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关键词

时延估计 2

神经网络 2

9 + 2结构 1

CMA 1

NARMA模型 1

不确定时延 1

主动式队列管理；传输控制协议；往返时滞；史密斯预估器 1

主动控制 1

事件触发控制；分段仿射系统；线性矩阵不等式；执行器饱和；H∞性能 1

二阶矩模型 1

交换机 1

人工纤毛 1

人工肌肉；智能材料；介电弹性体（DE）；聚氯乙烯（PVC）凝胶；执行器；可穿戴式人体助力；运动康复 1

仿生系统 1

伪收敛 1

低雷诺数 1

光遗传学 1

公共交通 1

分数阶系统；稳定性；中立时滞；鲁棒性；饱和性 1

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A model reference adaptive control based method for actuator delay estimation in real-time testing

Cheng CHEN, James M. RICLES

《结构与土木工程前沿（英文）》 2010年 第4卷 第3期   页码 277-286 doi: 10.1007/s11709-010-0072-8

摘要： Real-time testing provides a viable experimental technique to evaluate the performance of structural systems subjected to dynamic loading. Servo-hydraulic actuators are often utilized to apply calculated displacements from an integration algorithm to the experimental structures in a real-time manner. The compensation of actuator delay is therefore critical to achieve stable and reliable experimental results. The advances in compensation methods based on adaptive control theory enable researchers to accommodate variable actuator delay and achieve good actuator control for real-time tests. However, these adaptive methods all require time duration for actuator delay adaptation. Experiments show that a good actuator delay estimate can help optimize the performance of the adaptive compensation methods. The rate of adaptation also requires that a good actuator delay estimate be acquired especially for the tests where the peak structural response might occur at the beginning of the tests. This paper presents a model reference adaptive control based method to identify the parameter of a simplified discrete model for servo-hydraulic dynamics and the resulting compensation method. Simulations are conducted using both numerical analysis and experimental results to evaluate the effectiveness of the proposed estimation method.

关键词： real-time testing     actuator delay     compensation     adaptive control     MIT rule     discrete transfer function    

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New nonlinear stiffness actuator with predefined torque‒deflection profile

《机械工程前沿（英文）》 2023年 第18卷 第1期 doi: 10.1007/s11465-022-0721-3

摘要： A nonlinear stiffness actuator (NSA) could achieve high torque/force resolution in low stiffness range and high bandwidth in high stiffness range, both of which are beneficial for physical interaction between a robot and the environment. Currently, most of NSAs are complex and hardly used for engineering. In this paper, oriented to engineering applications, a new simple NSA was proposed, mainly including leaf springs and especially designed cams, which could perform a predefined relationship between torque and deflection. The new NSA has a compact structure, and it is lightweight, both of which are also beneficial for its practical application. An analytical methodology that maps the predefined relationship between torque and deflection to the profile of the cam was developed. The optimal parameters of the structure were given by analyzing the weight of the NSA and the mechanic characteristic of the leaf spring. Though sliding friction force is inevitable because no rollers were used in the cam-based mechanism, the sliding displacement between the cam and the leaf spring is very small, and consumption of sliding friction force is very low. Simulations of different torque‒deflection profiles were carried out to verify the accuracy and applicability of performing predefined torque‒deflection profiles. Three kinds of prototype experiments, including verification experiment of the predefined torque‒deflection profile, torque tracking experiment, and position tracking experiment under different loads, were conducted. The results prove the accuracy of performing the predefined torque‒deflection profile, the tracking performance, and the interactive performance of the new NSA.

