检索结果-内蒙古大学图书馆

DYNAMICS OF NONRIGID ARTICULATED ROBOT LINKAGES

IEEE TRANSACTIONS ON AUTOMATIC CONTROL 1985年第5期30卷 499-502页

作者： JUDD, RP FALKENBURG, DR Center of Robotics and Advanced Automation School of Engineering Oakland University Rochester MI USA

This paper presents the kinematic and dynamic analysis of an n -link manipulator with flexible members. The deformation of a link from its rigid body position is modeled by a homogeneous transformation. The dynamic equations are obtained using Euler-Lagrange formulation. These equations are compared to those describing a rigid link mechanism.

关键词： Robots Couplings Performance analysis Automatic control Manipulator dynamics Linear systems Control systems robotics and automation Kinematics Transient response

来源：评论

学校读者我要写书评

暂无评论

ROBUST OPTIMAL PARAMETRIC LQ CONTROL WITH A GUARANTEED COST BOUND AND APPLICATIONS

引用

INTERNATIONAL JOURNAL OF CONTROL 1989年第6期50卷 2489-2502页

作者： HU, HX LOH, NK Center for Robotics and Advanced Automation Oakland University Rochester MI 48309 U.S.A

For an optimal parametric linear quadratic (LQ) control problem, a design objective is to determine a controller of constrained structure such that the closed-loop system is asymptotically stable and an associated performance measure is optimized. In the presence of system uncertainty, the system via a parametric LQ design is further required to be robust in terms of maintaining the closed-loop stability with a guaranteed cost bound. This problem is referred to as ‘robust optimal parametric LQ control with a guaranteed cost bound’ and is addressed in this work. A new design method is proposed to find an optimal controller for simultaneously guaranteeing robust stability and performance over a specified range of parameter variations. The results presented generalize some previous work in this area. A versatile numerical algorithm is also given for computing the robust optimal gains. The usefulness of the design method is demonstrated by numerical examples and a design of the robust control of a VTOL helicopter.

关键词： Control Systems, Linear

来源：评论

学校读者我要写书评

暂无评论

Three-Dimensional Flexible Tactile Sensor Arrays for Perceptual Grasping: Towards Enhanced Perceptual robotics

引用

IEEE Sensors Journal 2025年

作者： Xu, Naijia Liu, Shaoyu Zhang, Daohui Fu, Xin Han, Baisong Hou, Xudong Zhao, Xingang Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang Institute of Automation Shenyang110016 China University of Chinese Academy of Sciences Beijing100049 China Huazhong University of Science and Technology Flexible Electronics Research Center State Key Laboratory of Intelligent Manufacturing Equipment and Technology School of Mechanical Science and Engineering Hubei Wuhan430074 China University of Shenyang University of Technology Shenyang110016 China

Recent advancements in intelligent robotics have substantially heightened the demand for multidimensional haptic sensors. Traditional haptic sensors are constrained by their sensitivity, anti-interference capabilities, and measurement range, thereby limiting their application in complex environments. Inspired by the structure of human skin, a three-dimensional arrayed magnetic sensor (MCE) was developed, exhibiting high sensitivity (57.625N-1), a wide force measurement range, low hysteresis (1.04%), and high stability. The sensor comprises a three-layer design: the top layer includes a flexible square magnet that deforms under external forces to detect normal and tangential forces;the middle layer incorporates a flexible elastomer (Ecoflex 00-30) combined with a spring to achieve a broad range of force measurements;and the bottom layer consists of a flexible circuit board (FPCB) embedded with an array of Hall sensors to convert magnetic field variations into electrical signals. The normal force measurement range of the MCE sensor spans from 0 to 16 N, with a minimum resolution of 10 mN, enabling the accurate detection of minor force variations. The tangential force is measured within a range of –7 N to 7 N. Experimental findings indicate that the MCE sensor enables real-time slip detection and, when integrated with deep learning algorithms, attains a remarkable object recognition accuracy of 96.36%. This technological progression significantly augments tactile sensing functionalities, thereby facilitating advancements in intelligent robotics, such as precision grasping, and enhancing human-machine interaction, particularly in the realm of medical rehabilitation devices. © 2001-2012 IEEE.

