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学者姓名：姚立纲
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Abstract ：
借助前期研制的张拉仿生机器鱼,通过实验初步探索鱼体的身体刚度分布与鱼体波参数之间的关系.使用鱼体波重构方法,获取张拉机器鱼在频率为 1.87 Hz时不同刚度分布下的鱼体波参数.实验结果表明,摆幅、相位、波速和曲率与刚度分布之间存在关系.通过调整机器鱼的刚度分布,波速最大可提高约 21.5%,并且可以实现与真实鱼类相似的摆幅和改变最大曲率发生的位置.非均匀刚度分布在改变摆幅等方面存在优势.机器鱼第 4 关节的刚度对波速具有较大影响,但对曲率影响较小.刚度分布与鱼体波参数的相关性有助于机器鱼通过控制身体刚度优化鱼体波参数,提高游动性能.
Keyword ：
仿生机器鱼 仿生机器鱼 刚度分布 刚度分布 张拉整体结构 张拉整体结构 鱼体波参数 鱼体波参数
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| GB/T 7714 | 陈文祥 , 章杰 , 姜洪洲 et al. 张拉仿生机器鱼身体刚度分布对鱼体波参数的影响 [J]. | 福州大学学报（自然科学版） , 2025 , 53 (2) : 159-167 . |
| MLA | 陈文祥 et al. "张拉仿生机器鱼身体刚度分布对鱼体波参数的影响" . | 福州大学学报（自然科学版） 53 . 2 (2025) : 159-167 . |
| APA | 陈文祥 , 章杰 , 姜洪洲 , 姚立纲 , 陈炳兴 . 张拉仿生机器鱼身体刚度分布对鱼体波参数的影响 . | 福州大学学报（自然科学版） , 2025 , 53 (2) , 159-167 . |
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The wheeled bipedal robots have great application potential in environments with a mixture of structured and unstructured terrain.However,wheeled bipedal robots have problems such as poor balance ability and low movement level on rough roads.In this paper,a novel and low-cost wheeled bipedal robot with an asymmetrical five-link mechanism is proposed,and the kinematics of the legs and the dynamics of the Wheeled Inverted Pendulum(WIP)are modeled.The primary bal-ance controller of the wheeled bipedal robot is built based on the Linear Quadratic Regulator(LQR)and the compensation method of the virtual pitch angle adjusting the Center of Mass(CoM)position,then the whole-body hybrid torque-position control is established by combining attitude and leg controllers.The stability of the robot's attitude control and motion is verified with simulations and prototype experiments,which confirm the robot's ability to pass through complex terrain and resist external interference.The feasibility and reliability of the proposed control model are verified.
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| GB/T 7714 | Yi Xiong , Haojie Liu , Bingxing Chen et al. Whole-Body Hybrid Torque-Position Control for Balancing with a New Wheeled Bipedal Robot [J]. | 仿生工程学报（英文版） , 2025 , 22 (2) : 626-641 . |
| MLA | Yi Xiong et al. "Whole-Body Hybrid Torque-Position Control for Balancing with a New Wheeled Bipedal Robot" . | 仿生工程学报（英文版） 22 . 2 (2025) : 626-641 . |
| APA | Yi Xiong , Haojie Liu , Bingxing Chen , Yanjie Chen , Ligang Yao , Zongxing Lu . Whole-Body Hybrid Torque-Position Control for Balancing with a New Wheeled Bipedal Robot . | 仿生工程学报（英文版） , 2025 , 22 (2) , 626-641 . |
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The field of bioelectronics has witnessed significant advancements, offering practical solutions for personalized healthcare through the acquisition and analysis of skin-based physical, chemical, and electrophysiological signals. Despite these advancements, current bioelectronics face several challenges, including complex preparation procedures, poor skin adherence, susceptibility to motion artifacts, and limited personalization and reconfigurability capabilities. In this study, we introduce an innovative method for fabricating erasable bioelectronics on a flexible substrate coating adhered to the skin using a ballpoint pen without any postprocessing. Our approach yields devices that are thin, erasable, reconfigurable, dry-friction resistant, self-healing, and highly customizable. We demonstrate the multifunctionality of these on-skin bioelectronics through their application as strain sensors for motion monitoring, temperature and humidity sensors for breath monitoring, and heating elements for target point hyperthermia. The potential of our bioelectronics in personalized medicine is substantial, particularly in health monitoring. We provide a novel solution for achieving efficient and convenient personalized medical services, addressing the limitations of existing technologies and paving the way for next-generation wearable health devices.
