Ebook: Intelligent Equipment and Special Robots

The International Conference on Intelligent Equipment and Special Robots (ICIESR) is an annual event focusing on research areas related to Intelligent Equipment and Special Robots. The conference aims to establish a broad and interdisciplinary platform for experts, researchers, and students worldwide to present, exchange, and discuss the latest advances and developments in related fields.

This volume contains the papers from the 2nd International Conference on Intelligent Equipment and Special Robots (ICIESR 2023), held from 20 to 22 October 2023 in Qingdao, China. Topics covered include intelligent detection technology, smart manufacturing, artificial intelligence, mechatronics technology, and creative and entertaining robots, among others. Each paper has undergone comprehensive review by the editorial team and professional reviewers, and has been examined and evaluated for its theme, structure, method, content, language, and format.

In cooperation with prestigious universities and institutes, ICIESR 2023 organized ten invited keynote speeches and many oral and poster presentations, bringing together about 180 participants worldwide. Eminent professors from top universities worldwide were invited to deliver keynote speeches, including Prof. Guirui Yu (Chinese Academy of Sciences), Prof. Jinsong Leng (Chinese Academy of Sciences), Prof. Wei Zhou (International Intelligent Manufacturing Society), Prof. Xilun Ding (Beijing University of Technology), Prof. Qiang Zhang (Shandong University of Science and Technology). Reflecting the latest developments in the intelligent equipment industry at home and abroad, they delivered dramatic keynote speeches, discussing and exchanging information on the development dynamics and research direction of intelligent equipment and special robots in terms of kinematics modeling and optimization design, and fault diagnosis of intelligent robot systems, among other things. Participants raised questions based on the speeches, and interacted with the speakers and other delegates, which led to a heated discussion on the latest research findings and trends in related fields.

The International Conference series on Intelligent Equipment and Special Robots has established a high-quality international academic exchange and cooperation platform for scholars and practitioners working in those fields related to intelligent equipment and special robots, linking various branches of science and technology, as well as talents, industry and services, and stimulating the innovation and vitality of researchers in universities and institutes, promoting the innovation and application of intelligent equipment and special robots, and fostering the development of related industries.

On behalf of the conference committee, we would like to give sincere thanks to all the authors and speakers who made a contribution to ICIESR 2023, the editors and reviewers who guaranteed the quality of papers with their expertise, and the committee members who devoted themselves to the success of ICIESR 2023.

We are confident that this series will continue, and we hope to receive more interesting and innovative submissions for conferences in this series in the coming years.

The Committee of ICIESR 2023

Aiming at the problem of the limited load of automated guided vehicle (AGV) used in logistics transportation, design a simple structure, safe and reliable AGV frame. The frame adopts seesaw structure to reduce the deviation of center of gravity, so that it can bear large load, and analyze its performance. The three-dimensional modeling of the AGV frame was created with SOLIDWORKS software and imported into HYPERWORKS for static analysis of full-load bending conditions, full-load bending and torsion conditions, emergency braking conditions, and emergency turning conditions to determine whether the strength and stiffness of the AGV frame meet the requirements, and according to the results of simulation for structural optimization. Then, the vibration characteristics of the frame structure were determined by free modal analysis through HYPERWORKS. The maximum stress and displacement of the AGV frame under four working conditions are obtained. Among which, the full-load bending and torsion condition is the most unfavorable. The maximum stress is 236.6MPa, which does not exceed the yield limit (343 MPa) of the material 16MnL. The maximum deformation is 1.413mm, which is within the allowable range. The natural frequency of the frame is between 10-46Hz, which belongs to the low-frequency range. The strength and stiffness of the AGV frame designed in this paper meet the requirements when the load is 3 tons, and there is no resonance phenomenon with the road surface. At the same time, it also provides certain ideas and reference value for designing other types of frames.

