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学者姓名：赵京
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Abstract ：
To effectively address the requirements of deeply coexisting-cooperative-cognitive (Tri-Co) interactions among humans, robots, and the environment within the context of Industry 4.0, it becomes crucial to conduct evaluation research on Tri-Co capabilities (TCCs) of collaborative robots (cobots), which is a knowledge-intensive task. However, existing research on performance evaluation of cobots has not yet established a common method for constructing a complete performance evaluation index system. The testing methods lack a design basis and fail to evaluate the performance of cobots through operational tasks in industrial production or daily life from the perspective of test tasks. Furthermore, these methods do not facilitate the fusion of multi-source subjective and objective decision-making information, which includes both the knowledge of experts and fundamental parameters of cobots. To this end, this study proposes a multi-source decision-making information fusion framework for evaluating the TCCs of cobots. This framework includes a construction method for an evaluation index system that fuses subjective and objective elements based on statistics, text clustering, and closed-loop feedback mechanism. It also incorporates TCCs test tasks, and an improved fuzzy analytic network process (IFANP). Additionally, it incorporates a combination weighting method that aims to minimise both subjective and objective weights deviations. This framework effectively integrates the subjective knowledge of experts with the objective fundamental parameters of cobots. It accomplishes local TCCs evaluation from the perspective of test tasks. Additionally, it achieves global TCCs evaluation by combining basic performance evaluation indices and the performance of completing the test tasks. A case by Rethink Sawyer (Sawyer) is presented to demonstrate the application process and viability of the developed framework. The experimental results and calculation examples indicate that the research has the potential to provide a certain theoretical basis and reference to solve the performance testing and evaluation issues for other types of robots in engineering applications.
Keyword ：
Collaborative robots Collaborative robots Text clustering Text clustering Robot performance evaluation Robot performance evaluation Multi-source information fusion Multi-source information fusion
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| GB/T 7714 | Yao, Jiwei , Zhao, Zhiang , Zhao, Jing . Multi-source decision-making information fusion framework for evaluating coexisting-cooperative-cognitive capabilities of collaborative robots using text clustering and combination weighting [J]. | ADVANCED ENGINEERING INFORMATICS , 2024 , 62 . |
| MLA | Yao, Jiwei 等. "Multi-source decision-making information fusion framework for evaluating coexisting-cooperative-cognitive capabilities of collaborative robots using text clustering and combination weighting" . | ADVANCED ENGINEERING INFORMATICS 62 (2024) . |
| APA | Yao, Jiwei , Zhao, Zhiang , Zhao, Jing . Multi-source decision-making information fusion framework for evaluating coexisting-cooperative-cognitive capabilities of collaborative robots using text clustering and combination weighting . | ADVANCED ENGINEERING INFORMATICS , 2024 , 62 . |
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Abstract ：
Admittance control of the robot is an important method to improve human-robot collaborative performance. However, it displays poor matching between admittance parameters and human-robot collaborative motion. This results in poor motion performance when the robot interacts with the changeable environment (human). Therefore, to improve the performance of human-robot collaboration, the human-like variable admittance parameter regulator (HVAPR) based on the change rate of interaction force is proposed by studying the human arm's static and dynamic admittance parameters in human-human collaborative motion. HVAPR can generate admittance parameters matching with human collaborative motion. To test the performance of the proposed HVAPR, the human-robot collaborative motion experiment based on HVAPR is designed and compared with the variable admittance parameter regulator (VAPR). The satisfaction, recognition ratio, and recognition confidence of the two admittance parameter regulators are statistically analyzed via questionnaire. Simultaneously, the trajectory and interaction force of the robot are analyzed, and the performance of the human-robot collaborative motion is assessed and compared using the trajectory smoothness index and average energy index. The results show that HVAPR is superior to VAPR in human-robot collaborative satisfaction, robot trajectory smoothness, and average energy consumption.
