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An enhanced nonlinear interval number programming method considering correlation of interval variables

STRUCTURAL AND MULTIDISCIPLINARY OPTIMIZATION 2019年第5期60卷 2021-2033页

作者： Xie, H. C. Liao, D. H. Cent South Univ Forestry & Technol Coll Mat Sci & Engn Changsha 410004 Hunan Peoples R China Cent South Univ Forestry & Technol Coll Mech & Elect Engn Changsha 410004 Hunan Peoples R China

Based on decoupling strategy, a novel efficient method is proposed to solve the nonlinear interval uncertainty optimization problem with correlated interval design variables or parameters. This method is applicable to cases where both objective function and constraints are nonlinear with uncertain parameters, and design variables and parameters can be correlated or independent. The uncertainty of design variables and interval parameters is expressed by a multidimensional parallelepiped model, with which the correlated variables and parameters can be converted into independent interval parameters, thus constituting the traditional interval optimization model for independent interval parameters. Based on the idea of sequential optimization and reliability assessment (SORA), the two-layer nested optimization involved in the above interval optimization model can be converted into a single loop problem which can be solved efficiently by the sequential deterministic optimization algorithm. Finally, three numerical examples are investigated to demonstrate the effectiveness of the proposed model.

关键词： Nonlinear interval programming Correlated interval variables Multidimensional parallelepiped model decoupling algorithm

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Design and Realization of Forceps With 3-D Force Sensing Capability for Robot-Assisted Surgical System

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IEEE SENSORS JOURNAL 2018年第21期18卷 8924-8932页

作者： Yu, Lingtao Yan, Yusheng Yu, Xiaoyan Xia, Yongqiang Harbin Engn Univ Coll Mech & Elect Engn Harbin 150001 Heilongjiang Peoples R China

Force sensing plays an important role in minimally invasive surgery, which enables surgeons to differentiate tissue stiffness and apply appropriate manipulation forces to avoid additional damages. However, due to size constraints, the implementation of force sensing on the surgical instruments is very difficult. In this paper, a novel type of surgical forceps consisting of double grippers is proposed for directly measuring the 3-D pulling force and grasp force at the tips of surgical instrument for the robot-assisted surgical system. For the design of forceps, a new structural decoupling sensor with 2-D force sensing capability is first developed. And then, it is integrated with the common gripper to be a single part. Mathematical models for the force-strain curves are obtained by a surface piecewise fitting method. After a notion produced that 3-D force can be characterized by double low-dimensional force sensing elements, a new 3-D force decoupling algorithm is presented based on the double grippers of the designed forceps. Furthermore, the validity of the design is evaluated by the finite-element analysis. Finally, for the machined prototype, several static calibration experiments and verifications are conducted using weights. Experimental results have shown that the proposed forceps possess higher performance of direct force sensing, and for the range of 2.5 N, the accuracies of X, Y, and Z axes are approximately 0.023 N, 2.2 mN, and 0.093 N, respectively, satisfying the actual requirements.

关键词： Robot-assisted surgical system surgical forceps force sensing decoupling algorithm static calibration

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A STUDY OF NUMERICAL POLLUTION OF THE DECOUPLED algorithm FOR THE CONVECTION MODEL IN SUPERPOSED FLUID AND POROUS LAYERS

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SIAM JOURNAL ON NUMERICAL ANALYSIS 2023年第2期61卷 1018-1056页

作者： Zhang, Yuhong Rong, Yao Zheng, Haibiao Hunan Normal Univ Coll Math & Comp Sci Changsha 410081 Hunan Peoples R China Shenzhen Technol Univ Ctr Adv Mat Diagnost Technol Shenzhen Key Lab Ultraintense Laser & Adv Mat Tech Shenzhen 518118 Guangdong Peoples R China Shenzhen Technol Univ Coll Engn Phys Shenzhen 518118 Guangdong Peoples R China East China Normal Univ Sch Math Sci Shanghai Key Lab Pure Math & Math Practice Shanghai Peoples R China

For coupling problems such as the Navier--Stokes--Darcy problem in porous and fluid layers, a natural question is that, while the orders of polynomials approximating the variables are different, could the lower order elements pollute the higher ones? In this paper, the numerical pol-lution of a decoupled algorithm for the unsteady convection model in superposed fluid and porous layers is studied. We first prove the existence and uniqueness of the weak solution to the convec-tion model with Beavers--Joseph--Saffman interface conditions, by using vanishing viscosity methods together with backward-Euler time discretization. Second, an efficient decoupled algorithm of the model based on the Lagrange multiplier method is proposed, and its stability is proved under some restrictions on coefficients and initial values. Then the optimal error estimates are provided reveal-ing that the optimal convergence orders can be achieved without using equal or similar order finite elements for the fluid velocities in fluid and porous layers. This means that there is no numerical pollution between lower and higher order elements when the matched finite element pairs are used. Finally, numerical tests are implemented to verify our theoretical results.

