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期刊论文 34

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Static balancing of planar articulated robots

Giuseppe QUAGLIA,Zhe YIN

《机械工程前沿（英文）》 2015年 第10卷 第4期   页码 326-343 doi: 10.1007/s11465-015-0355-9

摘要：

Static balancing for a manipulator’s weight is necessary in terms of energy saving and performance improvement. This paper proposes a method to design balancing devices for articulated robots in industry, based on robotic dynamics. Full design details for the balancing system using springs are presented from two aspects: One is the optimization for the position of the balancing system; the other is the design of the spring parameters. As examples, two feasible balancing devices are proposed, based on different robotic structures: The first solution consists of linkages and springs; the other consists of pulleys, cross mechanisms and (hydro-) pneumatic springs. Then the two solutions are compared. Pneumatic, hydro-pneumatic and mechanical springs are discussed and their parameters are decided according to the requirements of torque compensation. Numerical results show that with the proper design using the methodology presented in this paper, an articulated robot can be statically balanced perfectly in all configurations. This paper therefore provides a design method of the balancing system for other similar structures.

关键词： robotics     static balancing     pneumatic spring     mechanical spring     torque compensation    

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Design of damping valve for vehicle hydro pneumatic suspension

DONG Mingming, HUANG Hua, GU Lian

《机械工程前沿（英文）》 2008年 第3卷 第1期   页码 97-100 doi: 10.1007/s11465-008-0014-5

摘要： According to the design features of a hydro pneumatic spring, the necessity of a separate damping valve is proposed. Based on a 1/4 vehicle linear suspension model, the optimum damping coefficient is worked out and the parameters of the damping valve are determined with the equivalent linearization method. A practical structure of the damping valve is proposed having a small size, high flowrate when the valve opens, and the ability of enduring high back pressure. Based on bench tests, the damping valve has been found to properly work and be suitable. The design method and damping valve structure are useful guides for hydro pneumatic suspension, especially for the design of heavy-duty vehicles.

关键词： ability     pneumatic     necessity     flowrate     equivalent linearization    

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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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A pneumatic cylinder driving polyhedron mobile mechanism

Wan DING, Sung-Chan KIM, Yan-An YAO

《机械工程前沿（英文）》 2012年 第7卷 第1期   页码 55-65 doi: 10.1007/s11465-012-0301-z

摘要：

A novel pneumatic cylinder driving polyhedron mobile mechanism is proposed in this paper. The mechanism is comprised of 5 tetrahedrons which includes a pneumatic cylinder in each edge. It locomotes by rolling and the rolling principle refers to the center of mass (CM) of the mechanism moved out of the supporting area and let it tip over through the controlling of the motion sequence of these cylinders. Firstly, the mathematical model is built to analysis the relation between the configuration and the CM of the mechanism. Then, a binary control strategy is developed to simplify and improve the control of this mobile mechanism. After that, dynamic simulation is performed to testify the analytical validity and feasibility of the rolling gaits. At last, a prototype is fabricated to achieve the rolling successfully to demonstrate the proposed concept.

关键词： mobile mechanism     polyhedron     cylinder    

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Simulation of horizontal slug-flow pneumatic conveying with kinetic theory

GU Zhengmeng, GUO Liejin

《能源前沿（英文）》 2007年 第1卷 第3期   页码 336-340 doi: 10.1007/s11708-007-0050-6

摘要： Wavelike slug-flow is a representative flow type in horizontal pneumatic conveying. Kinetic theory was introduced to establish a 3D kinetic numerical model for wavelike slug gas-solid flow in this paper. Wavelike motion of particulate slugs in horizontal pipes was numerically investigated. The formation and motion process of slugs and settled layer were simulated. The characteristics of the flow, such as pressure drop, air velocity distribution, slug length and settled layer thickness, and the detailed changing characteristics of slug length and settled layer thickness with air velocity were obtained. The results indicate that kinetic theory can represent the physical characteristics of the non-suspension dense phase flow of wavelike slug pneumatic conveying. The experiment in this paper introduced a new idea for the numerical calculation of slug-flow pneumatic conveying.