Keyword ：
bioelectronics bioelectronics direct writing direct writing erasable erasable multifunctional multifunctional on-skin on-skin
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| GB/T 7714 | Zhu, Xintao , Liu, Wei , Luo, Qinzhou et al. Erasable and Multifunctional On-Skin Bioelectronics Prepared by Direct Writing [J]. | ACS SENSORS , 2025 , 10 (4) : 2850-2860 . |
| MLA | Zhu, Xintao et al. "Erasable and Multifunctional On-Skin Bioelectronics Prepared by Direct Writing" . | ACS SENSORS 10 . 4 (2025) : 2850-2860 . |
| APA | Zhu, Xintao , Liu, Wei , Luo, Qinzhou , Lv, Zhen , Yao, Ligang , Wei, Fanan . Erasable and Multifunctional On-Skin Bioelectronics Prepared by Direct Writing . | ACS SENSORS , 2025 , 10 (4) , 2850-2860 . |
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In response to the new requirements for face gear transmissions in the latest heavy-load helicopters, this paper investigates the impact of pressure angle variations on the geometric contact and performance of asymmetric face gears. Firstly, using meshing theory, the tooth surface equations for asymmetric rack cutter, shaper, and face gear are derived, and the parameterized 3D models are created. Secondly, the line of action (LOA), contact ratio, contact point curvature, and load sharing ratio considering multi-pair contact (MPC) under different pressure angles are analyzed. Then, a wear calculation model based on the Archard wear equation is developed, detailing the tooth surface wear depth calculation. Finally, a case study calculates the contact stress and wear depth under different pressure angles is presented. The results indicate that appropriately increasing the pressure angle effectively lower the contact stress and wear depth on tooth surface, although further increases degrade meshing performance. The gear pair with a pressure angle of 30 degrees in the case study exhibits optimal performance. This study provides a reference for optimizing asymmetric face gear meshing performance under various pressure angles.
Keyword ：
Asymmetric face gear Asymmetric face gear geometry design geometry design multi-pair contact multi-pair contact pressure angle pressure angle tooth wear evaluation tooth wear evaluation
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| GB/T 7714 | Jia, Chao , Yu, Guian , Yao, Ligang et al. Geometry design, tooth wear evaluation and pressure angle influence analysis of asymmetric face gear considering load sharing of multi-pair contact [J]. | PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART J-JOURNAL OF ENGINEERING TRIBOLOGY , 2025 . |
| MLA | Jia, Chao et al. "Geometry design, tooth wear evaluation and pressure angle influence analysis of asymmetric face gear considering load sharing of multi-pair contact" . | PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART J-JOURNAL OF ENGINEERING TRIBOLOGY (2025) . |
| APA | Jia, Chao , Yu, Guian , Yao, Ligang , Fang, Zongde . Geometry design, tooth wear evaluation and pressure angle influence analysis of asymmetric face gear considering load sharing of multi-pair contact . | PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART J-JOURNAL OF ENGINEERING TRIBOLOGY , 2025 . |
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In view of the time-varying pressure angle characteristics of S-gears, a dynamic model of planetary S-gear train which is closer to the actual working condition is established in this paper. Firstly, the machining method of internal and external S-gears is introduced and the equation of tooth surface is calculated. Subsequently, the pressure angle variation law of S-gears is derived according to the line-of-action (LOA) equation, then introducing it into the planetary S-gear train to establish a dynamic model considering time-varying pressure angle. Finally, the dynamic response of the planetary S-gear train is obtained by using the Runge-Kutta method, and the influence of time-varying pressure angle excitation on the dynamic characteristics of the system is revealed by comparing the dynamic mesh force (DMF), gear mesh deformation, and vibration displacement of components. The results clearly indicate that the time-varying pressure angle has a significant impact on the dynamic response of the planetary gear train, which cannot be ignored. The research results provide a useful source of reference for the dynamic design and vibration control of non-involute planetary gear trains.
