Topology Optimization(TO)is a powerful numerical technique to determine the optimal material layout in a design domain,which has accepted considerable developments in recent years.The classic Finite Element Method(FEM...Topology Optimization(TO)is a powerful numerical technique to determine the optimal material layout in a design domain,which has accepted considerable developments in recent years.The classic Finite Element Method(FEM)is applied to compute the unknown structural responses in TO.However,several numerical deficiencies of the FEM significantly influence the effectiveness and efficiency of TO.In order to eliminate the negative influence of the FEM on TO,IsoGeometric Analysis(IGA)has become a promising alternative due to its unique feature that the Computer-Aided Design(CAD)model and Computer-Aided Engineering(CAE)model can be unified into a same mathematical model.In the paper,the main intention is to provide a comprehensive overview for the developments of Isogeometric Topology Optimization(ITO)in methods and applications.Finally,some prospects for the developments of ITO in the future are also presented.展开更多
The recently developed hard-magnetic soft(HMS)materials can play a significant role in the actuation and control of medical devices,soft robots,flexible electronics,etc.To regulate the mechanical behaviors of the cant...The recently developed hard-magnetic soft(HMS)materials can play a significant role in the actuation and control of medical devices,soft robots,flexible electronics,etc.To regulate the mechanical behaviors of the cantilevered pipe conveying fluid,the present work introduces a segment made of the HMS material located somewhere along the pipe length.Based on the absolute node coordinate formulation(ANCF),the governing equations of the pipe conveying fluid with an HMS segment are derived by the generalized Lagrange equation.By solving the derived equations with numerical methods,the static deformation,linear vibration characteristic,and nonlinear dynamic response of the pipe are analyzed.The result of the static deformation of the pipe shows that when the HMS segment is located in the middle of the pipe,the downstream portion of the pipe centerline will keep a straight shape,providing that the pipe is stable with a relatively low flow velocity.Therefore,it is possible to precisely regulate the ejection direction of the fluid flow by changing the magnetic and fluid parameters.It is also found that the intensity and direction of the external magnetic field greatly affect the stability and dynamic response of the pipe with an HMS segment.In most cases,the magnetic actuation increases the critical flow velocity for the flutter instability of the pipe system and suppresses the vibration amplitude of the pipe.展开更多
With the continuous advancement in topology optimization and additive manufacturing(AM)technology,the capability to fabricate functionally graded materials and intricate cellular structures with spatially varying micr...With the continuous advancement in topology optimization and additive manufacturing(AM)technology,the capability to fabricate functionally graded materials and intricate cellular structures with spatially varying microstructures has grown significantly.However,a critical challenge is encountered in the design of these structures–the absence of robust interface connections between adjacent microstructures,potentially resulting in diminished efficiency or macroscopic failure.A Hybrid Level Set Method(HLSM)is proposed,specifically designed to enhance connectivity among non-uniform microstructures,contributing to the design of functionally graded cellular structures.The HLSM introduces a pioneering algorithm for effectively blending heterogeneous microstructure interfaces.Initially,an interpolation algorithm is presented to construct transition microstructures seamlessly connected on both sides.Subsequently,the algorithm enables the morphing of non-uniform unit cells to seamlessly adapt to interconnected adjacent microstructures.The method,seamlessly integrated into a multi-scale topology optimization framework using the level set method,exhibits its efficacy through numerical examples,showcasing its prowess in optimizing 2D and 3D functionally graded materials(FGM)and multi-scale topology optimization.In essence,the pressing issue of interface connections in complex structure design is not only addressed but also a robust methodology is introduced,substantiated by numerical evidence,advancing optimization capabilities in the realm of functionally graded materials and cellular structures.展开更多
Serial robots are used to handle workpieces with large dimensions, and calibrating kinematic parameters is one of the most efficient ways to upgrade their accuracy. Many models are set up to investigate how many kinem...Serial robots are used to handle workpieces with large dimensions, and calibrating kinematic parameters is one of the most efficient ways to upgrade their accuracy. Many models are set up to investigate how many kinematic parameters can be identified to meet the minimal principle, but the base frame and the kinematic parameter are indistinctly calibrated in a one-step way. A two-step method of calibrating kinematic parameters is proposed to improve the accuracy of the robot＇s base frame and kinematic parameters. The forward kinematics described with respect to the measuring coordinate frame are established based on the product- of-exponential （POE） formula. In the first step the robot＇s base coordinate frame is calibrated by the unit quaternion form. The errors of both the robot＇s reference configuration and the base coordinate frame＇s pose are equivalently transformed to the zero-position errors of the robot＇s joints. The simplified model of the robot＇s positioning error is established in second-power explicit expressions. Then the identification model is finished by the least square method, requiring measuring position coordinates only. The complete subtasks of calibrating the robot＇ s 39 kinematic parameters are finished in the second step. It＇s proved by a group of calibration experiments that by the proposed two-step calibration method the average absolute accuracy of industrial robots is updated to 0.23 mm. This paper presents that the robot＇s base frame should be calibrated before its kinematic parameters in order to upgrade its absolute positioning accuracy.展开更多
