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A Novel Hybrid Model for Online Prediction of Rate of Penetration (ROP) in Drilling Process

A Novel Hybrid Model for Online Prediction of Rate of Penetr...

引用

2023 China Automation Congress, CAC 2023

作者： Wang, Yao Gan, Chao Cao, Weihua School of Automation China University of Geosciences Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China Ministry of Education Engineering Research Center of Intelligent Technology for Geo-Exploration Wuhan430074 China

ISBN: (纸本)9798350303759

In this paper, a novel hybrid model is proposed for online prediction of rate of penetration (ROP) in drilling process, which including two parts (online data pre-processing and online hybrid modeling). In the first part, threshold filtering and Savitzky Golay (SG) filtering are both employed to enhance the quality of drilling data considering the expert experience and data characteristics. In the next part, a novel hybrid model with error compensation is established, which is combined the Bingham sub-model and gradient boosting decision tree (GBDT) sub-model. To better capture the dynamic changes of ROP, the hybrid model is updated with moving window strategy. Finally, compared simulation results with well-known ROP prediction models indicate the efficiency of the hybrid model. © 2023 IEEE.

关键词： Error compensation

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Manual Alignment of Dual End-Effectors for Piezo-Driven Microhand

Manual Alignment of Dual End-Effectors for Piezo-Driven Micr...

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2024 IEEE International Conference on Real-Time Computing and robotics, RCAR 2024

作者： Pang, Jichao Liu, Dan Tang, Xiaoqing Chen, Yan Huang, Qiang Arai, Tatsuo Liu, Xiaoming Key Laboratory of Biomimetc Robots and Systems Ministry of Education State Key Laboratory of Intelligent Control and Decision of Complex System Beijing Advanced Innovation Center for Intelligent Robots and Systems School of Mechatronical Engineerin Beijing Institute of Technology Beijing100081 China The University of Electro-Communications Center for Neuroscience and Biomedical Engineering Tokyo182-8585 Japan

ISBN: (纸本)9798350372601

In recent years, micromanipulator with dual end-effectors called microhand has been widely used in industrial and biological fields. Whether the tip positions of the two end-effectors of the microhand can be accurately aligned seriously affects the precise grasping of the microhand. However, few researchers have presented practical ways for precisely aligning the tip positions of a 6-DOF microhand's two end- effectors. This paper proposes a novel, inexpensive, lightweight, robust, and easy-to-use microhand dual end-effectors clamping device that can precisely and quickly align the two end-effectors of a 6-DOF microhand. First, we describe the microhand dual end-effectors clamping device's lightweight structural design. After that, we simplify the microhand dual end-effectors clamping device model and create a mathematical model to determine the relationship between the end-effectors' tip position and the rotation angles of screw No.1, screw No.2, screw No.3 of the microhand dual end-effectors clamping device. Through experimentation, we are able to attain precise alignment of the two end-effectors tip positions of the 6-DOF microhand, so we confirm that our mathematical model is true. Finally, we use the impulse response of PZT in the microhand's lower module to confirm the stability of the microhand dual end- effectors clamping device. We believe that the proposed the microhand dual end-effectors clamping device has great potential in industrial and biological applications as a universal tool for precise alignment of the tip positions of the two end-effectors of a 6-DOF microhand. © 2024 IEEE.

关键词： Clamping devices

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Oilwell Downhole RFID Reader based on Discrete Components

Oilwell Downhole RFID Reader based on Discrete Components

引用

2021 International Conference on Signal processing and Communication Technology, SPCT 2021

作者： Liu, Xiaokun Zhu, Jixuan School of Automation China University of Geosciences Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan430074 China

ISBN: (数字)9781510653344

ISBN: (纸本)9781510653337

RFID (Radio Frequency Identification) is expected to provide a new way for the efficient and low-cost control of oilwell downhole tools, and bring huge economic benefits. However, the RF (radio frequency) base station chips on the market could not withstand the high temperature of downhole. In this paper, discrete components are used to build RF front-end circuits to realize the drive and demodulation functions of RF base station chips. The circuit parameters are adjusted and optimized through circuit simulation. Then, the software and hardware design of the downhole reader are accomplished. Finally, experimental results show that the proposed downhole reader based on discrete components can successfully demodulate and read the tag data. © 2022 SPIE.

关键词： Circuit simulation

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Fabrication and Path Following control of a Magnetic Soft Microrobot 8

Fabrication and Path Following Control of a Magnetic Soft Mi...

