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学者姓名：郑开魁
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Abstract ：
Inertial-based upper limb motion capture technology is widely applied in directly controlling robots through human motions due to its low cost and portability. Most upper limb motion capture models typically focus solely on estimating the wrist position (WP) while neglecting the motion of the wrist. Moreover, these models struggle to precisely estimate joint positions, especially in the presence of magnetic disturbances. In this article, a two-layer upper limb motion capture model is proposed. In the upper layer of the model, a hand center position estimation method (HCPEM) is presented to estimate accurately hand center position (HCP) regardless of magnetic field interference. In the lower layer of the model, an optimized sensor-to-segment alignment algorithm based on physical constraints (OABPCs) is proposed to align sensors and segments with the aim of improving the precision of the estimated HCPs. The UR3 robotic experiment platform was designed to verify the accuracy of the HCPs. For different motion tasks and different mounting positions of the inertial measurement units (IMUs), the performance of the proposed two-layer model was further investigated through experiments. The results show that the HCP estimated by the proposed two-layer model achieves root-mean-square errors (RMSEs) below 2.5 cm for different motion tasks and various IMU mounting positions, even in the presence of magnetic field disturbances. Compared with the existing algorithm, the RMSE of the joint position measurements is improved by 1 cm. This study enables flexible, accurate, and convenient control of the robot through human motion.
Keyword ：
Estimation Estimation Inertial measurement unit (IMU) Inertial measurement unit (IMU) magnetic field disturbances magnetic field disturbances motion capture motion capture Motion capture Motion capture position estimate position estimate Robot kinematics Robot kinematics Robots Robots Robot sensing systems Robot sensing systems Task analysis Task analysis Wrist Wrist
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| GB/T 7714 | Xue, Kuikui , Zheng, Kaikui , Yang, Jinxing et al. An Inertia-Based Upper Limb Motion Capture Model for Accurate Position Estimation in Magnetic Field Disturbances [J]. | IEEE SENSORS JOURNAL , 2024 , 24 (3) : 3756-3765 . |
| MLA | Xue, Kuikui et al. "An Inertia-Based Upper Limb Motion Capture Model for Accurate Position Estimation in Magnetic Field Disturbances" . | IEEE SENSORS JOURNAL 24 . 3 (2024) : 3756-3765 . |
| APA | Xue, Kuikui , Zheng, Kaikui , Yang, Jinxing , Xie, Yinhui , Zhao, Mingyang , Li, Jun . An Inertia-Based Upper Limb Motion Capture Model for Accurate Position Estimation in Magnetic Field Disturbances . | IEEE SENSORS JOURNAL , 2024 , 24 (3) , 3756-3765 . |
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Copper particles emitted from braking have become a significant source of environmental pollution.However,copper plays a crucial role in resin-based braking materials.Developing high-performance braking materials with-out copper has become a significant challenge.In this paper,the resin-based braking materials were filled with fly-ash cenospheres to develop copper-free braking materials.The effects of fly-ash cenospheres on the physical properties,mechanical and friction and wear properties of braking materials were studied.Furthermore,the wear mechanism of copper-free resin-based braking materials filled with fly-ash cenospheres was discussed.The results indicate that the inclusion of fly-ash cenospheres in the braking materials improved their thermal stability,hard-ness and impact strength,reduced their density,effectively increased the friction coefficient at medium and high temperatures,and enhanced the heat-fade resistance of the braking materials.The inclusion of fly-ash cenospheres contributed to the formation of surface friction film during the friction process of the braking materials,and facilitated the transition of form from abrasive wear to adhesive wear.At 100-350 ℃,the friction coefficient of the optimal for-mulation is in the range of 0.57-0.61,and the wear rate is in the range(0.29-0.65)× 10-7cm3·N-1·m-1,demonstrating excellent resistance to heat-fade and stability in friction coefficient.This research proposes the use of fly-ash ceno-spheres as a substitute for environmentally harmful and expensive copper in brake materials,which not only improves the performance of braking materials but also reduces their costs.
