上海工程技术大学学报

2025, 39(1): 1-2.

Abstract:

[Abstract](5) [FullText HTML] (6) [PDF 451KB](3)

Modeling, trajectory planning, and rhythm analysis of a six-axis stacking robot

LI Peixing, ZHU Zina, LAI Leijie

2025, 39(1): 1-6. doi: 10.12299/jsues.24-0031

Abstract:
The kinematics and dynamics modeling method for a six-degree-of-freedom stacking robot using Matlab was proposed, as well as stacking trajectory planning and rhythm analysis methods. The improved D-H method was employed to establish coordinate systems and transformation matrices for robot links, followed by the contruction of a simulation model through robot toolbox in Matlab. Trajectory planning and operational rhythm analysis were conducted according to different pallet patterns and stacking postures, which enabled a comprehensive evaluation of trajectory parameters, rhythm time, efficiency and other parameters. Based on the parameters of the mass, moment of inertia, and center of mass of each link of the designed robot, a dynamics model of the robot was established in Matlab for numerical analysis to obtain the torque curves of each joint. Simulation results demonstrate that the motion characteristics of the robot during palletizing operations can provide critical references for mechanical structure design and key component selection.

[Abstract](12) [FullText HTML] (7) [PDF 2058KB](1)

Mechanism study on ultrasonic vibration assisted drilling of Al7075-T6/Ti6Al4V laminated materials

ZHANG Yekai, WANG Dazhong, LIU Sheng, ZHU Dawei

2025, 39(1): 7-14. doi: 10.12299/jsues.24-0033

Abstract:
The ultrasonic vibration assisted drilling process of Al7075-T6/Ti6Al4V under varying rotational speeds and vibration trajectories was analyzed. The drilling process was simulated using the finite element software Deform, with detailed analysis conducted on the workpiece's drilling force, heat and delamination under vibration assisted conditions. The simulation results show that in the thermo-mechanical coupling model of titanium alloy and aluminum alloy drilling, the most significant changes in drilling force and temperature occur when comparing conventional drilling (CD), axial vibration assisted drilling (UAD), and longitudinal torsional vibration assisted drilling (EUAD) model. In terms of delamination, aluminum alloy is more prone to the thermal softening effect than titanium alloy, and the possibility of uplift delamination is greater. The bottom of titanium alloy loses support, and the possibility of pushing away delamination is also high. Ultrasonic vibration changes the force distribution of each layer, reducing the drilling force, temperature and delamination defects during the drilling process. It reveals that EUAD exhibits performance at low rotational speeds, achieving over 30% reduction in axial force, torque and temperature exceeds , whereas its effectiveness decreases by more than 20% at high speed.

[Abstract](8) [FullText HTML] (4) [PDF 3692KB](1)

Topology structure design and optimization of a new-type strain torque sensor for robotic joints

CAO Feng, CHEN Saixuan, CUI Guohua, ZHANG Yu, ZHAO Wanbo

2025, 39(1): 15-20, 72. doi: 10.12299/jsues.23-0250

Abstract:
The flexible control of collaborative robots relies on the torque sensing capability of the joints. Based on the measurement principle of strain sensors, a strain-based torque sensor with an S-shaped double-hole structure was proposed. Firstly, according to the basic principles of sensor measurement, a configuration design method based on strain gauges was proposed. Secondly, the reliability of the structure was verified through mechanical simulation tests of the overall sensor structure. Finally, the central-composite design (CCD) response surface method was ued to optimize the local dimensional parameters of the sensor, which increases the surface strain of the sensor by 93 MPa, thereby enhancing the sensitivity of the sensor.

[Abstract](6) [FullText HTML] (3) [PDF 2482KB](1)

Observer-based positive consensus of fractional-order multiagent systems

CAI Yuhang, ZHANG Wei, HU Zhi, ZHANG Pengyu

2025, 39(1): 21-27, 36. doi: 10.12299/jsues.24-0023

Abstract:
Compared with integer-order systems, fractional-order systems can better characterize atypical and nonlinear dynamic behaviors, and making them more suitable for describing complex control systems with memory. The observer-based positive consensus problem of fractional-order multiagent systems (FOMAS) was investigated. First, a Luenberger observer was employed to estimate the systems state. By leveraging positive system theory, a sufficient and necessary condition for the positive consensus of FOMAS was obtained. To reduce conservatism, this condition was further optimized through the bounds of improved Laplacian matrix eigenvalues. A less conservative sufficient condition of Riccati inequality type was then established, incorporating the number of nodes in the directed network. Subsequently, by solving the algebraic Riccati inequality, the positive consensus semidfinite programming algorithm for the observer-based FOMAS was presented. Finally, the validity of the obtained results was verified by numerical simulation.