The booming noise performance is one of the most important factors in determining the NVH quality of a vehicle. This paper presents the study of causes and paths of the interior booming noise of one minibus by combining simulation and experimental methods. It is determined that driveline torsional vibration is one of the main sources of interior noise. Experimental results show that optimizing clutch parameters lead to the overall sound pressure lever decreasing by 1.6 dB(A) and the second order decreasing by 5.5 dB(A). These results demonstrate that the interior noise of the minibus obviously reduce by driveline torsional vibration control with optimizing clutch stiffness and damping parameters.

The collaborative task of logistics robots is a very big challenge for the intelligent warehousing industry. In order to improve the effectiveness of task deployment for intelligent warehousing, this paper proposes a novel strategy of collaborative tasks for logistics robots, which includes three different functional robots, named transport robot which is used for transportation tasks, mobile manipulator used for sorting goods, and pick-and-place robot. All of these robots have an omnidirectional mobile base, which allows them to move in any direction, rotate in place, and navigate with the artificial potential Field (APF). Finally, the experimental verification proves clearly that the logistics robot cooperates well to complete the tasks of outbound and inbound goods and shows great flexibility under an unstructured environment.

A simplified model for the angle of attack tracking in the pitch channel of unmanned aerial vehicles is proposed. Based on the traditional second-order sliding mode control, the stability problems of the fractional power design of the traditional second-order sliding mode are pointed out, and an improved integral second-order variable structure control method is proposed. At the same time, a softening function design is used to construct the symbol function of the traditional second-order sliding mode. And in the selection of sliding mode surfaces, an integral type sliding mode surface was adopted. Finally, the time-varying Lyapunov function was selected and stability proof was provided under sufficient big gain conditions. After the sliding surface approaches zero, based on the approximate treatment of the simplified model, a proof of Hurwtiz property of the sliding surface is provided, ensuring that the angle of attack tracking error approaches zero and the control of the angle of attack tracking is realized . Finally, the control effect of second-order sliding mode control for unmanned aerial vehicle angle of attack tracking was presented through digital simulation. At the same time, the perturbation problem of control variables in the completely unknown situation of the model was considered, and the control effect was almost unaffected. It can still maintain the stability of the entire system and realize the angle of attack tracking, thus it demonstrates the effectiveness of the design method provided in this paper.

Existing neurosurgical robots are prone to interfering with each other in a narrow operating space due to the overlapping of several arms, which poses a great safety risk during surgery. In this paper, a 7-DOF dual-arm robot is designed to cooperate with the surgeon to complete craniotomy by manipulating the master hand mechanism. Aiming at the pain point that two real-time dynamic slave hands are prone to interference, this paper establishes a simplified model of the robot envelope, and transforms the interference detection problem between the robots into the interference checking of geometric primitives. If the interference between the two arms is detected by the algorithm, the surgical path of the current robotic arm is immediately terminated to ensure the safety of the surgery. Finally, the algorithm is simulated and verified with the robot designed in this paper. The results show that the algorithm is feasible and has high computational efficiency.

At present, permanent magnet synchronous motor is widely used in industry. High performance permanent magnet synchronous motor control strategy has become the focus of research and development of researchers all over the world, and the position sensorless control of synchronous motor has become an important development trend in the future. Based on this, this paper proposes a sensorless vector control method of Luenberger observer in DQ coordinate system. Firstly, based on the vector control mathematical model of synchronous motor in DQ coordinate system, Luenberger observer in DQ coordinate system is constructed to calculate the motor speed and rotor position. Secondly, a simulation model is built to study the control performance of the sensorless system of permanent magnet synchronous motor. Finally, the feasibility and effectiveness of the Luenberger observer sensorless vector control method for PMSM are verified by the motor.

This paper proposes a control method for an excavator under a limited area, which designs a prediction algorithm based on the distance between the excavator and the obstacle. Through this method, it can be ensured to the maximum extent that the excavator will not have safety accidents due to human operation errors and other reasons. The method is validated on a tracked excavator, confirming the effectiveness of the algorithm. Field tests showed that the excavator joints could be stopped within 20cm of the obstacle and were only allowed to move in the direction away from the obstacle.

