A method of constructing an inspiration library driven by user-perceived preference evaluation data for biologically inspired design

Biologically inspired design (BID) is one of the common methods for product design. To solve the problem of inaccurate acquisition of inspirational creatures due to the lack of user perception preference analysis, a data-driven intelligent service model for BID considering user perception needs is proposed based on Kansei engineering. Firstly, by extracting the perceptual features of creatures from the semantic source elements of products through mapping and encodes them, we proposed a data acquisition method based on intuitionistic fuzzy sets considering different customer preference distributions, bridging the gap caused by the asymmetry between designers and users. Secondly, the functional relationship between biometric features and user-perceived attributes is identified and predicted, and a predictive model of biodata considering user preferences is obtained by multiple linear regression analysis. Finally, based on the data clustering and reorganization theory to understand the organization and dynamics of the database, the construction of a BID library was completed, and the design resources in the library were used as analyzed knowledge for designers to plan design activities. Taking the bionic design of a UAV product as an example, a prototype of a computer-aided design service system was developed based on the theory proposed in the article, and the analyzed knowledge was used to improve the efficiency and science of the design, effectively verifying the usefulness of this study for design. To a certain extent, this study addresses the problem of cognitive limitations of designers and cognitive differences between designers and users, promotes the application of bioinspiration in product design, and improves the marketability of design solutions.     

Online stiffness estimation for robotic tasks with force observers

In this paper we propose an online stiffness estimation technique for robotic tasks based only on force data, therefore, not requiring contact position information. This allows estimations to be obtained in robotic tasks involving interactions with unstructured and unknown environments where geometrical data is unavailable or unreliable. Our technique – the Candidate Observer Based Algorithm (COBA) – uses two force observers, configured with different candidate stiffnesses, to estimate online the actual target object stiffness. COBA is embedded in a force control architecture with computed torque in the task space. The theoretical presentation of the algorithm, as well as simulation tests and experimental results with a lightweight robot arm are also presented.     

基于小波自适应算法的轿车顶棚振动控制

以小波变换为基础,采用小波自适应控制方法,利用压电陶瓷片作为传感器和执行器对汽车顶棚进行振动主动控制.分析了小波变换的基本理论及基于D-LMS算法的小波自适应控制原理.设计了相应的实验系统,并搭建了实验平台.实验结果表明:利用小波自适应控制方法,对轿车顶棚进行振动主动控制是可行的,且控制效果良好.     

Effects of silicocalcium on microstructure and properties of Mg-6Al-0.5Mn alloy

1 Introduction Magnesium alloys are attractive for applications in the automobile, aerospace and electronic industries due to their light mass, high stiffness, high specific strength, good dimensional stability and damping capacity. It is the lightest sp…     

Difficulty and complexity definitions for assembly task allocation and assignment in human–robot collaborations: A review

This paper presents a literature review on the different aspects of task allocation and assignment problems in human–robot collaboration (HRC) tasks in industrial assembly environments. In future advanced industrial environments, robots and humans are expected to share the same workspace and collaborate to efficiently achieve shared goals. Difficulty- and complexity-aware HRC assembly is necessary for human-centric manufacturing, which is a goal of Industry 5.0. Therefore, the objective of this study is to clarify the definitions of difficulty and complexity used to encourage effective collaboration between humans and robots to leverage the adaptability of humans and the autonomy of robots. To achieve this goal, a systematic review of the following relevant databases for computer science was performed: IEEE Xplore, ScienceDirect, SpringerLink, ACM Digital Library, and ASME Digital Collection. The results extracted from 74 peer-reviewed research articles published until July 2022 were summarized and categorized into four taxonomies for 145 difficulty and complexity definitions from the perspectives of (1) definition-use objectives, (2) evaluation objectives, (3) evaluation factors, and (4) evaluation variables. Next, existing definitions were primarily classified according to the following two criteria to identify potential future studies on the formulation of new definitions for human-centric manufacturing: (1) agent specificity and (2) common aspects in manual and robotic assemblies.     

摩托车点火系统的电磁辐射仿真

建立了摩托车车体简化三维模型以及点火系统高压部分的三维模型,并以点火系统火花塞击穿时的瞬变电压为激励源,利用有限积分法对点火系统产生的电磁辐射进行仿真,通过模拟3 m测试法得到系统电磁辐射电场。探讨了更改点火系统中火花塞帽、高压导线、火花塞参数对系统产生的电磁辐射强度的影响。     

大功率激光驱动器镜组性能影响因素分析

为了分析透镜的几何尺寸公差、透镜的装配公差和镜组在线安装公差等主要因素对惯性约束大功率激光聚变驱动器注入镜组性能的影响规律,建立了关于镜组性能影响因素的模型,并采用Matlab和光学设计分析软件对模型进行了模拟计算.通过模拟计算的数据,对注入镜组性能影响显著的要素进行了分析.分析结果表明,透镜的几何尺寸公差、装配公差和镜组在线安装公差与镜组焦距公差、波像差呈线性关系.模拟计算结果和镜组公差判据为保证镜组性能需要的制造和安装公差提供了依据.     

6自由度装校机器人逆解的确定

为了实现对自主研发的6自由度装校机器人的精确控制,提出了一种机器人的逆解确定方法。通过D-H(Denavit-hartenberg matrix)法建立机器人各连杆的参考坐标系获得D-H参数,推导出机器人的运动学正解并采用解析法求得运动学逆解。基于作业时间最优的思想,采用在X-Y平面末端定域方法从多组逆解中确定出一组运动学逆解。运动学逆解可以用于机械臂末端执行器的精确定位和运动规划,为实现机器人的轨迹规划及实时控制等提供了理论基础。     

在内核下的BootLoader自动更新方法

目前的BootLoader更新方法仅适用于单块目标板的调试阶段,无法实现批量更新。为此,提出一种在内核下的BootLoader自动更新方法。该方法提取新BootLoader镜像文件中的有效数据,并将其保存到以“.h”结尾的文件中,利用特制的Flash驱动程序及该类型文件生成特制的内核,通过外部移动存储设备,将特制内核更新到嵌入式系统中,特制内核启动后将自动更新BootLoader,从而完成BootLoader的批量更新。