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| 1 | Haptic based teleoperation with master-slave motion mapping and haptic rendering for space exploration显示文摘This paper presents a new solution to haptic based teleoperation to control a large-sized slave robot for space exploration, which includes two specially designed haptic joysticks, a hybrid master-slave motion mapping method, and a haptic feedback model rendering the operating resistance and the interactive feedback on the slave side. Two devices using the 3 R and DELTA mechanisms respectively are developed to be manipulated to control the position and orientation of a large-sized slave robot by using both of a user's two hands respectively. The hybrid motion mapping method combines rate control and variable scaled position mapping to realize accurate and efficient master-slave control. Haptic feedback for these two mapping modes is designed with emphasis on ergonomics to improve the immersion of haptic based teleoperation. A stiffness estimation method is used to calculate the contact stiffness on the slave side and play the contact force rendered by using a traditional spring-damping model to a user on the master side stably. Experiments by using virtual environments to simulate the slave side are conducted to validate the effectiveness and efficiency of the proposed solution. | Guanyang LIU Xuda GENG Lingzhi LIU Yan WANG | 2019 | Chinese Journal of Aeronautics2019，32，3： | 5 |
| 2 | Effect of cooling strategies on performance and mechanism of helical milling of CFRP/Ti-6Al-4V stacks显示文摘Hole-making for Carbon Fiber Reinforced Plastics(CFRP)/Ti-6Al-4V stacks is crucial for the assembling strength of aircraft structure parts.This work carried out experimental work for helical milling(HM)of the stacks with sustainable cooling/lubrication(dry,MQL and cryogenic)conditions.Cutting forces and temperatures at the CFRP layer,Ti-6Al-4V layer and the interface of stacks were obtained by a developed measuring system.The temperatures in CFRP machining at cryogenic condition varied from-167℃to-94℃,which were much lower than those at dry and MQL conditions.The maximum temperature near the interface of stacks for the ninth hole was higher than 240℃due to heat conduction from Ti-6Al-4V layer.The hole quality,hole diameter and tool wear mechanism at different cooling/lubrication conditions were presented and discussed.MQL condition generated mainly extrusion fracture for the fibers,due to the reduced friction effect compared with dry condition.MQL was helpful to reduce the feed mark at the hole surface of Ti-6Al-4V alloy.The flank wear of cutting edge at MQL condition was better than those at dry and cryogenic conditions.Cryogenic cooling contributed to better CFRP surface with smaller delamination and hole entrance damage due to the increased resin strength and fiber brittleness.The damage near the entrance of CFRP were analyzed by the contact state of cutting edges and fibers.Additionally,hole diameters near the exit of CFPR layer were larger than other test positions.This work provided feasible processes for improving hole quality and tool life in hole-making of CFRP/Ti-6Al-4V stacks. | Jiaying GE Guang CHEN Yongxiang SU Yunhe ZOU Chengzu REN Xuda QIN Guofeng WANG | 2022 | Chinese Journal of Aeronautics2022，35，2： | 4 |
| 3 | Optimization of Cutting Parameters in Helical Milling of Carbon Fiber Reinforced Polymer显示文摘To investigate cutting performance in the helical milling of carbon fiber reinforced polymer(CFRP),experiments were conducted with unidirectional laminates.The results show that the influence of cutting parameters is very significant in the helical milling process. The axial force increases with the increase of cutting speed, which is below 95 m/min; otherwise, the axial force decreases with the increase of cutting speed. The resultant force always increases when cutting speed increases; with the increase of tangential and axial feed rates, cutting forces increase gradually. In addition, damage rings can appear in certain regions of the entry edges; therefore, the relationship between machining performance(cutting forces and holemaking quality) and cutting parameters is established using the nonlinear fitting methodology. Thus, three cutting parameters in the helical milling of CFRP, under the steady state, are optimized based on the multi-objective genetic algorithm, including material removal rate and machining performance. Finally, experiments were carried out to prove the validity of optimized cutting parameters. | Haiyan Wang Xuda Qin Dongxu Wu Aijuan Song | 2018 | Transactions of Tianjin University2018，24，1： | 3 |
| 4 | Prediction of cutting forces in helical milling process显示文摘 | Haiyan Wang Xuda Qin Chengzu Ren Qi Wang | 2012 | The International Journal of Advanced Manufacturing Technology2012，，9： | 2 |
| 5 | Analysis of cutting forces in helical milling process 显示文摘 | Wang Haiyan Qin Xuda Wang Qi | 2011 | Advanced Materials Research: Digital Design and Manufacturing Technology Ⅱ2011，215，： | 1 |
| 6 | Pre- diction of Cutting Forces in Helical Milling Process 显示文摘 | Wang Haiyan Qin Xuda Ren Chengzu | 2012 | International Journal of Advanced Manufactur- ing Technology2012，58，： | 1 |
| 7 | Isolation, Identification, and Quantitative Determination of Saponin in Apostichopus japonicus by HPLC-DAD显示文摘Apostichopus japonicus is an important invertebrate that is widely used as a tonic food in Asian countries.The purpose of this study is to purify and identify a class of compound,the saponins,from the body wall of A.japonicus,and to establish a new me-thod to determine the quantity of saponins in the sea cucumber.In this study,the saponins of A.japonicus,cladoloside A(CA),were ob-tained from 80%ethanol extract by column chromatography for the first time and were characterized using the spectral method.The resulting purified saponins were then profiled using ^(1)HNMR,^(13)CNMR,and ESI-MS,which revealed the CA molecular formula of C_(53)H_(82)O_(2) and contained a triterpenoid backbone,a methylglucopyranosyl moiety,a quinovopyranosyl,and two xylopyranosyls.A me-thod for the quantitative determination of CA,comprising microwave-assisted extraction,high-performance liquid chromatography,and diode array detector method,was established.Extraction efficiency was optimized by changing microwave power,extraction sol-vent,volume,time,and temperature.Results showed that under the optimum conditions(extraction time of 10 min,temperature of 45℃,and solvent of 25 mL 70%ethanol under 400 W),the detection limit of CA was 0.0015 mg mL^(−1),and the recoveries of CA from samples at spiking levels of 10,20,and 50μg g^(−1) ranged from 90.1%-104%.The proposed method was successfully applied to ana-lyze the saponins in different tissues of A.japonicus collected in different seasons.The method developed in this study can provide quantitative technical support for the quality control of A.japonicus. | LIU Guiying WANG Xuda GE Kun WU Jinhao WANG Zhaohui DU Jing SONG Lun ZHOU Zunchun | 2022 | Journal of Ocean University of China2022，21，2： | 1 |
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