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| GB/T 7714 | Kaikui Zheng , Youxi Lin , Shanmin You et al. Copper-Free Resin-Based Braking Materials:A New Approach for Substituting Copper with Fly-Ash Cenospheres in Composites [J]. | 中国机械工程学报 , 2024 , 37 (2) : 401-412 . |
| MLA | Kaikui Zheng et al. "Copper-Free Resin-Based Braking Materials:A New Approach for Substituting Copper with Fly-Ash Cenospheres in Composites" . | 中国机械工程学报 37 . 2 (2024) : 401-412 . |
| APA | Kaikui Zheng , Youxi Lin , Shanmin You , Zhiying Ren , Jianmeng Huang . Copper-Free Resin-Based Braking Materials:A New Approach for Substituting Copper with Fly-Ash Cenospheres in Composites . | 中国机械工程学报 , 2024 , 37 (2) , 401-412 . |
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Abstract ：
采用超声波滚压工艺对TC11钛合金表面进行光整强化加工，利用OM、白光干涉仪、SEM、EDS和XRD研究了超声波滚压工艺参数对钛合金表层的微观结构和表面粗糙度的影响规律；采用显微硬度计、多功能摩擦磨损试验机研究了滚压表面的硬度和摩擦磨损性能。研究结果表明，钛合金表面粗糙度随着滚压功率、滚压次数、静压力、压下量、主轴转速和进给量的增加呈先降后增的趋势，分别在滚压功率660 W、滚压次数5次、静压力0.20 MPa、压下量0.15 mm、主轴转速200 r·min~(-1)、进给量0.10 mm·r~(-1)时达到最低值。随着功率的提高，钛合金表面硬度增大，摩擦因数和磨损量降低；随滚压次数、静压力、压下量、主轴转速和进给量的增加，表面硬度呈先升后降的趋势，摩擦因数和磨损量呈先降后升的趋势，在滚压功率990 W、滚压次数5次、静压力0.20 MPa、压下量0.15 mm、主轴转速200 r·min~(-1)、进给量0.10 mm·r~(-1)时，硬度达到最高值，摩擦因数和磨损量达到最低值。对工艺参数进行响应曲面优化，获得优化工艺参数为滚压功率990 W、滚压次数5次、静压力0.20 MPa、压下量0.15 mm、主轴转速198 r·min~(-1)、进给量0.10 mm·r~(-1)。与滚压前的钛合金表面相比，表面硬度从338 HV增至461 HV，提高了36.4%；表面粗糙度从1.88μm降至0.19μm，下降了89.9%；磨损量从0.60 mg降为0.10 mg，降低了83.3%。
Keyword ：
摩擦因数 摩擦因数 磨损量 磨损量 表面质量 表面质量 超声波滚压 超声波滚压 钛合金 钛合金
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| GB/T 7714 | 郑开魁 , 赵信哲 , 牟刚 et al. 超声波滚压强化TC11钛合金的表面质量与摩擦磨损性能 [J]. | 机械工程学报 , 2024 , 60 (09) : 137-151 . |
| MLA | 郑开魁 et al. "超声波滚压强化TC11钛合金的表面质量与摩擦磨损性能" . | 机械工程学报 60 . 09 (2024) : 137-151 . |
| APA | 郑开魁 , 赵信哲 , 牟刚 , 任志英 . 超声波滚压强化TC11钛合金的表面质量与摩擦磨损性能 . | 机械工程学报 , 2024 , 60 (09) , 137-151 . |
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Abstract ：
Copper particles emitted from braking have become a significant source of environmental pollution. However, copper plays a crucial role in resin-based braking materials. Developing high-performance braking materials without copper has become a significant challenge. In this paper, the resin-based braking materials were filled with fly-ash cenospheres to develop copper-free braking materials. The effects of fly-ash cenospheres on the physical properties, mechanical and friction and wear properties of braking materials were studied. Furthermore, the wear mechanism of copper-free resin-based braking materials filled with fly-ash cenospheres was discussed. The results indicate that the inclusion of fly-ash cenospheres in the braking materials improved their thermal stability, hardness and impact strength, reduced their density, effectively increased the friction coefficient at medium and high temperatures, and enhanced the heat-fade resistance of the braking materials. The inclusion of fly-ash cenospheres contributed to the formation of surface friction film during the friction process of the braking materials, and facilitated the transition of form from abrasive wear to adhesive wear. At 100-350 celcius, the friction coefficient of the optimal formulation is in the range of 0.57-0.61, and the wear rate is in the range (0.29-0.65) x 10-7 cm3 center dot N-1 center dot m-1, demonstrating excellent resistance to heat-fade and stability in friction coefficient. This research proposes the use of fly-ash cenospheres as a substitute for environmentally harmful and expensive copper in brake materials, which not only improves the performance of braking materials but also reduces their costs.
