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期刊论文 43

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9 + 2结构 1

一次性技术 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

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

低雷诺数 1

光遗传学 1

分数阶系统；稳定性；中立时滞；鲁棒性；饱和性 1

分流测量 1

多维振动 1

大力传感器 1

并联机构 1

微小型生物反应器 1

心肌细胞 1

支承式 1

新一代生物工艺研发与生物制造技术 1

模型参考自适应控制；神经网络；四旋翼飞行器；容错控制；故障检测与诊断 1

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Capsule endoscopy—A mechatronics perspective

Lin LIN, Mahdi RASOULI, Andy Prima KENCANA, Su Lim TAN, Kai Juan WONG, Khek Yu HO, Soo Jay PHEE

《机械工程前沿（英文）》 2011年 第6卷 第1期   页码 33-39 doi: 10.1007/s11465-011-0203-5

摘要：

The recent advances in integrated circuit technology, wireless communication, and sensor technology have opened the door for development of miniature medical devices that can be used for enhanced monitoring and treatment of medical conditions. Wireless capsule endoscopy is one of such medical devices that has gained significant attention during the past few years. It is envisaged that future wireless capsule endoscopies replace traditional endoscopy procedures by providing advanced functionalities such as active locomotion, body fluid/tissue sampling, and drug delivery. Development of energy-efficient miniaturized actuation mechanisms is a key step toward achieving this goal. Here, we review some of the actuators that could be integrated into future wireless capsules and discuss the existing challenges.

关键词： wireless capsule endoscopy     ingestible medical device     in-body medical device     medical robot     miniature actuator    

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Analysis of actuating mechanics characteristics for a flexible miniature robot system

YU Lianzhi, YAN Guozheng, MA Guanying, ZAN Peng

《机械工程前沿（英文）》 2008年 第3卷 第1期   页码 66-70 doi: 10.1007/s11465-008-0006-5

摘要： Based on the inchworm movement, a miniature endoscope inspection robot system with a flexible structure is designed. The system is actuated by a pneumatic rubber actuator with three degrees of freedom, and it holds its position by air chambers. The actuating mechanics characteristics of the robot are analyzed. An electro-pneumatic pressure system is designed to control the motion of the robot. Results of the calculation and experiments are consistent, and the robot system can move smoothly in a soft tube.

关键词： calculation     consistent     endoscope inspection     electro-pneumatic     miniature endoscope    

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An autonomous miniature wheeled robot based on visual feedback control

CHEN Haichu

《机械工程前沿（英文）》 2007年 第2卷 第2期   页码 197-200 doi: 10.1007/s11465-007-0033-7

摘要： Using two micro-motors, a novel omni-direction miniature wheeled robot is designed on the basis of the bi-corner driving principle. The robot takes advantage of the Bluetooth technology to wirelessly transmit data at a short distance. Its position and omni-direction motion are precise. A Charge Coupled Device (CCD) camera is used for measuring and for visual navi gation. A control system is developed. The precision of the position is 0.5 mm, the resolution is about 0.05 mm, and the maximum velocity is about 52 mm/s. The visual navigation and control system allow the robot to navigate and track the target and to accomplish autonomous locomotion.

关键词： measuring     distance     autonomous locomotion     advantage     navigation    

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Ingestible wireless capsules for enhanced diagnostic inspection of gastrointestinal tract

Mahdi RASOULI, Andy Prima KENCANA, Van An HUYNH, Eng Kiat TING, Joshua Chong Yue LAI, Kai Juan WONG, Su Lim TAN, Soo Jay PHEE

《机械工程前沿（英文）》 2011年 第6卷 第1期   页码 40-44 doi: 10.1007/s11465-011-0204-4

摘要：

Wireless capsule endoscopy has become a common procedure for diagnostic inspection of gastrointestinal tract. This method offers a less-invasive alternative to traditional endoscopy by eliminating uncomfortable procedures of the traditional endoscopy. Moreover, it provides the opportunity for exploring inaccessible areas of the small intestine. Current capsule endoscopes, however, move by peristalsis and are not capable of detailed and on-demand inspection of desired locations. Here, we propose and develop two wireless endoscopes with maneuverable vision systems to enhance diagnosis of gastrointestinal disorders. The vision systems in these capsules are equipped with mechanical actuators to adjust the position of the camera. This may help to cover larger areas of the digestive tract and investigate desired locations. The preliminary experimental results showed that the developed platform could successfully communicate with the external control unit via human body and adjust the position of camera to limited degrees.

