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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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Sagittal SLIP-anchored task space control for a monopode robot traversing irregular terrain

Haitao YU, Haibo GAO, Liang DING, Zongquan DENG

《机械工程前沿（英文）》 2020年 第15卷 第2期   页码 193-208 doi: 10.1007/s11465-019-0569-3

摘要： As a well-explored template that captures the essential dynamical behaviors of legged locomotion on sagittal plane, the spring-loaded inverted pendulum (SLIP) model has been extensively employed in both biomechanical study and robotics research. Aiming at fully leveraging the merits of the SLIP model to generate the adaptive trajectories of the center of mass (CoM) with maneuverability, this study presents a novel two-layered sagittal SLIP-anchored (SSA) task space control for a monopode robot to deal with terrain irregularity. This work begins with an analytical investigation of sagittal SLIP dynamics by deriving an approximate solution with satisfactory apex prediction accuracy, and a two-layered SSA task space controller is subsequently developed for the monopode robot. The higher layer employs an analytical approximate representation of the sagittal SLIP model to form a deadbeat controller, which generates an adaptive reference trajectory for the CoM. The lower layer enforces the monopode robot to reproduce a generated CoM movement by using a task space controller to transfer the reference CoM commands into joint torques of the multi-degree of freedom monopode robot. Consequently, an adaptive hopping behavior is exhibited by the robot when traversing irregular terrain. Simulation results have demonstrated the effectiveness of the proposed method.

关键词： legged robots     spring-loaded inverted pendulum     task space control     apex return map     deadbeat control     irregular terrain negotiation    

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A space power system of free piston Stirling generator based on potassium heat pipe

Mingqiang LIN, Jian MOU, Chunyun CHI, Guotong HONG, Panhe GE, Gu HU

《能源前沿（英文）》 2020年 第14卷 第1期   页码 1-10 doi: 10.1007/s11708-019-0655-6

摘要： The power system of a free piston Stirling generator (FPSG) based on potassium heat pipes has been developed in this paper. Thanks to the advantages of long life, high reliability, and high overall thermal efficiency, the FPSG is a promising candidate for nuclear energy, especially in space exploration. In this paper, the recent progress of FPSG based on nuclear reactor for space use was briefly reviewed. A novel FPSG weighted only 4.2 kg was designed, and one dimensional thermodynamic modeling of the FPSG using Sage software was performed to estimate its performance. The experiment results indicated that this FPSG could provide 142.4 W at a thermal-to-electric efficiency of nearly 17.4%. Besides, the power system integrated with four FPSGs and potassium heat pipes was performed and the single machine failure test was conducted. The results show that this system could provide an electrical power of 300 W at an overall thermal efficiency of 7.3%. Thus, it is concluded that this power system is feasible and will have a great prospect for future applications.

关键词： free piston Stirling generator (FPSG)     potassium heat pipe     power system     energy conversion    

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Laboratory experiment on using non-floating body to generate electrical energy from water waves

Arunachalam AMARKARTHIK, Srinivasan CHANDRASEKARAN, Karuppan SIVAKUMAR, Harender SINHMAR

《能源前沿（英文）》 2012年 第6卷 第4期   页码 361-365 doi: 10.1007/s11708-012-0210-1

摘要： This paper describes an innovative method of using a non-buoyant body to harness ocean waves. All the point absorbers are buoyant in nature and move up due to buoyancy and come down because of gravity. The point absorbers are designed to move along the waves to make the device efficient. These devices face excessive stress during the rough weather on account of the extreme motion of waves and cause the total device failure. The present study shows that using a non-buoyant body for conventional point absorber principle is much efficient and safer than any other device proposed till today. A small scale wave energy converter with non-buoyant body was designed, fabricated and tested in small scale wave maker. An electrical generator was coupled with the device to generate electrical energy from harnessed waves. The generator was electrically loaded and the generated power was measured. It was found from the experiments that the proposed device showed a significant improvement in electricity generation and safety during extreme conditions. In addition to the electricity generation, the characteristics of the device were also studied by using various wave and device parameters.

