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Observer-Based Adaptive Robust Precision Motion Control of a Multi-Joint Hydraulic Manipulator

IEEE/CAA Journal of Automatica Sinica 2024年第5期11卷 1213-1226页

作者： Zheng Chen Shizhao Zhou Chong Shen Litong Lyu Junhui Zhang Bin Yao state key laboratory of fluid power and mechatronic systems Zhejiang UniversityHangzhou 310027 Ocean College Zhejiang UniversityZhoushan 316021China School of Mechanical Engineering Shijiazhuang Tiedao UniversityShijiazhuang 050000 state key laboratory of fluid power and mechatronic systems Zhejiang UniversityHangzhou 310027China School of Mechanical Engineering Purdue UniversityWest LafayetteIN 47907 USA

Hydraulic manipulators are usually applied in heavy-load and harsh operation ***,when faced with a complex operation,the traditional proportional-integral-derivative(PID)control may not meet requirements for high control ***-based full-state-feedback control is an effective alternative,but the states of a hydraulic manipulator are not always available and reliable in practical applications,particularly the joint angular velocity *** that it is not suitable to obtain the velocity signal directly from differentiating of position measurement,the low-pass filtering is commonly used,but it will definitely restrict the closed-loop bandwidth of the whole *** avoid this problem and realize better control performance,this paper proposes a novel observerbased adaptive robust controller(obARC)for a multi-joint hydraulic manipulator subjected to both parametric uncertainties and the lack of accurate velocity ***,a nonlinear adaptive observer is first designed to handle the lack of velocity measurement with the consideration of parametric ***,the adaptive robust control is developed to compensate for the dynamic uncertainties,and the close-loop system robust stability is theoretically proved under the observation and control ***,comparative experiments are carried out to show that the designed controller can achieve a performance improvement over the traditional methods,specifically yielding better control accuracy owing to the closed-loop bandwidth breakthrough,which is limited by low-pass filtering in fullstate-feedback control.

关键词： handle Observer filtering

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Numerical modeling and experimental investigation of a two-phase sink vortex and its fluid-solid vibration characteristics

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Journal of Zhejiang University-Science A(Applied Physics & Engineering) 2024年第1期25卷 47-62页

作者： Zichao YIN Yesha NI Lin LI Tong WANG Jiafeng WU Zhe LI Dapeng TAN College of Mechanical Engineering Zhejiang University of TechnologyHangzhou310014China state key laboratory of fluid power and mechatronic systems Zhejiang UniversityHangzhou310058China

A sink vortex is a common physical phenomenon in continuous casting,chemical extraction,water conservancy,and other industrial processes,and often causes damage and loss in ***,the real-time monitoring of the sink vortex state is important for improving industrial production ***,its suction-extraction phenomenon and shock vibration characteristics in the course of its formation are complex mechanical dynamic factors for flow field state *** address this issue,we set up a multi-physics model using the level set method(LSM)for a free sink vortex to study the two-phase interaction ***,a fluid–solid coupling dynamic model was deduced to investigate the shock vibration characteristics and reveal the transition mechanism of the critical flow *** numerical results show that the coupling energy shock induces a pressure oscillation phenomenon,which appears to be a transient enhancement of vibration at the vortex penetration *** central part of the transient enhancement signal is a high-frequency *** on the dynamic coupling model,an experimental observation platform was established to verify the accuracy of the numerical *** water-model experiment results were accordant with the numerical *** above results provide a reference for fluid state recognition and active vortex control for industrial monitoring systems,such as those in aerospace pipe transport,hydropower generation,and microfluidic devices.

关键词： Free sink vortex fluid-solid coupling Level set method(LSM) Multi-physics model Vibration characteristics

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Recent progress in self-propelled particles

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Journal of Hydrodynamics 2024年第1期36卷 61-77页

作者： Zhen-yu Ouyang Jian-zhong Lin laboratory of Impact and Safety Engineering Ministry of EducationNingbo UniversityNingbo315201China Department of Mechanics State Key Laboratory of Fluid Power and Mechatronic SystemsZhejiang UniversityHangzhou310027China

Self-propelled particles are commonly found in a large number of planktonic organisms such as bacteria,fungi,and algae in nature,and researchers have taken a long interest in exploring their swimming mechanisms for more than a *** in the past 20 years,with the development of computational fluid dynamics and flow display technology,as well as the need for the design of synthetic self-propelled particles and micro-swimming devices,self-propelled particles have become the forefront and hotspot of current research in the field of fluid *** paper first introduces the swimming characteristics of common self-propelled particles,leading to a classic“squirmer”type self-propelled particle *** this basis,a systematic introduction and summary of the theoretical and numerical simulation research of“squirmer”will be ***,the main challenges and opportunities faced by the current research will be summarized.