关键词： compliant actuator     nonlinear stiffness actuator     nonlinear spring     predefined torque−deflection profile    

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Applicability of high dimensional model representation correlations for ignition delay times of n-heptane

Wang LIU, Jiabo ZHANG, Zhen HUANG, Dong HAN

《能源前沿（英文）》 2019年 第13卷 第2期   页码 367-376 doi: 10.1007/s11708-018-0584-9

摘要： It is difficult to predict the ignition delay times for fuels with the two-stage ignition tendency because of the existence of the nonlinear negative temperature coefficient (NTC) phenomenon at low temperature regimes. In this paper, the random sampling-high dimensional model representation (RS-HDMR) methods were employed to predict the ignition delay times of n-heptane/air mixtures, which exhibits the NTC phenomenon, over a range of initial conditions. A detailed n-heptane chemical mechanism was used to calculate the fuel ignition delay times in the adiabatic constant-pressure system, and two HDMR correlations, the global correlation and the stepwise correlations, were then constructed. Besides, the ignition delay times predicted by both types of correlations were validated against those calculated using the detailed chemical mechanism. The results showed that both correlations had a satisfactory prediction accuracy in general for the ignition delay times of the n-heptane/air mixtures and the stepwise correlations exhibited a better performance than the global correlation in each subdomain. Therefore, it is concluded that HDMR correlations are capable of predicting the ignition delay times for fuels with two-stage ignition behaviors at low-to-intermediate temperature conditions.

关键词： ignition delay     random sampling     high dimensional model representation     n-heptane     fuel kinetics    

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Development of a masticatory robot using a novel cable-driven linear actuator with bidirectional motion

《机械工程前沿（英文）》 2022年 第17卷 第4期 doi: 10.1007/s11465-022-0687-1

摘要： Masticatory robots are an effective in vitro performance testing device for dental material and mandibular prostheses. A cable-driven linear actuator (CDLA) capable of bidirectional motion is proposed in this study to design a masticatory robot that can achieve increasingly human-like chewing motion. The CDLA presents remarkable advantages, such as lightweight and high stiffness structure, in using cable amplification and pulley systems. This work also exploits the proposed CDLA and designs a masticatory robot called Southeast University masticatory robot (SMAR) to solve existing problems, such as bulky driving linkage and position change of the muscle’s origin. Stiffness analysis and performance experiment validate the CDLA’s efficiency, with its stiffness reaching 1379.6 N/mm (number of cable parts n = 4), which is 21.4 times the input wire stiffness. Accordingly, the CDLA’s force transmission efficiencies in two directions are 84.5% and 85.9%. Chewing experiments are carried out on the developed masticatory robot to verify whether the CDLA can help SMAR achieve a natural human-like chewing motion and sufficient chewing forces for potential applications in performance tests of dental materials or prostheses.

关键词： masticatory robot     cable-driven     linear actuator     parallel robot     stiffness analysis    

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Mechanical design and analysis of a novel variable stiffness actuator with symmetrical pivot adjustment

《机械工程前沿（英文）》 2021年 第16卷 第4期   页码 711-725 doi: 10.1007/s11465-021-0647-1

摘要： The safety of human–robot interaction is an essential requirement for designing collaborative robotics. Thus, this paper aims to design a novel variable stiffness actuator (VSA) that can provide safer physical human–robot interaction for collaborative robotics. VSA follows the idea of modular design, mainly including a variable stiffness module and a drive module. The variable stiffness module transmits the motion from the drive module in a roundabout manner, making the modularization of VSA possible. As the key component of the variable stiffness module, a stiffness adjustment mechanism with a symmetrical structure is applied to change the positions of a pair of pivots in two levers linearly and simultaneously, which can eliminate the additional bending moment caused by the asymmetric structure. The design of the double-deck grooves in the lever allows the pivot to move freely in the groove, avoiding the geometric constraint between the parts. Consequently, the VSA stiffness can change from zero to infinity as the pivot moves from one end of the groove to the other. To facilitate building a manipulator in the future, an expandable electrical system with a distributed structure is also proposed. Stiffness calibration and control experiments are performed to evaluate the physical performance of the designed VSA. Experiment results show that the VSA stiffness is close to the theoretical design stiffness. Furthermore, the VSA with a proportional–derivative feedback plus feedforward controller exhibits a fast response for stiffness regulation and a good performance for position tracking.

