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End-Point Regulation of a Flexible Robotic Manipulator under the Unknown Spatiotemporally Varying Disturbance

IFAC Proceedings Volumes 2013年第20期46卷 713-718页

作者： Shuang Zhang Wei He Chang Liu Deqing Huang Department of Electrical & Computer Engineering National University of Singapore Singapore 117576 Robotics Institute and School of Automation Engineering University of Electronic Science and Technology of China Chengdu 611731 China School of Automation Engineering University of Electronic Science and Technology of China Chengdu 611731 China Department of Aeronautics Imperial College London London SW7 2AZ UK

In this paper, the end-point regulation problem is investigated for a flexible robotic manipulator under the spatiotemporally varying disturbance. By using the Hamilton's principle, the dynamics of the flexible robotic manipulator are represented by one partial differential equation (PDE) and five ordinary differential equations (ODEs). Boundary control is developed to drive the manipulator to the desired set-point and simultaneously suppress the vibrations of the flexible link. Considering the unknown spatiotemporally varying disturbance, the developed boundary control schemes achieve uniform boundedness of the steady state error between the boundary payload and the desired position. Simulations are provided to illustrate the applicability and effectiveness of the proposed control.

关键词： Flexible robotic manipulator distributed parameter system boundary control

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Dynamical Balance Optimization and Control of Quadruped Robots Under Perturbing External Force

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IFAC Proceedings Volumes 2013年第20期46卷 199-205页

作者： Zhijun Li Sijia Yu Sibang Liu Key Laboratory of Autonomous Systems and Networked Control Ministry of Education College of Automation Science and Engineering South China University of Technology Guangzhou China The Robotics Institute and School of Mechanical Engineering University of Electronic Science and Technology of China Chengdu China 610054 The Robotics Institute and Institute of Intelligent Systems and Information Technology University of Electronic Science and Technology of China Chengdu China 610054

This paper investigates the optimal feet forces distribution and control of quadruped robots under external disturbance forces. First, we formulate a constrained dynamic model of quadruped robots and derive a reduced order dynamical model of motion/force. Consider an external wrench on quadruped robots, the distribution of required forces and moments on the supporting legs of a quadruped robot is handled as a tip-point force distribution and used to equilibrate the external wrench. Then, a gradient neural network is adopted to minimize the optimized objective function with linear equality and inequality constraints, and hybrid motion/force control based on adaptive neural network is used to compensate for the external perturbation in the environment and approximate feedforward force and impedance of the leg joints on line. The verification of the proposed control is conducted using the extensive simulations.

关键词： quadruped robot forces distribution external wrench motion/force control

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Local inhomogeneity in totally asymmetric simple exclusion processes with different hopping rates

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Journal of Central South university 2012年第10期19卷 3012-3016页

作者：肖松吴淑英郑东升刘明哲 Faculty of Metallurgical and Energy Engineering Kunming University of Science and Technology College of Nuclear Technology and Automation Engineering Chengdu University of Technology

Local inhomogeneity in totally asymmetric simple exclusion processes （TASEPs） with different hopping rates was studied. Many biological and chemical phenomena can be described by these non-equilibrium processes. A simple approximate theory and extensive Monte Carlo computer simulations were used to calculate the steady-state phase diagrams and bulk densities. It is found that the phase diagram for local inhomogeneity in TASEP with different hopping rates p is qualitatively similar to homogeneous models. Interestingly, there is a saturation point pair （a＊, fl＊） for the system, which is decided by parameters p and q. There are three stationary phases in the system, when parameter p is fixed （i.e., p=0.8）, with the increase of the parameter q, the region of LD/LD and HD/HD phase increases and the HD/LD is the only phase which the region shrinks. The analytical results are in good agreement with simulations.

关键词： asymmetric simple exclusion process inhomogeneity hopping rate Monte Carlo simulation approximate theory computer simulation

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Health assessment of electronic systems

Health assessment of electronic systems

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International Conference on Quality, Reliability, Risk, Maintenance, and Safety engineering (ICQR2MSE)

作者： Arvind Sai Sarathi Vasan Michael Pecht Bing Long Center for Advanced Life Cycle Engineering (CALCE) University of Maryland College Park MD USA School of Automation Engineering University of Electronic Science and Technology of China Chengdu China

ISBN: (纸本)9781479910151

Incorporating prognostics and health management (PHM) techniques into mission and safety-critical system providesthe systems with capabilities to determine the advent of failure and mitigate system risks. However, in order to facilitate prognostics, it is necessary to track the degradation in a system's health. This paper introduces a method based on the simulation-before-test (SBT) technique to quantitatively assess the health of an electronic system. The proposed method exploits the features specific to the system's circuitries along with a kernel-based classifier for estimating the system's health. The effectiveness of the developed health assessment approach is illustrated with a case study on benchmark analog state variable filter circuit.

