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Modeling and control of a rigid-flexible coupling robot for narrow space manipulations

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Science China(Technological Sciences) 2025年第2期68卷 136-152页

作者： Kuangda CHEN Huan ZHAO Jiexin ZHANG Mei FENG Yiwei WANG Jinliang WANG Han DING state key laboratory of Intelligent manufacturing equipment and Technology Huazhong University of Science and TechnologyWuhan 430074China key laboratory of CNC equipment Reliability Ministry of EducationJilin UniversityChangchun 130021China School of Medical equipment Science and Engineering Huazhong University of Science and TechnologyWuhan 430074China

Narrow space manipulations are crucial for equipment maintenance,as they eliminate the need for disassembly,thus reducing costs and increasing ***-driven flexible robots possess exceptional capabilities in maneuvering through narrow spaces,thanks to their interaction compliance and distal ***,their inherent low stiffness causes a decline in the location accuracy of the robot and could even lead to manipulation *** address this challenge,this paper proposes a novel type of rigid-flexible coupling robot,which increases the stiffness of the robot while ensuring the reachability within a narrow *** achieve high-accuracy location in a narrow space,kinematic and control methods are ***,the robot forward kinematics are uniformly represented,and the closed-form inverse kinematics solution is ***,in cases where the robot's structure fails to align with Pieper's solution,a two-stage search strategy is utilized to solve the inverse kinematics,resulting in a high success rate of 99.1%.Based on the proposed kinematics,a rigid-dominated control method is then proposed to facilitate localization and pose alignment of target objects in narrow *** practical comparative experiments show that the proposed robot has the capability of high accuracy control in narrow spaces.

关键词： narrow space manipulation rigid-flexible coupling robot kinematics rigid-dominated control

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A data-driven rolling optimization method for trajectory tracking error prediction of CNC machine tools

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Science China(Technological Sciences) 2025年第1期68卷 270-285页

作者： Yinxin GUAN Jixiang YANG Shizhong TAN Han DING School of Mechanical Science and Engineering State Key Laboratory of Intelligent Manufacturing Equipment and TechnologyHuazhong University of Science and TechnologyWuhan 430074China

The dynamic performance of the feed-drive system in CNC machine tools directly influences the accuracy of machined *** enhance the motion control performance of CNC machine tools,a high-precision model of the feed-drive system is ***,current modeling methods for feed-drive systems seldom consider time-varying factors such as loads,wear,and *** a result,the model accuracy degrades when the system characteristics are affected by these time-varying *** this paper,a rolling optimization method with partial weights frozen is developed to realize quick iterative learning of a data-driven model for a feed drive system with time-varying characteristics using a small amount of ***,the long short-term memory fully connected(LSTM-FC)network is built and divided into feature extraction and output fitting parts based on their ***,a weight freezing-based rolling optimization method is *** weights in the feature extraction part are frozen,which preserves the learned common knowledge and patterns by solidifying the way that high-dimensional features are extracted from the *** adjusting the weights in the output fitting part,the extracted highdimensional features are remapped to the new data distribution changed by time-varying ***,the performance of the developed rolling optimization method is confirmed by *** results show that the proposed rolling optimization method reduces the maximum prediction errors by 49.5%and the total training time by 96.3%compared with existing methods,which demonstrates that the proposed method can restore model accuracy when the system characteristics change due to timevarying factors,and significantly accelerate the optimization process by rolling optimization.