关键词： variable stiffness actuator     variable stiffness module     drive module     symmetrical structure     double-deck grooves     expandable electrical system    

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Design and characteristic research of a novel electromechanical-hydraulic hybrid actuator with two transmission

《机械工程前沿（英文）》 2023年 第18卷 第2期 doi: 10.1007/s11465-022-0735-x

摘要： Servo-hydraulic actuators (SHAs) are widely used in mechanical equipment to drive heavy-duty mechanisms. However, their energy efficiency is low, and their motion characteristics are inevitably affected by uncertain nonlinearities. Electromechanical actuators (EMAs) possess superior energy efficiency and motion characteristics. However, they cannot easily drive heavy-duty mechanisms because of weak bearing capacity. This study proposes and designs a novel electromechanical-hydraulic hybrid actuator (EMHA) that integrates the advantages of EMA and SHA. EMHA mainly features two transmission mechanisms. The piston of the hydraulic transmission mechanism and the ball screw pair of the electromechanical transmission mechanism are mechanically fixed together through screw bolts, realizing the integration of two types of transmission mechanisms. The control scheme of the electromechanical transmission mechanism is used for motion control, and the hydraulic transmission mechanism is used for power assistance. Then, the mathematical model, structure, and parameter design of the new EMHA are studied. Finally, the EMHA prototype and test platform are manufactured. The test results prove that the EMHA has good working characteristics and high energy efficiency. Compared with the valve-controlled hydraulic cylinder system, EMHA exhibits a velocity tracking error and energy consumption reduced by 49.7% and 54%, respectively, under the same working conditions.

关键词： electromechanical-hydraulic hybrid actuator (EMHA)     integration     transmission mechanisms     power assistance     energy efficiency     working characteristics    

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Detection of schedule delay risk of empirical construction projects

Tsegay GEBREHIWET, Hanbin LUO

《工程管理前沿（英文）》 2018年 第5卷 第2期   页码 251-267 doi: 10.15302/J-FEM-2018086

摘要： In Ethiopian construction projects, schedule delay risk is a predominant issue because it is not properly addressed. Although several studies have been focused on the various effects of risk in construction projects, limited efforts have been made to investigate the typical and the overall schedule delay risk. In this study, our aim is to detect the typical and overall schedule delay risk throughout the construction project lifecycle, which consists of the pre-construction, construction, and post-construction stages, and compare the stages with each other. Common criteria, sub-criteria, and attributes were developed for all alternatives for the purpose of making a risk decision. The methodology that was followed integrated the multiple-criteria decision-making (MCDM) model of fuzzy analytic hierarchy process comprehensive evaluation (FAHPCE) and the relative important index (RII). Data were collected from 77 participants, who were selected through purposive sampling from different contracting organizations in Ethiopian construction projects by means of questionnaires that were distributed to experienced experts. The findings showed that there is a typical delay risk either in the type or in the level of the different construction activities. Consequently, the most influenced alternative is the construction stage because of the high-risk responsibility, resource, and contract condition related criteria. The post-construction stage was the second most influenced stage because of the high-risk responsibility-related criteria. The pre-constructed stage was the least influenced stage that consist high-risk criteria of responsibility, resource, and contract condition related. These differences provided noteworthy information about risk mitigation in construction projects by identifying the exact risk level on specific activity to make appropriate decision.

关键词： fuzzy analytic hierarchy process comprehensive evaluation     construction project     detection of delay risk     relative important index    

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执行器饱和条件下不确定的中立型分数阶时滞系统的稳定性分析 Research Articles

Zahra Sadat AGHAYAN1,Alireza ALFI1,J. A. TENREIRO MACHADO2

《信息与电子工程前沿（英文）》 2021年 第22卷 第10期   页码 1402-1412 doi: 10.1631/FITEE.2000438

摘要： 分析了执行器饱和条件下中立型分数阶时滞系统的鲁棒稳定性问题。构建了一个Lyapunov-Krasovskii （LK）函数，并给出此类系统的渐近鲁棒稳定性条件，这些条件使用Lyapunov直接方法构造的线性矩阵不等式（LMIs）表示。引入一种算法计算状态反馈控制器的增益以扩展吸引域。数值示例验证了理论结果。