Keyword ：
human-robot collaborative motion human-robot collaborative motion evaluation of human-robot collaborative performance evaluation of human-robot collaborative performance compliant control compliant control human-robot interaction human-robot interaction human-like variable admittance control human-like variable admittance control
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| GB/T 7714 | Wang, Chengyun , Zhao, Jing . Based on human-like variable admittance control for human-robot collaborative motion [J]. | ROBOTICA , 2023 , 41 (7) : 2155-2176 . |
| MLA | Wang, Chengyun 等. "Based on human-like variable admittance control for human-robot collaborative motion" . | ROBOTICA 41 . 7 (2023) : 2155-2176 . |
| APA | Wang, Chengyun , Zhao, Jing . Based on human-like variable admittance control for human-robot collaborative motion . | ROBOTICA , 2023 , 41 (7) , 2155-2176 . |
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Abstract ：
Redundant and dual-arm manipulators exhibit good flexibility and excellent cooperation ability, respectively. Therefore, both these manipulators are used to design a redundant dual-chain manipulator with two kinematic chains and a fixed base. In addition, a motion planning method is proposed using a manifold analysis based on the characteristics of this designed manipulator to resolve the difficulty associated with motion planning for a dual-chain manipulator under multiple constraints. Firstly, the paths of the two end-effectors of the dual-chain manipulator are planned synchronously by the Rapidly-exploring Random Tree Star (RRT*) in the Cartesian space. Then, joint trajectories that correspond to the paths are generated by the manifold analysis in the joint space. In this method, the manifold continuity constraint is added to the end-effector path planning of RRT* to ensure that the planned paths have continuous joint trajectories. The joint trajectories are optimised by analysing the performance of the manipulator on the manifolds to improve their motion performance. The prototype experiments of loose coordination and tight coordination are provided in the experimental section; these experiments prove the feasibility and practicability of the motion planning method proposed in this study.
Keyword ：
Motion planning Motion planning Self-motion manifolds Self-motion manifolds Redundant dual-chain manipulator Redundant dual-chain manipulator Multiple constraints Multiple constraints
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| GB/T 7714 | Zhou, Zhenyong , Zhao, Jing , Zhang, Ziqiang et al. Motion Planning Method of Redundant Dual-Chain Manipulator with Multiple Constraints [J]. | JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS , 2023 , 108 (4) . |
| MLA | Zhou, Zhenyong et al. "Motion Planning Method of Redundant Dual-Chain Manipulator with Multiple Constraints" . | JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS 108 . 4 (2023) . |
| APA | Zhou, Zhenyong , Zhao, Jing , Zhang, Ziqiang , Li, Xiaohui . Motion Planning Method of Redundant Dual-Chain Manipulator with Multiple Constraints . | JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS , 2023 , 108 (4) . |
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Abstract ：
A dual-chain manipulator with one fixed base and two kinematic chains is presented in this paper. Aiming at the difficulty of motion planning of dual-chain manipulator, a motion planning method of dual-chain manipulator based on Artificial Bee Colony Algorithm (ABC) is proposed. Firstly, the ABC is used to optimize the initial configuration of the dual-chain manipulator. Then, the end-effector path of the dual-chain manipulator is planned by the Rapidly-Exploring Random Tree Star (RRT*). Finally, the joint trajectory is generated by Gradient Projection Method (GPM) after the initial configuration and end-effector path are determined. In the experimental part, the prototype experiment of the dual-chain manipulator is given, which proves the feasibility of the motion planning method proposed.
Keyword ：
Artificial Bee Colony Algorithm Artificial Bee Colony Algorithm collision detection collision detection redundant dual-chain manipulator redundant dual-chain manipulator motion planning motion planning
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| GB/T 7714 | Zhou, Zhenyong , Zhao, Jing , Zhang, Ziqiang et al. Motion Planning of Dual-Chain Manipulator Based on Artificial Bee Colony Algorithm [J]. | 2023 9TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND ROBOTICS, ICCAR , 2023 : 55-60 . |
| MLA | Zhou, Zhenyong et al. "Motion Planning of Dual-Chain Manipulator Based on Artificial Bee Colony Algorithm" . | 2023 9TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND ROBOTICS, ICCAR (2023) : 55-60 . |
| APA | Zhou, Zhenyong , Zhao, Jing , Zhang, Ziqiang , Li, Xiaohui . Motion Planning of Dual-Chain Manipulator Based on Artificial Bee Colony Algorithm . | 2023 9TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND ROBOTICS, ICCAR , 2023 , 55-60 . |
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Abstract ：
Single degree-of-freedom (DOF) planar linkage mechanism has been widely used in bio-inspired robots because of its simple control. However, designing a single DOF mechanism to meet the complex motion law of creatures is difficult, and the multiple variables of six-or eight-bar mechanism further increase the design difficulty. A design method of single DOF planar linkage bionic mechanism is proposed in this paper. Through the continuous constraints on the position of all reference points with constraint descent method, the requirements of the bionic mechanism in shape, motion trajectory, and posture are met. As for the mechanism by which reference point coordinates cannot be expressed as the analytical solution of the driving angle, a single DOF mechanism is equivalent to a double DOF mechanism containing additional optimization variables, which further improves the design efficiency. For example, the design process of six-and eight-bar bionic mechanisms is given, confirming the feasibility of the method. Then, the effects of the constraint conditions on the design process are analyzed in detail. This study provides a reference for the design of bio-inspired robots.
