Research on Orbit Assembly Strategy of Large-scale Space Truss Structure

Background: With the rapid development of spatial technology and mankind's continuous exploration of the space domain, expandable space trusses play an important role in the construction of space station piggyback platforms. Therefore, the study of the in-orbit assembly strategy for space trusses has become increasingly important in recent years. The spatial truss assembly strategy proposed in this paper is fast and effective, and it is applied for the construction of future large-scale space facilities effectively. Objective: The four-prismatic truss periodic module is taken as the research object, and the assembly process of the truss and the assembly behaviors of the spatial cellular robot serving for on-orbit assembly are expressed. Methods: The article uses a reinforcement learning algorithm to study the coupling of truss assembly sequence and robot action sequence, then uses a q-learning algorithm to plan the strategy of the truss cycle module. Results: The robot is trained through the greedy strategy and avoids the failure problem caused by assembly uncertainty. The simulation experiment proves that the Q-learning algorithm of reinforcement learning used for planning the on-orbit assembly sequence of the truss periodic module structures is feasible, and the optimal assembly sequence with the least number of assembly steps obtained by this strategy. Conclusion: In order to address the on-orbit assembly issues of large spatial truss structures in the space environment, we trained the robots through greedy strategy to prevent failure due to the uncertainty conditions both in the strategy analysis and in the simulation study.Finally, the Q-learning algorithm in reinforcement learning is used to plan the on-orbit assembly sequence in the truss cycle module, which can obtain the optimal assembly sequence in the minimum number of assembly steps.

A Vibration Suppression Method for the Multistage Rotor of an Aero-Engine Based on Assembly Optimization

The assembly quality of the multistage rotor is an essential factor affecting its vibration level. The existing optimization methods for the assembly angles of the rotors at each stage can ensure the concentricity and unbalance meet the requirements, but it cannot directly ensure its vibration responses meet the indexes. Therefore, in this study, we first derived the excitation formulas of the geometric and mass eccentricities on the multistage rotor and introduced it into the dynamics model of the multistage rotor system. Then, the coordinate transfer model of the geometric and mass eccentricities errors, including assembly angles of the rotors at all stages, was established. Moreover, the mathematical relationship between the assembly angles of the rotors at all stages and the nodal vibration responses was established by combining the error transfer model with the dynamics model of the multistage rotor system. Furthermore, an optimization function was developed, which takes the assembly angles as the optimization variables and the maximum vibration velocity at the bearings as the optimization objective. Finally, a simplified four-stage high-pressure rotor system was assembled according to the optimal assembly angles calculated in the simulations. The experimental results showed that the maximum vibration velocity at the bearings under the optimal assembly was reduced by 69.6% and 45.5% compared with that under the worst assembly and default assembly. The assembly optimization method proposed in this study has a significant effect on the vibration suppression of the multistage rotor of an aero-engine.

Excitatory-inhibitory balance modulates the formation and dynamics of neuronal assemblies in cortical networks

Repetitive activation of subpopulation of neurons in cortical networks leads to the formation of neuronal assemblies, which can guide learning and behavior. Recent technological advances have made the artificial induction of such assemblies feasible, yet how various patterns of activation can shape their emergence in different operating regimes is not clear. Here we studied this question in large-scale cortical networks composed of excitatory (E) and inhibitory (I) neurons. We found that the dynamics of the network in which neuronal assemblies are embedded is important for their induction. In networks with strong E-E coupling at the border of E-I balance, increasing the number of perturbed neurons enhanced the potentiation of ensembles. This was, however, accompanied by off-target potentiation of connections from unperturbed neurons. When strong E-E connectivity was combined with dominant E-I interactions, formation of ensembles became specific. Counter-intuitively, increasing the number of perturbed neurons in this regime decreased the average potentiation of individual synapses, leading to an optimal assembly formation at intermediate sizes. This was due to potent lateral inhibition in this regime, which also slowed down the formation of neuronal assemblies, resulting in a speed-accuracy trade-off in the performance of the networks in pattern completion and behavioral discrimination. Our results therefore suggest that the two regimes might be suited for different cognitive tasks, with fast regimes enabling crude detections and slow but specific regimes favoring finer discriminations. Functional connectivity inferred from recent experiments in mouse cortical networks seems to be consistent with the latter regime, but we show that recurrent and top-down mechanisms can dynamically modulate the networks to switch between different states. Our work provides a framework to study how neuronal perturbations can lead to network-wide plasticity under biologically realistic conditions, and sheds light on the design of future experiments to optimally induce behaviorally relevant neuronal assemblies.

An Assembly Method for the Multistage Rotor of An Aero-Engine Based on the Dual Objective Synchronous Optimization for the Coaxality and Unbalance

The assembly quality of an aero-engine directly determines its stability in high-speed operation. The coaxiality and unbalance out of tolerance caused by improper assembly may give rise to complicated vibration faults. To meet the requirements of the dual objective and reduce the test cost, it is necessary to predict the optimal assembly angles of the rotors at each stage during pre-assembly. In this study, we proposed an assembly optimization method for a multistage rotor of an aero-engine. Firstly, we developed a coordinate transmission model to calculate the coordinates of any point in the rotors at each stage during the assembly processes of a multistage rotor. Moreover, we proposed two different pieces of assembly optimization data for the coaxiality and unbalance, and established a dual objective evaluation function of that. Furthermore, we used the genetic algorithm to solve the optimal assembly angles of the rotors at each stage. Finally, the Monte Carlo simulation technique was used to investigate the effects of the geometric measured errors of each rotor on the proposed genetic algorithm. The simulation results show that the process of the dual objective optimization had good convergence, and the obtained optimal assembly angles of each rotor were not affected by the geometric measured errors. In addition, the dual objective optimization can ensure that both the coaxiality and unbalance can approach their respective optimal values to the most extent, and the experimental results also verified this conclusion. Therefore, the assembly optimization method proposed in this study can be used to guide the assembly processes of the multistage rotor of an aero-engine to achieve synchronous optimization for the coaxality and unbalance.

Methodology for the definition of the optimal assembly cycle and calculation of the optimized assembly cycle time in human-robot collaborative assembly

Industrial collaborative robotics is an enabling technology and one of the main drivers of Industry 4.0 in industrial assembly. It allows a safe physical and human-machine interaction with the aim of improving flexibility, operator’s work conditions, and process performance at the same time. In this regard, collaborative assembly is one of the most interesting and useful applications of human-robot collaboration. Most of these systems arise from the re-design of existing manual assembly workstations. As a consequence, manufacturing companies need support for an efficient implementation of these systems. This work presents a systematical methodology for the design of human-centered and collaborative assembly systems starting from manual assembly workstations. In particular, it proposes a method for task scheduling identifying the optimal assembly cycle by considering the product and process main features as well as a given task allocation between the human and the robot. The use of the proposed methodology has been tested and validated in an industrial case study related to the assembly of a touch-screen cash register. Results show how the new assembly cycle allows a remarkable time reduction with respect to the manual cycle and a promising value in terms of payback period.