关键词： velocity distribution     detailed     slug-flow     gas-solid     theory    

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Analysis and characterization of wind-solar-constant torque spring hybridized model

Shantanu ACHARYA,Subhadeep BHATTACHARJEE

《能源前沿（英文）》 2014年 第8卷 第3期   页码 279-289 doi: 10.1007/s11708-014-0312-z

摘要： Solar and wind are the most promising renewable energy resources. But their unpredictable and varying nature prevents them from being used as the sole resource for power generation. This paper presents a model of wind and solar thermal hybrid power plant with a spring storage system which is expected to play an efficient role in combating with the drawbacks related to renewable power generation. In the proposed scheme, wind energy is harnessed by a hybrid vertical axis wind turbine, solar energy is utilized by a Stirling engine, and the surplus energy is stored in a winding spring. The paper discusses the working methodologies and analyses the performance of such 2.6 kW hybrid power plant model. It has been observed that the plant is capable of consistently generating 50% of its rated capacity irrespective of limitations in solar and wind resources.

关键词： hybrid vertical axis wind turbine     Stirling engine     solar-thermal energy     wind energy     constant torque spring    

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Design and experiment of a novel pneumatic soft arm based on a deployable origami exoskeleton

《机械工程前沿（英文）》 2023年 第18卷 第4期 doi: 10.1007/s11465-023-0770-2

摘要： Soft arms have shown great application potential because of their flexibility and compliance in unstructured environments. However, soft arms made from soft materials exhibit limited cargo-loading capacity, which restricts their ability to manipulate objects. In this research, a novel soft arm was developed by coupling a rigid origami exoskeleton with soft airbags. The joint module of the soft arm was composed of a deployable origami exoskeleton and three soft airbags. The motion and load performance of the soft arm of the eight-joint module was tested. The developed soft arm withstood at least 5 kg of load during extension, contraction, and bending motions; exhibited bistable characteristics in both fully contracted and fully extended states; and achieved a bending angle of more than 240° and a contraction ratio of more than 300%. In addition, the high extension, contraction, bending, and torsional stiffnesses of the soft arm were experimentally demonstrated. A kinematic-based trajectory planning of the soft arm was performed to evaluate its error in repetitive motion. This work will provide new design ideas and methods for flexible manipulation applications of soft arms.

关键词： pneumatic soft arm     soft airbag     deployable origami exoskeleton     bistable characteristics     cargo-loading capacity    

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Back to the spring of Wuhan: facts and hope of COVID-19 outbreak

Guangbiao Zhou, Saijuan Chen, Zhu Chen

《医学前沿（英文）》 2020年 第14卷 第2期   页码 113-116 doi: 10.1007/s11684-020-0758-9

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Modular crawling robots using soft pneumatic actuators

Nianfeng WANG, Bicheng CHEN, Xiandong GE, Xianmin ZHANG, Wenbin WANG

《机械工程前沿（英文）》 2021年 第16卷 第1期   页码 163-175 doi: 10.1007/s11465-020-0605-3

摘要： Crawling robots have elicited much attention in recent years due to their stable and efficient locomotion. In this work, several crawling robots are developed using two types of soft pneumatic actuators (SPAs), namely, an axial elongation SPA and a dual bending SPA. By constraining the deformation of the elastomeric chamber, the SPAs realize their prescribed motions, and the deformations subjected to pressures are characterized with numerical models. Experiments are performed for verification, and the results show good agreement. The SPAs are fabricated by casting and developed into crawling robots with 3D-printing connectors. Control schemes are presented, and crawling tests are performed. The speeds predicted by the numerical models agree well with the speeds in the experiments.

关键词： soft robot     soft pneumatic actuator     kinematic model     crawling robot     modular design    

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A perspective of “Nuclear Hot Spring” for long-term sustainable economy of the world

Yingzhong LU

《能源前沿（英文）》 2011年 第5卷 第4期   页码 349-357 doi: 10.1007/s11708-011-0168-4

摘要： The rapid growth of human economy in the late 20th century gave rise to great concern over sustainability of the world. A pessimistic “Full World Model” forecasts that human economy could not develop further. The nuclear fission (and fusion later), however, could release huge amount of energy to create sufficient useful material resources and turn the said pessimistic modelinto a new optimistic “Sustainable World Model”.The dilemma of nuclear energy (Military Giant vs. Civil Dwarf) jeopardizes its performance as a “Technologic Fixer”. According to Mother Nature’s teachings, the elimination of the root-causes of the design-based risk factors could solve this problem. Recent technology break-through from inherent safety to natural safety has been made in China. The proposed full-power natural circulation “Nuclear Hot Spring (NHS)” reactor could operate solely on natural forces without complex man-made coolant circulation equipment and human-operated control systems. The cheap, unlimited supply of energy from nuclear energy could change the geopolitics forever, and finally eliminate the root-causes of most international and regional conflicts.