Keyword ：
Continuous position constraints Continuous position constraints Design method Design method Single DOF Single DOF Planar linkage bionic mechanism Planar linkage bionic mechanism Six-or eight-bar mechanism Six-or eight-bar mechanism
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| GB/T 7714 | Zhang, Ziqiang , Zhang, Yong , Zhao, Jing et al. Design method of a single degree-of-freedom planar linkage bionic mechanism based on continuous position constraints [J]. | MECHANISM AND MACHINE THEORY , 2022 , 170 . |
| MLA | Zhang, Ziqiang et al. "Design method of a single degree-of-freedom planar linkage bionic mechanism based on continuous position constraints" . | MECHANISM AND MACHINE THEORY 170 (2022) . |
| APA | Zhang, Ziqiang , Zhang, Yong , Zhao, Jing , Zhou, Zhenyong . Design method of a single degree-of-freedom planar linkage bionic mechanism based on continuous position constraints . | MECHANISM AND MACHINE THEORY , 2022 , 170 . |
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Abstract ：
The existing kinematic synthesis of serial robots generally focuses on configurations with specified degrees-of-freedom (DOFs). This paper proposes a new generation method of configurations based on iteration concepts, defines the concept of a configuration tree, and establishes the tree-evolution kinematic synthesis framework. The configuration tree includes configurations with different DOFs, and the ‘tree’ reflects the configuration relationship. The objectives of this study are to research the performance distribution characteristics of the ‘tree’, develop the tree-evolution strategies, and propose a serial robot configuration model with hyperparameters. The study observed that many typical performances have a monotonic distribution on the ‘tree’. Based on the estimation concept, the tree-evolution strategies search for the required configurations with high efficiency. In the kinematic synthesis task of an eight-DOF robot, the efficiency of configuration classification is increased by at least 30%, and the efficiency of configuration optimisation is increased by 65%. Moreover, the calculation efficiency is improved further as the DOF increases. The example shows that the new method improves the calculation efficiency of the process of kinematic synthesis compared with that for the traditional method. © 2021 Elsevier Ltd
Keyword ：
Efficiency Efficiency Robots Robots Forestry Forestry Iterative methods Iterative methods Degrees of freedom (mechanics) Degrees of freedom (mechanics) Kinematics Kinematics
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| GB/T 7714 | Zhao, Jing , Wu, Tong , Zhang, Ziqiang et al. Tree-Evolution: A novel approach for kinematic synthesis of serial robots under performance constraints [J]. | Mechanism and Machine Theory , 2021 , 163 . |
| MLA | Zhao, Jing et al. "Tree-Evolution: A novel approach for kinematic synthesis of serial robots under performance constraints" . | Mechanism and Machine Theory 163 (2021) . |
| APA | Zhao, Jing , Wu, Tong , Zhang, Ziqiang , Li, Xiaohui , Liu, Weihui . Tree-Evolution: A novel approach for kinematic synthesis of serial robots under performance constraints . | Mechanism and Machine Theory , 2021 , 163 . |
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Abstract ：
本发明公开了一种仿生黑斑蛙游泳机器人，包含腿部执行机构、驱动和控制机构。执行机构采用单自由度瓦特型六杆机构，此仿生机器人外形结构(腿的粗细，关节的位置)与黑斑蛙腿部结构高度相似，各关节(膝关节、踝关节、末端点)运动曲线与黑斑蛙游泳过程高度相似。通过驱动电机的回转运动转化为驱动齿条的移动副的往返移动，然后驱动腿部执行机构，可做连续运动，从而实现高速运动。通过转向电机带动转向浆实现转向，让游泳机器人更加灵活。此机器人驱动少，控制简单方便，可实现机器人微型化。其结构简单、制作方便、成本低、仿生效果好，可用于水文监测，海洋探索，水下侦察等多种任务。
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| GB/T 7714 | 张自强 , 张勇 , 赵京 . 一种仿生黑斑蛙游泳机器人 : CN202110999658.8[P]. | 2021-08-29 . |
