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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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Trajectory planning and base attitude restoration of dual-arm free-floating space robot by enhanced bidirectional

Zongwu XIE1 , Xiaoyu ZHAO1 , Zainan JIANG1 , Haitao YANG2 , Chongyang LI1

《机械工程前沿（英文）》 2022年第17卷第1期 doi: 10.1007/s11465-021-0658-y

摘要： When free-floating space robots perform space tasks, the satellite base attitude is disturbed by the dynamic coupling. The disturbance of the base orientation may affect the communication between the space robot and the control center on earth. In this paper, the enhanced bidirectional approach is proposed to plan the manipulator trajectory and eliminate the final base attitude variation. A novel acceleration level state equation for the nonholonomic problem is proposed, and a new intermediate variable-based Lyapunov function is derived and solved for smooth joint trajectory and restorable base trajectories. In the method, the state equation is first proposed for dual-arm robots with and without end constraints, and the system stability is analyzed to obtain the system input. The input modification further increases the system stability and simplifies the calculation complexity. Simulations are carried out in the end, and the proposed method is validated in minimizing final base attitude change and trajectory smoothness. Moreover, the minute internal force during the coordinated operation and the considerable computing efficiency increases the feasibility of the method during space tasks.

关键词： free-floating space robot dual arm coordinated operation base attitude restoration bidirectional approach

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Precise semi-analytical inverse kinematic solution for 7-DOF offset manipulator with arm angle optimization

《机械工程前沿（英文）》 2021年第16卷第3期页码 435-450 doi: 10.1007/s11465-021-0630-x

摘要： Seven-degree-of-freedom redundant manipulators with link offset have many advantages, including obvious geometric significance and suitability for configu-ration control. Their configuration is similar to that of the experimental module manipulator (EMM) in the Chinese Space Station Remote Manipulator System. However, finding the analytical solution of an EMM on the basis of arm angle parameterization is difficult. This study proposes a high-precision, semi-analytical inverse method for EMMs. Firstly, the analytical inverse kinematic solution is established based on joint angle parameterization. Secondly, the analytical inverse kinematic solution for a non-offset spherical–roll–spherical (SRS) redundant manipulator is derived based on arm angle parameterization. The approximate solution of the EMM is calculated in accordance with the relationship between the joint angles of the EMM and the SRS manipulator. Thirdly, the error is corrected using a numerical method through the analytical inverse solution based on joint angle parameterization. After selecting the stride and termination condition, the precise inverse solution is computed for the EMM based on arm angle parameterization. Lastly, case solutions confirm that this method has high precision, and the arm angle parameterization method is superior to the joint angle parameterization method in terms of parameter selection.

关键词： 7-DOF redundant manipulator inverse kinematics semi-analytical arm angle link offset

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A modular cable-driven humanoid arm with anti-parallelogram mechanisms and Bowden cables

《机械工程前沿（英文）》 2023年第18卷第1期 doi: 10.1007/s11465-022-0722-2

摘要： This paper proposes a novel modular cable-driven humanoid arm with anti-parallelogram mechanisms (APMs) and Bowden cables. The lightweight arm realizes the advantage of joint independence and the rational layout of the driving units on the base. First, this paper analyzes the kinematic performance of the APM and uses the rolling motion between two ellipses to approximate a pure-circular-rolling motion. Then, a novel type of one-degree-of-freedom (1-DOF) elbow joint is proposed based on this principle, which is also applied to design the 3-DOF wrist and shoulder joints. Next, Bowden cables are used to connect the joints and their driving units to obtain a modular cable-driven arm with excellent joint independence. After that, both the forward and inverse kinematics of the entire arm are analyzed. Last, a humanoid arm prototype was developed, and the assembly velocity, joint motion performance, joint stiffness, load carrying, typical humanoid arm movements, and repeatability were tested to verify the arm performance.

