检索结果-内蒙古大学图书馆

Developing an automatic gripping learning system for a robotic arm by integrating a convolutional neural network and optimization algorithms

引用

RESULTS IN ENGINEERING 2025年 26卷

作者： Kuo, Ping-Huan Yeh, Li-Chia Chang, Chen-Wen Feng, Po-Hsun Natl Chung Cheng Univ Dept Mech Engn Chiayi 62102 Taiwan Natl Chung Cheng Univ Adv Inst Mfg High Tech Innovat AIM HI Chiayi 62102 Taiwan Natl Cheng Kung Univ Dept Elect Engn Tainan 701401 Taiwan

This study used a convolutional neural network (CNN) and optimization algorithms to develop an automatic gripping system for a robotic arm, overcoming the limitations of traditional learning methods. Unlike existing approaches that require retraining and parameter adjustments for various scenarios, this research demonstrates more flexible and accurate performance. Subsequently, this study built an experimental setting in a physical simulator so that multiple optimization algorithms could be constructed and object detection algorithms could be trained to extract required data. Since the real-world environment inevitably differed slightly from the simulation environment, this study extracted a small amount of data from the real-world environment to perform transfer learning. Finally, this study applied the gripping system to a robotic arm to verify its performance. The experimental results revealed that the deep learning model developed in this study had 96 % success rate for gripping objects. The mean absolute error was 4.06, the root mean squared error was 5.03, and the R2 was 0.99. optimization algorithms were used in the simulation environment to collect training data, which in turn enabled the system to automatically find the optimal posture for gripping objects. When the object to be gripped changed, the automatic gripping system could automatically retune itself accordingly;thus, it did not require manual tuning. Finally, the automatic gripping system was able to control a robotic arm for the automatic gripping of objects. This system is suitable for application in industry to enhance the performance of production lines and render the arrangement of production lines more flexible.

关键词： Convolutional neural network optimization algorithm Transfer learning Six-axis robotic arm

来源：评论

学校读者我要写书评

暂无评论

Artificial rabbits optimization-based motion balance system for the impact recovery of a bipedal robot

引用

ADVANCED ENGINEERING INFORMATICS 2025年 63卷

作者： Kuo, Ping-Huan Yang, Wei-Cyuan Lin, Yu-Sian Peng, Chao-Chung Natl Chung Cheng Univ Dept Mech Engn Chiayi 62102 Taiwan Natl Chung Cheng Univ Adv Inst Mfg High Tech Innovat AIM HI Chiayi 62102 Taiwan Natl Cheng Kung Univ Dept Aeronaut & Astronaut Tainan 701401 Taiwan

Research on the control of bipedal robots has predominantly focused on ensuring stability and balance during locomotion, often neglecting the robot's ability to respond to unexpected external disturbances. In the present study, an algorithm is proposed to enable humanoid robots to maintain balance when they experience external impacts. In evaluation experiments, a robot was placed on flat surfaces and sloped terrain, where it experienced impacts from five angles. To evaluate the robot's stability, data were collected before, during, and after each impact. The study utilized the artificial rabbits optimization (ARO) algorithm to optimize parameters and trained the robot's control model by using a five-layer multilayer perceptron (MLP) neural network. Notably, the joint use of ARO and MLP yielded computational savings relative to conventional reinforcement learning methods. The proposed hybrid approach allowed the robot to adapt quickly to external forces and maintain balance effectively. The findings of this research hold considerable promise for enhancing the practical applications of bipedal robots in real-world scenarios, where unpredictable forces or impacts are common. By improving a robot's ability to react dynamically and maintain balance, the proposed method enables humanoid robots to operate in highly challenging and dynamic environments, such as those associated with disaster response, industrial tasks, or everyday human interaction, without falling because of unexpected disturbances. Thus, the present study contributes to the field of humanoid robotics by addressing real-world challenges and providing a robust solution for impact resistance.

关键词： Humanoid robot Intelligent control Artificial rabbits optimization (ARO) Motion balance optimization algorithm Gait pattern generator

来源：评论

学校读者我要写书评

暂无评论

Efficient Cooperative Target Node Localization with optimization Strategy Based on RSS for Wireless Sensor Networks

引用

Computers, Materials & Continua 2025年第3期82卷 5079-5095页

作者： Xinrong Zhang Bo Chang Faculty of Automation Huaiyin Institute of TechnologyHuaian223003China Faculty of Electronic Engineering Huaiyin Institute of TechnologyHuaian223003China

In the RSSI-based positioning algorithm,regarding the problem of a great conflict between precision and cost,a low-power and low-cost synergic localization algorithm is proposed,where effective methods are adopted in each phase of the localization process and fully use the detective information in the network to improve the positioning precision and *** the ranging period,the power attenuation factor is obtained through the wireless channel modeling,and the RSSI value is transformed into *** the positioning period,the preferred reference nodes are used to calculate *** the position optimization period,Taylor expansion and least-squared iterative update algorithms are used to further improve the location *** the positioning,the notion of cooperative localization is introduced,in which the located node satisfying certain demands will be upgraded to a reference node so that it can participate in the positioning of other nodes,and improve the coverage and positioning *** results show that on the same network conditions,the proposed algorithm in this paper is similar to the Taylor series expansion algorithm based on the actual coordinates,but much higher than the basic least square algorithm,and the positioning precision is improved rapidly with the reduce of the range error.

