A dynamic simulation method for non-linear systems based on genetic programming （GP） and bond graphs （BG） was developed to improve the design of nonlinear multi-domain energy conversion systems. The genetic operat...A dynamic simulation method for non-linear systems based on genetic programming （GP） and bond graphs （BG） was developed to improve the design of nonlinear multi-domain energy conversion systems. The genetic operators enable the embryo bond graph to evolve towards the target graph according to the fitness function. Better simulation requires analysis of the optimization of the eigenvalue and the filter circuit evolution. The open topological design and optimized convergence for the operation, but also the design of nonlinear multi-domain systems. space search ability of this method not only gives a more reduces the generation time for the new circuit graph for展开更多
Dynamic modeling of a parallel manipulator（PM） is an important issue. A complete PM system is actually composed of multiple physical domains. As PMs are widely used in various fields, the importance of modeling the ...Dynamic modeling of a parallel manipulator（PM） is an important issue. A complete PM system is actually composed of multiple physical domains. As PMs are widely used in various fields, the importance of modeling the global dynamic model of the PM system becomes increasingly prominent. Currently there lacks further research in global dynamic modeling. A unified modeling approach for the multi-energy domains PM system is proposed based on bond graph and a global dynamic model of the 3-UPS/S parallel stabilized platform involving mechanical and electrical-hydraulic elements is built. Firstly, the screw bond graph theory is improved based on the screw theory, the modular joint model is modeled and the normalized dynamic model of the mechanism is established. Secondly, combined with the electro-hydraulic servo system model built by traditional bond graph, the global dynamic model of the system is obtained, and then the motion, force and power of any element can be obtained directly. Lastly, the experiments and simulations of the driving forces, pressure and flow are performed, and the results show that, the theoretical calculation results of the driving forces are in accord with the experimental ones, and the pressure and flow of the first limb and the third limb are symmetry with each other. The results are reasonable and verify the correctness and effectiveness of the model and the method. The proposed dynamic modeling method provides a reference for modeling of other multi-energy domains system which contains complex PM.展开更多
In order to increase the efficiency and reliability of the dynamic analysis for flexible planar linkage containing the coupling of multi-energy domains, a method based on bond graph is introduced. From the viewpoint o...In order to increase the efficiency and reliability of the dynamic analysis for flexible planar linkage containing the coupling of multi-energy domains, a method based on bond graph is introduced. From the viewpoint of power conservation, the peculiar property of bond graph multiport element MTF is discussed. The procedure of modeling planar flexible muhibody mechanical systems by bond graphs and its dynamic principle are deseribed. To overcome the algebraic difficulty brought by differential causality anti nonlinear junction structure, the constraint forces at joints can be considered as unknown effort sources and added to the corresponding O-junctions of system bond graph model. As a result, the automatic modeling on a computer is realized. The validity of the procedure is illustrated by a practical example.展开更多
This paper addresses the issue of modeling of the hydraulic long transmission line. In its base, such model is nonlinear with distributed parameters. Since general solution in closed-form for such model in time-domain...This paper addresses the issue of modeling of the hydraulic long transmission line. In its base, such model is nonlinear with distributed parameters. Since general solution in closed-form for such model in time-domain is not available, certain simplifications have to be introduced. The pipeline in the paper has been divided to a cascaded network of n segments so that a model with lumped parameters could be reached. For segment modeling, a standard library of bond graphs element has been used. On the basis of models with lumped parameters, the effect of the number of segments, pipeline length and effective bulk modulus on the dynamics of long transmission line have been analyzed.展开更多
One of the open issues in principle scheme design of mechanical systems is principle representation, which not only outlines the physical principles, but also facilitates the design synthesis. An energy-based approach...One of the open issues in principle scheme design of mechanical systems is principle representation, which not only outlines the physical principles, but also facilitates the design synthesis. An energy-based approach to represent principle scheme design is proposed. Firstly, an energy interaction model of mechanical systems is established and an intermediate model is derived, in which principle scheme design is transformed into solving the energy functions of system. Then the energy functions are modeled with the language of bond graphs, and principle representation for components is presented. Finally, characteristics of the developed representation approach are analyzed and a design example of gate drive system is given to demonstrate this approach.展开更多