关键词： natural safety reactor     full power natural circulation     sustainable world economy    

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Spectral reflectance indices as proxies for yield potential and heat stress tolerance in spring wheat

Caiyun LIU, Francisco PINTO, C. Mariano COSSANI, Sivakumar SUKUMARAN, Matthew P. REYNOLDS

《农业科学与工程前沿（英文）》 2019年 第6卷 第3期   页码 296-308 doi: 10.15302/J-FASE-2019269

摘要：

The application of spectral reflectance indices (SRIs) as proxies to screen for yield potential (YP) and heat stress (HS) is emerging in crop breeding programs. Thus, a comparison of SRIs and their associations with grain yield (GY) under YP and HS conditions is important. In this study, we assessed the usefulness of 27 SRIs for indirect selection for agronomic traits by evaluating an elite spring wheat association mapping initiative (WAMI) population comprising 287 elite lines under YP and HS conditions. Genetic and phenotypic analysis identified 11 and 9 SRIs in different developmental stages as efficient indirect selection indices for yield in YP and HS conditions, respectively. We identified enhanced vegetation index (EVI) as the common SRI associated with GY under YP at booting, heading and late heading stages, whereas photochemical reflectance index (PRI) and normalized difference vegetation index (NDVI) were the common SRIs under booting and heading stages in HS. Genome-wide association study (GWAS) using 18704 single nucleotide polymorphisms (SNPs) from Illumina iSelect 90K identified 280 and 43 marker-trait associations for efficient SRIs at different developmental stages under YP and HS, respectively. Common genomic regions for multiple SRIs were identified in 14 regions in 9 chromosomes: 1B (60–62 cM), 3A (15, 85–90, 101–105 cM), 3B (132–134 cM), 4A (47–51 cM), 4B (71–75 cM), 5A (43–49, 56–60, 89–93 cM), 5B (124–125 cM), 6A (80–85 cM), and 6B (57–59, 71 cM). Among them, SNPs in chromosome 5A (89–93 cM) and 6A (80–85 cM) were co-located for yield and yield related traits. Overall, this study highlights the utility of SRIs as proxies for GY under YP and HS. High heritability estimates and identification of marker-trait associations indicate that SRIs are useful tools for understanding the genetic basis of agronomic and physiological traits.

关键词： genome-wide association study (GWAS)     heat tolerance     spectral reflectance     spring wheat    

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Host protection against Omicron BA.2.2 sublineages by prior vaccination in spring 2022 COVID-19 outbreak

《医学前沿（英文）》 2023年 第17卷 第3期   页码 562-575 doi: 10.1007/s11684-022-0977-3

摘要： The Omicron family of SARS-CoV-2 variants are currently driving the COVID-19 pandemic. Here we analyzed the clinical laboratory test results of 9911 Omicron BA.2.2 sublineages-infected symptomatic patients without earlier infection histories during a SARS-CoV-2 outbreak in Shanghai in spring 2022. Compared to an earlier patient cohort infected by SARS-CoV-2 prototype strains in 2020, BA.2.2 infection led to distinct fluctuations of pathophysiological markers in the peripheral blood. In particular, severe/critical cases of COVID-19 post BA.2.2 infection were associated with less pro-inflammatory macrophage activation and stronger interferon alpha response in the bronchoalveolar microenvironment. Importantly, the abnormal biomarkers were significantly subdued in individuals who had been immunized by 2 or 3 doses of SARS-CoV-2 prototype-inactivated vaccines, supporting the estimation of an overall 96.02% of protection rate against severe/critical disease in the 4854 cases in our BA.2.2 patient cohort with traceable vaccination records. Furthermore, even though age was a critical risk factor of the severity of COVID-19 post BA.2.2 infection, vaccination-elicited protection against severe/critical COVID-19 reached 90.15% in patients aged ≥ 60 years old. Together, our study delineates the pathophysiological features of Omicron BA.2.2 sublineages and demonstrates significant protection conferred by prior prototype-based inactivated vaccines.

关键词： SARS-CoV-2     COVID-19     host response     bronchoalveolar lavage fluid (BALF)    

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Comparative proteomic analysis of cold responsive proteins in two wheat cultivars with different tolerance to spring

Shujuan ZHANG,Guoqi SONG,Yulian LI,Jie GAO,Jiao WANG,Guiju CHEN,Haosheng LI,Genying LI,Zhendong ZHAO

