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| 1 | Design and Analysis of a Multi-Legged Robot with Pitch Adjustive Units显示文摘The paper proposes a novel multi-legged robot with pitch adjustive units aiming at obstacle surmounting.With only 6 degrees of freedom,the robot with 16 mechanical legs walks steadily and surmounts the obstacles on the complex terrain.The leg unit with adjustive pitch provides a large workspace and empowers the legs to climb up obstacles in large sizes,which enhances the obstacle surmounting capability.The pitch adjustment in leg unit requires as few independent adjusting actuators as possible.Based on the kinematic analysis of the mechanical leg,the biped and quadruped leg units with adjustive pitch are analyzed and compared.The configuration of the robot is designed to obtain a compact structure and pragmatic performance.The uncertainty of the obstacle size and position in the surmounting process is taken into consideration and the parameters of the adjustments and the feasible strategies for obstacle surmounting are presented.Then the 3D virtual model and the robot prototype are built and the multi-body dynamic simulations and prototype experiments are carried out.The results from the simulations and the experiments show that the robot possesses good obstacle surmounting capabilities. | Qiang Ruan Jianxu Wu Yan-an Yao | 2021 | Chinese Journal of Mechanical Engineering2021，34，3： | 5 |
| 2 | Three-dimensional Construction and Omni-directional Rolling Analysis of a Novel Frame-like Lattice Modular Robot显示文摘Lattice modular robots possess diversity actuation methods, such as electric telescopic rod, gear rack, magnet, robot arm, etc. The researches on lattice modular robots mainly focus on their hardware descriptions and reconfiguration algorithms. Meanwhile, their design architectures and actuation methods perform slow telescopic and moving speeds, relative low actuation force verse weight ratio, and without internal space to carry objects. To improve the mechanical performance and reveal the locomotion and reconfiguration binary essences of the lattice modular robots, a novel cube-shaped, frame-like, pneumatic-based reconfigurable robot module called pneumatic expandable cube(PE-Cube) is proposed. The three-dimensional(3D) expanding construction and omni-directional rolling analysis of the constructed robots are the main focuses. The PE-Cube with three degrees of freedom(Do Fs) is assembled by replacing the twelve edges of a cube with pneumatic cylinders. The proposed symmetric construction condition makes the constructed robots possess the same properties in each supporting state, and a binary control strategy cooperated with binary actuator(pneumatic cylinder) is directly adopted to control the PE-Cube. Taking an eight PE-Cube modules' construction as example, its dynamic rolling simulation, static rolling condition, and turning gait are illustrated and discussed. To testify telescopic synchronization, respond speed, locomotion feasibility, and repeatability and reliability of hardware system, an experimental pneumatic-based robotic system is built and the rolling and turning experiments of the eight PE-Cube modules' construction are carried out. As an extension, the locomotion feasibility of a thirty-two PE-Cube modules' construction is analyzed and proved, including dynamic rolling simulation, static rolling condition, and dynamic analysis in free tipping process. The proposed PE-Cube module, construction method, and locomotion analysis enrich the family of the lattice modular robot and provide the instruction to design the lattice modular robot. | DING Wan WU Jianxu YAO Yan'an | 2015 | Chinese Journal of Mechanical Engineering2015，28，4： | 3 |
| 3 | Decentralized Demand Management Based on Alternating Direction Method of Multipliers Algorithm for Industrial Park with CHP Units and Thermal Storage显示文摘This paper proposes a decentralized demand management approach to reduce the energy bill of industrial park and improve its economic gains.A demand management model for industrial park considering the integrated demand response of combined heat and power(CHP)units and thermal storage is firstly proposed.Specifically,by increasing the electricity outputs of CHP units during peak-load periods,not only the peak demand charge but also the energy charge can be reduced.The thermal storage can efficiently utilize the waste heat provided by CHP units and further increase the flexibility of CHP units.The heat dissipation of thermal storage,thermal delay effect,and heat losses of heat pipelines are considered for ensuring reliable solutions to the industrial park.The proposed model is formulated as a multi-period alternating current(AC)optimal power flow problem via the second-order conic programming formulation.The alternating direction method of multipliers(ADMM)algorithm is used to compute the proposed demand management model in a distributed manner,which can protect private data of all participants while achieving solutions with high quality.Numerical case studies validate the effectiveness of the proposed demand management approach in reducing peak demand charge,and the performance of the ADMM-based decentralized computation algorithm in deriving the same optimal results of demand management as the centralized approach is also validated. | Jingdong Wei Yao Zhang Jianxue Wang Lei Wu Peiqi Zhao Zhengting Jiang | 2022 | Journal of Modern Power Systems and Clean Energy2022，10，1： | 3 |