In the aerospace field, electromechanical actuators are increasingly being implemented in place of conventional hydraulic actuators. For safety-critical embedded actuation applications like flight controls, the use of...In the aerospace field, electromechanical actuators are increasingly being implemented in place of conventional hydraulic actuators. For safety-critical embedded actuation applications like flight controls, the use of electromechanical actuators introduces specific issues related to thermal balance, reflected inertia, parasitic motion due to compliance and response to failure. Unfortunately, the physical effects governing the actuator behaviour are multidisciplinary, coupled and nonlinear. Although numerous multi-domain and system-level simulation packages are now available on the market, these effects are rarely addressed as a whole because of a lack of scientific approaches for model architecting, multi-purpose incremental modelling and judicious model implementation. In this publication, virtual prototyping of electromechanical actuators is addressed using the Bond-Graph formalism. New approaches are proposed to enable incremental modelling,thermal balance analysis, response to free-run or jamming faults, impact of compliance on parasitic motion, and influence of temperature. A special focus is placed on friction and compliance of the mechanical transmission with fault injection and temperature dependence. Aileron actuation is used to highlight the proposals for control design, energy consumption and thermal analysis, power network pollution analysis and fault response.展开更多
Electromechanical actuators（EMAs） are becoming increasingly attractive in the field of more electric aircraft because of their outstanding benefits, which include reduced fuel burn and maintenance cost, enhanced sys...Electromechanical actuators（EMAs） are becoming increasingly attractive in the field of more electric aircraft because of their outstanding benefits, which include reduced fuel burn and maintenance cost, enhanced system flexibility, and improved management of fault detection and isolation. However, electromechanical actuation raises specific issues when being used for safetycritical aerospace applications like flight controls： huge reflected inertia to load, jamming-type failure, and increase of backlash with service due to wear and local dissipation of heat losses for thermal balance. This study proposes an incremental approach for virtual prototyping of EMAs. It is driven by a model-based system engineering process in order to enable simulation-aided design.Best practices supported by Bond graph formalism are suggested to develop a model＇s structure efficiently and to make the model ready for use（or extension） by addressing the above mentioned issues. Physical effects are progressively introduced, and the realism of lumped-parameter models is increased step-by-step. In particular, multi-level component models are architected to ensure continuity between engineering activities. The models are implemented in the AMESim simulation environment, and simulation responses are given to illustrate how they can be used for preliminary sizing, control design, thermal balance verification, and faults to failure analysis. The proposed best practices intend to provide engineers with fast, reusable, and efficient means to assess performance virtually and enhance maturity, performance, and robustness.展开更多
In this paper, single, two-position, two-way proportional valve is used to carry out the positon control of asymmetrical hydraulic cylinder with two chambers connected. The system structure and the working princle are...In this paper, single, two-position, two-way proportional valve is used to carry out the positon control of asymmetrical hydraulic cylinder with two chambers connected. The system structure and the working princle are introduced. The dynamic model of the asymmetrical hydraulic cylinder system is established with power bond graphs method, and becomes a fundament for analyzing the system. Sliding mode controller is designed, and the stability of the control system is analyzed. The simulation results indicate that the sliding mode controller designed can actualize the position control of asymmetrical hydraulic cylinder system, and controller is superior to traditional PID controller when the load changes in some range.展开更多
A model-based fault tolerant control approach for hybrid linear dynamic systems is proposed in this paper. The proposed method, taking advantage of reliable control, can maintain the performance of the faulty system d...A model-based fault tolerant control approach for hybrid linear dynamic systems is proposed in this paper. The proposed method, taking advantage of reliable control, can maintain the performance of the faulty system during the time delay of fault detection and diagnosis (FDD) and fault accommodation (FA), which can be regarded as the first line of defence against sensor faults. Simulation results of a three-tank system with sensor fault are given to show the efficiency of the method.展开更多
In the design of Hydraulic Manifold Blocks (HMB), dynamic performance of inner pipeline networks usually should be evaluated. To meet the design requirements, dynamic characteristic simulation is often needed. Based o...In the design of Hydraulic Manifold Blocks (HMB), dynamic performance of inner pipeline networks usually should be evaluated. To meet the design requirements, dynamic characteristic simulation is often needed. Based on comprehensive study on the existing simulation methods, a new method combined of Power Bond Graph(PBG) and Computational Fluid Dynamic (CFD) is proposed. In this method, flow field of typical channels inside HMB is analyzed with CFD to obtain the local resistance coefficients. Then, with these coefficients, a new sectional lumped-parameter model including kinetic friction factor is developed using PBG. A typical HMB design example is given and the comparison between the simulation and the experimental results demonstrates the feasibility and effectiveness of the proposed method.展开更多