关键词： 分数阶系统；稳定性；中立时滞；鲁棒性；饱和性    

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Dynamical research on spherical micro actuator with piezoelectric ceramic stacks drivers

ZHANG Ruihua, CHEN Haichu

《机械工程前沿（英文）》 2007年 第2卷 第4期   页码 433-438 doi: 10.1007/s11465-007-0074-y

摘要： This paper develops a 30 mm × 30 mm × 50 mm spherical micro actuator driven by piezoelectric ceramic stacks (PZT), and analyzes its dynamic performances. First, the space coordinate relationship of the spherical micro actuator and a dynamic model are set up. Second, The Runge-Kutta arithmetic is used to calculate the dynamical parameters of the micro actuator; the SIMULINK module of MATLAB is used to build the dynamical simulating model and then simulate it. Third, an experimental sample of the spherical micro actuator is developed, a micromanipulator is integrated with a micro-gripper based on the sample spherical micro actuator, and the experimental research on the micro assembly is conducted between a micro shaft of 180 μm and a micro spindle sleeve of 200 μm. Finally, the characteristics of the spherical micro actuator influenced by the mass of the metal sphere of the micro actuator, driving signal frequency, friction coefficient of the contact surface between the metal sphere and the friction block of the micro driving unit are analyzed. The experimental results indicate that the rotation resolution of the micro actuator reaches 0.000 1°, the rotation positioning precision reaches 0.000 5°, and the maximum working frequency is about 1200 Hz. The experimental results validate the back rotation vibration model of the spherical micro actuator. The micromanipulator integrated by the spherical micro actuator can meet the requirements of precise micro operation and assembly for micro electro mechanical systems (MEMS) or other microelements in micro degree fields.

关键词： spherical     micro-gripper     friction coefficient     dynamic     frequency    

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End-to-end delay analysis for networked systems

Jie SHEN,Wen-bo HE,Xue LIU,Zhi-bo WANG,Zhi WANG,Jian-guo YAO

《信息与电子工程前沿（英文）》 2015年 第16卷 第9期   页码 732-743 doi: 10.1631/FITEE.1400414

摘要： End-to-end delay measurement has been an essential element in the deployment of real-time services in networked systems. Traditional methods of delay measurement based on time domain analysis, however, are not efficient as the network scale and the complexity increase. We propose a novel theoretical framework to analyze the end-to-end delay distributions of networked systems from the frequency domain. We use a signal flow graph to model the delay distribution of a networked system and prove that the end-to-end delay distribution is indeed the inverse Laplace transform of the transfer function of the signal flow graph. Two efficient methods, Cramer’s rule-based method and the Mason gain rule-based method, are adopted to obtain the transfer function. By analyzing the time responses of the transfer function, we obtain the end-to-end delay distribution. Based on our framework, we propose an efficient method using the dominant poles of the transfer function to work out the bottleneck links of the network. Moreover, we use the framework to study the network protocol performance. Theoretical analysis and extensive evaluations show the effectiveness of the proposed approach.

关键词： Networked system     End-to-end     Delay distribution    

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Impact drive rotary precision actuator with piezoelectric bimorphs

ZHANG Hongzhuang, ZENG Ping, HUA Shunming, CHENG Guangming, YANG Zhigang

《机械工程前沿（英文）》 2008年 第3卷 第1期   页码 71-75 doi: 10.1007/s11465-008-0008-3

摘要： An impact drive rotary precision actuator with end-loaded piezoelectric cantilever bimorphs is proposed. According to finite element analysis and experiments of the dynamic characteristics of end-loaded piezoelectric cantilever bimorphs, a specific fixed-frequency and adjustable-amplitude is confirmed to control the actuator. The results show that an actuator excited by fixed-frequency and the adjustable-amplitude ramp voltage waveform works with a large travel range (180°), high resolution (1 ?rad), speed (0.2 rad/min) and heavy-load ability (0.02 Nm). With advantages of high-precision positioning ability, simple structure and only one percent the cost of traditional impact drive mechanisms, the actuator is expected to be widely used in precision industries.

