bluuebunny/crossref_metadata_2025_split huggingface dataset:
Prediction of Output Force of Pneumatic System Using BP Neural Network
Authors: Jiang Fei , Zhang Wenqun , Chen Jia 
Published: December 2022

AbstractThe dynamics of complex pneumatic systems are highly non-linear. The traditional modeling method has many flaws, such as a large number of influencing parameters, difficulty solving expressions, and an easy accumulation of errors. The models obtained by the traditional method are often inaccurate and difficult to be adopted for accurate control. In this paper, the pneumatic system of a hybrid electric-pneumatic actuator was analyzed theoretically and tested experimentally. A BP neural network model for the pneumatic system inflation and deflation was developed by selecting appropriate state parameters, and a prediction algorithm was proposed to predict the output force of the system for a period of time during the process of inflation (deflation). The results showed that it was feasible to adopt this method to predict the output force of the pneumatic system containing the common switch valve. The prediction of output force variation is good within the range of experimental data. It provides an effective method for the dynamic modeling of complex pneumatic systems. The prediction results within the sample range were better than those outside the sample range. In the future, the training sample data can be increased to improve the prediction accuracy of the model.
Rapid Detection Method of Pipe Inner Diameter Based on Binocular Vision
Authors: Wang Yuzhang , Yang Guizhi , Gao Wenxiang , Ke Jiaxin , Huan Zhijie , Chen Lihua 
Published: December 2022

Abstract
With the rapid development of robotics, automatic pipeline detection has become a research hotspot in recent years. The existing pipeline diameter automatic detection method needs to calculate a large number of clouds, which is inefficient and difficult to play a role in real-time pipeline detection. Therefore, this paper proposes a fast detection method based on binocular vision to achieve real-time detection of the inner diameter of the pipeline. According to the gradient diagram of the color image after the down-sampling, adaptive double-threshold edge detection is proposed to calculate the edge points. Then an improved BM stereo matching algorithm is proposed to obtain the disparity map of edge points quickly. The least square method is finally used for fitting the edge point coordinates to calculate the inner diameter of the pipeline. The experimental results show that the system has strong accuracy and high efficiency, which can meet the needs of real-time detection of the inner diameter of the pipeline.
Design and kinematics analysis of AGV with unilateral climbing rack in the roadway
Authors: Cao Chongzhen , Xu Haohao , Wang Fengqin , Song Hong , Liang Fuxing 
Published: December 2022

Abstract
To improve the speed of intelligent transformation of warehousing and logistics, a unilateral climbing shelf-type AGV in warehouse aisles is proposed. The modular design is adopted, and the crawling drive module, the cargo module, and the telescopic rotating arm are combined to form an AGV that can walk in all directions on the ground, climb, and traverse along the shelf track to complete the storage and retrieval operations. After the scheme is determined, 3D modeling is carried out through SliodWorks, performing static stress analysis on key stressed components. The kinematic model of the transition stage between ground and climbing is established by analytical method, and the kinematics simulation of the transition stage is completed in the SliodWorks Motion module. The results show that the movement speed curve of the cargo module is smooth, and there is no rigid impact. The Lagrangian dynamics equation is established for the transition process of AGV ground and climb, which provides a theoretical basis for control design. The overall structure of the AGV is reasonable, and the transition stage between the ground and the climb runs smoothly, meeting the design requirements.
Research on Collision Detection Algorithm for Human-SRL Collaborative Motion Planning
Authors: Zhang Xiaobo , Liu Jinguo 
Published: December 2022

Abstract
The existing collision detection algorithms are commonly based on triangle patch models, which leads to complex detection logic. Aiming at this problem, this paper proposes a new collision detection algorithm. It has simple detection logic and fast detection speed, and it is mainly used for human-SRL cooperative motion planning. The algorithm is based on a human-SRL skeleton model and a multi-sphere envelope method and includes four sub-algorithms, namely, a multi-sphere envelope sub-algorithm, an SRL collision detection sub-algorithm, a collision detection sub-algorithm between SRL and human, and a collision detection sub-algorithm between SRL and environment objects. This paper first introduces the pseudo-code of the collision detection algorithm. Secondly, the implementation principles of its four sub-algorithms are expounded. Finally, the correctness of the collision detection algorithm is verified by simulation.
Game Theory Methods for Pursuit-Evasion Problems
Authors: Li Yi , Liu Mingxin , Luan Peiyu , Zhou Junchi 
Published: December 2022

