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扫描格式转换 3

运动补偿 3

轨迹跟踪 2

运动估计 2

运动规划 2

DPP）；分布式功率转换器；开关电容转换器 1

Hilare 机器人 1

MCDB 1

MPPT）；差分功率处理（Differential power processing 1

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S频段 1

三维过程；三元数；最小均方；卡尔曼滤波器 1

下肢外骨骼机器人；人机交互；运动学习；轨迹生成；运动基元；黑盒优化 1

不确定性 1

主动控制 1

二分追踪；多智能体系统；异步脉冲；一致性 1

二肽基肽酶4 1

交流永磁同步电机；滑模控制器；扩张状态观测器；鲁棒控制；运动控制 1

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Motion planning and tracking control of a four-wheel independently driven steered mobile robot with multiple

Xiaolong ZHANG, Yu HUANG, Shuting WANG, Gen LI, Yuanlong XIE, Wei MENG

《机械工程前沿（英文）》 2021年 第16卷 第3期   页码 504-527 doi: 10.1007/s11465-020-0626-y

摘要： Safe and effective autonomous navigation in dynamic environments is challenging for four-wheel independently driven steered mobile robots (FWIDSMRs) due to the flexible allocation of multiple maneuver modes. To address this problem, this study proposes a novel multiple mode-based navigation system, which can achieve efficient motion planning and accurate tracking control. To reduce the calculation burden and obtain a comprehensive optimized global path, a kinodynamic interior–exterior cell exploration planning method, which leverages the hybrid space of available modes with an incorporated exploration guiding algorithm, is designed. By utilizing the sampled subgoals and the constructed global path, local planning is then performed to avoid unexpected obstacles and potential collisions. With the desired profile curvature and preselected mode, a fuzzy adaptive receding horizon control is proposed such that the online updating of the predictive horizon is realized to enhance the trajectory-following precision. The tracking controller design is achieved using the quadratic programming (QP) technique, and the primal–dual neural network optimization technique is used to solve the QP problem. Experimental results on a real-time FWIDSMR validate that the proposed method shows superior features over some existing methods in terms of efficiency and accuracy.

关键词： mobile robot     multiple maneuvering mode     motion planning     tracking control     receding horizon control    

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Obstacle-circumventing adaptive control of a four-wheeled mobile robot subjected to motion uncertainties

《机械工程前沿（英文）》 2023年 第18卷 第3期 doi: 10.1007/s11465-023-0753-3

摘要： To achieve the collision-free trajectory tracking of the four-wheeled mobile robot (FMR), existing methods resolve the tracking control and obstacle avoidance separately. Guaranteeing the synergistic robustness and smooth navigation of mobile robots subjected to motion uncertainties in a dynamic environment using this non-cooperative processing method is difficult. To address this challenge, this paper proposes an obstacle-circumventing adaptive control (OCAC) framework. Specifically, a novel anti-disturbance terminal slide mode control with adaptive gains is formulated, incorporating specified control laws for different stages. This formulation guarantees rapid convergence and simultaneous chattering elimination. By introducing sub-target points, a new sub-target dynamic tracking regression obstacle avoidance strategy is presented to transfer the obstacle avoidance problem into a dynamic tracking one, thereby reducing the burden of local path searching while ensuring system stability during obstacle circumvention. Comparative experiments demonstrate that the proposed OCAC method can strengthen the convergence and obstacle avoidance efficiency of the concerned FMR system.

关键词： four-wheeled mobile robot     obstacle-circumventing adaptive control     adaptive anti-disturbance terminal sliding mode control     sub-target dynamic tracking regression obstacle avoidance    

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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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Offline motion planning and simulation of two-robot welding coordination

Tie ZHANG, Fan OUYANG

《机械工程前沿（英文）》 2012年 第7卷 第1期   页码 81-92 doi: 10.1007/s11465-012-0309-4

摘要：

This paper focuses on the two-robot welding coordination of complex curve seam which means one robot grasp the workpiece, the other hold the torch, the two robots work on the same workpiece simultaneously. This paper builds the dual-robot coordinate system at the beginning, and three point calibration method of two robots’ relative base coordinate system is presented. After that, the non master/slave scheme is chosen for the motion planning, the non master/slave scheme sets the poses versus time function of the point u on the workpiece, and calculates the two robot end effecter trajectories through the constrained relationship matrix automatically. Moreover, downhand welding is employed which can guarantee the torch and the seam keep in good contact condition all the time during the welding. Finally, a Solidworks-SimMechanics simulation platform is established, and a simulation of curved steel pipe welding is conducted. The results of the simulation illustrate the welding process can meet the requirements of downhand welding, the joint displacement curves are smooth and continuous and no joint velocities are out of working scope.