关键词： ocean wave energy     point absorbers     heaving body     non-floating object     heave response ratio     electrical energy generation    

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Vibration suppression of speed-controlled robots with nonlinear control

Paolo BOSCARIOL,Alessandro GASPARETTO

《机械工程前沿（英文）》 2016年 第11卷 第2期   页码 204-212 doi: 10.1007/s11465-016-0380-3

摘要：

In this paper, a simple nonlinear control strategy for the simultaneous position tracking and vibration damping of robots is presented. The control is developed for devices actuated by speed-controlled servo drives. The conditions for the asymptotic stability of the closed-loop system are derived by ensuring its passivity. The capability of achieving improved trajectory tracking and vibration suppression is shown through experimental tests conducted on a three-axis Cartesian robot. The control is aimed to be compatible with most industrial applications given the simplicity of implementation, the reduced computational requirements, and the use of joint position as the only measured signal.

关键词： industrial robot     nonlinear control     vibration damping     model-free control     motion control    

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Design and experimental study of a passive power-source-free stiffness-self-adjustable mechanism

Yuwang LIU, Dongqi WANG, Shangkui YANG, Jinguo LIU, Guangbo HAO

《机械工程前沿（英文）》 2021年 第16卷 第1期   页码 32-45 doi: 10.1007/s11465-020-0604-4

摘要： Passive variable stiffness joints have unique advantages over active variable stiffness joints and are currently eliciting increased attention. Existing passive variable stiffness joints rely mainly on sensors and special control algorithms, resulting in a bandwidth-limited response speed of the joint. We propose a new passive power-source-free stiffness-self-adjustable mechanism that can be used as the elbow joint of a robot arm. The new mechanism does not require special stiffness regulating motors or sensors and can realize large-range self-adaptive adjustment of stiffness in a purely mechanical manner. The variable stiffness mechanism can automatically adjust joint stiffness in accordance with the magnitude of the payload, and this adjustment is a successful imitation of the stiffness adjustment characteristics of the human elbow. The response speed is high because sensors and control algorithms are not needed. The variable stiffness principle is explained, and the design of the variable stiffness mechanism is analyzed. A prototype is fabricated, and the associated hardware is set up to validate the analytical stiffness model and design experimentally.

关键词： variable stiffness mechanism     stiffness self-regulation     bionic robot     modeling    

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Soil seismic analysis for 2D oblique incident waves using exact free-field responses by frequency-based

《结构与土木工程前沿（英文）》 2022年 第16卷 第12期   页码 1530-1551 doi: 10.1007/s11709-022-0900-7

摘要： The seismic analysis of a viscoelastic half-space under two-dimensional (2D) oblique incident waves is carried out by the finite/infinite element method (FIEM). First, the frequency-domain exact solutions for the displacements and stresses of the free field are derived in general form for arbitrary incident P and SV waves. With the present formulation, no distinction needs to be made for SV waves with over-critical incident angles that make the reflected P waves disappear, while no critical angle exists for P waves. Next, the equivalent seismic forces of the earthquake (Taft Earthquake 1952) imposed on the near-field boundary are generated by combining the solutions for unit ground accelerations with the earthquake spectrum. Based on the asymmetric finite/infinite element model, the frequency-domain motion equations for seismic analysis are presented with the key parameters selected. The results obtained in frequency and time domain are verified against those of Wolf’s, Luco and de Barros’ and for inversely computed ground motions. The parametric study indicated that distinct phase difference exists between the horizontal and vertical responses for SV waves with over-critical incident angles, but not for under-critical incident angles. Other observations were also made for the numerical results inside the text.

关键词： oblique incident waves     critical angle     half-space     finite/infinite element approach     seismic response analysis    

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Traffic services for vehicles: the process from receiving raw probe data to space-time diagrams and the

Markus AUER, Hubert REHBORN, Sven-Eric MOLZAHN, Micha KOLLER

《工程管理前沿（英文）》 2017年 第4卷 第4期   页码 490-497 doi: 10.15302/J-FEM-2017008

摘要： Today, large quantities of vehicle data (FCD: floating car data) are widely used by traffic service providers to create and broadcast traffic states in road networks. As a first processing step, all raw position data received from Global Positioning Systems (GPS) have to be map matched in a digital road map. The technical aspects of such a matching process for GPS data are described in this report. After the matching process, space-time-diagrams are created of the probe data showing traffic situation details over space and time. Various examples illustrate how traffic service quality depends on the number of matched GPS raw data; it will be stated that when 2% of connected vehicles in the total traffic flow are sending their GPS data in shorter time intervals, a high quality and precise reconstruction of the current traffic phases is achieved. Traffic reconstruction is followed by a translation into traffic information messages, which can be sent and used in vehicle navigation systems for driver information and dynamic route guidance.

