检索结果-内蒙古大学图书馆

23rd IFToMM China International Conference on Mechanism and Machine Science and Engineering, IFToMM CCMMS 2022

作者： Chen, Weilin Feng, Zihong Lu, Qinghua Wei, Huiling Qin, Xiaolu Mo, Jiacheng Tang, Yu Wei, Sheng School of Mechatronics Engineering and Automation Foshan University 33 Guangyun Road Guangdong Foshan528000 China Academy of Interdisciplinary Studies Guangdong Polytechnic Normal University Guangzhou510665 China Engineering Research Center for Intelligent Robotics Jihua Laboratory Foshan528200 China

ISBN: (纸本)9789811993978

Grasping force control is important to realize safe and reliable robotic manipulation. In this paper, a semi-closed-loop constant grasping force control strategy of the multi-modes rigid-flexible underactuated gripper is designed to eliminate the influence of full-closed-loop control system on the grasping dexterity. For the two-point grasping mode and enveloped grasping mode, the inverse static model of gripper were established based on the forward static models proposed in our previous research and the numerical fitting. A semi-closed-loop PID constant grasping force control strategy was designed using the established statics models. Matlab Simulink was utilized to verify the proposed control strategy. Further, the multi-modes grasping force control system was built, and the effect of deformation for the flexible linkages on the equivalent size of grasped object was considered to correct the proposed control strategy by the analysis of balance position and numerical fitting. Finally, the rapidity, accuracy and stability of corrected control strategy were verified by experiments. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Force control

来源：评论

学校读者我要写书评

暂无评论

The Accuracy Analysis of Tool center Point Calibration via Condition Number and Minimum Eigenvalue

The Accuracy Analysis of Tool Center Point Calibration via C...

引用

IEEE International Conference on Real-time Computing and robotics (RCAR)

作者： Ziqi Gao Yingli Li Yang Luo Yunxiang Jiang Bi Zhang Xingang Zhao Lingkai Chen Yiwen Zhao State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Shenyang China University of Chinese Academy of Sciences Beijing China Research Center for Intelligent Robotics Research Institute of Interdisciplinary Innovation Zhejiang Lab Hangzhou China Zhejiang Engineering Research Center for Intelligent Robotics Hangzhou China

The accuracy of TCP (tool center point) calibration is vital to the operation accuracy of the robot. In this paper, we analyzed the accuracy analysis of TCP calibration of the regression matrix via condition number and minimum eigenvalue. It is theoretically proved that a regression matrix with a large condition number and a small eigenvalue will aggravate the influence of the observation error of the measurement point on TCP calibration accuracy and increase the TCP calibration error. To verify our analysis, simulation calibration experiments were carried out and statistical analysis was carried out on the calibration results. The result shows that the mathematical expectation and the variance of calibration error at minimum, median, and maximum matrix CA condition number are 1.36mm (±0.60mm), 1.57mm (± 0.75mm) and 2.94mm (±2.26mm) respectively, and the mathematical expectation and the variance of calibration error at minimum, median, and maximum eigenvalue are 3.33mm (± 2.32mm), 1.54mm (±0.72mm) and 1.16mm (± 0.49mm), respectively.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Multi-rotor UAV path planning based on Model Predictive Control and Control Barrier Function

Multi-rotor UAV path planning based on Model Predictive Cont...

引用

Chinese Control and Decision Conference, CCDC

作者： Shengxi Li Yang Chen Yanhua Yang Engineering Research Center for Metallurgical Automation and Measurement Technology of Ministry of Education Wuhan University of Science and Technology Institute of Robotics and Intelligent Systems Wuhan University of Science and Technology

ISBN: (数字)9798350387780

ISBN: (纸本)9798350387797

The safety of unmanned aerial vehicles (UAVs) path planning in autonomous urban flight is challenging due to the presence of buildings. Previous studies have focused more on the distance between buildings and UAVs, but ignored the effect of UAV state on path planning. In this paper, we propose a path planning method based on model predictive control (MPC) and control barrier functions (CBF) for UAVs to effectively address the challenge of autonomous UAVs flight. By incorporating CBF and MPC, the MPC optimization is formulated to predict the UAV's flight path based on the current state of the UAV in the receding horizon before considering obstacle avoidance. The CBF constraint guarantees that there are no collisions between the UAV and obstacles, and that the MPC creates an optimal path. This method helps planners design control strategies that meet safety requirements. It improves the spatial configuration between the UAV and nearby obstacles, ensuring that they remain outside the safe range. The method has been verified through simulation and real-world experiments, demonstrating that the UAV maintains a safe distance from obstacles and can also find the shortest path during its flight.