An energy-storage system comprised of lithium-ion battery modules is considered to be a core component of new energy vehicles,as it provides the main power source for the transmission system.However,manufacturing defe...An energy-storage system comprised of lithium-ion battery modules is considered to be a core component of new energy vehicles,as it provides the main power source for the transmission system.However,manufacturing defects in battery modules lead to variations in performance among the cells used in series or parallel configuration.This variation results in incomplete charge and discharge of batteries and non-uniform temperature distribution,which further lead to reduction of cycle life and battery capacity over time.To solve this problem,this work uses experimental and numerical methods to conduct a comprehensive investigation on the clustering of battery cells with similar performance in order to produce a battery module with improved electrochemical performance.Experiments were first performed by dismantling battery modules for the measurement of performance parameters.The kmeans clustering and support vector clustering(SVC)algorithms were then employed to produce battery modules composed of 12 cells each.Experimental verification of the results obtained from the clustering analysis was performed by measuring the temperature rise in the cells over a certain period,while air cooling was provided.It was found that the SVC-clustered battery module in Category 3 exhibited the best performance,with a maximum observed temperature of 32℃.By contrast,the maximum observed temperatures of the other battery modules were higher,at 40℃for Category 1(manufacturer),36℃for Category 2(manufacturer),and 35℃for Category 4(k-means-clustered battery module).展开更多
Low quality(Q) factor is often the limiting factor for high performance carbon nanotube(CNT) resonators. The most commonly used approach to enhance the Q factor of CNTs is to reduce/eliminate the intrinsic defects.Her...Low quality(Q) factor is often the limiting factor for high performance carbon nanotube(CNT) resonators. The most commonly used approach to enhance the Q factor of CNTs is to reduce/eliminate the intrinsic defects.Herein, we show surprisingly that hole defects of suitable size and position are able to enhance the Q factor of CNT, which strongly contradicts to the common notion that the presence of defects promote intrinsic dissipation via defects dissipation. By analyzing the strain distribution, we find that such abnormal enhancement in Q factor of defected CNT originates from a coupling competition mechanism between the atomic mismatch around defected atoms and the thermoelastic damping. Although the presence of holes will introduce an additional defect dissipation source, suitable holes are capable of reducing the energy dissipation arisen from the thermoelastic damping, through changing the spatial strain field of defected CNT. This coupling competition mechanism provides a new route for designing high performance CNT resonators via defects engineering.展开更多
This paper aims to solve large-scale and complex isogeometric topology optimization problems that consumesignificant computational resources. A novel isogeometric topology optimization method with a hybrid parallelstr...This paper aims to solve large-scale and complex isogeometric topology optimization problems that consumesignificant computational resources. A novel isogeometric topology optimization method with a hybrid parallelstrategy of CPU/GPU is proposed, while the hybrid parallel strategies for stiffness matrix assembly, equationsolving, sensitivity analysis, and design variable update are discussed in detail. To ensure the high efficiency ofCPU/GPU computing, a workload balancing strategy is presented for optimally distributing the workload betweenCPU and GPU. To illustrate the advantages of the proposedmethod, three benchmark examples are tested to verifythe hybrid parallel strategy in this paper. The results show that the efficiency of the hybrid method is faster thanserial CPU and parallel GPU, while the speedups can be up to two orders of magnitude.展开更多
A variable magnetization(VM) motor by incorporating magnets that can be flexibly configured with variable magnetization process is proposed to meet the emerging requirements on motor efficiency and actuator compliance...A variable magnetization(VM) motor by incorporating magnets that can be flexibly configured with variable magnetization process is proposed to meet the emerging requirements on motor efficiency and actuator compliance in robotic applications. A generalized spin torque model is established which provides a relationship between the motor torque and two different types of motor inputs, the current inputs and the magnet magnetizations. Avariable magnetization process is proposed based on the study of the hysteresis properties of the magnetic materials and the design criteria for implementing the variable magnetization process with current pulses are established. The feasibility of the variable magnetization is validated with experimental data and the motor functions and performances are numerically demonstrated and evaluated. The results show that the VM motor can maintain high efficiency by switching between two actuation modes. Controllable stiffness at different equilibria can be also achieved with the VM motor with instantaneous magnetizing current pulses.展开更多
For most legged robots the drive-motors are mounted on the joints of legs, which increase leg＇s mass and rotary inertia. When mounted on legs, the drive-motor has to rotate clockwise and anticlockwise periodically to...For most legged robots the drive-motors are mounted on the joints of legs, which increase leg＇s mass and rotary inertia. When mounted on legs, the drive-motor has to rotate clockwise and anticlockwise periodically to swing a leg back and forth. Larger inertia of the leg, as well as the ever-changing status of frequent acceleration and deceleration of the motors, limits the moving speed of the legged robots. This article proposes an improved mechanical design to overcome such problems. All the drive-motors are installed on the robot body to reduce the rotary inertia of the legs. Then a crank-rocker mechanism is used to transform continuous rotation of motors to back and forth motion of the leg. With this scheme, the motor may reach higher rotation speed since it drives a lighter leg with no change of the rotation direction. In addition, an elastic tendon is attached to the ankle to reduce the pulse stress on the leg. Kinematics and dynamics analysis demonstrates that the new design enlarges end-workspace, reduces driving torque and increases ground reaction force, which means the new robot has lager stride and higher swing frequency of leg to achieve faster moving.展开更多