Keyword ：
Braking materials Braking materials Fly-ash cenospheres Fly-ash cenospheres Friction and wear Friction and wear Heat-fade resistance Heat-fade resistance Wear form Wear form
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| GB/T 7714 | Zheng, Kaikui , Lin, Youxi , You, Shanmin et al. Copper-Free Resin-Based Braking Materials: A New Approach for Substituting Copper with Fly-Ash Cenospheres in Composites [J]. | CHINESE JOURNAL OF MECHANICAL ENGINEERING , 2024 , 37 (1) . |
| MLA | Zheng, Kaikui et al. "Copper-Free Resin-Based Braking Materials: A New Approach for Substituting Copper with Fly-Ash Cenospheres in Composites" . | CHINESE JOURNAL OF MECHANICAL ENGINEERING 37 . 1 (2024) . |
| APA | Zheng, Kaikui , Lin, Youxi , You, Shanmin , Ren, Zhiying , Huang, Jianmeng . Copper-Free Resin-Based Braking Materials: A New Approach for Substituting Copper with Fly-Ash Cenospheres in Composites . | CHINESE JOURNAL OF MECHANICAL ENGINEERING , 2024 , 37 (1) . |
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The surface of TC11 titanium alloy was polished and strengthened using ultrasonic rolling process (USRP) technology. The effects of USRP on the surface quality, friction and wear properties, corrosion resistance, and wear mechanisms of TC11 titanium alloy at room temperature, low temperature (-60 degrees C), high temperature (400 degrees C), and in corrosive environments were investigated by using optical microscope, microhardness tester, electrochemical workstation, multifunctional friction and wear tester, SEM, EDS, XRD, and XPS. The results indicate that USRP can effectively refine the surface grains of titanium alloy, reducing its surface roughness parameter by 80.4 % and increasing surface hardness and residual compressive stress by 21.7 % and 97.1 %, respectively. USRP is advantageous for producing a layer of TiO2 on the surface of titanium alloys, effectively enhancing the corrosion resistance of titanium alloy surfaces. USRP technology can improve the stability of surface hardness values of titanium alloys in harsh environments. The results of dry friction and wear tests using GCr15 steel balls as the counter material show that the USRP technology can effectively reduce the friction coefficient and wear loss at room, high and low temperatures. The results of corrosion and wear tests using Si3N4 as the counter material indicate that the USRP technology can effectively reduce the friction coefficient and wear volume in seawater corrosion environments. The USRP technology is most effective in reducing the hightemperature friction coefficient of titanium alloys and improving their wear resistance in low-temperature and corrosive environments. The primary wear form of TC11 titanium alloy after USRP has shifted from adhesive wear to abrasive wear.