Hydraulic hammer is commonly used hydraulic equipment in engineering work. The characteristics, high acceleration, high frequency and inertial working pressure, make it greatly different from the working conditions of...Hydraulic hammer is commonly used hydraulic equipment in engineering work. The characteristics, high acceleration, high frequency and inertial working pressure, make it greatly different from the working conditions of conventional hydraulic equipment, while hydraulic hammer for sleeve type is also not the same as other hydraulic hammers in structure, efficiency and working performance. Based on the principle of hydraulic hammer for sleeve type, the mathematical model of hydraulic hammer for sleeve type was set with various conditions in the reciprocating movement of piston. In addition, more detailed sketch model can be easily built with the mathematical model in multi-domain system analysis software, AMESim. The simulation system of breaker built based on the principle of power bond graph structures in AMESim system is considered comprehensively to achieve its functions and characteristics, which can quickly realize the calculation of main simulation parameters for impactor. The calculated parameters can be proved to be biased with the test prototype. So these parameters must be optimized by Design Exploration to find the appropriate parameters.展开更多
The infulence of supplied pressure fluctuation on output accuracy for the electro hydraulic pressure control system of the rolling mill is discussed.Based on the bond graph theory and experimental study,the relations...The infulence of supplied pressure fluctuation on output accuracy for the electro hydraulic pressure control system of the rolling mill is discussed.Based on the bond graph theory and experimental study,the relationship between the variation of system output pressure and the supplied pressure fluctuation and the influence of the system bandwidth on system output pressure are provided.A theoretical base for determining the allowable fluctuation range of pressure and accurate design of constant pressure source system is obtained.展开更多
In-wheel motor-drive electric vehicles have the advantage of independently controllable wheel torque and the disadvantages of unsprung mass rise and power restriction.To address the disadvantages,a centralized layout ...In-wheel motor-drive electric vehicles have the advantage of independently controllable wheel torque and the disadvantages of unsprung mass rise and power restriction.To address the disadvantages,a centralized layout electric torque vectoring drive-axle system(E-TVDS)with dual motors is proposed,which can realize arbitrary distribution of driving torque between the left and right wheels.First,the speed and torque distribution principle of E-TVDS based on velocity diagram are analyzed,and a virtual prototype of the whole vehicle with basic gear ratio relation model of the E-TVDS is built for simulation to verify the theoretical results and the basic effect of E-TVDS on the steering performance of the vehicle.Second,the charac-teristics of 36 types of the novel E-TVDS topology structure are compared and analyzed,and the optimal structure scheme is selected.Third,the accurate multiple degrees of freedom dynamic model for the optimal structure is established by using the bond graph method,and its dynamic response characteristics are analyzed.The results show that the vehicle equipped with the proposed E-TVDS can distribute the driving torque with the almost identical amount but opposite sign between the left and right wheels in any direction,and varying amount according to different chassis dynamics control requirements,and the torque response performance is great with little delay and overshoot.The function and dynamic response of the proposed E-TVDS show that it has potential application value for various performance improvements of electric vehicles.展开更多
Design automation is a core technology in industrial design software and an important branch of knowledge-worker automation.For example,electronic design automation(EDA)has played an important role in both academia an...Design automation is a core technology in industrial design software and an important branch of knowledge-worker automation.For example,electronic design automation(EDA)has played an important role in both academia and industry.Design automation for intelligent robots refers to the construction of unified modular graph models for the morphologies(body),controllers(brain),and vision systems(eye)of intelligent robots under digital twin architectures,which effectively supports the automation of the morphology,controller,and vision system design processes of intelligent robots by taking advantage of the powerful capabilities of genetic programming,evolutionary computation,deep learning,reinforcement learning,and causal reasoning in model representation,optimization,perception,decision making,and reasoning.Compared with traditional design methods,MOdular DEsigN Automation(MODENA)methods can significantly improve the design efficiency and performance of robots,effectively avoiding the repetitive trial-and-error processes of traditional design methods,and promoting automatic discovery of innovative designs.Thus,it is of considerable research significance to study MODENA methods for intelligent robots.To this end,this paper provides a systematic and comprehensive overview of applying MODENA in intelligent robots,analyzes the current problems and challenges in thefield,and provides an outlook for future research.First,the design automation for the robot morphologies and controllers is reviewed,individually,with automated design of control strategies for swarm robots also discussed,which has emerged as a prominent research focus recently.Next,the integrated design automation of both the morphologies and controllers for robotic systems is presented.Then,the design automation of the vision systems of intelligent robots is summarized when vision systems have become one of the most important modules for intelligent robotic systems.Then,the future research trends of integrated“Body-Brain-Eye”design automation for intelligent robots are discussed.Finally,the common key technologies,research challenges and opportunities in MODENA for intelligent robots are summarized.展开更多