[Abstract](6) [FullText HTML] (4) [PDF 1210KB](1)

Active balancing optimized topology and voltage balancing control strategy for three-level inverters with mid-point potential

CAI Liang, ZHANG Chunyan

2025, 39(1): 28-36. doi: 10.12299/jsues.24-0034

Abstract:
Aiming at the problem of unbalanced mid-point potential in T-type three-level inverters, the principle of unbalanced mid-point potential in traditional T-type neutral point clamped (NPC) three-level inverters was investigated. To address the mid-point potential imbalance caused by voltage variation on DC side, an optimized topology with an active mid-point potential balancing strategy and a fuzzy PI control were proposed. A simulation system model of the optimized topology T-type three-level inverter was established by Matlab/Simulink, simulation analyses with different control strategies were conducted, and a grid-connected experimental platform was set up to validate the proposed methodology. The simulation and experimental results demonstrate that the fuzzy PI control under the optimized topology can effectively suppress the mid-point voltage fluctuations, with the advantages of fast dynamic response and high response precision, enhancing the disturbance resistance and stability of the inverter system.

[Abstract](6) [FullText HTML] (4) [PDF 2177KB](1)

Kinematic modeling and grasp quality analysis and simulation of a supernumerary finger for disabled grasping assistant

LIU Lingxiao, XU Yong, GUO Shuyan, SUN Weijun

2025, 39(1): 37-43, 85. doi: 10.12299/jsues.24-0026

Abstract:
A supernumerary robotic finger for disabled people grasping was proposed. The kinematic analysis of the supernumerary finger was carried out, providing mapping relationships between the bending unit and the overall supernumerary finger across the driving space, joint space and operational space. On the basis of a quasi-static analysis of the grasp system, five indexes for measuring the grasp quality were listed. Using the Syngrasp toolbox based on Matlab platform, a grasp model of augmented hand which contained human hand wearing a supernumerary finger was established, grasp simulations of the natural hand and the augmented hand were performed, and the grasp quality indexes were compared. The result demonstrates that wearing the supernumerary finger can improve the quality of grasping objects with the human hand.

[Abstract](6) [FullText HTML] (4) [PDF 1898KB](1)

Quantification and analysis of shared battery value in electric vehicle battery swap stations

WANG Jing, ZHANG Haifeng, SHA Ling, WANG Dai

2025, 39(1): 44-51. doi: 10.12299/jsues.24-0037

Abstract:
Multi-brandshared battery swap stations for electric vehicle have become an effective solution to address issues such as low utilization of battery swapping resources and high operational costs. A simulation framework was proposed to model the entire process of electric vehicle station selection, queuing, battery swapping, and departure behaviors, with a focus on investigating how battery quantities of different brands and battery-sharing models affect service quality and operational costs. Based on the location information and operational data of NIO's battery swapping network in Shanghai, multi-scenario simulations were conducted to quantify the impact of different battery configuration schemes on the queuing time for battery swapping users and to calculate the total number of batteries required to maintain a reasonable queuing time. The simulation results demonstrate that by optimizing the number of batteries in the swapping station or adopting a multi-brand battery sharing approach, the service quality of the swapping station can be significantly improved, and the cost of batteries can be reduced.

[Abstract](8) [FullText HTML] (5) [PDF 1564KB](1)

Feature extraction method of vibration energy of rail vehicle running gear based on CVMD and FastICA

YANG Chen, ZHENG Shubin, PENG Lele, CHEN Xieqi

2025, 39(1): 52-57. doi: 10.12299/jsues.23-0263

Abstract:
To address the processing of nonlinear signals under interference, a vibration energy and feature extraction method integrating correlation coefficient-based variational modal decomposition (CVMD) and fast independent component analysis (FastICA) was proposed, which effectively handles both stationary and non-stationary signals. Through simulations and field test analyses of running gear vibration, it is verified that the main energy distribution of rail vehicle running gear is distributed within 50~120 Hz, and the key characteristic frequencies are identified as 75 and 100 Hz. The finding provide a theoretical basis for vibration energy recovery and feature extraction in the actual engineering applications of metro trains.

[Abstract](8) [FullText HTML] (5) [PDF 2006KB](1)

Regional attention selection and feature reinforcement for occluded person re-identification

ZHUANG Xuyao, WEI Dan, LIANG Danyang

2025, 39(1): 58-64. doi: 10.12299/jsues.23-0260

Abstract:
Occluded person re-identification (ReID) in practical applications faces the main challenges of incomplete or noisy pedestrian features during the extraction and matching processes, which necessitates models with higher stability. Deep learning techniques were employed to construct the ReID model, which incorporates two modules: region attention selection and feature enhancement. The former adaptively selects regions of interest from the original image, while the latter distinguishes human features and applies weighting during the matching process. The ablation analysis demonstrates that these two modules are embeddable and beneficial to occluded pedestrian re-identification task. It can achieve Rank-1 accuracy rates of 55.9% and 79.1% on the Occluded-Duke and Occluded-ReID datasets, respectively.

