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Bio-inspired Attachment Mechanism of Dynastes Hercules:Vertical Climbing for On-Orbit Assembly Legged Robots

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Journal of Bionic engineering 2024年第1期21卷 137-148页

作者： Yuetian Shi Xuyan Hou Zhonglai Na Jie Zhou Nan Yu Song Liu Linbo Xin Guowei Gao Yuhui Liu school of mechatronics engineering Harbin Institute of TechnologyHarbin 150001China

With the increasing size of space facilities,on-orbit assembly requires robots to move on different heights of *** paper proposes a bio-inspired attachment mechanism for robot feet to enable climbing on different heights of *** by the attachment and grasping abilities of Dynastes Hercules,we utilize its foot microstructures,such as microhooks and setae,to achieve efficient contact and firm grip with the *** morphology and arrangement of these structures can inspire the design of robot feet to improve their grasping and stability *** study the biological structure of Dynastes Hercules,design and optimize the bio-inspired structure,analyze the influence of various factors from theoretical and experimental perspectives,and verify the feasibility of the scheme through *** propose an ideal climbing strategy that provides useful reference for robot applications in ***,the influence laws of various factors in this paper can be applied to robot foot design to improve their operation ability and stability performance in the space *** bio-inspired mechanism can improve robot working range and efficiency,which is critical for on-orbit assemblyin space.

关键词： Space assembly robot Truss climbing Bionic structure Dynastes Hercules tarsus

A Symmetric-Actuating Linear Piezoceramic Ultrasonic Motor Capable of Producing a Scissoring Effect

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Research 2024年第1期2023卷 571-581页

作者： Zhanmiao Li Xingyu Yi Rongqi Zhu Zhonghui Yu Xiaoting Yuan MohammadJavad PourhosseiniAsl Shuxiang Dong school of Materials Science and engineering Peking UniversityBeijing 100871China College of mechatronics and Control engineering and Institute for Advanced StudyShenzhen UniversityShenzhen 518051China

Conventionally,to produce a linear motion,one motor’s stator is employed to drive one runner moving forward or *** far,there is almost no report of one electromechanical motor or piezoelectric ultrasonic motor that can directly generate two symmetrical linear motions,while this function is desired for precise scissoring and grasping in the minimally invasive surgery ***,we report a brandnew symmetric-actuating linear piezoceramic ultrasonic motor capable of generating symmetrical linear motions of two outputs directly without additional mechanical transmission *** key component of the motor is an(2×3)arrayed piezoceramic bar stator operating in the coupled resonant mode of the first longitudinal(L_(1))and third bending(B_(3))modes,leading to symmetric elliptical vibration trajectories at its two ends.A pair of microsurgical scissors is used as the end-effector,demonstrating a very promising future for high-precision microsurgical operations.

关键词： field symmetric backward

Optimal Energy Efficiency Based High-speed Flying Control Method for Hydraulic Quadruped Robot

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Journal of Bionic engineering 2024年第3期21卷 1156-1173页

作者： Qingjun Yang Zhenyang Zhang Rui Zhu Dianxin Wang school of mechatronics engineering Harbin Institute of TechnologyHarbin150000China Nanjing Chenguang Group Co.Ltd Nanjing210006China

Herein,a control method based on the optimal energy efficiency of a hydraulic quadruped robot was proposed,which not only realizes the optimal energy efficiency of flying trot gait but also ensures the stability of high-speed ***,the energy consumption per unit distance was adopted as the energy efficiency evaluation index based on the constant pressure oil supply characteristics of the hydraulic system,and the global optimization algorithm was adopted to solve the optimal ***,the gait parameters that affect the energy efficiency of quadruped were analyzed and the mapping relationship between each parameter and energy efficiency was captured,so as to select the optimum combination of energy efficiency parameters,which is significant to improve endurance ***,to ensure the stability of the high-speed flying trot gait motion of the hydraulic quadruped robot,the active compliance control strategy was ***,the proposed method was successfully verified by simulations and *** experimental results reveal that the flying trot gait of the hydraulic quadruped robot can be stably controlled at a speed of 2.2 m/s.