基金Supported by the Basic and Frontier Technology Research Program of Henan Province (No.082300410390)Backbone of Young Teachers in University Plan to Subsidize Projects of Henan Province (No.2005-174)
文摘A dynamic simulation method for non-linear systems based on genetic programming （GP） and bond graphs （BG） was developed to improve the design of nonlinear multi-domain energy conversion systems. The genetic operators enable the embryo bond graph to evolve towards the target graph according to the fitness function. Better simulation requires analysis of the optimization of the eigenvalue and the filter circuit evolution. The open topological design and optimized convergence for the operation, but also the design of nonlinear multi-domain systems. space search ability of this method not only gives a more reduces the generation time for the new circuit graph for
基金Supported by National Natural Science Foundation of China(Grant Nos.51275438,51405421)Hebei Provincial Natural Science Foundation of China(Grant No.E2015203101)
文摘Dynamic modeling of a parallel manipulator（PM） is an important issue. A complete PM system is actually composed of multiple physical domains. As PMs are widely used in various fields, the importance of modeling the global dynamic model of the PM system becomes increasingly prominent. Currently there lacks further research in global dynamic modeling. A unified modeling approach for the multi-energy domains PM system is proposed based on bond graph and a global dynamic model of the 3-UPS/S parallel stabilized platform involving mechanical and electrical-hydraulic elements is built. Firstly, the screw bond graph theory is improved based on the screw theory, the modular joint model is modeled and the normalized dynamic model of the mechanism is established. Secondly, combined with the electro-hydraulic servo system model built by traditional bond graph, the global dynamic model of the system is obtained, and then the motion, force and power of any element can be obtained directly. Lastly, the experiments and simulations of the driving forces, pressure and flow are performed, and the results show that, the theoretical calculation results of the driving forces are in accord with the experimental ones, and the pressure and flow of the first limb and the third limb are symmetry with each other. The results are reasonable and verify the correctness and effectiveness of the model and the method. The proposed dynamic modeling method provides a reference for modeling of other multi-energy domains system which contains complex PM.
文摘In order to increase the efficiency and reliability of the dynamic analysis for flexible planar linkage containing the coupling of multi-energy domains, a method based on bond graph is introduced. From the viewpoint of power conservation, the peculiar property of bond graph multiport element MTF is discussed. The procedure of modeling planar flexible muhibody mechanical systems by bond graphs and its dynamic principle are deseribed. To overcome the algebraic difficulty brought by differential causality anti nonlinear junction structure, the constraint forces at joints can be considered as unknown effort sources and added to the corresponding O-junctions of system bond graph model. As a result, the automatic modeling on a computer is realized. The validity of the procedure is illustrated by a practical example.
文摘This paper addresses the issue of modeling of the hydraulic long transmission line. In its base, such model is nonlinear with distributed parameters. Since general solution in closed-form for such model in time-domain is not available, certain simplifications have to be introduced. The pipeline in the paper has been divided to a cascaded network of n segments so that a model with lumped parameters could be reached. For segment modeling, a standard library of bond graphs element has been used. On the basis of models with lumped parameters, the effect of the number of segments, pipeline length and effective bulk modulus on the dynamics of long transmission line have been analyzed.
基金This project is supported by the National Natural Science Foundation of China (60174037, 50275013) and Foundation for University Key Teacher by the Ministry of Education.
文摘One of the open issues in principle scheme design of mechanical systems is principle representation, which not only outlines the physical principles, but also facilitates the design synthesis. An energy-based approach to represent principle scheme design is proposed. Firstly, an energy interaction model of mechanical systems is established and an intermediate model is derived, in which principle scheme design is transformed into solving the energy functions of system. Then the energy functions are modeled with the language of bond graphs, and principle representation for components is presented. Finally, characteristics of the developed representation approach are analyzed and a design example of gate drive system is given to demonstrate this approach.