Abstract
In this article, two environment modeling methods and two methods are used to solve the pursuit-evasion game problem. It separately introduces several methods based on graph and geometry – all with the same goal of reducing the time for the pursuers to capture all the evaders. Corresponding experiment data and results are also listed. Furthermore, two methods, the differential game theory-based method and decentralization will also be introduced to solve the pursuit-evasion games. These two methods will be discussed under the condition of multiple pursuers and evaders. The number of pursuers is equal to the number of evaders. The experiment results, as well as the difference between the two methods, will be shown specifically in the following chapters.
Design of Orbital Mobile Robot System for Electroplating Production Line
Authors: Liu Jinan , Diao Han , Guo Ziyi , Zhu Xiaoxiao , Cao Qixin 
Published: December 2022

Abstract
For different electroplating processes, there are many automatic electroplating production lines at present, but there is still no long-distance electroplating production line for small batches and multiple varieties of plated parts. Therefore, this paper proposes a set of orbital mobile robot systems to improve the production efficiency and quality of electroplating and reduce the uncertainty of manual control. The hardware of the system is composed of an orbital car and a robotic arm. The orbital car includes mobile positioning and a holding brake mechanism and the robotic arm adopts KUKA kr20-r2100 industrial robot. According to the logic of moving and grabbing, the control framework of the system is determined. A lot of field experiments show that the designed system can adapt to the factory environment and automatically complete the scheduling tasks assigned by the system.
Adaptive regulation strategy of the soft deformable actuator based on angle self-sensing
Authors: Yao Haiying , Wen Yintang , Zhou Zixiang , Tian Hongmiao , Zhang Yuyan , Luo Xiaoyuan 
Published: December 2022

Abstract
Soft robots can adapt to various unstructured environments and have received extensive attention. The integrated structure of sensing and actuation makes soft robots more miniaturized and integrated, enriching their usage scenarios. The multiple degrees of freedom of soft actuators facilitate flexible deformation but also bring challenges to precisely control the deformation. This work presents a novel Liquid Crystal Elastomer-based soft actuator with self-sensing. The kinetic model of a soft finger structure made of the above soft actuator is proposed to facilitate the controller design. Considering the non-predetermined external excitation, a deformation regulation strategy based on a sliding mode controller is designed. Under the action of the controller, the bending angle of the finger joint can be stabilized in a smaller range around the desired value based on the feedback of the self-sensing information. This research realizes the integration of sensing, actuation, and control, enabling the flexible structure can organically adapt to the environmental dynamics and uncertainty in nature, which cannot be achieved by the existing flexible structure deformation control.
A Mobile Robot Mapping Method Integrating Lidar and Depth Camera
Authors: Jia Lu , Ma Zhengguang , Zhao Yongguo 
Published: December 2022

Abstract
For mobile robots in uncertain and complex environments, a single sensor obtains a single set of environmental information, creates maps with low accuracy, is easily disturbed by external factors, and easily collides with obstacles in the navigation process. In this paper, we propose a depth camera and LiDAR fusion map building method, which firstly collects data using the LiDAR and depth camera on board the mobile robot, and then preprocesses the collected radar data and depth data and builds a 2D local environment map using RTAB-MAP algorithm. Finally, the local maps are fused using a voxel filter to stitch together a complete global map to complete the map construction. Experimental validation on a ROS-based mobile robot platform shows that the map built using multi-sensor fusion is more complete, presenting more comprehensive environmental information and laying the foundation for subsequent navigation.
Configuration Enumeration of Multi-Limb Reconfigurable Modular Robots
Authors: Feng Jingkai , Liu Jinguo 
Published: December 2022

