In order to eliminate the meshing interference between the flexspline and circular spline after the taper deformation of the flexspline,the radial deformation difference method,major and minor axis fitting method,and ...In order to eliminate the meshing interference between the flexspline and circular spline after the taper deformation of the flexspline,the radial deformation difference method,major and minor axis fitting method,and ellipse fitting method are used to modify the tooth thickness of the flexspline and analyze the performance indexes such as the assembly stress,transmission error,and fatigue life.Firstly,the conjugate tooth profile is solved based on the quadruple-circular-arc tooth profile and modified kinematic method.Then,based on the finite element radial deformation of the flexspline,the principle and characteristics of three modification methods are analyzed,and the modification amount of each section of the flexspline tooth is calculated.Finally,the influence of the three modification methods on the performance of the harmonic drive is compared.The results show that the radial deformation difference method can initially determine the modification amount.The minimum static assembly stress is 406.22 MPa by the major and minor axis fitting method.The ellipse fitting method has the best dynamic performance,small transmission error fluctuation,a peak-to-peak value of 3.060",and a maximum fatigue life of 10^(7.558)cycles.展开更多
This study develops a contact performance-driven method for skiving face gear drives using a single cutter,eliminating the traditional need for separate cutters to reduce production costs and time.First,the mathematic...This study develops a contact performance-driven method for skiving face gear drives using a single cutter,eliminating the traditional need for separate cutters to reduce production costs and time.First,the mathematical models of the tooth flanks for the face gear drives are established based on the gear skiving processes.Then,load tooth contact analysis(LTCA)model is established to calculate the contact performance data.Next,a two-stage optimization model is employed to determine the optimal parameters of the cutting edge with improved contact performances.The effectiveness of this method is validated through simulations and rolling tests.Compared with the traditional method,the proposed method can machine both the face gear and its mating pinion with a single cutter.Simulation results show that the proposed method avoids tooth surface edge contact,with the maximum tooth surface contact stress reduced by 31.7%,the contact ratio decreases by 21.5%,and the transmission error increases by 22.3%.Rolling tests verify the consistency of tooth surface contact patterns between simulations and experiments.The proposed method provides a reference for the cutting edge design of skiving cutters for face gear pairs.展开更多
Model predictive control(MPC)has been deemed as an attractive control method in motor drives by virtue of its simple structure,convenient multi-objective optimization,and satisfactory dynamic performance.However,the s...Model predictive control(MPC)has been deemed as an attractive control method in motor drives by virtue of its simple structure,convenient multi-objective optimization,and satisfactory dynamic performance.However,the strong reliance on mathematical models seriously restrains its practical application.Therefore,improving the robustness of MPC has attained significant attentions in the last two decades,followed by which,model-free predictive control(MFPC)comes into existence.This article aims to reveal the current state of MFPC strategies for motor drives and give the categorization from the perspective of implementation.Based on this review,the principles of the reported MFPC strategies are introduced in detail,as well as the challenges encountered in technology realization.In addition,some of typical and important concepts are experimentally validated via case studies to evaluate the performance and highlight their features.Finally,the future trends of MFPC are discussed based on the current state and reported developments.展开更多
The worm wheel whose undercutting characteristic is researched is a member of offsetting normal arc-toothed cylindrical worm drive.The tooth profile of the worm in its offsetting normal section is a circular arc.The n...The worm wheel whose undercutting characteristic is researched is a member of offsetting normal arc-toothed cylindrical worm drive.The tooth profile of the worm in its offsetting normal section is a circular arc.The normal vector used to calculate the first-type limit function is determined in the natural frame without the aid of the curvature parameter of worm helicoid.The first-type limit line is ascertained via solving the nonlinear equations iteratively.It is discovered that one first-type limit line exists on the tooth surface of worm wheel by numerical simulation,and such a line is normally located out of the meshing zone.Only one intersection point exists between the first and second-types of limit lines,and this point is a lubrication weak point.The undercutting mechanism is essentially that a part of the meshing zone near the conjugated line of worm tooth crest will come into the undercutting area and will be cut off during machining the worm wheel.The machining simulation verifies the correctness of undercutting mechanism.Moreover,a convenient and practical characteristic quantity is proposed to judge whether the undercutting exists in the whole meshing zone via computing the first-type limit function values on the worm tooth crest.展开更多
This article provides a comprehensive exploration of the current research landscape in the field of soft actuation technology applied to bio-inspired soft robots. In sharp contrast to their conventional rigid counterp...This article provides a comprehensive exploration of the current research landscape in the field of soft actuation technology applied to bio-inspired soft robots. In sharp contrast to their conventional rigid counterparts, bio-inspired soft robots are primarily constructed from flexible materials, conferring upon them remarkable adaptability and flexibility to execute a multitude of tasks in complex environments. However, the classification of their driving technology poses a significant challenge owing to the diverse array of employed driving mechanisms and materials. Here, we classify several common soft actuation methods from the perspectives of the sources of motion in bio-inspired soft robots and their bio-inspired objects, effectively filling the classification system of soft robots, especially bio-inspired soft robots. Then, we summarize the driving principles and structures of various common driving methods from the perspective of bionics, and discuss the latest developments in the field of soft robot actuation from the perspective of driving modalities and methodologies. We then discuss the application directions of bio-inspired soft robots and the latest developments in each direction. Finally, after an in-depth review of various soft bio-inspired robot driving technologies in recent years, we summarize the issues and challenges encountered in the advancement of soft robot actuation technology.展开更多
