Capture is a key component for on?orbit service and space debris clean. The current research of capture on?orbit focuses on using special capture devices or full?actuated space arms to capture cooperative targets. How...Capture is a key component for on?orbit service and space debris clean. The current research of capture on?orbit focuses on using special capture devices or full?actuated space arms to capture cooperative targets. However, the structures of current capture devices are complex, and both space debris and abandoned spacecraft are non?cooperative targets. To capture non?cooperative targets in space, a lightweight, less driven under?actuated robotic hand is proposed in this paper, which composed by tendon?pulley transmission and double?stage mechanisms, and always driven by only one motor in process of closing finger. Because of the expandability, general grasping model is constructed. The equivalent joint driving forces and general grasping force are analyzed based on the model and the principle of virtual work. Which reveal the relationship among tendon driving force, joint driving forces and grasping force. In order to configure the number of knuckles of finger, a new analysis method which takes the maximum grasping space into account, is proposed. Supposing the maximum grasped object is an envelope circle with diameter of 2.5m. In the condition, a finger grasping maximum envelope circle with different knuckles is modeled. And the finger lengths with corresponding knuckles are calculated out. The finger length which consists of three knuckles is the shortest among under?actuated fingers consists of not more than five knuckles. Finally, the principle prototype and prototype robotic hand which consists of two dingers are designed and assembled. Experiments indicate that the under?actuated robotic hand can satisfy the grasp requirements.展开更多
In implementing mass customization, how to respond rapidly to customers’ requirements is a key problem. Configuration design is considered effective in early stage of product design. This paper studies a configuratio...In implementing mass customization, how to respond rapidly to customers’ requirements is a key problem. Configuration design is considered effective in early stage of product design. This paper studies a configuration method based on constraints and fuzzy decision for product family. The configuration method is evolved from constraint based product configuration. It employs fuzzy optimum selection in the reasoning process, which can select similar components when customers’ requirements can not be met precisely. In the configurator, product family is represented with GBOM(Generic Bill Of Material) and ACL(Article Characteristic List). Every node of GBOM has an ACL to list all instances of a component family. Constraints are attached to every node, which involves variable definition and constraints definition. In the reasoning process, constraint satisfaction and fuzzy optimum selection interact to search optimum solution. A prototype is developted to demonstrate how to run the configurator. The paper ends with a discussion of advantages, future work of the configuration method.展开更多
Public transportation network reorganisation can be a key measure in designing more efficient networks and increasing the number of passengers. To date, several authors have proposed models for the “transit route net...Public transportation network reorganisation can be a key measure in designing more efficient networks and increasing the number of passengers. To date, several authors have proposed models for the “transit route network design problem” (TRNDP), and many of them use a transit assignment model as one component. However, not all models have considered the “common lines problem,” which is an essential feature in transit network assignment and is based on the concept that the fastest way to get to a destination is to take the first vehicle arriving among an “attractive” set of lines. Thus, we sought to reveal the features of considering the common lines problem by comparing results with and without considering the problem in a transit assignment model. For comparison, a model similar to a previous one was used, formulated as a bi-level optimisation problem, the upper problem of which is described as a multi-objective problem. As a result, although the solutions with and without considering the common lines showed almost the same Pareto front, we confirmed that a more direct service is provided if the common lines problem is considered whereas a less direct service is provided if it is not. With a small network case study, we found that considering the common lines problem in the TRNDP is important as it allows operators to provide more direct services.展开更多
To improve the operation situation of difficulty and low efficiency in the extraction of fermented grains(FG),a high-load and large-workspace reclaiming robot for ceramic cylinder fermentation is designed,and a reclai...To improve the operation situation of difficulty and low efficiency in the extraction of fermented grains(FG),a high-load and large-workspace reclaiming robot for ceramic cylinder fermentation is designed,and a reclaiming effector is designed according to the operating characteristics.Firstly,the kinematics and singularity of the mechanism are analyzed.A multi-domain polar coordinate search method is proposed to obtain the workspace and the volume of the mechanism.Secondly,the dynamic modeling is completed and the example simulation is carried out.Thirdly,the motion-force transmission index of the mechanism is established.And based on the global transmissibility and the good-transmission workspace,the dimensional synthesis of the driving mechanism is completed by using the performance atlas-based method.Finally,aiming at the regular workspace size,stiffness and loading capacity,the Pareto optimal solution set of the executive mechanism dimension is obtained by using the multi-objective particle swarm optimization(MOPSO)algorithm.This paper can provide a theoretical basis for the optimal design and control of FG reclaiming robot.展开更多