[Abstract](5) [FullText HTML] (4) [PDF 1458KB](1)

Risk assessment of excavation dewatering in foundation pits based on NE-BWM and TOPSIS

JIANG Xingchen, WU Yongxia

2025, 39(1): 65-72. doi: 10.12299/jsues.24-0024

Abstract:
Excavation dewatering is an essential part of foundation pit engineering, but it carries many risks. To ensure the safety of the foundation pit excavation dewatering, a comprehensive risk assessment model was established based on neutrosophic enhanced best-worst method (NE-BWM) and technique for order preference by similarity to ideal solution (TOPSIS). Taking an excavation dewatering of foundation pit in Shanghai as a case study, a risk indicator system was constructed to validate the comprehensive risk assessment model, and sensitivity analysis was performed on the evaluation results. The findings show that this method can yield relatively objective and reliable evaluation results, which are consistent with the actual engineering situation.

[Abstract](6) [FullText HTML] (4) [PDF 1113KB](1)

Thermodynamic analysis of methane dry reforming for H₂/CO syngas production

QIU Lipei, WANG Sha, YAN Jinbiao, HU Bin, SHEN Jun

2025, 39(1): 73-78. doi: 10.12299/jsues.24-0038

Abstract:
The thermodynamic analysis of the methane dry reforming process was conducted based on Gibbs free energy minimization principle using HSC Chemistry software. The effects of key parameters including reaction temperature, pressure, feed ratio (n(CH₄)/n(CO₂) mole ratio), O₂ and H₂O feed rates on equilibrium concentration of CO and H₂, n(H₂)/n(CO) mole ratio and carbon deposition were systematically investigated. It is shows that under conditions of 1137 K reaction temperature, 101.325 kPa pressure, n(CH₄)/n(CO₂) ratio of 1.20, n(O₂)/n(CH₄) ratio of 0.15, and n(H₂O)/n(CH₄) ratio of 0.07, the n(H₂)/n(CO) ratio is maintained at approximately 0.90, closely approaching the theoretical value of 1. The methane dry reforming enables both greenhouse gas reduction and high-value utilization, with the produced syngas serving as fuel and important chemical feed gas, making it a promising technology for achieving dual carbon goals.

[Abstract](4) [FullText HTML] (4) [PDF 976KB](1)

Therapeutic effect of Bafukang suppository on Candida tropicalis infection

LI Yuan, BAO Siwei, ZHENG Tao, DENG Yifang, LIU Li

2025, 39(1): 79-85. doi: 10.12299/jsues.23-0232

Abstract:
To verify the efficacy of Baofukang suppository against Candida tropicalis in vivo and in vitro, a total of 16 clinical strains of Candida tropicalis were collected. The minimum inhibitory concentration (MIC) of Baofukang suppository against Candida tropicalis was determined using microbroth dilution method. The impact on biofilm formation was evaluated by crystal violet staining method, and the alternations in fungus structure was observed using scanning electron microscope (SEM). The vaginal Candida tropicalis infection model in mice was established, changes in vaginal fungus load and vaginal pathology after giving Baofukang suppository were monitored. The results show that Baofukang suppository can inhibit the proliferation and biofilm formation of Candida tropicalis, destroy the cell wall and membrane of Candida tropicalis, effectively relieve vaginal inflammation in mice. Baofukang suppository had obvious inhibitory effect on the growth of Candida tropicalis in vitro and ameliorative effect on vaginitis caused by Candida tropicalis infection in vivo.

[Abstract](5) [FullText HTML] (5) [PDF 2779KB](1)

Stock price prediction based on wavelet transform and L2-LSTM

TANG Xuan, LI Lu

2025, 39(1): 86-92. doi: 10.12299/jsues.24-0039

Abstract:
Long short-term memory (LSTM) networks are widely used for stock price prediction; however, their performance tends to be suboptimal when applied to stock price data with significant fluctuations. A novel WT-L2-LSTM model was proposed, which integrates wavelet transform with L2-LSTM. The original broadband data was decomposed into multiple layers of narrowband data using wavelet transform, and then the L2-LSTM model was used for the prediction layer by layer. The decomposed data is smoother and allows for parameter tuning layer by layer. The prediction results demonstrate that the WT-L2-LSTM model is superior to the LSTM model in terms of goodness of fit and mean square error, indicating that the WT-L2-LSTM model has better accuracy and generalization performance in predicting stock prices.

