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Integrated control strategies for railway vehicles with independently-driven wheel motors

FENG Jinzhi, LI Jun, Goodall R. M.

《机械工程前沿（英文）》 2008年 第3卷 第3期   页码 239-250 doi: 10.1007/s11465-008-0053-y

摘要： This paper studies the development of integrated control strategies for railway vehicles with independently-driven wheel motors. First, a non-linear vehicle dynamic model and motor drive strategy are presented, which are followed by an investigation of the integrated control of stabilization, steering, and traction for the vehicle. Meanwhile a reformulated Kalman filter is developed and applied to estimate the required feedback by the control system. Finally, the effectiveness and practicality of the proposed integrated controller are examined and assessed by real-time simulation based on host-target computer technology provided by Matlab/Simulink.

关键词： development     independently-driven     non-linear     stabilization     reformulated    

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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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State-of-the-art on theories and applications of cable-driven parallel robots

《机械工程前沿（英文）》 2022年 第17卷 第3期 doi: 10.1007/s11465-022-0693-3

摘要： Cable-driven parallel robot (CDPR) is a type of high-performance robot that integrates cable-driven kinematic chains and parallel mechanism theory. It inherits the high dynamics and heavy load capacities of the parallel mechanism and significantly improves the workspace, cost and energy efficiency simultaneously. As a result, CDPRs have had irreplaceable roles in industrial and technological fields, such as astronomy, aerospace, logistics, simulators, and rehabilitation. CDPRs follow the cutting-edge trend of rigid–flexible fusion, reflect advanced lightweight design concepts, and have become a frontier topic in robotics research. This paper summarizes the kernel theories and developments of CDPRs, covering configuration design, cable-force distribution, workspace and stiffness, performance evaluation, optimization, and motion control. Kinematic modeling, workspace analysis, and cable-force solution are illustrated. Stiffness and dynamic modeling methods are discussed. To further promote the development, researchers should strengthen the investigation in configuration innovation, rapid calculation of workspace, performance evaluation, stiffness control, and rigid–flexible coupling dynamics. In addition, engineering problems such as cable materials, reliability design, and a unified control framework require attention.

关键词： cable-driven parallel robot     kinematics     optimization     dynamics     control    

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Function-oriented optimization design method for underactuated tendon-driven humanoid prosthetic hand

《机械工程前沿（英文）》 2022年 第17卷 第3期 doi: 10.1007/s11465-022-0696-0

摘要： The loss of hand functions in upper limb amputees severely restricts their mobility in daily life. Wearing a humanoid prosthetic hand would be an effective way of restoring lost hand functions. In a prosthetic hand design, replicating the natural and dexterous grasping functions with a few actuators remains a big challenge. In this study, a function-oriented optimization design (FOD) method is proposed for the design of a tendon-driven humanoid prosthetic hand. An optimization function of different functional conditions of full-phalanx contact, total contact force, and force isotropy was constructed based on the kinetostatic model of a prosthetic finger for the evaluation of grasping performance. Using a genetic algorithm, the optimal geometric parameters of the prosthetic finger could be determined for specific functional requirements. Optimal results reveal that the structure of the prosthetic finger is significantly different when designed for different functional requirements and grasping target sizes. A prosthetic finger was fabricated and tested with grasping experiments. The mean absolute percentage error between the theoretical value and the experimental result is less than 10%, demonstrating that the kinetostatic model of the prosthetic finger is effective and makes the FOD method possible. This study suggests that the FOD method enables the systematic evaluation of grasping performance for prosthetic hands in the design stage, which could improve the design efficiency and help prosthetic hands meet the design requirements.

关键词： function-oriented     tendon driven     prosthetic hand     optimization     humanoid     underactuated    

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One-pot hydrothermal fabrication of BiVO/FeO/rGO composite photocatalyst for the simulated solar light-driven

《环境科学与工程前沿（英文）》 2022年 第16卷 第3期 doi: 10.1007/s11783-021-1470-y

摘要：

• BiVO4/Fe3O4/rGO has excellent photocatalytic activity under solar light radiation.

关键词： Photocatalysis     Ternary magnetic photocatalyst     Visible-light-driven     Free radicals trapping     Reusability     Recycling    

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A real-life stability model for a large shield-driven tunnel in heterogeneous soft soils

Xinyu HU, Zixin ZHANG, Scott KIEFFER

《结构与土木工程前沿（英文）》 2012年 第6卷 第2期   页码 176-187 doi: 10.1007/s11709-012-0149-7

摘要： The current models that have been published to date only allow for homogeneous soil at the tunnel face. This paper presents a real-life face stability model to determine the minimal pressure needed at the tunnel face for a large shield-driven tunnel in heterogeneous soft soils. It is found that the influence of multilayered soil boundaries is significant, especially for the mixed-layer (e.g., sand and clay) soils. The suggested M-M model is developed by considering the influence of the heterogeneity of the soil on the angle of slip and the minimal support pressure. Comparisons of the solutions in mixed-layer soils are conducted, and the effects of the involved parameters for a large, multilayered, shield-driven tunnel are also investigated.