基金supported by the Aeronautical Science Foundation of China (No. 2012ZD51)the support of the China Scholarship Council (CSC)
文摘In the aerospace field, electromechanical actuators are increasingly being implemented in place of conventional hydraulic actuators. For safety-critical embedded actuation applications like flight controls, the use of electromechanical actuators introduces specific issues related to thermal balance, reflected inertia, parasitic motion due to compliance and response to failure. Unfortunately, the physical effects governing the actuator behaviour are multidisciplinary, coupled and nonlinear. Although numerous multi-domain and system-level simulation packages are now available on the market, these effects are rarely addressed as a whole because of a lack of scientific approaches for model architecting, multi-purpose incremental modelling and judicious model implementation. In this publication, virtual prototyping of electromechanical actuators is addressed using the Bond-Graph formalism. New approaches are proposed to enable incremental modelling,thermal balance analysis, response to free-run or jamming faults, impact of compliance on parasitic motion, and influence of temperature. A special focus is placed on friction and compliance of the mechanical transmission with fault injection and temperature dependence. Aileron actuation is used to highlight the proposals for control design, energy consumption and thermal analysis, power network pollution analysis and fault response.
基金supports of the China Scholarship Council(CSC)the National Natural Science Foundation of China(No.51275021 and No.61327807)
文摘Electromechanical actuators（EMAs） are becoming increasingly attractive in the field of more electric aircraft because of their outstanding benefits, which include reduced fuel burn and maintenance cost, enhanced system flexibility, and improved management of fault detection and isolation. However, electromechanical actuation raises specific issues when being used for safetycritical aerospace applications like flight controls： huge reflected inertia to load, jamming-type failure, and increase of backlash with service due to wear and local dissipation of heat losses for thermal balance. This study proposes an incremental approach for virtual prototyping of EMAs. It is driven by a model-based system engineering process in order to enable simulation-aided design.Best practices supported by Bond graph formalism are suggested to develop a model＇s structure efficiently and to make the model ready for use（or extension） by addressing the above mentioned issues. Physical effects are progressively introduced, and the realism of lumped-parameter models is increased step-by-step. In particular, multi-level component models are architected to ensure continuity between engineering activities. The models are implemented in the AMESim simulation environment, and simulation responses are given to illustrate how they can be used for preliminary sizing, control design, thermal balance verification, and faults to failure analysis. The proposed best practices intend to provide engineers with fast, reusable, and efficient means to assess performance virtually and enhance maturity, performance, and robustness.
基金the National Natural Science Foundation of China(No.50575202)
文摘In this paper, single, two-position, two-way proportional valve is used to carry out the positon control of asymmetrical hydraulic cylinder with two chambers connected. The system structure and the working princle are introduced. The dynamic model of the asymmetrical hydraulic cylinder system is established with power bond graphs method, and becomes a fundament for analyzing the system. Sliding mode controller is designed, and the stability of the control system is analyzed. The simulation results indicate that the sliding mode controller designed can actualize the position control of asymmetrical hydraulic cylinder system, and controller is superior to traditional PID controller when the load changes in some range.
基金Supported by National Natural Science Foundation of P.R.China (60574083)Key Laboratory of Process Industry Automation, Ministry of Education of P.R.China (PAL200514)Innovation Scientific Fund of Nanjing University of Aeronautics and Astronautics (Y0508-031)
文摘A model-based fault tolerant control approach for hybrid linear dynamic systems is proposed in this paper. The proposed method, taking advantage of reliable control, can maintain the performance of the faulty system during the time delay of fault detection and diagnosis (FDD) and fault accommodation (FA), which can be regarded as the first line of defence against sensor faults. Simulation results of a three-tank system with sensor fault are given to show the efficiency of the method.
基金National Natural Science Foundation of China (No.50375023)
文摘In the design of Hydraulic Manifold Blocks (HMB), dynamic performance of inner pipeline networks usually should be evaluated. To meet the design requirements, dynamic characteristic simulation is often needed. Based on comprehensive study on the existing simulation methods, a new method combined of Power Bond Graph(PBG) and Computational Fluid Dynamic (CFD) is proposed. In this method, flow field of typical channels inside HMB is analyzed with CFD to obtain the local resistance coefficients. Then, with these coefficients, a new sectional lumped-parameter model including kinetic friction factor is developed using PBG. A typical HMB design example is given and the comparison between the simulation and the experimental results demonstrates the feasibility and effectiveness of the proposed method.