In the present work,free vibration and buckling analyses of sandwich plates with various functionally graded foam cores are carried out.Foam cores are assumed to be made of metal,and three different configurations of ...In the present work,free vibration and buckling analyses of sandwich plates with various functionally graded foam cores are carried out.Foam cores are assumed to be made of metal,and three different configurations of the porous distribution in the core layer are taken into consideration.To carry out a comparative study between the distributions of pores in the core foam,the mass of foam in all three cases is kept the same.The vibration and buckling behaviors of skew plates are also analyzed as a part of the current investigation.The principle of minimization of potential energy and Hamilton’s principle are used for the derivation of the governing equations,while a C-0 finite element-based higher-order zigzag formulation is developed to solve the free vibration and buckling problems.The influences of gradation laws,boundary conditions,skew angle and geometry of plates are studied in detail for the dynamic and stability characteristics.It is found that both the non-dimensional natural frequency and buckling load decrease with the increase in the thickness of the metal foam cores,while they show an increasing trend as the skew angle of the plate increases.展开更多
The stiffness and dampness parameters of journal bearings are required in rectangular coordinates for analyzing the stability boundary and threshold speed of oil film bearings.On solving the Reynolds equation,the oil ...The stiffness and dampness parameters of journal bearings are required in rectangular coordinates for analyzing the stability boundary and threshold speed of oil film bearings.On solving the Reynolds equation,the oil film force is always obtained in polar coordinates;thus,the stiffness and dampness parameters can be easily obtained in polar coordinates.Therefore,the transformation between the polar and rectangular coordinates of journal bearing stiffness and dampness parameters is discussed in this study.展开更多
For the car sequencing（CS） problem, the draw-backs of the ＂sliding windows＂ technique used in the objective function have not been rectified, and no high quality initial solution has been acquired to accelerate th...For the car sequencing（CS） problem, the draw-backs of the ＂sliding windows＂ technique used in the objective function have not been rectified, and no high quality initial solution has been acquired to accelerate the improvement of the solution quality. Firstly, the objective function is improved to solve the double and bias counting of violations broadly discussed. Then, a new method combining heuristic with constraint propagation is proposed which constructs initial solutions under a parallel framework. Based on constraint propagation, three filtering rules are designed to intersecting with three greedy functions, so the variable domain is narrowed in the process of the construction. The parallel framework is served to show its robustness in terms of the quality of the solution since it greatly increases the performance of obtaining the best solution. In the computational experiments, 109 instances of 3 sets from the CSPLib＇ s benchmarks are used to test the performance of the proposed method. Experiment results show that the proposed method outperforms others in acquiring the best-known results for 85 best-known results of 109 are obtained with only one construction. The proposed research provides an avenue to remedy the deficiencies of ＂sliding windows＂ technique and construct high quality initial solutions.展开更多
In modern science and engineering disciplines,data-driven discovery methods play a fundamental role in system modeling,as data serve as the external representations of the intrinsic mechanisms within systems.However,e...In modern science and engineering disciplines,data-driven discovery methods play a fundamental role in system modeling,as data serve as the external representations of the intrinsic mechanisms within systems.However,empirical data contaminated by process and measurement noise remain a significant obstacle for this type of modeling.In this study,we have developed a data-driven method capable of directly uncovering linear dynamical systems from noisy data.This method combines the Kalman smoothing and sparse Bayesian learning to decouple process and measurement noise under the expectation-maximization framework,presenting an analytical method for alternate state estimation and system identification.Furthermore,the discovered model explicitly characterizes the probability distribution of process and measurement noise,as they are essential for filtering,smoothing,and stochastic control.We have successfully applied the proposed algorithm to several simulation systems.Experimental results demonstrate its potential to enable linear dynamical system discovery in practical applications where noise-free data are intractable to capture.展开更多
To automatically adapt to the shape of different objects with enough grasping force is a challenge in the design of under- actuated anthropomorphic hands, because the grasped object is easily ejected from the hands du...To automatically adapt to the shape of different objects with enough grasping force is a challenge in the design of under- actuated anthropomorphic hands, because the grasped object is easily ejected from the hands during underactuated grasping process. The goal of this paper is to develop a design method of underactuated anthropomorphic hands to guarantee reliable adaption to different grasped objects. An analysis method is developed to investigate the evolution of motion and force in the whole underactuated grasping process. Based on the evolution of motion and force, the underactuated grasping process is decomposed into four aspects including initial contact state, grasp terminal state, grasp trajectory and rate of progress. More- over, the influence factors of such four aspects are found as the form of the combinations of underactuated mechanism pa- rameters. According to the four aspects of the underactuated grasping process, this paper presents a stepwise parameter design method through optimization of parameter combinations step-by-step. The reliable adaptive grasp for a wide scale of grasped object size is achieved. Experimental setups are constructed to corroborate the results from the theory analysis and design.展开更多
Automated tape placement is an important automated process used for fabrication of large composite structures in aeronautical industry. The carbon fiber composite parts realized with this process tend to replace the a...Automated tape placement is an important automated process used for fabrication of large composite structures in aeronautical industry. The carbon fiber composite parts realized with this process tend to replace the aluminum parts produced by high-speed machining. It is difficult to determine the appropriate width of the composite tape in automated tape placement. Wrinkling will appear in the tape if it does not suit for the mould surface. Thus, this paper deals with establishing placement suitability criteria of the composite tape for the mould surface. With the assumptions for ideal mapping and by applying some principles and theorems of differential geometry, the centerline trajectory of the composite tape is identified to follow the geodesic. The placement suitability of the composite tape is examined on three different types of non-developable mould surfaces and four criteria are derived. The developed criteria have been used to test the deposition process over several mould surfaces and the appropriate width for each mould surface is obtained by referring to these criteria.展开更多
