In the domain of autonomous industrial manipulators,precise positioning and appropriate posture selection in path planning are pivotal for tasks involving obstacle avoidance,such as handling,heat sealing,and stacking....In the domain of autonomous industrial manipulators,precise positioning and appropriate posture selection in path planning are pivotal for tasks involving obstacle avoidance,such as handling,heat sealing,and stacking.While Multi-Degree-of-Freedom(MDOF)manipulators offer kinematic redundancy,aiding in the derivation of optimal inverse kinematic solutions to meet position and posture requisites,their path planning entails intricate multiobjective optimization,encompassing path,posture,and joint motion optimization.Achieving satisfactory results in practical scenarios remains challenging.In response,this study introduces a novel Reverse Path Planning(RPP)methodology tailored for industrial manipulators.The approach commences by conceptualizing the manipulator’s end-effector as an agent within a reinforcement learning(RL)framework,wherein the state space,action set,and reward function are precisely defined to expedite the search for an initial collision-free path.To enhance convergence speed,the Q-learning algorithm in RL is augmented with Dyna-Q.Additionally,we formulate the cylindrical bounding box of the manipulator based on its Denavit-Hartenberg(DH)parameters and propose a swift collision detection technique.Furthermore,the motion performance of the end-effector is refined through a bidirectional search,and joint weighting coefficients are introduced to mitigate motion in high-power joints.The efficacy of the proposed RPP methodology is rigorously examined through extensive simulations conducted on a six-degree-of-freedom(6-DOF)manipulator encountering two distinct obstacle configurations and target positions.Experimental results substantiate that the RPP method adeptly orchestrates the computation of the shortest collision-free path while adhering to specific posture constraints at the target point.Moreover,itminimizes both posture angle deviations and joint motion,showcasing its prowess in enhancing the operational performance of MDOF industrial manipulators.展开更多
For the detection environment of complex walls such as high-rise buildings,a double helix wall climbing robot(DHWCR)with strong adsorption force and good stability is designed and developed,which uses symmetrical prop...For the detection environment of complex walls such as high-rise buildings,a double helix wall climbing robot(DHWCR)with strong adsorption force and good stability is designed and developed,which uses symmetrical propellers to provide adsorption force.The symmetrical driving structure can provide smooth thrust for the DHWCR,so that the robot can be absorbed to the wall surface with different roughness.A left and right control frame with multiple degrees of freedom is designed,which can adjust the fixed position of the brushless propeller motor in the front and back directions,realize the continuous adjustable thrust direction of the robot,and improve the flexibility of the robot movement.Using the front wheel steering mechanism with universal joint,the steering control of the DHWCR is realized by differential control.In the vertical to ground transition,the front and rear brushless motors can provide the pull up and oblique thrust,so that the DHWCR can smoothly transition to the vertical wall.The motion performance and adaptability of the DHWCR in the horizontal ground and vertical wall environment are tested.The results show that the DHWCR can switch motion between the horizontal ground and vertical wall,and can stably adsorb on the vertical wall with flexible attitude control.The DHWCR can move at a fast speed.The speed on the horizontal ground is higher than that on the vertical wall,which verifies the feasibility and reliability of the DHWCR moving stably on the vertical wall.展开更多
The supercavitation has attracted a growing interest because of its potential for high-speed vehicle maneuvering and drag reduction. To better understand the reverse flow characteristics of a water-vapor mixture in su...The supercavitation has attracted a growing interest because of its potential for high-speed vehicle maneuvering and drag reduction. To better understand the reverse flow characteristics of a water-vapor mixture in supercavitating flows around a hydrofoil, a numerical simulation is conducted using a unified supercavitation model, which combines a modified RNG k-~ turbulence model and a cavitation one. By comparing the related experimental results, the reverse motion of the water-vapor mixture is found in the cavitation area in all supercavitation stages. The inverse pressure gradient leads to reverse pressure fluctuations in the cavity, followed by the reverse motion of the water-vapor two-phase interface. Compared with the water-vapor mixture area at the back of the cavity, the pressure in the vapor area is inversely and slowly reduced, a higher-pressure gradient occurs near the cavity boundary.展开更多