Permanent magnet synchronous motor based electro-mechanical actuation servo drives have widespread applications in the aviation field,such as unmanned aerial vehicle electric servos,electric cabin doors,and mechanical...Permanent magnet synchronous motor based electro-mechanical actuation servo drives have widespread applications in the aviation field,such as unmanned aerial vehicle electric servos,electric cabin doors,and mechanical arms.The performance of the servo drive,which encompasses the response to the torque,efficiency,control bandwidth and the steady-state positioning accuracy,significantly influences the performance of the aviation actuation.Consequently,enhancing the control bandwidth and refining the positioning accuracy of aviation electro-mechanical actuation servo drives have emerged as a focal point of research.This paper investigates the multi-source disturbances present in aviation electro-mechanical actuation servo systems and summarizes recent research on high-performance servo control methods based on active disturbance rejection control(ADRC).We present a comprehensive overview of the research status pertaining to servo control architecture,strategies for suppressing disturbances in the current loop,and ADRC-based strategies for the position loop.We delineate the research challenges and difficulties encountered by aviation electro-mechanical actuation servo drive control technology.展开更多
Projective synchronization problems of a drive system and a particular response network were investigated,where the drive system is an arbitrary system with n+1 dimensions;it may be a linear or nonlinear system,and ev...Projective synchronization problems of a drive system and a particular response network were investigated,where the drive system is an arbitrary system with n+1 dimensions;it may be a linear or nonlinear system,and even a chaotic or hyperchaotic system,the response network is complex system coupled by N nodes,and every node is showed by the approximately linear part of the drive system.Only controlling any one node of the response network by designed controller can achieve the projective synchronization.Some numerical examples were employed to verify the effectiveness and correctness of the designed controller.展开更多
Stimulated Raman scattering(SRS)under a new ignition path that combines the advantages of direct-drive(DD)and indirect-drive(ID)schemes is investigated experimentally at the Shenguang-100 kJ facility.The results show ...Stimulated Raman scattering(SRS)under a new ignition path that combines the advantages of direct-drive(DD)and indirect-drive(ID)schemes is investigated experimentally at the Shenguang-100 kJ facility.The results show that collective SRS in the plasma produced by ablating a polyimide film is detected for the ID beams,but is suppressed by adding a toe before the main pulse of the ID beams.The toe also strongly influences SRS of both the ID and DD beams excited in the plasma generated in the hohlraum.When a toe is used,the SRS spectra of the DD beams show that SRS tends to be excited in lower plasma density,which will result in a lower risk of super-hot electrons.Measurements of hot electrons support this conclusion.This research will help us produce a better pulse design for this new ignition path.展开更多
Sine-wave drive and square-wave drive are two common motor control strategies.This study constructs a mathematical model capable of predicting the distribution of electromagnetic force waves in synchronous reluctance ...Sine-wave drive and square-wave drive are two common motor control strategies.This study constructs a mathematical model capable of predicting the distribution of electromagnetic force waves in synchronous reluctance motors(SynRMs)under these two drive methods,and comparatively analyzes the vibration phenomena induced by electromagnetic forces under different drive methods.It aims to provide an effective tool for predicting the distribution of electromagnetic force waves in SynRMs,while exploring the influence of drive modes on their vibration characteristics.The study focuses on a 4-pole,36-slot 5.5 kW SynRM.Based on the magnetomotive force(MMF)-permeance method,incorporating the special rotor structure and the characteristics of current harmonics under square-wave drive,an air-gap flux distribution function is established.Meanwhile,Maxwell’s stress tensor method is adopted to analyze how the air-gap flux density relates to electromagnetic excitation force waves.Subsequently,this analysis is applied to forecast the spatiotemporal distribution features of radial electromagnetic force waves.Finite element simulations are conducted to compute the modal and vibration responses of the SynRM,followed by a comparative analysis of the vibration characteristics under the two drive methods.Additionally,a 6-pole,36-slot SynRM is used for additional comparative verification.Ultimately,the effectiveness of the simulation results is verified through experiments.展开更多
Abnormal driving behavior includes driving distraction,fatigue,road anger,phone use,and an exceptionally happy mood.Detecting abnormal driving behavior in advance can avoid traffic accidents and reduce the risk of tra...Abnormal driving behavior includes driving distraction,fatigue,road anger,phone use,and an exceptionally happy mood.Detecting abnormal driving behavior in advance can avoid traffic accidents and reduce the risk of traffic conflicts.Traditional methods of detecting abnormal driving behavior include using wearable devices to monitor blood pressure,pulse,heart rate,blood oxygen,and other vital signs,and using eye trackers to monitor eye activity(such as eye closure,blinking frequency,etc.)to estimate whether the driver is excited,anxious,or distracted.Traditional monitoring methods can detect abnormal driving behavior to a certain extent,but they will affect the driver’s normal driving state,thereby introducing additional driving risks.This research uses the combined method of support vector machine and dlib algorithm to extract 68 facial feature points from the human face,and uses an SVM model as a strong classifier to classify different abnormal driving statuses.The combined method reaches high accuracy in detecting road anger and fatigue status and can be used in an intelligent vehicle cabin to improve the driving safety level.展开更多
