Pub Date : 2021-04-07DOI: 10.12783/DTMSE/AMEME2020/35583
Shixuan Zhang, Zhigang Xu, Meng Yin, Wan-Cheng Wang
In order to make the dexterous hand more lightweight and anthropomorphic, a 19-joint anthropomorphic dexterous hand driven by the servo through the Tendon-Sheath transmission was designed. First, the configuration of the dexterous hand is determined with reference to the joints of the human hand, and the decoupling and driving of the joint motion are realized through the Tendon-Sheath transmission, and the joint mechanism and the driving integration are designed respectively. Then, based on the bending sensor and master-slave mapping algorithm, the grasping master-slave tracking control is realized. Finally, a dexterous hand prototype is built, joint motion experiments and grab control experiments are carried out. It can be seen from the experimental results that the designed dexterous hand has high movement flexibility, and the cooperation of each finger can realize the effective grasping of objects such as water bottles and apples. The experimental results show that it is feasible to apply the Tendon-Sheath transmission to the dexterous hand. Based on the master-slave control, the dexterous hand can grasp various objects.
{"title":"Master-Slave Design and Control of Five-Finger Dexterous Hand Based on Tendon-Sheath Transmission","authors":"Shixuan Zhang, Zhigang Xu, Meng Yin, Wan-Cheng Wang","doi":"10.12783/DTMSE/AMEME2020/35583","DOIUrl":"https://doi.org/10.12783/DTMSE/AMEME2020/35583","url":null,"abstract":"In order to make the dexterous hand more lightweight and anthropomorphic, a 19-joint anthropomorphic dexterous hand driven by the servo through the Tendon-Sheath transmission was designed. First, the configuration of the dexterous hand is determined with reference to the joints of the human hand, and the decoupling and driving of the joint motion are realized through the Tendon-Sheath transmission, and the joint mechanism and the driving integration are designed respectively. Then, based on the bending sensor and master-slave mapping algorithm, the grasping master-slave tracking control is realized. Finally, a dexterous hand prototype is built, joint motion experiments and grab control experiments are carried out. It can be seen from the experimental results that the designed dexterous hand has high movement flexibility, and the cooperation of each finger can realize the effective grasping of objects such as water bottles and apples. The experimental results show that it is feasible to apply the Tendon-Sheath transmission to the dexterous hand. Based on the master-slave control, the dexterous hand can grasp various objects.","PeriodicalId":11124,"journal":{"name":"DEStech Transactions on Materials Science and Engineering","volume":"108 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2021-04-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"87595289","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-04-07DOI: 10.12783/DTMSE/AMEME2020/35574
Bing Li, Zhiwei Zhang
This study is aiming at analysing the relationship among the utilized fixed industrial solid waste, GDP growth and the R&D expenditure in Shandong. The results show that Shandong GDP growth will have a positive influence upon utilized fixed industrial solid waste and Shandong enterprises’ R&D expenditure growth will have positive influences too. Granger Causality tests indicate that Shandong's utilized industrial solid waste helped push the GDP development and Shandong enterprises R&D expenditure also helped push the Shandong GDP development. We can also see that government policies concerning encouraging the enterprises investment in R&D are also good for the sustainable development.
