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Improved approach to quality function deployment based on Pythagorean fuzzy sets and application to assemblyrobot design evaluation

Huchang LIAO, Yinghan CHANG, Di WU, Xunjie GOU

《工程管理前沿（英文）》 2020年 第7卷 第2期   页码 196-203 doi: 10.1007/s42524-019-0038-z

摘要： Quality function deployment (QFD) is an effective method that helps companies analyze customer requirements (CRs). These CRs are then turned into product or service characteristics, which are translated to other attributes. With the QFD method, companies could design or improve the quality of products or services close to CRs. To increase the effectiveness of QFD, we propose an improved method based on Pythagorean fuzzy sets (PFSs). We apply an extended method to obtain the group consensus evaluation matrix. We then use a combined weight determining method to integrate former weights to objective weights derived from the evaluation matrix. To determine the exact score of each PFS in the evaluation matrix, we develop an improved score function. Lastly, we apply the proposed method to a case study on assembly robot design evaluation.

关键词： quality function deployment     Pythagorean fuzzy sets     group consensus     combined weights     assembly robot design    

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基于阻抗控制的人机协作范式研究及其机器人装配应用 Article

赵兴炜, 陈沂洺, 钱璐, 陶波, 丁汉

《工程（英文）》 2023年 第30卷 第11期   页码 83-92 doi: 10.1016/j.eng.2022.08.022

摘要：

人-机器人协作由于人和机器人的优势互补而成为一个新兴的研究领域。本文提出了一种基于阻抗控制人机协作理论框架。在人机理论协框架下，人是决策者，机器人是执行者，装配任务提供环境约束。机器人是执行装配动作的主要执行者，具有位置控制、拖动控制、正阻抗控制和负阻抗控制等方式。为了揭示人机协作框架的特点，本文讨论了不同控制模式的切换条件图和人机协同耦合系统的稳定性分析。最后进行了人机协作装配实验，在装配公差为0.08 mm或配合过盈配合时，均可完成装配任务。实验表明，人机协同装配具有人与机器人的互补优势，能够有效地完成复杂的装配任务。

关键词： 人机协作     阻抗控制     机器人装配    

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next-generation production system for industrial robots: A CPS-based hybrid architecture for smart assembly

Qingmeng TAN, Yifei TONG, Shaofeng WU, Dongbo LI

《机械工程前沿（英文）》 2020年 第15卷 第1期   页码 1-11 doi: 10.1007/s11465-019-0563-9

摘要： Given the multiple varieties and small batches, the production of industrial robots faces the ongoing challenges of flexibility, self-organization, self-configuration, and other “smart” requirements. Recently, cyber physical systems have provided a promising solution for the requirements mentioned above. Despite recent progress, some critical issues have not been fully addressed at the shop floor level, including dynamic reorganization and reconfiguration, ubiquitous networking, and time constrained computing. Toward the next generation production system for industrial robots, this study proposed a hybrid architecture for smart assembly shop floors with closed-loop dynamic cyber physical interactions. Aiming for dynamic reorganization and reconfiguration, the study also proposed modularized smart assembly units for the deployment of physical assembly processes. Enabling technologies, such as multiagent system (MAS), self-organized wireless sensor actuator networks, and edge computing, were discussed and then integrated into the proposed architecture. Furthermore, a multijoint robot assembly process was selected as a target scenario. Thus, an MAS was developed to simulate the coordination and negotiation mechanisms for the proposed architecture on the basis of the Java Agent Development Framework platform.