Finding damage inside pipes is important for the inspection of complex pipes used in nuclear power plants and chemical plants. A number of studies have investigated the mechanisms of an actuator with an electric cable...Finding damage inside pipes is important for the inspection of complex pipes used in nuclear power plants and chemical plants. A number of studies have investigated the mechanisms of an actuator with an electric cable to provide locomotion through various devices in complex pipes. An in-pipe robot capable of movement in narrow complex pipes has not yet been developed. In the present paper, we propose a globular magnetic actuator group that exhibits a very high thrust force and is capable of free reversible motion in complex pipes. Two actuators of the same size and characteristics are coupled by the magnetic connection method, which generates almost no mechanical loss. The globular magnetic actuator group capable of reversible motion through elongation and contraction of eight shape-memory-alloy (SMA) coils was fabricated. Experimental results indicate that the prototype actuator group is able to climb at a rate of 29 mm/s in a straight pipe while pulling a load mass of 48 g. In addition, the average speeds for two patterns of movement in a complex pipe with several curved sections and step sections were measured. The prototype actuator group is able to move in a complex pipe at an average speed of over 30 mm/s. This actuator group has several possible applications, including inspection using a micro-camera and pipe maintenance.展开更多
In this study,the motion characteristics of manual stirring were analyzed to achieve the goal of realizing a highquality mechanized imitation of manual stirring for oolong tea.A test bench for collecting the motion ch...In this study,the motion characteristics of manual stirring were analyzed to achieve the goal of realizing a highquality mechanized imitation of manual stirring for oolong tea.A test bench for collecting the motion characteristics of manual stirring was designed,and the standard manual stirring motion characteristic curve was obtained.According to the requirements of the stirring motion characteristics,a variable-speed and variable-amplitude stirring mechanism was proposed,the kinematics model and reverse design model of the stirring mechanism were established,auxiliary analysis and design software were written,and the non-circular gear pitch curve and cam profile curve were obtained.A three-dimensional model of the stirring machine was established,a virtual prototype of the stirring machine was built,and the simulation experiment was completed by using the ADAMS software.A prototype of the stirring machine was developed,and the stirring experiment was conducted on the prototype.The maximum deviation of the pitch angle is 2.8772°,and the maximum deviation of the roll angle is 1.5948°according to the analysis and comparison of the actual curve data and the theoretical data curve.The experimental results showed that the simulation angle curve and the actual angle curve were consistent with the theoretical standard manual stirring motion characteristic curve,which verified the correctness of the design and modeling of the stirring mechanism.The tea was mechanically stirred by the stirring mechanism to achieve the desired stirring effect,which verified the feasibility of the stirring machine.展开更多
This article focuses on the interpretation of heng dao ＇IN~_ （sometimes translated as ＂the constant dao＂） and its fundamental character in the Laozi. It argues against the prevailing interpretation of dao as an u...This article focuses on the interpretation of heng dao ＇IN~_ （sometimes translated as ＂the constant dao＂） and its fundamental character in the Laozi. It argues against the prevailing interpretation of dao as an unchanging metaphysical substance or reality, and maintains that the fundamental feature of heng dao is both dynamic and eternal. Heng dao is beyond language because of its dynamic character, but the Laozi nevertheless strives to express it in three aspects： 1） its flexibility and adaptability as represented in the metaphor of water; 2） its movement of reversal and return; 3） and in its existential significance as a guide for life. Heng dao can be called the non-objectified dao, which produces law, principle, rule, method, and so on. Looked at in this way, the dynamic character of heng dao can be called non-objective.展开更多
基金supported by the National Natural Science Foundation of China under Grant No.62001199Fujian Province Nature Science Foundation under Grant No.2023J01925.