In this study,we observe that there are two threshold speeds(stability threshold speed and second threshold speed)for the long journal bearing,which is different for the short bearing.When the rotating speed is below ...In this study,we observe that there are two threshold speeds(stability threshold speed and second threshold speed)for the long journal bearing,which is different for the short bearing.When the rotating speed is below the stability threshold speed,the stability boundary nearly coincides with the clearance circle,and the journal center gradually returns to the equilibrium point after being released at an initial point.If the rotating speed is between the stability threshold speed and the second threshold speed,after being released at an initial point,the journal center converges to a contour containing the equilibrium point.In this situation,for a higher rotating speed,the corresponding contour is also larger.When the rotating speed exceeds the second threshold speed,the journal gradually moves towards the bearing surface after being released at an initial point.展开更多
The mechanisms of interaction between pulsed laser and materials are complex and indistinct,severely infuencing the stability and quality of laser processing.This paper proposes an intelligent method based on the acou...The mechanisms of interaction between pulsed laser and materials are complex and indistinct,severely infuencing the stability and quality of laser processing.This paper proposes an intelligent method based on the acoustic emission(AE)technique to monitor laser processing and explore the interaction mechanisms.The validation experiment is designed to perform nanosecond laser dotting on foat glass.Processing parameters are set diferently to generate various outcomes:ablated pits and irregular-shaped cracks.In the signal processing stage,we divide the AE signals into two bands,main and tail bands,according to the laser processing duration,to study the laser ablation and crack behavior,respectively.Characteristic parameters extracted by a method that combines framework and frame energy calculation of AE signals can efectively reveal the mechanisms of pulsed laser processing.The main band features evaluate the degree of laser ablation from the time and intensity scales,and the tail band characteristics demonstrate that the cracks occur after laser dotting.In addition,from the analysis of the parameters of the tail band very large cracks can be efciently distinguished.The intelligent AE monitoring method was successfully applied in exploring the interaction mechanism of nanosecond laser dotting foat glass and can be used in other pulsed laser processing felds.展开更多
Imaging techniques have been widely implemented to study the dynamics of chip formation.They can offer a direct method and a full field measurement of the cutting process,providing kinematic information of the chip fo...Imaging techniques have been widely implemented to study the dynamics of chip formation.They can offer a direct method and a full field measurement of the cutting process,providing kinematic information of the chip formation process.In this article,the state of the art of the imaging techniques reported in the literature has been summarized and analyzed.The imaging techniques have been applied to study the chip formation mechanism,friction behavior,strain/strain rate,and stress fields.Furthermore,the study of surface integrity has been advanced by deriving the thermo‐mechanical loading,subsurface deformation,and material constitutive model from the imaging technique.Finally,achievements in the area of imaging techniques have been summarized,followed by future directions for their application in the study of surface integrity.展开更多
Remote measurement of object orientation is often required in many applications.Out of the six degrees of freedom(DoF)that determine object orientation in space,the roll angle is the most difficult to measure using op...Remote measurement of object orientation is often required in many applications.Out of the six degrees of freedom(DoF)that determine object orientation in space,the roll angle is the most difficult to measure using optical methods.In this letter,we propose a remote Stokes roll-angle sensor that measures roll angles from the detected Stokes vectors of modulated polarized light retroreflected from a sensing unit comprised simply of a retarder and a planar reflection mirror.Experimental results have shown that the proposed sensor can realize absolute roll angle measurement in an unprecedented range of 180°with a maximum absolute error of less than 0.25°and a measurement resolution of better than 0.01°.The proposed sensor adopts a coaxial design and takes the advantages of compactness,simplicity and low cost,and moreover,can be further expanded to a three-DoF angle sensor due to the sensitivity of the sensing unit to other two kinds of angles(pitch and yaw).展开更多
Drastic reduction in biodiversity has been a severe threat to ecosystems,which is exacerbated when losing few species leads to disastrous and even irreparable consequences.Therefore,revealing the mechanism underlying ...Drastic reduction in biodiversity has been a severe threat to ecosystems,which is exacerbated when losing few species leads to disastrous and even irreparable consequences.Therefore,revealing the mechanism underlying biodiversity loss is of uttermost importance.In this study,we show that abundant indirect interactions among mutualistic ecosystems are critical in determining species’status.Combining topological and ecological characteristics,we propose an indicator derived from a dynamic model to identify keystone species and quantify their influence,which outperforms widely-used indicators like degree in realistic and simulated networks.Furthermore,we demonstrate that networks with high modularity,heterogeneity,biodiversity,and less intimate interactions tend to have larger indirect effects,which are more amenable in predicting decline of biodiversity with the proposed indicator.These findings shed some light onto the influence of apposite biodiversities,paving the way from complex network theory to ecosystem protection and restoration.展开更多
基金Supported by National Key R&D Program of China(Grant No.2020YFB1708304)and Fundamental Research Funds for the Central Universities of the Huazhong University of Science and Technology(Grant No.5003123021)and the Program for HUST Academic Frontier Youth Team(Grant No.2017QYTD04).