关键词： Circuit faults Feature extraction Degradation Band-pass filters Capacitors Monitoring Resistors

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Production of Anhydrous Zirconium Tetrafluoride from Plasma Dissociated Zircon and Ammonium Bifluoride

Production of Anhydrous Zirconium Tetrafluoride from Plasma ...

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International Conference on Education, Law and Humanities (ELH’2013);International Conference on Civil and Environmental engineering (CEE’2013);International Conference on Chemical, Mining and Metallurgical engineering (CMME’2013);International Conference on Information technology and Computer Systems engineering (ITCSE’2013);Int’l Conference on Industrial, Manufacturing, automation and Mechanical engineering (IMAME’2013);International Conference on Electrical, Electronics and Instrumentation engineering (EEIE’2013)

作者： Milton M.Makhofane Johann T.Nel Johan L.Havenga Ayo S.Afolabi Plasma Technology Applied ChemistryResearch and Development South African Nuclear Energy Corporation SOC Ltd South Africa and Department of Civil and Chemical Engineering College of Science Engineering and TechnologyUniversity of South Africa

Zirconium tetrafluoride is used as a catalyst for the production of chlorofluoro-hydrocarbons and to manufacture zirconium tetrafluoride based glass. The traditional methods of producing zirconium tetrafluoride involve fluorinating zirconium oxide, chlorides, etc. with aqueous or anhydrous hydrogen fluoride. In this work, zirconium tetrafluoride was manufactured from plasma dissociated zircon and ammonium bifluoride in a batch reactor system. It was confirmed by XRD analysis that zirconium tetrafluoride was produced with a purity of 82.87%. The batch reactor system was 93.85% efficient.

关键词： ammonium bifluoride, Plasma dissociated zircon, batch reactor, efficiency.

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A PSO-SVM based model for alpha particle activity prediction inside decommissioned channels

A PSO-SVM based model for alpha particle activity prediction...

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9th International Symposium on Neural Networks, ISNN 2012

作者： Liu, Mingzhe Tuo, Xianguo Ren, Jun Li, Zhe Wang, Lei Yang, Jianbo State Key Laboratory of Geohazard Prevention and Geoenvironment Protection Chengdu University of Technology Chengdu 610059 China College of Nuclear Technology and Automation Engineering Chengdu University of Technology Chengdu 610059 China

ISBN: (纸本)9783642313455

This paper presents a hybrid Support Vector Machine (SVM) and Particle Swarm Optimization (PSO) model for predicting alpha particles emitting contamination on the internal surfaces of decommissioned channels. Six measuring parameters (channel diameter, channel length, distance to radioactive source, radioactive strength, wind speed and flux) and one ionizing value have been obtained via experiments. These parameters show complex linear and nonlinear relationships to measuring results. The model used PSO to optimize SVM parameters. The comparison of computational results of the hybrid approach with normal BP networks confirms its clear advantage for dealing with this complex nonlinear prediction. © 2012 Springer-Verlag.

关键词： Support vector machines

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Towards a hybrid optimization model for elemental content analysis in EDXRF

Towards a hybrid optimization model for elemental content an...

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2012 8th International Conference on Natural Computation, ICNC 2012

作者： Ren, Jun Liu, Mingzhe Tuo, Xianguo Li, Zhe Shi, Rui State Key Laboratory of Geohazard Prevention and Geoenvironment Protection Chengdu University of Technology Chengdu 610059 China College of Nuclear Technology and Automation Engineering Chengdu University of Technology Chengdu 610059 China

ISBN: (纸本)9781457721311

This paper presents a hybrid optimization model for predicting the elemental contents such as Ti, V and Fe in energy dispersive X-ray fluorescence (EDXRF) based on least square support vector machine (LS-SVM) and particle swarm optimization (PSO) methods. The model used PSO to optimize LS-SVM parameters. In order to assess the capability and effectiveness of the proposed model, several measurement methods such as SVM model and BP neural network model were compared. The results indicate that the proposed model is feasible for quantitative analysis of elemental contents in nondestructive nuclear measurement applications. © 2012 IEEE.

关键词： Support vector machines

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Kinematics simulation and control design of the agile wrist in a dual-arm robotic mechanical systems

Kinematics simulation and control design of the agile wrist ...