关键词： rolling optimization feed-drive system data-driven time-varying machine tool

Dynamics of three ferrofluid droplets in a rotating magnetic field

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Applied Mathematics and Mechanics(English Edition) 2025年第3期46卷 591-600页

作者： Xinping ZHOU Wencai XIAO Qi ZHANG Chunyue LIANG Wanqiu ZHANG Fei ZHANG School of Mechanical Science and Engineering Huazhong University of Science and Technology state key laboratory of Intelligent manufacturing equipment and Technology Huazhong University of Science and Technology

Two-dimensional（2D） direct numerical simulations on the dynamics of three identical ferrofluid droplets suspended in a non-magnetic ambient fluid under a rotating uniform magnetic field are conducted, and the motion and deformation of the three ferrofluid droplets are studied in this paper. Results show that there are four modes(i.e., the three droplets' direct coalescence（TC）, the coalescence of two droplets and the subsequent planetary motion with the third droplet（CAP）, the three droplets' planetary motion（TP）, and the independent spin（IS）) for the three ferrofluid droplets, dependent on the magnetic Bond number（Bom） and the initial distance（d0） between two of the droplets. It is found that the decrease in d0and the increase in Bomcan make the droplets' mode change from the IS to the planetary motion, and then turn to the ***, reducing Bomor d0is helpful for the droplets to become merged.

关键词： Drop formation

Beyond Performance of Learning Control Subject to Uncertainties and Noise: A Frequency-Domain Approach Applied to Wafer Stages

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IEEE/CAA Journal of Automatica Sinica 2025年第1期12卷 198-214页

作者： Fazhi Song Ning Cui Shuaiqi Chen Kai Zhang Yang Liu Xinkai Chen Jiubin Tan IEEE the Center of Ultra-precision Optoelectronic Instrument Engineering Harbin Institute of Technology the key laboratory of Ultra-Precision Intelligent Instrumentation Ministry of Industry and Information Technology the state key laboratory of Precision Electronic manufacturing Technology and equipment Guangdong University of Technology the Center of Ultraprecision Optoelectronic Instrument Engineering Harbin Institute of Technology the key laboratory of UltraPrecision Intelligent Instrumentation Ministry of Industry and Information Technology the Department of Electronic and Information Systems Shibaura Institute of Technology

The increasingly stringent performance requirement in integrated circuit manufacturing, characterized by smaller feature sizes and higher productivity, necessitates the wafer stage executing a extreme motion with the accuracy in terms of nanometers. This demanding requirement witnesses a widespread application of iterative learning control(ILC), given the repetitive nature of wafer scanning. ILC enables substantial performance improvement by using past measurement data in combination with the system model knowledge. However, challenges arise in cases where the data is contaminated by the stochastic noise, or when the system model exhibits significant uncertainties, constraining the achievable performance. In response to this issue, an extended state observer(ESO) based adaptive ILC approach is proposed in the frequency *** being model-based, it utilizes only a rough system model and then compensates for the resulting model uncertainties using an ESO, thereby achieving high robustness against uncertainties with minimal modeling effort. Additionally, an adaptive learning law is developed to mitigate the limited performance in the presence of stochastic noise, yielding high convergence accuracy yet without compromising convergence speed. Simulation and experimental comparisons with existing model-based and data-driven inversion-based ILC validate the effectiveness as well as the superiority of the proposed method.

关键词： Extended state observer learning control model uncertainties motion control stochastic noise

Lightweight multifunctional metamaterial with low-frequency vibroacoustic reduction and load-bearing performances

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Applied Mathematics and Mechanics(English Edition) 2025年第3期46卷 403-422页

作者： Qi JIA Dianlong YU Donghai HAN Jihong WEN National key laboratory of equipment state Sensing and Smart Support College of Intelligence Science and Technology National University of Defense Technology

Metamaterials can control and manipulate acoustic/elastic waves on a subwavelength scale using cavities or additional components. However, the large cavity and weak stiffness components of traditional metamaterials may cause a conflict between vibroacoustic reduction and load-bearing capacity, and thus limit their ***, we propose a lightweight multifunctional metamaterial that can simultaneously achieve low-frequency sound insulation, broadband vibration reduction, and excellent load-bearing performance, named as vibroacoustic isolation and bearing metamaterial(VIBM). The advent of additive manufacturing technology provides a convenient and reliable method for the fabrication of VIBM samples. The results show that the compressive strength of the VIBM is as high as 9.71 MPa, which is nearly 87.81% higher than that of the conventional grid structure(CGS) under the same volume fraction. Moreover, the vibration and sound transmission are significantly reduced over a low and wide frequency range, which agrees well with the experimental data, and the reduction degree is obviously larger than that obtained by the CGS. The design strategy can effectively realize the key components of metamaterials and improve their application scenarios.