关键词： wireless capsule endoscopy     ingestible medical device     in-body medical device     miniature actuator     medical robot     medical imaging    

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Development of mobile miniature natural gas liquefiers

Yanxing ZHAO, Maoqiong GONG, Haocheng WANG, Hao GUO, Xueqiang DONG

《能源前沿（英文）》 2020年 第14卷 第4期   页码 667-682 doi: 10.1007/s11708-020-0695-y

摘要： With increasing consumption of natural gas (NG), small NG reservoirs, such as coalbed methane and oil field associated gas, have recently drawn significant attention. Owing to their special characteristics (e.g., scattered distribution and small output), small-scale NG liquefiers are highly required. Similarly, the mixed refrigerant cycle (MRC) is suitable for small-scale liquefaction systems due to its moderate complexity and power consumption. In consideration of the above, this paper reviews the development of mobile miniature NG liquefiers in Technical Institute of Physics and Chemistry (TIPC), China. To effectively liquefy the scattered NG and overcome the drawbacks of existing technologies, three main improvements, i.e., low-pressure MRC process driven by oil-lubricated screw compressor, compact cold box with the new designed heat exchangers, and standardized equipment manufacturing and integrated process technology have been made. The development pattern of “rapid cluster application and flexible liquefaction center” has been eventually proposed. The small-scale NG liquefier developed by TIPC has reached a minimum liquefaction power consumption of about 0.35 kW·h/Nm . It is suitable to exploit small remote gas reserves which can also be used in boil-off gas reliquefaction and distributed peak-shaving of pipe networks.

关键词： natural gas     mobile miniature liquefiers     mixed refrigerant cycle     vapor liquid equilibrium     heat transfer    

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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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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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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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A miniature triaxial apparatus for investigating the micromechanics of granular soils with

Zhuang CHENG, Jianfeng WANG, Matthew Richard COOP, Guanlin YE

《结构与土木工程前沿（英文）》 2020年 第14卷 第2期   页码 357-373 doi: 10.1007/s11709-019-0599-2

摘要： The development of a miniature triaxial apparatus is presented. In conjunction with an X-ray micro-tomography (termed as X-ray μCT hereafter) facility and advanced image processing techniques, this apparatus can be used for investigation of the micro-scale mechanical behavior of granular soils under shear. The apparatus allows for triaxial testing of a miniature dry sample with a size of (diameter height). triaxial testing of a 0.4–0.8 mm Leighton Buzzard sand (LBS) under a constant confining pressure of 500 kPa is presented. The evolutions of local porosities (i.e., the porosities of regions associated with individual particles), particle kinematics (i.e., particle translation and particle rotation) of the sample during the shear are quantitatively studied using image processing and analysis techniques. Meanwhile, a novel method is presented to quantify the volumetric strain distribution of the sample based on the results of local porosities and particle tracking. It is found that the sample, with nearly homogenous initial local porosities, starts to exhibit obvious inhomogeneity of local porosities and localization of particle kinematics and volumetric strain around the peak of deviatoric stress. In the post-peak shear stage, large local porosities and volumetric dilation mainly occur in a localized band. The developed triaxial apparatus, in its combined use of X-ray μCT imaging techniques, is a powerful tool to investigate the micro-scale mechanical behavior of granular soils.

关键词： triaxial apparatus     X-ray μCT     in situ test     micro-scale mechanical behavior     granular soils    

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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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Cavitation in semi-open centrifugal impellers for a miniature pump

LUO Xianwu, LIU Shuhong, ZHANG Yao, XU Hongyuan

《能源前沿（英文）》 2008年 第2卷 第1期   页码 31-35 doi: 10.1007/s11708-008-0011-8

摘要： Cavitation in miniature pumps was investigated experimentally for two semi-open centrifugal impellers. Although both impellers had the same blade cross-section, one impeller had a two-dimensional blade, while the other had a leaned blade. The flows were also analyzed using a numerical model of the three-dimensional turbulent flow in the pumps near the peak efficiency point using the -? turbulence model and the VOF cavitation model. The average cavitation performance of each impeller was satisfactorily predicted by the numerical simulations. The results show that the miniature pumps have similar cavitation performances as an ordinary-size pump, with the cavitation performance of the semi-open impeller reduced by increased axial tip clearances. Also, both the hydraulic and cavitation performance of the semi-open impeller were improved by the leaned blade. The results also show that uniform flow upstream of the impeller inlet will improve the cavitation performance of a miniature pump.