关键词： Wireless sensor networks received signal strength(RSS) optimization algorithm cooperative localiza-tion weighted least squares

来源：评论

学校读者我要写书评

暂无评论

Tolerance-cost optimization for multi-cabin spacecraft assembly considering form errors

引用

PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE 2025年

作者： Yang, Jiangxin Wu, Chengjin Shao, Nan Cao, Yanlong Anwer, Nabil Cao, Yanpeng Zhejiang Univ Sch Mech Engn Key Lab Adv Mfg Technol Zhejiang Prov Hangzhou Peoples R China Beijing Inst Technol Sch Mech Engn Beijing Peoples R China Univ Paris Saclay ENS Paris Saclay LURPA 4 Ave Sci Gif Sur Yvette France

Tolerance-cost optimization plays an important role in trade-off between deviation reduction and manufacturing cost. However, very few studies focus on the assembly accuracy of the cabin using a more efficient tolerance allocation considering both quality and cost issues. Therefore, this paper proposes a tolerance-cost optimization method for multi-cabin assembly of spacecrafts based on the cloud model based genetic algorithm (CGA). To improve the accuracy of tolerance analysis, a comprehensive assembly accuracy analysis method is used, composed of tolerance representation and propagation. For tolerance representation, skin model shape and small displacement torsor theory are used to respectively represent the form and position errors. For tolerance propagation, the integrated Jacobian-skin model shapes model is used to compute the accumulative results of deviation. Simulation results demonstrate the capability of the proposed method to predict the assembly accuracy of cabins with non-ideal surfaces. To improve the efficiency of the optimization, CGA is utilized as an optimization technique. Compared with traditional optimization methods, simulation analysis shows superior performance of parameter optimization in the problem of tolerance-cost optimization of multi-cabin spacecraft.

关键词： Assembly tolerance analysis tolerance allocation spacecraft cabin optimization algorithm skin model shape

来源：评论

学校读者我要写书评

暂无评论

Design and optimization of Multilayered Microwave Absorber Structures for X-Band Frequencies: Application on Composite Materials Comprising Ceramic, Polyaniline/Magnetite, and Carbon Nanotubes

引用

INTERNATIONAL JOURNAL OF NUMERICAL MODELLING-ELECTRONIC NETWORKS DEVICES AND FIELDS 2025年第1期38卷

作者： Karim, Benzaoui Achour, Ales Amin, Medjaouri Youcef Abdelhalim, Zaoui Ecole Mil Polytech Electromagnet Compatibil EMC Lab Algiers Algeria Ecole Natl Super Technol Algiers Algeria

The characteristics of multilayered microwave absorbing materials are very efficient compared with those of single layer. In this article, a hybrid optimization algorithm (genetic algorithm + pattern search) combined with transmission line matrix method has been presented. The selection of parameters, including the arrangement of layers, thickness of layers, absorption index, and shielding efficiency, forms the foundation of this process. The optimization algorithm was applied to two new multilayered structures. The first structure consists of conductive layers (CLs) of carbon nanotube (CNT) with ceramic layers of zirconium dioxide ZrO2. The second structure includes CLs of CNT with layers based on magnetite polyaniline nanomaterial (PANI_Fe3O4). Performances of both structures were evaluated in the X-band frequency range. Simulation results showed that both designs have higher absorption index picks (> 90%) and, low S-11 magnitude value with low layer thickness. This approach offers a solid foundation for future experimental trials in the development of efficient microwave absorbing and shielding structures with tunable electromagnetic performances suitable for X-band applications.

