realizations and underlying connections are meticulously analyzed for each category of EL methods, highlighting distinctions, innovations, and typical applications. Subsequently, these ensemble methods are comprehensively compared in terms of base models, combination strategies, and publication trends. Evaluations across 6 dimensions underscore the outstanding performance of stacking-based ensemble methods. Following this, these ensemble methods are further inspected from the perspectives of weighted ensemble and diversity, aiming to inspire potential approaches for enhancing ensemble performance. Moreover, addressing challenges such as base model selection, measuring model robustness and uncertainty, and interpretability of ensemble models in practical applications is emphasized. Finally, future research prospects are outlined, specifically noting that deep learning ensemble is poised to advance ens

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Reliability and Availability Models of Belt Drive Systems Considering Failure Dependence

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Chinese Journal of mechanical engineering 2019年第2期32卷 133-144页

作者： Peng Gao Liyang Xie Jun Pan school of mechanical engineering Liaoning Shihua University school of mechanical engineering and automation Zhejiang Sci-Tech University school of mechanical engineering and automation Northeastern University

Conventional reliability models of belt drive systems in the failure mode of fatigue are mainly based on the static stress strength interference model and its extended models, which cannot consider dynamic factors in the operational duration and be used for further availability analysis. In this paper, time-dependent reliability models, failure rate models and availability models of belt drive systems are developed based on the system dynamic equations with the dynamic stress and the material property degradation taken into account. In the proposed models, dynamic failure dependence and imperfect maintenance are taken into consideration. Furthermore, the issue of time scale inconsistency between system failure rate and system availability is proposed and addressed in the proposed system availability models. Besides, Monte Carlo simulations are carried out to validate the established models. The results from the proposed models and those from the Monte Carlo simulations show a consistency. Furthermore, the case studies show that the failure dependence, imperfect maintenance and the time scale inconsistency have significant influences on system availability. The independence assumption about the belt drive systems results in underestimations of both reliability and availability. Moreover, the neglect of the time scale inconsistency causes the underestimate of the system availability. Meanwhile, these influences show obvious time-dependent characteristics.

关键词： Availability Reliability Belt drive Failure dependence Time scale inconsistency

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Intelligent monitoring-based safety system of massage robot

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Journal of Central South university 2016年第10期23卷 2647-2658页

作者：胡宁李长胜王利峰胡磊徐晓军邹雲鹏胡玥沈晨 school of automation Science and Electrical engineering Beihang University school of mechanical engineering and automation Beihang University school of mechanical and Electrical engineering Harbin Engineering University

As an important attribute of robots, safety is involved in each link of the full life cycle of robots, including the design, manufacturing, operation and maintenance. The present study on robot safety is a systematic project. Traditionally, robot safety is defined as follows: robots should not collide with humans, or robots should not harm humans when they collide. Based on this definition of robot safety, researchers have proposed ex ante and ex post safety standards and safety strategies and used the risk index and risk level as the evaluation indexes for safety methods. A massage robot realizes its massage therapy function through applying a rhythmic force on the massage object. Therefore, the traditional definition of safety, safety strategies, and safety realization methods cannot satisfy the function and safety requirements of massage robots. Based on the descriptions of the environment of massage robots and the tasks of massage robots, the present study analyzes the safety requirements of massage robots; analyzes the potential safety dangers of massage robots using the fault tree tool; proposes an error monitoring-based intelligent safety system for massage robots through monitoring and evaluating potential safety danger states, as well as decision making based on potential safety danger states; and verifies the feasibility of the intelligent safety system through an experiment.

关键词： robot fault tree safety strategies for robots intelligent safety

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Energy Efficiency Analysis of Quadruped Robot with Trot Gait and Combined Cycloid Foot Trajectory

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Chinese Journal of mechanical engineering 2014年第1期27卷 138-145页

作者： LEI Jingtao WANG Feng YU Huangying WANG Tianmiao YUAN Peijiang school of Mechatronic engineering and automation Shanghai University school of mechanical engineering and automation Beihang University

Quadruped robots consume a lot of energy, which is one of the factors restricting their application. Energy efficiency is one of the key evaluating indicators for walking robots. The relationship between energy and elastic elements of walking robots have been studied, but different walking gait patterns and contact status have important influences on locomotion energy efficiency, and the energy efficiency considering the foot-end trajectory has not been reported. Therefore, the energy consumption and energy efficiency of quadruped robot with trot gait and combined cycloid foot trajectory are studied. The forward and inverse kinematics of quadruped robot is derived. The combined cycloid function is proposed to generate horizontal and vertical foot trajectory respectively, which can ensure the acceleration curve of the foot-end smoother and more successive, and reduce the contact force between feet and environment. Because of the variable topology mechanism characteristic of quadruped robot, the leg state is divided into three different phases which are swing phase, transition phase and stance phase during one trot gait cycle. The non-continuous variable constraint between feet and environment of quadruped robot is studied. The dynamic model of quadruped robot is derived considering the variable topology mechanism characteristic, the periodic contact and elastic elements of the robot. The total energy consumption of walking robot during one gait cycle is analyzed based on the dynamic model. The specific resistance is used to evaluate energy efficiency of quadruped robot. The calculation results show the relationships between specific resistance and gait parameters, which can be used to determine the reasonable gait parameters.