Keyword ：
dynamic modeling dynamic modeling dynamic response dynamic response planetary gear train planetary gear train S-gear S-gear time-varying pressure angle time-varying pressure angle
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| GB/T 7714 | Jia, Chao , Lu, Ling , Yao, Ligang et al. Dynamic modeling and analysis of planetary S-gear train system considering time-varying pressure angle [J]. | JOURNAL OF VIBRATION AND CONTROL , 2025 . |
| MLA | Jia, Chao et al. "Dynamic modeling and analysis of planetary S-gear train system considering time-varying pressure angle" . | JOURNAL OF VIBRATION AND CONTROL (2025) . |
| APA | Jia, Chao , Lu, Ling , Yao, Ligang , Fang, Zongde . Dynamic modeling and analysis of planetary S-gear train system considering time-varying pressure angle . | JOURNAL OF VIBRATION AND CONTROL , 2025 . |
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Toroidal drives combine a planetary gear drive with a worm gear drive. Furthermore, in toroidal drives, the planetary gear teeth are movable. The motion of spherical movable teeth for planetary gears affects the friction, wear and transmission efficiency of the meshing surface, but this effect has not been thoroughly studied to date. This study involved a kinematic analysis of planetary gear teeth. Frenet-fram was first introduced into the toroidal drive to describe the motion of spherical movable teeth. A contact analysis of the spherical movable teeth was carried out, and a mathematical model of rolling-sliding motion between the spherical movable teeth and the central worm spiral groove was established via the conversion mechanism method. The instantaneous velocity formula and relative sliding velocity formula at the meshing points of movable teeth were derived. The influence of the system parameters on the sliding velocity was analysed, and several useful conclusions were drawn. These results can provide a theoretical foundation for subsequent research on the friction loss and transmission efficiency of toroidal drives.
Keyword ：
Contact analysis Contact analysis Mathematical modelling Mathematical modelling Rolling-sliding Rolling-sliding Sliding velocity Sliding velocity Toroidal drive Toroidal drive
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| GB/T 7714 | Zeng, Xuelian , Yao, Ligang , Lou, Meiyan . Mathematical modelling and sliding characteristics analysis on the spherical movable teeth for the toroidal drive [J]. | SCIENTIFIC REPORTS , 2025 , 15 (1) . |
| MLA | Zeng, Xuelian et al. "Mathematical modelling and sliding characteristics analysis on the spherical movable teeth for the toroidal drive" . | SCIENTIFIC REPORTS 15 . 1 (2025) . |
| APA | Zeng, Xuelian , Yao, Ligang , Lou, Meiyan . Mathematical modelling and sliding characteristics analysis on the spherical movable teeth for the toroidal drive . | SCIENTIFIC REPORTS , 2025 , 15 (1) . |
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This study systematically investigates the influence of the time-varying friction under mixed elastohydrodynamic lubrication (EHL) on the dynamic response of S-type profile herringbone gears through theoretical modeling and numerical simulation. A high-precision 3D mesh model is constructed based on the tooth profile and meshing line equations. The time-varying meshing stiffness (TVMS) is obtained through finite element analysis and the relative sliding and coiling velocities are determined. Considering nonlinear factors such as TVMS, tooth side backlash and comprehensive meshing errors, an ordinary dynamic model is established to calculate the initial dynamic meshing force (DMF). The friction under mixed EHL is then introduced, and a dynamic model incorporating friction is coupled with the mixed EHL model for iterative solving of the time-varying friction. Through numerical simulation, the variations of the friction coefficient under different operating conditions and its influence on the dynamic response of the gear system are explored. The results indicate that the S-type profile herringbone gear exhibits lower vibration amplitudes compared to the conventional involute gear under identical conditions. Furthermore, friction significantly affects not only the vibration amplitude but also the frequency-domain characteristics and dynamic stability of the S-type herringbone gear system. Notably, within high-frequency ranges, the presence of friction causes the system to enter chaos earlier, while simultaneously suppressing chaotic motion.