关键词： ceramic layer multilayer microwave absorbing optimization algorithm polyaniline/magnetite shielding effectiveness

来源：评论

学校读者我要写书评

暂无评论

Energy integration of LNG cold energy power generation and liquefied air energy storage: Process design, optimization and analysis

引用

ENERGY 2025年 321卷

作者： Li, Ran Tang, Feiran Pan, Jie Cao, Qinghan Hu, Tinglong Wang, Ke Xian Shiyou Univ Coll Petr Engn Xian 710065 Peoples R China Xian Shiyou Univ Univ Shaanxi Prov Engn Res Ctr Safety & Energy Saving Oil & Gas Stor Xian 710065 Peoples R China China Univ Petr Coll Mech & Transportat Engn Beijing 102249 Peoples R China

Liquefied natural gas (LNG) has a large amount of cold energy, and recovering LNG cold energy can not only reduce dependence on traditional energy and promote sustainable energy development but also reduce pollutant emissions, and liquified air energy storage (LAES) is an advanced energy storage technology, but its electrical round trip efficiency (ERTE) is low due to the lack of sufficient cold energy. Thus, to improve the efficiency and benefit of LNG cold energy utilization and the ERTE of LAES, an integrated power generation system combining organic Rankine cycle (ORC) with LAES driven by LNG cold energy (denoted as LNG-ORC-LAES) is proposed in this paper. The system operates in two modes, utilizing LNG cold energy at peak and off-peak times. The system is optimized under different peak electricity price scenarios by using multi-objective optimizations to achieve better performance. The LINMAP (Linear Programming Technique for Multidimensional Analysis of Preference) and TOPSIS (Technique for Order Preference by Similarity to an Ideal Solution) methods can dimensionless the optimization results and calculate the distance between each point on the optimal Pareto surfaces and the ideal point, so the two decision methods are used to screen the optimization results. The exergy efficiency and specific net output power of existing similar systems are similar to 70.31 % and similar to 94.75 kJ/kgLNG, but they can achieve 72.26 % and 124.43 kJ/kgLNG respectively after multi-objective optimization in the proposed system, and the high net present value (NPV) is obtained, the optimized system exhibits superior performance than other similar systems. The energy and exergy analysis demonstrate that the LNG cold energy utilization ratio can reach 81.96 % under optimal working conditions, the LNG cold exergy can be fully utilized by LAES. The results show that the proposed system has industrial and economic feasibility, which provides a design concept with practical significan

关键词： LNG cold energy Organic rankine cycle Liquefied air energy storage Economic analysis optimization algorithm

来源：评论

学校读者我要写书评

暂无评论

Time-delayed vibration control and parameter optimization of semi-active vehicle suspension designed for random road excitation

引用

JOURNAL OF LOW FREQUENCY NOISE VIBRATION AND ACTIVE CONTROL 2025年

作者： Guo, Yong Li, Yong-Jing Wei, Yan-Bo Shandong Business Inst 15 Haixing Rd Yantai 264670 Shandong Peoples R China

Under the influence of road excitations, the acquisition of optimal time-delayed feedback control parameters is deemed crucial for the improvement of the vibration reduction effect of semi-active vehicle suspension systems. Moreover, different effects on vibration reduction are generally exhibited by vehicle suspension systems based on different time-delayed state feedback control. Therefore, the mechanical model of time-delayed feedback control in semi-active vehicle suspension systems is chosen as the research focus in this paper. Firstly, the optimal values of time-delayed feedback control parameters are derived through an optimization algorithm based on "equivalent harmonic excitation." Secondly, driven by the optimal values derived from optimization, this study is primarily focused on the investigation of the vibration reduction effect of time delay in a vehicle's semi-active suspension system under road excitation, thereby revealing the optimal time-delayed feedback control strategy. Finally, the study suggests that a stable state with full time delay within the effective vibration frequency range is more likely to be achieved by the semi-active vehicle suspension system based on time-delayed state feedback control of wheel vertical displacement. Additionally, the optimization efficiencies for vertical seat acceleration, vertical body acceleration, suspension travel, and tire displacement are reported as 97.73%, 98.95%, 47.30%, and 46.38%, respectively.

关键词： time-delayed feedback control vibration reduction optimization algorithm equivalent harmonic excitation optimal values

来源：评论

学校读者我要写书评

暂无评论

A Hybrid K-Means plus plus and Particle Swarm optimization Approach for Enhanced Document Clustering

引用

IEEE ACCESS 2025年 13卷 48818-48840页

作者： Hassan, Eisha Malik, Fazila Khan, Qazi Waqas Ahmad, Nadeem Sardaraz, Muhammad Karim, Faten Khalid Elmannai, Hela Iqra Univ Islamabad Dept Comp & Technol Islamabad 44000 Pakistan Jeju Natl Univ Dept Comp Engn Jeju Si 63243 South Korea COMSATS Univ Islamabad Dept Comp Sci Attock Campus Attock 43600 Pakistan Princess Nourah bint Abdulrahman Univ Coll Comp & Informat Sci Dept Comp Sci POB 84428 Riyadh 11671 Saudi Arabia Princess Nourah bint Abdulrahman Univ Coll Comp & Informat Sci Dept Informat Technol POB 84428 Riyadh 11671 Saudi Arabia

