Design of Human Adaptive Mechatronics Controller for Upper Limb Motion Intention Prediction

Human Adaptive Mechatronics(HAM)includes human and computer system in a closed loop.Elderly person with disabilities,normally carry out their daily routines with some assistance to move their limbs.With the short fall of human care takers,mechatronics devices are used with the likes of exoskeleton and exosuits to assist them.The rehabilitation and occupational therapy equipments utilize the electromyography(EMG)signals to measure the muscle activity potential.This paper focuses on optimizing the HAM model in prediction of intended motion of upper limb with high accuracy and to increase the response time of the system.Limb characteristics extraction from EMG signal and prediction of optimal controller parameters are modeled.Time and frequency based approach of EMG signal are considered for feature extraction.The models used for estimating motion and muscle parameters from EMG signal for carrying out limb movement predictions are validated.Based on the extracted features,optimal parameters are selected by Modified Lion Optimization(MLO)for controlling the HAM system.Finally,supervised machine learning makes predictions at different points in time for individual sensing using Support Vector Neural Network(SVNN).This model is also evaluated based on optimal parameters of motion estimation and the accuracy level along with different optimization models for various upper limb movements.The proposed model of human adaptive controller predicts the limb movement by 96%accuracy.

水田动力底盘逆向建模与质心验证——基于Geomagic Design X

针对目前农业机械仿真和优化模型精度不高的问题,提出了一种构建精确模型的逆向建模方法。应用光学扫描仪采集点云数据,基于Geomagic Design X处理点云数据并重构零部件模型,在SolidWorks中完成水田动力底盘的装配。以VP6D-CQ型水田动力底盘为例,将测得的实际质心位置与所建的模型质心位置进行比较,并对提出的逆向建模方法进行了试验验证以及误差分析。结果表明:总质量、x坐标、y坐标、z坐标的误差值分别为4.55%、3.62%、2.23%、4.81%,误差值均在5%内。此方法可构建准确的三维模型,为后续仿真优化数据精确性奠定了基础,与传统的研发相比较,可缩短农业机械研发周期、降低设计成本。

App Designer辅助教学方法探索与实践——以软件无线电课程为例

软件无线电作为通信学科的必修课程,具有承上启下的重要作用。因课程原理抽象、理论公式复杂,学员在学习过程存在理解掌握难、实践应用难等问题。通过对当前软件无线电教学过程中存在的不足与困难进行分析,提出利用MATLAB App Designer辅助课程教学,从教学准备、课堂互动、自主实验、反馈提升四个方面开展课程教学改革。实践表明,该方法对于提升学员的工程思维、系统思维具有显著效果,同时可以增强学员理论联系实际的能力。

Mechatronic Design and Maneuverability Analysis of a Novel Robotic Shark

In this paper,the mechatronic design and maneuverability analysis of a novel robotic shark are presented.To obtain good maneuverability,a barycenter regulating device is designed to assist the posture adjustment at low speeds.Based on the Newton-Euler approach,an analytical dynamic model is established with particular consideration of pectoral fins for threedimensional motions.The hydrodynamic coefficients are computed using computational fluid dynamics(CFD)methods.Oscillation amplitudes and phases are determined by fitting an optimized fish body wave.The performance of the robotic shark is estimated by varying the oscillation frequency and offset angle.The results show that with oscillation frequency increasing,the swimming speed increases linearly.The robotic shark reaches the maximum swimming speed of 1.05 m/s with an oscillation frequency of 1.2 Hz.Furthermore,the turning radius decreases nonlinearly as the offset angle increased.The robotic shark reaches the minimum turning radius of 1.4 times the body length with 0.2 Hz frequency and 12°offset angle.In the vertical plane,as the pectoral fin angle increases,the diving velocity increases nonlinearly with increase rate slowing down.

Research on information technology of state monitoring and fault prediction for mechatronics system

The safety and reliability of mechatronics systems,particularly the high-end,large and key mechatronics equipment in service,can strongly influence on production efficiency,personnel safety,resources and environment.Based on the demands of development of modern industries and technologies such as international industry 4.0,Made-in-China 2025 and Internet + and so on,this paper started from revealing the regularity of evolution of running state of equipment and the methods of signal processing of low signal noise ratio,proposed the key information technology of state monitoring and earlyfault-warning for equipment,put forward the typical technical line and major technical content,introduced the application of the technology to realize modern predictive maintenance of equipment and introduced the development of relevant safety monitoring instruments.The technology will play an important role in ensuring the safety of equipment in service,preventing accidents and realizing scientific maintenance.