关键词： Self-propelled particles multiphase flow hydrodynamic interaction

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Reprogrammable, intelligent soft origami LEGO coupling actuation, computation, and sensing

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The Innovation 2024年第1期5卷 59-69页

作者： Zhongdong Jiao Zhenhan Hu Yuhao Shi Kaichen Xu Fangye Lin Pingan Zhu Wei Tang Yiding Zhong Huayong Yang Jun Zou state key laboratory of fluid power and mechatronic systems Zhejiang UniversityHangzhou 310058China

Tightly integrating actuation,computation,and sensing in soft materials allows soft robots to respond autonomously to their ***,fusing these capabilities within a single soft module in an effi-cient,programmable,and compatible way is still a significant ***,we introduce a strategy for integrating actuation,computation,and sensing capabilities in soft *** and plug-and-play soft origami modules can be reconfigured into diverse morphologies with specific functions or reprogrammed into a variety of soft logic circuits,similar to LEGO *** built an untethered autonomous soft turtle that is able to sense stimuli,store data,process information,and perform swimming *** function multiplexing and signal compatibility of the origami minimize the number of soft devices,thereby reducing the complexity and redundancy of soft ***,this origami also exhibits strong damage resistance and high *** envision that this work will offer an effective way to readily create on-demand soft robots that can operate in unknown environments.

关键词： integrating autonomous computation

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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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From tunnel boring machine to tunnel boring robot: perspectives on intelligent shield machine and its smart operation

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Journal of Zhejiang University-Science A(Applied Physics & Engineering) 2024年第5期25卷 357-381页

作者： Yakun ZHANG Guofang GONG Huayong YANG Jianbin LI Liujie JING state key laboratory of fluid power and mechatronic systems Zhejiang UniversityHangzhou 310058China China Railway Engineering Equipment Group Co. Lid.Zhengzhou 450016China Maha fluid power Research Center Purdue UniversityWest LafayetteIN 47905USA

Advances in intelligent shield machines reflect an evolving trend from traditional tunnel boring machines(TBMs)to tunnel boring robots(TBRs).This shift aims to address the challenges encountered by the conventional shield machine industry arising from construction environment and manual *** study presents a systematic review of intelligent shield machine technology,with a particular emphasis on its smart ***,the definition,meaning,contents,and development modes of intelligent shield machines are *** development status of the intelligent shield machine and its smart operation are then *** analyzing the operation process of the shield machine,an autonomous operation framework considering both stand-alone and fleet levels is *** and recommendations are given for achieving autonomous *** study offers insights into the essence and developmental framework of intelligent shield machines to propel the advancement of this technology.

关键词： Intelligent shield machine Tunnel boring machine(TBM) Tunnel boring robot(TBR) Self-driving Autonomous control Shield machine

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A laser-engraved wearable gait recognition sensor system for exoskeleton robots

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Microsystems & Nanoengineering 2024年第2期10卷 269-277页

作者： Maowen Sun Songya Cui Zezheng Wang Huayu Luo Huayong Yang Xiaoping Ouyang Kaichen Xu state key laboratory of fluid power and mechatronic systems School of Mechanical EngineeringZhejiang UniversityHangzhou310027China School of Information and Electrical Engineering Hangzhou City UniversityHangzhou310015China

As a reinforcement technology that improves load-bearing ability and prevents injuries,assisted exoskeleton robots have extensive applications in freight transport and health *** perception of gait information by such robots is vital for their *** information is the basis for motion planning in assistive and collaborative ***,a wearable gait recognition sensor system for exoskeleton robots is *** sensor arrays based on laser-induced graphene are developed with flexibility and *** sensor units are integrated into an insole to detect real-time pressure at key plantar *** addition,the circuit hardware and the algorithm are designed to reinforce the sensor system with the capability of gait *** experimental results show that the accuracy of gait recognition by the proposed system is 99.85%,and the effectiveness of the system is further verified through testing on an exoskeleton robot.