Document Clustering has attracted the interest of many researchers who have created several solutions to this problem by combining different techniques, models, and algorithms. While famous for its simplicity, the most commonly used algorithm, K-Means, suffers from issues such as finding the optimal value for k and random initialization of the centroids. In this paper, we propose a hybrid methodology combining K-Means++ with the metaheuristic algorithm PSO to overcome the challenges of both these algorithms. K-Means++ is a smart initialization technique that selects clusters based on probability function so that they are further away from each other. Two methods, Elbow Analysis, and Silhouette Score, have been used to find the optimal value of k. The research also attempts to assess the results of the best-performing feature extraction techniques and create a combined approach using their average. Although the combined approach did not outperform the existing methods, it paved the way for further advancement and exploration of merging feature extraction techniques. The experiments were performed on four datasets: 20 Newsgroups, Reuters, WebKB, and Wine, and the results were evaluated using three evaluation metrics: Purity, Silhouette Score, and Jaccard Index. The proposed approach achieved a Purity of 0.95, 0.91. 0.86, 0.89, the Silhouette Score was measured to be 0.5, 0.05, 0.05, 0.59, and the Jaccard Index was reported to be 0.04, 0.04, 0.05, 0.14 on Reuters, WebKB, 20 Newsgroups, and Wine datasets, respectively

关键词： Clustering algorithms Accuracy Feature extraction Semantics Partitioning algorithms Particle swarm optimization Organizations Indexes Space exploration Particle measurements optimization algorithm feature extraction PSO text processing decision making

来源：评论

学校读者我要写书评

暂无评论

Dragon Boat optimization: A Meta-Heuristic for Intelligent Systems

引用

EXPERT SYSTEMS 2025年第2期42卷

作者： Li, Xiang Lan, Long Lahza, Husam Yang, Shaowu Wang, Shuihua Yang, Wenjing Liu, Hengzhu Zhang, Yudong Natl Univ Def Technol Coll Comp Sci & Technol Changsha Peoples R China Natl Univ Def Technol Coll Comp Sci & Technol Dept Intelligent Data Sci Changsha Peoples R China King Abdulaziz Univ Fac Comp & Informat Technol Dept Informat Technol Jeddah Saudi Arabia Xian Jiaotong Liverpool Univ Dept Biol Sci Suzhou Jiangsu Peoples R China Univ Liverpool Dept Math Sci Liverpool England Natl Univ Def Technol Key Lab Adv Microprocessor Chips & Syst Changsha Peoples R China Univ Leicester Sch Comp & Math Sci Leicester England

Dragon boat racing, a popular aquatic folklore team sport, is traditionally held during the Dragon Boat Festival. Inspired by this event, we propose a novel human-based meta-heuristic algorithm called dragon boat optimization (DBO) in this paper. It models the unique behaviours of each crew member on the dragon boat during the race by introducing social psychology mechanisms (social loafing, social incentive). Throughout this process, the focus is on the interaction and collaboration among the crew members, as well as their decision-making in various situations. During each iteration, DBO implements different state updating strategies. By accurately modelling the crew's behaviour and employing adaptive state update strategies, DBO consistently achieves high optimization performance, as validated by comprehensive testing on 29 benchmark functions and 2 structural design problems. Experimental results indicate that DBO outperforms 7 and 16 state-of-the-art meta-heuristic algorithms across these test functions and problems, respectively.

关键词： dragon boat racing human-based algorithm meta-heuristic algorithm optimization algorithm structural optimization

来源：评论

学校读者我要写书评

暂无评论

Constrained Pulse Radar Waveform Design Based on optimization Theory

引用

SENSORS 2025年第4期25卷 1203-1203页

作者： Wu, Jianwei Zhang, Jiawei Chen, Yifan Yanshan Univ Sch Informat Sci & Engn Qinhuangdao 066004 Peoples R China Univ Elect Sci & Technol China Sch Life Sci & Technol Chengdu 610054 Peoples R China

Radar is utilized as an active sensing device across many fields. Its waveform optimization is responsible for target signature extraction, profoundly influencing the overall performance. First, the principle of pulse radar waveform design is explored. Waveform design strategies vary based on target models, whether point-like or extended ones, and are often formulated as high-dimensional, non-convex optimization problems with multiple constraints, such as energy, constant modulus, and sidelobe ratios. Second, to address them, techniques like alternating direction method of multipliers (ADMM), semidefinite relaxation (SDR), and minimization-maximization (MM) algorithms are widely employed. Finally, challenges in multimodal sensing collaborative detection, joint multi-tasking, sparse signal recovery, and intelligent perception highlight the need for innovative solutions to meet future demands.

关键词： transmit waveform constrained optimization scattering model criterion optimization algorithm

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：