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学者姓名：叶锦华
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Abstract ：
Data-driven methods have been widely used to estimate the State of health (SOH) of Lithium-Ion batteries (LIBs). However, these methods lack interpretability. In response to this issue, this article proposes a method called Physics-informed neural network (PIFNN) to enhance the interpretability of predictions made by a feedforward neural network (FNN). First, the features are extracted from incremental capacity (IC) curves and differential temperature curves, which can characterize battery aging from different perspectives. Specifically, the peaks of the IC curves (P-IC) reflect the electrochemical reactions that occur during the charge-discharge processes of LIBs. The decline of the P-IC is related to the loss of active materials in LIBs, which is a major cause of the decrease of the SOH. This article converts the monotonous relationship between the P-IC and the SOH into physical constraints to guide the "learning process" of the model. In the prediction process, a physics-constrained secondary "training" is applied to the FNN predictions to further enhance interpretability and improve prediction accuracy. The feasibility of the proposed method is validated using the Oxford and NASA battery datasets. The results indicate that PIFNN effectively improves prediction accuracy and reduces errors to below 1.5 %.
Keyword ：
Incremental capacity curves Incremental capacity curves Lithium -ion battery Lithium -ion battery Neural network Neural network Physical constraints Physical constraints State of health State of health
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| GB/T 7714 | Ye, Jinhua , Xie, Quan , Lin, Mingqiang et al. A method for estimating the state of health of lithium-ion batteries based on physics-informed neural network [J]. | ENERGY , 2024 , 294 . |
| MLA | Ye, Jinhua et al. "A method for estimating the state of health of lithium-ion batteries based on physics-informed neural network" . | ENERGY 294 (2024) . |
| APA | Ye, Jinhua , Xie, Quan , Lin, Mingqiang , Wu, Ji . A method for estimating the state of health of lithium-ion batteries based on physics-informed neural network . | ENERGY , 2024 , 294 . |
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PurposeImitation learning is a powerful tool for planning the trajectory of robotic end-effectors in Cartesian space. Present methods can adapt the trajectory to the obstacle; however, the solutions may not always satisfy users, whereas it is hard for a nonexpert user to teach the robot to avoid obstacles in time as he/she wishes through demonstrations. This paper aims to address the above problem by proposing an approach that combines human supervision with the kernelized movement primitives (KMP) model.Design/methodology/approachThis approach first extracts the reference database used to train KMP from demonstrations by using Gaussian mixture model and Gaussian mixture regression. Subsequently, KMP is used to modulate the trajectory of robotic end-effectors in real time based on feedback from its interaction with humans to avoid obstacles, which benefits from a novel reference database update strategy. The user can test different obstacle avoidance trajectories in the current task until a satisfactory solution is found.FindingsExperiments performed with the KUKA cobot for obstacle avoidance show that this approach can adapt the trajectories of the robotic end-effector to the user's wishes in real time, including trajectories that the robot has already passed and has not yet passed. Simulation comparisons also show that it exhibits better performance than KMP with the original reference database update strategy.Originality/valueAn interactive learning approach based on KMP is proposed and verified, which not only enables users to plan the trajectory of robotic end-effectors for obstacle avoidance more conveniently and efficiently but also provides an effective idea for accomplishing interactive learning tasks under constraints.
Keyword ：
Kernelized movement primitives (KMP) Kernelized movement primitives (KMP) Obstacle avoidance Obstacle avoidance Physical human-robot interaction Physical human-robot interaction Trajectory adaptation Trajectory adaptation
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| GB/T 7714 | Xiao, Sa , Chen, Xuyang , Lu, Yuankai et al. A KMP-based interactive learning approach for robot trajectory adaptation with obstacle avoidance [J]. | INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION , 2024 , 51 (2) : 326-339 . |
| MLA | Xiao, Sa et al. "A KMP-based interactive learning approach for robot trajectory adaptation with obstacle avoidance" . | INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION 51 . 2 (2024) : 326-339 . |
| APA | Xiao, Sa , Chen, Xuyang , Lu, Yuankai , Ye, Jinhua , Wu, Haibin . A KMP-based interactive learning approach for robot trajectory adaptation with obstacle avoidance . | INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION , 2024 , 51 (2) , 326-339 . |
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Micro terminals are often used in every laptop, mobile, and other electrical product. It is challenging to automatically buckle the terminal head to its terminal base during manufacturing because of trouble in accurate positioning and gripping. A double-robots collaborative assembly system is developed to buckle millimeter-scale terminals in three-dimensional space. Robot 1 takes the terminal head horizontally by grasping its flexible line with a customized clamp, including two fingers. Robot 2 presses the aligned terminal head through a force control strategy to ensure that the terminal head and the terminal base can complete buckling accurately, even if there is a certain deviation in the vertical direction. There are two cameras to be used in the system. A horizontally placed camera is used to detect and calculate the angle between the terminal head and the horizontal plane. The angle data will drive robot 1 to make the terminal end face parallel to the horizontal plane to complete the pose correction of the terminal head. Another camera is vertically fixed at the end of industrial robot 1 and used to detect and calculate the position deviation between the terminal head and the terminal base. The position deviation will drive robot 1 to align the terminal head with the terminal base to complete the position correction. The YOLOv3, least square, and feature extraction algorithms are used in image processing. The accuracy of the YOLOv3 target detection model trained by self-made data set can reach more than 95% under different conditions. The detection period is within 65 ms. The experimental results show that the terminal assembly system designed in this paper has excellent reliability and assembly success rate. It also has a significant reference value for other terminals' automatic buckling assemblies.