Understanding the local ecological security status and its underlying drivers can be used as an effective reference for balancing ecosystem development with societal needs. This study assesses the ecological security ...Understanding the local ecological security status and its underlying drivers can be used as an effective reference for balancing ecosystem development with societal needs. This study assesses the ecological security of the Loess Plateau(LP) by integrating ecosystem health and ecosystem services, explores the varying impacts of ecosystem structure, quality, and services on ecological security index(ESI), and identifies the key driving factors of ESI using the Geodetector model. The results show that:(1) the average ESI indicates a relatively safe ecological status in LP with a significant increase in ESI observed in 50.21% of the region, largely due to the ecological restoration programs.(2) Natural factors predominantly influence ESI, although human factors play a significant role in the earthy-rocky mountain region and plateau wind-sand region.(3) The interactions between driving factors have a much greater impact on ESI than any single factor, with the interactions between precipitation and human factors being the most influential combination. This study provides a novel perspective on assessing ecological security in LP. We recommend that future ecological restoration efforts should consider the varying roles of ecosystem structure, quality, and services in ESI while tailoring strategies to the primary driving factors based on local conditions.展开更多
With the continuous escalation of modern war,soldiers need to transport more combat materials to the combat area.The limited load-bearing capacity of soldiers seriously restricts their carrying capacity and mobility.I...With the continuous escalation of modern war,soldiers need to transport more combat materials to the combat area.The limited load-bearing capacity of soldiers seriously restricts their carrying capacity and mobility.It is urgent to develop a power-assisted exoskeleton robot suitable for individual combat.In the past,most power-assisted exoskeleton robots were driven by motors.This driving method has an excellent power-assisted effect,but the endurance is often insufficient.In view of this shortcoming,this study designed an ankle exoskeleton robot based on an active-passive combined drive through simulation analysis of human motion.It used OpenSim software to simulate and verify that the addition of spring could achieve a good effect.At the same time,according to the gait characteristics of the human body,the gait planning of an exoskeleton robot was carried out.Afterwards,theoretical analysis explained that the cooperation among spring,motor and wearer could be realized in this gait.Finally,the assisting ability and driving coordination of the active-passive combination driven ankle exoskeleton robot were verified through experiments.展开更多
Based on regional paleoclimate sequences,records of human activities,paleoclimate simulations,and detailed environmental historical records,we discuss the impacts of Holocene climate change and human activities on the...Based on regional paleoclimate sequences,records of human activities,paleoclimate simulations,and detailed environmental historical records,we discuss the impacts of Holocene climate change and human activities on the evolution of the Shule River in the western Qilian Mountains,China.The results indicate that during the early to mid-Holocene,the river evolution of the Shule River alluvial fan was closely related to regional climate fluctuations.In the late Holocene,flood agriculture began to emerge along the Shule River.During the historical period,population growth and the expansion of arable land led to increased river water usage,resulting in decreased access to the expected distribution of water resources in other regions,which in turn has caused imbalances in the regional hydrological ecosystem.展开更多
Despite great achievement has been made in autonomous driving technologies,autonomous vehicles(AVs)still exhibit limitations in intelligence and lack social coordination,which is primarily attributed to their reliance...Despite great achievement has been made in autonomous driving technologies,autonomous vehicles(AVs)still exhibit limitations in intelligence and lack social coordination,which is primarily attributed to their reliance on single-agent technologies,neglecting inter-AV interactions.Current research on multi-agent autonomous driving(MAAD)predominantly focuses on either distributed individual learning or centralized cooperative learning,ignoring the mixed-motive nature of MAAD systems,where each agent is not only self-interested in reaching its own destination but also needs to coordinate with other traffic participants to enhance efficiency and safety.Inspired by the mixed motivation of human driving behavior and their learning process,we propose a novel mixed motivation driven social multi-agent reinforcement learning method for autonomous driving.In our method,a multi-agent reinforcement learning(MARL)algorithm,called Social Learning Policy Optimization(SoLPO),which takes advantage of both the individual and social learning paradigms,is proposed to empower agents to rapidly acquire self-interested policies and effectively learn socially coordinated behavior.Based on the proposed SoLPO,we further develop a mixed-motive MARL method for autonomous driving combined with a social reward integration module that can model the mixed-motive nature of MAAD systems by integrating individual and neighbor rewards into a social learning objective for improved learning speed and effectiveness.Experiments conducted on the MetaDrive simulator show that our proposed method outperforms existing state-of-the-art MARL approaches in metrics including the success rate,safety,and efficiency.More-over,the AVs trained by our method form coordinated social norms and exhibit human-like driving behavior,demonstrating a high degree of social coordination.展开更多
Electric vehicle(EV) drive trains are constantly subjected to an imbalance between demanded torque and generated electromagnetic torque due to unpredictable terrain, traffic, and other external factors. This imbalance...Electric vehicle(EV) drive trains are constantly subjected to an imbalance between demanded torque and generated electromagnetic torque due to unpredictable terrain, traffic, and other external factors. This imbalance leads to significant torsional vibrations and speed fluctuations, which not only compromise passenger comfort but also exert additional mechanical stress on the EVs. Conventional sensorless methods offer speed estimation and control;however, they provide suboptimal performance with sudden load torque disturbances and operational uncertainties, especially at low speeds and across diverse real-world driving cycles. To address these challenges and improve system robustness, this work proposes an advanced sensorless integral sliding mode control(ASISMC) that enhances performance under diverse operating conditions. The proposed ASISMC methodology shows robust performance across a wide speed range, effectively mitigating abrupt load torque disturbances while minimizing the effect of uncertainties within the system dynamics. The approach is experimentally validated for a wide range of speeds and periodic/non-periodic load torque disturbances. Additional validation through the new European driving cycle(NEDC) and urban dynamometer driving schedule(UDDS) demonstrates the method's effectiveness and reliability in real-world driving conditions.展开更多