《农业科学与工程前沿（英文）》 2014年 第1卷 第1期   页码 37-45 doi: 10.15302/J-FASE-2014008

摘要： Spring radiation frost (SRF) is a severe environmental stress which impairs wheat yield and productivity worldwide. To better understand the mechanism of wheat ( ) responding to SRF, a comparative proteomic analysis was performed to analyze the changes of the key proteins in two wheat cultivars Jimai22 and Luyuan301 with high and low tolerance to SRF respectively. A total of 43 differentially expressed proteins (DEPs) which mainly involved in carbohydrate metabolism, amino acid metabolism, resistance proteins and antioxidant enzymes, photosynthesis and cellular respiration proteins, cell-wall related proteins, protein translation/processing/degradation and signal transduction were isolated and identified by two-dimensional electrophoresis and MALDI-TOF-TOF MS. The results revealed that of the 21 DEPs in Jimai22 responding to the SRF, 13 DEPs were upregulated and 8 DEPs were downregulated, and that of the 22 DEPs in Luyuan301, 9 DEPs were upregulated and 13 DEPs were downregulated. These DEPs might be responsible for the stronger cold resistance of Jimai22 compared to Luyuan301. The expression pattern and function analysis of these DEPs were very significant to understanding the mechanism of the SRF responses in wheat.

关键词： common wheat     spring radiation frost     proteomic analysis     2-DE     MALDI-TOF-TOF MS    

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螺旋管簧的可靠性优化设计

张义民,贺向东,闻邦椿

《中国工程科学》 2002年 第4卷 第5期   页码 71-74

摘要：

讨论了螺旋管簧的可靠性优化设计问题。在基本随机变量的概率特性已知的情况下，采用二阶矩法和可靠性优化设计方法对螺旋管簧进行了可靠性优化设计，通过计算机程序可以直接实现螺旋管簧的可靠性优化设计，迅速准确地得到螺旋管簧的可靠性优化设计信息。

关键词： 螺旋管簧     可靠性     优化设计     二阶矩技术    

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不完全概率信息的车辆常用弹簧的可靠性灵敏度设计

张义民,刘巧伶,闻邦椿

《中国工程科学》 2004年 第6卷 第1期   页码 74-80

摘要：

将可靠性设计理论与灵敏度分析方法相结合，讨论了车辆常用弹簧的可靠性灵敏度设计问题，提出了可靠性灵敏度设计的计算方法，给出了可靠性灵敏度的变化规律，研究了设计参数的改变对车辆常用弹簧可靠性的影响，为车辆常用弹簧的可靠性设计提供了理论依据。

关键词： 车辆常用弹簧     可靠性设计     灵敏度     任意分布参数    

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标题 作者 时间 类型 操作

Static balancing of planar articulated robots

Giuseppe QUAGLIA,Zhe YIN

期刊论文

Design of damping valve for vehicle hydro pneumatic suspension

DONG Mingming, HUANG Hua, GU Lian

期刊论文

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

期刊论文

A pneumatic cylinder driving polyhedron mobile mechanism

Wan DING, Sung-Chan KIM, Yan-An YAO

期刊论文

Simulation of horizontal slug-flow pneumatic conveying with kinetic theory

GU Zhengmeng, GUO Liejin

期刊论文

Analysis and characterization of wind-solar-constant torque spring hybridized model

Shantanu ACHARYA,Subhadeep BHATTACHARJEE

期刊论文

Design and experiment of a novel pneumatic soft arm based on a deployable origami exoskeleton

期刊论文

Back to the spring of Wuhan: facts and hope of COVID-19 outbreak

Guangbiao Zhou, Saijuan Chen, Zhu Chen

期刊论文

Modular crawling robots using soft pneumatic actuators

Nianfeng WANG, Bicheng CHEN, Xiandong GE, Xianmin ZHANG, Wenbin WANG

期刊论文

A perspective of “Nuclear Hot Spring” for long-term sustainable economy of the world

Yingzhong LU

期刊论文

Spectral reflectance indices as proxies for yield potential and heat stress tolerance in spring wheat

Caiyun LIU, Francisco PINTO, C. Mariano COSSANI, Sivakumar SUKUMARAN, Matthew P. REYNOLDS

期刊论文

Host protection against Omicron BA.2.2 sublineages by prior vaccination in spring 2022 COVID-19 outbreak

期刊论文

Comparative proteomic analysis of cold responsive proteins in two wheat cultivars with different tolerance to spring

Shujuan ZHANG,Guoqi SONG,Yulian LI,Jie GAO,Jiao WANG,Guiju CHEN,Haosheng LI,Genying LI,Zhendong ZHAO

期刊论文

螺旋管簧的可靠性优化设计

张义民,贺向东,闻邦椿

期刊论文

不完全概率信息的车辆常用弹簧的可靠性灵敏度设计

张义民,刘巧伶,闻邦椿

期刊论文