{"title":"A Study on the Shandong Utilized Industrial Solid Waste Based on VAR Model","authors":"Bing Li, Zhiwei Zhang","doi":"10.12783/DTMSE/AMEME2020/35574","DOIUrl":"https://doi.org/10.12783/DTMSE/AMEME2020/35574","url":null,"abstract":"This study is aiming at analysing the relationship among the utilized fixed industrial solid waste, GDP growth and the R&D expenditure in Shandong. The results show that Shandong GDP growth will have a positive influence upon utilized fixed industrial solid waste and Shandong enterprises’ R&D expenditure growth will have positive influences too. Granger Causality tests indicate that Shandong's utilized industrial solid waste helped push the GDP development and Shandong enterprises R&D expenditure also helped push the Shandong GDP development. We can also see that government policies concerning encouraging the enterprises investment in R&D are also good for the sustainable development.","PeriodicalId":11124,"journal":{"name":"DEStech Transactions on Materials Science and Engineering","volume":"38 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2021-04-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"84822192","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Synthesis and Luminescence Properties of Mn4+ Doped K2sif6 Red Phosphor","authors":"Feng Hong, Jinlei Pan, Guixia Liu, Xiang-ting Dong","doi":"10.12783/DTMSE/AMEME2020/35553","DOIUrl":"https://doi.org/10.12783/DTMSE/AMEME2020/35553","url":null,"abstract":"","PeriodicalId":11124,"journal":{"name":"DEStech Transactions on Materials Science and Engineering","volume":"1 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2021-04-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85710174","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-04-07DOI: 10.12783/DTMSE/AMEME2020/35546
Peng Zhang, Shengdun Zhao, Wenwen Wang, Haixia Zhang, Jiaying Zhang, Changqun Yang, Wang Yongfei, Wei Wei, Guowei Ma
This article proposed a novel friction stir rivet welding process to join aluminum alloy 6061-T6 sheets in lap configuration with threaded rivet employed. The material flow behavior and temperature distribution of FSRW process are analysed using Simufact Forming 15.0 software, and joints have been obtained on the modified CNC machine with 1200rpm rotational speed and 10s dwell time. Rotational speed and dwell time are important factors which affecting mechanical properties of FSRWed joints. The welding heat input is determined by the rotation speed, while the heat time of plasticized materials is controlled by dwell time during FSRW process. In order to obtain FSRWed joints with excellent mechanical properties, welding heat input is taken as measurement standard, and the reasonable range of rotational speed and dwell time have been investigated by numerical simulation and statistics. The macroscopic morphology of 3 mm and 4 mm thick aluminum alloy 6061-T6 FSRWed joint we obtained shares uniform characteristic with the numerical simulation forming appearance whose upper surface tests smooth but exists “flash”, and stir zone, heat affected zone, thermo-mechanically affected zone and base metal four distinct zones can be observed in transverse section. The results of numerical simulation and experimental study show that the potential process we proposed takes advantages of solid-state welding and riveting technology. Not only metallurgical bonding can be obtained between upper and lower sheets, but also mechanical properties will be strengthened by riveting.
{"title":"Numerical Simulation and Experimental Investigation of Friction Stir Rivet Welding Process for AA6061-T6","authors":"Peng Zhang, Shengdun Zhao, Wenwen Wang, Haixia Zhang, Jiaying Zhang, Changqun Yang, Wang Yongfei, Wei Wei, Guowei Ma","doi":"10.12783/DTMSE/AMEME2020/35546","DOIUrl":"https://doi.org/10.12783/DTMSE/AMEME2020/35546","url":null,"abstract":"This article proposed a novel friction stir rivet welding process to join aluminum alloy 6061-T6 sheets in lap configuration with threaded rivet employed. The material flow behavior and temperature distribution of FSRW process are analysed using Simufact Forming 15.0 software, and joints have been obtained on the modified CNC machine with 1200rpm rotational speed and 10s dwell time. Rotational speed and dwell time are important factors which affecting mechanical properties of FSRWed joints. The welding heat input is determined by the rotation speed, while the heat time of plasticized materials is controlled by dwell time during FSRW process. In order to obtain FSRWed joints with excellent mechanical properties, welding heat input is taken as measurement standard, and the reasonable range of rotational speed and dwell time have been investigated by numerical simulation and statistics. The macroscopic morphology of 3 mm and 4 mm thick aluminum alloy 6061-T6 FSRWed joint we obtained shares uniform characteristic with the numerical simulation forming appearance whose upper surface tests smooth but exists “flash”, and stir zone, heat affected zone, thermo-mechanically affected zone and base metal four distinct zones can be observed in transverse section. The results of numerical simulation and experimental study show that the potential process we proposed takes advantages of solid-state welding and riveting technology. Not only metallurgical bonding can be obtained between upper and lower sheets, but also mechanical properties will be strengthened by riveting.","PeriodicalId":11124,"journal":{"name":"DEStech Transactions on Materials Science and Engineering","volume":"71 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2021-04-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85776312","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-01-01DOI: 10.12783/DTMSE/AMEME2020/35599
Yingliang Huang, Minmin Sun, Xuemin Mao, Pengfei Yin, Haotong Wei, Xuan Cai
A large amount of social event data in the public safety filed has been accumulated. These data contains a lot of hidden information that has not been excavated. In order to make these data mined and fully utilized, this paper uses knowledge reasoning technology to solve this problem. This paper adopts a model SSKR-T based on the transfomer network structure, and conducts experiments on public data sets. The results show that the model has excellent reasoning effects in the field of social safety.