文摘Topology Optimization(TO)is a powerful numerical technique to determine the optimal material layout in a design domain,which has accepted considerable developments in recent years.The classic Finite Element Method(FEM)is applied to compute the unknown structural responses in TO.However,several numerical deficiencies of the FEM significantly influence the effectiveness and efficiency of TO.In order to eliminate the negative influence of the FEM on TO,IsoGeometric Analysis(IGA)has become a promising alternative due to its unique feature that the Computer-Aided Design(CAD)model and Computer-Aided Engineering(CAE)model can be unified into a same mathematical model.In the paper,the main intention is to provide a comprehensive overview for the developments of Isogeometric Topology Optimization(ITO)in methods and applications.Finally,some prospects for the developments of ITO in the future are also presented.
基金supported by the National Natural Science Foundation of China(Nos.11972167 and 12072119)the China National Postdoctoral Program for Innovative Talents(No.BX20220118)+1 种基金the China Postdoctoral Science Foundation(No.2021M701306)the Third Batch Postdoctoral Program for the Innovative Talents in Hubei Province of China。
文摘The recently developed hard-magnetic soft(HMS)materials can play a significant role in the actuation and control of medical devices,soft robots,flexible electronics,etc.To regulate the mechanical behaviors of the cantilevered pipe conveying fluid,the present work introduces a segment made of the HMS material located somewhere along the pipe length.Based on the absolute node coordinate formulation(ANCF),the governing equations of the pipe conveying fluid with an HMS segment are derived by the generalized Lagrange equation.By solving the derived equations with numerical methods,the static deformation,linear vibration characteristic,and nonlinear dynamic response of the pipe are analyzed.The result of the static deformation of the pipe shows that when the HMS segment is located in the middle of the pipe,the downstream portion of the pipe centerline will keep a straight shape,providing that the pipe is stable with a relatively low flow velocity.Therefore,it is possible to precisely regulate the ejection direction of the fluid flow by changing the magnetic and fluid parameters.It is also found that the intensity and direction of the external magnetic field greatly affect the stability and dynamic response of the pipe with an HMS segment.In most cases,the magnetic actuation increases the critical flow velocity for the flutter instability of the pipe system and suppresses the vibration amplitude of the pipe.
基金the National Key Research and Development Program of China(Grant Number 2021YFB1714600)the National Natural Science Foundation of China(Grant Number 52075195)the Fundamental Research Funds for the Central Universities,China through Program No.2172019kfyXJJS078.
文摘With the continuous advancement in topology optimization and additive manufacturing(AM)technology,the capability to fabricate functionally graded materials and intricate cellular structures with spatially varying microstructures has grown significantly.However,a critical challenge is encountered in the design of these structures–the absence of robust interface connections between adjacent microstructures,potentially resulting in diminished efficiency or macroscopic failure.A Hybrid Level Set Method(HLSM)is proposed,specifically designed to enhance connectivity among non-uniform microstructures,contributing to the design of functionally graded cellular structures.The HLSM introduces a pioneering algorithm for effectively blending heterogeneous microstructure interfaces.Initially,an interpolation algorithm is presented to construct transition microstructures seamlessly connected on both sides.Subsequently,the algorithm enables the morphing of non-uniform unit cells to seamlessly adapt to interconnected adjacent microstructures.The method,seamlessly integrated into a multi-scale topology optimization framework using the level set method,exhibits its efficacy through numerical examples,showcasing its prowess in optimizing 2D and 3D functionally graded materials(FGM)and multi-scale topology optimization.In essence,the pressing issue of interface connections in complex structure design is not only addressed but also a robust methodology is introduced,substantiated by numerical evidence,advancing optimization capabilities in the realm of functionally graded materials and cellular structures.
基金Supported by State Key Lab of Digital Manufacturing Equipment & Technology(Grant No.DMETKF2015013)National Natural Science Foundation of China(Grant No.51305008)
文摘Serial robots are used to handle workpieces with large dimensions, and calibrating kinematic parameters is one of the most efficient ways to upgrade their accuracy. Many models are set up to investigate how many kinematic parameters can be identified to meet the minimal principle, but the base frame and the kinematic parameter are indistinctly calibrated in a one-step way. A two-step method of calibrating kinematic parameters is proposed to improve the accuracy of the robot＇s base frame and kinematic parameters. The forward kinematics described with respect to the measuring coordinate frame are established based on the product- of-exponential （POE） formula. In the first step the robot＇s base coordinate frame is calibrated by the unit quaternion form. The errors of both the robot＇s reference configuration and the base coordinate frame＇s pose are equivalently transformed to the zero-position errors of the robot＇s joints. The simplified model of the robot＇s positioning error is established in second-power explicit expressions. Then the identification model is finished by the least square method, requiring measuring position coordinates only. The complete subtasks of calibrating the robot＇ s 39 kinematic parameters are finished in the second step. It＇s proved by a group of calibration experiments that by the proposed two-step calibration method the average absolute accuracy of industrial robots is updated to 0.23 mm. This paper presents that the robot＇s base frame should be calibrated before its kinematic parameters in order to upgrade its absolute positioning accuracy.
基金This work was supported by the National Natural Science Foundation of China(51675196 and 51721092)the program for HUST Academic Frontier Youth Team(2017QYTD04)+2 种基金The authors acknowledge the grant(DMETKF2018019)from the State Key Lab of Digital Manufacturing Equipment and Technology,Huazhong University of Science and Technologythe Sailing Talent Program and the Guangdong University Youth Innovation Talent Project(2016KQNCX053)supported by the Department of Education of Guangdong Provincethe Shantou University Scientific Research Funded Project(NTF16002).