关键词： Buildings Predictive models Autonomous aerial vehicles Path planning Robustness Safety Planning

来源：评论

学校读者我要写书评

暂无评论

Remaining Useful Life Prediction of Lithium-ion Batteries Based on Multi-graph-network model

Remaining Useful Life Prediction of Lithium-ion Batteries Ba...

引用

第43届中国控制会议

作者： Liujun Tao Huaiyu Wu Xiujuan Zheng Engineering Research Center for Metallurgical Automation and Measurement Technology of Ministry of Education Wuhan University of Science and Technology Institute of Robotics and Intelligent Systems Wuhan University of Science and Technology

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

Accurately predicting the Remaining Useful Life(RUL) of lithium-ion batteries is crucial for their safety and reliability, and it's an important issue of concern for battery management systems. The existing RUL prediction is mainly concentrated on a single source characteristics or a single model, and generally only the time features of the battery Health Indicators(HIs) are considered. This article proposes a multi-feature and multi-graph neural network fusion method for predicting the RUL of batteries. First of all, extract HIs from multiple aspects such as voltage, current, temperature curve and other aspects during partial charging and discharging processes, and construct HIs graph. Secondly, preliminary predictions of RUL were made using Graph Convolutional Network(GCN), Graph Attention Network(GAT), and Graph Sample and Aggregate Network(Graph SAGE),respectively. In order to improve the prediction accuracy of the model, the model extracts spatial features from non-homologous sources and constructs an HI graph as the primary input. Inspired by the advantages of multi-model fusion, random forest regression is used for multi model fusion. To verify the effectiveness of the model, comparative experiments were conducted on the Massachusetts Institute of Technology(MIT) battery dataset. The results indicate that the proposed method has better accuracy and stronger robustness in RUL prediction.

关键词： Lithium-ion batteries Prediction of remaining useful life Multi source spatial features Multi graph neural network Random forest regression

来源：评论

学校读者我要写书评

暂无评论

Multi-microgrid Multi-energy Optimal Scheduling Strategy Based on Hybrid Energy Storage System and Sharing Technology

Multi-microgrid Multi-energy Optimal Scheduling Strategy Bas...

引用

Chinese Control and Decision Conference, CCDC

作者： Decai Zhang Huaiyu Wu Mian Hu Yang Chen Engineering Research Center for Metallurgical Automation and Measurement Technology of Ministry of Education Wuhan University of Science and Technology Institute of Robotics and Intelligent Systems Wuhan University of Science and Technology

ISBN: (数字)9798350387780

ISBN: (纸本)9798350387797

To effectively enhance the utilization of renewable energy in multi-microgrid systems while ensuring fair distribution of benefits among microgrids, this paper proposes a multi-microgrid multi-energy optimal scheduling strategy based on hybrid energy storage system (HESS) and sharing technology. Firstly, a novel multi-microgrid multi-energy shared energy storage system framework is designed, considering that a HESS is equipped with hydrogen storage system, electric boiler, heat storage tank, P2G devices and gas storage tank as well as coordinates the multi-energy sharing among microgrids. All microgrids and HESS are composed into a microgrid alliance for cooperative game. Secondly, the alternating direction method of multipliers (ADMM) is used to solve the optimal energy transaction volume and transaction price between each microgrid and HESS. Then, the asymmetric Nash negotiation (ANN) method is used to fairly distribute the benefits obtained by each subject. Finally, the simulation experiment shows that the proposed multi-microgrid multi-energy optimal scheduling strategy can not only meet the needs of various energy sources of microgrid, but also improve the utilization rate of renewable energy and the economic benefits of each subject.

关键词： Renewable energy sources Privacy Costs Simulation Microgrids Optimal scheduling Minimization

来源：评论

学校读者我要写书评

暂无评论

Stackelberg Game-Based Optimal Scheduling Strategy for Multi-Microgrid Systems with Electricity-Heat Shared Energy Storage

Stackelberg Game-Based Optimal Scheduling Strategy for Multi...