The Hydro-Viscous Drive(HVD)speed regulating system finds extensive application in air transport transmission systems to regulate the stepless speed or conduct overload protection.However,its intrinsic hysteretic beha...The Hydro-Viscous Drive(HVD)speed regulating system finds extensive application in air transport transmission systems to regulate the stepless speed or conduct overload protection.However,its intrinsic hysteretic behaviors,such as the asymmetric hysteretic and dead zone,could introduce inaccuracy and delay in control applications,posing challenges to system regulation.This paper investigates a Nonlinear Hysteresis Compensation Control(NHCC)that consists of two parts to control the HVD output speed by operating the valve under different engine operating conditions.In the first part,the Inverse Hysteresis Compensator(IHC)based on major loop data is introduced for the asymmetric hysteresis characterization and compensation of the HVD speed control system of the power generation and distribution,which aims to reduce the hysteresis and dead zone effect and expand the effective input range.In the second part,the Active Disturbance Rejection Controller(ADRC)is employed to mitigate the hysteresis effects of the compensated system and remove the steady-state error,which allows real-time compensation of the estimated perturbations as state feedback to achieve the required performance.An experimental laboratory station has been fabricated to evaluate the proposed method.The test results show that the NHCC method can regulate the fan speed to the desired value(45 r/min at steady state)and broaden the effective input range to the full range under different engine conditions.Besides,the proposed control method can reduce the non-linearity of the input and output curves(from 18%to 4%)and compensate for the asymmetric hysteresis(from 38%to 5%).展开更多
Quantifying grassland changes and their drivers is essential to ensure the stability of grassland resources in China.We established a research framework with two primary objectives:to evaluate grassland degradation an...Quantifying grassland changes and their drivers is essential to ensure the stability of grassland resources in China.We established a research framework with two primary objectives:to evaluate grassland degradation and restoration over the past 30 years,and to quantify the contributions of climate change and anthropogenic activities to these changes across different grassland cover types.The results revealed that despite a net loss of 6.87×10^(4)km^(2)in China's total grassland area from 1990 to 2020,the proportion of high-coverage grassland increased by 2.45%,demonstrating an improvement in productivity per unit area.Conversion of grassland to cropland was the dominant land change type,with 80.83%occurring in the western part of the Northwest Ecological Region.Although the total degraded grassland area reached 3.33×10^(5)km^(2)during 1990-2020,this degradation was overwhelmingly dominated by the mild level(94.98%),with severe degradation accounting for only 5.02%.A comparison of the periods 2000-2010 and 1990-2000 revealed that grassland restoration became enhanced in the northeastern part of the Qinghai-Tibet Plateau Ecological Region but degradation intensified in the southwestern part.Moreover,mobile grazing emerged as the primary anthropogenic driver of grassland changes.These new findings provide an important scientific basis for adaptable grassland resource protection and grassland-livestock balanced management.展开更多
The performance degradation of vehicle engine cylinder heads is a complex phenomenon,and the accurate prediction of their remaining useful life is essential for maintenance planning.To address the problem of low predi...The performance degradation of vehicle engine cylinder heads is a complex phenomenon,and the accurate prediction of their remaining useful life is essential for maintenance planning.To address the problem of low prediction accuracy caused by insufficient data mining depth in current prediction models for the remaining service life of engine cylinder heads,a prediction method of dualchannel model is proposed.Firstly,the driving status data of multiple vehicles is summarized and analyzed,and the on-board network common variables related to cylinder head life are screened.Secondly,driving segments are defined,the driving state features of each driving segment are extracted,and feature correlation analysis and principal component analysis are performed.All driving state profiles of the vehicle are divided using the clustering algorithm,and the cumulative degradation factors for driving state profiles are defined and calculated.Furthermore,the mileage of each driving segment is classified into intervals by applying fuzzy set theory,and the state transfer probability matrices of driving state profiles and driving segment mileage are calculated.A new engine head life prediction model based on dual channel Markov chain(DCMC)is established.Finally,the proposed method is applied to the residual life prediction of cylinder head of seven actual vehicles,and the comparison with actual life statistics results proved the validity of the proposed method.展开更多
文摘In order to eliminate the meshing interference between the flexspline and circular spline after the taper deformation of the flexspline,the radial deformation difference method,major and minor axis fitting method,and ellipse fitting method are used to modify the tooth thickness of the flexspline and analyze the performance indexes such as the assembly stress,transmission error,and fatigue life.Firstly,the conjugate tooth profile is solved based on the quadruple-circular-arc tooth profile and modified kinematic method.Then,based on the finite element radial deformation of the flexspline,the principle and characteristics of three modification methods are analyzed,and the modification amount of each section of the flexspline tooth is calculated.Finally,the influence of the three modification methods on the performance of the harmonic drive is compared.The results show that the radial deformation difference method can initially determine the modification amount.The minimum static assembly stress is 406.22 MPa by the major and minor axis fitting method.The ellipse fitting method has the best dynamic performance,small transmission error fluctuation,a peak-to-peak value of 3.060",and a maximum fatigue life of 10^(7.558)cycles.