关键词： numerical pollution unsteady convection model decoupling algorithm optimal error estimates

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Three-dimensional nonlinear force-sensing method based on double microgrippers with E-type vertical elastomer for minimally invasive robotic surgery

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ROBOTICA 2018年第6期36卷 865-881页

作者： Yu, Lingtao Yan, Yusheng Li, Chenzheng Zhang, Xiufeng Harbin Engn Univ Dept Mech & Elect Engn Harbin 150001 Heilongjiang Peoples R China Natl Res Ctr Rehabil Tech Aids Beijing 100176 Peoples R China

This paper presents a new type of forceps that consist of two microgrippers with the capability of direct force sensing, which enables grasping and manipulating forces at the tip of surgical instrument for minimally invasive robotic surgery. For the prototype design of the forceps, a double E-type vertical elastomer with four strain beams is presented, whose force-sensing principle is expounded. Thus, the forceps with the elastomer can be considered a compliant component, which provides tiny displacements that allow large strain, and the overall diameter is 10 mm. The sizes of the elastomer and forceps are successively determined by analyzing the relationship of several parameters and strain. Then, the linearity analysis of strain beams determines the positions to apply gauges for sensing. The two-dimensional force decoupling models for a single microgripper are proposed based on piecewise analytical polynomials of the strain difference and employed to develop a new three-dimensional force nonlinear decoupling algorithm based on double microgrippers, which realizes single-axial grasping and three-axial pulling forces. Finally, the required force-sensing performance of the proposed method is successfully verified in theory using finite-element simulations.

关键词： Minimally invasive robotic surgery (MIRS) Force-sensing forceps Elastomer structure decoupling algorithm Strain analysis

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A Modular Miniature 6-D Force Sensor Designed for Minimally Invasive Surgery

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IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT 2024年 73卷

作者： Pan, Qiqi Luo, Jingjing Chen, Li Xue, Haodan Wang, Hongbo Fudan Univ Acad Engn & Technol Shanghai 200433 Peoples R China Shanghai Intelligent Robot Engn Technol Res Ctr Shanghai 200433 Peoples R China Minist Educ Intelligent Robot Engn Res Ctr Shanghai 200433 Peoples R China Shanghai Clin Res Ctr Aging & Med Shanghai 200040 Peoples R China

Force sensing is important in robot-assisted minimally invasive surgery (MIS), but it is still difficult to achieve both miniaturization and multidimensional perception at the same time. A modular design scheme of a miniature 6-D force sensor that can be integrated into an MIS robot is proposed. The force and moment applied on the sensor are converted into the signal response of the pressure-sensitive element, and the position of the pressure-sensitive element is located using flexible printed circuit board (FPCB), with which the wiring of signal circuits is simplified. The blind signal separation fast independent component analysis (FastICA) algorithm is used to decouple the output signal. The calibration experiment of the proposed sensor was carried out, and the calibration matrix was established. From the comparative experiment with commercial sensors, the accuracy, linearity, hysteresis, coupling error, and other performance of the proposed sensor are verified. The maximum coupling error is 2.8%, and the maximum stable measuring error is 3.9%. Analysis and experiments proved the rationality and scientificity of the sensor. This work opens up new ideas for the miniaturization, modularization, and integration of sensors for surgical robots.

关键词： 6-D force sensor decoupling algorithm miniature sensor 6-D force sensor decoupling algorithm miniature sensor

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decoupling time filter method for the non-stationary Navier-Stokes/Darcy model

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MATHEMATICAL METHODS IN THE APPLIED SCIENCES 2023年第3期46卷 3294-3305页

作者： Tang, Zhuyan Jia, Xiaofeng Feng, Hui Wuhan Univ Sch Math & Stat Wuhan 430072 Peoples R China Wuhan Univ Hubei Key Lab Computat Sci Wuhan 430072 Peoples R China

In this paper, we propose time filter algorithm based on the Backward Euler method for the non-stationary Navier-Stokes/Darcy problems. The decoupling method is composed of Backward Euler method and normal time filter. Stability and the second-order convergence are also proved in details. Finally, numerical examples are listed to validate the theoretical analysis.

关键词： decoupling algorithm Navier-Stokes Darcy model second-order convergence time filter method

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Thickness and Conductivity Measurement of Multilayered Electricity-Conducting Coating by Pulsed Eddy Current Technique: Experimental Investigation

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IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT 2019年第9期68卷 3166-3172页

作者： Wang, Zhenwei Yu, Yating Univ Elect Sci & Technol China Sch Aeronaut & Astronaut Chengdu 611731 Sichuan Peoples R China Univ Elect Sci & Technol China Sch Mech & Elect Engn Chengdu 611731 Sichuan Peoples R China