文摘Hydraulic hammer is commonly used hydraulic equipment in engineering work. The characteristics, high acceleration, high frequency and inertial working pressure, make it greatly different from the working conditions of conventional hydraulic equipment, while hydraulic hammer for sleeve type is also not the same as other hydraulic hammers in structure, efficiency and working performance. Based on the principle of hydraulic hammer for sleeve type, the mathematical model of hydraulic hammer for sleeve type was set with various conditions in the reciprocating movement of piston. In addition, more detailed sketch model can be easily built with the mathematical model in multi-domain system analysis software, AMESim. The simulation system of breaker built based on the principle of power bond graph structures in AMESim system is considered comprehensively to achieve its functions and characteristics, which can quickly realize the calculation of main simulation parameters for impactor. The calculated parameters can be proved to be biased with the test prototype. So these parameters must be optimized by Design Exploration to find the appropriate parameters.
文摘The infulence of supplied pressure fluctuation on output accuracy for the electro hydraulic pressure control system of the rolling mill is discussed.Based on the bond graph theory and experimental study,the relationship between the variation of system output pressure and the supplied pressure fluctuation and the influence of the system bandwidth on system output pressure are provided.A theoretical base for determining the allowable fluctuation range of pressure and accurate design of constant pressure source system is obtained.
基金This work is funded by the National Natural Science Foundation of China under Grant 51875235the Automobile Environmental Protection Innovation Leading Plan of FAW Volkswagen and China Environmental Protection Foundation,as well as in part by the Fundamental Research Funds for Central Universities of China under Grant 2020-JCXK-24.
文摘In-wheel motor-drive electric vehicles have the advantage of independently controllable wheel torque and the disadvantages of unsprung mass rise and power restriction.To address the disadvantages,a centralized layout electric torque vectoring drive-axle system(E-TVDS)with dual motors is proposed,which can realize arbitrary distribution of driving torque between the left and right wheels.First,the speed and torque distribution principle of E-TVDS based on velocity diagram are analyzed,and a virtual prototype of the whole vehicle with basic gear ratio relation model of the E-TVDS is built for simulation to verify the theoretical results and the basic effect of E-TVDS on the steering performance of the vehicle.Second,the charac-teristics of 36 types of the novel E-TVDS topology structure are compared and analyzed,and the optimal structure scheme is selected.Third,the accurate multiple degrees of freedom dynamic model for the optimal structure is established by using the bond graph method,and its dynamic response characteristics are analyzed.The results show that the vehicle equipped with the proposed E-TVDS can distribute the driving torque with the almost identical amount but opposite sign between the left and right wheels in any direction,and varying amount according to different chassis dynamics control requirements,and the torque response performance is great with little delay and overshoot.The function and dynamic response of the proposed E-TVDS show that it has potential application value for various performance improvements of electric vehicles.
基金supported in part by National Key R&D Program of China(No.2021ZD0111501)National Natural Science Foundation of China(No.62176147)+2 种基金Science and Technology Planning Project of Guangdong Province of China(Nos.2021A0505030072 and 2022A1515110660)Science and Technology Special Funds Project of Guangdong Province of China(Nos.STKJ2021176 and STKJ2021019)STU Scientific Research Foundation for Talents(Nos.NTF21001 and NTF22030).
文摘Design automation is a core technology in industrial design software and an important branch of knowledge-worker automation.For example,electronic design automation(EDA)has played an important role in both academia and industry.Design automation for intelligent robots refers to the construction of unified modular graph models for the morphologies(body),controllers(brain),and vision systems(eye)of intelligent robots under digital twin architectures,which effectively supports the automation of the morphology,controller,and vision system design processes of intelligent robots by taking advantage of the powerful capabilities of genetic programming,evolutionary computation,deep learning,reinforcement learning,and causal reasoning in model representation,optimization,perception,decision making,and reasoning.Compared with traditional design methods,MOdular DEsigN Automation(MODENA)methods can significantly improve the design efficiency and performance of robots,effectively avoiding the repetitive trial-and-error processes of traditional design methods,and promoting automatic discovery of innovative designs.Thus,it is of considerable research significance to study MODENA methods for intelligent robots.To this end,this paper provides a systematic and comprehensive overview of applying MODENA in intelligent robots,analyzes the current problems and challenges in thefield,and provides an outlook for future research.First,the design automation for the robot morphologies and controllers is reviewed,individually,with automated design of control strategies for swarm robots also discussed,which has emerged as a prominent research focus recently.Next,the integrated design automation of both the morphologies and controllers for robotic systems is presented.Then,the design automation of the vision systems of intelligent robots is summarized when vision systems have become one of the most important modules for intelligent robotic systems.Then,the future research trends of integrated“Body-Brain-Eye”design automation for intelligent robots are discussed.Finally,the common key technologies,research challenges and opportunities in MODENA for intelligent robots are summarized.