引用

Chinese automation Congress (CAC)

作者： Chao Peng Decai Zhang Mian Hu Huaiyu Wu Yang Chen Engineering Research Center for Metallurgical Automation and Measurement Technology of Ministry of Education Wuhan University of Science and Technology Institute of Robotics and Intelligent Systems Wuhan University of Science and Technology

ISBN: (数字)9798350368604

ISBN: (纸本)9798350368611

To address the challenges of the complexity of electricity-heat coupling, the pollution of carbon emissions, the security of privacy information, and the uncertainty of renewable energy generations (REGs), this paper proposes a novel multi-microgrid electricity-heat shared energy storage system framework, considering that the integrated energy storage operator (IESO) is equipped with electric boiler and two types of energy storage (i.e., electrical energy storage and heat energy storage) devices, and each microgrid (MG) is equipped with combined heat and power system that coupled carbon capture system and power-to-gas device. Latin hypercube sampling is used to deal with the uncertainty of REGs. A distributed bi-level iterative algorithm based on Stackelberg game theory is designed, which effectively protects the users' privacy information, and finally a Stackelberg equilibrium strategy is obtained, where the IESO and each MG minimize its operating cost. Simulation results show that the proposed optimal scheduling strategy can effectively reduce the operating cost and carbon emissions of each MG, and increase the benefits of the IESO.

关键词： Privacy Uncertainty Costs Cogeneration Optimal scheduling Microgrids Thermal pollution Iterative methods Energy storage Resistance heating

来源：评论

学校读者我要写书评

暂无评论

Fractional-order global fast terminal sliding mode control strategy for fractional-order hydraulic turbine regulating system

Fractional-order global fast terminal sliding mode control s...

引用

第42届中国控制会议

作者： Shiyu Xi Zhihuan Chen Engineering Research Center for Metallurgical Automation and Measurement Technology of Ministry of Education Institute of Robotics and Intelligent Systems Wuhan University of Science and Technology

Hydraulic turbine regulating system(HTRS) directly affects the safety and stability of hydro-generator units. In this paper, the control and modeling problems of the HTRS are mainly investigated based on the fractional-order theory, aiming to design a novel control strategy to raise the dynamic response of the HTRS and ensure the frequency stability of the hydrogenerator units. Firstly, a nonlinear model of the fractional-order HTRS is established mathematically. Secondly, a fractionalorder global fast terminal sliding mode controller is designed to improve the dynamic performance as well as the robustness of the system. Finally, relevant simulations are carried out to illustrate the effectiveness and rationality of the proposed control strategy in comparison with two other fractional-order control strategies.

关键词：

来源：评论

学校读者我要写书评

暂无评论

An improved memetic algorithm for multi-objective resource-constrained flexible job shop inverse scheduling problem: An application for machining workshop

An improved memetic algorithm for multi-objective resource-c...

引用

作者： Wei, Shupeng Tang, Hongtao Li, Xixing Lei, Deming Wang, Xi Vincent School of Mechanical and Electronic Engineering Wuhan University of Technology Wuhan China Hubei Provincial Engineering Research Center of Robotics and Intelligent Manufacturing Wuhan China School of Mechanical Engineering Hubei University of Technology Wuhan China School of Automation Wuhan University of Technology Wuhan China Department of Production Engineering KTH Royal Institute of Technology Sweden

Resource-constrained flexible job shop scheduling problems are commonly encountered in some manufacturing industries, and have been widely studied in recent years. However, traditional resource constrained flexible job shop scheduling problem rarely consider the uncertainties in actual manufacturing systems, which may make the original schedule become suboptimal or even unfeasible. Therefore, a resource constrained flexible job shop inverse scheduling problem (RCFJISP) is proposed in this paper, which aims to cope with uncertain events by simultaneously adjusting the machine, worker and process parameters of the original schedule. A multi-objective optimization model is constructed to minimize the makespan, worker cost, machine energy consumption and deviation index. Furthermore, an improved memetic algorithm (IMA) is developed for solving the proposed problem. In IMA, a novel double-layer encoding mechanism is designed to enhance the capacity in exploring new solution's domains. Three initialization strategies utilizing original scheduling information are designed to improve the quality of initial solutions. An adaptive mutation strategy and a local search mechanism are designed to enhance exploration and exploitation ability of the algorithm. And a crowding operator is proposed to reflect the diversity of the population effectively. In computational experiments, 28 extended benchmarks are constructed, and the effectiveness of the proposed strategy and algorithm is verified by comparing IMA with its 4 variants and other 4 widely used algorithms. Finally, two inverse scheduling problems of a real-world hydraulic cylinder machining workshop under two uncertain situations are studied. The results demonstrate that IMA can effectively solve the actual inverse scheduling problem. With a slight adjustment to the original scheduling, it can reduce the makespan by 11.5%, the worker cost by 8.1% and the machine energy consumption by 27.9% on average. © 2024 The Society of Ma