关键词： Hydraulic quadruped robot Flying trot Energy efficiency Active compliance control

Micro-nano-fabrication of green functional materials by multiphase microfluidics for environmental and energy applications

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Green Energy & Environment 2024年第8期9卷 1199-1219页

作者： Cheng Qi Tao Zhou Xingjiang Wu Kailang Liu Lei Li Zhou Liu Zhuo Chen Jianhong Xu Tiantian Kong Guangdong Provincial Key Laboratory of Micro/Nano Optomechatronics engineering College of Mechatronics and Control EngineeringShenzhen University The State Key Laboratory of Chemical engineering Department of Chemical EngineeringTsinghua University College of Chemistry and Environmental engineering Shenzhen University Department of Biomedical engineering School of MedicineShenzhen University

Multiphase microfluidic has emerged as a powerful platform to produce novel materials with tailor-designed functionalities, as microfluidic fabrication provides precise controls over the size, component, and structure of resultant materials. Recently, functional materials with welldefined micro-/nanostructures fabricated by microfluidics find important applications as environmental and energy materials. This review first illustrated in detail how different structures or shapes of droplet and jet templates are formed by typical configurations of microfluidic channel networks and multiphase flow systems. Subsequently, recent progresses on several representative energy and environmental applications, such as water purification, water collecting and energy storage, were overviewed. Finally, it is envisioned that integrating microfluidics and other novel materials will play increasing important role in contributing environmental remediation and energy storage in near future.

关键词： Microfluidics Multi-phase flow Droplet and microfiber Environmental remediation Energy Storage

A Hybrid Approach for Predicting the Remaining Useful Life of Bearings Based on the RReliefF Algorithm and Extreme Learning Machine

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Computer Modeling in engineering & Sciences 2024年第8期140卷 1405-1427页

作者： Sen-Hui Wang Xi Kang Cheng Wang Tian-Bing Ma Xiang He Ke Yang school of mechatronics engineering Anhui University of Science and TechnologyHuainan232001China Institute of Energy Hefei Comprehensive National Science CenterHefei230031China

Accurately predicting the remaining useful life(RUL)of bearings in mining rotating equipment is vital for mining *** research aims to distinguish the features associated with the RUL of bearings and propose a prediction model based on these selected *** study proposes a hybrid predictive model to assess the RUL of rolling element *** proposed model begins with the pre-processing of bearing vibration signals to reconstruct sixty time-domain *** hybrid model selects relevant features from the sixty time-domain features of the vibration signal by adopting the RReliefF feature selection ***,the extreme learning machine(ELM)approach is applied to develop a predictive model of RUL based on the optimal *** model is trained by optimizing its parameters via the grid search *** training datasets are adjusted to make them most suitable for the regression model using the cross-validation *** proposed hybrid model is analyzed and validated using the vibration data taken from the public XJTU-SY rolling element-bearing *** comparison is constructed with other traditional *** experimental test results demonstrated that the proposed approach can predict the RUL of bearings with a reliable degree of accuracy.

关键词： Bearing degradation remaining useful life estimation RReliefF feature selection extreme learning machine

Reinforcement Learning-Based Energy Management for Hybrid Power Systems:State-of-the-Art Survey,Review,and Perspectives

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Chinese Journal of Mechanical engineering 2024年第3期37卷 1-25页

作者： Xiaolin Tang Jiaxin Chen Yechen Qin Teng Liu Kai Yang Amir Khajepour Shen Li College of Mechanical and Vehicle engineering Chongqing UniversityChongqing 400044China school of Mechanical engineering Beijing Institute of TechnologyBeijing 100081China Department of Mechanical and mechatronics engineering University of WaterlooWaterlooON N2L 3G1Canada school of Civil engineering Tsinghua UniversityBeijing 100084China

The new energy vehicle plays a crucial role in green transportation,and the energy management strategy of hybrid power systems is essential for ensuring energy-efficient *** paper presents a state-of-the-art survey and review of reinforcement learning-based energy management strategies for hybrid power ***,it envisions the outlook for autonomous intelligent hybrid electric vehicles,with reinforcement learning as the foundational *** of all,to provide a macro view of historical development,the brief history of deep learning,reinforcement learning,and deep reinforcement learning is presented in the form of a ***,the comprehensive survey and review are conducted by collecting papers from mainstream academic *** most of the contributions based on three main directions—algorithm innovation,powertrain innovation,and environment innovation—provides an objective review of the research ***,to advance the application of reinforcement learning in autonomous intelligent hybrid electric vehicles,future research plans positioned as“Alpha HEV”are envisioned,integrating Autopilot and energy-saving control.

