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Article
Publication date: 11 January 2021

Mingyang Li, Zhijiang Du, Xiaoxing Ma, Wei Dong, Yongzhi Wang, Yongzhuo Gao and Wei Chen

This paper aims to propose a robotic automation system for processing special-shaped thin-walled workpieces, which includes a measurement part and a processing part.

Abstract

Purpose

This paper aims to propose a robotic automation system for processing special-shaped thin-walled workpieces, which includes a measurement part and a processing part.

Design/methodology/approach

In the measurement part, to efficiently and accurately realize the three-dimensional camera hand-eye calibration based on a large amount of measurement data, this paper improves the traditional probabilistic method. To solve the problem of time-consuming in the extraction of point cloud features, this paper proposes a point cloud feature extraction method based on seed points. In the processing part, the authors design a new type of chamfering tool. During the process, the robot adopts admittance control to perform compensation according to the feedback of four sensors mounted on the tool.

Findings

Experiments show that the proposed system can make the tool smoothly fit the chamfered edge during processing and the machined chamfer meets the processing requirements of 0.5 × 0.5 to 0.9 × 0.9 mm2.

Practical implications

The proposed design and approach can be applied on many types of special-shaped thin-walled parts. This will give a new solution for the automation integration problem in aerospace manufacturing.

Originality/value

A novel robotic automation system for processing special-shaped thin-walled workpieces is proposed and a new type of chamfering tool is designed. Furthermore, a more accurate probabilistic hand-eye calibration method and a more efficient point cloud extraction method are proposed, which are suitable for this system when comparing with the traditional methods.

Details

Assembly Automation, vol. 41 no. 1
Type: Research Article
ISSN: 0144-5154

Keywords

Article
Publication date: 16 October 2017

He Xu, Yan Xu, Peiyuan Wang, Hongpeng Yu, Ozoemena Anthony Ani and X.Z. Gao

The purpose of this paper is to explore a novel measurement approach for wheel-terrain contact angle using laser scanning sensors based on near-terrain perception. Laser…

162

Abstract

Purpose

The purpose of this paper is to explore a novel measurement approach for wheel-terrain contact angle using laser scanning sensors based on near-terrain perception. Laser scanning sensors have rarely been applied to the measurement of wheel-terrain contact angle for wheeled mobile robots (WMRs) in previous studies; however, it is an effective way to measure wheel-terrain contact angle directly with the advantages of simple, fast and high accuracy.

Design/methodology/approach

First, kinematics model for a WMR moving on rough terrain was developed, taking into consideration wheel slip and wheel-terrain contact angle. Second, the measurement principles of wheel-terrain contact angle using laser scanning sensors was presented, including “rigid wheel - rigid terrain” model and “rigid wheel - deformable terrain” model.

Findings

In the proposed approach, the measurement of wheel-terrain contact angle using laser scanning sensors was successfully demonstrated. The rationality of the approach was verified by experiments on rigid and sandy terrains with satisfactory results.

Originality/value

This paper proposes a novel, fast and effective wheel-terrain contact angle measurement approach for WMRs moving on both rigid and deformable terrains, using laser scanning sensors.

Details

Industrial Robot: An International Journal, vol. 44 no. 6
Type: Research Article
ISSN: 0143-991X

Keywords

Article
Publication date: 29 August 2019

Gang Peng, Zhiming Gao, Wenjing Yan and Xinlong Feng

This paper aims to consider numerical simulation for radionuclide transport calculations in geological radioactive waste repository.

Abstract

Purpose

This paper aims to consider numerical simulation for radionuclide transport calculations in geological radioactive waste repository.

Design/methodology/approach

The nonlinear two-point flux approximation is used to discretize the diffusion flux and has a fixed stencil. The cell-vertex unknowns are applied to define the auxiliary unknowns and can be interpolated by the cell-centered unknowns. The approximation of convection flux is based on the second-order upwind method with a slope limiter.

Findings

Numerical results illustrate that the positivity-preserving is satisfied in solving this convection-diffusion system and has a second-order convergence rate on the distorted meshes.

Originality/value

A new positivity-preserving nonlinear finite volume scheme is proposed to simulate the far-field model used in the geological radioactive waste repository. Numerical results illustrate that the positivity-preserving is satisfied in solving this convection-diffusion system and has a second-order convergence rate on the distorted meshes.

