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Design and modeling of a novel soft parallel robot driven by endoskeleton pneumatic artificial muscles

《机械工程前沿（英文）》 2022年第17卷第2期 doi: 10.1007/s11465-022-0678-2

摘要： Owing to their inherent great flexibility, good compliance, excellent adaptability, and safe interactivity, soft robots have shown great application potential. The advantages of light weight, high efficiency, non-polluting characteristic, and environmental adaptability provide pneumatic soft robots an important position in the field of soft robots. In this paper, a soft robot with 10 soft modules, comprising three uniformly distributed endoskeleton pneumatic artificial muscles, was developed. The robot can achieve flexible motion in 3D space. A novel kinematic modeling method for variable-curvature soft robots based on the minimum energy method was investigated, which can accurately and efficiently analyze forward and inverse kinematics. Experiments show that the robot can be controlled to move to the desired position based on the proposed model. The prototype and modeling method can provide a new perspective for soft robot design, modeling, and control.

关键词： pneumatic artificial muscles soft robot modeling approach principle of virtual work external load

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The psychology of organizational and social sustainability

Wei-Tau LEE, Hao ZHANG, Kenneth H. FUNK II

《工程管理前沿（英文）》 2019年第6卷第3期页码 336-350 doi: 10.1007/s42524-019-0029-0

摘要： This paper presents 12 dimensions of work with the aim of providing further understanding of the relationship between work and the psychological well-being of workers. Previous research has indicated that these dimensions are significant in establishing such a relationship, which is essential to creating good work. These dimensions are also influential in their effect on the psychological state of workers and are translated specifically into actionable items in the workplace. A hypothetical system model is developed to relate these dimensions to one another, to workers, and to organizations. This set of dimensions also serves as a basis for further development of work design and evaluation tools.

关键词： work design work dimensions psychological factors good work

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Basic model study on efficiency evaluation in collaborative design work process

XIE Qiu, YANG Yu, LI Xiaoli, ZHAO Ningyu

《机械工程前沿（英文）》 2007年第2卷第3期页码 344-349 doi: 10.1007/s11465-007-0060-4

摘要： During the efficiency evaluation process of collaborative design work, because of the lack of efficiency evaluation models, a basic analytical model for collaborative design work efficiency evaluation is proposed in this paper. First, the characteristics of the networked collaborative design system work process were studied; then, in accordance with those characteristics, a basic analytical model is created. This model, which is built for centralized collaborative design work, includes an analytical frame, a process view model, a function view model and an information view model. Finally, the application process and steps of this basic analytical model are elaborated when used for efficiency evaluation through an experiment.

关键词： function system work evaluation process efficiency evaluation design work

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Heat, mass, and work exchange networks

Zhiyou CHEN, Jingtao WANG

《化学科学与工程前沿（英文）》 2012年第6卷第4期页码 484-502 doi: 10.1007/s11705-012-1221-5

摘要： Heat (energy), water (mass), and work (pressure) are the most fundamental utilities for operation units in chemical plants. To reduce energy consumption and diminish environment hazards, various integration methods have been developed. The application of heat exchange networks (HENs), mass exchange networks (MENs), water allocation heat exchange networks (WAHENs) and work exchange networks (WENs) have resulted in the significant saving of energy and water. This review presents the main works related to each network. The similarities and differences of these networks are also discussed. Through comparing and discussing these different networks, this review inspires researchers to propose more efficient and convenient methods for the design of existing exchange networks and even new types of networks including multi-objective networks for the system integration in order to enhance the optimization and controllability of processes.

关键词： process system engineering integration methods heat exchange network mass exchange network work exchange network

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Rheological behavior’s effect on the work performance of oil film

Zhaomiao LIU, Qiuying JIN, Chengyin ZHANG, Feng SHEN

《机械工程前沿（英文）》 2011年第6卷第2期页码 254-262 doi: 10.1007/s11465-011-0129-y

摘要：

A 3D model of hydrostatic turntable’s oil chamber is established to investigate the lubricants performance with different rheological properties by using FLUENT software and the finite volume method. Newtonian oil and non-Newtonian oil’s performance under varied speeds are compared on the large size hydrostatic turntable system considering the temperature-viscosity relationship and pressure-viscosity relationship. The results show that the property of non-Newtonian fluid viscosity influenced by shear rate largely affects the lubricants performance for most oil added polymer additives. Lubricants cannot simply be regarded as Newtonian fluid. The shear thickening non-Newtonian fluid has a better work property. The results are important to design a large size and high-speed hydrostatic support system, choose lubricant oils, and investigate oil film’s work properties.