关键词： cyber physical system     robot assembly     multiagent system     architecture    

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Assembly of biosynthetic pathways in

Lidan Ye,Xiaomei Lv,Hongwei Yu

《化学科学与工程前沿（英文）》 2017年 第11卷 第1期   页码 126-132 doi: 10.1007/s11705-016-1597-8

摘要： A robust and versatile tool for multigene pathway assembly is a key to the biosynthesis of high-value chemicals. Here we report the rapid construction of biosynthetic pathways in using a marker recyclable integrative toolbox (pUMRI) developed in our research group, which has features of ready-to-use, convenient marker recycling, arbitrary element replacement, shuttle plasmid, auxotrophic marker independence, GAL regulation, and decentralized assembly. Functional isoprenoid biosynthesis pathways containing 4–11 genes with lengths ranging from ~10 to ~22 kb were assembled using this toolbox within 1–5 rounds of reiterative recombination. In combination with GAL-regulated metabolic engineering, high production of isoprenoids (e.g., 16.3 mg?g dcw carotenoids) was achieved. These results demonstrate the wide range of application and the efficiency of the pUMRI toolbox in multigene pathway construction of .

关键词： pathway assembly     toolbox     reiterative recombination     S. cerevisiae     biosynthesis    

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A novel task-oriented framework for dual-arm robotic assembly task

《机械工程前沿（英文）》 2021年 第16卷 第3期   页码 528-545 doi: 10.1007/s11465-021-0638-2

摘要： In industrial manufacturing, the deployment of dual-arm robots in assembly tasks has become a trend. However, making the dual-arm robots more intelligent in such applications is still an open, challenging issue. This paper proposes a novel framework that combines task-oriented motion planning with visual perception to facilitate robot deployment from perception to execution and finish assembly problems by using dual-arm robots. In this framework, visual perception is first employed to track the effects of the robot behaviors and observe states of the workpieces, where the performance of tasks can be abstracted as a high-level state for intelligent reasoning. The assembly task and manipulation sequences can be obtained by analyzing and reasoning the state transition trajectory of the environment as well as the workpieces. Next, the corresponding assembly manipulation can be generated and parameterized according to the differences between adjacent states by combining with the prebuilt knowledge of the scenarios. Experiments are set up with a dual-arm robotic system (ABB YuMi and an RGB-D camera) to validate the proposed framework. Experimental results demonstrate the effectiveness of the proposed framework and the promising value of its practical application.

关键词： dual-arm assembly     AI reasoning     intelligent system     task-oriented motion planning     visual perception    

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Pareto lexicographic α-robust approach and its application in robust multi objective assembly line balancing

null

《机械工程前沿（英文）》 2014年 第9卷 第3期   页码 257-264 doi: 10.1007/s11465-014-0294-x

摘要：

Robustness in most of the literature is associated with min-max or min-max regret criteria. However, these criteria of robustness are conservative and therefore recently new criteria called, lexicographic α-robust method has been introduced in literature which defines the robust solution as a set of solutions whose quality or jth largest cost is not worse than the best possible jth largest cost in all scenarios. These criteria might be significant for robust optimization of single objective optimization problems. However, in real optimization problems, two or more than two conflicting objectives are desired to optimize concurrently and solution of multi objective optimization problems exists in the form of a set of solutions called Pareto solutions and from these solutions it might be difficult to decide which Pareto solution can satisfy min-max, min-max regret or lexicographic α-robust criteria by considering multiple objectives simultaneously. Therefore, lexicographic α-robust method which is a recently introduced method in literature is extended in the current research for Pareto solutions. The proposed method called Pareto lexicographic α-robust approach can define Pareto lexicographic α-robust solutions from different scenarios by considering multiple objectives simultaneously. A simple example and an application of the proposed method on a simple problem of multi objective optimization of simple assembly line balancing problem with task time uncertainty is presented to get their robust solutions. The presented method can be significant to implement on different multi objective robust optimization problems containing uncertainty.