引用

8th International Conference on control Science and systems Engineering, ICCSSE 2022

作者： Tang, Jianhui Zhang, Pan Wu, Jundong Wang, Yawu School of Automation China University of Geosciences Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan430074 China

ISBN: (纸本)9781665484138

Magnetically-controlled soft microrobots have great application prospects because of small size, flexible motion and wireless control. In this paper, a magnetically-controlled soft microrobot is designed and fabricated. In order to achieve its path-following control, two open-loop control strategies and a closed-loop one are developed. Especially, for the closed-loop control strategy, we present the image processing method and the pure pursuit algorithm, where the former is used to obtain the position and posture of the microrobot required for the latter. Finally, the developed open-loop and closed-loop control strategies are verified by carrying out the experiments. These methods are promising in numerous applications because of the ease of implementation. © 2022 IEEE.

关键词： Image processing

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A tuning strategy for microwave filter using variable universe adaptive fuzzy logic system

A tuning strategy for microwave filter using variable univer...

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2021 China Automation Congress, CAC 2021

作者： Peng, Sai Cao, Weihua Bi, Leyu Yuan, Yan Wu, Min School of Automation China University of Geosciences Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan430074 China

ISBN: (纸本)9781665426473

Microwave filters are the core frequency selection device in 5G base station, which play an important role in the field of communication. The errors of design and processing of microwave filter make it difficult to meet the specific requirements of frequency selection, thus the tuning process before delivery is significant. However, the tuning process relies heavily on skilled workers, resulting in low tuning efficiency and high cost. The automatic tuning method based on fuzzy logic does not depend on the model and has strong applicability. It has great practical value to the production trend of multi-variety, small batch and customization of microwave filters. In this paper, a variable universe adaptive fuzzy tuning method is proposed. First, intelligent optimal contraction-expansion factors based on fuzzy inference are proposed according to expert knowledge. Then, the input universe and output universe are multiplied, and the initial rule is transformed into more effective new rules through the transformation which is adaptive to the variable universe. Last, the effectiveness of the proposed tuning method is verified by simulations. © 2021 IEEE

关键词： Microwave filters

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Model-free Adaptive control of Dielectric Elastomer Actuator 16th

Model-free Adaptive Control of Dielectric Elastomer Actuator

引用

16th International Conference on intelligent robotics and Applications, ICIRA 2023

作者： Mao, Dun Zhang, Yue Wu, Jundong Wang, Yawu School of Automation China University of Geosciences Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan430074 China

ISBN: (纸本)9789819964918

Soft robots are usually driven by soft actuators, and the dielectric elastomer actuator (DEA) is recognized as one of the most promising soft actuators. However, the DEA has complex nonlinear char- acteristics, which brings great challenges to its control. So, how to use the appropriate method to control the DEA has become a problem worth pondering. This paper proposes three model-free adaptive control (MFAC) methods to realize the tacking control of the DEA. These meth- ods avoid the complex process of establishing the dynamic model of the DEA, and only need the input and output data to control. Thus, these methods have a strong adaptability and generalization ability. To verify the effectiveness of the proposed methods, some simulations are imple- mented. More importantly, some actual experiments are implemented to further demonstrate the validity of the methods. The root-mean-square errors (RMSEs) of the simulation results are less than 0.35%, and the RMSEs of the actual experimental results can be maintained at about 6.5%, which fully reflects the excellence of the proposed methods. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd 2023.

关键词： Mean square error

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Template Matching and Trend Feature Analysis-Based Data Pre-processing Method for Seismic Wave Detection

Template Matching and Trend Feature Analysis-Based Data Pre-...

引用

2023 China Automation Congress, CAC 2023

作者： Xu, Zheng Gan, Chao Cao, Weihua School of Automation China University of Geosciences Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan430074 China

ISBN: (纸本)9798350303759

In this paper, a template matching and trend feature analysis-based data pre-processing method for seismic wave detection is proposed with two stages. In the first stage, it involves extracting the rock physical parameters from seismic wave detection results using OCR (Optical Character Recognition) method, and extracting the original rock physical parameters from the raw rock property table using keyword matching method. Using the rock physical parameters as a template, a template matching approach is employed to eliminate abnormal values from the original rock physical parameters. In the next stage, a technique is proposed to extract trend features of rock physical parameters for conducting advanced geological forecasting, which considered the expertise of experts in interpreting seismic wave detection data. Finally, the effectiveness of the proposed method is verified by the compared simulation results. © 2023 IEEE.