关键词： floating car data     map matching     three phase traffic theory     traffic reconstruction     traffic service quality     navigation systems    

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Dynamic performance of submerged floating tunnel with different mooring styles subjected to anchor cable

《结构与土木工程前沿（英文）》 doi: 10.1007/s11709-023-0932-7

摘要： Submerged floating tunnels (SFTs) are novel structures for transportation across long- and deep-strait regions. Owing to severe wave and current excitation as well as the effects of underwater structures and corrosion, the risk of local anchor cable failure is high, which can result in the progressive failure of the entire structure. In this study, experimental and numerical investigations are conducted to analyze the dynamic behavior of an SFT with different mooring styles under local cable failure. A custom-designed cable failure device and the birth-and-death element method are used to simulate cable failure (i.e., progressive failure) via experiments and numerical simulation, respectively. A physical-scale segmental model of an SFT with different mooring styles under anchor cable failure is developed in this study. A segmental and entire-length mathematical model is developed using the ANSYS program to perform the numerical simulation. The results of the segmental numerical and experimental models indicate good agreement. The dynamic response of an SFT with different mooring styles under cable failure is comprehensively investigated by investigating the effects of key parameters (wave period, buoyant weight ratio, and cable failure mechanism). Moreover, the progressive failure of the SFT under cable failure is investigated via a segment model test and a numerical simulation of its entire length. The present study can serve as a reference for the safer designs of the SFT mooring style.

关键词： dynamic behaviors     submerged floating tunnel     cable failure     mooring style     progressive failure    

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Numerical simulation of multi-body floating piers to investigate pontoon stability

Mostafa Shahrabi, Khosrow Bargi

《结构与土木工程前沿（英文）》 2013年 第7卷 第3期   页码 325-331 doi: 10.1007/s11709-013-0209-7

摘要： The objective of this study is to develop a procedure to analyze the motions of a floating pier comprised of several pontoons that are modeled as rigid bodies and connected to each other by flexible and rigid connectors. Recently, the use offloating piers has increased because of their advantages, such as faster and higher-quality construction, seismic force isolation for a full-scale mooring system, low dependence on local soil conditions and tides, ability to relocate or reconfigure the pier modules during the operation period and 75-100 years of repair-free service. A floating pier consists of a pier, access bridge, mooring system and fender system, each of which comes in many variations to suit different usages and construction considerations. The typical loads used in the design of these piers are dead loads, live loads, mooring loads, fender loads and environmental loads induced by wind, currents and waves. For numerical simulation, three types of piers are used: passenger piers, light-cargo piers and semi-heavy-cargo piers. The selected piers consist of several large pontoons joined by pivots and have a pile-based mooring system. These piers are modeled by SAP2000software as two-dimensional frames that are linked together. As the first step, each type of pier is subjected to loading, and its general behavior is assessed. According to this behavior, the major load combinations are described for the design of piers and analyzed to determine the behavior of the modules. Lastly, according to the analysis results and the safe use and stability considerations, such as the maximum draft and longitudinal gradient, the dimensions of each module in each pier type are presented.

关键词： coastal structures     numerical simulation     floating pier     rigid pontoons     stability    

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A method for predicting consolidation settlements of floating column improved clayey subsoil

Jinchun CHAI, Supasit PONGSIVASATHIT,

《结构与土木工程前沿（英文）》 2010年 第4卷 第2期   页码 241-251 doi: 10.1007/s11709-010-0024-3

摘要： A method of predicting the consolidation settlement-time curve of floating soil-cement column on improved soft clayey subsoil has been proposed. The degree of the consolidation (()) of the system is calculated by the double soil-layer consolidation theory, and the methods for evaluating the equivalent hydraulic conductivity () and the coefficient of volume compressibility () of the part of the column improved layer have been proposed. The effectiveness of the method was verified by comparing predictions with the results of finite element analysis (FEA) using a unit cell model. The consolidation settlement (()) can be calculated by the method of treating a part of the column improved layer as an unimproved layer and using the corresponding average () value. By comparing the predicted results with the measurements of laboratory model tests and three case histories in Fukuoka, Japan, the effectiveness of the proposed methods has been verified. It is suggested that the method can be used for designing the soft clayey subsoil improvement using floating soil-cement columns.