Details

International Journal of Numerical Methods for Heat & Fluid Flow, vol. 30 no. 2
Type: Research Article
ISSN: 0961-5539

Keywords

Article
Publication date: 19 July 2018

Imen Maalej, Donia Ben Halima Abid and Chokri Rekik

The purpose of this paper is to look at the problem of fault tolerant control (FTC) for discrete time nonlinear system described by Interval Type-2 Takagi–Sugeno (IT2 TS…

Abstract

Purpose

The purpose of this paper is to look at the problem of fault tolerant control (FTC) for discrete time nonlinear system described by Interval Type-2 Takagi–Sugeno (IT2 TS) fuzzy model subjected to stochastic noise and actuator faults.

Design/methodology/approach

An IT2 fuzzy augmented state observer is first developed to estimate simultaneously the system states and the actuator faults since this estimation is required for the design of the FTC control law. Furthermore, based on the information of the states and the faults estimate, an IT2 fuzzy state feedback controller is conceived to compensate for the faults effect and to ensure a good tracking performance between the healthy system and the faulty one. Sufficient conditions for the existence of the IT2 fuzzy controller and the IT2 fuzzy observer are given in terms of linear matrix inequalities which can be solved using a two-step computing procedure.

Findings

The paper opted for simulation results which are applied to the three-tank system. These results are presented to illustrate the effectiveness of the proposed FTC strategy.

Originality/value

In this paper, the problem of active FTC design for noisy and faulty nonlinear system represented by IT2 TS fuzzy model is treated. The developed IT2 fuzzy fault tolerant controller is designed such that it can guarantee the stability of the closed-loop system. Moreover, the proposed controller allows to accommodate for faults, presents a satisfactory state tracking performance and outperforms the traditional type-1 fuzzy fault tolerant controller.

Details

International Journal of Intelligent Computing and Cybernetics, vol. 11 no. 3
Type: Research Article
ISSN: 1756-378X

Keywords

Article
Publication date: 19 September 2019

Qiang Li, Shuo Zhang, Yujun Wang, Wei-Wei Xu, Zengli Wang and Zhenbo Wang

Shear stresses have a considerable influence on the characteristics of lubricants and become significant at high rotating speeds. This study aims to investigate the…

Abstract

Purpose

Shear stresses have a considerable influence on the characteristics of lubricants and become significant at high rotating speeds. This study aims to investigate the influences of shear cavitation (SC) on loading capacity of journal bearings.

Design/methodology/approach

A principal normal stress cavitation criterion based on the stress applied to flowing lubricant in journal bearings is developed and used to investigate SC in journal bearings. A computational fluid dynamic (CFD) model for calculating the loading capacity is established using this criterion. After validation with experimental results, the loading capacity is calculated under different conditions.

Findings

The calculation results indicate that SC intensifies when viscosity, speed and eccentricity increase. Angle of loading capacity with SC is larger than that without SC. The magnitude of loading capacity with SC is smaller than that without SC due to the decrease in the ultimate pressure. In addition, the magnitude difference between the loading capacity with and without SC increases when viscosity, speed and eccentricity increases.

Originality/value

Present research can provide some guidance for calculating the loading capacity when a journal bearing is operating at high speed or with a high viscosity lubricant.

Details

Industrial Lubrication and Tribology, vol. 71 no. 9
Type: Research Article
ISSN: 0036-8792

Keywords

Article
Publication date: 3 January 2022

Zhifang Wang, Jianguo Yu and Shangjing Lin

To solve the above problems and ensure the stability of the ad hoc network node topology in the process of wireless signal transmission, this paper aims to design a robust…

Abstract

Purpose

To solve the above problems and ensure the stability of the ad hoc network node topology in the process of wireless signal transmission, this paper aims to design a robust adaptive sliding film fault-tolerant controller under the nonlinear distortion of signal transmission in an amorphous flat air-to-ground wireless ad hoc network system.

Design/methodology/approach

This paper designs a robust adaptive sliding film fault-tolerant controller under the nonlinear distortion of signal transmission in an amorphous flat air-to-ground wireless ad hoc network system.