关键词： Pareto     lexicographic α-robust     assembly line balancing    

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Assembly design system based on engineering connection

Wensheng YIN

《机械工程前沿（英文）》 2016年 第11卷 第4期   页码 423-432 doi: 10.1007/s11465-016-0382-1

摘要：

An assembly design system is an important part of computer-aided design systems, which are important tools for realizing product concept design. The traditional assembly design system does not record the connection information of production on the engineering layer; consequently, the upstream design idea cannot be fully used in the downstream design. An assembly design model based on the relationship of engineering connection is presented. In this model, all nodes are divided into two categories: The component and the connection. Moreover, the product is constructed on the basis of the connection relationship of the components. The model is an And/Or graph and has the ability to record all assembly schemes. This model records only the connection information that has engineering application value in the product design. In addition, this model can significantly reduce the number of combinations, and is very favorable for the assembly sequence planning in the downstream. The system contains a connection knowledge system that can be mapped to the connection node, and the connection knowledge obtained in practice can be returned to the knowledge system. Finally, VC++6.0 is used to develop a prototype system called Connect-based Assembly Planning (CAP). The relationship between the CAP system and the commercial assembly design system is also established.

关键词： product design     assembly design     engineering connection     assembly sequence planning    

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Enzyme-instructed self-assembly of peptides containing phosphoserine to form supramolecular hydrogels

Jie Zhou, Xuewen Du, Jiaqing Wang, Natsuko Yamagata, Bing Xu

《化学科学与工程前沿（英文）》 2017年 第11卷 第4期   页码 509-515 doi: 10.1007/s11705-017-1613-7

摘要： Enzyme-instructed self-assembly (EISA) offers a facile approach to explore the supramolecular assemblies of small molecules in cellular milieu for a variety of biomedical applications. One of the commonly used enzymes is phosphatase, but the study of the substrates of phosphatases mainly focuses on the phosphotyrosine containing peptides. In this work, we examine the EISA of phosphoserine containing small peptides for the first time by designing and synthesizing a series of precursors containing only phosphoserine or both phosphoserine and phosphotyrosine. Conjugating a phosphoserine to the -terminal of a well-established self-assembling peptide backbone, (naphthalene-2-ly)-acetyl-diphenylalanine (NapFF), affords a novel hydrogelation precursor for EISA. The incorporation of phosphotyrosine, another substrate of phosphatase, into the resulting precursor, provides one more enzymatic trigger on a single molecule, and meanwhile increases the precursors’ propensity to aggregate after being fully dephosphorylated. Exchanging the positions of phosphorylated serine and tyrosine in the peptide backbone provides insights on how the specific molecular structures influence self-assembling behaviors of small peptides and the subsequent cellular responses. Moreover, the utilization of D-amino acids largely enhances the biostability of the peptides, thus providing a unique soft material for potential biomedical applications.

关键词： enzyme-instructed self-assembly     phosphoserine     phosphatase     supramolecular hydrogel    

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Review of human–robot coordination control for rehabilitation based on motor function evaluation

《机械工程前沿（英文）》 2022年 第17卷 第2期 doi: 10.1007/s11465-022-0684-4

摘要： As a wearable and intelligent system, a lower limb exoskeleton rehabilitation robot can provide auxiliary rehabilitation training for patients with lower limb walking impairment/loss and address the existing problem of insufficient medical resources. One of the main elements of such a human–robot coupling system is a control system to ensure human–robot coordination. This review aims to summarise the development of human–robot coordination control and the associated research achievements and provide insight into the research challenges in promoting innovative design in such control systems. The patients’ functional disorders and clinical rehabilitation needs regarding lower limbs are analysed in detail, forming the basis for the human–robot coordination of lower limb rehabilitation robots. Then, human–robot coordination is discussed in terms of three aspects: modelling, perception and control. Based on the reviewed research, the demand for robotic rehabilitation, modelling for human–robot coupling systems with new structures and assessment methods with different etiologies based on multi-mode sensors are discussed in detail, suggesting development directions of human–robot coordination and providing a reference for relevant research.