{"title":"Knowledge Reasoning Model for Social Security","authors":"Yingliang Huang, Minmin Sun, Xuemin Mao, Pengfei Yin, Haotong Wei, Xuan Cai","doi":"10.12783/DTMSE/AMEME2020/35599","DOIUrl":"https://doi.org/10.12783/DTMSE/AMEME2020/35599","url":null,"abstract":"A large amount of social event data in the public safety filed has been accumulated. These data contains a lot of hidden information that has not been excavated. In order to make these data mined and fully utilized, this paper uses knowledge reasoning technology to solve this problem. This paper adopts a model SSKR-T based on the transfomer network structure, and conducts experiments on public data sets. The results show that the model has excellent reasoning effects in the field of social safety.","PeriodicalId":11124,"journal":{"name":"DEStech Transactions on Materials Science and Engineering","volume":"19 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2020-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75246362","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-01-01DOI: 10.12783/DTMSE/AMEME2020/35603
Jianbo Liu, Shuping Han, Bin Jiang, Jingfeng Xu, Gang Yang
Underwater acoustic ranging error results from varied causations which make it diverge from Gaussian distribution and bring about low-precision EKF results in range-only positioning and navigation algorithm. A slow varying ranging deviation model is proposed here, the ranging deviation comprises gaussian noise and non-gaussian slow varying deviation. Then an improved EKF (IEKF) algorithm and the initial state value determining method are brought forward. Simulated experiments and lake trial are conducted, results show that IEKF could tracing and compensate the ranging deviation, thus achieves better precision than conventional EKF.
{"title":"An Underwater Acoustic Positioning Algorithm for Single Beacon with Slow Varying Ranging Deviation","authors":"Jianbo Liu, Shuping Han, Bin Jiang, Jingfeng Xu, Gang Yang","doi":"10.12783/DTMSE/AMEME2020/35603","DOIUrl":"https://doi.org/10.12783/DTMSE/AMEME2020/35603","url":null,"abstract":"Underwater acoustic ranging error results from varied causations which make it diverge from Gaussian distribution and bring about low-precision EKF results in range-only positioning and navigation algorithm. A slow varying ranging deviation model is proposed here, the ranging deviation comprises gaussian noise and non-gaussian slow varying deviation. Then an improved EKF (IEKF) algorithm and the initial state value determining method are brought forward. Simulated experiments and lake trial are conducted, results show that IEKF could tracing and compensate the ranging deviation, thus achieves better precision than conventional EKF.","PeriodicalId":11124,"journal":{"name":"DEStech Transactions on Materials Science and Engineering","volume":"7 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2020-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"79467755","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-01-01DOI: 10.12783/DTMSE/AMEME2020/35593
Jiayu Zhao, Long Zeng, Weijie Lv, Guanhong Liu
In the industrial scenes, it often requires to pick up the part quickly in part stacked scenes and then place it in the specific position. This paper proposes a method of grasp evaluation function for grasp planning. It considers collision and interference between gripper and other objects, relative height, grasp angle of the object and stability of grasping the object. In addition, we use the method of voxelization to describe the scene. The research team builds a robotic arm grasping system based on ROS, UR3 and Ensenso N35. We carry out grasp experiments on the stacked scene of a single kind of object. The accuracy is 79.55%. It takes 3.6 seconds to get a grasp pose, which basically meets the requirements of industrial use.
{"title":"An Efficient and Stable Grasp Planning Method for Stacked Parts","authors":"Jiayu Zhao, Long Zeng, Weijie Lv, Guanhong Liu","doi":"10.12783/DTMSE/AMEME2020/35593","DOIUrl":"https://doi.org/10.12783/DTMSE/AMEME2020/35593","url":null,"abstract":"In the industrial scenes, it often requires to pick up the part quickly in part stacked scenes and then place it in the specific position. This paper proposes a method of grasp evaluation function for grasp planning. It considers collision and interference between gripper and other objects, relative height, grasp angle of the object and stability of grasping the object. In addition, we use the method of voxelization to describe the scene. The research team builds a robotic arm grasping system based on ROS, UR3 and Ensenso N35. We carry out grasp experiments on the stacked scene of a single kind of object. The accuracy is 79.55%. It takes 3.6 seconds to get a grasp pose, which basically meets the requirements of industrial use.","PeriodicalId":11124,"journal":{"name":"DEStech Transactions on Materials Science and Engineering","volume":"30 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2020-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"82771840","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-01-01DOI: 10.12783/DTMSE/AMEME2020/35590
Pengcheng Lv, Xia Zhang
Vicsek model is used to simulate the moving behavior of a UAV (Unmanned Aerial Vehicle) cluster, and the flying synchronization process of a UAV cluster is observed by different emerging measurements and the cooperative process of a UAV cluster is interfered at the right time.