关键词： Seismic waves

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Automatic Operating Method of Robot Dexterous Multi-fingered Hand Using Heuristic Rules 4th

Automatic Operating Method of Robot Dexterous Multi-fingered...

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4th International Conference on Cognitive systems and Information processing, ICCSIP 2018

作者： Wang, Wei Zhang, Qiangbing Sun, Zeyuan Chen, Xi Jiang, Zhihong IRI School of Mechatronical Engineering Beijing Institute of Technology Beijing China Key Laboratory of Biomimetic Robots and Systems Ministry of Education Beijing Institute of Technology Beijing China Beijing Advanced Innovation Center for Intelligent Robotics and Systems Beijing China

ISBN: (纸本)9789811379826

Automatic grasp planning of robotic hand is always a difficult problem in robotics. Although researchers have developed underactuated hands with less degrees of freedom, automatic grasp planning is still a difficult problem because of the huge number of possible hand configurations. But humans simplify this problem by applying several usual grasp starting postures on most of grasp tasks. In this paper, a method for grasping planning is presented which can use a set of heuristic rules to limit the possibilities of hand configurations. By modeling the object as a set of primitive shapes and applying appropriate grasp starting postures on it, many grasp samples can be generated. And this is the basic content of the heuristic rules. Then, given grasp samples in finite number, a Simulink and Adams co-simulator is built to simulate these discrete grasp samples. The main purpose of the co-simulator is to simulate the dynamic behavior of robotic hand when grasping and measure the grasp quality using force closure and grasp measurement of largest-minimum resisted wrench. Last, a grasp library with force closure grasps is built where all items of grasp are sorted by the function value of grasp measurement. With the library, it’s easy to plan a grasp for certain object by just selecting an appropriate grasp from the library. © 2019, Springer Nature Singapore Pte Ltd.

关键词： Simulink

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A distributed deterministic help scheme to improve the system fault tolerance

A distributed deterministic help scheme to improve the syste...

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Proceedings of the Biannual World Automation Congress

作者： M.S. Mirian M.N. Ahmadabadi Control and Intelligent Processing Center of Excellence and AI and Robotics Laboratory Department of ECE University of Tehran Iran

This paper proposes some methods to improve the fault-tolerance in distributed systems specifically in deterministic situations by distributed decision-making and coordination. Providing a distributed system with fault tolerance is a feasible but hard problem due to the intrinsic aspects of such systems such as: independency, unpredictability and communication problem. A multi-agent system as an instance of distributed system, can handle different kinds of fault by using traditional fault tolerance techniques. But what focused in this paper are agent-based techniques. In fact proposed methods are based on agent-based help provision by distributed cooperation among helper agents. The helpers try to tune their normal roles such that they can undertake the faulty agents' tasks too. These helpers go through a sub-optimal task selection algorithm, to decide whom to help. It is important to remark that there is no explicit interaction; instead they coordinate their decisions implicitly by adopting the most appropriate task in terms of their speed, relative reliability and the task's criticality coefficient. Proposed ideas are tested on a DCS-like tested to improve its fault tolerance. The results illustrate the effectiveness of the approaches in comparison to the case of no help situation and the case of using purely redundant components.

关键词： Fault tolerant systems Multiagent systems control systems Distributed decision making Redundancy Power system reliability Process control intelligent control Artificial intelligence Testing

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Is There any Analogy Between Foot Stability and Dynamic Grasp?

Is There any Analogy Between Foot Stability and Dynamic Gras...

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2008 IEEE/RSJ International Conference on intelligent Robots and systems, Pages 526-1042

作者： Adel Akbarimajd Majid Mili Ahmadabadi Robotics and AI Laboratory Control and Intelligent Processing Center of Excellence ECE Department University of Tehran Iran

ISBN: (纸本)9781424420575

Similarities between foot stability in single support phase of dynamic legged locomotion and dynamic grasp during nonprehensile carrying of an object on a palm are studied. Both foot stability and dynamic grasp conditions are driven mathematically. Then it is shown that these two conditions share the same basic dynamical concepts. It is also revealed that dynamic grasp and foot stability conditions have structurally the same equations when the palm -in object manipulation- and the ground -in legged locomotion- are horizontal. In this situation, parameters of the equations are very similar. It is demonstrated that the effects of violation of foot stability and dynamic grasp conditions are behaviorally the same. In addition to analytical discussions, some simulation examples in ADAMS are provided to validate the presented models and the results.

关键词： Foot Stability analysis Robots Legged locomotion Manipulator dynamics Robot kinematics Sufficient conditions

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