关键词： human–robot coupling     lower limb rehabilitation     exoskeleton robot     motor assessment     dynamical model     perception    

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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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Terrain classification and adaptive locomotion for a hexapod robot Qingzhui

Yue ZHAO, Feng GAO, Qiao SUN, Yunpeng YIN

《机械工程前沿（英文）》 2021年 第16卷 第2期   页码 271-284 doi: 10.1007/s11465-020-0623-1

摘要： Legged robots have potential advantages in mobility compared with wheeled robots in outdoor environments. The knowledge of various ground properties and adaptive locomotion based on different surface materials plays an important role in improving the stability of legged robots. A terrain classification and adaptive locomotion method for a hexapod robot named Qingzhui is proposed in this paper. First, a force-based terrain classification method is suggested. Ground contact force is calculated by collecting joint torques and inertial measurement unit information. Ground substrates are classified with the feature vector extracted from the collected data using the support vector machine algorithm. Then, an adaptive locomotion on different ground properties is proposed. The dynamic alternating tripod trotting gait is developed to control the robot, and the parameters of active compliance control change with the terrain. Finally, the method is integrated on a hexapod robot and tested by real experiments. Our method is shown effective for the hexapod robot to walk on concrete, wood, grass, and foam. The strategies and experimental results can be a valuable reference for other legged robots applied in outdoor environments.

关键词： terrain classification     hexapod robot     legged robot     adaptive locomotion     gait control    

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Distinct community assembly processes underlie significant spatiotemporal dynamics of abundant and rare

《环境科学与工程前沿（英文）》 2022年 第16卷 第6期 doi: 10.1007/s11783-021-1513-4

摘要：

• Season and landform influenced spatiotemporal patterns of abundant and rare taxa.

关键词： Rare taxa     Biogeography     Community assembly     Bacterioplankton     The Yangtze River    

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Research on constraint-based virtual assembly technologies

YANG Rundang, WU Dianliang, FAN Xiumin, YAN Juanqi

《机械工程前沿（英文）》 2007年 第2卷 第2期   页码 243-249 doi: 10.1007/s11465-007-0043-5

摘要： To realize a constraint-based virtual assembly operation, the unified representations of the assembly constraint, the equivalent relation between the constraint and the degree of freedom (DOF), and the movement DOF reduction in a virtual environment are proposed. Several algorithms about the constraint treatment are submitted. First, the automatic recognition algorithm based on the assembly relation is used to determine the position and orientation relation between two geometry elements of constraint whether they meet the given errors. Second, to satisfy the new constraint, according to the positing solving algorithm, the position and orientation of an active part are modified with minimal adjustment after the part has satisfied the affirmed constraints. Finally, the algorithm of movement navigation based on the generalized coordinate system is put forward, and the part movement is guided. These algorithms have been applied to the integrated virtual assembly environment (IVAE) system. Experiments have indicated that these algorithms have well supported constraint treatments in the IVAE and realized the closer combination of the virtual and the real assembly processes.

关键词： movement DOF     recognition algorithm     assembly     orientation     combination    

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The construction of pseudo-Janus silica/surfactant assembly and their application to stabilize Pickering

《化学科学与工程前沿（英文）》 2022年 第16卷 第7期   页码 1101-1113 doi: 10.1007/s11705-021-2095-1

摘要： Nanoparticles with high surface energy and chemical activity have drawn substantial attention in petroleum industry. Recently, Janus nanoparticles exhibited tremendous potential in enhanced oil recovery (EOR) due to their asymmetric structures and properties. In this study, a series of amphiphilic pseudo-Janus@OTAB (PJ@C18) nanoparticles with different concentrations of stearyltrimethylammoium bromide (OTAB) were successfully fabricated. The structures and properties of PJ@C18 were characterized by Fourier transform infrared spectroscopy and ζ-potential measurements. Based on the emulsification experimental results, the interaction models and the self-assembly behavior between hydrophilic nanoparticles (SiO2@NH2) and OTAB molecules at the oil/water interface were proposed, which was further confirmed via the measurements of the contact angle and dynamic interfacial tension. Interestingly, it was found that the change of pH value from 7.5 to 4.0 caused the type reversal of the PJ@C18-1000 stabilized Pickering emulsions. Furthermore, the PJ@C18-1000 stabilized Pickering emulsion system with excellent salt and temperature tolerances (10000 mg∙L–1, 90 °C) significantly improved the oil recovery in the single-tube (more than 17%) and double-tube (more than 25%) sand pack model flooding tests. The findings of this study could help to better understand the construction mechanism of pseudo-Janus silica/surfactant assembly and the potential application of PJ@C18-1000 stabilized Pickering emulsions for EOR.