关键词： analytical solution     shield-driven tunnel     multilayered soil     face stability    

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Prediction of hydro-suction dredging depth using data-driven methods

《结构与土木工程前沿（英文）》 2021年 第15卷 第3期   页码 652-664 doi: 10.1007/s11709-021-0719-7

摘要： In this study, data-driven methods (DDMs) including different kinds of group method of data handling (GMDH) hybrid models with particle swarm optimization (PSO) and Henry gas solubility optimization (HGSO) methods, and simple equations methods were applied to simulate the maximum hydro-suction dredging depth (hs). Sixty-seven experiments were conducted under different hydraulic conditions to measure the hs. Also, 33 data samples from three previous studies were used. The model input variables consisted of pipeline diameter (d), the distance between the pipe inlet and sediment level (Z), the velocity of flow passing through the pipeline (u0), the water head (H), and the medium size of particles (D50). Data-driven simulation results indicated that the HGSO algorithm accurately trains the GMDH methods better than the PSO algorithm, whereas the PSO algorithm trained simple simulation equations more precisely. Among all used DDMs, the integrative GMDH-HGSO algorithm provided the highest accuracy (RMSE = 7.086 mm). The results also showed that the integrative GMDHs enhance the accuracy of polynomial GMDHs by ~14.65% (based on the RMSE).

关键词： sedimentation     water resources     dam engineering     machine learning     heuristic    

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Data driven models for compressive strength prediction of concrete at high temperatures

Mahmood AKBARI, Vahid JAFARI DELIGANI

《结构与土木工程前沿（英文）》 2020年 第14卷 第2期   页码 311-321 doi: 10.1007/s11709-019-0593-8

摘要： The use of data driven models has been shown to be useful for simulating complex engineering processes, when the only information available consists of the data of the process. In this study, four data-driven models, namely multiple linear regression, artificial neural network, adaptive neural fuzzy inference system, and nearest neighbor models based on collection of 207 laboratory tests, are investigated for compressive strength prediction of concrete at high temperature. In addition for each model, two different sets of input variables are examined: a complete set and a parsimonious set of involved variables. The results obtained are compared with each other and also to the equations of NIST Technical Note standard and demonstrate the suitability of using the data driven models to predict the compressive strength at high temperature. In addition, the results show employing the parsimonious set of input variables is sufficient for the data driven models to make satisfactory results.

关键词： data driven model     compressive strength     concrete     high temperature    

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An energy consumption prediction approach of die casting machines driven by product parameters

《机械工程前沿（英文）》 2021年 第16卷 第4期   页码 868-886 doi: 10.1007/s11465-021-0656-0

摘要： Die casting machines, which are the core equipment of the machinery manufacturing industry, consume great amounts of energy. The energy consumption prediction of die casting machines can support energy consumption quota, process parameter energy-saving optimization, energy-saving design, and energy efficiency evaluation; thus, it is of great significance for Industry 4.0 and green manufacturing. Nevertheless, due to the uncertainty and complexity of the energy consumption in die casting machines, there is still a lack of an approach for energy consumption prediction that can provide support for process parameter optimization and product design taking energy efficiency into consideration. To fill this gap, this paper proposes an energy consumption prediction approach for die casting machines driven by product parameters. Firstly, the system boundary of energy consumption prediction is defined, and subsequently, based on the energy consumption characteristics analysis, a theoretical energy consumption model is established. Consequently, a systematic energy consumption prediction approach for die casting machines, involving product, die, equipment, and process parameters, is proposed. Finally, the feasibility and reliability of the proposed energy consumption prediction approach are verified with the help of three die casting machines and six types of products. The results show that the prediction accuracy of production time and energy consumption reached 91.64% and 85.55%, respectively. Overall, the proposed approach can be used for the energy consumption prediction of different die casting machines with different products.

关键词： die casting machine     energy consumption prediction     product parameters    

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Linear quadratic optimal controller for cable-driven parallel robots

Saeed ABDOLSHAH,Erfan SHOJAEI BARJUEI

《机械工程前沿（英文）》 2015年 第10卷 第4期   页码 344-351 doi: 10.1007/s11465-015-0364-8

摘要：

In recent years, various cable-driven parallel robots have been investigated for their advantages, such as low structural weight, high acceleration, and large workspace, over serial and conventional parallel systems. However, the use of cables lowers the stiffness of these robots, which in turn may decrease motion accuracy. A linear quadratic (LQ) optimal controller can provide all the states of a system for the feedback, such as position and velocity. Thus, the application of such an optimal controller in cable-driven parallel robots can result in more efficient and accurate motion compared to the performance of classical controllers such as the proportional-integral-derivative controller. This paper presents an approach to apply the LQ optimal controller on cable-driven parallel robots. To employ the optimal control theory, the static and dynamic modeling of a 3-DOF planar cable-driven parallel robot (Feriba-3) is developed. The synthesis of the LQ optimal control is described, and the significant experimental results are presented and discussed.