A fully hydraulic intelligent lotus root harvester has been designed to solve the difficult problem in the harsh muddy water environment of the lotus pond. Power distribution is achieved through proportional hydraulic pumps, proportional speed control valves, directional valves, and low speed high torque motors, Forward and reverse control and hydraulic flow adjustment to achieve speed changes such as forward, backward, and turning of the machine. Accurately regulate speed and direction to meet the walking and transition requirements of Lotus Pond; Innovatively designed a chassis structure with the core of “wide rubber track +buoyancy box+ four point linkage lifting device”, which can adapt to different operating water depths; Hydraulic, pneumatic, and electric joint control, Realize remote control of low-pressure and high flow jet, The chain reversing and swinging mechanism integrates chain reversing, lifting, and jetting to achieve swinging jetting, Dynamically adjusting the distance between the jet unit and the mud surface, Vigorously improving the efficiency of low-pressure and high-flow jet.

In the realm of machine learning-based target detection, there exist several challenges that require attention, namely limited detection range, complex feature extraction, suboptimal detection precision, and significant subjectivity. In this paper, the strengths and weaknesses of existing deep learning target detection algorithms have been investigated in order to address these issues by integrating the actual welding process of heat exchangers. The objective is to improve the model’s detection accuracy and speed. To achieve this, we employ the YOLOv5 model to detect and identify weld defects of the heat exchanger tube plate, and propose an enhancement method based on the YOLOv5s model. By implementing several enhancements, such as incorporating the attention mechanism, updating the loss function, and optimizing the feature fusion network, the model’s overall performance is enhanced, with a focus on addressing the issues of low detection accuracy, slow convergence, and inadequate real-time performance in detecting small target defects compared to the YOLOv5s model. The improved YOLOv5s_m model improves the detection accuracy by 4.52% and the speed by 4.4 FPS, which solves the problems of low detection accuracy, weak sensitivity of small target defect detection and poor convergence of the bounding box loss function of the YOLOv5s model. These improvements lay the groundwork for enhancing the automation and intelligence of weld quality inspections.

The extraction of positional features from the longitudinal lap edge straight line of the conveyor belt in a pipe belt conveyor holds significant importance in the detection of conveyor belt torsion faults. This study presents a proposed algorithm for detecting the longitudinal lap edge on a conveyor belt using machine vision. The algorithm involves several steps, including extracting regions of interest (ROI) from conveyor belt images and converting them to grayscale. Local enhancement is achieved through image stretching, and edge features are extracted using the Prewitt operator. Morphological methods are then applied to address impurities, and the lap edge is detected through straight line detection using the Hough transform. The conducted experiments involving the utilization of OpenCV on authentic images of a cylindrical pipe belt conveyor within an industrial setting demonstrate the algorithm’s proficient ability to accurately recognize the longitudinal lap edges of conveyor belts.

In the traditional infusion process, medical staff need to regularly observe the change of liquid level in the infusion bottle to confirm the dressing change time, which not only increases the workload of medical staff, but also increases the risk of emergency. In this paper, a kind of infrared automatic alarm device based on AT89C51 MCU is designed, which can monitor the liquid level change in infusion bottle in real time and remind medical staff to replace infusion set in time. According to the principle of infrared positioning and monitoring, the device collects the liquid level information in real time and gives an alarm when the liquid level is too low. Proteus software is used to simulate the whole control system. Through analysis, it is found that when the liquid level of the infusion set is too low, the infrared signal waveform changes, so the automatic alarm device has a high accuracy.

Pipe belt conveyors provide sustainable solutions for environmentally sensitive or topographically complex powdered and bulk-solid handling processes; belt rotation is one of the most common faults of pipe belt conveyor, and the current pipe belt conveyor project commonly adopts manual periodic inspection method to detect faults, which has the disadvantages of high danger, low efficiency, high labor intensity of inspection staff, and untimely fault discovery leading to serious engineering accidents. In view of the above problems, this paper investigates the research of conveyor belt torsion detection method of the pipe belt conveyor based on image processing, analyzes the mechanism of conveyor belt rotation determination, puts forward an edge detection method based on OUST-Canny operator, and extracts straight line features of conveyor belt edges by using Hough transform and analyzes the processing, and ultimately realizes the detection of belt torsion faults of the pipe belt conveyor. This method greatly simplifies the process of linear feature extraction in complex environments and helps to realize the intelligentization of the pipe belt conveyor, which ensures the safe and efficient transportation of the pipe belt conveyor and at the same time realizes the green, energy-saving and sustainable development.