关键词： non-Newtonian fluid rotation speed pressure on wall viscosity

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Function and principle innovative design of mechanical products based on TRIZ/FA

YUAN Feng, WANG Tai-yong, NIE Hui-juan

《机械工程前沿（英文）》 2006年第1卷第3期页码 350-355 doi: 10.1007/s11465-006-0031-1

摘要： Function and principle innovation is the ultimate innovation of a product. To achieve Function and principle innovation design of mechanical products, a new process model of function and principle solving is proposed, based on TRI

关键词： TRI principle solving product principle innovation ultimate innovation

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Robotized machining of big work pieces: Localization of supporting heads

Wojciech SZYNKIEWICZ, Teresa ZIELIŃSKA, Włodzimierz KASPRZAK

《机械工程前沿（英文）》 2010年第5卷第4期页码 357-369 doi: 10.1007/s11465-010-0103-0

摘要： A planner for a self adaptable and reconfigurable fixture system is proposed. The system is composed of mobile support agents that support thin sheet metal parts to minimize part dimensional deformation during drilling and milling operations. Compliant sheet metal parts are widely used in various manufacturing processes including automotive and aerospace industries. The main role of the planner is to generate an admissible plan of relocation of the mobile agents. It has to find the admissible locations for the supporting heads that provide continuous support in close proximity to the tool and trajectories of the mobile bases characterized by very high speeds during the relocation phases.

关键词： fixture robot milling drilling

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Making central-local relations work: Comparing America and China environmental governance systems

Dan GUTTMAN, SONG Yaqin

《环境科学与工程前沿（英文）》 2007年第1卷第4期页码 418-433 doi: 10.1007/s11783-007-0068-3

摘要： The challenge of making central requirements work at local levels is a common problem for environmental governance throughout the world. Countries can learn from one another s approaches, but must understand the local context in w

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Creating technical heritage object replicas in a virtual environment

Olga EGOROVA,Dmitry SHCHERBININ

《机械工程前沿（英文）》 2016年第11卷第1期页码 108-115 doi: 10.1007/s11465-016-0363-4

摘要：

The paper presents innovative informatics methods for creating virtual technical heritage replicas, which are of significant scientific and practical importance not only to researchers but to the public in general. By performing 3D modeling and animation of aircrafts, spaceships, architectural-engineering buildings, and other technical objects, the process of learning is achieved while promoting the preservation of the replicas for future generations. Modern approaches based on the wide usage of computer technologies attract a greater number of young people to explore the history of science and technology and renew their interest in the field of mechanical engineering.

关键词： 3D document history of science and technology technical knowledge popularization virtual environment replica mechanism and machine science (MMS)

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Principle of maximum entropy for reliability analysis in the design of machine components

Yimin ZHANG

《机械工程前沿（英文）》 2019年第14卷第1期页码 21-32 doi: 10.1007/s11465-018-0512-z

摘要： We studied the reliability of machine components with parameters that follow an arbitrary statistical distribution using the principle of maximum entropy (PME). We used PME to select the statistical distribution that best fits the available information. We also established a probability density function (PDF) and a failure probability model for the parameters of mechanical components using the concept of entropy and the PME. We obtained the first four moments of the state function for reliability analysis and design. Furthermore, we attained an estimate of the PDF with the fewest human bias factors using the PME. This function was used to calculate the reliability of the machine components, including a connecting rod, a vehicle half-shaft, a front axle, a rear axle housing, and a leaf spring, which have parameters that typically follow a non-normal distribution. Simulations were conducted for comparison. This study provides a design methodology for the reliability of mechanical components for practical engineering projects.