Customer-oriented Configuration Model for Modular MechatronicProducts: Application in Industrial Robot Design

The contradiction between manufacturing costs and customer demand of mechatronic products can be balanced by configuration design. The article proposes a customer-oriented configuration model for modular mechatronic products which makes up the shortfall in meeting customer needs for the traditional configuration de- sign mode. The elements of the modular mechatronic products configuration model including module, module connection and configuration knowledge are analyzed. And a formal representation method for configuration model elements combining with their characteristics is given. Based on the above research, an abstract configuration model of modular mechatronic products is designed. Finally, an industrial robot is used as an application exam- ple to build a customer-oriented industrial robot configuration model.

Experimental prototyping of the adhesion braking control system design concept for a mechatronic bogie

The dynamic parameters of a roller rig vary as the adhesion level changes.The change in dynamics parameters needs to be analysed to estimate the adhesion level.One of these parameters is noise emanating from wheel–rail interaction.Most previous wheel–rail noise analysis has been conducted to mitigate those noises.However,in this paper,the noise is analysed to estimate the adhesion condition at the wheel–rail contact interface in combination with the other methodologies applied for this purpose.The adhesion level changes with changes in operational and environmental factors.To accurately estimate the adhesion level,the influence of those factors is included in this study.The testing and verification of the methodology required an accurate test prototype of the roller rig.In general,such testing and verification involve complex experimental works required by the intricate nature of the adhesion process and the integration of the different subsystems(i.e.controller,traction,braking).To this end,a new reduced-scale roller rig is developed to study the adhesion between wheel and rail roller contact.The various stages involved in the development of such a complex mechatronics system are described in this paper.Furthermore,the proposed brake control system was validated using the test rig under various adhesion conditions.The results indicate that the proposed brake controller has achieved a shorter stopping distance as compared to the conventional brake controller,and the brake control algorithm was able to maintain the operational condition even at the abrupt changes in adhesion condition.

A Study on Conceptual Design of Mechatronic System

The conceptual design of mechatronic systems is addressed under the thrust of concurrent engineering and an enhanced conceptual design methodology describing the early design stage of mechatronic systems is presented through an example illustration of a pick and place robot.This methodology treats each feasible solution as a solution strategy.In the methodology,Quality Function Deployment(QFD)is used as a baseline for the analysis of the mapping from customers to engineering requirements,Axiomatic Design(AD)is adopted as a guideline to generate feasible,good design solution alternatives,and Theory of Inventive Problem Solving(TRIZ)is applied to deal with domain conflicts in design.

The 3+1 SysML View-Model in Model Integrated Mechatronics

Software is becoming the driving force in today’s mechatronic systems. It does not only realize a significant part of their functionality but it is also used to realize their most competitive advantages. However, the traditional development process is wholly inappropriate for the development of these systems that impose a tighter coupling of software with electronics and mechanics. In this paper, a synergistic integration of the constituent parts of mechatronic systems, i.e. mechanical, electronic and software is proposed though the 3+1 SysML view-model. SysML is used to specify the cen-tral view-model of the mechatronic system while the other three views are for the different disciplines involved. The widely used in software engineering V-model is extended to address the requirements set by the 3+1 SysML view-model and the Model Integrated Mechatronics (MIM) paradigm. A SysML profile is described to facilitate the application of the proposed view-model in the development of mechatronic systems.

Alloy design for laser powder bed fusion additive manufacturing:a critical review

Metal additive manufacturing(AM)has been extensively studied in recent decades.Despite the significant progress achieved in manufacturing complex shapes and structures,challenges such as severe cracking when using existing alloys for laser powder bed fusion(L-PBF)AM have persisted.These challenges arise because commercial alloys are primarily designed for conventional casting or forging processes,overlooking the fast cooling rates,steep temperature gradients and multiple thermal cycles of L-PBF.To address this,there is an urgent need to develop novel alloys specifically tailored for L-PBF technologies.This review provides a comprehensive summary of the strategies employed in alloy design for L-PBF.It aims to guide future research on designing novel alloys dedicated to L-PBF instead of adapting existing alloys.The review begins by discussing the features of the L-PBF processes,focusing on rapid solidification and intrinsic heat treatment.Next,the printability of the four main existing alloys(Fe-,Ni-,Al-and Ti-based alloys)is critically assessed,with a comparison of their conventional weldability.It was found that the weldability criteria are not always applicable in estimating printability.Furthermore,the review presents recent advances in alloy development and associated strategies,categorizing them into crack mitigation-oriented,microstructure manipulation-oriented and machine learning-assisted approaches.Lastly,an outlook and suggestions are given to highlight the issues that need to be addressed in future work.