For a long time, human beings have often been seriously affected by various disasters, and the first time to go into the scene when a disaster occurs, to understand the most comprehensive information about the disaster, in order to minimize the loss. In this paper, a post-disaster search and rescue robot is designed for the needs of performing search and rescue tasks. The four-track mobile structure is used, combined with the Beidou navigation and positioning system, to design the overall scheme of the robot, and to design and calculate the important parts. SolidWorks software was used to perform 3D solid modeling, adjust the size according to the fit, and render the model with Keyshot software. Ansys software is used to perform static finite element analysis on the main load-bearing components to prove that their deformation meets the design requirements. Finally, the physical prototype of this search and rescue robot was completed using the available materials and conditions.

Adaptive fuzzy control is employed in this paper for identification and modeling of AUV parameters, addressing the issues of inaccuracy and susceptibility to interference within the AUV mechanism model. This paper explores the application of fuzzy control in AUV modeling, with an adaptation law designed to respond to environmental changes. This law helps mitigate issues such as model inaccuracy and uncertainty by allowing for parameters to be adjusted dynamically. Furthermore, a sliding mode controller is introduced for enhanced robustness during hover operations. Through extensive simulations in MATLAB and SIMULINK, the efficacy and reasonableness of this method are demonstrated.

In this paper, a seven-bar mechanism gait training robot was introduced. The core mechanism of the robot is designed as two sets of seven bar mechanisms with two degrees of freedom. An appropriate reference system is established and the model of the equipment is designed. The kinematics of the mechanism is analyzed, the conditions for determining the motion of the mechanism are analyzed. Subsequently, standard algorithm was used to optimize the end trajectory of the linkage mechanism. According to the results obtained and the principles of human factors engineering, the motion characteristics of the robot were analyzed using Adams software. The simulation results show that the proposed seven bar mechanism gait training robot has a terminal trajectory close to the walking trajectory of the human ankle joint, and can complete gait assistance training tasks.

The bilayer structure with hard upper layer and soft lower layer is widely used in many fields, and these applications have raised considerable interests in recent years. The two modes of compressive buckling instability, deformation mechanism, and evolution law of the bilayer structure need to be studied in depth. To solve these problems, the following research was carried out. Based on the pre-stretching method and thermal induction method, the ordered one-dimensional wrinkle structure and disordered random wrinkle structures was experimentally prepared in the Au/PDMS and Au/PS bilayer structure surfaces, and surface morphology, cracks, and interface were characterized. Based on the nonlinear Von Karmen plate theory, the buckling behaviors of bilayer structure was analyzed. The two modes of compressive buckling with and without delamination of the interlayer interface between film and substrate is studied for the bilayer structure using finite element numerical simulation. The results reveal that the amplitude and required load of bilayer structures have the same evolution laws with compressive strain under the conditions of interface delamination and non-delamination.

There are various uncertainties in the belt conveyor system. Therefore, it is necessary to describe accurately and compensate for them for reducing system errors and control costs. This paper proposes a method by applying fuzzy set theory to establish a fuzzy dynamic model, including the belt and PMSMs. Then, an exponential robust controller with an adaptive tension force is designed to achieve the fuzzy belt-PMSMs system uniform boundedness and uniform ultimate boundedness. Finally, a series of simulation experiments are performed to verify the effectiveness of the proposed method. The simulation experiment implies the advantages of our method in reducing system errors and saving control energy.