| 4 | Development and Analysis of a Closed-Chain Wheel-Leg Mobile Platform显示文摘Current research concerning legged platforms and wheeled platforms primarily focuses on terrain adaptive capability and speed capability,respectively.Compared with wheeled platforms,legged platforms with a closed-chain mechanism still present deficiencies regarding speed ability.To integrate the advantages of these two types of platforms,a wheel-leg mobile platform with two modes based on a closed-chain mechanism is proposed.First,a closed-chain mechanism that generates a high-knee trajectory in legged mode is designed and analyzed based on kinematic analysis.To improve the platform’s obstacle-surmounting performance,the dimensional parameters of the closedchain mechanism are optimized and the design requirements for the platform’s frame are analyzed.In addition,the particular structure of the leg group is designed to realize transformation between legged mode and wheeled mode.The mobility of the constructed platform is calculated through an obstacle-surmounting probability analysis.The performances of the two motion modes are analyzed and compared by conducting dynamic simulations.Finally,experiments are carried out to verify both the theoretical analyses and the prototype performance.This study proposes a new approach to designing wheel-leg platforms with prominent speed ability and mobility based on a closed-chain mechanism. | Chaoran Wei Yanan Yao Jianxu Wu Ran Liu | 2020 | Chinese Journal of Mechanical Engineering2020，33，5： | 2 |
| 5 | Operating reserve model in the power market显示文摘 | Wang Jianxue Wang Xifan Wu Yang | 2005 | IEEE Transactions on power systems2005，20，1： | 1 |
| 6 | Operating reserve model in the power market显示文摘 | WANG Jianxue WANG Xifan WU Yang | 2005 | IEEE Trans on Power Systems2005，20，1： | 1 |
| 7 | Operating Reserve Model in the Power Market 显示文摘 | Wang Jianxue Wang Xifan Wu Yang | 2005 | IEEE Transactions on Power Systems Issue 12005，20，： | 1 |
| 8 | Operating reserve model in the power market显示文摘 | Wang Jianxue Wang Xifan Wu Yang | 2005 | IEEE Transactions on Power Systems2005，20，1： | 1 |
| 9 | Predicting reliability and failures of engine systems by single multiplicative neuron model with iterated nonlinear filters显示文摘 | Wu Xuedong Chang Yanchao Mao Jianxu | 2013 | Reliability Engineering & System Safety2013，119，11： | 1 |
| 10 | Recent Developments in Lipase-Catalyzed Synthesis of PolymericMaterials 显示文摘 | ZHANG Jianxu SHI Hui WU Di | 2014 | Process Biochem2014，49，5： | 1 |
| 11 | Operating reserve model in the power market显示文摘 | Wang Jianxue Wang Xifan Wu Yang | 2005 | IEEE Trans on Power Systems2005，20，1： | 1 |
| 12 | Operating reserve model in the power market显示文摘 | Wang Jianxue Wang XiIan Wu Yang | 2005 | IEEE Trans on Power Systems2005，2，1： | 1 |
| 13 | Operating reserve model in the power market显示文摘 | Wang Jianxue Wang Xifan Wu Yang | 2005 | IEEE Trans on Power Sys- tems2005，20，1： | 1 |
| 14 | Operating reserve model in the power market显示文摘 | Wang Jianxue Wang Xifan Wu Yang | 2005 | IEEE Transaction on Power System2005，20，1： | 1 |
| 15 | Vulnerability Curve of Ice Flashover Trips in Regional Grid and Its Appfication显示文摘 | SUN Yu WANG Xiuli WANG Jianxue WANG Xifan WU Xiong XIE Shaoyu | 2012 | 中国电机工程学报2012，32，22： | 0 |
| 16 | Design and locomotion analysis of two kinds of rolling expandable mobile linkages with a single degree of freedom显示文摘This study presents two kinds of rolling robots that are able to roll by deforming their outer shapes with a single degree of freedom.Each robot is an essential multi-loop planar expandable linkage constructed by a concave outer loop and several inner parallelogram loops.In this study,the mechanical design of the robots is introduced.Dynamic rolling process is further analyzed on the basis of zero moment point method,and a morphing strategy is proposed to guarantee a stable dynamic rolling process.A novel passive rolling locomotion is also developed,which enables the robots to roll and stand on a slope.To verify the design,two prototypes are manufactured,wherein the dynamic and passive rolling locomotion are carried out. | Yanlin HAO Yaobin TIAN Jianxu WU Yezhuo LI Yan-An YAO | 2020 | Frontiers of Mechanical Engineering2020，15，3： | 0 |
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