关键词： machine components reliability arbitrary distribution parameter principle of maximum entropy

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Traces and echoes of De Architectura by Marcus Vitruvius Pollio in the work of Xu Guangqi in 17th

Michela CIGOLA,Yibing FANG

《机械工程前沿（英文）》 2016年第11卷第1期页码 3-11 doi: 10.1007/s11465-015-0359-5

摘要：

This study aims to investigate the role played by Xu Guangqi (1562–1633), minister of the Ming Dynasty, in the development of European scientific and technical knowledge in China between the 16th and 17th centuries by analyzing a book of Western technology that he wrote, namely, Taixi Shuifa (On Western Hydraulics). Several Western books related to machine knowledge are searched to trace the source of the illustrations in Taixi Shuifa. We found that Archimedes’ screw and Ctesibius’ machine, which are included in Vitruvius’ De Architectura volumes, also appear in the work of Xu Guangqi.

关键词： Vitruvius’ De Architectura Xu Guangqi’s Taixi Shuifa Jesuit missionaries Italian Renaissance drawing representation

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General Optimal Trajectory Planning: Enabling Autonomous Vehicles with the Principle of Least Action

Heye Huang,Yicong Liu,Jinxin Liu,Qisong Yang,Jianqiang Wang,David Abbink,Arkady Zgonnikov,

《工程（英文）》 doi: 10.1016/j.eng.2023.10.001

摘要： This study presents a general optimal trajectory planning (GOTP) framework for autonomous vehicles (AVs) that can effectively avoid obstacles and guide AVs to complete driving tasks safely and efficiently. Firstly, we employ the fifth-order Bezier curve to generate and smooth the reference path along the road centerline. Cartesian coordinates are then transformed to achieve the curvature continuity of the generated curve. Considering the road constraints and vehicle dynamics, limited polynomial candidate trajectories are generated and smoothed in a curvilinear coordinate system. Furthermore, in selecting the optimal trajectory, we develop a unified and auto-tune objective function based on the principle of least action by employing AVs to simulate drivers’ behavior and summarizing their manipulation characteristics of “seeking benefits and avoiding losses.” Finally, by integrating the idea of receding-horizon optimization, the proposed framework is achieved by considering dynamic multi-performance objectives and selecting trajectories that satisfy feasibility, optimality, and adaptability. Extensive simulations and experiments are performed, and the results demonstrate the framework’s feasibility and effectiveness, which avoids both dynamic and static obstacles and applies to various scenarios with multi-source interactive traffic participants. Moreover, we prove that the proposed method can guarantee real-time planning and safety requirements compared to drivers’ manipulation.

关键词： Autonomous vehicle Trajectory planning Multi-performance objectives Principle of least action

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工程项目供应链的委托-代理模型分析

吴育华,张庆民

《中国工程科学》 2008年第10卷第5期页码 75-78

摘要：

从委托代理理论出发，对基于集成化供应链的委托-代理模型的一般形式进行讨论。在此基础上，结合工程项目集成化供应链中委托方和代理方的特点构建了工程项目供应链单期委托-代理模型和多阶段工程项目供应链声誉模型。

关键词：委托-代理模型激励模型声誉模型随机行走

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Development of a hydrodynamic model and the corresponding virtual software for dual-loop circulating

Shanwei Hu, Xinhua Liu

《化学科学与工程前沿（英文）》 2021年第15卷第3期页码 579-590 doi: 10.1007/s11705-020-1953-6

摘要： Dual-loop circulating fluidized bed (CFB) reactors have been widely applied in industry because of their good heat and mass transfer characteristics and continuous handling ability. However, the design of such reactors is notoriously difficult owing to the poor understanding of the underlying mechanisms, meaning it has been heavily based on empiricism and stepwise experiments. Modeling the gas-solid CFB system requires a quantitative description of the multiscale heterogeneity in the sub-reactors and the strong coupling between them. This article proposed a general method for modeling multi-loop CFB systems by utilizing the energy minimization multiscale (EMMS) principle. A full-loop modeling scheme was implemented by using the EMMS model and/or its extension models to compute the hydrodynamic parameters of the sub-reactors, to achieve the mass conservation and pressure balance in each circulation loop. Based on the modularization strategy, corresponding interactive simulation software was further developed to facilitate the flexible creation and fast modeling of a customized multi-loop CFB reactor. This research can be expected to provide quantitative references for the design and scale-up of gas-solid CFB reactors and lay a solid foundation for the realization of virtual process engineering.

关键词： multi-loop circulating fluidized bed mathematical modeling energy minimization multiscale virtual fluidization mesoscale structure

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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