关键词： accuracy     cable-driven parallel robot     linear quadratic optimal control    

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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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Digital twin-driven smart supply chain

《工程管理前沿（英文）》 2022年 第9卷 第1期   页码 56-70 doi: 10.1007/s42524-021-0186-9

摘要： Today’s supply chain is becoming complex and fragile. Hence, supply chain managers need to create and unlock the value of the smart supply chain. A smart supply chain requires connectivity, visibility, and agility, and it needs be integrated and intelligent. The digital twin (DT) concept satisfies these requirements. Therefore, we propose creating a DT-driven supply chain (DTSC) as an innovative and integrated solution for the smart supply chain. We provide background information to explain the DT concept and to demonstrate the method for building a DTSC by using the DT concept. We discuss three research opportunities in building a DTSC, including supply chain modeling, real-time supply chain optimization, and data usage in supply chain collaboration. Finally, we highlight a motivating case from JD.COM, China’s largest retailer by revenue, in applying the DTSC platform to address supply chain network reconfiguration challenges during the COVID-19 pandemic.

关键词： digital twin     supply chain management    

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Test-driven verification/validation of model transformations

László LENGYEL,Hassan CHARAF

《信息与电子工程前沿（英文）》 2015年 第16卷 第2期   页码 85-97 doi: 10.1631/FITEE.1400111

摘要： Why is it important to verify/validate model transformations? The motivation is to improve the quality of the transformations, and therefore the quality of the generated software artifacts. Verified/validated model transformations make it possible to ensure certain properties of the generated software artifacts. In this way, verification/validation methods can guarantee different requirements stated by the actual domain against the generated/modified/optimized software products. For example, a verified/validated model transformation can ensure the preservation of certain properties during the model-to-model transformation. This paper emphasizes the necessity of methods that make model transformation verified/validated, discusses the different scenarios of model transformation verification and validation, and introduces the principles of a novel test-driven method for verifying/validating model transformations. We provide a solution that makes it possible to automatically generate test input models for model transformations. Furthermore, we collect and discuss the actual open issues in the field of verification/validation of model transformations.

关键词： Graph rewriting based model transformations     Verification/validation     Test-driven verification    

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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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Engine-driven hybrid air-conditioning system

Chaokui QIN , Hongmei LU , Xiong LIU , Gerhard SCHMITZ ,

《能源前沿（英文）》 2009年 第3卷 第1期   页码 109-116 doi: 10.1007/s11708-009-0003-3

摘要： A hybrid air-conditioning system that combines an engine-driven chiller with desiccant dehumidification was configured and experimentally tested to provide reliable data for energy consumption and operation cost. The engine performance and the desiccant wheel performance were measured and a numeric model previously set up for dehumidification capacity prediction was validated. For a reference building, the results based upon measured data show that under present electricity/gas price ratio, more than 40% of operation cost can be saved by the hybrid system.

关键词： engine-driven chiller     desiccant wheel     hybrid air-conditioning system     energy consumption    

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标题 作者 时间 类型 操作

Integrated control strategies for railway vehicles with independently-driven wheel motors

FENG Jinzhi, LI Jun, Goodall R. M.

期刊论文

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

State-of-the-art on theories and applications of cable-driven parallel robots

期刊论文

Function-oriented optimization design method for underactuated tendon-driven humanoid prosthetic hand

期刊论文

One-pot hydrothermal fabrication of BiVO/FeO/rGO composite photocatalyst for the simulated solar light-driven

期刊论文

A real-life stability model for a large shield-driven tunnel in heterogeneous soft soils

Xinyu HU, Zixin ZHANG, Scott KIEFFER

期刊论文

Prediction of hydro-suction dredging depth using data-driven methods

期刊论文

Data driven models for compressive strength prediction of concrete at high temperatures

Mahmood AKBARI, Vahid JAFARI DELIGANI

期刊论文

An energy consumption prediction approach of die casting machines driven by product parameters

期刊论文

Linear quadratic optimal controller for cable-driven parallel robots

Saeed ABDOLSHAH,Erfan SHOJAEI BARJUEI

期刊论文

Development of a masticatory robot using a novel cable-driven linear actuator with bidirectional motion

期刊论文

Digital twin-driven smart supply chain

期刊论文

Test-driven verification/validation of model transformations

László LENGYEL,Hassan CHARAF

期刊论文

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

期刊论文

Engine-driven hybrid air-conditioning system

Chaokui QIN , Hongmei LU , Xiong LIU , Gerhard SCHMITZ ,

期刊论文