Keyword ：
automatic assembly automatic assembly impedance control impedance control Terminals buckling Terminals buckling visual measurement visual measurement visual positioning visual positioning
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| GB/T 7714 | Jiang, Jinchao , Zhang, Junxin , Ye, Jinhua et al. Automatic buckling system of micro terminals combined vision and force signals [J]. | MEASUREMENT & CONTROL , 2023 , 56 (5-6) : 1099-1113 . |
| MLA | Jiang, Jinchao et al. "Automatic buckling system of micro terminals combined vision and force signals" . | MEASUREMENT & CONTROL 56 . 5-6 (2023) : 1099-1113 . |
| APA | Jiang, Jinchao , Zhang, Junxin , Ye, Jinhua , Zhou, Wenbo , Chen, Wei , Wu, Haibin . Automatic buckling system of micro terminals combined vision and force signals . | MEASUREMENT & CONTROL , 2023 , 56 (5-6) , 1099-1113 . |
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为了研究一个典型的风力机塔筒在风-地震耦合作用下的结构性能。通过有限元软件ABAQUS建立塔筒的精细模型，并对其进行非线性时程分析。其中，风载荷基于IECKaimal谱，根据叶素动量理论(BEM)，由风力机载荷计算软件Ashes输出叶片载荷；且将运行状态分为正常运行与故障运行。同时，为了研究不同周期地震波作用下塔筒的结构响应以及失效形式，将地震运动分为两组，一组为短周期地震，另一组为长周期地震。研究发现在风-地震耦合作用下塑性铰首先出现在风力机塔分段连接处，这与风单独作用时失效位置相同；且在短周期地震作用下一旦形成塑性铰将很快导致塔筒整体倒塌；当地震波峰值加速度(PGA)相近时，长周期地震对运行中风力机塔的结构性能影响较大。
Keyword ：
倒塌分析 倒塌分析 故障运行 故障运行 非线性时程分析 非线性时程分析 风力机塔筒 风力机塔筒 风-地震耦合 风-地震耦合
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| GB/T 7714 | 钟建华 , 王永涛 , 卢宗兴 et al. 风力机塔筒在风-地震耦合作用下的非线性时程分析 [J]. | 制造业自动化 , 2023 , 45 (04) : 159-164 . |
| MLA | 钟建华 et al. "风力机塔筒在风-地震耦合作用下的非线性时程分析" . | 制造业自动化 45 . 04 (2023) : 159-164 . |
| APA | 钟建华 , 王永涛 , 卢宗兴 , 陈禹荃 , 叶锦华 . 风力机塔筒在风-地震耦合作用下的非线性时程分析 . | 制造业自动化 , 2023 , 45 (04) , 159-164 . |
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Flexible tactile sensors with high sensitivity typically suffer from a dramatically reduces pressure resolution with increasing pressure, resulting in narrow linear ranges and limited application scenarios. Herein, a capacitive tactile sensor based on cone-shaped electrodes (CSE) that can maintain high sensitivity over a broad linearity range is proposed. The linear response comes from the novel sensing mechanism based on the change in the facing electrode area and the rational design of the conical architecture. Finite element analysis (FEA) confirms that the interfacial contact area between the elastic electrodes and the dielectric layer can respond linearly to pressure over a broad spectrum. Based on this strategy, the fabricated sensors perform a high sensitivity (0.23 kPa-1) and superior linearity (R2 = 0.999) across a wide pressure range of up to 130 kPa. The sensors demonstrate several key features, such as good repeatability, fast response speed, low detection limit, and high durability. These attributes enable the successful use of the sensors for monitoring artery pulses and providing weighting capabilities to robots, showing promising potential for applications in daily health monitoring and human-machine interaction. A flexible capacitive tactile sensor based on cone-shaped electrodes is hereby proposed. The sensor can maintain both high sensitivity and wide linearity range. The fabricated sensor samples being conformally attached to the wrist enable arterial pulse monitoring, and can also be integrated into electric hand jaws for linear weight sensing.image
Keyword ：
cone-shaped electrodes cone-shaped electrodes contact area contact area finite element analysis finite element analysis flexible tactile sensors flexible tactile sensors linear response linear response
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| GB/T 7714 | Chen, Liting , Zheng, Bingying , Ye, Jinhua et al. Cone-Shaped Electrodes for Capacitive Tactile Sensors with High Sensitivity and Broad Linearity Range [J]. | ADVANCED MATERIALS TECHNOLOGIES , 2023 , 8 (21) . |
| MLA | Chen, Liting et al. "Cone-Shaped Electrodes for Capacitive Tactile Sensors with High Sensitivity and Broad Linearity Range" . | ADVANCED MATERIALS TECHNOLOGIES 8 . 21 (2023) . |