In order to improve the stability margin of the fan, the FBCDZ-No20 contra-rotating fan is selected as the research object, and the influence of the coupling effect of the axial position and the depth of the circumferential groove on the stability margin of the fan was explored. Numerical simulation shows that the circumferential groove casing treatment in the front stage can realize the effective stability margin improvement of the fan, in which the 30mm circumferential grooves located at 25% axial chord length can can make the fan obtain considerable stability margin improvement. However, the implementation of circumferential groove reduces the peak efficiency of the fan where the circumferential groove located at 25% of the axial chord length leads to a larger loss of peak efficiency of the fan, and the loss of peak efficiency also increases with the increase of the groove depth. Compared with the groove depth, the axial position of the circumferential groove has a more significant effect on the stability margin of the fan, shallow circumferential grooves in favorable axial positions can compensate for the lack of shallow grooves, whereas deeper circumferential grooves in unfavorable positions cannot reflect the advantages of the deep groove.

Due to the many parts of the twin-screw pump, each part has multiple parameters. These parameters usually show mixed technical states, making it difficult to select the parts with excellent parameters to assemble the pump. Based on analyzing the factors affecting the vibration state of the twin-screw pump, this paper establishes its two-level fuzzy comprehensive evaluation mathematical model. By creating membership functions and combining them with the measured data, the technical state of each parameter is quantified to realize the pre-assessment of the vibration technical state of the twin-screw pump. The example shows that the application of the two-level fuzzy comprehensive evaluation method in this field is feasible.

When the pipe cleaner is conducting internal inspections of pipelines, the presence of weld seams on the pipe wall can lead to collisions between the mileage wheel and the pipe wall. To investigate the causes of errors in the circumferential welding seam of the odometer wheel, a combination of kinematic theory analysis and numerical simulation was used to analyze the motion process of the circumferential welding seam, and a corresponding mathematical model was established. Kinematic simulation of the circumferential welding seam process of the odometer wheel was conducted using ADAMS multi body dynamics software. The results showed that increasing the translational speed, radius, width, and weld size of the odometer wheel would increase the measurement error; When the mileage wheel speed is low, the recorded mileage is greater than the actual mileage, while when the mileage wheel speed is high, the recorded mileage is less than the actual mileage. In practical engineering applications, the operating speed of the intelligent pig can be appropriately reduced to reduce the radial runout of the mileage wheel when passing through the weld seam, reduce the variation of angular velocity, and thus reduce the measurement error of the mileage wheel when passing through the weld seam.

Use ADAMS software to optimize the suspension kinematic parameters to make a certain double wishbone suspension have superior kinematic performance. Firstly, establish a suspension simulation model in ADAMS/Car and make wheel jump simulations for the model. Upon completion of the simulation, ADAMS/PostProcessor delivers the change range of the 4 main kinematic parameters of double wishbone suspension: Toe Angle, Camber Angle, Kingpin Caster Angle, and Kingpin Inclination Angle. Secondly, choose the variable points coordinates. ADAMS/Car and ADAMS/Insight jointly optimized the coordinates. Thirdly, the two wheel jump simulations of the coordinate-optimized suspension are carried out again, and after the simulations, the optimization data of the 4 kinematic parameters are obtained. Finally, analyze the optimization data and evaluate the kinematic performance of the optimized double wishbone suspension. After the optimization, four suspension kinematic parameters change range are basically within the ideal range. This optimization has achieved the excellent results, and at the same time, it provides ideas and reference significance for the optimization of other types of suspensions.

Aiming at the problems such as poor security of heating powder, ablation of residual reagent and difficult cleaning, the carbon dioxide (CO₂) phase transformation system was excited by electrothermal excitation. Considering the physical property distortion of CO₂ in the near critical attached region, a mathematical model of electrothermal excited phase transition of CO₂ was established by using the real gas comparison state equation. Combined with the phase transition experiment of CO₂ under electrothermal excitation, the phase transition characteristics of CO₂ by electrothermal excitation are obtained. The simulation and experimental results show that the electrothermal excitation of CO₂ phase transition is safe, feasible and stable, the calculation deviation of the mathematical model is less than 8.1%. and the reaction time is closely related to the filling coefficient, filling mass and heating power. The simulation results have certain guiding significance for controlling the electrothermal excitation and release process of carbon dioxide phase transition, shortening the excitation time and broadening the application field of CO₂ phase transition energy system such as Mars exploration in the future.