Electricity-conducting coatings are widely applied in industries, such as thermal barrier coating in the aerospace field. Therefore, it is necessary to detect the thickness and the conductivity of the coatings to ensure the quality of the coating. Extended on the existing work on the coating and conductivity detection by the traditional eddy current (EC) technique, this paper investigates the feasibility of the pulsed EC (PEC) technique in coating conductivity and thickness detection. For the single-layered electricity-conducting coating, the coupled influence of the coating conductivity on the relationship between the coating thickness and the PEC detection signal is deeply analyzed, and the approach to detect the coating thickness and conductivity for single conductivity coating is proposed;for the multiple-layered coating, the coupled influence of the coating thickness on the relationship between the other coating thickness and the PEC detection signal is analyzed, and the approach to detect the two-layered electricity-conducting coating thickness is proposed. Finally, a decoupling inversely detection method is proposed to obtain the coating thickness and conductivity, which overcome the singularity of the equation solving method. The results show that the average relative errors of the inverse detection are within 7%. Therefore, the PEC technique can be readily applied to detect the thickness and conductivity of the multiple-layered electricity-conducting coating in spacecraft, pipeline, and high-speed cutting tools.

关键词： Coating conductivity coating thickness decoupling algorithm multilayered electricity-conducting coating pulsed eddy current (EC) technique

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Image Quality Assessment by Separately Evaluating Detail Losses and Additive Impairments

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IEEE TRANSACTIONS ON MULTIMEDIA 2011年第5期13卷 935-949页

作者： Li, Songnan Zhang, Fan Ma, Lin Ngan, King Ngi Chinese Univ Hong Kong Dept Elect Engn Hong Kong Hong Kong Peoples R China

In the research field of image processing, mean squared error (MSE) and peak signal-to-noise ratio (PSNR) are extensively adopted as the objective visual quality metrics, mainly because of their simplicity for calculation and optimization. However, it has been well recognized that these pixel-based difference measures correlate poorly with the human perception. Inspired by existing works [1]-[3], in this paper we propose a novel algorithm which separately evaluates detail losses and additive impairments for image quality assessment. The detail loss refers to the loss of useful visual information which affects the content visibility, and the additive impairment represents the redundant visual information whose appearance in the test image will distract viewer's attention from the useful contents causing unpleasant viewing experience. To separate detail losses and additive impairments, a wavelet-domain decoupling algorithm is developed which can be used for a host of distortion types. Two HVS characteristics, i.e., the contrast sensitivity function and the contrast masking effect, are taken into account to approximate the HVS sensitivities. We propose two simple quality measures to correlate detail losses and additive impairments with visual quality, respectively. Based on the findings in [3] that observers judge low-quality images in terms of the ability to interpret the content, the outputs of the two quality measures are adaptively combined to yield the overall quality index. By conducting experiments based on five subjectively-rated image databases, we demonstrate that the proposed metric has a better or similar performance in matching subjective ratings when compared with the state-of-the-art image quality metrics.

关键词： Contrast masking contrast sensitivity function decoupling algorithm human visual system

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Performance Analysis and decoupling Control of an Integrated Rotary-Linear Machine With Coupled Magnetic Paths

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IEEE TRANSACTIONS ON MAGNETICS 2014年第2期50卷 761-764页

作者： Pan, J. F. Zou, Yu Cheung, Norbert C. Shenzhen Univ Dept Automat Sci Coll Mechatron & Control Engn Shenzhen 518053 Peoples R China Hong Kong Polytech Univ Dept Elect Engn Hong Kong Hong Kong Peoples R China

An integrated rotary-linear machine based on switched reluctance principle is investigated. The characteristics of the motor are analyzed by finite-element methods, with particular emphasis on the coupled magnetic paths. Results from numerical calculation are verified by the hardware experiment. The simple yet effective decoupling algorithm for the independent position control of both rotary and linear axes is proposed. Implemented with the proportional-integral-differential algorithm, the motor is capable of high-precision rotary and linear position tracking with the steady error within 0.3 degrees and 10 mu m, respectively.

关键词： decoupling algorithm FEM position control rotary-linear switched reluctance (SR) machine

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A six-component force/moment sensor with simple structure and high performance

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SENSOR LETTERS 2005年第4期3卷 309-314页

作者： Huang, RJ Fan, XQ Jia, K Lu, ZW Wang, LH Huazhong Univ Sci & Technol Sch Mech Sci & Engn Wuhan 430074 Peoples R China Nanyang Inst Technol Mechatron Engn Dept Nanyang 473066 Peoples R China

This paper presents a novel six-component force/moment sensor for measuring F-x, F-y, F-z and moments M-x, M-y, M-z simultaneously. In order to minimize interference errors and to construct easily, the sensor adopts only eight thin plate beams as sensing elements and each beam is attached to only one strain gauge, making the total number of plate beams and strain gauges much fewer than previous ones known to the authors. Its operating principle and measuring circuits are described, and the decoupling algorithm is derived. Finite Element analysis (FEA) and measured calibration demonstrate that the sensor bears merits such as small crosstalk, high sensitivity, and fine linearity.

关键词： six-component force/moment sensor finite element analysis decoupling algorithm

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