Keyword ：
Corrosion Corrosion Surface strengthening Surface strengthening Titanium alloy Titanium alloy Ultrasonic rolling Ultrasonic rolling Wear resistance Wear resistance
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| GB/T 7714 | Zheng, Kaikui , Zhao, Xinzhe , Pan, Ling et al. Ultrasonic rolling strengthening of TC11 titanium alloy surface: Corrosion and wear properties under extreme conditions [J]. | WEAR , 2024 , 550-551 . |
| MLA | Zheng, Kaikui et al. "Ultrasonic rolling strengthening of TC11 titanium alloy surface: Corrosion and wear properties under extreme conditions" . | WEAR 550-551 (2024) . |
| APA | Zheng, Kaikui , Zhao, Xinzhe , Pan, Ling , Ren, Zhiying . Ultrasonic rolling strengthening of TC11 titanium alloy surface: Corrosion and wear properties under extreme conditions . | WEAR , 2024 , 550-551 . |
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Abstract ：
采用光学显微镜、扫描电镜和能谱仪考察了时效处理时间对固溶态与轧制态UNS S32304不锈钢组织和耐晶间腐蚀性能的影响；通过双循环动电位再活化试验和草酸腐蚀试验分别评估了经不同时间时效处理后，不同状态试样的晶间腐蚀敏感性。结果表明：时效0.5 h时固溶态试样未发现二次相，轧制态试样有二次奥氏体在铁素体内优先析出；时效4 h,固溶态试样相界处析出圆粒状M_(23)C_6和小颗粒状二次奥氏体，而轧制态试样只有锯齿状二次奥氏体沿相界析出。继续延长时效时间，两种试样的锯齿状二次奥氏体皆变得宽大且向铁素体内延伸，且时效处理时间相同时，轧制态试样中二次相的析出数量比固溶态的多；此外，延长时间还会使得固溶态和轧制态试样的晶间腐蚀敏化系数增大，且后者的敏化系数比前者大，耐蚀性不如前者。
Keyword ：
双相不锈钢 双相不锈钢 晶间腐蚀 晶间腐蚀 析出相 析出相 草酸腐蚀 草酸腐蚀
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| GB/T 7714 | 陈俊林 , 何福善 , 向红亮 et al. 时效处理时间对UNS S32304双相不锈钢组织和晶间腐蚀敏感性的影响 [J]. | 腐蚀与防护 , 2023 , 44 (04) : 46-53,93 . |
| MLA | 陈俊林 et al. "时效处理时间对UNS S32304双相不锈钢组织和晶间腐蚀敏感性的影响" . | 腐蚀与防护 44 . 04 (2023) : 46-53,93 . |
| APA | 陈俊林 , 何福善 , 向红亮 , 郑开魁 . 时效处理时间对UNS S32304双相不锈钢组织和晶间腐蚀敏感性的影响 . | 腐蚀与防护 , 2023 , 44 (04) , 46-53,93 . |
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激光增材制造技术成形的制件具有自由度大、精度高、质量和性能好等优势，随着该技术的日益发展，其在不锈钢材料领域取得了显著的进展。激光增材制造技术成形不锈钢通常呈现出与传统制备工艺显著不同的非平衡凝固组织，表现出复杂的结构特征，而这些特征决定了合金的性能和应用。介绍了激光熔化沉积和选区激光熔化两种激光增材制造技术，选择典型的316L不锈钢及17-4PH不锈钢，综述了激光增材制造不锈钢凝固组织特征的研究现状，重点关注典型多尺度、层次性的组织结构（包括晶粒、宏观缺陷、熔池组织、胞状亚结构、氧化物夹杂等）。系统分析了激光增材制造不锈钢的组织调控方法，包括调整工艺参数、改变工艺环境及热处理等方式，通过组织调控能够影响晶粒的生长及熔池反应，进一步改善其内部微观组织，如形成间隙固溶体或颗粒夹杂物、细化晶粒及消除孔隙等，同时能促进不同相的析出和转变。通过合理地调控凝固组织，能够显著改善不锈钢的组织及机械性能。最后，对激光增材制造不锈钢的未来发展进行了展望。
Keyword ：
不锈钢 不锈钢 凝固组织 凝固组织 后处理 后处理 激光增材制造 激光增材制造 组织调控 组织调控
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| GB/T 7714 | 吴伟峰 , 刘鑫旺 , 郑开魁 et al. 激光增材制造不锈钢的凝固组织及调控方法研究进展 [J]. | 精密成形工程 , 2023 , 15 (04) : 121-130 . |
| MLA | 吴伟峰 et al. "激光增材制造不锈钢的凝固组织及调控方法研究进展" . | 精密成形工程 15 . 04 (2023) : 121-130 . |
| APA | 吴伟峰 , 刘鑫旺 , 郑开魁 , 王凯 , 魏青松 , 樊自田 et al. 激光增材制造不锈钢的凝固组织及调控方法研究进展 . | 精密成形工程 , 2023 , 15 (04) , 121-130 . |
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Duplex stainless steel was formed through welding wire and arc additive manufacturing (WAAM) using tungsten inert gas. The effects of wire feeding speed (WFS), welding speed (WS), welding current, and their interaction on the weld bead width and height were discussed. Back-propagation (BP) neural network algorithm prediction model was established by taking the bead width and height as the output layer, and the network weight and threshold values were optimized using the particle swarm optimization (PSO) algorithm to obtain the prediction model of bead width and height. The predicted results were verified by experiments. Results show that the weld bead width increases with the increase in WFS and the welding current and decreases with WS. The smaller the WFS, the faster the WS, which is beneficial for the generation of equiaxed crystals. The smaller