Keyword ：
dynamic response dynamic response mixed elastohydrodynamic lubrication mixed elastohydrodynamic lubrication nonlinear dynamics nonlinear dynamics S-type profile herringbone gear S-type profile herringbone gear time-varying friction time-varying friction
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| GB/T 7714 | Jia, Chao , Zhang, Ge , Li, Bingquan et al. Dynamic characteristic analysis of S-type profile herringbone gear system considering time-varying friction under mixed elastohydrodynamic lubrication [J]. | PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART J-JOURNAL OF ENGINEERING TRIBOLOGY , 2025 . |
| MLA | Jia, Chao et al. "Dynamic characteristic analysis of S-type profile herringbone gear system considering time-varying friction under mixed elastohydrodynamic lubrication" . | PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART J-JOURNAL OF ENGINEERING TRIBOLOGY (2025) . |
| APA | Jia, Chao , Zhang, Ge , Li, Bingquan , Yao, Ligang , Fang, Zongde . Dynamic characteristic analysis of S-type profile herringbone gear system considering time-varying friction under mixed elastohydrodynamic lubrication . | PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART J-JOURNAL OF ENGINEERING TRIBOLOGY , 2025 . |
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Entropy theories play a significant role in rotating machinery fault detection. The key parameters of these methods are, however, often selected subjectively based on trial-and-error methods or engineering experience. Unsuitable parameters would result in an inconsistency between the extracted entropy results and the realistic case. In order to address this issue, a complexity measurement method called "swarm intelligence optimization entropy" (SIOE) is proposed, which adaptively estimates optimal parameters using skewness metrics, logistic chaos theory, and African vulture optimization (AVO). By considering the variability and dynamic changes of various signals, SIOE enables the extraction of robust and discriminative dynamic features. Additionally, a collaborative intelligent fault detection method for rotating machinery fault detection is developed, based on SIOE and extreme gradient boosting (XGBoost). This method aims to accurately identify single faults, compound faults, and varying fault degrees within the rotating machinery. Simulation and fault detection experiments on rotating machines demonstrate that SIOE improves recognition accuracy by up to 21.25% compared to existing entropy methods. The proposed intelligent fault detection method improves recognition accuracy by up to 15.71% compared to advanced fault detection methods. These results highlight the advantages of SIOE in complexity measurement and feature extraction, as well as the effectiveness and accuracy of the proposed intelligent fault detection method, in identifying rotating machinery faults.
Keyword ：
Accuracy Accuracy Aerodynamics Aerodynamics Complexity theory Complexity theory Entropy Entropy Extreme gradient boosting (XGBoost) Extreme gradient boosting (XGBoost) fault detection fault detection Fault detection Fault detection feature extraction feature extraction Feature extraction Feature extraction Fluctuations Fluctuations Machinery Machinery Particle swarm optimization Particle swarm optimization rotating machinery rotating machinery swarm intelligence optimization entropy (SIOE) swarm intelligence optimization entropy (SIOE) Vibrations Vibrations
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| GB/T 7714 | Wang, Zhenya , Yao, Ligang , Li, Minglin et al. A High-Accuracy Fault Detection Method Using Swarm Intelligence Optimization Entropy [J]. | IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT , 2025 , 74 . |
| MLA | Wang, Zhenya et al. "A High-Accuracy Fault Detection Method Using Swarm Intelligence Optimization Entropy" . | IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT 74 (2025) . |
| APA | Wang, Zhenya , Yao, Ligang , Li, Minglin , Chen, Meng , Zhao, Jingshan , Chu, Fulei et al. A High-Accuracy Fault Detection Method Using Swarm Intelligence Optimization Entropy . | IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT , 2025 , 74 . |
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To enhance the generalization capability of rotating machinery fault diagnosis, a novel generalized fault diagnosis framework is proposed. Phase entropy is introduced as a new method for measuring mechanical signal complexity. Furthermore, it is extended to refined time-shift multi-scale phase entropy. The extended method effectively captures dynamic characteristic information across multiple scales, providing a comprehensive reflection of the equipment's state. Based on signal amplitude, multiple time-shift multi-scale decomposition subsignals are constructed, and a scatter diagram is generated for each sub-signal. Subsequently, the diagram is partitioned into several regions, and the distribution probability of each region is calculated, enabling the extraction of stable and easily distinguishable features through the refined operation. Next, the one-versus-onebased twin support vector machine classifier is employed to achieve high-accuracy fault identification. Case analyses of a wind turbine, an aero-engine, a train transmission system, and an aero-bearing demonstrate that the accuracy, precision, recall, and F1 score of the proposed framework are over 99.51 %, 99.52 %, 99.51 %, and 99.51 %, respectively, using only five training samples per state. The proposed framework achieves higher accuracy compared to nine existing models via deep learning or machine learning. The aforementioned analysis results validate the accuracy and generalizability of the proposed framework.