{"title":"Identification and Suppression in Flying Synchronous Emergence of UAV Clusters","authors":"Pengcheng Lv, Xia Zhang","doi":"10.12783/DTMSE/AMEME2020/35590","DOIUrl":"https://doi.org/10.12783/DTMSE/AMEME2020/35590","url":null,"abstract":"Vicsek model is used to simulate the moving behavior of a UAV (Unmanned Aerial Vehicle) cluster, and the flying synchronization process of a UAV cluster is observed by different emerging measurements and the cooperative process of a UAV cluster is interfered at the right time.","PeriodicalId":11124,"journal":{"name":"DEStech Transactions on Materials Science and Engineering","volume":"24 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2020-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"86374195","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-01-01DOI: 10.12783/DTMSE/AMEME2020/35594
Ting Lei, Peng Wang, Liqiang Zhong
The joint motor of live working robot adopts brushless DC motor system. Because of the interference of unstable factors in working environment and the vulnerability of power electronic devices, inverter power tube is the most vulnerable link in the system. Based on the model of brushless dc motor system and simulation analysis of the open circuit fault mode of inverter power tube, this paper summarizes the distortion characteristics of the three-phase current waveform of inverter power tube output. An open circuit fault diagnosis method for inverter power tube based on the variation of three-phase current waveform is presented, and the correctness and feasibility of the method are verified.
{"title":"Fault Diagnosis Method for Joint Motor Inverter Power Tube of Live Working Robot","authors":"Ting Lei, Peng Wang, Liqiang Zhong","doi":"10.12783/DTMSE/AMEME2020/35594","DOIUrl":"https://doi.org/10.12783/DTMSE/AMEME2020/35594","url":null,"abstract":"The joint motor of live working robot adopts brushless DC motor system. Because of the interference of unstable factors in working environment and the vulnerability of power electronic devices, inverter power tube is the most vulnerable link in the system. Based on the model of brushless dc motor system and simulation analysis of the open circuit fault mode of inverter power tube, this paper summarizes the distortion characteristics of the three-phase current waveform of inverter power tube output. An open circuit fault diagnosis method for inverter power tube based on the variation of three-phase current waveform is presented, and the correctness and feasibility of the method are verified.","PeriodicalId":11124,"journal":{"name":"DEStech Transactions on Materials Science and Engineering","volume":"64 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2020-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"84026287","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
According to the requirements of audio signal acquisition and conversion, sound source location in complex environment, a sound source collention and positioning system which based on DSP and FPGA is designed. The system adopts low noise MEMS microphone sensor to form microphone array, DSP chip as the core controller, beam forming algorithm as the core algorithm of the system. Through the application of high precision ADC chip to carry out synchronous sampling and conversion of 64 channels of audio signals, simultaneously, the use of low-cost, high-speed FPGA chip to achieve batch data acquisition and caching. The real-time data upload is realized by fast Ethernet controller to ensure the non-blocking transmission of large traffic data. Through the laboratory test, the analysis and verification of the experimental data, the system works stably and meets the design requirements.
{"title":"Sound Source Acquisition and Location System Based on DSP and FPGA","authors":"Hesong Huang, Shunting Fu, Xiaopeng Zhao, Jiahao Wang, Yongli Zhu","doi":"10.12783/DTMSE/AMEME2020/35591","DOIUrl":"https://doi.org/10.12783/DTMSE/AMEME2020/35591","url":null,"abstract":"According to the requirements of audio signal acquisition and conversion, sound source location in complex environment, a sound source collention and positioning system which based on DSP and FPGA is designed. The system adopts low noise MEMS microphone sensor to form microphone array, DSP chip as the core controller, beam forming algorithm as the core algorithm of the system. Through the application of high precision ADC chip to carry out synchronous sampling and conversion of 64 channels of audio signals, simultaneously, the use of low-cost, high-speed FPGA chip to achieve batch data acquisition and caching. The real-time data upload is realized by fast Ethernet controller to ensure the non-blocking transmission of large traffic data. Through the laboratory test, the analysis and verification of the experimental data, the system works stably and meets the design requirements.","PeriodicalId":11124,"journal":{"name":"DEStech Transactions on Materials Science and Engineering","volume":"32 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2020-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"88506071","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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