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A modular design kit for task-adaptable low-cost robots based on BaPaMan design

G. BORCHERT, C. L?CHTE, G. CARBONE, A. RAATZ

《机械工程前沿（英文）》 2013年第8卷第1期页码 33-41 doi: 10.1007/s11465-013-0356-5

摘要：

This paper discusses the redesign of a binary parallel manipulator named BaPaMan (Binary Actuated Parallel Manipulator). The aim of this work is the improvement of the structures stiffness of BaPaMan. Additionally this paper shows the implementation of a construction kit which allows task-adaptation of low-cost robots based on the BaPaMan structure. BaPaMan is a three degree of freedom (DOF) spatial parallel robot which comprises flexure hinges and Shape Memory Alloy (SMA) actuators to achieve a low-cost design, well suited for easy operation applications. Measurements have shown that this comes at the cost of poor structural stiffness and end effector accuracy. To counter these issues BaPaMan2 and BaPaMan3 have been developed and are elaborated within this work. During the design phase, an empirical FEA is used to improve the flexure hinge performance, which analyses relations between several design parameters and the stiffness of the entire system. Finally, task-adaptation is achieved by using a design methodology and a parametric CAD model for BaPaMan. Besides the paper introduces first applications of the BaPaMan structure and shows future work.

关键词： binary actuation flexure hinges SMA actuators low-cost design kit task-adaptation

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Magnetic KIT-6 nano-composite and its amino derivatives as convenient adsorbent for U(VI) sequestration

《化学科学与工程前沿（英文）》 2023年第17卷第12期页码 2037-2049 doi: 10.1007/s11705-023-2358-0

摘要： Although mesoporous silica with magnetically hybridized two-dimensional channel structures has been well studied in recent years, it remains a challenge to fabricate the counterpart with macroporous three-dimensional cubic structures since the highly acidic preparation conditions lead to dissolution of magnetic particles. Herein, we successfully prepared magnetic KIT-6 nano-composite and its amino derivatives by bearing acid-resistant iron oxide. The prepared materials exhibited excellent properties for U(VI) ions removal from aqueous solutions under various conditions. The experimental data show that the U(VI) adsorption features fast adsorption kinetics, high adsorption capacity and ideal selectivity toward U(VI). The adsorption process is of spontaneous and endothermic nature and ionic strength independence, and the adsorbents can be easily regenerated by acid treatment. Compared to pristine KIT-6, the introduction of magnetism does not reduce the efficiency of the material to remove U(VI) while exerting its role as a recovery adsorbent. The findings of this work further demonstrate the potential broad application prospects of magnetic hybrid mesoporous silica in radionuclide chelation.

关键词： magnetic nanoparticle 3D mesoporous silica amino functionalization adsorption of U(VI) acid resistance

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Sonication and grinding pre-treatments on

Kit Wayne Chew, Pau Loke Show, Yee Jiun Yap, Joon Ching Juan, Siew Moi Phang, Tau Chuan Ling, Jo-Shu

《环境科学与工程前沿（英文）》 2018年第12卷第4期 doi: 10.1007/s11783-018-1040-0

摘要：

Effects of sonication and grinding pretreatment on agarose quality were observed.

Successful agarose extraction with direct PEG method without the need to dry agar.

FTIR spectra and the characteristics peaks in agarose are explained.

Improvements in gel strength and sulfate content properties in agarose samples.