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2012 IEEE International Conference on Computer Science and automation engineering, CSAE 2012

作者： Jian, Yang Angeles, Jorge College of Nuclear Technology and Automation Engineering Chengdu University of Technology Chengdu China Department of Mechanical Engineering Centre for Intelligent Machines McGill University Montreal QC Canada

ISBN: (纸本)9781467300865

In order to improve space positioning accuracy of the Agile Wrist consisting of a modified spherical parallel manipulator, which will influence the result of the Collisions experiment in a robotic mechanical testbed directly, this paper explores the motion control of Agile Wrist. Based on analysis an input - output (I/O) equation of spherical four-bar linkages for forward-displacement of spherical parallel robots, the inverse kinematics derivation is reported here to find the active-joint variables for each possible position and orientation (pose) of the mobile plate, as well as the singularity exist and defines what may be generalized as the workspace boundary. Meanwhile the kinematics simulation by using simulink S-Function combined with Q8 controller was carried out. The results showed that the Kinematics analysis and Control Design of Agile Wrist were correct. The modified spherical parallel manipulator can meet with the demands of Collisions experiment in the robotic mechanical testbed. © 2012 IEEE.

关键词： Robotics

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Single-phase Computational Fluid Dynamics Applicability for the Study of Three-dimensional Flow in 5×5 Rod Bundles with Spacer Grids

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Chinese Journal of Mechanical engineering 2012年第4期25卷 738-744页

作者： TIAN Ruifeng MAO Xiaohui GAO Puzhen HUANG Yanping College of Nuclear Science and Technology Harbin Engineering University Harbin 150001 China National Defense Key Discipline Laboratory of Nuclear Safety and Simulation Technology Harbin Engineering University Harbin 150001 China National Key Laboratory of Bubble Physics and Nature Circulation Nuclear Power Institute of China Chengdu 610041 China

Spacer grids play an important role in pressurized water reactor（PWR） fuel assembly in that they have significant influence on the thermal-hydraulic characteristics of the reactor *** so far,the numerical studies are performed without regarding dimple and spring of spacer grids,just considering mixing ***,these studies use k-ε turbulence model without considering the suitability of the other turbulence models upon the different spacer grids flow.A study is carried out to understand the 3-D single-phase flow in AFA-2G 5×5 rod bundles with spacer grids based on numerical *** order to investigate the suitability of different turbulence models,k-ε model and k-ω model,the influence of different parts of spacer grid on the fluid flow is also *** using second-order upwind scheme,hybrid grids technique,and improved SIMPLEC algorithm,the Reynolds averaged mass conservation and momentum conservation equations are solved,and the pressure and velocity field of flow are *** numerical simulation results are compared with experiment results and the agreement is *** simulation results show the influences of the spring,dimple and mixing vane,and the different characteristics of the k-ε model and k-ω *** with the experiment results,the simulation results suggest that the k-ω model is suitable for the simulation of the rod bundle flow with spacer grids;the spring and dimple are the main causes of the pressure loss in the spacer grid *** friction coefficient of the channel with spring and dimple is 1.5 times the coefficient of the channel with the *** results are beneficial to enhance the simulation ability of spacer grids flow and optimization design ability of spaces grid.

关键词： rod bundles spacer grids turbulence model SIMPLEC algorithm

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Description of α-decay chains for 293,294117 within covariant density functional theory

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Physical Review C 2013年第5期88卷 054324-054324页

作者： W. Zhang (张炜) Z. P. Li (李志攀) S. Q. Zhang (张双全) College of Physical Science and Engineering Zhengzhou University Zhengzhou 450001 People's Republic of China School of Electrical Engineering and Automation Henan Polytechnic University Jiaozuo 454003 People's Republic of China School of Physical Science and Technology Southwest University Chongqing 400715 People's Republic of China State Key Laboratory of Nuclear Physics and Technology School of Physics Peking University Beijing 100871 People's Republic of China

The covariant density functional theory with the point-coupling density functional PC-PK1 and the meson-exchange density functional PK1 has been applied to study the intrinsic triaxial and octupole deformation for 293,294117 isotopes, and the Qα values of their α-decay chains. The shape coexistence of normal deformation and prolate superdeformation is found in 293,294117 and some of their successive decay products. The Qα data of the α-decay chains are well reproduced. In particular, the influences of shape coexistence and rotational correction are examined.

关键词： DENSITY functionals ISOTOPES PARTICLES (nuclear physics) FUNCTIONAL analysis NUCLIDES

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