关键词： Intelligent robots

来源：评论

学校读者我要写书评

暂无评论

DISCRETE-TIME QUANTIZED DATA CONTROLLERS

引用

INTERNATIONAL JOURNAL OF CONTROL 1987年第4期46卷 1225-1233页

作者： JUDD, RP VANTIL, RP STUCKMAN, PL Center for Robotics and Advanced Automation School of Engineering Oakland University Rochester MI 48063 United States

A new technique for the digital control of continuous time systems is presented. This technique is based on a table look-up algorithm. To minimize the number of entries in the table, a grid embedding process is proposed. Using this process, an accurate, fast, and low-cost controller can be constructed using a table of a few thousand entries. The paper derives the control strategy and proposes a digital circuit to implement the controller. An example is presented in which the performance of a closed-loop digital controller is compared with that of an optimal regulator. The comparison shows that the performance of the new controller is very close to that of an equivalent optimal controller

关键词： CONTROL SYSTEMS, DIGITAL

来源：评论

学校读者我要写书评

暂无评论

DYNAMIC MODELING AND CONTROL BY UTILIZING AN IMAGINARY ROBOT MODEL

引用

IEEE JOURNAL OF robotics AND automation 1988年第5期4卷 532-540页

作者： GU, YL LOH, NK School of Engineering and Computer Science Center for Robotics and Advanced Automation Oakland University Rochester MI USA

A dynamic model that represents an exact linearization scheme with a simplified nonlinear feedback is presented. To realize this model for robotic systems, the output functions should be chosen so that a special decomposition of the total inertial matrix is satisfied. The concept of an imaginary robot is utilized to achieve the formulation and to solve the realization problem. Two illustrative examples are given in the paper, one for the Stanford arm and the other for a PUMA type of robot. An optimal robotic physical design and a control system design based on the new model are also discussed.

关键词： dynamic models nonlinear feedback control systems design Robot

来源：评论

学校读者我要写书评

暂无评论

High-resolution synthetic aperture imaging method and benchmark based on event-frame fusion

引用

Information Fusion 2025年 122卷

作者： Li, Siqi Li, Yipeng Liu, Yu-Shen Du, Shaoyi Yong, Jun-Hai Gao, Yue BNRist THUIBCS BLBCI School of Software Tsinghua University Beijing100084 China THUIBCS Department of Automation Tsinghua University Beijing100084 China BNRist School of Software Tsinghua University Beijing100084 China State Key Laboratory of Human–Machine Hybrid Augmented Intelligence National Engineering Research Center for Visual Information and Applications and Institute of Artificial Intelligence and Robotics Xi'an Jiaotong University Xi'an710049 China

Existing event-based synthetic aperture imaging (SAI) methods can reconstruct unobstructed images of the background target scene behind dense foreground occlusions from visual information captured by an event camera. However, limited by the spatial resolution of existing event cameras and the computational paradigm of existing event-based SAI methods, the resolution of images reconstructed by existing methods is insufficient. In this paper, we propose a high-resolution (HR) SAI method based on event-frame fusion. Our method trades the high temporal resolution of the event camera for spatial resolution and fuses events and frames to reconstruct the HR unobstructed image. Our proposed method leverages an event-guided occlusion segmentation mechanism to predict the occlusion masks, and extracts multi-view multi-modal valid visual features while invalid parts are discarded. Then, an adaptive fusion module is proposed to align and fuse the multi-view features, and the HR unobstructed scene image is reconstructed from the fused feature. In addition, we construct a multi-sensor vision acquisition system and collect the first Event-based High-Resolution Synthetic Aperture Imaging (THUE-HRSAI) dataset containing low-resolution occluded frames, event streams, and HR ground truth unobstructed scene images, which will be released as the first benchmark. We conduct experiments on our THUE-HRSAI dataset, and the experimental results demonstrate that our proposed method achieves state-of-the-art performance. Downstream application results further prove the necessity of our method. Code and dataset are available at: https://***/lisiqi19971013/E-HRSAI. © 2025 Elsevier B.V.

关键词： Image reconstruction

来源：评论

学校读者我要写书评

暂无评论

A 3-D potential panel method for robot motion planning

引用

ROBOTICA 1997年第0期15卷 421-434页

作者： Zhang, YJ Valavanis, KP Robotics & Automation Laboratory A-CIM Center & CACS The University of Southwestern Louisiana Lafayette LA 70504 USA

A potential panel method is proposed to solve the collision-free path planning problem for a free-flying robot operating in an obstacle filled 3-D environment. The problem is solved in three steps: (1) transform the arbitrary shaped obstacles in the 3-D workspace into simple convex polyhedrons;(2) generate an artificial potential field using the 3-D panel method in the 3-D workspace;(3) generate a streamline from the starting position towards the goal position in the artificial potential held. The computational complexity of the pertinent algorithms justify the efficiency of the approach and its applicability in real-time. Simulation results illustrate the potential of the proposed approach. The reported research is the outgrowth of the 2-D method, already published.(1)