With the expanding use of the Internet of Things(IoT)devices and the connection of humans and devices to the Internet,the need to provide security in this field is constantly growing.The conventional cryptographic sol...With the expanding use of the Internet of Things(IoT)devices and the connection of humans and devices to the Internet,the need to provide security in this field is constantly growing.The conventional cryptographic solutions need the IoT device to store secret keys in its non-volatile memory(NVM)leading the system to be vulnerable to physical attacks.In addition,they are not appropriate for IoT applications due to their complex calculations.Thus,physically unclonable functions(PUFs)have been introduced to simultaneously address these issues.PUFs are lightweight and easy-toaccess hardware security primitives which employ the unique characteristics of integrated circuits(ICs)to generate secret keys.Among all proposed PUFs,ring oscillator PUF(RO-PUF)has had amore suitable structure for hardware implementation because of its high reliability and easier providing of circuital symmetry.However,RO-PUF has not been so attractive for authentication purposes due to its limited supported challenge-response pairs(CRPs).A few efforts have been made in recent years that could successfully improve the RO-PUF CRP space,such as configurable RO-PUF(CRO-PUF).In this paper,by considerably improving the CRO-PUF structure and adding spare paths,we propose a novel strong RO-PUF structure that exponentially grows the CRP space and dramatically reduces the hardware cost.We implement our design on a simple and low-cost FPGA chip named XC6SLX9-2tqg144,stating that the proposed design can be used in IoT applications.In addition,to improve the CRP space,our design creates a suitable improvement in different security/performance terms of the generated responses,and dramatically outperforms the state-of-the-art.The average reliability,uniqueness,and uniformity of the responses generated are 99.55%,48.49%,and 50.99%,respectively.展开更多
Security risks of flammability and explosion represent major problems with the use of conventional lithium rechargeable batteries using a liquid electrolyte.The application of solid-state electrolytes could effectivel...Security risks of flammability and explosion represent major problems with the use of conventional lithium rechargeable batteries using a liquid electrolyte.The application of solid-state electrolytes could effectively help to avoid these safety concerns.However,integrating the solid-state electrolytes into the all-solid-state lithium batteries is still a huge challenge mainly due to the high interfacial resistance present in the entire battery,especially at the interface between the cathode and the solid-state electrolyte pellet and the interfaces inside the cathode.Herein,recent progress made from investigations of cathode/solid-state electrolyte interfacial behaviors including the contact problem,the interlayer diffusion issue,the space-charge layer effect,and electrochemical compatibility is presented according to the classification of oxide-,sulfide-,and polymer-based solid-state electrolytes.We also propose strategies for the construction of ideal next-generation cathode/solid-state electrolyte interfaces with high room-temperature ionic conductivity,stable interfacial contact during long cycling,free formation of the space-charge region,and good compatibility with high-voltage cathodes.展开更多
Sodium ion batteries(SIBs)have been regarded as one of the alternatives to lithium ion batteries owing to their wide availability and significantly low cost of sodium sources.However,they face serious challenges of lo...Sodium ion batteries(SIBs)have been regarded as one of the alternatives to lithium ion batteries owing to their wide availability and significantly low cost of sodium sources.However,they face serious challenges of low energy&power density and short cycling lifespan owing to the heavy mass and large radius of Na^(+).Vanadium-based polyanionic compounds have advantageous characteristic of high operating voltage,high ionic conductivity and robust structural framework,which is conducive to their high energy&power density and long lifespan for SIBs.In this review,we will overview the latest V-based polyanionic compounds,along with the respective characteristic from the intrinsic crystal structure to performance presentation and improvement for SIBs.One of the most important aspect is to discover the essential problems existed in the present V-based polyanionic compounds for high-energy&power applications,and point out most suitable solutions from the crystal structure modulation,interface tailoring and electrode configuration design.Moreover,some scientific issues of V-based polyanionic compounds shall be also proposed and related future direction shall be provided.We believe that this review can serve as a motivation for further development of novel V-based polyanionic compounds and drive them toward high energy&power applications in the near future.展开更多