Abstract
By introducing modular and reconfigurable designs, the Multi-limb Reconfigurable Modular Robots (MLRMR) have many different configurations instead of a single fixed configuration, which greatly expands the boundaries of the operation. However, the number of non-isomorphic configurations increases exponentially with the number of modules, making it necessary to explore the enumeration method theoretically. Based on the group theory, the permutation groups of the Multi-limb (including three-limb, four-limb, and five-limb) Reconfigurable Modular Robots are established in this paper, and the theoretical formulas of configuration enumeration are derived by applying the Pólya enumeration theorem. This work can be used as the basis of configuration analysis.
Design and Realization of Mobile Robot Driven by Omnidirectional Wheels
Authors: Shi Qi , Wang Jucheng 
Published: December 2022

Abstract
Omnidirectional mobile robot refers to a robot technology that can move in any direction on the ground. Aiming at the problems of complex control, low driving efficiency, and poor carrying capacity of ordinary omnidirectional mobile robots, an omnidirectional wheel-driven mobile robot was proposed. The robot can achieve traverse characteristic motion with zero gyration radius without changing its attitude. Through the kinematic analysis of the mobile robot equipped with this wheelset, the omnidirectional motion function of efficient driving is verified. Prototype experiments show that the robot can effectively improve space utilization and intelligence in scenarios with limited space.
Design of an Underwater Vehicle for Adjusting Course by a Rudder Control Strategy
Authors: Li Te , Shao Hua , He Kai , Zhang Hua , Zuo Qiyang 
Published: December 2022

Abstract
Most underwater vehicles (UV) adjust their attitude depending on the direct thrust of their propellers at different parts or change their course through the rudder during moving at high speed. However, it is hard for the rudder to function at a low speed. This paper introduces the design and control of a UV that can work at various speeds, including the structure design and control method. This UV can adjust the attitude with three rudders. The top rudder controls the left-right heading in high-speed motion. The left and right rudders have two degrees of freedom (DOF), respectively, and the twisting degree of freedom, the same as the conventional rudder, is used to control the ascent and descent during high-speed motion. The unique feature is that the flapping degree of freedom allows the UV to adjust its heading at low speed or hovering, which is challenging with the conventional rudder control method. In this paper, we design an experiment to verify the function of the flapping steering, and the result shows the scheme’s feasibility.
The Research on the Mobile Measuring Robot Technology
Authors: Wang Kaiqiang , Li Di , Li Lifei , Chi Shengfeng 
Published: December 2022

Abstract
At present, the traditional construction method of engineering measurement relies on the cooperation of many people, who need to manually level the measuring instruments to measure and set them point by point, which has low construction efficiency and cannot meet the application requirements of modern engineering construction measurement. Therefore, it is necessary to develop mobile measuring robots. This paper mainly studies the model, operation flow, measurement accuracy, and data stability of the mobile measuring robot. The results show that the mobile measuring robot has high measurement efficiency, measurement accuracy, and data stability, and can replace the traditional survey for measurement construction.
Collision Avoidance for Multi-robot Navigation
Authors: Li Zimu 
Published: December 2022

Abstract
This paper introduces two representative distributed navigation methods with collision avoidance algorithms for multi-agent systems, the Reciprocal Velocity Obstacle method and the Buffered Voronoi Cell-based method. The definitions and principles of these two methods are introduced firstly by explaining the meaning of each function and making examples. Secondly, each method has a validation experiment to simulate them. By doing those simulations, the stability and performance are proven to fit the designers’ ideals. Finally, the result is shown as pictures to visualize the success of both methods. This paper may be seen as a reference to design a multi-robot system or develop a new approach to navigation algorithm.
Design of hydraulic pneumatic control system for rail grinding car
Authors: An Zhaozhe , Zhang Nan , Du Yujie 
Published: December 2022