| APA | Chen, Liting , Zheng, Bingying , Ye, Jinhua , Wu, Haibin . Cone-Shaped Electrodes for Capacitive Tactile Sensors with High Sensitivity and Broad Linearity Range . | ADVANCED MATERIALS TECHNOLOGIES , 2023 , 8 (21) . |
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本发明涉及一种回字型凸起结构的变面积电容式压力传感器，包括具有凸起结构的上电极基底、上电极基底下方设置的下电极基底、及附着于上电极基底下端凸起结构表面的上电极层和附着于下电极基底上表面的下电极阵列层，所述下电极阵列层上端面附着有介电层，其特征在于：所述凸起结构自上电极基底下端朝下凸出并呈“回”字形，该上电极层能够通过改变电极表面结构的形状、尺寸有效调节传感器的性能，实现不同灵敏度、不同线性量程的电容压力传感器制作，且制作成本低。
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| GB/T 7714 | 叶锦华 , 杨达亮 . 回字型凸起结构的变面积电容式压力传感器及其制备方法 : CN202210398576.2[P]. | 2022-04-16 00:00:00 . |
| MLA | 叶锦华 et al. "回字型凸起结构的变面积电容式压力传感器及其制备方法" : CN202210398576.2. | 2022-04-16 00:00:00 . |
| APA | 叶锦华 , 杨达亮 . 回字型凸起结构的变面积电容式压力传感器及其制备方法 : CN202210398576.2. | 2022-04-16 00:00:00 . |
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In order to obtain external information and ensure the security of human-computer interaction, a double sensitive layer structured tactile sensor was proposed in this paper. Based on the EIT (Electrical Impedance Tomography) method, the sensor converts the information from external collisions or contact into local conductivity changes, and realizes the detection of one or more contact points. These changes can be processed into an image containing positional and force information. The experiments were conducted on the actual sensor sample. The OpenCV toolkit was used to process the positional information of contact points. The distributional regularities of errors in positional detection were analyzed, and the accuracy of the positional detection was evaluated. The effectiveness, sensitivity, and contact area of the force detection were analyzed based on the result of the EIT calculations. Furthermore, multi-object tests of pressure were conducted. The results of the experiment indicated that the proposed sensor performed well in detecting the position and force of contact. It is suitable for human-robot interaction.
Keyword ：
conductivity conductivity electrical impedance tomography electrical impedance tomography human-robot interaction human-robot interaction position and force detection position and force detection tactile sensor tactile sensor
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| GB/T 7714 | Wu, Haibin , Zheng, Bingying , Wang, Haomiao et al. New Flexible Tactile Sensor Based on Electrical Impedance Tomography [J]. | MICROMACHINES , 2022 , 13 (2) . |
| MLA | Wu, Haibin et al. "New Flexible Tactile Sensor Based on Electrical Impedance Tomography" . | MICROMACHINES 13 . 2 (2022) . |
| APA | Wu, Haibin , Zheng, Bingying , Wang, Haomiao , Ye, Jinhua . New Flexible Tactile Sensor Based on Electrical Impedance Tomography . | MICROMACHINES , 2022 , 13 (2) . |
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齿轮箱故障诊断对于降低运维成本和提高设备运转效率至关重要。首先，提出了一种基于小样本数据的一维卷积神经网络(1DCNN)端到端故障诊断方法；针对小样本故障诊断，采用LeNet-5结构增加卷积层数量，增大特征提取能力；其次，通过动力传动故障诊断综合实验台(DDS)数据验证；最后，引入t-SNE技术，对部分层输出进行了可视化，进一步验证了模型的有效性。此外，通过不同参数组合验证了模型所设参数的合理性，实验结果表明，所提方法与传统LeNet-5和基于EEMD和VMD特征提取方法的SVM分类器对比，在分类准确率上分别有7.5%、11.25%和5%的提升，证明了所提方法的有效性。
Keyword ：
1DCNN 1DCNN 小样本 小样本 故障诊断 故障诊断 端到端 端到端 齿轮箱 齿轮箱
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| GB/T 7714 | 钟建华 , 林云树 , 叶锦华 . 基于1DCNN的齿轮箱小样本故障诊断 [J]. | 组合机床与自动化加工技术 , 2022 , 5 (07) : 81-84,89 . |
| MLA | 钟建华 et al. "基于1DCNN的齿轮箱小样本故障诊断" . | 组合机床与自动化加工技术 5 . 07 (2022) : 81-84,89 . |
| APA | 钟建华 , 林云树 , 叶锦华 . 基于1DCNN的齿轮箱小样本故障诊断 . | 组合机床与自动化加工技术 , 2022 , 5 (07) , 81-84,89 . |
