With the aid of different types of mechanoreceptors,human is capable of perceiving stimuli from surrounding environments and manipulating various objects dexterously.In this paper,a bio-inspired tactile fingertip is d...With the aid of different types of mechanoreceptors,human is capable of perceiving stimuli from surrounding environments and manipulating various objects dexterously.In this paper,a bio-inspired tactile fingertip is designed mimicking human fingertip in both structures and functionalities.Two pairs of strain gages and(Polyvinylidene Fluoride)PVDF films are perpendicularly arranged to simulate the Fast-Adapting(FA)and Slowly Adapting(SA)type mechanoreceptors in human hands,while silicones,Polymethyl Methacrylate(PMMA),and electronic wires are applied to mimic the skin,bone and nerve fibers.Both static and dynamic forces can be perceived sensitively.A preprocessing electric circuit is further designed to transform the resistor changes into voltages,and then filter and amplify the four-channel signals.In addition to strong robustness due to the embedded structure,the developed fingertip is found sensitive to deformations via a force test experiment.Finally,two robotic experiments explore its recognition ability of contact status and object surface.Excellent performance is found with high accuracy of 99.72%achieved in discriminating six surfaces that are ubiquitous in daily life,which demonstrates the effectiveness of our designed tactile sensor.展开更多
An eight-channel force loading system is presented, which adopts position control system and force control system switching model, small flow servo valve controlled capacious cylinder system scheme, intelligent PID al...An eight-channel force loading system is presented, which adopts position control system and force control system switching model, small flow servo valve controlled capacious cylinder system scheme, intelligent PID algorithm and distributed load approach. Through the analyses of the equivalent model of valve controlled cylinder force subsystem, a controller based on intelligent PID algorithm is designed, which is not sensitive to the variation of parameters such as environmental stiffness. According to the coupling of multiple load channels, a distributed load approach is employed in the superior monitor computer. Experimental results show that the system designed has high precision and robustness.展开更多
This paper mainly focuses on the establishment of an effective static estimation method for the extreme wind-induced force for clips between purlins and metal panels of the standing-seam metal roofing system(hereinaft...This paper mainly focuses on the establishment of an effective static estimation method for the extreme wind-induced force for clips between purlins and metal panels of the standing-seam metal roofing system(hereinafter referred to as SMRS)of typical double-slope light-weight steel portal frame structure considering dynamic characteristics of wind and structure.First,simultaneous pressure measurement with rigid gable roof models was conducted mainly considering the length-span ratio in the boundary layer wind tunnel of Tokyo Polytechnic University,Japan.Then,finite element modeling for SMRS according to the wind load path in the roofing system was carried out to check the actual wind load of the clips based on the traditional calculation method provided in design codes,and the spatial correlation of fluctuating wind pressure on the roof surface,as well as the dynamic effect of the roof structure itself,had been considered.According to the related Chinese,American,and Japanese codes,a magnification coefficient based on the traditional method of static wind-induced force for the clips was calculated and compared.Finally,a simplified estimation method of effective wind-induced force for the clips in typical zones on the roof surface considering dynamic characteristics was proposed.展开更多
Ultrasonic vibration technology has great potential to weaken hard rocks.Understanding the effect of ultrasonic vibration loading parameters is essential to accelerate the application of this technology in practical r...Ultrasonic vibration technology has great potential to weaken hard rocks.Understanding the effect of ultrasonic vibration loading parameters is essential to accelerate the application of this technology in practical rock engineering.In the present work,three-factor mixed-level orthogonal ultrasonic vibration rock breaking tests were conducted to investigate the influence of the main loading parameters,including confining pressure,vibration frequency,and static force,on the damage of granite specimens.The individual and combined influences were analyzed according to the porosity increase and P-wave decrease of granite specimens using the variance analysis method.The results show that the combined effect of the static force and vibration frequency mainly promotes fatigue damage of specimens,that the confining pressure determines the damage behaviour and failure mode of specimens under ultrasonic vibration,and that the confining pressure and vibration frequency are the main factors that cause the fracture concentration in the upper part of specimens,an effect mechanistically driven by the obvious load energy attenuation.The research results provide theoretical guidance for the application of ultrasonic vibration technology.展开更多
Failure analysis of railway draw-hook coupler was carried out.The nondestructive testing method was undertaken on some failed couplers in service to designate critical areas of a coupler.Draw-Hook coupler is used to c...Failure analysis of railway draw-hook coupler was carried out.The nondestructive testing method was undertaken on some failed couplers in service to designate critical areas of a coupler.Draw-Hook coupler is used to connect with the same hook coupler or automatic coupler.The influence of each connection types on the coupler strength in this study was discussed.A numerical stress analysis using FEM was performed,and many approaches including critical plane approach were carried out on fatigue life prediction of coupler under different conditions.The results of the proposed fatigue criterion and fatigue life predictions,as well as static numerical analysis,are validated with experimental results.展开更多
