This paper addresses the system design and locomotion control for a versatile amphibious robot, AmphiRobot-II, inspired by various amphibian principles in animal kingdom. In terms of propulsion features existing amphibians, novel hybrid propulsive mechanism coupled with wheel-propeller-fin movements is proposed that integrates fish- or dolphin-like swimming wheel-based crawling. The robot able not only to implement flexible on land, but also perform steady efficient under water can further...

Based on the Johnson–Cook constitutive model and modified Coulomb's law, study investigates impact of various process parameters weld temperature field in high-strength 5052 aluminum alloy friction stir welding (FSW) for aerospace applications. Utilizing a thermo-mechanical model, significance rotational speed, indentation peak is examined through Taguchi's orthogonal experimental design. S/N ratio ANOVA results show that speed has most significant effect weld, followed by amount...

ABSTRACT Large‐scale Cenozoic magmatic rocks in the southern Qinghai‐Tibet Plateau show a key chapter of geological evolution, especially northward subduction and gradual melting Neo‐Tethys Sea plate during collision between Asian continent Indian plate, which reveals its importance. Although some progress has been made study Linzizong volcanic Lhasa India‐Asia collision, closure time exact timing first are still controversial community. This focuses on formation age, geochemical...

A finite element model based on software Abaqus/Explicit and experimentation was established to describe the probeless friction stir spot welding process of 2198-T8 aluminium alloy. An Arbitrary Lagrangian–Eulerian method adopted in this which Johnson–Cook equation used flow stress depending temperature, plastic strain rate. The experimental results revealed representative microstructure joint has three typical zones: zone, thermo mechanically affected zone heat zone. relationship between...

Bio-inspired robotic fish hold strong promise for underwater missions. This paper deals with the design and control issues of a miniature free-swimming multiple sensors. Specifically, synthesized mechanical scheme mainly relying on two-link serial mechanism pair pectoral fins is first presented. Next, bio-inspired Central Pattern Generator (CPG) based method aided by feedback information from sensors various types to achieve three-dimensional swimming proposed. Finally, experimental results...

Intelligent integrated sensing systems possess capabilities such as perceiving external information, data processing. It has a wide range of applications in Internet Things (IOT), smart manufacturing, and other fields. However, if the information is acquired incorrectly, it will definitely affect correctness Though there have been many researches about sensor processing, only few focused on how to self-detect self-diagnosis working status sensors themselves. Based above, this paper proposes...

Jellyfish uses jet propulsion to achieve a diversity of modes in the water. In this article, miniature jellyfish-inspired swimming robot is designed and built, which capable executing horizontal vertical maneuvers. order imitate jellyfish terms morphology kinematics, robotic be comprised streamlined head, cavity shell, four separate drive units with bevel gears, soft outer skin encasing units. A combination six-bar linkage mechanisms that are centrally symmetric adopted as driver regulate...

This paper presents the mechatronic issues of an amphibious robot capable multi-mode motion, entirely inspired by some impressive propulsion solutions offered Nature. Considering that oscillating fin utilized fishes and cetaceans is efficient propulsive mode under water wheel another formidable opponent on ground, a multi-purpose, mechanism combines carangiform or dolphin-like swimming wheel-like motions designed. Based module-based structure, composed head, multiple identical...

Compound hydrocyclone is a kind of dynamic also with the advantages static hydrocyclone. In this investigation, effect operating parameters on separation performance compound studied using both CFD technique and experimental method. The flow field was simulated by RSM turbulence model; particles different size were simplified to 6 phases mixture multiphase model. central composite design method used conduct experiment results indicated that can be for finer still achieve higher centrifugal...

This paper deals with an improved design scheme for amphibious robot inspired by various amphibian principles in animal kingdom. Considering the propulsive features of existing modes synthetically, a novel hybrid mechanism that integrates fish-like swimming wheel-paddle-fin movements is proposed. The able to implement speedy and efficient or dolphin-like perform flexible wheel-like terrestrial movements, which can switch between these two patterns specialized swivelling device. Critical...

Erosion-corrosion (E-C) is common in chemical industries. Sudden expansion pipes (SEP) are one of the flow components which may experience severe erosion rates. Computational fluid dynamic modeling (CFD) and flow-through experiments were used to study E-C for a SEP AISI 302 stainless steel. A typical geometry was investigated: 20 mm diameter inlet pipe, 40 outlet with an rate 0.1 m/s, 10 wt% concentration SiO2. CFD simulation results showed that turbulence energy wall shear highest at 5...

The success rate of automatic transplanter seedling picking is affected by the harsh operating environment and reduced output accuracy opening closing positioning seedling-picking mechanism due to interference external environment. To solve such problems, paper proposes use an adaptive fuzzy PID control algorithm as positioning-control system mechanism. Based on theoretical analysis calculation mechanism, a mathematical model stepper motor angular velocity was established, based...

In greenhouse nurseries, one of the important tasks automatic transplanter is replanting missing or bad seedling holes with healthy seedlings. This requires to spend significant time moving between supply trays and target during replanting. The diversity complexity transplanting routes affect efficiency. Path planning method can find a better path for manipulator improve efficiency transplantation. A* algorithm (A*), which optimal search algorithms, often used in practical applications...

Abstract In this paper, the optimal time planning of vibration separation trajectory Hippophae rhamnoides fruit is studied for space manipulator using I-PSO algorithm. The first step to analyze motion robotic arm's joints, which are limited in range and speed, combination with a 3–5–3 polynomial interpolation, an improved Particle swarm optimization adaptive inertia weight asynchronous learning factor proposed, specific process given. Experimental images data show that particle algorithm can...

Presented in this paper is our effort to create a multifunctional swimming robot, i.e., robotic fish, inspired by the well-integrated, configurable multiple control surfaces existing real fish. By virtue of hybrid propulsion capability tail plus caudal fin and maneuverability accessory fins, novel, synthesized scheme composed artificial proposed, involving fin, pectoral pelvic dorsal fin. Multimodal locomotion then accomplished manipulation surfaces, separately or cooperatively, allowing...