文摘An energy-storage system comprised of lithium-ion battery modules is considered to be a core component of new energy vehicles,as it provides the main power source for the transmission system.However,manufacturing defects in battery modules lead to variations in performance among the cells used in series or parallel configuration.This variation results in incomplete charge and discharge of batteries and non-uniform temperature distribution,which further lead to reduction of cycle life and battery capacity over time.To solve this problem,this work uses experimental and numerical methods to conduct a comprehensive investigation on the clustering of battery cells with similar performance in order to produce a battery module with improved electrochemical performance.Experiments were first performed by dismantling battery modules for the measurement of performance parameters.The kmeans clustering and support vector clustering(SVC)algorithms were then employed to produce battery modules composed of 12 cells each.Experimental verification of the results obtained from the clustering analysis was performed by measuring the temperature rise in the cells over a certain period,while air cooling was provided.It was found that the SVC-clustered battery module in Category 3 exhibited the best performance,with a maximum observed temperature of 32℃.By contrast,the maximum observed temperatures of the other battery modules were higher,at 40℃for Category 1(manufacturer),36℃for Category 2(manufacturer),and 35℃for Category 4(k-means-clustered battery module).
基金supported by the National Natural Science Foundation of China (Grant Nos. 51605172 and 51775201)the Natural Science Foundation of Hubei Province (Grant No. 2016CFB191)+1 种基金the Fundamental Research Funds for the Central Universities (Grant No. 2015MS014)the Hong Kong Scholars Program (No. XJ2020043)。
文摘Low quality(Q) factor is often the limiting factor for high performance carbon nanotube(CNT) resonators. The most commonly used approach to enhance the Q factor of CNTs is to reduce/eliminate the intrinsic defects.Herein, we show surprisingly that hole defects of suitable size and position are able to enhance the Q factor of CNT, which strongly contradicts to the common notion that the presence of defects promote intrinsic dissipation via defects dissipation. By analyzing the strain distribution, we find that such abnormal enhancement in Q factor of defected CNT originates from a coupling competition mechanism between the atomic mismatch around defected atoms and the thermoelastic damping. Although the presence of holes will introduce an additional defect dissipation source, suitable holes are capable of reducing the energy dissipation arisen from the thermoelastic damping, through changing the spatial strain field of defected CNT. This coupling competition mechanism provides a new route for designing high performance CNT resonators via defects engineering.
基金the National Key R&D Program of China(2020YFB1708300)the National Natural Science Foundation of China(52005192)the Project of Ministry of Industry and Information Technology(TC210804R-3).
文摘This paper aims to solve large-scale and complex isogeometric topology optimization problems that consumesignificant computational resources. A novel isogeometric topology optimization method with a hybrid parallelstrategy of CPU/GPU is proposed, while the hybrid parallel strategies for stiffness matrix assembly, equationsolving, sensitivity analysis, and design variable update are discussed in detail. To ensure the high efficiency ofCPU/GPU computing, a workload balancing strategy is presented for optimally distributing the workload betweenCPU and GPU. To illustrate the advantages of the proposedmethod, three benchmark examples are tested to verifythe hybrid parallel strategy in this paper. The results show that the efficiency of the hybrid method is faster thanserial CPU and parallel GPU, while the speedups can be up to two orders of magnitude.
基金supported by the National Natural Science Foundation of China(Grant Nos.51675194,U1713204)
文摘A variable magnetization(VM) motor by incorporating magnets that can be flexibly configured with variable magnetization process is proposed to meet the emerging requirements on motor efficiency and actuator compliance in robotic applications. A generalized spin torque model is established which provides a relationship between the motor torque and two different types of motor inputs, the current inputs and the magnet magnetizations. Avariable magnetization process is proposed based on the study of the hysteresis properties of the magnetic materials and the design criteria for implementing the variable magnetization process with current pulses are established. The feasibility of the variable magnetization is validated with experimental data and the motor functions and performances are numerically demonstrated and evaluated. The results show that the VM motor can maintain high efficiency by switching between two actuation modes. Controllable stiffness at different equilibria can be also achieved with the VM motor with instantaneous magnetizing current pulses.
基金This work is supported by the National Natural Science Foundation of China （Grant No： 50875100） and the National Basic Research Program of China （Grant No： 2013CB035805）.
文摘For most legged robots the drive-motors are mounted on the joints of legs, which increase leg＇s mass and rotary inertia. When mounted on legs, the drive-motor has to rotate clockwise and anticlockwise periodically to swing a leg back and forth. Larger inertia of the leg, as well as the ever-changing status of frequent acceleration and deceleration of the motors, limits the moving speed of the legged robots. This article proposes an improved mechanical design to overcome such problems. All the drive-motors are installed on the robot body to reduce the rotary inertia of the legs. Then a crank-rocker mechanism is used to transform continuous rotation of motors to back and forth motion of the leg. With this scheme, the motor may reach higher rotation speed since it drives a lighter leg with no change of the rotation direction. In addition, an elastic tendon is attached to the ankle to reduce the pulse stress on the leg. Kinematics and dynamics analysis demonstrates that the new design enlarges end-workspace, reduces driving torque and increases ground reaction force, which means the new robot has lager stride and higher swing frequency of leg to achieve faster moving.