Keyword ：
Fault diagnosis Fault diagnosis Phase entropy Phase entropy Rotating machinery Rotating machinery Twin support vector machine Twin support vector machine
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| GB/T 7714 | Wang, Zhenya , Zhang, Meng , Chen, Hui et al. A generalized fault diagnosis framework for rotating machinery based on phase entropy [J]. | RELIABILITY ENGINEERING & SYSTEM SAFETY , 2025 , 256 . |
| MLA | Wang, Zhenya et al. "A generalized fault diagnosis framework for rotating machinery based on phase entropy" . | RELIABILITY ENGINEERING & SYSTEM SAFETY 256 (2025) . |
| APA | Wang, Zhenya , Zhang, Meng , Chen, Hui , Li, Jinghu , Li, Gaosong , Zhao, Jingshan et al. A generalized fault diagnosis framework for rotating machinery based on phase entropy . | RELIABILITY ENGINEERING & SYSTEM SAFETY , 2025 , 256 . |
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The wheeled bipedal robots have great application potential in environments with a mixture of structured and unstructured terrain. However, wheeled bipedal robots have problems such as poor balance ability and low movement level on rough roads. In this paper, a novel and low-cost wheeled bipedal robot with an asymmetrical five-link mechanism is proposed, and the kinematics of the legs and the dynamics of the Wheeled Inverted Pendulum (WIP) are modeled. The primary balance controller of the wheeled bipedal robot is built based on the Linear Quadratic Regulator (LQR) and the compensation method of the virtual pitch angle adjusting the Center of Mass (CoM) position, then the whole-body hybrid torque-position control is established by combining attitude and leg controllers. The stability of the robot's attitude control and motion is verified with simulations and prototype experiments, which confirm the robot's ability to pass through complex terrain and resist external interference. The feasibility and reliability of the proposed control model are verified.
Keyword ：
Wheeled Robots Legged Robots Motion Control Mechanism Design Wheeled Robots Legged Robots Motion Control Mechanism Design
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| GB/T 7714 | Xiong, Yi , Liu, Haojie , Chen, Bingxing et al. Whole-Body Hybrid Torque-Position Control for Balancing with a New Wheeled Bipedal Robot [J]. | JOURNAL OF BIONIC ENGINEERING , 2025 , 22 (2) : 626-641 . |
| MLA | Xiong, Yi et al. "Whole-Body Hybrid Torque-Position Control for Balancing with a New Wheeled Bipedal Robot" . | JOURNAL OF BIONIC ENGINEERING 22 . 2 (2025) : 626-641 . |
| APA | Xiong, Yi , Liu, Haojie , Chen, Bingxing , Chen, Yanjie , Yao, Ligang , Lu, Zongxing . Whole-Body Hybrid Torque-Position Control for Balancing with a New Wheeled Bipedal Robot . | JOURNAL OF BIONIC ENGINEERING , 2025 , 22 (2) , 626-641 . |
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