关键词： modular robotic arm anti-parallelogram mechanism Bowden cable humanoid arm lightweight joint design

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智能阀门定位系统的设计

吴爱国,王立石

《中国工程科学》 2005年第7卷第4期页码 69-73

摘要：

介绍了一种基于ARM的智能阀门定位系统的硬件设计和定位控制方法。其中应用Philips公司的带CAN总线接口的ARM控制器作为系统的控制核心，既满足了现场实时数据的采集、计算和处理，又可以通过CAN总线使得阀门控制器和控制中心保持实时通信；控制策略采用带智能积分的自学习模糊控制算法

关键词： ARM 控制器 CAN总线智能积分自学习模糊控制

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Different manipulation mode analysis of a radial symmetrical hexapod robot with leg–arm integration

《机械工程前沿（英文）》 2022年第17卷第1期页码 8-8 doi: 10.1007/s11465-021-0664-0

摘要： With the widespread application of legged robot in various fields, the demand for a robot with high locomotion and manipulation ability is increasing. Adding an extra arm is a useful but general method for a legged robot to obtain manipulation ability. Hence, this paper proposes a novel hexapod robot with two integrated leg–arm limbs that obtain dexterous manipulation functions besides locomotion ability without adding an extra arm. The manipulation modes can be divided into coordinated manipulation condition and single-limb manipulation condition. The former condition mainly includes fixed coordinated clamping case and fixed coordinated shearing case. For the fixed coordinated clamping case, the degrees of freedom (DOFs) analysis of equivalent parallel mechanism by using screw theory and the constraint equation of two integrated limbs are established. For the fixed coordinated shearing case, the coordinated working space is determined, and an ideal coordinated manipulation ball is presented to guide the coordinated shearing task. In addition, the constraint analysis of two adjacent integrated limbs is performed. Then, mobile manipulation with one integrated leg–arm limb while using pentapod gait is discussed as the single-limb manipulation condition, including gait switching analysis between hexapod gait and pentapod gait, different pentapod gaits analysis, and a complex six-DOF manipulation while walking. Corresponding experiments are implemented, including clamping tasks with two integrated limbs, coordinated shearing task by using two integrated limbs, and mobile manipulation with pentapod gait. This robot provides a new approach to building a multifunctional locomotion platform.

关键词： leg–arm integration hexapod robot fixed coordinated manipulation mobile manipulation

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Design and experiment of a novel pneumatic soft arm based on a deployable origami exoskeleton

《机械工程前沿（英文）》 2023年第18卷第4期 doi: 10.1007/s11465-023-0770-2

摘要： Soft arms have shown great application potential because of their flexibility and compliance in unstructured environments. However, soft arms made from soft materials exhibit limited cargo-loading capacity, which restricts their ability to manipulate objects. In this research, a novel soft arm was developed by coupling a rigid origami exoskeleton with soft airbags. The joint module of the soft arm was composed of a deployable origami exoskeleton and three soft airbags. The motion and load performance of the soft arm of the eight-joint module was tested. The developed soft arm withstood at least 5 kg of load during extension, contraction, and bending motions; exhibited bistable characteristics in both fully contracted and fully extended states; and achieved a bending angle of more than 240° and a contraction ratio of more than 300%. In addition, the high extension, contraction, bending, and torsional stiffnesses of the soft arm were experimentally demonstrated. A kinematic-based trajectory planning of the soft arm was performed to evaluate its error in repetitive motion. This work will provide new design ideas and methods for flexible manipulation applications of soft arms.

关键词： pneumatic soft arm soft airbag deployable origami exoskeleton bistable characteristics cargo-loading capacity

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A virtual reality system for arm and hand rehabilitation

Zhiqiang LUO, Chee Kian LIM, I-Ming CHEN, Song Huat YEO

《机械工程前沿（英文）》 2011年第6卷第1期页码 23-32 doi: 10.1007/s11465-011-0202-6

摘要：

This paper presents a virtual reality (VR) system for upper limb rehabilitation. The system incorporates two motion track components, the Arm Suit and the Smart Glove which are composed of a range of the optical linear encoders (OLE) and the inertial measurement units (IMU), and two interactive practice applications designed for driving users to perform the required functional and non-functional motor recovery tasks. We describe the technique details about the two motion track components and the rational to design two practice applications. The experiment results show that, compared with the marker-based tracking system, the Arm Suit can accurately track the elbow and wrist positions. The repeatability of the Smart Glove on measuring the five fingers’ movement can be satisfied. Given the low cost, high accuracy and easy installation, the system thus promises to be a valuable complement to conventional therapeutic programs offered in rehabilitation clinics and at home.