基金supporting the present work through Ph.D.scholarship grant(2K17/NITK/PHD/6170004).Tanmoy Mukhopadhyay acknowledges SERB,India,for providing research support through the grant SERB/AE/2020316.
文摘In the present work,free vibration and buckling analyses of sandwich plates with various functionally graded foam cores are carried out.Foam cores are assumed to be made of metal,and three different configurations of the porous distribution in the core layer are taken into consideration.To carry out a comparative study between the distributions of pores in the core foam,the mass of foam in all three cases is kept the same.The vibration and buckling behaviors of skew plates are also analyzed as a part of the current investigation.The principle of minimization of potential energy and Hamilton’s principle are used for the derivation of the governing equations,while a C-0 finite element-based higher-order zigzag formulation is developed to solve the free vibration and buckling problems.The influences of gradation laws,boundary conditions,skew angle and geometry of plates are studied in detail for the dynamic and stability characteristics.It is found that both the non-dimensional natural frequency and buckling load decrease with the increase in the thickness of the metal foam cores,while they show an increasing trend as the skew angle of the plate increases.
基金supported by science and technology research project of Hubei provincial department of education(No.Q20192603)doctoral research fund of Hubei University of Arts and Science(No.2059023)。
文摘The stiffness and dampness parameters of journal bearings are required in rectangular coordinates for analyzing the stability boundary and threshold speed of oil film bearings.On solving the Reynolds equation,the oil film force is always obtained in polar coordinates;thus,the stiffness and dampness parameters can be easily obtained in polar coordinates.Therefore,the transformation between the polar and rectangular coordinates of journal bearing stiffness and dampness parameters is discussed in this study.
基金Supported by National Natural Science Foundation of China(Grant Nos.51435009,71302085)Zhejiang Provincial Natural Science Foundation of China(Grant No.LQ14E080002)K.C.Wong Magna Fund in Ningbo University
文摘For the car sequencing（CS） problem, the draw-backs of the ＂sliding windows＂ technique used in the objective function have not been rectified, and no high quality initial solution has been acquired to accelerate the improvement of the solution quality. Firstly, the objective function is improved to solve the double and bias counting of violations broadly discussed. Then, a new method combining heuristic with constraint propagation is proposed which constructs initial solutions under a parallel framework. Based on constraint propagation, three filtering rules are designed to intersecting with three greedy functions, so the variable domain is narrowed in the process of the construction. The parallel framework is served to show its robustness in terms of the quality of the solution since it greatly increases the performance of obtaining the best solution. In the computational experiments, 109 instances of 3 sets from the CSPLib＇ s benchmarks are used to test the performance of the proposed method. Experiment results show that the proposed method outperforms others in acquiring the best-known results for 85 best-known results of 109 are obtained with only one construction. The proposed research provides an avenue to remedy the deficiencies of ＂sliding windows＂ technique and construct high quality initial solutions.
基金supported by the National Natural Science Foundation of China(Grant No.92167201).
文摘In modern science and engineering disciplines,data-driven discovery methods play a fundamental role in system modeling,as data serve as the external representations of the intrinsic mechanisms within systems.However,empirical data contaminated by process and measurement noise remain a significant obstacle for this type of modeling.In this study,we have developed a data-driven method capable of directly uncovering linear dynamical systems from noisy data.This method combines the Kalman smoothing and sparse Bayesian learning to decouple process and measurement noise under the expectation-maximization framework,presenting an analytical method for alternate state estimation and system identification.Furthermore,the discovered model explicitly characterizes the probability distribution of process and measurement noise,as they are essential for filtering,smoothing,and stochastic control.We have successfully applied the proposed algorithm to several simulation systems.Experimental results demonstrate its potential to enable linear dynamical system discovery in practical applications where noise-free data are intractable to capture.
文摘To automatically adapt to the shape of different objects with enough grasping force is a challenge in the design of under- actuated anthropomorphic hands, because the grasped object is easily ejected from the hands during underactuated grasping process. The goal of this paper is to develop a design method of underactuated anthropomorphic hands to guarantee reliable adaption to different grasped objects. An analysis method is developed to investigate the evolution of motion and force in the whole underactuated grasping process. Based on the evolution of motion and force, the underactuated grasping process is decomposed into four aspects including initial contact state, grasp terminal state, grasp trajectory and rate of progress. More- over, the influence factors of such four aspects are found as the form of the combinations of underactuated mechanism pa- rameters. According to the four aspects of the underactuated grasping process, this paper presents a stepwise parameter design method through optimization of parameter combinations step-by-step. The reliable adaptive grasp for a wide scale of grasped object size is achieved. Experimental setups are constructed to corroborate the results from the theory analysis and design.
基金supported by the National Basic Research Program of China (No. 2013CB035805)the National Science and Technology Major Project of China (2010ZX04016-013)
文摘Automated tape placement is an important automated process used for fabrication of large composite structures in aeronautical industry. The carbon fiber composite parts realized with this process tend to replace the aluminum parts produced by high-speed machining. It is difficult to determine the appropriate width of the composite tape in automated tape placement. Wrinkling will appear in the tape if it does not suit for the mould surface. Thus, this paper deals with establishing placement suitability criteria of the composite tape for the mould surface. With the assumptions for ideal mapping and by applying some principles and theorems of differential geometry, the centerline trajectory of the composite tape is identified to follow the geodesic. The placement suitability of the composite tape is examined on three different types of non-developable mould surfaces and four criteria are derived. The developed criteria have been used to test the deposition process over several mould surfaces and the appropriate width for each mould surface is obtained by referring to these criteria.