关键词： broadband vibration reduction load bearing low-frequency sound insulation multifunctional metamaterial O321

A decoupled method for time-dependent reliability-based design optimization

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Science China(Technological Sciences) 2025年第1期68卷 308-320页

作者： Dequan ZHANG Meide YANG Xu HAN state key laboratory of Reliability and Intelligence of Electrical equipment School of Mechanical EngineeringHebei University of TechnologyTianjin 300401China state key laboratory of Advanced Design and manufacturing for Vehicle Body College of Mechanical and Vehicle EngineeringHunan UniversityChangsha 410082China

Time-dependent reliability-based design optimization(TRBDO)has received extensive attention because of its ability to achieve optimal solutions that help meet the requirement for whole lifecycle reliability by quantitatively considering dynamic ***,directly solving TRBDO problems is computationally expensive,if not prohibitive,owing to the need to repeatedly evaluate time-dependent probabilistic *** address this challenge,an efficient decoupled method called sequential optimization and time-dependent reliability assessment(SOTRA)is proposed in this *** method transforms the original TRBDO problem,initially formulated probabilistically,into a problem using percentile formulation after discretizing time-dependent performance *** adopting the equivalent minimum performance target point(EMPTP)concept,the TRBDO problem is further converted into an equivalent deterministic optimization problem,which is subsequently solved through a sequential iteration process involving deterministic optimization and time-dependent reliability *** efficiently and robustly search an EMPTP for reliability analysis,a time-dependent self-adaptive finite-step length method is *** verify the proposed SOTRA method against existing TRBDO methods,a numerical example,a benchmark structural design case of a simply supported beam,and an engineering application for flexible wheel design are exemplified in this *** results demonstrate that the proposed SOTRA method exhibits high efficiency and robustness in solving TRBDO problems.

关键词： reliability-based design optimization dynamic uncertainties time-dependent reliability analysis decoupled method sequential optimization and reliability analysis

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Spherical Magnetic Fe-Alginate Microgels Fabricated by Droplet-Microfluidics Combining with an External Crosslinking Approach and the Study of Their pH Dependent Fe^(3+) Release Behaviors

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Chinese Journal of Polymer Science 2025年第2期43卷 289-302页

作者： Jie Chen Run-Yu Yu ai-Qi Wang Zhe-Yu Zhang Arezoo Ardekani Yuan-Du Hu Department of Materials Science and Engineering School of Physics Science and EngineeringBeijing Jiaotong UniversityBeijing100044China Guangdong Provincial key laboratory of Technique and equipment for Macromolecular Advanced manufacturing South China University of TechnologyGuangzhou510641China state key laboratory of Molecular Engineering of Polymers Fudan UniversityShanghai200438China Department of Mathematics School of Mechanical EngineeringPurdue University585 Purdue MallWest LafayetteIN47907-2088USA

Due to the rapid development and potential applications of iron(Ⅲ)-alginate(Fe-Alg)microgels in biomedical as well as environmental engineering,this study explores the preparation and characterization of spherical Fe-Alg microgels using droplet microfluidics combined with an external ionic crosslinking *** study focused on the role of Fe^(3+)and examined its effects on the physical/chemical properties of microgels under different ionic conditions and reduced or oxidized *** pH-dependent release behavior of Fe^(3+)from these microgels demonstrates their potential biomedical and environmental ***,the microgels can exhibit magnetism simply by utilizing in situ oxidation,which can be further used for targeted drug delivery and magnetic separation technologies.