基金Project(2024YFB3410402)supported by the National Key R&D Program of ChinaProject(52075558)supported by the National Natural Science Foundation of China+2 种基金Project(2021RC3012)supported by the Science and Technology Innovation Program of Hunan Province,ChinaProject(2023CXQD050)supported by the Central South University Innovation-Driven Research Program,ChinaProject(CX20230255)supported by the Fundamental Research Funds for the Central Universities,China。
文摘This study develops a contact performance-driven method for skiving face gear drives using a single cutter,eliminating the traditional need for separate cutters to reduce production costs and time.First,the mathematical models of the tooth flanks for the face gear drives are established based on the gear skiving processes.Then,load tooth contact analysis(LTCA)model is established to calculate the contact performance data.Next,a two-stage optimization model is employed to determine the optimal parameters of the cutting edge with improved contact performances.The effectiveness of this method is validated through simulations and rolling tests.Compared with the traditional method,the proposed method can machine both the face gear and its mating pinion with a single cutter.Simulation results show that the proposed method avoids tooth surface edge contact,with the maximum tooth surface contact stress reduced by 31.7%,the contact ratio decreases by 21.5%,and the transmission error increases by 22.3%.Rolling tests verify the consistency of tooth surface contact patterns between simulations and experiments.The proposed method provides a reference for the cutting edge design of skiving cutters for face gear pairs.
基金supported in part by the National Natural Science Foundation of China under Grant 52077002。
文摘Model predictive control(MPC)has been deemed as an attractive control method in motor drives by virtue of its simple structure,convenient multi-objective optimization,and satisfactory dynamic performance.However,the strong reliance on mathematical models seriously restrains its practical application.Therefore,improving the robustness of MPC has attained significant attentions in the last two decades,followed by which,model-free predictive control(MFPC)comes into existence.This article aims to reveal the current state of MFPC strategies for motor drives and give the categorization from the perspective of implementation.Based on this review,the principles of the reported MFPC strategies are introduced in detail,as well as the challenges encountered in technology realization.In addition,some of typical and important concepts are experimentally validated via case studies to evaluate the performance and highlight their features.Finally,the future trends of MFPC are discussed based on the current state and reported developments.
基金Projects(52205069,52075083,52304049)supported by the National Natural Science Foundation of ChinaProject(2021-BS-164)supported by the Liaoning Province Doctoral Research Startup Fund,China+2 种基金Project(LJKZ0264)supported by the Science and Technology Research Projects of Education Department of Liaoning Province,ChinaProject(G2022003010L)supported by the High-end Foreign Experts Recruitment Plan of ChinaProject(E2021203095)supported by the Natural Science Foundation for Young Scholars of Hebei Province,China。
文摘The worm wheel whose undercutting characteristic is researched is a member of offsetting normal arc-toothed cylindrical worm drive.The tooth profile of the worm in its offsetting normal section is a circular arc.The normal vector used to calculate the first-type limit function is determined in the natural frame without the aid of the curvature parameter of worm helicoid.The first-type limit line is ascertained via solving the nonlinear equations iteratively.It is discovered that one first-type limit line exists on the tooth surface of worm wheel by numerical simulation,and such a line is normally located out of the meshing zone.Only one intersection point exists between the first and second-types of limit lines,and this point is a lubrication weak point.The undercutting mechanism is essentially that a part of the meshing zone near the conjugated line of worm tooth crest will come into the undercutting area and will be cut off during machining the worm wheel.The machining simulation verifies the correctness of undercutting mechanism.Moreover,a convenient and practical characteristic quantity is proposed to judge whether the undercutting exists in the whole meshing zone via computing the first-type limit function values on the worm tooth crest.
基金Fundamental Research Funds for the Central Universities(No.2024JBMC011)Aeronautical Science Foundation of China(No.2024Z0560M5001).