Design of a novel finger of DLR/HIT dextrous robot hand based on mechatronic integration

With the idea of mechatronic integration,a novel finger of the dextrous robot hand has been designed. The finger with nice envelop has four joints with three DOFs driven by three brushless DC motors with smaller size and more torque. The use of rigid gear head,bevel gears and linkage in the transmission system makes the finger more rigid. Abundant sensors such as joint angle sensors,joint torque sensors and temperature sensors are located in the finger. Integration and modularization are achieved at most by high integration of finger body,driving system,sensors and electronics.

Robotics and mechatronics for planetary surface exploration

The paper briefly addresses DLR' s ( German Aerospace Center) expertise in space robotics by handof corresponding milestone projects including systems on the International Space Station ISS. It then discussesthe key technologies needed for the development of an artificial "robonaut" generation with mechatronic ultra-light weight arms and multifingered hands. The third arm generation is nearly finished now, approaching thelimits of what is technologically achievable today with respect to light-weight and power losses. In a similar wayDLR' s second generation of artificial 4-fingered hands was a big step towards higher reliability, manipulabilityand overall performance.

Web Layout Design of Large Cavity Structures Based on Topology Optimization

Large cavity structures are widely employed in aerospace engineering, such as thin-walled cylinders, blades andwings. Enhancing performance of aerial vehicles while reducing manufacturing costs and fuel consumptionhas become a focal point for contemporary researchers. Therefore, this paper aims to investigate the topologyoptimization of large cavity structures as a means to enhance their performance, safety, and efficiency. By usingthe variable density method, lightweight design is achieved without compromising structural strength. Theoptimization model considers both concentrated and distributed loads, and utilizes techniques like sensitivityfiltering and projection to obtain a robust optimized configuration. The mechanical properties are checked bycomparing the stress distribution and displacement of the unoptimized and optimized structures under the sameload. The results confirm that the optimized structures exhibit improved mechanical properties, thus offering keyinsights for engineering lightweight, high-strength large cavity structures.

Design Principles and Mechanistic Understandings of Non-Noble-Metal Bifunctional Electrocatalysts for Zinc-Air Batteries

Zinc-air batteries(ZABs)are promising energy storage systems because of high theoretical energy density,safety,low cost,and abundance of zinc.However,the slow multi-step reaction of oxygen and heavy reliance on noble-metal catalysts hinder the practical applications of ZABs.Therefore,feasible and advanced non-noble-metal elec-trocatalysts for air cathodes need to be identified to promote the oxygen catalytic reaction.In this review,we initially introduced the advancement of ZABs in the past two decades and provided an overview of key developments in this field.Then,we discussed the work-ing mechanism and the design of bifunctional electrocatalysts from the perspective of morphology design,crystal structure tuning,interface strategy,and atomic engineering.We also included theoretical studies,machine learning,and advanced characterization technologies to provide a comprehensive understanding of the structure-performance relationship of electrocatalysts and the reaction pathways of the oxygen redox reactions.Finally,we discussed the challenges and prospects related to designing advanced non-noble-metal bifunctional electrocatalysts for ZABs.

Accelerated design of high-performance Mg-Mn-based magnesium alloys based on novel bayesian optimization

Magnesium(Mg),being the lightest structural metal,holds immense potential for widespread applications in various fields.The development of high-performance and cost-effective Mg alloys is crucial to further advancing their commercial utilization.With the rapid advancement of machine learning(ML)technology in recent years,the“data-driven''approach for alloy design has provided new perspectives and opportunities for enhancing the performance of Mg alloys.This paper introduces a novel regression-based Bayesian optimization active learning model(RBOALM)for the development of high-performance Mg-Mn-based wrought alloys.RBOALM employs active learning to automatically explore optimal alloy compositions and process parameters within predefined ranges,facilitating the discovery of superior alloy combinations.This model further integrates pre-established regression models as surrogate functions in Bayesian optimization,significantly enhancing the precision of the design process.Leveraging RBOALM,several new high-performance alloys have been successfully designed and prepared.Notably,after mechanical property testing of the designed alloys,the Mg-2.1Zn-2.0Mn-0.5Sn-0.1Ca alloy demonstrates exceptional mechanical properties,including an ultimate tensile strength of 406 MPa,a yield strength of 287 MPa,and a 23%fracture elongation.Furthermore,the Mg-2.7Mn-0.5Al-0.1Ca alloy exhibits an ultimate tensile strength of 211 MPa,coupled with a remarkable 41%fracture elongation.

Inverse design of mechanical metamaterial achieving a prescribedconstitutive curve

Besides exhibiting excellent capabilities such as energy absorption,phase-transforming metamaterials offer a vast design space for achieving nonlinear constitutive relations.This is facilitated by switching between different patterns under deformation.However,the related inverse design problem is quite challenging,due to the lack of appropriate mathematical formulation and the convergence issue in the post-buckling analysis of intermediate designs.In this work,periodic unit cells are explicitly described by the moving morphable voids method and effectively analyzed by eliminating the degrees of freedom in void regions.Furthermore,by exploring the Pareto frontiers between error and cost,an inverse design formulation is proposed for unit cells.This formulation aims to achieve a prescribed constitutive curve and is validated through numerical examples and experimental results.The design approach presented here can be extended to the inverse design of other types of mechanical metamaterials with prescribed nonlinear effective properties.