关键词： motion tracking rehabilitation optical linear encoder (OLE) virtual reality

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网络远程控制中机械臂的连续轨迹控制

郑桦,丛爽

《中国工程科学》 2008年第10卷第10期页码 91-95

摘要：

探讨了点位控制在二自由度机械臂网络远程控制中的问题，将连续轨迹控制应用到基于关节坐标空间的机器人控制系统中，分析了在远程操控环境中实现连续轨迹控制所需要满足的条件，给出了最佳合成速度的求法，并进行了实际系统的远程控制实验，在期望时间内实现了连续、平滑的运动效果，证实了在网络远程系统的控制中采用连续轨迹控制能够获得更高的精度。

关键词：远程控制连续轨迹控制机械臂系统

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嵌入式Internet 中Nagle 算法及其应用研究

王宝宝,余世明,王振宇

《中国工程科学》 2014年第16卷第2期页码 101-105

摘要：通过ARM7 32 位micro control unit（MCU）和上位机personal computer（PC）构建嵌入式Internet 网络，分析Nagle 算法的原理和工作机制。

关键词： Nagle算法死锁延迟确认策略 ARM7 嵌入式Internet

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Improved nitrogen removal in dual-contaminated surface water by photocatalysis

Yongming ZHANG, Rong YAN, Zhen ZOU, Jiewei WANG, Bruce E. RITTMANN

《环境科学与工程前沿（英文）》 2012年第6卷第3期页码 428-436 doi: 10.1007/s11783-012-0401-3

摘要： River waters in China have dual contamination by nutrients and recalcitrant organic compounds. In principle, the organic compounds could be used to drive denitrification of nitrate, thus arresting eutrophication potential, if the recalcitrant organics could be made bioavailable. This study investigated the potential to make the recalcitrant organics bioavailable through photocatalysis. Batch denitrification tests in a biofilm reactor demonstrated that dual-contaminated river water was short of available electron donor, which resulted in low total nitrogen (TN) removal by denitrification. However, the denitrification rate was increased significantly by adding glucose or by making the organic matters of the river water more bioavailable through photocatalysis. Photocatalysis for 15 min increased the Chemical Oxygen Demand (COD) of the river water from 53 to 84 mg·L and led to a 4-fold increase in TN removal. The increase in TN removal gave the same effect as adding 92 mg·L of glucose. During the photocatalysis experiments, the COD increased because photocatalysis transformed organic molecules from those that are resistant to dichromate oxidation in the COD test to those that can be oxidized by dichromate. This phenomenon was verified by testing photocatalysis of pyridine added to the river water. These findings point to the potential for N removal via denitrification after photocatalysis, and they also suggest that the rivers in China may be far more polluted than indicated by COD assays.

关键词： dual contamination eutrophication photocatalysis remediation surface water

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Development of a dual temperature control system for isoprene biosynthesis in

《化学科学与工程前沿（英文）》 2022年第16卷第7期页码 1079-1089 doi: 10.1007/s11705-021-2088-0

摘要： Conflict between cell growth and product accumulation is frequently encountered in the biosynthesis of secondary metabolites. To address the growth-production conflict in yeast strains harboring the isoprene synthetic pathway in the mitochondria, the dynamic control of isoprene biosynthesis was explored. A dual temperature regulation system was developed through engineering and expression regulation of the transcriptional activator Gal4p. A cold-sensitive mutant, Gal4ep19, was created by directed evolution of Gal4p based on an internally developed growth-based high-throughput screening method and expressed under the heat-shock promoter P_SSA4 to control the expression of P_GAL-driven pathway genes in the mitochondria. Compared to the control strain with constitutively expressed wild-type Gal4p, the dual temperature regulation strategy led to 34.5% and 72% improvements in cell growth and isoprene production, respectively. This study reports the creation of the first cold-sensitive variants of Gal4p by directed evolution and provides a dual temperature control system for yeast engineering that may also be conducive to the biosynthesis of other high-value natural products.