关键词： Agarose Gelidium Pretreatment Seaweed Sonication

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Homoharringtonine synergy with oridonin in treatment of t(8; 21) acute myeloid leukemia

Weina Zhang, Ying Lu, Tao Zhen, Xinjie Chen, Ming Zhang, Ping Liu, Xiangqin Weng, Bing Chen, Yueying Wang

《医学前沿（英文）》 2019年第13卷第3期页码 388-397 doi: 10.1007/s11684-018-0624-1

摘要： Collaboration of c-KIT mutations with AML1–ETO (AE) has been demonstrated to induce t(8; 21) acute myeloid leukemia (AML). Targeted therapies designed to eliminate AE and c-KIT oncoproteins may facilitate effective treatment of t(8; 21) AML. Homoharringtonine (HHT) features activity against tumor cells harboring c-KIT mutations, whereas oridonin can induce t(8; 21) AML cell apoptosis and AE cleavage. Therefore, studies should explore the efficacy of combination therapy with oridonin and HHT in t(8; 21) AML. In this study, we investigated the synergistic effects and mechanism of oridonin combined with HHT in t(8; 21) AML cell line and mouse model. The two drugs synergistically inhibited cell viability and induced significant mitochondrial membrane potential loss and apoptosis. Oridonin and HHT induced significant downregulation of c-KIT and its downstream signaling pathways and promoted AE cleavage. HHT increased intracellular oridonin concentration by modulating the expressions of MRP1 and MDR1, thus enhancing the effects of oridonin. The combination of oridonin and HHT prolonged t(8; 21) leukemia mouse survival. In conclusion, oridonin and HHT exert synergistic effects against t(8; 21) leukemia and , thereby indicating that their combination may be an effective therapy for t(8; 21) leukemia.

关键词： AML1–ETO c-KIT homoharringtonine oridonin t(8 21) AML synergistic effect

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6G中联邦学习的应用、挑战和机遇 Review

杨照辉,陈明哲,黃繼傑,H. Vincent Poor,崔曙光

《工程（英文）》 2022年第8卷第1期页码 33-41 doi: 10.1016/j.eng.2021.12.002

摘要：

标准的机器学习方法需要在数据中心集中训练数据，从而采用集中式机器学习算法来进行数据分析和推理。然而，由于无线网络中的隐私限制以及无线通信资源受限，边缘设备将数据传输到参数服务器通常是不可取和不切实际的。联邦学习可解决这些问题。联邦学习可以使设备能够在没有数据共享和传输的情况下训练机器学习模型。本文全面概述了未来第六代（6G）无线网络的联邦学习应用。特别是，首先描述了将联邦学习应用于无线通信中的基本要求。然后详细介绍了无线通信中潜在的联邦学习新型应用，讨论了与新型应用相关的主要问题和挑战。最后，描述了用于无线通信的联邦学习的详细实现方案，并给出了联邦学习的难点和应用前景。

关键词：联邦学习 6G 智能反射面语义通信通信感知计算一体化

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Reliability design method for steam turbine blades

SHI Jinyuan

《能源前沿（英文）》 2008年第2卷第4期页码 363-368 doi: 10.1007/s11708-008-0073-7

摘要： Based on theories of probability and statistics, and taking static stresses, dynamic stresses, endurance strength, safety ratios, vibration frequencies and exciting force frequencies of blades as random variables, a reliability design method for steam turbine blades is presented. The purport and calculation method for blade reliability are expounded. The distribution parameters of random variables are determined after analysis and numerical calculation of test data. The fatigue strength and the vibration design reliability of turbine blades are determined with the aid of a probabilistic design method and by interference models for stress distribution and strength distribution. Some blade reliability design calculation formulas for a dynamic stress design method, a safety ratio design method for fatigue strength, and a vibration reliability design method for the first and second types of tuned blades and a packet of blades on a disk connected closely, are given together with some practical examples. With these methods, the design reliability of steam turbine blades can be guaranteed in the design stage. This research may provide some scientific basis for reliability design of steam turbine blades.