Machine learning for membrane design and discovery

Membrane technologies are becoming increasingly versatile and helpful today for sustainable development.Machine Learning(ML),an essential branch of artificial intelligence(AI),has substantially impacted the research and development norm of new materials for energy and environment.This review provides an overview and perspectives on ML methodologies and their applications in membrane design and dis-covery.A brief overview of membrane technologies isfirst provided with the current bottlenecks and potential solutions.Through an appli-cations-based perspective of AI-aided membrane design and discovery,we further show how ML strategies are applied to the membrane discovery cycle(including membrane material design,membrane application,membrane process design,and knowledge extraction),in various membrane systems,ranging from gas,liquid,and fuel cell separation membranes.Furthermore,the best practices of integrating ML methods and specific application targets in membrane design and discovery are presented with an ideal paradigm proposed.The challenges to be addressed and prospects of AI applications in membrane discovery are also highlighted in the end.

Rationally designing electrolyte additives for highly improving cyclability of LiNi_(0.5)Mn_(1.5)O_(4)/Graphite cells

High voltage is necessary for high energy lithium-ion batteries but difficult to achieve because of the highly deteriorated cyclability of the batteries.A novel strategy is developed to extend cyclability of a high voltage lithium-ion battery,LiNi_(0.5)Mn_(1.5)O_(4)/Graphite(LNMO/Graphite)cell,which emphasizes a rational design of an electrolyte additive that can effectively construct protective interphases on anode and cathode and highly eliminate the effect of hydrogen fluoride(HF).5-Trifluoromethylpyridine-trime thyl lithium borate(LTFMP-TMB),is synthesized,featuring with multi-functionalities.Its anion TFMPTMB-tends to be enriched on cathode and can be preferentially oxidized yielding TMB and radical TFMP-.Both TMB and radical TFMP can combine HF and thus eliminate the detrimental effect of HF on cathode,while the TMB dragged on cathode thus takes a preferential oxidation and constructs a protective cathode interphase.On the other hand,LTFMP-TMB is preferentially reduced on anode and constructs a protective anode interphase.Consequently,a small amount of LTFMP-TMB(0.2%)in 1.0 M LiPF6in EC/DEC/EMC(3/2/5,wt%)results in a highly improved cyclability of LNMO/Graphite cell,with the capacity retention enhanced from 52%to 80%after 150 cycles at 0.5 C between 3.5 and 4.8 V.The as-developed strategy provides a model of designing electrolyte additives for improving cyclability of high voltage batteries.

Deep Insight of Design,Mechanism,and Cancer Theranostic Strategy of Nanozymes

Since the discovery of enzyme-like activity of Fe3O4 nanoparticles in 2007,nanozymes are becoming the promising substitutes for natural enzymes due to their advantages of high catalytic activity,low cost,mild reaction conditions,good stability,and suitable for large-scale production.Recently,with the cross fusion of nanomedicine and nanocatalysis,nanozyme-based theranostic strategies attract great attention,since the enzymatic reactions can be triggered in the tumor microenvironment to achieve good curative effect with substrate specificity and low side effects.Thus,various nanozymes have been developed and used for tumor therapy.In this review,more than 270 research articles are discussed systematically to present progress in the past five years.First,the discovery and development of nanozymes are summarized.Second,classification and catalytic mechanism of nanozymes are discussed.Third,activity prediction and rational design of nanozymes are focused by highlighting the methods of density functional theory,machine learning,biomimetic and chemical design.Then,synergistic theranostic strategy of nanozymes are introduced.Finally,current challenges and future prospects of nanozymes used for tumor theranostic are outlined,including selectivity,biosafety,repeatability and stability,in-depth catalytic mechanism,predicting and evaluating activities.

The Application of Mechatronics Technology in Mechanical Engineering and Its Developing Direction

The development of modern science and technology has promoted the overlapping and mutual penetration among different disciplines, which led to the technological innovations in the field of mechanical engineering. The mechatronics technology conforms to the law of development of science and technology in today, and combines the mechanical technology and electronic technology together to integrate the logistics, energy flow and information flow. This paper briefly describes the concept of mechatronics and the elements of mechatronics technology, and elaborates on the application of mechatronics technology in three different areas of the Machinery Industry in the form of living examples, finally introduces the future developing direction of mechatronics technology.