Harvesting of fresh-eating cherry tomato was highly costly on labor and time.In order to achieve mechanical harvesting for the fresh-eating tomato,a new harvesting robot was designed,which consisted of a stereo visual...Harvesting of fresh-eating cherry tomato was highly costly on labor and time.In order to achieve mechanical harvesting for the fresh-eating tomato,a new harvesting robot was designed,which consisted of a stereo visual unit,an end-effector,manipulator,a fruit collector,and a railed vehicle.The robot configuration and workflow design focused on the special cultivating condition.Three key parts were introduced in detail:a railroad vehicle capably moving on both ground and rail was adopted as the robot’s carrier,a visual servo unit was used to identify and locate the mature fruits bunch,and the end-effector to hold and separate the fruit bunch was designed based on the stalk’s mechanical features.The field test of the new developed robot was conducted and the results were analyzed.The successful harvest rate of the robot was 83%,however,each successful harvest averagely needed 1.4 times attempt,and a single successful harvesting cycle cost 8 s excluding the time cost on moving.展开更多
The clear differences between the atmosphere of Mars and the Earth coupled with the lack of a domestic research basis were significant challenges for the aerodynamic prediction and verification of Tianwen-1.In additio...The clear differences between the atmosphere of Mars and the Earth coupled with the lack of a domestic research basis were significant challenges for the aerodynamic prediction and verification of Tianwen-1.In addition,the Mars entry,descent,and landing(EDL)mission led to specific requirements for the accuracy of the aerodynamic deceleration performance,stability,aerothermal heating,and various complex aerodynamic coupling problems of the entry module.This study analyzes the key and difficult aerodynamic and aerothermodynamic problems related to the Mars EDL process.Then,the study process and results of the design and optimization of the entry module configuration are presented along with the calculations and experiments used to obtain the aerodynamic and aerothermodynamic characteristics in the Martian atmosphere.In addition,the simulation and verification of the low-frequency free oscillation characteristics under a large separation flow are described,and some special aerodynamic coupling problems such as the aeroelastic buffeting response of the trim tab are discussed.Finally,the atmospheric parameters and aerodynamic characteristics obtained from the flight data of the Tianwen-1 entry module are compared with the design data.The data obtained from the aerodynamic design,analysis,and verification of the Tianwen-1 entry module all meet the engineering requirements.In particular,the flight data results for the atmospheric parameters,trim angles of attack,and trim axial forces are within the envelopes of the prediction deviation zones.展开更多
基金Supported by Joint Funds of National Natural Science Foundation of China(Grant No.U1613201)Shenzhen Research Funds(JCYJ20170413104438332)
文摘Capture is a key component for on?orbit service and space debris clean. The current research of capture on?orbit focuses on using special capture devices or full?actuated space arms to capture cooperative targets. However, the structures of current capture devices are complex, and both space debris and abandoned spacecraft are non?cooperative targets. To capture non?cooperative targets in space, a lightweight, less driven under?actuated robotic hand is proposed in this paper, which composed by tendon?pulley transmission and double?stage mechanisms, and always driven by only one motor in process of closing finger. Because of the expandability, general grasping model is constructed. The equivalent joint driving forces and general grasping force are analyzed based on the model and the principle of virtual work. Which reveal the relationship among tendon driving force, joint driving forces and grasping force. In order to configure the number of knuckles of finger, a new analysis method which takes the maximum grasping space into account, is proposed. Supposing the maximum grasped object is an envelope circle with diameter of 2.5m. In the condition, a finger grasping maximum envelope circle with different knuckles is modeled. And the finger lengths with corresponding knuckles are calculated out. The finger length which consists of three knuckles is the shortest among under?actuated fingers consists of not more than five knuckles. Finally, the principle prototype and prototype robotic hand which consists of two dingers are designed and assembled. Experiments indicate that the under?actuated robotic hand can satisfy the grasp requirements.
文摘In implementing mass customization, how to respond rapidly to customers’ requirements is a key problem. Configuration design is considered effective in early stage of product design. This paper studies a configuration method based on constraints and fuzzy decision for product family. The configuration method is evolved from constraint based product configuration. It employs fuzzy optimum selection in the reasoning process, which can select similar components when customers’ requirements can not be met precisely. In the configurator, product family is represented with GBOM(Generic Bill Of Material) and ACL(Article Characteristic List). Every node of GBOM has an ACL to list all instances of a component family. Constraints are attached to every node, which involves variable definition and constraints definition. In the reasoning process, constraint satisfaction and fuzzy optimum selection interact to search optimum solution. A prototype is developted to demonstrate how to run the configurator. The paper ends with a discussion of advantages, future work of the configuration method.