Abstract
This paper comprehensively uses the knowledge of mechatronics, mechanical structure, etc. The grinding wheel and cradle frame of the rail grinding car is studied and designed. The grinding wheel is controlled by a pneumatic servo, and the cradle frame is controlled by a hydraulic system. According to the accuracy requirements of the rail grinding car, the pneumatic servo schematic diagram of the grinding wheel to achieve precise grinding, the schematic diagram of the hydraulic control system in which the cradle frame can turn accurately, the AMESim software working interface model is established, the actual working parameters of the system components are set. After the hydraulic profiling system is designed, simulation, test, and analysis are carried out.
Study on aerodynamic force and aerothermal effect of two-dimensional wedge wave rider with different passivation shape of the head
Authors: Guo Liuming , Fang Shuzhou 
Published: December 2022

Abstract
With the rapid development of space technology, hypersonic vehicles flying at altitudes of 20-100 km near space are showing more and more important application value, and how to solve the serious aerodynamic heating problem caused by hypersonic vehicles in the process of flight is the focus of current research. In this paper, the simplified two-dimensional wedge-shaped waveride is treated with the passivation leading edge by the Computational Fluid Dynamics (CFD) method, and the aerodynamic and aerothermal properties of the hypersonic continuous flow basin are numerically simulated. The flow field structure of the model is analyzed, and the law of heat-resistant rise is revealed. The research contents mainly include the characteristics of body head heat flux and body lift-drag ratio under different passivation shapes. Within the research scope: 1. The larger the passivation radius, the more effective it is to reduce the head heat flux. When the passivation radius is 2 mm, the reduction is about 82.5%. 2. The larger the passivation radius, the more serious the lift-drag ratio reduction. When the passivation radius is 2mm, the maximum reduction is about 72.4%; 3. The four passivation leading edge modes have the best thermal protection effect when the passivation radius R is the same, and the lift-drag ratio of the Bezier curve passivation leading edge mode is the largest.
Impact Analysis of Thermo-mechanical Deformation to the Unlocking Performance of Locking Device for Manipulator on Chinese Space Station
Authors: Zhang Li , Tang Zixin , Chen Ming , Fu Yang , Li Delun , Ma Kai 
Published: December 2022

Abstract
As one kind of large-scale on-orbit deployable motion mechanism, the launch state of the manipulator on the Chinese Space Station is fixed on the external surface of the Tian-He module by 41 locking-releasing devices. It covers an area of 3.5 meters in arc length and 4.6 meters in length. The locking-releasing device should not only be able to withstand the environmental load conditions of the launch stage and in-orbit stage but also can release the manipulator reliably after going through the thermal and dynamic changes. Three factors cause the deformation of the locking-releasing device before unlocking the manipulator. The first deformation is caused by the module from the atmospheric conditions to the vacuum conditions. The second deformation is thermal deformation which is caused by the temperature changes in the module and manipulator. The locking-releasing devices bear the overload force during the launch stage will cause the third deformation. The numerical simulating analysis shows that the deformation is not beyond the allowable range. The manipulator was unlocked successfully after it was launched together with the Tian-He module. It is verified that the deformation caused by the change of thermo-mechanical conditions from the launch stage to the orbit stage does not affect the unlocking performance of the locking-releasing device.
Application of different porous materials for hydrogen storage
Authors: Wang Yujue 
Published: December 2022

Abstract
Energy is regarded as a key resource that may encourage numerous companies to expand and flourish given the rapid advancement of technology. However, due to the contamination of the usage of traditional fossil fuels, deploying new and clean energy resources is the concentrated solution. New energy sources such as wind energy and solar energy are constantly being developed. In addition, three methods exist for storing hydrogen that is a typical clean energy source, including compressed gas storage, cryogenic liquid gas storage, and hydrogen storage materials via adsorption and desorption. As a result, hydrogen storage is receiving more and more attention, and different hydrogen storage materials have been developed. This research will introduce the application of four different types of porous materials in the field of hydrogen storage, including zeolites, activated carbons (AC), carbon nanotubes (CNTs), and metal-organic frameworks (MOFs). Hydrogen can be successfully adsorbed on these materials to varying degrees through chemisorption and physisorption. For improving the hydrogen storage capability (HSC), synthetic strategies such as doping metal elements and synthesizing composite porous materials were designed and used to enhance the hydrogen storage properties of the materials. In the future, satisfying the U.S. Department of Energy (DOE) target would stimulate more and more great-performing porous materials to be synthesized, which can provide a new idea for new hydrogen storage technologies.
Research on the vacuum aging performance of HTPB propellant based on the DSC method
Authors: Tang Yuqing , Deng Hanyu , Liao Tenghui , Qi Yingjian 
Published: December 2022