关键词： complex curve seam     two robots     coordinated welding     motion planning    

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Output tracking control of mobile manipulators based on dynamical sliding-mode control

WUYuxiang, FENG Ying, HU Yueming

《机械工程前沿（英文）》 2007年 第2卷 第1期   页码 110-115 doi: 10.1007/s11465-007-0019-5

摘要： A dynamical sliding-mode controller is devised to track the output of mobile manipulators. During the investigation, firstly a reduced dynamic model considering the dynamics of the driving motor is developed for mobile manipulators. Then, the system is decomposed into four lower-dimensional subsystems by means of diffeomorphism and nonlinear input transformation. Moreover, a design method of the dynamical sliding-mode controller that is applied to the output tracking of mobile manipulators is proposed. The simulation results indicate that the dynamical sliding-mode controller can not only track the given trajectory correctly but also reduce the chattering of sliding-mode control system considerably.

关键词： lower-dimensional     nonlinear     trajectory     tracking     diffeomorphism    

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Synthesis of Intermittent-Motion Linkages with Slight Difference in Length Between Links

CHEN Xin-bo, YU Zhen

《机械工程前沿（英文）》 2006年 第1卷 第1期   页码 76-79 doi: 10.1007/s11465-005-0007-6

摘要：

The design of intermittent-motion linkages using traditional methods is usually complicated. In this paper, (1) a new method for realizing intermittent motion, using linkages with a slight difference in length between links, is studied; (2) some new types of intermittent-motion linkages and their software for visual analysis and design are developed; and (3) influences of some design parameters on intermittent-motion characteristics are clarified. Results confirmed that the theory and the software are useful, making the synthesis of intermittent-motion linkages clear and easy.

关键词： synthesis     useful     intermittent     intermittent-motion     traditional    

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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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电气传动——信息、能源和运动的接口

马小亮

《中国工程科学》 2000年 第2卷 第2期   页码 83-86

摘要：

电气传动是信息能源和运动的接口。长期以来大家都接触它，但对它是不是高新技术存在疑虑。文章试图从接口角度出发谈个人对该领域的认识，望能促进人们的理解。文中讨论电气传动下列几个问题：什么是电气传动；在国民经济中的作用；与其它学科的关系及发展方向；在我国的现状及攻关方向建议。

关键词： 电气传动     接口     信息     能源     运动    

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Measurement and analysis of typical motion error traces from a circular test

LI Xiaoli, LIU Huanlao

《机械工程前沿（英文）》 2008年 第3卷 第2期   页码 146-150 doi: 10.1007/s11465-008-0033-2

摘要： The circular test provides a rapid and efficient way of measuring the contouring accuracy of a machine tool. To get the actual point coordinate in the work plane, an improved measurement instrument - a new ball bar test system - is presented in this paper to identify both the radial error and the rotation angle error when the machine is manipulated to move in circular traces. Based on the measured circular error, a combination of Fourier components is chosen to represent the systematic form error that fluctuates in the radial direction. The typical motion errors represented by the corresponding Fourier components can thus be identified. The values for machine compensation can be calculated and adjusted until the desired results are achieved.

关键词： machine compensation     direction     combination     desired     efficient    

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Floating production storage and offloading systems’ cost and motion performance: A systems thinking application

Rini NISHANTH, Andrew WHYTE, V. John KURIAN

《工程管理前沿（英文）》 2018年 第5卷 第3期   页码 357-368 doi: 10.15302/J-FEM-2018022

摘要：

Floating production storage and offloading (FPSO) units increasingly represent a practical and economic means for deep-water oil extraction and production. Systems thinking gives a unique opportunity to seek a balance between FPSO technical performance(s), with whole-cost; stakeholder decision-making is charged to align different fit-for-use design specification options’ that address technical-motion(s), with respective life-cycle cost analyses (LCCA). Soft system methodology allows situation based analyses over set periods-of-time by diagnosing the problem-at-hand; namely, assessing the antecedents of life-cycle cost relative to FPSO sub-component design alternatives. Alternative mooring- component comparisons for either new-build hulls or refurbished hulls represent an initial necessary consideration to facilitate extraction, production and storage of deep-water oil reserves. Coupled dynamic analysis has been performed to generate FPSO motion in six degrees of freedom using SESAM DeepC, while life-cycle cost analysis (LCAA) studies give net-present-value comparisons reflective of market conditions. A parametric study has been conducted by varying wave heights from 4 – 8 m to understand FPSO motion behavior in the presence of wind and current, as well as comparing the motions of turreted versus spread mooring design alternatives. LCCA data has been generated to compare the cost of such different mooring options/hull conditions over 10 and 25-year periods. Systems thinking has been used to explain the interaction of problem variables; resultantly this paper is able to identify explicit factors affecting the choice of FPSO configurations in terms of motion and whole-cost, toward assisting significantly with the front-end engineering design (FEED) phase of fit-for-purpose configured FPSOs, in waters off Malaysia and Australia.