文摘In the domain of autonomous industrial manipulators,precise positioning and appropriate posture selection in path planning are pivotal for tasks involving obstacle avoidance,such as handling,heat sealing,and stacking.While Multi-Degree-of-Freedom(MDOF)manipulators offer kinematic redundancy,aiding in the derivation of optimal inverse kinematic solutions to meet position and posture requisites,their path planning entails intricate multiobjective optimization,encompassing path,posture,and joint motion optimization.Achieving satisfactory results in practical scenarios remains challenging.In response,this study introduces a novel Reverse Path Planning(RPP)methodology tailored for industrial manipulators.The approach commences by conceptualizing the manipulator’s end-effector as an agent within a reinforcement learning(RL)framework,wherein the state space,action set,and reward function are precisely defined to expedite the search for an initial collision-free path.To enhance convergence speed,the Q-learning algorithm in RL is augmented with Dyna-Q.Additionally,we formulate the cylindrical bounding box of the manipulator based on its Denavit-Hartenberg(DH)parameters and propose a swift collision detection technique.Furthermore,the motion performance of the end-effector is refined through a bidirectional search,and joint weighting coefficients are introduced to mitigate motion in high-power joints.The efficacy of the proposed RPP methodology is rigorously examined through extensive simulations conducted on a six-degree-of-freedom(6-DOF)manipulator encountering two distinct obstacle configurations and target positions.Experimental results substantiate that the RPP method adeptly orchestrates the computation of the shortest collision-free path while adhering to specific posture constraints at the target point.Moreover,itminimizes both posture angle deviations and joint motion,showcasing its prowess in enhancing the operational performance of MDOF industrial manipulators.
基金supported by the Key Research Development and Promotion Special Project of Henan Province,under Grant 212102310119 and 212102210358Scientific Research Foundation for High-level Talents of Henan Institute of Technology,under Grant KQ1869+7 种基金2021 Provincial Higher Education Teaching Reform General Project"Research and Practice of Grassroots Teaching Management Construction in Local Application-oriented Universities under the Background of Professional Certification",under Grant SJGY20210520University-Industry Collaborative Education Program,under Grant 202101187010 and 202102120046Innovation and Entrepreneurship Training Program for College Students of Henan Province,under Grant 202211329011Educational and Teaching Reform Research and Practice Project of Henan Institute of Technology,under Grant 2021-YB023 and JJXY-2021005Innovative Education Curriculum Construction Project of Henan Institute of Technology,under Grant CX-2021-0052022 Xinxiang Federation of Social Sciences Research topic,under Grant SKL-2022-254 and SKL-2022-2282022 Annual Research Topic of Henan Federation of Social Sciences,under Grant SKL-2022-26922022 Annual Research Project of Henan Federation of Social Sciences:"Research on Rural Revitalization Strategy of Financial Service Model Innovation in Henan Province",under Grant SKL-2022-2692.
文摘For the detection environment of complex walls such as high-rise buildings,a double helix wall climbing robot(DHWCR)with strong adsorption force and good stability is designed and developed,which uses symmetrical propellers to provide adsorption force.The symmetrical driving structure can provide smooth thrust for the DHWCR,so that the robot can be absorbed to the wall surface with different roughness.A left and right control frame with multiple degrees of freedom is designed,which can adjust the fixed position of the brushless propeller motor in the front and back directions,realize the continuous adjustable thrust direction of the robot,and improve the flexibility of the robot movement.Using the front wheel steering mechanism with universal joint,the steering control of the DHWCR is realized by differential control.In the vertical to ground transition,the front and rear brushless motors can provide the pull up and oblique thrust,so that the DHWCR can smoothly transition to the vertical wall.The motion performance and adaptability of the DHWCR in the horizontal ground and vertical wall environment are tested.The results show that the DHWCR can switch motion between the horizontal ground and vertical wall,and can stably adsorb on the vertical wall with flexible attitude control.The DHWCR can move at a fast speed.The speed on the horizontal ground is higher than that on the vertical wall,which verifies the feasibility and reliability of the DHWCR moving stably on the vertical wall.