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Purpose - The tactile sensor with array structure normally has the defects of existing nondetection zone, complex and nonstretchable structure. It is difficult to seamlessly attach to the surface of the robot. For this reason, this paper proposes a method to prepare nonarray structure tactile sensor directly on the surface of the robot by spraying process. Design/methodology/approach - Based on the principle of gradient potential distribution, the potential fields are constructed in two different directions over the conductive film in time-sharing. The potentials at touching position in the two directions are detected to determine the coordinate of the touching point. The designed tactile sensor based on this principle consists of only three layers. Its bottom layer is designed as a weak conductive film made of graphite coating and used to construct the potential field. It can be sprayed either on PET substrate or directly on robot surface. Findings - The radial basis function neural network is used for remodeling the potential distribution, which can effectively solve the problem of nonlinear potential distribution caused by irregular sensor shape, and uneven conductivity at different points of the spraying coating. The simulation and experimental results show that the principle of the proposed tactile sensor used for touching position detection is feasible to be applied to complex surfaces of the robot. Originality/value - This paper proposed a nonarray customizable tactile sensor based on the spraying process. The sensor has a simple structure, and only five lead wires are needed to realize the coordinate detection of the touch position.
Keyword ：
Customizable Customizable Nonarray Nonarray Position detection Position detection sensor sensor Spraying Spraying
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| GB/T 7714 | Wu, Deyu , Ding Wang , Yang, Daliang et al. A non-array customizable tactile sensor based on spraying process [J]. | SENSOR REVIEW , 2022 , 42 (4) : 412-427 . |
| MLA | Wu, Deyu et al. "A non-array customizable tactile sensor based on spraying process" . | SENSOR REVIEW 42 . 4 (2022) : 412-427 . |
| APA | Wu, Deyu , Ding Wang , Yang, Daliang , Ye Jinhua , Wu, Haibin . A non-array customizable tactile sensor based on spraying process . | SENSOR REVIEW , 2022 , 42 (4) , 412-427 . |
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Capacitive tactile sensors have been widely used for electronic skins and human-machine interfaces due to their high sensitivity, low power consumption, and fast response. Despite great advances in improving the sensitivity of the sensors through structural design or advanced material selection, achieving linear response over a broad detection range for pressure sensing is still a great challenge. Herein, a capacitive tactile sensor with elastic dome-shaped electrode is reported. We find that the elastic dome-shaped electrode can significantly enhance the linear relationship between the effective electrode area of the capacitor and the applied force over a wide range, which endowed the prepared sensor exhibiting excellent linearity (R (2) = 0.999) up to 120 kPa. In addition, the fabricated sensor sample has good stability, quick response, satisfied sensitivity of 0.115 kPa(-1) (0-120 kPa), and can be further expanded with a wider sensing range up to 500 kPa. Based on the proposed model, the sensitivity and linear sensing range of the sensor can be designed flexibly for different application. It can provide a simple but powerful strategy to construct high performance flexible pressure sensors in the future.
Keyword ：
broad detection range broad detection range capacitive pressure sensors capacitive pressure sensors dome-shaped electrode dome-shaped electrode linear response linear response tactile sensing tactile sensing
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| GB/T 7714 | Ye, Jinhua , Chen, Kaixuan , Chen, Liting et al. Highly linear capacitive tactile sensor with elastic dome-shaped electrodes [J]. | SMART MATERIALS AND STRUCTURES , 2022 , 31 (7) . |
| MLA | Ye, Jinhua et al. "Highly linear capacitive tactile sensor with elastic dome-shaped electrodes" . | SMART MATERIALS AND STRUCTURES 31 . 7 (2022) . |
| APA | Ye, Jinhua , Chen, Kaixuan , Chen, Liting , You, Zhaoming , Jiang, Jinchao , Wu, Haibin . Highly linear capacitive tactile sensor with elastic dome-shaped electrodes . | SMART MATERIALS AND STRUCTURES , 2022 , 31 (7) . |
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