文摘This article provides a comprehensive exploration of the current research landscape in the field of soft actuation technology applied to bio-inspired soft robots. In sharp contrast to their conventional rigid counterparts, bio-inspired soft robots are primarily constructed from flexible materials, conferring upon them remarkable adaptability and flexibility to execute a multitude of tasks in complex environments. However, the classification of their driving technology poses a significant challenge owing to the diverse array of employed driving mechanisms and materials. Here, we classify several common soft actuation methods from the perspectives of the sources of motion in bio-inspired soft robots and their bio-inspired objects, effectively filling the classification system of soft robots, especially bio-inspired soft robots. Then, we summarize the driving principles and structures of various common driving methods from the perspective of bionics, and discuss the latest developments in the field of soft robot actuation from the perspective of driving modalities and methodologies. We then discuss the application directions of bio-inspired soft robots and the latest developments in each direction. Finally, after an in-depth review of various soft bio-inspired robot driving technologies in recent years, we summarize the issues and challenges encountered in the advancement of soft robot actuation technology.
基金supported by the National Natural Science Foundation of China(Nos.52177059 and 52407064).
文摘Permanent magnet synchronous motor based electro-mechanical actuation servo drives have widespread applications in the aviation field,such as unmanned aerial vehicle electric servos,electric cabin doors,and mechanical arms.The performance of the servo drive,which encompasses the response to the torque,efficiency,control bandwidth and the steady-state positioning accuracy,significantly influences the performance of the aviation actuation.Consequently,enhancing the control bandwidth and refining the positioning accuracy of aviation electro-mechanical actuation servo drives have emerged as a focal point of research.This paper investigates the multi-source disturbances present in aviation electro-mechanical actuation servo systems and summarizes recent research on high-performance servo control methods based on active disturbance rejection control(ADRC).We present a comprehensive overview of the research status pertaining to servo control architecture,strategies for suppressing disturbances in the current loop,and ADRC-based strategies for the position loop.We delineate the research challenges and difficulties encountered by aviation electro-mechanical actuation servo drive control technology.
基金Supported by the National Natural Science Foundation of China (11161027)。
文摘Projective synchronization problems of a drive system and a particular response network were investigated,where the drive system is an arbitrary system with n+1 dimensions;it may be a linear or nonlinear system,and even a chaotic or hyperchaotic system,the response network is complex system coupled by N nodes,and every node is showed by the approximately linear part of the drive system.Only controlling any one node of the response network by designed controller can achieve the projective synchronization.Some numerical examples were employed to verify the effectiveness and correctness of the designed controller.
基金supported by the National Natural Science Foundation of China(Grant Nos.12205274,12275251,12105270,12205272,12305262,and 12035002)the National Key Laboratory of Plasma Physics(Grant No.JCKYS2024212803)+2 种基金the Fund of the National Key Laboratory of Plasma Physics(Grant No.6142A04230103)the National Key R&D Program of China(Grant No.2023YFA1608400)the National Security Academic Fund(Grant No.U2430207).
文摘Stimulated Raman scattering(SRS)under a new ignition path that combines the advantages of direct-drive(DD)and indirect-drive(ID)schemes is investigated experimentally at the Shenguang-100 kJ facility.The results show that collective SRS in the plasma produced by ablating a polyimide film is detected for the ID beams,but is suppressed by adding a toe before the main pulse of the ID beams.The toe also strongly influences SRS of both the ID and DD beams excited in the plasma generated in the hohlraum.When a toe is used,the SRS spectra of the DD beams show that SRS tends to be excited in lower plasma density,which will result in a lower risk of super-hot electrons.Measurements of hot electrons support this conclusion.This research will help us produce a better pulse design for this new ignition path.
基金supported by the Science and Technology Project of State Grid Corporation of China Headquarters under Grant 5500-202416156A-1-1-ZN.
文摘Sine-wave drive and square-wave drive are two common motor control strategies.This study constructs a mathematical model capable of predicting the distribution of electromagnetic force waves in synchronous reluctance motors(SynRMs)under these two drive methods,and comparatively analyzes the vibration phenomena induced by electromagnetic forces under different drive methods.It aims to provide an effective tool for predicting the distribution of electromagnetic force waves in SynRMs,while exploring the influence of drive modes on their vibration characteristics.The study focuses on a 4-pole,36-slot 5.5 kW SynRM.Based on the magnetomotive force(MMF)-permeance method,incorporating the special rotor structure and the characteristics of current harmonics under square-wave drive,an air-gap flux distribution function is established.Meanwhile,Maxwell’s stress tensor method is adopted to analyze how the air-gap flux density relates to electromagnetic excitation force waves.Subsequently,this analysis is applied to forecast the spatiotemporal distribution features of radial electromagnetic force waves.Finite element simulations are conducted to compute the modal and vibration responses of the SynRM,followed by a comparative analysis of the vibration characteristics under the two drive methods.Additionally,a 6-pole,36-slot SynRM is used for additional comparative verification.Ultimately,the effectiveness of the simulation results is verified through experiments.