关键词： quadruped robot trot gait trajectory planning dynamic modeling energy efficiency

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Dynamic Bending of Bionic Flexible Body Driven by Pneumatic Artificial Muscles(PAMs) for Spinning Gait of Quadruped Robot

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Chinese Journal of mechanical engineering 2016年第1期29卷 11-20页

作者： LEI Jingtao YU Huangying WANG Tianmiao school of Mechatronic engineering and automation Shanghai University school of mechanical engineering and automation Beihang University

The body of quadruped robot is generally developed with the rigid structure. The mobility of quadruped robot depcnds on the mechanical properties of the body mechanism, It is difficult for quadruped robot with rigid structure to achieve better mobility walking or running in the unstructured environment. A kind of bionic flexible body mechanism for quadruped robot is proposed, which is composed of one bionic spine and four pneumatic artificial muscles（PAMs）. This kind of body imitates the four-legged creatures＇ kinematical structure and physical properties, which has the characteristic of changeable stiff＇hess, lightweight, flexible and better bionics. The kinematics of body bending is derived, and the coordinated movement between the flexible body and legs is analyzed. The relationship between the body bending angle and the PAM length is obtained. The dynamics of the body bending is derived by the floating coordinate method and Lagrangian method, and the driving tbrce of PAM is determined. The experiment of body bending is conductcd, and the dynamic bending characteristic of bionic flexible body is evaluated. Experimental results show that the bending angle of the bionic flexible body can reach 18. An innovation body mechanism for quadruped robot is proposed, which has the characteristic of flexibility and achieve bending by changing gas pressure of PAMs. The coordinated movement of the body and legs can achieve spinning gait in order to improve the mobility of quadruped robot.

关键词： quadruped robot bionic flexible body PAM spinning gait dynamics

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Coupled lateral-torsional-axial vibrations of a helical gear-rotor-bearing system

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Acta Mechanica Sinica 2014年第5期30卷 746-761页

作者： Chao-Feng Li Shi-Hua Zhou Jie Liu Bang-Chun Wen school of mechanical engineering & automation Northeastern University school of mechanical engineering Shenyang University of Technology

Considering the axial and radial loads, a math- ematical model of angular contact ball bearing is deduced with Hertz contact theory. With the coupling effects of lateral, torsional and axial vibrations taken into account, a lumped-parameter nonlinear dynamic model of helical gearrotor-bearing system （HGRBS） is established to obtain the transmission system dynamic response to the changes of dif- ferent parameters. The vibration differential equations of the drive system are derived through the Lagrange equation, which considers the kinetic and potential energies, the dis- sipative function and the internal/external excitation. Based on the Runge-Kutta numerical method, the dynamics of the HGRBS is investigated, which describes vibration properties of HGRBS more comprehensively. The results show that the vibration amplitudes have obvious fluctuation, and the frequency multiplication and random frequency components become increasingly obvious with changing rotational speed and eccentricity at gear and bearing positions. Axial vibration of the HGRBS also has some fluctuations. The bearing has self-variable stiffness frequency, which should be avoided in engineering design. In addition, the bearing clearance needs little attention due to its slightly discernible effect on vibration response. It is suggested that a careful examination should be made in modelling the nonlinear dynamic behavior of a helical gear-rotor-bearing system.

关键词： Helical gear-rotor-bearing system Coupled lateral-torsional-axial vibration Meshing frequency Nonlinear dynamics

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Algorithm and experiments of six-dimensional force/torque dynamic measurements based on a Stewart platform

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Chinese Journal of Aeronautics 2016年第6期29卷 1840-1851页

作者： Wen Ke Du Fuzhou Zhang Xianzhi school of mechanical engineering and automation Beihang University school of mechanical and Aerospace engineering Kingston University

Stewart platform(SP) is a promising choice for large component alignment, and interactive force measurements are a novel and significant approach for high-precision assemblies. The designed position and orientation(P&O) adjusting platform, based on an SP for force/torquedriven(F/T-driven) alignment, can dynamically measure interactive forces. This paper presents an analytical algorithm of measuring six-dimensional F/T based on the screw theory for accurate determination of external forces during alignment. Dynamic gravity deviations were taken into consideration and a compensation model was developed. The P&O number was optimized as *** the specific appearance of repeated six-dimensional F/T measurements, an approximate cone shape was used for spatial precision analysis. The magnitudes and directions of measured F/Ts can be evaluated by a set of standards, in terms of accuracy and repeatability. Experiments were also performed using a known applied load, and the proposed analytical algorithm was able to accurately predict the F/T. A comparison between precision analysis experiments with or without assembly fixtures was performed. Experimental results show that the measurement accuracy varies under different P&O sets and higher loads lead to poorer accuracy of dynamic gravity compensation. In addition, the preferable operation range has been discussed for high-precision assemblies with smaller deviations.