关键词： hardware robot skeleton

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Multi-Objective Optimization of VBHF in Deep Drawing Based on the Improved QO-Jaya Algorithm

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Chinese Journal of Mechanical Engineering 2024年第1期37卷 189-202页

作者： Xiangyu Jiang Zhaoxi Hong Yixiong Feng Jianrong Tan state key laboratory of fluid power and mechatronic systems Zhejiang UniversityHangzhou 310027China key laboratory of Advanced Manufacturing Technology of Zhejiang Province Zhejiang UniversityHangzhou 310027China Ningbo Innovation Center Zhejiang UniversityNingbo 315100China

Blank holder force(BHF)is a crucial parameter in deep drawing,having close relation with the forming quality of sheet ***,there are different BHFs maintaining the best forming effect in different stages of deep *** variable blank holder force(VBHF)varying with the drawing stage can overcome this problem at an *** optimization of VBHF is to determine the optimal BHF in every deep drawing *** this paper,a new heuristic optimization algorithm named Jaya is introduced to solve the optimization *** improved“Quasi-oppositional”strategy is added to Jaya algorithm for improving population ***,an innovated stop criterion is added for better ***,the quality evaluation criteria for wrinkling and tearing are ***,the Kriging models are developed to approximate and quantify the relation between VBHF and forming defects under random ***,the optimization models are established and solved by the improved QO-Jaya algorithm.A VBHF optimization example of component with complicated shape and thin wall is studied to prove the effectiveness of the improved Jaya *** optimization results are compared with that obtained by other algorithms based on the TOPSIS method.

关键词： Variable blank holder force Multi-objective optimization QO-Jaya algorithm Algorithm stop criterion

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A Review on the Mullins Effect in Tough Elastomers and Gels

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Acta Mechanica Solida Sinica 2024年第2期37卷 181-214页

作者： Lin Zhan Shaoxing Qu Rui Xiao MOE key Lab of Disaster Forecast and Control in Engineering College of Mechanics and Construction EngineeringJinan UniversityGuangzhou510632China state key laboratory of fluid power and mechatronic system Key Laboratory of Soft Machines and Smart Devices of Zhejiang ProvinceDepartment of Engineering MechanicsZhejiang UniversityHangzhou310027China

Tough elastomers and gels have garnered broad research interest due to their wide-ranging potential ***,during the loading and unloading cycles,a clear stress softening behavior can be observed in many material systems,which is also named as the Mullins *** this work,we aim to provide a complete review of the Mullins effect in soft yet tough materials,specifically focusing on nanocomposite gels,double-network hydrogels,and multi-network *** first revisit the experimental observations for these soft *** then discuss the recent developments of constitutive models,emphasizing novel developments in the damage mechanisms or network *** phenomenological models will also be briefly *** attention is then placed on the anisotropic and multiaxial modeling *** is demonstrated that most of the existing models fail to accurately predict the multiaxial data,posing a significant challenge for developing future anisotropic models tailored for tough gels and elastomers.

关键词： Mullins effect Double-network hydrogels Nanocomposite gels Multi-network elastomers Anisotropic damage model Multiaxial model

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Compliance motion control of the hydraulic dual-arm manipulator with adaptive mass estimation of unknown object

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Frontiers of Mechanical Engineering 2024年第1期19卷 35-52页

作者： Bolin SUN Min CHENG Ruqi DING Bing XU state key laboratory of Mechanical Transmissions Chongqing UniversityChongqing 400044China key laboratory of Conveyance and Equipment(Ministry of Education) East China Jiaotong UniversityNanchang 330013China state key laboratory of fluid power and mechatronic systems Zhejiang UniversityHangzhou 310027China

Given the limited operating ability of a single robotic arm,dual-arm collaborative operations have become increasingly *** with the electrically driven dual-arm manipulator,due to the unknown heavy load,difficulty in measuring contact forces,and control complexity during the closed-chain object transportation task,the hydraulic dual-arm manipulator(HDM)faces more difficulty in accurately tracking the desired motion trajectory,which may cause object deformation or even *** overcome this problem,a compliance motion control method is proposed in this paper for the *** mass parameter of the unknown object is obtained by using an adaptive method based on velocity *** to the difficulty in obtaining the actual internal force of the object,the pressure signal from the pressure sensor of the hydraulic system is used to estimate the contact force at the end-effector(EE)of two hydraulic manipulators(HMs).Further,the estimated contact force is used to calculate the actual internal force on the ***,a compliance motion controller is designed for HDM closed-chain *** position and internal force errors of the object are reduced by the feedback of the position,velocity,and internal force errors of the object to achieve the effect of the compliance motion of the HDM,i.e.,to reduce the motion error and internal force of the *** required velocity and force at the EE of the two HMs,including the position and internal force errors of the object,are inputted into separate position *** addition,the position controllers of the two individual HMs are designed to enable precise motion control by using the virtual decomposition control ***,comparative experiments are carried out on a hydraulic dual-arm test *** proposed method is validated by the experimental results,which demonstrate improved object position accuracy and reduced internal force.

关键词： hydraulic dual-arm manipulator compliance motion control unknown object adaptive mass estimation nonlinear control

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