By using the molecular dynamic simulation method with a fourth-order Runge--Kutta algorithm, a two-dimensional dc- and ac-driven Frenkel--Kontorova （FK） model with a square symmetry substrate potential for a square ...By using the molecular dynamic simulation method with a fourth-order Runge--Kutta algorithm, a two-dimensional dc- and ac-driven Frenkel--Kontorova （FK） model with a square symmetry substrate potential for a square lattice layer has been investigated in this paper. For this system, the effects of many different parameters on the average velocity and the static friction force have been studied. It is found that not only the amplitude and frequency of ac-driven force, but also the direction of the external driving force and the misfit angle between two layers have some strong influences on the static friction force. It can be concluded that the superlubricity phenomenon appears easily with a larger ac amplitude and lower ac frequency for some special direction of the external force and misfit angle.展开更多
In this paper, a self contained capsubot （capsule robot） propulsion mechanism is investigated. The proposed capsubot works on the principle of internal force-static friction. A modified linear DC motor is used to dr...In this paper, a self contained capsubot （capsule robot） propulsion mechanism is investigated. The proposed capsubot works on the principle of internal force-static friction. A modified linear DC motor is used to drive the capsubot. A novel acceleration profile is proposed for the moving part （linear cylinder） based on the principle. A significant feature of the proposed capsubot is that it is legless, wheelless, and trackless. The developed capsubot with a proposed propulsion mechanism demonstrates a very good average velocity. The propulsion mechanism has the potential to be used for the propulsion of a wireless-controlled self-propelling capsule endoscope. Simulation and experimental results demonstrate the performance of the self-contained capsubot with the proposed acceleration profile.展开更多
Climbing robots are being developed for various applications.The confined space requires a compact locomotion system with vertical and overhead climbing ability.To achieve surface transition,Steering geometry Interact...Climbing robots are being developed for various applications.The confined space requires a compact locomotion system with vertical and overhead climbing ability.To achieve surface transition,Steering geometry Interaction system and static force are used.WSNs ubiquitous infrastructure and excellent coverage,they can be used for providing location information for various location-based services,especially in indoor environments.This structure is designed for a magnetic wall-climbing robot to gradually decrease the magnetic force when it is transiting between perpendicular magnetic surfaces.This paper describes the design process of a magnetic wall climbing robot,which adopts SgI and has the potential to carry materials in a confined space with an energy efficient system model.To resolve the problem of target tracking,it is essential to deploy a system model.Over the last two decades,several researchers have recommended many remote user authentication schemes.Researchers are continuously trying to enhance the security in material handling automation system by introducing several features into their work.A working prototype has been built based on the optimized dimension.展开更多
基金funded by National Natural Science Foundation of China under Grant No.52205009Natural Science Foundation of Jiangsu Province under Grant No.BK20210233Open Foundation of the State Key Laboratory of Fluid Power and Mechatronic Systems.
文摘With the aid of different types of mechanoreceptors,human is capable of perceiving stimuli from surrounding environments and manipulating various objects dexterously.In this paper,a bio-inspired tactile fingertip is designed mimicking human fingertip in both structures and functionalities.Two pairs of strain gages and(Polyvinylidene Fluoride)PVDF films are perpendicularly arranged to simulate the Fast-Adapting(FA)and Slowly Adapting(SA)type mechanoreceptors in human hands,while silicones,Polymethyl Methacrylate(PMMA),and electronic wires are applied to mimic the skin,bone and nerve fibers.Both static and dynamic forces can be perceived sensitively.A preprocessing electric circuit is further designed to transform the resistor changes into voltages,and then filter and amplify the four-channel signals.In addition to strong robustness due to the embedded structure,the developed fingertip is found sensitive to deformations via a force test experiment.Finally,two robotic experiments explore its recognition ability of contact status and object surface.Excellent performance is found with high accuracy of 99.72%achieved in discriminating six surfaces that are ubiquitous in daily life,which demonstrates the effectiveness of our designed tactile sensor.
文摘An eight-channel force loading system is presented, which adopts position control system and force control system switching model, small flow servo valve controlled capacious cylinder system scheme, intelligent PID algorithm and distributed load approach. Through the analyses of the equivalent model of valve controlled cylinder force subsystem, a controller based on intelligent PID algorithm is designed, which is not sensitive to the variation of parameters such as environmental stiffness. According to the coupling of multiple load channels, a distributed load approach is employed in the superior monitor computer. Experimental results show that the system designed has high precision and robustness.
基金financial support of the National Key Research and Development Program of China(No.2017YFC0703803)the Joint Usage/Research Center(JURC)project“Wind-induced Load Estimation for Clips of Standing-seam Roofing System Considering Dynamic Characteristics”from Tokyo Polytechnic University(2018 FY)the National Natural Science Foundation of China(Grant No.51978500).