关键词： New energy vehicle Hybrid power system Reinforcement learning Energy management strategy

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Numerical investigation of transient gas–solid heat transfer in a packed bed:Impact of intra-particle thermal diffusion

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Particuology 2024年第7期90卷 404-411页

作者： Hanqiao Che Yuanhe Yue Zhaohua Jiang Duan Li school of Mechanical engineering Guangxi UniversityNanningGuangxi530004China school of Chemical engineering University of BirminghamBirminghamB152TTUK Hebei engineering Research Center of Advanced Energy Storage Technology and Equipment School of Energy and Environmental EngineeringHebei University of TechnologyTianjin300401China Hebei Key Laboratory of Thermal Science and Energy Clean Utilization School of Energy and Environmental EngineeringHebei University of TechnologyTianjin300401China school of mechatronics and Vehicle engineering Chongqing Jiaotong UniversityChongqing400074China school of Instrumentation and Opto-Electronic engineering Beihang UniversityBeijing 100191China

The transient heat transfer behaviours in a packed bed have been studied using coupled computational fluid dynamics(CFD)and discrete element method(DEM).Intra-particle thermal diffusion,which is a crucial but rarely explored issue,is considered by introducing a one-dimensional diffusion equation in the DEM *** achieve a sufficiently long physical time of simulations,we further reduce the computational cost by applying periodic boundary condition to a small segment of the packed *** study demonstrates a shifting peak heat flow rate from the bottom to the top of the packed bed during the initial warming *** affirm that the influence of thermal diffusion within a particle is noteworthy only for particles exhibiting a high Biot number(e.g.,Bi=1.2).This insight enriches our understanding of heat transfer mechanisms in packed beds and their practical engineering applications.

关键词： Packed bed Intra-particle heat transfer CFD–DEM

Enhancement in the Hg^(0) oxidation efficiency and sulfur resistance of CuCl_(2)-modified MnO_(x)-CeO_(x) nanorod catalysts

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Journal of Zhejiang University-Science A(Applied Physics & engineering) 2024年第8期25卷 680-686页

作者： Shujie GAO Yongjin HU Zhichang JIANG Xiaoxiang WANG Dong YE Changxing HU College of Quality&Safety engineering China Jiliang UniversityHangzhou 310018China Key Laboratory of Biomass Chemical engineering of Ministry of Education Institute of Industrial Ecology and EnvironmentCollege of Chemical and Biological EngineeringZhejiang UniversityHangzhou 310027China school of mechatronics and Energy engineering Ningbo Tech UniversityNingbo 315100China

In this study,a series of CuCl_(2)-modified MnO_(x)-CeO_(x)nanorods were synthesized for the oxidation of Hg^(0).The addition of CuCl_(2)resulted in an enhancement in the catalyst’s Hg^(0)oxidation ability,and Hg^(0)oxidation efficiency reached>97%from 150 to 250°*** the MnO_(x)-CeO_(x)catalysts,Mn^(4+)played the role of the active species for Hg^(0)oxidization,but in the CuCl_(2)-doped catalysts Cl−also contributed to Hg^(0)oxidation,conferring the superior performance of these *** introduction of SO_(2) led to a decrease in the availability of Mn^(4+),and the Hg^(0)oxidation efficiency of MnO_(x)-CeO_(x)decreased from about 100%to about 78%.By contrast,CuCl_(2)-promoted samples maintained a Hg^(0)oxidation efficiency of about 100%during the SO_(2) deactivation cycle due to the high reactivity of Cl−.

关键词： Hg^(0)oxidation CuCl_(2)modification MnO_(x)-CeO_(x)nanorods Sulfur resistance O_(x)idation activity

Global Phase Portraits of Uniform Isochronous Centers System of Degree Six with Polynomial Commutator

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Acta Mathematicae Applicatae Sinica 2024年第3期40卷 577-599页

作者： Li-na GUO Ai-yong CHEN Shuai-feng ZHAO school of Mathematics and Statistics Henan University of Science and TechnologyLuoyang 471023China Department of Mathematics Hunan First Normal UniversityChangsha 410205China school of mechatronics engineering Henan University of Science and TechnologyLuoyang 471023China

This paper studies the global phase portraits of uniform isochronous centers system of degree six with polynomial *** systems have the form x=-y+xf(x,y),y=x+yf(x,y),where f(x,y)=a_(1)x+a_(2)xy+a_(3)xy^(2)+a_(4)xy^(3)+a_(5)xy^(4)=xσ(y),and any zero of 1+a_(1)y+a_(2)y^(2)+a_(3)y^(3)+a_(4)y^(4)+a_(5)y^(5),y=y is an invariant straight *** last,all global phase portraits are drawn on the Poincare disk.

关键词： global phase portraits uniform isochronous center polynomial commutator invariant straight lines

维普期刊数据库