关键词： cavitation performance     semi-open impeller     increased     two-dimensional     efficiency    

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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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A Miniature Meta-Optical System for Reconfigurable Wide-Angle Imaging and Polarization-Spectral Detection

Fei Zhang,Minghao Liao,Mingbo Pu,Yinghui Guo,Lianwei Chen,Xiong Li,Qiong He,Tongtong Kang,Xiaoliang Ma,Yuan Ke,Xiangang Luo,

《工程（英文）》 doi: 10.1016/j.eng.2023.07.008

摘要： Wide-angle imaging and spectral detection play vital roles in tasks such as target tracking, object classification, and anti-camouflage. However, limited by their intrinsically different architectures, as determined by frequency dispersion requirements, their simultaneous implementation in a shared-aperture system is difficult. Here, we propose a novel concept to realize reconfigurable dual-mode detection based on electrical-control tunable metasurfaces. As a proof-of-concept demonstration, the simultaneous implementation of wide-angle imaging and polarization-spectral detection in a miniature shared-aperture meta-optical system is realized for the first time via the electrical control of cascaded catenary-like metasurfaces. The proposed system supports the imaging (spectral) resolution of approximately 27.8 line-pairs per millimeter (lp·mm−1; ∼80 nm) for an imaging (spectral) mode from 8 to 14 μm. This system also bears a large field of view of about 70°, enabling multi-target recognition in both modes. This work may promote the miniaturization of multifunctional optical systems, including spectrometers and polarization imagers, and illustrates the potential industrial applications of meta-optics in biomedicine, security, space exploration, and more.

关键词： Metasurfaces     Reconfigurable     Imaging     Spectral    

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新一代生物工艺研发与制造技术及高通量微小型生物反应器

焦鹏,陈必强

《中国工程科学》 2016年 第18卷 第4期   页码 44-50 doi: 10.15302/J-SSCAE-2016.04.007

摘要：

近些年，人们认识到快速反应时间对应对烈性传染病具有至关重要的作用，然而传统工艺和技术无法有效应对。以美国卫生部为代表的机构提出并开始践行新一代工艺研发与生物制造的技术平台，其目的是要极大缩短生物工艺研发和生产的周期，从而快速应对。精准医学的发展对医药研发与生产也提出了产品研发制备周期短、种类增加、数量减少的新要求，需要新一代的研发与生产技术。实现快速研发的核心设备是微小型生物反应器，新一代技术核心包括高通量筛选、高通量工艺研发，一次性技术，模块化及柔性化生产。新一代工艺研发与生物制造技术不仅关系到国家安全、人民生命健康，其作用及影响将辐射到整个生物加工制造领域，社会与经济价值巨大。

关键词： 新一代生物工艺研发与生物制造技术     烈性传染病     精准医学     微小型生物反应器     高通量技术     一次性技术    

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标题 作者 时间 类型 操作

Capsule endoscopy—A mechatronics perspective

Lin LIN, Mahdi RASOULI, Andy Prima KENCANA, Su Lim TAN, Kai Juan WONG, Khek Yu HO, Soo Jay PHEE

期刊论文

Analysis of actuating mechanics characteristics for a flexible miniature robot system

YU Lianzhi, YAN Guozheng, MA Guanying, ZAN Peng

期刊论文

An autonomous miniature wheeled robot based on visual feedback control

CHEN Haichu

期刊论文

Ingestible wireless capsules for enhanced diagnostic inspection of gastrointestinal tract

Mahdi RASOULI, Andy Prima KENCANA, Van An HUYNH, Eng Kiat TING, Joshua Chong Yue LAI, Kai Juan WONG, Su Lim TAN, Soo Jay PHEE

期刊论文

Development of mobile miniature natural gas liquefiers

Yanxing ZHAO, Maoqiong GONG, Haocheng WANG, Hao GUO, Xueqiang DONG

期刊论文

New nonlinear stiffness actuator with predefined torque‒deflection profile

期刊论文

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

Cheng CHEN, James M. RICLES

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

A miniature triaxial apparatus for investigating the micromechanics of granular soils with

Zhuang CHENG, Jianfeng WANG, Matthew Richard COOP, Guanlin YE

期刊论文

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

期刊论文

Cavitation in semi-open centrifugal impellers for a miniature pump

LUO Xianwu, LIU Shuhong, ZHANG Yao, XU Hongyuan

期刊论文

Dynamical research on spherical micro actuator with piezoelectric ceramic stacks drivers

ZHANG Ruihua, CHEN Haichu

期刊论文

A Miniature Meta-Optical System for Reconfigurable Wide-Angle Imaging and Polarization-Spectral Detection

Fei Zhang,Minghao Liao,Mingbo Pu,Yinghui Guo,Lianwei Chen,Xiong Li,Qiong He,Tongtong Kang,Xiaoliang Ma,Yuan Ke,Xiangang Luo,

期刊论文

新一代生物工艺研发与制造技术及高通量微小型生物反应器

焦鹏,陈必强

期刊论文