Abstract
The space environment has extreme conditions such as high vacuum and rapid temperature changes, which will lead to problems such as energy drop, irregular burning rate, and abnormal ignition of solid propellants. To obtain the space aging law of HTPB propellant, the aging performance of HTPB (hydroxyl-terminated polybutadiene) propellant in a vacuum environment was studied and compared with that under the atmosphere. According to the DSC test results of the propellant before and after aging, the behaviors of oxidative crosslinking, chain-scission degradation, and oxidant decomposition during the aging process of solid propellant were investigated. The research showed that the low-temperature endothermic peak and “V-type” high-temperature exothermic peak temperature of HTPB propellant increased after aging, and the high-temperature peak bifurcated into “W-type” double peaks. The right peak caused by the “decarboxylation” reaction was more obvious after atmospheric aging while the left peak caused by AP decomposition was remarkable after vacuum aging. In addition, the oxidative crosslinking reaction occurred after aging, and the activation energy characterized by low-temperature peaks continued to increase. In the later stage of atmospheric aging, chain-scission degradation occurred due to OA moisture absorption, and the activation energy decreased. It firstly increased by 126% within 93 days, and then decreased by 23.4%. No degradation and chain-scission reaction occurred in a vacuum environment, the crosslinking reaction rate was high, and the activation energy increased by 40.4% within 49 days. After the aging of the HTPB propellant, the internal AP decomposed, and the activation energy characterized by the high-temperature exothermic right peak continued to increase. The activation energy increased by 40.5% within 49 days after vacuum aging, and increased by 29.9% within 93 days after atmospheric aging, indicating that the decomposition of AP in the HTPB propellant was more obvious under a vacuum environment.
Analysis and Research on Vibration Characteristics of Nuclear Centrifugal Pumps Rotor Rubbing Fault
Authors: Luo Xiaohui , Yang Jie 
Published: December 2022

Abstract
To investigate the vibration characteristics of nuclear centrifugal pumps rotor rubbing fault, the mechanical model of rotor rub is established, and the causes, types, and mechanisms of rotor rub fault are introduced. Taking the HAZ50-250 Type Horizontal single-stage centrifugal pump prototype as the object, through a reasonable test scheme, the vibration test and analysis of the rotor under different rub conditions were carried out using the Enpac2500 Dual channel spectrum analyzer, and the fault data of different rub impact degrees were collected. Combining the characteristics of vibration parameters such as time-domain, frequency-domain, and axis trajectory, it is found that the time-domain signal of rub fault shows an obvious “Top Clipping phenomenon.” The frequency-domain signal is mainly concentrated in one-time rotation frequency, two times rotation frequency, and a large number of nonlinear high harmonics. The axis trajectory will produce a concave image in the rub direction. In the actual rotor rub vibration fault diagnosis, it is necessary to comprehensively judge the vibration caused in combination with the operating state of the centrifugal pump, the state of the time domain, the frequency domain, and the axis trajectory. Based on the analyzed spectrum characteristics of the rub impact vibration, it is applied to the vibration fault diagnosis case of the centrifugal pump in the power plant, which timely prevents the pump damage and other faults caused by the deterioration of the rub impact fault, and plays a key role in the safe and stable operation of the centrifugal pump. It also provides an important reference for pump design and vibration fault diagnosis of rotating equipment in nuclear power plants.