| MLA | 张自强 et al. "一种仿生黑斑蛙游泳机器人" : CN202110999658.8. | 2021-08-29 . |
| APA | 张自强 , 张勇 , 赵京 . 一种仿生黑斑蛙游泳机器人 : CN202110999658.8. | 2021-08-29 . |
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Abstract ：
本发明公开了一种具有适应性的单自由度仿生多功能机械手，针对机械手任务类型的增加，被抓持物品在体积、形状和空间位置上的差异的问题，设计了一种模仿人抓取物品的机械手，此机械手模仿人抓取物品时的姿态和路径，在保证重量轻、可靠性高、准确性大、控制简单的条件下，实现了多功能抓取，包括传动机构和执行机构，可实现抓取不同直径的圆柱、指尖抓取较大长方体、狭小空间物品和抓取较小物品并移动，且抓取圆柱时分为抱抓和夹抓两种模式。本发明为单自由度机械手，控制简单方便。且本发明添加了弹簧连杆和末端添加柔性元素可有效减小缓冲力。并且此机械手添加压力传感器，可时时检测抓持力情况，可有效避免机械手力过大对物品的伤害。
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| GB/T 7714 | 张自强 , 张勇 , 赵京 et al. 一种具有适应性的单自由度仿生多功能机械手 : CN202110999665.8[P]. | 2021-08-29 . |
| MLA | 张自强 et al. "一种具有适应性的单自由度仿生多功能机械手" : CN202110999665.8. | 2021-08-29 . |
| APA | 张自强 , 张勇 , 赵京 , 陶巨 . 一种具有适应性的单自由度仿生多功能机械手 : CN202110999665.8. | 2021-08-29 . |
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Abstract ：
介绍了模块化技术在工程装备、交通运输装备、武器作战装备等机械装备领域的应用.在此基础上,围绕功能、功能和结构、产品生命周期三类,对模块化设计方法进行了综述.现阶段,模块化装备的设计依然依赖于经验,设计方法存在着计算量庞大、主观因素强、全局与局部矛盾、缺乏特殊需求考虑等问题.该问题导致模块化装备的性能整体提升有限,难以推广应用.未来,相关性评估方法将逐渐完备客观,并逐渐形成一套完整的模块化设计理论体系,从而实现设计方法与模块化装备的研发全过程有机结合,满足模块化装备在典型领域的应用需求.
Keyword ：
模块划分 模块划分 设计方法 设计方法 模块化 模块化 相关性 相关性 机械装备 机械装备 聚类算法 聚类算法
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| GB/T 7714 | 赵京 , 张晓丹 , 张自强 et al. 模块化机械装备及其设计方法研究综述 [J]. | 华中科技大学学报(自然科学版) , 2021 , 49 (10) : 19-29 . |
| MLA | 赵京 et al. "模块化机械装备及其设计方法研究综述" . | 华中科技大学学报(自然科学版) 49 . 10 (2021) : 19-29 . |
| APA | 赵京 , 张晓丹 , 张自强 , 苗磊 . 模块化机械装备及其设计方法研究综述 . | 华中科技大学学报(自然科学版) , 2021 , 49 (10) , 19-29 . |
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Abstract ：
The adhered mortar attached on the surface of recycled aggregate is the primary difference between recycled aggregate and natural aggregate, and is the major reason for reducing its mechanical properties. To measure the percentage of adhered mortar, an image analysis method (IAM) was presented. First, three comparative specimens were conducted to demonstrate the precision and efficiency of IAM. Further, the actual adhered mortar content was also studied by the heating and cooling method. Then, the effect of recycled aggregate size on the percentage of adhered mortar, and the characteristic of recycled aggregate was explored by IAM. In addition, the type and optimal size of recycled aggregate were also investigated. The obtained data indicated that IAM is an accurate and efficient method to measure the proportion of adhered mortar or other phases; the highest content of adhered mortar was found in recycled aggregate with a size of 10.0-16.0 mm, up to 39.39%; the percentage of the recycled aggregates with a particle size between 16.0 and 20.0 mm should be increased in the mix proportion, which has less adhered mortar content and higher quality recycled aggregate content.
Keyword ：
Characteristic of recycled aggregate Characteristic of recycled aggregate Adhered mortar Adhered mortar Image analysis method (IAM) Image analysis method (IAM) Recycled aggregate Recycled aggregate
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| GB/T 7714 | Wang, Yao , Liu, Juan , Zhu, Pinghua et al. Investigation of Adhered Mortar Content on Recycled Aggregate Using Image Analysis Method [J]. | JOURNAL OF MATERIALS IN CIVIL ENGINEERING , 2021 , 33 (9) . |
| MLA | Wang, Yao et al. "Investigation of Adhered Mortar Content on Recycled Aggregate Using Image Analysis Method" . | JOURNAL OF MATERIALS IN CIVIL ENGINEERING 33 . 9 (2021) . |
| APA | Wang, Yao , Liu, Juan , Zhu, Pinghua , Liu, Hui , Wu, Chunyang , Zhao, Jing . Investigation of Adhered Mortar Content on Recycled Aggregate Using Image Analysis Method . | JOURNAL OF MATERIALS IN CIVIL ENGINEERING , 2021 , 33 (9) . |
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