文摘Abnormal driving behavior includes driving distraction,fatigue,road anger,phone use,and an exceptionally happy mood.Detecting abnormal driving behavior in advance can avoid traffic accidents and reduce the risk of traffic conflicts.Traditional methods of detecting abnormal driving behavior include using wearable devices to monitor blood pressure,pulse,heart rate,blood oxygen,and other vital signs,and using eye trackers to monitor eye activity(such as eye closure,blinking frequency,etc.)to estimate whether the driver is excited,anxious,or distracted.Traditional monitoring methods can detect abnormal driving behavior to a certain extent,but they will affect the driver’s normal driving state,thereby introducing additional driving risks.This research uses the combined method of support vector machine and dlib algorithm to extract 68 facial feature points from the human face,and uses an SVM model as a strong classifier to classify different abnormal driving statuses.The combined method reaches high accuracy in detecting road anger and fatigue status and can be used in an intelligent vehicle cabin to improve the driving safety level.
基金National Natural Science Foundation of China,No.42371103Natural Science Basic Research Plan in Shaanxi Province of China,No.2023-JC-YB-229。
文摘Understanding the local ecological security status and its underlying drivers can be used as an effective reference for balancing ecosystem development with societal needs. This study assesses the ecological security of the Loess Plateau(LP) by integrating ecosystem health and ecosystem services, explores the varying impacts of ecosystem structure, quality, and services on ecological security index(ESI), and identifies the key driving factors of ESI using the Geodetector model. The results show that:(1) the average ESI indicates a relatively safe ecological status in LP with a significant increase in ESI observed in 50.21% of the region, largely due to the ecological restoration programs.(2) Natural factors predominantly influence ESI, although human factors play a significant role in the earthy-rocky mountain region and plateau wind-sand region.(3) The interactions between driving factors have a much greater impact on ESI than any single factor, with the interactions between precipitation and human factors being the most influential combination. This study provides a novel perspective on assessing ecological security in LP. We recommend that future ecological restoration efforts should consider the varying roles of ecosystem structure, quality, and services in ESI while tailoring strategies to the primary driving factors based on local conditions.
基金the National Natural Science Foundation of China(No.52075264)。
文摘With the continuous escalation of modern war,soldiers need to transport more combat materials to the combat area.The limited load-bearing capacity of soldiers seriously restricts their carrying capacity and mobility.It is urgent to develop a power-assisted exoskeleton robot suitable for individual combat.In the past,most power-assisted exoskeleton robots were driven by motors.This driving method has an excellent power-assisted effect,but the endurance is often insufficient.In view of this shortcoming,this study designed an ankle exoskeleton robot based on an active-passive combined drive through simulation analysis of human motion.It used OpenSim software to simulate and verify that the addition of spring could achieve a good effect.At the same time,according to the gait characteristics of the human body,the gait planning of an exoskeleton robot was carried out.Afterwards,theoretical analysis explained that the cooperation among spring,motor and wearer could be realized in this gait.Finally,the assisting ability and driving coordination of the active-passive combination driven ankle exoskeleton robot were verified through experiments.
基金The National Natural Science Foundation of China(Grant 42371159)。
文摘Based on regional paleoclimate sequences,records of human activities,paleoclimate simulations,and detailed environmental historical records,we discuss the impacts of Holocene climate change and human activities on the evolution of the Shule River in the western Qilian Mountains,China.The results indicate that during the early to mid-Holocene,the river evolution of the Shule River alluvial fan was closely related to regional climate fluctuations.In the late Holocene,flood agriculture began to emerge along the Shule River.During the historical period,population growth and the expansion of arable land led to increased river water usage,resulting in decreased access to the expected distribution of water resources in other regions,which in turn has caused imbalances in the regional hydrological ecosystem.
基金supported in part by the National Natural Science Foundation of China(62273135,62373356)the Natural Science Foundation of Hubei Province in China(2025AFA083)+1 种基金the Original Exploration Seed Project of Hubei University(202416403000001)the Postgraduate Education and Teaching Reform Research Project of Hubei University(1190017755).
文摘Despite great achievement has been made in autonomous driving technologies,autonomous vehicles(AVs)still exhibit limitations in intelligence and lack social coordination,which is primarily attributed to their reliance on single-agent technologies,neglecting inter-AV interactions.Current research on multi-agent autonomous driving(MAAD)predominantly focuses on either distributed individual learning or centralized cooperative learning,ignoring the mixed-motive nature of MAAD systems,where each agent is not only self-interested in reaching its own destination but also needs to coordinate with other traffic participants to enhance efficiency and safety.Inspired by the mixed motivation of human driving behavior and their learning process,we propose a novel mixed motivation driven social multi-agent reinforcement learning method for autonomous driving.In our method,a multi-agent reinforcement learning(MARL)algorithm,called Social Learning Policy Optimization(SoLPO),which takes advantage of both the individual and social learning paradigms,is proposed to empower agents to rapidly acquire self-interested policies and effectively learn socially coordinated behavior.Based on the proposed SoLPO,we further develop a mixed-motive MARL method for autonomous driving combined with a social reward integration module that can model the mixed-motive nature of MAAD systems by integrating individual and neighbor rewards into a social learning objective for improved learning speed and effectiveness.Experiments conducted on the MetaDrive simulator show that our proposed method outperforms existing state-of-the-art MARL approaches in metrics including the success rate,safety,and efficiency.More-over,the AVs trained by our method form coordinated social norms and exhibit human-like driving behavior,demonstrating a high degree of social coordination.
