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第17届中国系统仿真技术及其应用学术年会（17th CCSSTAE 2016）

作者： Lou Yun-jiang Liao Bin Key Lab for Advanced Motion Control Technology and Modern Automation Equipments School of Mechatronics Engineering and AutomationHarbin Institute of Technology(Shenzhen)

Robot acceleration is the bottleneck for high-speed pick-and-place *** this paper,the extreme acceleration at null velocity is proposed to characterize the acceleration *** dynamic model of the V3 robot is developed for computing the extreme *** each subchain of the robot is comparable to a cantilever beam structure,its bending deflection may be considerable and thus leads to manipulation *** bending stiffness is thus proposed characterized by the bending *** the acceleration and the bending stiffness with kinematic indices of velocity,accuracy,and dexterity,the optimal design problem is formulated to maximize the dextrous workspace having specified good *** optimal structure shows greatly improved performance in workspace,velocity,acceleration,and accuracy.

关键词： Dynamics Bending Deflection Pick-and-Place Optimal Design Parallel Manipulator

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A robust algorithm for autotuning controllers in mechatronic modules

A robust algorithm for autotuning controllers in mechatronic...

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WGP Congress 2014

作者： Friedrich, Christian Stanicki, Andreas Bröcker, Markus Lechler, Armin Verl, Alexander Universität Stuttgart Institute for Control Engineering of Machine Tools and Manufacturing Units Seidenstraße 36 Stuttgart Germany Schunk GmbH and Co. KG R and D Automation and Mechatronics Bahnhofstraße 106-134 Lauffen/Neckar Germany Hochschule Heilbronn Laboratory for Control Engineering and System Simulation Max-Planck-Straße 39 Heilbronn Germany

ISBN: (纸本)9783038352457

Electric actuators are an important part of every manufacturing system. Often it is a problem to get a good motion control configuration which allows high performance tasks. This contribution shows how the mechanical load and the self-dynamics of the system associate. Based on this, it is possible to formulate an identification algorithm to estimate the mechanical load. Now all system parameters are known and the controller can be computed automatically. Therefore we show the results in an experiment with a classic cascaded and a flatness-based controller. © (2014) Trans Tech Publications, Switzerland.

关键词： Actuators

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Hazard-evaluation-oriented Moving Horizon Parallel Steering control for Driver-automation Collaboration During Automated Driving

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IEEE/CAA Journal of Automatica Sinica 2018年第6期5卷 1062-1073页

作者： Hongyan Guo Linhuan Song Jun Liu Fei-Yue Wang Dongpu Cao Hong Chen Chen Lv Partick Chi-Kwong Luk State Key Laboratory of Automotive Simulation and Control and the Department of Con-trol Science and Engineering Jilin University(Campus Nanling)Changchun130025China State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China Research Center for Military Computational Experiments and Parallel Systems Technology National University of Defense TechnologyChangsha 410073China Mechanical and Mechatronics Engineering Department at the University ot Waterloo 200 University Avenue West WaterlooONNZL3G1Canada Department of Automotive Engineering Cranfield UniversityBedfordshire MK43 0ALUK School of Water Energy and EnvironmentCranfield UniversityBedfordshire MK43 0ALUK

Prompted by emerging developments in connected and automated vehicles, parallel steering control, one aspect of parallel driving, has become highly important for intelligent vehicles for easing the burden and ensuring the safety of human drivers. This paper presents a parallel steering control framework for an intelligent vehicle using moving horizon *** framework considers lateral stability, collision avoidance and actuator saturation and describes them as constraints, which can blend the operation of a human driver and a parallel steering controller effectively. Moreover, the road hazard and the steering operation error are employed to evaluate the operational hazardous of an intelligent vehicle. Under the hazard evaluation,the intelligent vehicle will be mainly operated by the human driver when the vehicle operates in a safe and stable *** automated steering driving objective will play an active role and regulate the steering operations of the intelligent vehicle based on the hazard evaluation. To verify the effectiveness of the proposed hazard-evaluation-oriented moving horizon parallel steering control approach, various validations are conducted, and the results are compared with a parallel steering scheme that does not consider automated driving situations. The results illustrate that the proposed parallel steering controller achieves acceptable performance under both conventional conditions and hazardous conditions.

关键词： Hazard evaluation intelligent vehicle atera stability moving horizon optimization paralle steering control

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An Efficient Defect Detection System for Printed Circuit Boards with Edge-Cloud Fusion Computing 3

An Efficient Defect Detection System for Printed Circuit Boa...

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3rd International Conference on Industrial Artificial Intelligence, IAI 2021

作者： Wu, Yi Wang, Jing Chen, Yang-Quan Beijing University of Chemical Technology College of Information Science and Technology Beijing China University of Technology School of Electrical and Control Engineering Beijing China University of California Mechatronics Embedded Systems and Automation Lab MercedCA95343 United States

ISBN: (纸本)9781665435178

Many intelligent methods have been proposed and applied in the field of autonomous manufacturing inspection. These advanced algorithms with high requirements on computing power and network may lead to time delay, high cost and energy consumption in practical applications with massive data to be processed. We carry out an efficient defect detection system in an end-edge-cloud architecture with the concept of edge computing to process the big data quickly and effectively. A branchy deep learning model with early exit capability of inference is proposed to detect the category and location of the defect in printed circuit boards. We offload part of the computing tasks to the edge nodes by segmenting and deploying the DL model. Therefore, our system has high detection efficiency and makes real-time defect detection possible. © 2021 IEEE.