关键词： Fe-alginate microgels Droplet microfluidics In situ oxidation Magnetism

Accurate manipulation of anthropomorphic robotic arm based on 3D human eye gazing with posture error compensation

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Science China(Technological Sciences) 2025年第2期68卷 178-198页

作者： Quanlin LI Xianzong WANG Jiaji MA Qianjun HUANG Qizhi JIANG Wenbin CHEN Caihua XIONG state key laboratory of Intelligent manufacturing equipment and Technology School of Mechanical Science and EngineeringHuazhong University of Science and TechnologyWuhan 430074China Institute of Medical equipment Science and Engineering Huazhong University of Science and TechnologyWuhan 430074China

As humans and robots work closer together than ever,anthropomorphic robotic arms with intuitive human-robot interaction interfaces have drawn massive attention to improving the quality of robot-assisted *** pursuit of this,we designed a dedicated 7-degrees-of-freedom(DoF)anthropomorphic robotic arm having three compact differential joints and a head-mounted gaze tracker enabling head-pose-tracked 3D gaze ***,two key challenges were addressed to achieve accurate robot-assisted manipulation of the object indicated by the direction of human ***,a novel predictive pupil feature was proposed for 3D gaze *** from most existing features subjected to the common paraxial approximation assumption,the proposed novel predictive pupil feature considered the light refraction at two corneal surfaces with a more realistic eye model,significantly improving the 3D gaze estimation accuracy when the eyeball rotates at large ***,a novel optimization-based approach was developed to efficiently compensate for the posture errors of the designed 7-DoF anthropomorphic robotic arm for accurate *** with the existing Jacobian-based or optimization-based approaches with nominal joint values as iteration initial,the proposed approach computed the optimal iteration initial and realized faster convergence for real-time posture error *** the posture error compensation in real time and 3D gaze estimated accurately,the human can command accurate robot-assisted manipulation using his eyes *** proposed system was successfully tested on five healthy subjects.

关键词： anthropomorphic robotic arm differential joint posture error compensation 3D gaze estimation corneal refraction head-mounted gaze tracker

Over 200 times current enhancement via buckling triboelectric nanogenerator at ultra-low speed for monitoring the swelling of lithium ion batteries

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Science Bulletin 2025年第2期70卷 148-152页

作者： Maoyi Zhang Chaosheng Hu Tongtong Zhang Chris R.Bowen Rui Li YongAn Huang Yewang Su Zhong Lin Wang Ya Yang Beijing key laboratory of Micro-Nano Energy and Sensor Center for High-Entropy Energy and SystemsBeijing Institute of Nanoenergy and NanosystemsChinese Academy of SciencesBeijing 101400China state key laboratory of Nonlinear Mechanics Institute of MechanicsChinese Academy of SciencesBeijing 100190China School of Engineering Science University of Chinese Academy of SciencesBeijing 100049China School of Nanoscience and Technology University of Chinese Academy of SciencesBeijing 100049China Department of Mechanical Engineering University of BathBath BA27AKUK state key laboratory of Structural Analysis for Industrial equipment Dalian University of TechnologyDalian 116024China state key laboratory of Intelligent manufacturing equipment and Technology Huazhong University of Science and TechnologyWuhan 430074China School of Material Science and Engineering Georgia Institute of TechnologyAtlantaGA 30332-0245USA

Sensors deployed within the Internet of Things(Io T)require a stable and continuous electrical energy supply[1].The traditional approach to provide an energy supply relies primarily on battery power,which has specific shortcomings;these include integration difficulties,the need for frequent charging or replacement,and environmental pollution associated with battery production and *** solve the challenge of delivering an energy supply to sensors,researchers have designed self-powered sensors or have produced power for sensors by scavenging mechanical energy from the surrounding *** generators[2],piezoelectric generators[3]and triboelectric nanogenerators(TENGs)[4,5]are common approaches to scavenge mechanical *** have been widely used in the development of self-powered sensors and the supply of electrical energy to sensors due to their high performance,low cost,and wide range of potential materials[6].

关键词： battery buckling swelling