关键词： Janus nanoparticles     surfactant     double phase inversion     self-assembly     enhanced oil recovery    

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Design and modeling of continuum robot based on virtual-center of motion mechanism

《机械工程前沿（英文）》 2023年 第18卷 第2期 doi: 10.1007/s11465-022-0739-6

摘要： Continuum robot has attracted extensive attention since its emergence. It has multi-degree of freedom and high compliance, which give it significant advantages when traveling and operating in narrow spaces. The flexural virtual-center of motion (VCM) mechanism can be machined integrally, and this way eliminates the assembly between joints. Thus, it is well suited for use as a continuum robot joint. Therefore, a design method for continuum robots based on the VCM mechanism is proposed in this study. First, a novel VCM mechanism is formed using a double leaf-type isosceles-trapezoidal flexural pivot (D-LITFP), which is composed of a series of superimposed LITFPs, to enlarge its stroke. Then, the pseudo-rigid body (PRB) model of the leaf is extended to the VCM mechanism, and the stiffness and stroke of the D-LITFP are modeled. Second, the VCM mechanism is combined to form a flexural joint suitable for the continuum robot. Finally, experiments and simulations are used to validate the accuracy and validity of the PRB model by analyzing the performance (stiffness and stroke) of the VCM mechanism. Furthermore, the motion performance of the designed continuum robot is evaluated. Results show that the maximum stroke of the VCM mechanism is approximately 14.2°, the axial compressive strength is approximately 1915 N/mm, and the repeatable positioning accuracies of the continuum robot is approximately ±1.47° (bending angle) and ±2.46° (bending direction).

关键词： VCM mechanism     continuum robot     flexural joint     pseudo-rigid body model     cable-driven    

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标题 作者 时间 类型 操作

Improved approach to quality function deployment based on Pythagorean fuzzy sets and application to assemblyrobot design evaluation

Huchang LIAO, Yinghan CHANG, Di WU, Xunjie GOU

期刊论文

基于阻抗控制的人机协作范式研究及其机器人装配应用

赵兴炜, 陈沂洺, 钱璐, 陶波, 丁汉

期刊论文

next-generation production system for industrial robots: A CPS-based hybrid architecture for smart assembly

Qingmeng TAN, Yifei TONG, Shaofeng WU, Dongbo LI

期刊论文

Assembly of biosynthetic pathways in

Lidan Ye,Xiaomei Lv,Hongwei Yu

期刊论文

A novel task-oriented framework for dual-arm robotic assembly task

期刊论文

Pareto lexicographic α-robust approach and its application in robust multi objective assembly line balancing

null

期刊论文

Assembly design system based on engineering connection

Wensheng YIN

期刊论文

Enzyme-instructed self-assembly of peptides containing phosphoserine to form supramolecular hydrogels

Jie Zhou, Xuewen Du, Jiaqing Wang, Natsuko Yamagata, Bing Xu

期刊论文

Review of human–robot coordination control for rehabilitation based on motor function evaluation

期刊论文

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

期刊论文

Terrain classification and adaptive locomotion for a hexapod robot Qingzhui

Yue ZHAO, Feng GAO, Qiao SUN, Yunpeng YIN

期刊论文

Distinct community assembly processes underlie significant spatiotemporal dynamics of abundant and rare

期刊论文

Research on constraint-based virtual assembly technologies

YANG Rundang, WU Dianliang, FAN Xiumin, YAN Juanqi

期刊论文

The construction of pseudo-Janus silica/surfactant assembly and their application to stabilize Pickering

期刊论文

Design and modeling of continuum robot based on virtual-center of motion mechanism

期刊论文