[Abstract](10) [FullText HTML] (5) [PDF 1756KB](3)

Adaptive finite-time stochastic synchronization of neutral-type neural networks

HUANG Chang, CHEN Qiaoyu

2025, 39(1): 93-98. doi: 10.12299/jsues.23-0211

Abstract:
The adaptive finite-time stochastic synchronization problem of a class of neutral-type neural networks was investigated. The neutral-type neural networks with uncertainty and Markovian jumping parameters was constructed. By employing an adaptive control strategy, the finite time stability criterion of the master-slave system was derived. Furthermore, based on the Itô formula and Lyapunov stability theory, sufficient conditions for finite-time stochastic synchronization of neutral-type neural networks were established, and their synchronization time was estimated. The feasibility of the proposed method was demonstrated through numerical examples.

[Abstract](6) [FullText HTML] (4) [PDF 698KB](1)

Study on flow field and heat transfer mechanism of nanofluid minimal quantity lubrication machining for Ti6Al4V

LU Kun, WU Shujing, ZHANG Cheng, WANG Dazhong

2025, 39(1): 99-105. doi: 10.12299/jsues.24-0030

Abstract:
The addition of aluminum oxide (Al₂O₃) nanoparticle to minimal quantity lubrication (MQL) base oils forms nanofluid minimal quantity lubrication (NMQL). Using NMQL machining can further enhance the tribological state and improve the surface quality of workpiece. A three-dimensional computational fluid dynamic (CFD) model was developed and simulated to investigate the flow field and heat transfer mechanism during NMQL machining of Ti6Al4V. Through the CFD model, a parametric cross-analysis of different flow rates and inlet pressures was conducted to explore the effects of NMQL on cutting heat under various cooling conditions and the selection principles of optimal process parameters. Finite element analysis of turbulent two-phase flow and heat transfer was performed to sumrize the effect of adding Al₂O₃ nanoparticle to MQL base oil on the temperature distribution across the tool surface. The results show that the average tool temperature decreases with increasing Al₂O₃ nanoparticle concentration, and the maximum temperature near the tool tip decreases by about 6% on average, thus effectively improving the temperature distribution in the cutting area. The exploration of the flow field and heat transfer during NMQL machining of Ti6Al4V can provide valuable references for studying machining modes and mechanisms of difficult-to-process materials such as Ti6Al4V, offering both theoretical significance and application value.

[Abstract](5) [FullText HTML] (5) [PDF 2156KB](1)

Research on web-based BIM scene online roaming

MAO Yangyang, TIAN Jin, YAN Fengting, ZHANG Yujin

2025, 39(1): 106-112. doi: 10.12299/jsues.24-0025

Abstract:
In response to the challenge that current hardware performance and network bandwidth are insufficient to support real-time rendering of massive data in 3D scenes, a web-based building information modeling (BIM) scene roaming solution was proposed. Initially, the BIM model was reconstructed, and a top-down hierarchical structure was employed to achieve fine-grained instances of scene components. Subsequently, model compression was completed based on the spatial position of vertices and the similarity calculation between components to shorten the display delay of the scene. Finally, a visual component picking algorithm based on the two-layer architecture of view frustum ball and view frustum was designed to complete scene selection and rendering by off-line component number and reduce hardware load. Five different scale scenarios were selected for validation. The results demonstrate an average compression rate of 45%, which enables smooth 30 frames per second roaming for GB-scale scene in web-based applications.

[Abstract](6) [FullText HTML] (3) [PDF 1421KB](2)

BiLSTM_Attention text classification method based on pre-trained model ERNIE3.0

WANG Jiajun, ZHAO Shouwei

2025, 39(1): 113-118. doi: 10.12299/jsues.23-0206

Abstract:
To enhance the accuracy of text classification models and address the deficiencies of traditional word vector models in syntax, semantics, and deep-level information representation, a text classification model based on the ERNIE 3.0 pre-trained model with BiLSTM_Attention was proposed. First, the ERNIE 3.0 model was used to encode text dataset, generating word vectors with rich semantic information. Subsequently, text features were extracted through the BiLSTM layer and the Attention layer. Finally, the output word vectors were classified via the Softmax layer. Classification experiments conducted on the THUCNews dataset compared the accuracy and F1-score metrics across different models. The results show that the ERNIE 3.0_BiLSTM_Attention model achieves superior classification performance.

[Abstract](7) [FullText HTML] (2) [PDF 672KB](3)

Current Issue 2025 Vol. 39, No. 1

Current Issue
2025 Vol. 39, No. 1