the welding current, the faster the cooling speed of the metal melt, which is conducive to the formation of dendrites. The interaction among WS, wire feed speed, and welding current has a significant effect on the bead width. The weld bead height is positively correlated with the wire feed speed and negatively correlated with the WS and current. The interaction between the wire feed speed and WS is significant. The optimized WAAM process parameters for duplex stainless steel are a wire feed speed of 200 cm/min, WS of 24 cm/min, and welding current of 160 A. The maximum error of the BP neural network in predicting the weld bead width and height is 7.74%, and the maximum error between the predicted and experimental values of the BP-PSO neural network is 4.27%. This finding indicates that the convergence speed is fast, improving the prediction accuracy.
Keyword ：
bead forming bead forming duplex stainless steel duplex stainless steel neural network neural network prediction model prediction model wire arc additive manufacturing wire arc additive manufacturing
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| GB/T 7714 | Zheng, Kaikui , Yao, Chuanxu , Mou, Gang et al. Prediction of Weld Bead Formation of Duplex Stainless Steel Fabricated by Wire Arc Additive Manufacturing Based on the PSO-BP Neural Network [J]. | JOURNAL OF MARINE SCIENCE AND APPLICATION , 2023 , 22 (2) : 311-323 . |
| MLA | Zheng, Kaikui et al. "Prediction of Weld Bead Formation of Duplex Stainless Steel Fabricated by Wire Arc Additive Manufacturing Based on the PSO-BP Neural Network" . | JOURNAL OF MARINE SCIENCE AND APPLICATION 22 . 2 (2023) : 311-323 . |
| APA | Zheng, Kaikui , Yao, Chuanxu , Mou, Gang , Xiang, Hongliang . Prediction of Weld Bead Formation of Duplex Stainless Steel Fabricated by Wire Arc Additive Manufacturing Based on the PSO-BP Neural Network . | JOURNAL OF MARINE SCIENCE AND APPLICATION , 2023 , 22 (2) , 311-323 . |
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Mechanical and tribological properties of phenolic resin matrix composites reinforced by bamboo fibers, which were pre-treated with sodium hydroxide (NaOH) and post-treated with lanthanum chloride (LaCl3), were characterized by hardness, impact, microscratch tests, friction and wear testers, and thermogravimetric analysis. Bamboo fibers before and after modification were characterized by scanning electron microscopy (SEM), X-ray photoelectron spectroscopy (XPS), X-ray diffraction (XRD), and Fourier transform infrared spectroscopy (FTIR). Hemicellulose and lignin of bamboo fibers can be dissolved by alkaline or NaOH treatment, resulting in a rough surface. The high coordination number of rare earth atoms in LaCl3 solution enhanced the formation of chemical bonds between the hydroxyl groups of bamboo fibers and the oxygen-containing groups on the molecular chain of phenolic resin. The hardness and impact strength of the composites both firstly increased and then decreased with an increase in LaCl3 concentration or soaking duration in LaCl3 solution. Tribological performance (e.g. high-temperature friction coefficient, wear rate, thermogravimetric loss, crack propagation) of phenolic resin matrix composites was significantly improved by the treated bamboo fibers. The optimum mechanical and tribological properties of bamboo fiber-reinforced phenolic resin matrix composites were achieved under the conditions of LaCl3 concentration of 10% and soaking duration of 30 min.