关键词： FPSO     LCCA     spread/turret-mooring     DeepC     cost     motion     soft-systems    

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Novel probabilistic rolling regular tetrahedron mechanism

Yonghan GUAN, Yan’an YAO, Chao LIU, Ruiming LI

《机械工程前沿（英文）》 2021年 第16卷 第2期   页码 363-378 doi: 10.1007/s11465-020-0628-9

摘要： With recent relevant publications on stochastic motion robots in , , and other journals, research on such robots has gained increasing attention. However, theoretical and applied research on stochastic motion in the field of robotics and mechanisms face many challenges due to the uncertainty of stochastic motion. Currently, a large gap remains in the research of stochastic motion mechanism. In this study, a novel mechanism that can conduct probabilistic rolling is proposed to reach a designated position and achieve overlying movement over a particular area. The mechanism consists of a regular tetrahedron frame, a central node, and four connecting linear actuators. According to mobility and kinematic analyses, the mechanism can implement probabilistic rolling. Each rolling gait has three probable rolling directions, and the mechanism rolls in one of the three directions in probability. A kinematic simulation is conducted, and a control method is proposed on the basis of the moving path analysis. Furthermore, the mathematical principle of probabilistic rolling is revealed in terms of probability theory and statistics. Lastly, a prototype is fabricated. To achieve the rolling function, the design of the linear actuators is improved, and the extension ratio is increased from 0.58 to 1.13. Then, tests are conducted. In a 4 m test site, the mechanism makes 11 moves to reach the target position and covers 29.25% of the site.

关键词： mobile mechanism     probabilistic motion     rolling mechanism     stochastic motion    

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Dynamic Target Tracking of Unmanned Aerial Vehicles Under Unpredictable Disturbances

Yanjie Chen,Yangning Wu,Limin Lan,Hang Zhong,Zhiqiang Miao,Hui Zhang,Yaonan Wang,

《工程（英文）》 doi: 10.1016/j.eng.2023.05.017

摘要： This study proposes an image-based visual servoing (IBVS) method based on a velocity observer for an unmanned aerial vehicle (UAV) for tracking a dynamic target in Global Positioning System (GPS)-denied environments. The proposed method derives the simplified and decoupled image dynamics of underactuated UAVs using a constructed virtual camera and then considers the uncertainties caused by the unpredictable rotations and velocities of the dynamic target. A novel image depth model that extends the IBVS method to track a rotating target with arbitrary orientations is proposed. The depth model ensures image feature accuracy and image trajectory smoothness in rotating target tracking. The relative velocities of the UAV and the dynamic target are estimated using the proposed velocity observer. Thanks to the velocity observer, translational velocity measurements are not required, and the control chatter caused by noise-containing measurements is mitigated. An integral-based filter is proposed to compensate for unpredictable environmental disturbances in order to improve the anti-disturbance ability. The stability of the velocity observer and IBVS controller is analyzed using the Lyapunov method. Comparative simulations and multistage experiments are conducted to illustrate the tracking stability, anti-disturbance ability, and tracking robustness of the proposed method with a dynamic rotating target.

关键词： Unmanned aerial vehicle     Visual servoing     Velocity observer     Target tracking    

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Wheel tracking methods to evaluate moisture sensitivity of hot-mix asphalt mixtures

Jie HAN,Harihar Shiwakoti

《结构与土木工程前沿（英文）》 2016年 第10卷 第1期   页码 30-43 doi: 10.1007/s11709-016-0318-1

摘要： Existing test methods to determine moisture sensitivity in hot-mix asphalt (HMA) mixtures are time consuming and inconsistent. This research focused on wheel tracking devices to evaluate moisture sensitivity. The Asphalt Pavement Analyzer (APA) and the Hamburg Wheel Tracking Device (HWTD) were used for this research. Compacted cylindrical samples were fabricated using a Superpave Gyratory compactor. This study selected two most commonly used mixtures, SM-12.5A with PG 64-22 binder in overlay projects and SM-19A mixtures with PG 64-22 binder for major modification projects at Kansas Department of Transportation. Test results show that APA tests could induce stripping in most samples without any anti-stripping agent, which could be identified visually. However, APA results did not indicate any stripping inflection point while the HWTD results showed stripping inflection points, which are important to identify stripping potential of mixtures. The APA results show that wet tests are severe at lower temperatures. The HWTD results show improvement in the performance using anti-stripping agents at later stage. The HWTD test is more effective as a rapid test method in case of determining moisture sensitivity. Laboratory results from this study should be verified and correlated with field performance.