文摘This paper mainly focuses on the establishment of an effective static estimation method for the extreme wind-induced force for clips between purlins and metal panels of the standing-seam metal roofing system(hereinafter referred to as SMRS)of typical double-slope light-weight steel portal frame structure considering dynamic characteristics of wind and structure.First,simultaneous pressure measurement with rigid gable roof models was conducted mainly considering the length-span ratio in the boundary layer wind tunnel of Tokyo Polytechnic University,Japan.Then,finite element modeling for SMRS according to the wind load path in the roofing system was carried out to check the actual wind load of the clips based on the traditional calculation method provided in design codes,and the spatial correlation of fluctuating wind pressure on the roof surface,as well as the dynamic effect of the roof structure itself,had been considered.According to the related Chinese,American,and Japanese codes,a magnification coefficient based on the traditional method of static wind-induced force for the clips was calculated and compared.Finally,a simplified estimation method of effective wind-induced force for the clips in typical zones on the roof surface considering dynamic characteristics was proposed.
基金This study was funded by the National Natural Science Foundation of China(Project Name:Research on mechanism of ultrasonic vibration breaking rock,Project No.41572356).
文摘Ultrasonic vibration technology has great potential to weaken hard rocks.Understanding the effect of ultrasonic vibration loading parameters is essential to accelerate the application of this technology in practical rock engineering.In the present work,three-factor mixed-level orthogonal ultrasonic vibration rock breaking tests were conducted to investigate the influence of the main loading parameters,including confining pressure,vibration frequency,and static force,on the damage of granite specimens.The individual and combined influences were analyzed according to the porosity increase and P-wave decrease of granite specimens using the variance analysis method.The results show that the combined effect of the static force and vibration frequency mainly promotes fatigue damage of specimens,that the confining pressure determines the damage behaviour and failure mode of specimens under ultrasonic vibration,and that the confining pressure and vibration frequency are the main factors that cause the fracture concentration in the upper part of specimens,an effect mechanistically driven by the obvious load energy attenuation.The research results provide theoretical guidance for the application of ultrasonic vibration technology.
文摘Failure analysis of railway draw-hook coupler was carried out.The nondestructive testing method was undertaken on some failed couplers in service to designate critical areas of a coupler.Draw-Hook coupler is used to connect with the same hook coupler or automatic coupler.The influence of each connection types on the coupler strength in this study was discussed.A numerical stress analysis using FEM was performed,and many approaches including critical plane approach were carried out on fatigue life prediction of coupler under different conditions.The results of the proposed fatigue criterion and fatigue life predictions,as well as static numerical analysis,are validated with experimental results.
基金supported by the National Natural Science Foundation of China (Grand Nos. 50575217, 10875098 and 50421502)the Natural Science Foundation of Northwest Normal University (Grant Nos. NWNU-KJCXGC-03-17 and NWNU-KJCXGC-03-48)
文摘By using the molecular dynamic simulation method with a fourth-order Runge--Kutta algorithm, a two-dimensional dc- and ac-driven Frenkel--Kontorova （FK） model with a square symmetry substrate potential for a square lattice layer has been investigated in this paper. For this system, the effects of many different parameters on the average velocity and the static friction force have been studied. It is found that not only the amplitude and frequency of ac-driven force, but also the direction of the external driving force and the misfit angle between two layers have some strong influences on the static friction force. It can be concluded that the superlubricity phenomenon appears easily with a larger ac amplitude and lower ac frequency for some special direction of the external force and misfit angle.
基金supported by EPSRC funded UK-Japan Network on Human Adaptive Mechatronics Project (No. EP/E025250/1)EU Erasmus Mundus Project-eLINK (No. EM ECW-ref.149674-EM-1-2008-1-UK-ERAMUNDUS)
文摘In this paper, a self contained capsubot （capsule robot） propulsion mechanism is investigated. The proposed capsubot works on the principle of internal force-static friction. A modified linear DC motor is used to drive the capsubot. A novel acceleration profile is proposed for the moving part （linear cylinder） based on the principle. A significant feature of the proposed capsubot is that it is legless, wheelless, and trackless. The developed capsubot with a proposed propulsion mechanism demonstrates a very good average velocity. The propulsion mechanism has the potential to be used for the propulsion of a wireless-controlled self-propelling capsule endoscope. Simulation and experimental results demonstrate the performance of the self-contained capsubot with the proposed acceleration profile.
文摘Climbing robots are being developed for various applications.The confined space requires a compact locomotion system with vertical and overhead climbing ability.To achieve surface transition,Steering geometry Interaction system and static force are used.WSNs ubiquitous infrastructure and excellent coverage,they can be used for providing location information for various location-based services,especially in indoor environments.This structure is designed for a magnetic wall-climbing robot to gradually decrease the magnetic force when it is transiting between perpendicular magnetic surfaces.This paper describes the design process of a magnetic wall climbing robot,which adopts SgI and has the potential to carry materials in a confined space with an energy efficient system model.To resolve the problem of target tracking,it is essential to deploy a system model.Over the last two decades,several researchers have recommended many remote user authentication schemes.Researchers are continuously trying to enhance the security in material handling automation system by introducing several features into their work.A working prototype has been built based on the optimized dimension.