文摘Public transportation network reorganisation can be a key measure in designing more efficient networks and increasing the number of passengers. To date, several authors have proposed models for the “transit route network design problem” (TRNDP), and many of them use a transit assignment model as one component. However, not all models have considered the “common lines problem,” which is an essential feature in transit network assignment and is based on the concept that the fastest way to get to a destination is to take the first vehicle arriving among an “attractive” set of lines. Thus, we sought to reveal the features of considering the common lines problem by comparing results with and without considering the problem in a transit assignment model. For comparison, a model similar to a previous one was used, formulated as a bi-level optimisation problem, the upper problem of which is described as a multi-objective problem. As a result, although the solutions with and without considering the common lines showed almost the same Pareto front, we confirmed that a more direct service is provided if the common lines problem is considered whereas a less direct service is provided if it is not. With a small network case study, we found that considering the common lines problem in the TRNDP is important as it allows operators to provide more direct services.
基金supported by the National Natural Science Foundation of China(No.51905367)。
文摘To improve the operation situation of difficulty and low efficiency in the extraction of fermented grains(FG),a high-load and large-workspace reclaiming robot for ceramic cylinder fermentation is designed,and a reclaiming effector is designed according to the operating characteristics.Firstly,the kinematics and singularity of the mechanism are analyzed.A multi-domain polar coordinate search method is proposed to obtain the workspace and the volume of the mechanism.Secondly,the dynamic modeling is completed and the example simulation is carried out.Thirdly,the motion-force transmission index of the mechanism is established.And based on the global transmissibility and the good-transmission workspace,the dimensional synthesis of the driving mechanism is completed by using the performance atlas-based method.Finally,aiming at the regular workspace size,stiffness and loading capacity,the Pareto optimal solution set of the executive mechanism dimension is obtained by using the multi-objective particle swarm optimization(MOPSO)algorithm.This paper can provide a theoretical basis for the optimal design and control of FG reclaiming robot.
文摘With the expanding use of the Internet of Things(IoT)devices and the connection of humans and devices to the Internet,the need to provide security in this field is constantly growing.The conventional cryptographic solutions need the IoT device to store secret keys in its non-volatile memory(NVM)leading the system to be vulnerable to physical attacks.In addition,they are not appropriate for IoT applications due to their complex calculations.Thus,physically unclonable functions(PUFs)have been introduced to simultaneously address these issues.PUFs are lightweight and easy-toaccess hardware security primitives which employ the unique characteristics of integrated circuits(ICs)to generate secret keys.Among all proposed PUFs,ring oscillator PUF(RO-PUF)has had amore suitable structure for hardware implementation because of its high reliability and easier providing of circuital symmetry.However,RO-PUF has not been so attractive for authentication purposes due to its limited supported challenge-response pairs(CRPs).A few efforts have been made in recent years that could successfully improve the RO-PUF CRP space,such as configurable RO-PUF(CRO-PUF).In this paper,by considerably improving the CRO-PUF structure and adding spare paths,we propose a novel strong RO-PUF structure that exponentially grows the CRP space and dramatically reduces the hardware cost.We implement our design on a simple and low-cost FPGA chip named XC6SLX9-2tqg144,stating that the proposed design can be used in IoT applications.In addition,to improve the CRP space,our design creates a suitable improvement in different security/performance terms of the generated responses,and dramatically outperforms the state-of-the-art.The average reliability,uniqueness,and uniformity of the responses generated are 99.55%,48.49%,and 50.99%,respectively.
基金National Natural Science Foundation of China(U2001220)the Local Innovative Research Teams Project of Guangdong Pearl River Talents Program(No.2017BT01N111)+1 种基金the Shenzhen Technical Plan Project(Nos.JCYJ20180508152210821,JCYJ20170817161221958,and JCYJ20180508152135822)the Shenzhen All-Solid-State Lithium Battery Electrolyte Engineering Research Center(XMHT20200203006).