关键词： hot-mix asphalt     moisture sensitivity     rutting     wheel tracking test    

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Features of seismic hazard in large dam projects and strong motion monitoring of large dams

Martin WIELAND,

《结构与土木工程前沿（英文）》 2010年 第4卷 第1期   页码 56-64 doi: 10.1007/s11709-010-0005-6

摘要： Earthquakes can affect large dam projects in many different ways. Usually, design engineers are focussing on ground shaking and neglect the other aspects. The May 12, 2008 Wenchuan earthquake has damaged 1803 dams and reservoirs, and 403 hydropower plants with an installed capacity of 3.3GW. Among these dams were the 132-m-high Shapai RCC arch dam and the 156-m-high Zipingpu concrete face rockfill dam. These recently completed dams are dam types which, up to now, have not experienced strong ground shaking. The widespread mass movements have caused substantial damage to dams and surface powerhouses in Sichuan. The different features of earthquake hazard are presented, i.e., ground shaking, faulting and mass movements. It is proposed to prepare project-specific safety plans for all dams, which consist of a matrix where the possible hazards and the corresponding countermeasures are listed. The earthquake behaviors of the Sefid Rud, Zipingpu and Shapai dams, which, in the past, have experienced strong ground shaking from nearby earthquakes, are discussed. Finally, the need for strong motion instrumentation of large dams is discussed. It is proposed that major dams with large damage potential, dams located in areas of high seismicity, and dams showing signs of abnormal behavior be equipped with strong motion instruments.

关键词： seismic hazard     arch dam     concrete face rockfill dam     strong motion instrumentation     reservoir-triggered seismicity     Wenchuan earthquake    

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Fractional order extremum seeking approach for maximum power point tracking of photovoltaic panels

Ammar NEÇAIBIA,Samir LADACI,Abdelfatah CHAREF,Jean Jacques LOISEAU

《能源前沿（英文）》 2015年 第9卷 第1期   页码 43-53 doi: 10.1007/s11708-014-0343-5

摘要： Due to the high interest in renewable energy and diversity of research regarding photovoltaic (PV) array, a great research effort is focusing nowadays on solar power generation and its performance improvement under various weather conditions. In this paper, an integrated framework was proposed, which achieved both maximum power point tracking (MPPT) and minimum ripple signals. The proposed control scheme was based on extremum-seeking (ES) combined with fractional order systems (FOS). This auto-tuning strategy was developed to maximize the PV panel output power through the regulation of the voltage input to the DC/DC converter in order to lead the PV system steady-state to a stable oscillation behavior around the maximum power point (MPP). It is shown that fractional order operators can improve the plant dynamics with respect to time response and disturbance rejection. The effectiveness of the proposed controller scheme is illustrated with simulations using measured solar radiation data.

关键词： extremum seeking (ES)     fractional order control (FOC)     fractional calculus     photovoltaic (PV) panel     maximum power point tracking (MPPT)    

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标题 作者 时间 类型 操作

Motion planning and tracking control of a four-wheel independently driven steered mobile robot with multiple

Xiaolong ZHANG, Yu HUANG, Shuting WANG, Gen LI, Yuanlong XIE, Wei MENG

期刊论文

Obstacle-circumventing adaptive control of a four-wheeled mobile robot subjected to motion uncertainties

期刊论文

A virtual reality system for arm and hand rehabilitation

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

期刊论文

Offline motion planning and simulation of two-robot welding coordination

Tie ZHANG, Fan OUYANG

期刊论文

Output tracking control of mobile manipulators based on dynamical sliding-mode control

WUYuxiang, FENG Ying, HU Yueming

期刊论文

Synthesis of Intermittent-Motion Linkages with Slight Difference in Length Between Links

CHEN Xin-bo, YU Zhen

期刊论文

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

期刊论文

电气传动——信息、能源和运动的接口

马小亮

期刊论文

Measurement and analysis of typical motion error traces from a circular test

LI Xiaoli, LIU Huanlao

期刊论文

Floating production storage and offloading systems’ cost and motion performance: A systems thinking application

Rini NISHANTH, Andrew WHYTE, V. John KURIAN

期刊论文

Novel probabilistic rolling regular tetrahedron mechanism

Yonghan GUAN, Yan’an YAO, Chao LIU, Ruiming LI

期刊论文

Dynamic Target Tracking of Unmanned Aerial Vehicles Under Unpredictable Disturbances

Yanjie Chen,Yangning Wu,Limin Lan,Hang Zhong,Zhiqiang Miao,Hui Zhang,Yaonan Wang,

期刊论文

Wheel tracking methods to evaluate moisture sensitivity of hot-mix asphalt mixtures

Jie HAN,Harihar Shiwakoti

期刊论文

Features of seismic hazard in large dam projects and strong motion monitoring of large dams

Martin WIELAND,

期刊论文

Fractional order extremum seeking approach for maximum power point tracking of photovoltaic panels

Ammar NEÇAIBIA,Samir LADACI,Abdelfatah CHAREF,Jean Jacques LOISEAU

期刊论文