关键词： cement depth mixing     ground improvement     consolidation     settlement    

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Highly efficient and selective removal of vanadium from tungstate solutions by microbubble floating-extraction

《化学科学与工程前沿（英文）》 2023年 第17卷 第5期   页码 581-593 doi: 10.1007/s11705-022-2235-2

摘要： Selective separation of dissolved tungsten and vanadium is of great significance for the utilization of the secondary resources of these elements. In this work, selective removal of vanadium from tungstate solutions via microbubble floating-extraction was systematically investigated. The results indicated that vanadium can be more easily mineralized over tungsten from tungstate solutions using methyl trioctyl ammonium chloride as mineralization reagent under weak alkaline conditions. Owing to the higher bubble and interface mass transfer rates, high-efficiency enrichment and deep separation of vanadium could be achieved easily. Additionally, the deep recovery of tungsten and vanadium from the floated organic phase could be easily realized using a mixed solution of sodium hydroxide and sodium chloride as stripping agents. The separation mechanism mainly included the formation of hydrophobic complexes, their attachment on the surface of rising bubbles, and their mass transfer at the oil–water interface. Under the optimal conditions, the removal efficiency of vanadium reached 98.5% with tungsten loss below 8% after two-stage microbubble floating-extraction. Therefore, the microbubble floating-extraction could be an efficient approach for separating selectively vanadium from tungstate solutions, exhibiting outstanding advantages of high separation efficiency and low consumption of organic solvents.

关键词： tungsten     vanadium     selective separation     reagent mineralization     microbubble floating-extraction    

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Role of biologic components in a novel floating-bed combining

Hailiang SONG, Xianning LI, Wei LI, Xiwu LU

《环境科学与工程前沿（英文）》 2014年 第8卷 第2期   页码 215-225 doi: 10.1007/s11783-013-0587-z

摘要： A novel floating-bed incorporated with water spinach ( ), Asiatic clam ( ), and carrier media supported biofilm was developed for eutrophic water purification. The contributions of each biologic component to the removals of total nitrogen (TN), total phosphorus (TP) and Chl.a were examined. The nutrient removals due to the direct uptake by either water spinach or Asiatic clam were less than 10%, suggesting a negligible role of biologic assimilation and leaving the biofilm as the indispensable biologic component in the floating-bed. Chl.a was reduced mainly by Asiatic clams via filter-feeding. Meanwhile, the digestion and excretion of Asiatic clams benefited the proliferation of nitrifying and denitrifying bacteria, resulting in the improvement of TN removal. In summary, the synergetic effects of water spinach, Asiatic clams and biofilms would promote the eutrophic water treatment performance of floating-bed in comparison with the conventional floating-bed with vegetation as the single biologic component.

关键词： floating-bed     Corbicula fluminea     biofilm carrier     eutrophication    

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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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标题 作者 时间 类型 操作

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

期刊论文

Sagittal SLIP-anchored task space control for a monopode robot traversing irregular terrain

Haitao YU, Haibo GAO, Liang DING, Zongquan DENG

期刊论文

A space power system of free piston Stirling generator based on potassium heat pipe

Mingqiang LIN, Jian MOU, Chunyun CHI, Guotong HONG, Panhe GE, Gu HU

期刊论文

Laboratory experiment on using non-floating body to generate electrical energy from water waves

Arunachalam AMARKARTHIK, Srinivasan CHANDRASEKARAN, Karuppan SIVAKUMAR, Harender SINHMAR

期刊论文

Vibration suppression of speed-controlled robots with nonlinear control

Paolo BOSCARIOL,Alessandro GASPARETTO

期刊论文

Design and experimental study of a passive power-source-free stiffness-self-adjustable mechanism

Yuwang LIU, Dongqi WANG, Shangkui YANG, Jinguo LIU, Guangbo HAO

期刊论文

Soil seismic analysis for 2D oblique incident waves using exact free-field responses by frequency-based

期刊论文

Traffic services for vehicles: the process from receiving raw probe data to space-time diagrams and the

Markus AUER, Hubert REHBORN, Sven-Eric MOLZAHN, Micha KOLLER

期刊论文

Dynamic performance of submerged floating tunnel with different mooring styles subjected to anchor cable

期刊论文

Numerical simulation of multi-body floating piers to investigate pontoon stability

Mostafa Shahrabi, Khosrow Bargi

期刊论文

A method for predicting consolidation settlements of floating column improved clayey subsoil

Jinchun CHAI, Supasit PONGSIVASATHIT,

期刊论文

Highly efficient and selective removal of vanadium from tungstate solutions by microbubble floating-extraction

期刊论文

Role of biologic components in a novel floating-bed combining

Hailiang SONG, Xianning LI, Wei LI, Xiwu LU

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