Findings

The simulation results show that the amorphous flat wireless self-organizing network system has good nonlinear distortion fault-tolerant correction ability under the feedback control of the designed controller, and the system has the asymptotically stable convergence ability; the test results show: the node topology of the self-organizing network structural stability is significantly improved, which provides a foundation for the subsequent realization of long-distance transmission of ad hoc network nodes.

Research limitations/implications

Because of the chosen research approach, the research results may lack generalizability. Therefore, researchers are encouraged to test the proposed propositions further.

Originality/value

The controller can extract the fault information caused by nonlinear distortion in the wireless signal transmission process, and at the same time, its feedback matrix K can gradually converge the generated wireless signal error to zero, to realize the stable transmission of the wireless signal.

Article
Publication date: 7 August 2017

Li Yinghui, Chunping Xie and Xinjin Liu

The purpose of this paper is to know airflow field and its distribution of pneumatic compact spinning systems. Complete compact spinning (CCS) and four-line rollers…

Abstract

Purpose

The purpose of this paper is to know airflow field and its distribution of pneumatic compact spinning systems. Complete compact spinning (CCS) and four-line rollers compact spinning (FRCS) are both two kinds of pneumatic compact spinning systems, which utilizes airflow in condensing equipment to condense fiber bundle and improve yarn properties.

Design/methodology/approach

The paper opted for an exploratory study using finite element method, the airflow field in the condensing area of CCS and FRCS were simulated. First, a periodic movement of the fibers in bundle in condensing area was detected, and the yarn tracks were described veritably under the high-speed-video-camera and AutoCAD Software. Then the physical models of the condensing zone were constructed according to the physical parameters of the practical system. The simulation of airflow velocities were extracted along the yarn tracks using ANSYS Software. Finally, the numerical results were verified by spinning experiments.

Findings

The results show that the negative velocity component along the Y-axis helps keeping beneficial hairiness. CCS has higher negative velocity value and more abundant beneficial hairiness than FRCS. The velocity component in the X-axis direction has a direct effect on yarn evenness. For the same liner density of CCS and FRCS, the larger the value of the velocity component on X-axis is, the better the yarn evenness is. For 9.7tex, CCS has larger velocity component in the X-axis direction and better yarn evenness than FRCS, showing that CCS is more suitable for spinning fine count yarn. The velocity component in the Z-axis direction has a direct effect on breaking strength. CCS has little velocity component in the Z-axis direction and little breaking strength than FRCS.

Originality/value

To know airflow field and its distribution by finite element method is helpful to investigate the condensing principles of the fiber bundle and improve yarn properties.

Details

International Journal of Clothing Science and Technology, vol. 29 no. 4
Type: Research Article
ISSN: 0955-6222

Keywords

Article
Publication date: 18 October 2011

He Xu, Zhenyu Zhang, Khalil Alipour, Kai Xue and X.Z. Gao

Wheel‐terrain interaction has hardly been taken into consideration in the process of conventional mobile robot design, but its importance has been reflected increasingly…

Abstract

Purpose

Wheel‐terrain interaction has hardly been taken into consideration in the process of conventional mobile robot design, but its importance has been reflected increasingly towards these categories of mobile robots in rough sandy terrain or obstacle‐dense ground, as the first performance index in this situation is the trafficability of robot whose propulsion is uniquely generated by wheel‐terrain interaction. Consequently, it is valuable to find an optimized design method when the terrain and robot itself are regarded simultaneously. The purpose of this paper is to present a novel and reasonable design approach to mobile robot in sandy terrain.

Design/methodology/approach

Leading to some conflicted performance indices of robot, terramechanics describes the non‐linear characteristics in wheel‐terrain interaction mathematically, therefore, trade‐offs must be implemented to get a proper solution by multi‐objective optimization (MOO). In this paper, a five‐wheeled drive and five‐wheeled steering (5WD5WS) reconfigurable mobile robot is taken as demonstration with taxonomy of total‐symmetrical, partial‐symmetrical and asymmetrical prototypes. After function modeling, the MOO is carried out via iSIGHT‐FD using NCGA (Neighborhood Cultivation Genetic Algorithm) to minimize the mass, wheel resistance and maximize the static stability simultaneously.