基金Project supported by the National Natural Science Foun-dation of China(Grant No.50679001)
文摘The supercavitation has attracted a growing interest because of its potential for high-speed vehicle maneuvering and drag reduction. To better understand the reverse flow characteristics of a water-vapor mixture in supercavitating flows around a hydrofoil, a numerical simulation is conducted using a unified supercavitation model, which combines a modified RNG k-~ turbulence model and a cavitation one. By comparing the related experimental results, the reverse motion of the water-vapor mixture is found in the cavitation area in all supercavitation stages. The inverse pressure gradient leads to reverse pressure fluctuations in the cavity, followed by the reverse motion of the water-vapor two-phase interface. Compared with the water-vapor mixture area at the back of the cavity, the pressure in the vapor area is inversely and slowly reduced, a higher-pressure gradient occurs near the cavity boundary.
文摘Finding damage inside pipes is important for the inspection of complex pipes used in nuclear power plants and chemical plants. A number of studies have investigated the mechanisms of an actuator with an electric cable to provide locomotion through various devices in complex pipes. An in-pipe robot capable of movement in narrow complex pipes has not yet been developed. In the present paper, we propose a globular magnetic actuator group that exhibits a very high thrust force and is capable of free reversible motion in complex pipes. Two actuators of the same size and characteristics are coupled by the magnetic connection method, which generates almost no mechanical loss. The globular magnetic actuator group capable of reversible motion through elongation and contraction of eight shape-memory-alloy (SMA) coils was fabricated. Experimental results indicate that the prototype actuator group is able to climb at a rate of 29 mm/s in a straight pipe while pulling a load mass of 48 g. In addition, the average speeds for two patterns of movement in a complex pipe with several curved sections and step sections were measured. The prototype actuator group is able to move in a complex pipe at an average speed of over 30 mm/s. This actuator group has several possible applications, including inspection using a micro-camera and pipe maintenance.
基金supported by the National Natural Science Foundation of China(Grant Nos.51975536 and U23A20175)the China Agriculture Research System of MOF and MARA.The authors also acknowledge American Journal Experts for their language assistance during the preparation of this article.
文摘In this study,the motion characteristics of manual stirring were analyzed to achieve the goal of realizing a highquality mechanized imitation of manual stirring for oolong tea.A test bench for collecting the motion characteristics of manual stirring was designed,and the standard manual stirring motion characteristic curve was obtained.According to the requirements of the stirring motion characteristics,a variable-speed and variable-amplitude stirring mechanism was proposed,the kinematics model and reverse design model of the stirring mechanism were established,auxiliary analysis and design software were written,and the non-circular gear pitch curve and cam profile curve were obtained.A three-dimensional model of the stirring machine was established,a virtual prototype of the stirring machine was built,and the simulation experiment was completed by using the ADAMS software.A prototype of the stirring machine was developed,and the stirring experiment was conducted on the prototype.The maximum deviation of the pitch angle is 2.8772°,and the maximum deviation of the roll angle is 1.5948°according to the analysis and comparison of the actual curve data and the theoretical data curve.The experimental results showed that the simulation angle curve and the actual angle curve were consistent with the theoretical standard manual stirring motion characteristic curve,which verified the correctness of the design and modeling of the stirring mechanism.The tea was mechanically stirred by the stirring mechanism to achieve the desired stirring effect,which verified the feasibility of the stirring machine.
文摘This article focuses on the interpretation of heng dao ＇IN~_ （sometimes translated as ＂the constant dao＂） and its fundamental character in the Laozi. It argues against the prevailing interpretation of dao as an unchanging metaphysical substance or reality, and maintains that the fundamental feature of heng dao is both dynamic and eternal. Heng dao is beyond language because of its dynamic character, but the Laozi nevertheless strives to express it in three aspects： 1） its flexibility and adaptability as represented in the metaphor of water; 2） its movement of reversal and return; 3） and in its existential significance as a guide for life. Heng dao can be called the non-objectified dao, which produces law, principle, rule, method, and so on. Looked at in this way, the dynamic character of heng dao can be called non-objective.