关键词： specific fixed-frequency     waveform     piezoelectric cantilever     mechanisms     adjustable-amplitude    

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Motion control of multi-actuator hydraulic systems for mobile machineries: Recent advancements and future

Bing XU, Min CHENG

《机械工程前沿（英文）》 2018年 第13卷 第2期   页码 151-166 doi: 10.1007/s11465-018-0470-5

摘要：

This paper presents a survey of recent advancements and upcoming trends in motion control technologies employed in designing multi-actuator hydraulic systems for mobile machineries. Hydraulic systems have been extensively used in mobile machineries due to their superior power density and robustness. However, motion control technologies of multi-actuator hydraulic systems have faced increasing challenges due to stringent emission regulations. In this study, an overview of the evolution of existing throttling control technologies is presented, including open-center and load sensing controls. Recent advancements in energy-saving hydraulic technologies, such as individual metering, displacement, and hybrid controls, are briefly summarized. The impact of energy-saving hydraulic technologies on dynamic performance and control solutions are also discussed. Then, the advanced operation methods of multi-actuator mobile machineries are reviewed, including coordinated and haptic controls. Finally, challenges and opportunities of advanced motion control technologies are presented by providing an overall consideration of energy efficiency, controllability, cost, reliability, and other aspects.

关键词： motion control     electrohydraulic control     energy efficiency     mobile machineries    

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Effect of 2,5-dimethylfuran addition on ignition delay times of n-heptane at high temperatures

Zhenhua GAO, Erjiang HU, Zhaohua XU, Geyuan YIN, Zuohua HUANG

《能源前沿（英文）》 2019年 第13卷 第3期   页码 464-473 doi: 10.1007/s11708-019-0609-z

摘要： The shock tube autoignition of 2,5-dimethylfuran (DMF)/n-heptane blends (DMF0-100%, by mole fraction) with equivalence ratios of 0.5, 1.0, and 2.0 over the temperature range of 1200–1800 K and pressures of 2.0 atm and 10.0 atm were investigated. A detailed blend chemical kinetic model resulting from the merging of validated kinetic models for the components of the fuel blends was developed. The experimental observations indicate that the ignition delay times nonlinearly increase with an increase in the DMF addition level. Chemical kinetic analysis including radical pool analysis and flux analysis were conducted to explain the DMF addition effects. The kinetic analysis shows that at lower DMF blending levels, the two fuels have negligible impacts on the consumption pathways of each other. As the DMF addition increases to relatively higher levels, the consumption path of n-heptane is significantly changed due to the competition of small radicals, which primarily leads to the nonlinear increase in the ignition delay times of DMF/n-heptane blends.

关键词： ignition delay time     shock tube     kinetic model     2     5-dimethylfuran (DMF)     n-heptane    

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Preparation and performance of soft actuator based on IPMC with silver electrodes

Qi CHEN, Ke XIONG, Kan BIAN, Ning JIN, Bangfeng WANG,

《机械工程前沿（英文）》 2009年 第4卷 第4期   页码 436-440 doi: 10.1007/s11465-009-0054-5

摘要： The surface electrodes of traditional ionic polymer-metal composites (IPMC) are made of platinum. To reduce the production cost, nonprecious metals such as silver is proposed. A new approach of electroless silver plating based on chemical deposition method is adopted, getting two types of IPMCs, Pt-Ag IPMC, and Ag-Ag IPMC. The microscopic analysis, driving abilities tests, and their surface-electrode resistance analysis show that Ag and Pt particles penetrate inside Nafion membrane with gradient distribution throughout the membrane. The maximum electro-active bending deformation angles of the specimens, which are obtained under the same specimen dimension and constrains, are about 60° for Pt-Pt IPMC and Pt-Ag IPMC and 90° for the Ag-Ag IPMC, respectively, corresponding to the driving voltage of 3 V, 4 V, and 1.5 V. The surface-electrode resistance of Ag-Ag IPMC is the lowest and the most stable, which shows that the proposed approach is valid. The experiments show that the IPMC technology based on the silver electrode is feasible.