关键词： design reliability force probability purport reliability design

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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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设计科学的争论和设计竞争力

谢友柏

《中国工程科学》 2014年第16卷第8期页码 4-13

摘要：

本文回溯了19 世纪末以来西方关于设计科学的争论，探讨在前工业设计时期、工业设计时期和后工业设计时期中关于设计认知和理念的变化，特别是它们在整个工业设计时期中随同满足物质需求产品生产能力增长而发生的转变。事实表明，当产能不满足物质需求时，工业生产是以规模竞争优先；而当规模发展到极端而导致产能过剩并引发许多社会问题时，工业生产就转向创新竞争。竞争模式改变导致设计认知和理念的变化：从保证大规模物质生产、符合物质演变规律，即理性的系统化的设计，到满足人们对新的和美好生活的追求，并同时满足物质需求、精神需求和社会需求统一的由创意引领的设计。哪一个设计能使创新成功，取决于竞争，不仅仅是市场竞争，而且是在社会发展中的竞争。现在不是会不会设计的问题，而是设计有没有竞争力。中国正处在经济增长方式转变的关键时期，推动设计科学的研究，认识这些变化非常重要。本文提出了“竞争性设计”和“继承性设计”的概念，并将后工业设计时期称为竞争性设计时期。

关键词：设计工业设计设计科学知识知识获取

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Optimal dome design considering member-related design constraints

Tugrul TALASLIOGLU

《结构与土木工程前沿（英文）》 2019年第13卷第5期页码 1150-1170 doi: 10.1007/s11709-019-0543-5

摘要： This study proposes to optimize the design of geometrically nonlinear dome structures. A new Multi-objective Optimization Algorithm named Pareto Archived Genetic Algorithm (PAGA), which has an ability of integrating the nonlinear structural analysis with the provisions of American Petroleum Institute specification is employed to optimize the design of ellipse and sphere-shaped dome configurations. Thus, it is possible to investigate how the qualities of optimal designations vary considering the shape, size, and topology-related design variables. Furthermore, the computing efficiency of PAGA is evaluated considering six multi-objective optimization algorithms and eight quality measuring indicators. It is shown that PAGA has a capability of both exploring an increased number of pareto solutions and predicting a pareto front with a higher convergence degree. Moreover, the inclusion of shape-related design variables leads to a decrease in both the weights of dome structures and their load-carrying capacities. However, the designer easily determines the most requested optimal design through the archiving feature of PAGA. Thus, it is also demonstrated that the proposed optimal design procedure increases the correctness degree in the evaluation of optimal dome designs through the tradeoff analysis. Consequently, PAGA is recommended as an optimization tool for the design optimization of geometrically nonlinear dome structures.

关键词： dome structure geometric nonlinearity multi-objective optimization API RP2A-LRFD

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LARM PKM solutions for torso design in humanoid robots

Marco CECCARELLI

《机械工程前沿（英文）》 2014年第9卷第4期页码 308-316 doi: 10.1007/s11465-014-0318-6

摘要：

Human-like torso features are essential in humanoid robots. In this paper problems for design and operation of solutions for a robotic torso are discussed by referring to experiences and designs that have been developed at Laboratory of Robotics and Mechatronics (LARM) in Cassino, Italy. A new solution is presented with conceptual views as waist-trunk structure that makes a proper partition of the performance for walking and arm operations as sustained by a torso.

关键词： humanoid robots torso design parallel manipulators (PKM) conceptual design

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Mustafizur Rahman：An Approach towards Extreme Design and Manufacturing（2019年10月10日）

2021年04月23日

关键词：高性能制造

Structural optimal design of a swing vane compressor

Junjie MA,Xiang CHEN,Zongchang QU

《能源前沿（英文）》 2019年第13卷第4期页码 764-769 doi: 10.1007/s11708-016-0449-z

摘要： In this paper, a novel swing vane rotary compressor (SVC) was introduced, which had significant advantages—simple mechanism, reduced frictional loss, reliable operation, and a comparatively higher compression ratio. Based on the swing vane compressor geometry model, thermodynamic model and kinetic model, the mathematical model of optimum design was established, and further theoretical and experimental studies were conducted. The length of the cylinder, radius of the rotor and cylinder were defined as design variables and the reciprocal of EER as objective function. The complex optimization method was adopted to study the structure of the swing vane compressor. The theoretical model could provide an effective method for predicting compressor performance, which would also contribute to structural optimization of the SVC. The study shows that the friction loss of the compressor are greatly reduced by optimized design in a given initial value, and the EER increased by 8.55%.