关键词： Multiobjective optimization

来源：评论

学校读者我要写书评

暂无评论

Multi-objective optimal design of an optimal fuzzy fractional order PID controller for fractional order hydraulic turbine regulating system

引用

Expert Systems with Applications 2025年 286卷

作者： Xi, Shiyu Chen, Zhihuan Engineering Research Center for Metallurgical Automation and Measurement Technology of Ministry of Education Wuhan430081 China Institute of Robotics and Intelligent Systems Wuhan University of Science and Technology Wuhan430081 China

The hydraulic turbine regulating system (HTRS) is a crucial component of the energy dispatch of hydropower plants. To achieve precise control of the HTRS output speed under variable working conditions, this paper explores the benefits of multi-objective optimization in the control field. A multi-objective optimization problem is established for an optimal fuzzy fractional order PID (OFFOPID) controller, tailored for fractional order HTRS working under both unload and load conditions. By introducing fractional order calculus operators and specifically optimizing the gains, rule bases, and membership functions, the OFFOPID controller enhances the traditional fuzzy PID controller and provides greater flexibility. In this multi-objective optimization problem, steady-state error (SSE), integral square error (ISE), and overshoot percentage (OP) are selected as the objective functions to ensure precise control accuracy, rapid response, and smooth transient behavior. To obtain the optimal Pareto frontier, the Pareto local search-nondominated sorting genetic algorithm III (PLS-NSGAIII) is proposed, with hybrid coding for population individuals specific to the OFFOPID framework. In this algorithm, the improved individual selection, crossover, and mutation operators enhance global search, while individual local search, conducted based on Pareto optimality, improves local search capabilities. Experiments show that the OFFOPID controller provides rapid and accurate responses for highly inertial HTRS, outperforming traditional controllers. Compared to three other multi-objective optimization algorithms on benchmark test functions and HTRS applications, the PLS-NSGAIII achieves lower GD and IGD values and higher HV values, demonstrating its effectiveness in solving HTRS problem. © 2025 Elsevier Ltd

关键词： Multiobjective optimization

来源：评论

学校读者我要写书评

暂无评论

A Novel Acupuncture Needle Based on FBG for Quantitative Evaluation of Expert Manipulations 20

A Novel Acupuncture Needle Based on FBG for Quantitative Eva...

引用

20th IEEE International Conference on Mechatronics and automation, ICMA 2023

作者： Yuan, Zhihang Zhang, Linshuai Jiang, Tao Gu, Shuoxin Xu, Lin Zhang, Yujie Zeng, Peng Chengdu University of Information Technology School of Automation Sichuan Chengdu China Chengdu University of Traditional Chinese Medicine School of Intelligent Medicine Sichuan Chengdu China Chengdu University of Information Technology International Joint Research Center of Robotics and Intelligence System of Sichuan Province Sichuan Chengdu China

ISBN: (纸本)9798350320831

In the process of acupuncture treatment, it is very important to obtain the pressure information and torque of acupuncture, which can be fed back to the acupuncturist to evaluate the therapeutic effect. At present, most of the sensor needles use resistance strain gauge and piezoelectric ceramic plate to complete force information collection. The above sensors are not only susceptible to the influence of external environment, but their accuracy is not high enough. Therefore, Fiber Bragg grating (FBG) is creatively used as the sensor in the field of acupuncture. It also has innovative significance in the field of acupuncture. In this paper, a three-axis force-sensing needle based on flexural hinge and Fiber Bragg grating (FBG) is designed to sense the contact force and torque when applying twist stitch method. To ensure the feasibility of the sensor needle, a mathematical model was established and an appropriate stiffness structure was designed. The rationality of the sensor needle was verified by static structure analysis and modal analysis of finite element simulation. Finally, it was proved that the sensor needle could meet the design requirements and complete the task of force sensing. © 2023 IEEE.

关键词： Needles

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：