关键词： transcriptional activator directed evolution dynamic control heat-shock isoprene

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基于双CPU结构的数据监控系统设计

贾贵玺,齐乐

《中国工程科学》 2006年第8卷第4期页码 68-71

摘要：

针对通信系统中，对所有客户线路的电压、电流、温度等数据进行实时多路采集监控，提出了一种基于双CPU结构的数据监控系统的设计方法以及硬件组成。讨论了系统主要芯片之间的连线方法以及软件流程。该系统已经成功应用在邮电系统48V通信线路监控。实践证明，双CPU设计方案不仅满足了系统高运算量、高实时性、抗干扰性要求，而且优化了软硬件设计。

关键词：数据监控双CPU 双口RAM

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Experimental study of stratified lean burn characteristics on a dual injection gasoline engine

Chun XIA, Tingyu ZHAO, Junhua FANG, Lei ZHU, Zhen HUANG

《能源前沿（英文）》 2022年第16卷第6期页码 900-915 doi: 10.1007/s11708-021-0812-6

摘要： Due to increasingly stringent fuel consumption and emission regulation, improving thermal efficiency and reducing particulate matter emissions are two main issues for next generation gasoline engine. Lean burn mode could greatly reduce pumping loss and decrease the fuel consumption of gasoline engines, although the burning rate is decreased by higher diluted intake air. In this study, dual injection stratified combustion mode is used to accelerate the burning rate of lean burn by increasing the fuel concentration near the spark plug. The effects of engine control parameters such as the excess air coefficient (Lambda), direct injection (DI) ratio, spark interval with DI, and DI timing on combustion, fuel consumption, gaseous emissions, and particulate emissions of a dual injection gasoline engine are studied. It is shown that the lean burn limit can be extended to Lambda= 1.8 with a low compression ratio of 10, while the fuel consumption can be obviously improved at Lambda= 1.4. There exists a spark window for dual injection stratified lean burn mode, in which the spark timing has a weak effect on combustion. With optimization of the control parameters, the brake specific fuel consumption (BSFC) decreases 9.05% more than that of original stoichiometric combustion with DI as 2 bar brake mean effective pressure (BMEP) at a 2000 r/min engine speed. The NO_x emissions before three-way catalyst (TWC) are 71.31% lower than that of the original engine while the particle number (PN) is 81.45% lower than the original engine. The dual injection stratified lean burn has a wide range of applications which can effectively reduce fuel consumption and particulate emissions. The BSFC reduction rate is higher than 5% and the PN reduction rate is more than 50% with the speed lower than 2400 r/min and the load lower than 5 bar.

关键词： dual injection stratified lean burn gasoline engine particulate matter emission combustion analysis

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Optimization of the power, efficiency and ecological function for an air-standard irreversible Dual-Miller

Zhixiang WU, Lingen CHEN, Yanlin GE, Fengrui SUN

《能源前沿（英文）》 2019年第13卷第3期页码 579-589 doi: 10.1007/s11708-018-0557-z

摘要： This paper establishes an irreversible Dual-Miller cycle (DMC) model with the heat transfer (HT) loss, friction loss (FL) and other internal irreversible losses. To analyze the effects of the cut-off ratio ( ) and Miller cycle ratio ( ) on the power output ( ), thermal efficiency ( ) and ecological function ( ), obtain the optimal and optimal , and compare the performance characteristics of DMC with its simplified cycles and with different optimization objective functions, the , and of irreversible DMC are analyzed and optimized by applying the finite time thermodynamic (FTT) theory. Expressions of , and are derived. The relationships among , , and compression ratio ( ) are obtained by numerical examples. The effects of and on , , , maximum power output ( ), maximum efficiency ( ) and maximum ecological function ( ) are analyzed. Performance differences among the DMC, the Otto cycle (OC), the Dual cycle (DDC), and the Otto-Miller cycle (OMC) are compared for fixed design parameters. Performance characteristics of irreversible DMC with the choice of , and as optimization objective functions are analyzed and compared. The results show that the irreversible DMC engine can reach a twice-maximum power, a twice-maximum efficiency, and a twice-maximum ecological function, respectively. Moreover, when choosing as the optimization objective, there is a 5.2% of improvement in while there is a drop of only 2.7% in compared to choosing as the optimization objective. However, there is a 5.6% of improvement in while there is a drop of only 1.3% in compared to choosing as the optimization objective.

关键词： finite-time thermodynamics Dual-Miller cycle power output thermal efficiency ecological function