文摘Security risks of flammability and explosion represent major problems with the use of conventional lithium rechargeable batteries using a liquid electrolyte.The application of solid-state electrolytes could effectively help to avoid these safety concerns.However,integrating the solid-state electrolytes into the all-solid-state lithium batteries is still a huge challenge mainly due to the high interfacial resistance present in the entire battery,especially at the interface between the cathode and the solid-state electrolyte pellet and the interfaces inside the cathode.Herein,recent progress made from investigations of cathode/solid-state electrolyte interfacial behaviors including the contact problem,the interlayer diffusion issue,the space-charge layer effect,and electrochemical compatibility is presented according to the classification of oxide-,sulfide-,and polymer-based solid-state electrolytes.We also propose strategies for the construction of ideal next-generation cathode/solid-state electrolyte interfaces with high room-temperature ionic conductivity,stable interfacial contact during long cycling,free formation of the space-charge region,and good compatibility with high-voltage cathodes.
基金financial support from the Strategic Priority Research Program of the Chinese Academy of Sciences(XDA21070500)the DNL Cooperation Fund,CAS(DNL201914)。
文摘Sodium ion batteries(SIBs)have been regarded as one of the alternatives to lithium ion batteries owing to their wide availability and significantly low cost of sodium sources.However,they face serious challenges of low energy&power density and short cycling lifespan owing to the heavy mass and large radius of Na^(+).Vanadium-based polyanionic compounds have advantageous characteristic of high operating voltage,high ionic conductivity and robust structural framework,which is conducive to their high energy&power density and long lifespan for SIBs.In this review,we will overview the latest V-based polyanionic compounds,along with the respective characteristic from the intrinsic crystal structure to performance presentation and improvement for SIBs.One of the most important aspect is to discover the essential problems existed in the present V-based polyanionic compounds for high-energy&power applications,and point out most suitable solutions from the crystal structure modulation,interface tailoring and electrode configuration design.Moreover,some scientific issues of V-based polyanionic compounds shall be also proposed and related future direction shall be provided.We believe that this review can serve as a motivation for further development of novel V-based polyanionic compounds and drive them toward high energy&power applications in the near future.
基金We acknowledge that this work was financially supported by the National Natural Science Foundation of China(61703048)Beijing Excellent Talent Training to Support Young Key Individual Projects(2015000020060G134)BAAFS Youth Research Fund(QNJJ201722).
文摘Harvesting of fresh-eating cherry tomato was highly costly on labor and time.In order to achieve mechanical harvesting for the fresh-eating tomato,a new harvesting robot was designed,which consisted of a stereo visual unit,an end-effector,manipulator,a fruit collector,and a railed vehicle.The robot configuration and workflow design focused on the special cultivating condition.Three key parts were introduced in detail:a railroad vehicle capably moving on both ground and rail was adopted as the robot’s carrier,a visual servo unit was used to identify and locate the mature fruits bunch,and the end-effector to hold and separate the fruit bunch was designed based on the stalk’s mechanical features.The field test of the new developed robot was conducted and the results were analyzed.The successful harvest rate of the robot was 83%,however,each successful harvest averagely needed 1.4 times attempt,and a single successful harvesting cycle cost 8 s excluding the time cost on moving.
基金This research comes from the Tianwen-1 Mars exploration mission.The authors gratefully acknowledge the contributions of the entire Tianwen-1 design team.
文摘The clear differences between the atmosphere of Mars and the Earth coupled with the lack of a domestic research basis were significant challenges for the aerodynamic prediction and verification of Tianwen-1.In addition,the Mars entry,descent,and landing(EDL)mission led to specific requirements for the accuracy of the aerodynamic deceleration performance,stability,aerothermal heating,and various complex aerodynamic coupling problems of the entry module.This study analyzes the key and difficult aerodynamic and aerothermodynamic problems related to the Mars EDL process.Then,the study process and results of the design and optimization of the entry module configuration are presented along with the calculations and experiments used to obtain the aerodynamic and aerothermodynamic characteristics in the Martian atmosphere.In addition,the simulation and verification of the low-frequency free oscillation characteristics under a large separation flow are described,and some special aerodynamic coupling problems such as the aeroelastic buffeting response of the trim tab are discussed.Finally,the atmospheric parameters and aerodynamic characteristics obtained from the flight data of the Tianwen-1 entry module are compared with the design data.The data obtained from the aerodynamic design,analysis,and verification of the Tianwen-1 entry module all meet the engineering requirements.In particular,the flight data results for the atmospheric parameters,trim angles of attack,and trim axial forces are within the envelopes of the prediction deviation zones.