Findings

After MOO, a compact and light weighted asymmetrical prototype is obtained with better trafficability, and other prototypes can produce diversified configurations to meet specific requirements. Significantly reduced masses (about 17 kg) enhance the grade‐ability when robot is in rough terrain. Performed real‐world experiments have also verified these prototypes.

Originality/value

The paper presents a new design approach for a mobile robot which focuses on both robot and terrain simultaneously with respect to conflicted factors. To unveil the insight relation of these factors, MOO is an effective tool to get a trade‐offs prototype.

Details

Industrial Robot: An International Journal, vol. 38 no. 6
Type: Research Article
ISSN: 0143-991X

Keywords

Article
Publication date: 20 October 2014

He Xu, Yan Xu, Hu Fu, Yixian Xu, X.Z. Gao and Khalil Alipour

The purpose of this paper is to explore a novel control approach for swift and accurate positioning and tracking of a mobile robot. Coordinated movement of the mobile…

Abstract

Purpose

The purpose of this paper is to explore a novel control approach for swift and accurate positioning and tracking of a mobile robot. Coordinated movement of the mobile robot-body and chameleon-inspired binocular “negative correlation” visual system (CIBNCVS) with neck has rarely been considered in conventional mobile robot design. However, it is vital in swift and accurate positioning and tracking of the target. Consequently, it is valuable to find an optimized method where the robot-body, the biomimetic eyes and neck could achieve optimal coordinated movement.

Design/methodology/approach

Based on a wheeled mobile robot, a biomimetic dual Pan–Tilt–Zoom visual system with neck is constructed. The cameras can rely on the unique “negative correlation” mode of chameleon vision, and cooperate with neck, achieving swift search of the 160° scope in front of the robot. Genetic algorithm is used to obtain optimal rotation of the neck and robot-body. Variable resolution targeting is also applied for accurate aiming. Using these two approaches, we can achieve efficient targeting with low energy consumption. Particle filter algorithm is further utilized for real-time tracking.

Findings

In the proposed approach, swift and accurate positioning and tracking of the target can be obtained. The rationality of the approach is verified by experiments on flat and sandy terrains with satisfactory results.

Originality/value

This paper proposes a novel control approach for wheeled mobile robots, which achieves coordinated movement of the robot-body and CIBNCVS with neck concerning time and energy saving in the process of swift and accurate tracking.

Details

Industrial Robot: An International Journal, vol. 41 no. 6
Type: Research Article
ISSN: 0143-991X

Keywords

Article
Publication date: 18 April 2017

Qi Zhou, Ping Jiang, Xinyu Shao, Hui Zhou and Jiexiang Hu

Uncertainty is inevitable in real-world engineering optimization. With an outer-inner optimization structure, most previous robust optimization (RO) approaches under…

Abstract

Purpose

Uncertainty is inevitable in real-world engineering optimization. With an outer-inner optimization structure, most previous robust optimization (RO) approaches under interval uncertainty can become computationally intractable because the inner level must perform robust evaluation for each design alternative delivered from the outer level. This paper aims to propose an on-line Kriging metamodel-assisted variable adjustment robust optimization (OLK-VARO) to ease the computational burden of previous VARO approach.

Design/methodology/approach

In OLK-VARO, Kriging metamodels are constructed for replacing robust evaluations of the design alternative delivered from the outer level, reducing the nested optimization structure of previous VARO approach into a single loop optimization structure. An on-line updating mechanism is introduced in OLK-VARO to exploit the obtained data from previous iterations.

Findings

One nonlinear numerical example and two engineering cases have been used to demonstrate the applicability and efficiency of the proposed OLK-VARO approach. Results illustrate that OLK-VARO is able to obtain comparable robust optimums as to that obtained by previous VARO, while at the same time significantly reducing computational cost.

Practical implications

The proposed approach exhibits great capability for practical engineering design optimization problems under interval uncertainty.

Originality/value

The main contribution of this paper lies in the following: an OLK-VARO approach under interval uncertainty is proposed, which can significantly ease the computational burden of previous VARO approach.

Details

Engineering Computations, vol. 34 no. 2
Type: Research Article
ISSN: 0264-4401

Keywords

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