基金This research is supported by doctoral research fund of Hubei University of Arts and Science(No.2059023)the Project of Hubei University of Arts and Science(No.XK2020005)+2 种基金National Science and Technology Major Project(No.2019ZX04001024)Central Government Guides Local Science and Technology Development Projects of Hubei Province(No.2018ZYYD016)start-up program for excellent young and middle-aged scientific and technological innovation team of Hubei Provincial Department of Education(No.T201919).
文摘In this study,we observe that there are two threshold speeds(stability threshold speed and second threshold speed)for the long journal bearing,which is different for the short bearing.When the rotating speed is below the stability threshold speed,the stability boundary nearly coincides with the clearance circle,and the journal center gradually returns to the equilibrium point after being released at an initial point.If the rotating speed is between the stability threshold speed and the second threshold speed,after being released at an initial point,the journal center converges to a contour containing the equilibrium point.In this situation,for a higher rotating speed,the corresponding contour is also larger.When the rotating speed exceeds the second threshold speed,the journal gradually moves towards the bearing surface after being released at an initial point.
基金supported by National Natural Science Foundation of China(Grant No.52188102)Open Project Program of Wuhan National Laboratory for Optoelectronics(No.2021WNL0KF018).
文摘The mechanisms of interaction between pulsed laser and materials are complex and indistinct,severely infuencing the stability and quality of laser processing.This paper proposes an intelligent method based on the acoustic emission(AE)technique to monitor laser processing and explore the interaction mechanisms.The validation experiment is designed to perform nanosecond laser dotting on foat glass.Processing parameters are set diferently to generate various outcomes:ablated pits and irregular-shaped cracks.In the signal processing stage,we divide the AE signals into two bands,main and tail bands,according to the laser processing duration,to study the laser ablation and crack behavior,respectively.Characteristic parameters extracted by a method that combines framework and frame energy calculation of AE signals can efectively reveal the mechanisms of pulsed laser processing.The main band features evaluate the degree of laser ablation from the time and intensity scales,and the tail band characteristics demonstrate that the cracks occur after laser dotting.In addition,from the analysis of the parameters of the tail band very large cracks can be efciently distinguished.The intelligent AE monitoring method was successfully applied in exploring the interaction mechanism of nanosecond laser dotting foat glass and can be used in other pulsed laser processing felds.
基金National Natural Science Foundation of China,Grant/Award Numbers:51722505,52005200the National Natural Science Foundation of China for funding the projects:“Digital manufacturing and numerical control,”Grant number:51722505,and“Formation mechanism of residual stress in complex surface milling based on in situ imaging technology,”Grant number:52005200.
文摘Imaging techniques have been widely implemented to study the dynamics of chip formation.They can offer a direct method and a full field measurement of the cutting process,providing kinematic information of the chip formation process.In this article,the state of the art of the imaging techniques reported in the literature has been summarized and analyzed.The imaging techniques have been applied to study the chip formation mechanism,friction behavior,strain/strain rate,and stress fields.Furthermore,the study of surface integrity has been advanced by deriving the thermo‐mechanical loading,subsurface deformation,and material constitutive model from the imaging technique.Finally,achievements in the area of imaging techniques have been summarized,followed by future directions for their application in the study of surface integrity.
基金the National Science Foundation of China(NSFC)(51775217,51727809,51525502,and 51805193)the National Science and Technology Major Project of China(2017ZX02101006-004).
文摘Remote measurement of object orientation is often required in many applications.Out of the six degrees of freedom(DoF)that determine object orientation in space,the roll angle is the most difficult to measure using optical methods.In this letter,we propose a remote Stokes roll-angle sensor that measures roll angles from the detected Stokes vectors of modulated polarized light retroreflected from a sensing unit comprised simply of a retarder and a planar reflection mirror.Experimental results have shown that the proposed sensor can realize absolute roll angle measurement in an unprecedented range of 180°with a maximum absolute error of less than 0.25°and a measurement resolution of better than 0.01°.The proposed sensor adopts a coaxial design and takes the advantages of compactness,simplicity and low cost,and moreover,can be further expanded to a three-DoF angle sensor due to the sensitivity of the sensing unit to other two kinds of angles(pitch and yaw).
基金supported in part by the National Natural Science Foundation of China(U2141235 and 61803166)National Natural Science Foundation of Hubei Province(2019CFA005)。
文摘Drastic reduction in biodiversity has been a severe threat to ecosystems,which is exacerbated when losing few species leads to disastrous and even irreparable consequences.Therefore,revealing the mechanism underlying biodiversity loss is of uttermost importance.In this study,we show that abundant indirect interactions among mutualistic ecosystems are critical in determining species’status.Combining topological and ecological characteristics,we propose an indicator derived from a dynamic model to identify keystone species and quantify their influence,which outperforms widely-used indicators like degree in realistic and simulated networks.Furthermore,we demonstrate that networks with high modularity,heterogeneity,biodiversity,and less intimate interactions tend to have larger indirect effects,which are more amenable in predicting decline of biodiversity with the proposed indicator.These findings shed some light onto the influence of apposite biodiversities,paving the way from complex network theory to ecosystem protection and restoration.