关键词： ionic polymer-metal composites (IPMC)     Nafion     intelligent material     soft actuators     electroless silver plating    

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Ignition delay of dual fuel engine operating with methanol ignited by pilot diesel

ZOU Hongbo, WANG Lijun, LIU Shenghua, LI Yu

《能源前沿（英文）》 2008年 第2卷 第3期   页码 285-290 doi: 10.1007/s11708-008-0060-z

摘要： An investigation on the ignition delay of a dual fuel engine operating with methanol ignited by pilot diesel was conducted on a TY1100 direct-injection diesel engine equipped with an electronic controlled methanol low-pressure injection system. The experimental results show that the polytropic index of compression process of the dual fuel engine decreases linearly while the ignition delay increases with the increase in methanol mass fraction. Compared with the conventional diesel engine, the ignition delay increment of the dual fuel engine is about 1.5° at a methanol mass fraction of 62%, an engine speed of 1600 r/min, and full engine load. With the elevation of the intake charge temperature from 20°C to 40°C and then to 60°C, the ignition delay of the dual fuel engine decreases and is more obvious at high temperature. Moreover, with the increase in engine speed, the ignition delay of the dual fuel engine by time scale (ms) decreases clearly under all engine operating conditions. However, the ignition delay of the dual fuel engine increases remarkably by advancing the delivery timing of pilot diesel, especially at light engine loads.
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标题 作者 时间 类型 操作

A model reference adaptive control based method for actuator delay estimation in real-time testing

Cheng CHEN, James M. RICLES

期刊论文

New nonlinear stiffness actuator with predefined torque‒deflection profile

期刊论文

Applicability of high dimensional model representation correlations for ignition delay times of n-heptane

Wang LIU, Jiabo ZHANG, Zhen HUANG, Dong HAN

期刊论文

Development of a masticatory robot using a novel cable-driven linear actuator with bidirectional motion

期刊论文

Mechanical design and analysis of a novel variable stiffness actuator with symmetrical pivot adjustment

期刊论文

Design and characteristic research of a novel electromechanical-hydraulic hybrid actuator with two transmission

期刊论文

Detection of schedule delay risk of empirical construction projects

Tsegay GEBREHIWET, Hanbin LUO

期刊论文

执行器饱和条件下不确定的中立型分数阶时滞系统的稳定性分析

Zahra Sadat AGHAYAN1,Alireza ALFI1,J. A. TENREIRO MACHADO2

期刊论文

Dynamical research on spherical micro actuator with piezoelectric ceramic stacks drivers

ZHANG Ruihua, CHEN Haichu

期刊论文

End-to-end delay analysis for networked systems

Jie SHEN,Wen-bo HE,Xue LIU,Zhi-bo WANG,Zhi WANG,Jian-guo YAO

期刊论文

Impact drive rotary precision actuator with piezoelectric bimorphs

ZHANG Hongzhuang, ZENG Ping, HUA Shunming, CHENG Guangming, YANG Zhigang

期刊论文

Motion control of multi-actuator hydraulic systems for mobile machineries: Recent advancements and future

Bing XU, Min CHENG

期刊论文

Effect of 2,5-dimethylfuran addition on ignition delay times of n-heptane at high temperatures

Zhenhua GAO, Erjiang HU, Zhaohua XU, Geyuan YIN, Zuohua HUANG

期刊论文

Preparation and performance of soft actuator based on IPMC with silver electrodes

Qi CHEN, Ke XIONG, Kan BIAN, Ning JIN, Bangfeng WANG,

期刊论文

Ignition delay of dual fuel engine operating with methanol ignited by pilot diesel

ZOU Hongbo, WANG Lijun, LIU Shenghua, LI Yu

期刊论文