文摘Electric vehicle(EV) drive trains are constantly subjected to an imbalance between demanded torque and generated electromagnetic torque due to unpredictable terrain, traffic, and other external factors. This imbalance leads to significant torsional vibrations and speed fluctuations, which not only compromise passenger comfort but also exert additional mechanical stress on the EVs. Conventional sensorless methods offer speed estimation and control;however, they provide suboptimal performance with sudden load torque disturbances and operational uncertainties, especially at low speeds and across diverse real-world driving cycles. To address these challenges and improve system robustness, this work proposes an advanced sensorless integral sliding mode control(ASISMC) that enhances performance under diverse operating conditions. The proposed ASISMC methodology shows robust performance across a wide speed range, effectively mitigating abrupt load torque disturbances while minimizing the effect of uncertainties within the system dynamics. The approach is experimentally validated for a wide range of speeds and periodic/non-periodic load torque disturbances. Additional validation through the new European driving cycle(NEDC) and urban dynamometer driving schedule(UDDS) demonstrates the method's effectiveness and reliability in real-world driving conditions.
文摘The Hydro-Viscous Drive(HVD)speed regulating system finds extensive application in air transport transmission systems to regulate the stepless speed or conduct overload protection.However,its intrinsic hysteretic behaviors,such as the asymmetric hysteretic and dead zone,could introduce inaccuracy and delay in control applications,posing challenges to system regulation.This paper investigates a Nonlinear Hysteresis Compensation Control(NHCC)that consists of two parts to control the HVD output speed by operating the valve under different engine operating conditions.In the first part,the Inverse Hysteresis Compensator(IHC)based on major loop data is introduced for the asymmetric hysteresis characterization and compensation of the HVD speed control system of the power generation and distribution,which aims to reduce the hysteresis and dead zone effect and expand the effective input range.In the second part,the Active Disturbance Rejection Controller(ADRC)is employed to mitigate the hysteresis effects of the compensated system and remove the steady-state error,which allows real-time compensation of the estimated perturbations as state feedback to achieve the required performance.An experimental laboratory station has been fabricated to evaluate the proposed method.The test results show that the NHCC method can regulate the fan speed to the desired value(45 r/min at steady state)and broaden the effective input range to the full range under different engine conditions.Besides,the proposed control method can reduce the non-linearity of the input and output curves(from 18%to 4%)and compensate for the asymmetric hysteresis(from 38%to 5%).
基金The Postgraduate Research Innovation Project of Department of Education of Inner Mongolia Autonomous Region,No.KC2024029BThe Strategic Priority Research Program of the Chinese Academy of Sciences,No.XDA23100201The Second Tibetan Plateau Scientific Expedition and Research Program,No.2019QZKK0608。
文摘Quantifying grassland changes and their drivers is essential to ensure the stability of grassland resources in China.We established a research framework with two primary objectives:to evaluate grassland degradation and restoration over the past 30 years,and to quantify the contributions of climate change and anthropogenic activities to these changes across different grassland cover types.The results revealed that despite a net loss of 6.87×10^(4)km^(2)in China's total grassland area from 1990 to 2020,the proportion of high-coverage grassland increased by 2.45%,demonstrating an improvement in productivity per unit area.Conversion of grassland to cropland was the dominant land change type,with 80.83%occurring in the western part of the Northwest Ecological Region.Although the total degraded grassland area reached 3.33×10^(5)km^(2)during 1990-2020,this degradation was overwhelmingly dominated by the mild level(94.98%),with severe degradation accounting for only 5.02%.A comparison of the periods 2000-2010 and 1990-2000 revealed that grassland restoration became enhanced in the northeastern part of the Qinghai-Tibet Plateau Ecological Region but degradation intensified in the southwestern part.Moreover,mobile grazing emerged as the primary anthropogenic driver of grassland changes.These new findings provide an important scientific basis for adaptable grassland resource protection and grassland-livestock balanced management.
基金Supported by the Open Project Fund of the National Key Laboratory of Internal Combustion Engine and Power System(No.skler-202102).
文摘The performance degradation of vehicle engine cylinder heads is a complex phenomenon,and the accurate prediction of their remaining useful life is essential for maintenance planning.To address the problem of low prediction accuracy caused by insufficient data mining depth in current prediction models for the remaining service life of engine cylinder heads,a prediction method of dualchannel model is proposed.Firstly,the driving status data of multiple vehicles is summarized and analyzed,and the on-board network common variables related to cylinder head life are screened.Secondly,driving segments are defined,the driving state features of each driving segment are extracted,and feature correlation analysis and principal component analysis are performed.All driving state profiles of the vehicle are divided using the clustering algorithm,and the cumulative degradation factors for driving state profiles are defined and calculated.Furthermore,the mileage of each driving segment is classified into intervals by applying fuzzy set theory,and the state transfer probability matrices of driving state profiles and driving segment mileage are calculated.A new engine head life prediction model based on dual channel Markov chain(DCMC)is established.Finally,the proposed method is applied to the residual life prediction of cylinder head of seven actual vehicles,and the comparison with actual life statistics results proved the validity of the proposed method.