关键词： sensor-based motion planning collision avoidance potential panel method potential field

来源：评论

学校读者我要写书评

暂无评论

Active rescheduling for automated guided vehicle systems

引用

Intelligent systems engineering 1994年第2期3卷 87-96页

作者： Interrante, Leslie D. Rochowiak, Daniel M. Intelligent Systems Laboratory Center for Automation and Robotics University of Alabama in Huntsville Huntsville USA

The paper examines the use of knowledge-based techniques to generate a framework for the active rescheduling of an automated guided vehicle system in a manufacturing environment. Our approach to active rescheduling uses 'cues' drawn from events on the shop-floor to trigger rescheduling. Simulation experiments are used to capture knowledge about the shop-floor and various scheduling strategies. An extensible agent architecture is developed to facilitate active rescheduling.

关键词： Scheduling

来源：评论

学校读者我要写书评

暂无评论

Optimization of Crop Yields in Sustainable Agriculture: Application of Big Data Analytics and Artificial Intelligence

引用

Remote Sensing in Earth Systems Sciences 2025年第2期8卷 375-386页

作者： Nimma, Divya Dhanke, Jyoti A. Murthy, G.S.N. Khandekar, Sachin Dadu Hymavathi, J. Jangir, Pradeep Singh, Mahesh Department of Computational Science University of Southern Mississippi Hattiesburg 39406 MS United States Department of Engineering Science (Mathematics) Bharati Vidyapeeth’s College of Engineering Lavale Maharashtra Pune India Department of CSE Aditya University Surampalem India Department of Civil Engineering Sinhgad College of Engineering Maharashtra Pune India Department of CSE Koneru Lakshmaiah Education Foundation Andhra Pradesh Vaddeswaram India Department of Biosciences Saveetha School of Engineering Saveetha Institute of Medical and Technical Sciences Chennai India Hourani Center for Applied Scientific Research Al-Ahliyya Amman University Amman 19328 Jordan Department of Robotics and Automation Symbiosis Institute of Technology Pune Campus Symbiosis International (Deemed University) Pune India

Making informed economic decisions based on agricultural data is challenging without proper crop management. Data has become the single most important part of modern farming, and its rapid evolution is a major contributor to the rise of “smart farming.” Using sensors to gather objective data with the end aim of increasing productivity and sustainability has several advantages. Information that might boost productivity while decreasing resource waste and pollution levels is essential for managed farms. The cornerstone of future sustainable farming will be data-driven agriculture using robotic solutions based on AI-based techniques. This paper examines the current state of advanced farm management systems, discussing topics like data acquisition in crop fields and variable rate applications, to assist farmers in saving money, protecting the environment, and transforming food production so that it can sustainably keep up with the expected increase in population. The advent of machine learning, big data technologies, and high-performance computers has opened up new avenues for data-intensive research in the interdisciplinary subject of agro technology. These avenues of exploration have been aided by the development of more capable computers. A comprehensive literature review on the issue of the applications of machine learning in agricultural manufacturing is provided in this research. Machine learning has shown its utility in agriculture via two applications: filtering and categorizing products. The use of machine learning on sensor data is transforming conventional farm management systems into AI-enabled programs. These services provide farmers instantaneous, complete access to ideas and insights that may guide their decisions. © The Author(s), under exclusive licence to Springer Nature Switzerland AG 2025.

关键词： Artificial intelligence Big data analytics Optimize crop yields Sustainable agriculture

来源：评论

学校读者我要写书评

暂无评论

Human interaction challenges for intelligent environmental control software

Human interaction challenges for intelligent environmental c...

引用

28th International Conference on Environmental Systems

作者： Thronesbery, Carroll Schreckenghost, Debra SandK Electronics-Texas Robotics and Automation Center United States Texas Robotics and Automation Center United States

Human interaction challenges for intelligent environmental control software involve finding the right balance between automation and the flexibility for human involvement. automation is needed to relieve people from the tedium of maintaining a vigilant watch over low-level sensor data and controlling each life support hardware item individually. Flexibility is needed to deal effectively with anomalies and novel situations. This paper discusses strategies for supporting management by exception and shows how those strategies were implemented in support of the automated control system for product gas transfer during the Phase III Test of the Lunar/Mars Life Support Test Program. © 1998 Society of Automotive Engineers, Inc.

关键词： automation

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：