关键词： swing vane compressor simulation optimization design

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Ranking of design scenarios of TMD for seismically excited structures using TOPSIS

Sadegh ETEDALI

《结构与土木工程前沿（英文）》 2020年第14卷第6期页码 1372-1386 doi: 10.1007/s11709-020-0671-y

摘要： In this paper, design scenarios of a tuned mass damper (TMD) for seismically excited structures are ranked. Accordingly, 10 design scenarios in two cases, namely unconstrained and constrained for the maximum TMD, are considered in this study. A free search of the TMD parameters is performed using a particle swarm optimization (PSO) algorithm for optimum tuning of TMD parameters. Furthermore, nine criteria are adopted with respect to functional, operational, and economic views. A technique for order performance by similarity to ideal solution (TOPSIS) is utilized for ranking the adopted design scenarios of TMD. Numerical studies are conducted on a 10-story building equipped with TMD. Simulation results indicate that the minimization of the maximum story displacement is the optimum design scenario of TMD for the seismic-excited structure in the unconstrained case for the maximum TMD stroke. Furthermore, H of the displacement vector of the structure exhibited optimum ranking among the adopted design scenarios in the constrained case for the maximum TMD stroke. The findings of this study can be useful and important in the optimum design of TMD parameters with respect to functional, operational, and economic perspectives.

关键词： seismic-excited building TMD optimum design PSO design scenario TOPSIS

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Mechanical design, modeling, and identification for a novel antagonistic variable stiffness dexterous

《机械工程前沿（英文）》 2022年第17卷第3期 doi: 10.1007/s11465-022-0691-5

摘要： This study traces the development of dexterous hand research and proposes a novel antagonistic variable stiffness dexterous finger mechanism to improve the safety of dexterous hand in unpredictable environments, such as unstructured or man-made operational errors through comprehensive consideration of cost, accuracy, manufacturing, and application. Based on the concept of mechanical passive compliance, which is widely implemented in robots for interactions, a finger is dedicated to improving mechanical robustness. The finger mechanism not only achieves passive compliance against physical impacts, but also implements the variable stiffness actuator principle in a compact finger without adding supererogatory actuators. It achieves finger stiffness adjustability according to the biologically inspired stiffness variation principle of discarding some mobilities to adjust stiffness. The mechanical design of the finger and its stiffness adjusting methods are elaborated. The stiffness characteristics of the finger joint and the actuation unit are analyzed. Experimental results of the finger joint stiffness identification and finger impact tests under different finger stiffness presets are provided to verify the validity of the model. Fingers have been experimentally proven to be robust against physical impacts. Moreover, the experimental part verifies that fingers have good power, grasping, and manipulation performance.

关键词： multifingered hand mechanism design robot safety variable stiffness actuator

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On the improvement design of dynamic characteristics for the roller follower of a variable-speed plate

Hui Ching FAN, Hong Sen YAN

《机械工程前沿（英文）》 2012年第7卷第1期页码 5-15 doi: 10.1007/s11465-012-0310-y

摘要：

Without modifying the cam contour, a cam mechanism with a variable input speed trajectory offers an alternative solution to flexibly achieve kinematic and dynamic characteristics, and then decrease the follower’s residual vibration. Firstly, the speed trajectory of cam is derived by employing Bezier curve, and motion continuity conditions are investigated. Then the motion characteristics between the plate cam and its roller follower are derived. To analyze the residual vibration, a single degree of freedom dynamic model of the elastic cam-follower system is introduced. Based on the motion equation derived from the dynamic model, the residual vibration of the follower is yielded. The design procedure to improve the kinematic and dynamic motion characteristics is presented and two design examples with discussions are provided. Finally, the simulations of the kinematic and dynamic models by ADAMS are carried out and verified that the design models as well as the performances of the mechanism are feasible.

关键词： cam mechanism variable input speed kinematic design dynamic design optimal design