Keyword ：
Bamboo fibers Bamboo fibers Mechanical characterization Mechanical characterization NaOH treatment NaOH treatment Phenolic resin matrix composites Phenolic resin matrix composites Rare earth modification Rare earth modification
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| GB/T 7714 | Liu, Ming , Hou, Dongyang , Zheng, Kaikui et al. Characterization of friction and wear of phenolic resin matrix composites reinforced by bamboo fibers of alkaline and LaCl3 treatment [J]. | MATERIALS TODAY COMMUNICATIONS , 2023 , 35 . |
| MLA | Liu, Ming et al. "Characterization of friction and wear of phenolic resin matrix composites reinforced by bamboo fibers of alkaline and LaCl3 treatment" . | MATERIALS TODAY COMMUNICATIONS 35 (2023) . |
| APA | Liu, Ming , Hou, Dongyang , Zheng, Kaikui , Gao, Chenghui . Characterization of friction and wear of phenolic resin matrix composites reinforced by bamboo fibers of alkaline and LaCl3 treatment . | MATERIALS TODAY COMMUNICATIONS , 2023 , 35 . |
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To reveal the internal mechanism of the radial clearance between the inner and outer tubes on the microstructure of the electromagnetic pulse welding joint interface, the formation and evolution mechanism of interface microstructure are studied by changing the radial clearance between the 304L stainless steel and T2 copper tube combined with microscopic characterization and numerical simulation. The study shows that the interface presents a wave shape, which is due to the Kelvin-Helmholtz interfacial instability effect caused by the high-speed collision. As the radial clearance increases from 1.65 mm to 2.15 mm, magnetic intensity maximum, impact speed, impact angle, the length of the wavy unbonded region and the wavelength of the wavy interface increase. Meanwhile, the stress distribution appears S shape. The interface element distribution is a combination of local high-temperature melting and element interdiffusion at less high-temperature. And the formation of the steel-copper electromagnetic pulse welding joint includes the arcing of upper surface of the outer tube, the fragmentation of the end of the outer tube, the generation of unbonded areas and the generation of bonded areas. The reason is that the outer tube undergoes different plastic deformation under the combined effect of the propagation direction, the sound wave, and the reflected wave of the shock wave. © 2023 Editorial Office of Chinese Journal of Mechanical Engineering. All rights reserved.
Keyword ：
copper copper electromagnetic pulse welding electromagnetic pulse welding microstructure microstructure stainless steel stainless steel wave-like interface wave-like interface
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| GB/T 7714 | Mou, G. , He, L. , Zheng, K. et al. Microstructure Evolution Mechanism and Numerical Simulation of Steel-copper Joint Fabricating by Electromagnetic Pulse Welding; [钢铜磁脉冲接头微观组织演化机理及数值模拟] [J]. | Journal of Mechanical Engineering , 2023 , 59 (13) : 364-374 . |
| MLA | Mou, G. et al. "Microstructure Evolution Mechanism and Numerical Simulation of Steel-copper Joint Fabricating by Electromagnetic Pulse Welding; [钢铜磁脉冲接头微观组织演化机理及数值模拟]" . | Journal of Mechanical Engineering 59 . 13 (2023) : 364-374 . |
| APA | Mou, G. , He, L. , Zheng, K. , Shen, C. , Xiang, H. , Ma, X. . Microstructure Evolution Mechanism and Numerical Simulation of Steel-copper Joint Fabricating by Electromagnetic Pulse Welding; [钢铜磁脉冲接头微观组织演化机理及数值模拟] . | Journal of Mechanical Engineering , 2023 , 59 (13) , 364-374 . |
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