关键词： Dynamic gravity compensation F/T-driven alignment Precision analysis P&O adjusting platform Six-dimensional F/T

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Real-time and reliability analysis of time-triggered CAN-bus

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Chinese Journal of Aeronautics 2013年第1期26卷 171-178页

作者： Xia Jiqiang Zhang Chuansen Bai Ronggang Xue Liqiang school of mechanical engineering and automation Beihang University

Real-time performance and reliability are two most important issues in applications of time-triggered controller area network （CAN） bus systems at present. A scheduling matrix of time-triggered CAN-bus system is established using average-loading algorithm. Periodic messages are guaranteed to transmit without delay by distributing independent transmission windows within the system matrix. Considering the traditional CAN-bus transmission mechanism and the time-triggered feature, an algorithm is improved to calculate the worst-case delay of event-triggered messages in time-triggered CAN-bus systems. The failure probability is calculated for event-triggered messages whose worst-case delay exceeds their deadlines. Different levels of redundant structures of CAN-bus circuits are analyzed and the maintenance management is proposed to improve the system reliability. Finally, the reliabilities of different structures are calculated and the influences of maintenance on the system reliability are analyzed.

关键词： CAN-bus Maintenance system Real-time performance Reliability Time-triggered

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Prediction of Maximum Section Flattening of Thin-walled Circular Steel Tube in Continuous Rotary Straightening Process

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Journal of Iron and Steel Research International 2016年第8期23卷 745-755页

作者： Zi-qian ZHANG school of mechanical engineering and automation Northeastern University

Cross-sectional ovalization of thin-walled circular steel tube because of large plastic bending,also known as the Brazier effect,usually occurs during the initial stage of tube′s continuous rotary straightening *** amount of ovalization,defined as maximal cross section flattening,is an important technical parameter in tube′s straightening process to control tube′s bending deformation and prevent ***,for the lack of special analytical model,the maximal section flattening was determined in accordance with the specified charts developed by experienced operators on the basis of experimental data;thus,it was inevitable that the localized buckling might occur during some actual straightening *** normal strain component formulas were derived based on the thin shell ***,strain energy of thin-walled tube（per unit length）was obtained using the elastic-plastic theory.A rational model for predicting the maximal section flattening of the thin-walled circular steel tube under its straightening process was presented by the principle of minimum potential *** new model was validated by experiments and numerical *** results show that the new model agrees well with the experiments and the numerical simulations with error of less than 10%.This new model was expected to find its potential application in thin-walled steel tube straightening machine design.

关键词： walled Rotary bending buckling length maximal radius localized Prediction rotary

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An optimal method of posture adjustment in aircraft fuselage joining assembly with engineering constraints

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Chinese Journal of Aeronautics 2017年第6期30卷 2016-2023页

作者： Yuan LI Li ZHANG Yanzhong WANG school of mechanical engineering and automation Beihang University

Posture of an aircraft fuselage can be evaluated based on the coordinate values of measure points fixed on the aircraft fuselage in aircraft final assembly. Posture adjustment is carried out by rotation and translation of the aircraft fuselage to make sure that the actual coordinate values of the measure points are coincided with the theoretical ones read from the computer aided design(CAD) model. The point registration method of posture adjustment without considering engineering constraints may cause out-of-tolerance for some engineering constraints. Hence, engineering constraints such as plane symmetry of two points, as well as coplanar and collinear of the multipoint should be considered in the new optimal method of posture adjustment in aircraft fuselage joining assembly. Based on the point registration model, a multi-objective optimization model of posture adjustment considering engineering constraints including collinear, coplanar, and symmetry constraints is established and represented by a uniform vector function. The weights of constraint conditions can be set freely in the optimization model to reflect the importance of the corresponding constraints in aircraft fuselage joining assembly. The rotation and translation parameters of posture adjustment are obtained by the proposed multi-objective optimization algorithm based on the Gauss-Newton method. Results of an example of aircraft fuselage joining assembly show that constraint errors of posture adjustment obtained by the multi-objective optimization model are not out of tolerance for design constraint errors and satisfy the requirement of aircraft fuselage joining assembly.

关键词： Aircraft assembly engineering constraint Least-squares method Multi-objective optimization Point registration Posture adjustment

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