关键词： Printed circuit boards

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Adaptive neural network output-feedback tracking control for switched nonlinear ship maneuvering systems with time delays under arbitrary switching

Adaptive neural network output-feedback tracking control for...

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2022 Chinese automation Congress, CAC 2022

作者： Li, Zhenhua Ren, Xiangxuan Dong, Botao Chen, Hong Zhang, Weidong SJTU Sanya Yazhou Bay Institute of Deepsea Science and Technology Sanya572024 China Department of Automation Shanghai Jiao Tong University Shanghai200240 China College of Mechatronics and Control Engineering Shenzhen University Shenzhen518061 China School of Information and Communication Engineering Hainan University Haikou570228 China

ISBN: (纸本)9781665465335

This paper focuses on the tracking control problem for switched nonlinear ship maneuvering time-delay systems with only a heading angle available by adaptive neural network (NN) output feedback. Using the backstepping method, an adaptive NN control mechanism is designed to solve the problem cooperated with the state observer. The uncertain terms of the system are approximated by NNs, and the state observer is designed to estimate the yaw rate and rudder angle. The unknown time delays are overcome by exploiting the common Lyapunov-Krasovskii functionals (CLKFs). Combined with error transformation, the proposed control method guarantees that i) all of the signals for the system are semi-global uniformly ultimately boundedness (SGUUB) under arbitrary switching;and, ii) the tracking error of system output keeps within a small neighborhood around the origin. The results of simulation results are shown to demonstrate the feasibility of the control strategy. © 2022 IEEE.

关键词： Time delay

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Camera parameters auto-adjusting technique for robust robot vision

Camera parameters auto-adjusting technique for robust robot ...

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IEEE International Conference on Robotics and automation (ICRA)

作者： Huimin Lu Hui Zhang Shaowu Yang Zhiqiang Zheng Department of Automatic Control College of Mechatronics Engineering and Automation National University of Defense Technology Changsha Hunan China

How to make vision system work robustly under dynamic light conditions is still a challenging research focus in computer/robot vision community. In this paper, a novel camera parameters auto-adjusting technique based on image entropy is proposed. Firstly image entropy is defined and its relationship with camera parameters is verified by experiments. Then how to optimize the camera parameters based on image entropy is proposed to make robot vision adaptive to the different light conditions. The algorithm is tested by using the omnidirectional vision in indoor RoboCup Middle Size League environment and the perspective camera in outdoor ordinary environment, and the results show that the method is effective and color constancy to some extent can be achieved.

关键词： Robot vision systems Cameras Robustness Entropy Machine vision Algorithm design and analysis Robotics and automation Focusing Computer vision Image processing

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Initial state compensation of repetitive controller

Initial state compensation of repetitive controller

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Proceedings of the 3th World Congress on Intelligent control and automation

作者： Xu, Guangjie Bian, Runqiang Li, Yusen Wang, Zhimin She, Jin-Hua Nakano, Michio Department Automation Tianjin Institute of Technology Tianjin 3000191 China Mechatronics Department Tokyo Engineering University 1404-1 Katajura Hachioji Tokyo 192 Japan Dept. of Control System Engineering Tokyo Institute of Technology 2-12-1 Oh-Okayama Meguro-Ku Tokyo 152 Japan

A design approach of the initial state of the repetitive controller is proposed in this paper. The approach makes full use of the feature of the digital controller and optimizes the transient response without perplexi... 详细信息

关键词： Digital control systems

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An improved wavelet filtering algorithm for NMR spin echo

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Journal of Information and Computational Science 2015年第8期12卷 2911-2918页

作者： Ma, Shuangbao Gao, Hongliang Li, Kong College of Automation Huazhong University of Science and Technology Wuhan China College of Mechanical Engineering and Automation Wuhan Textile University Wuhan China College of Mechatronics and Control Engineering Hubei Normal University HuangshiHubei China

An improved wavelet filtering algorithm is put forward based on the mean-value filtering function in this paper for the spin echo signal of Nuclear Magnetic Resonance Logging (NMRL), the Signal to Noise Ratio (SNR) of which is always very low. The detailed steps of this improved algorithm, which includes the advantages of mean-value filtering and wavelet filtering algorithm respectively, are designed based on the wavelet-based threshold filtering method. This paper also builds a 32-point forward model of big porosity in order to generate the spin echo signal with adjustable SNR for an experiment. The median filtering, wavelet hard threshold filtering, wavelet soft threshold filtering and the improved filtering algorithm are used to filter the constructed spin echo signal. The filtering effects of these four algorithms are analyzed while the SNR and the Root Mean Square Error (RMSE) are also calculated out. The results of this experiment and the application of these algorithms show that this improved wavelet filtering algorithm can improve the SNR and enhance the useful signal in dealing with the signal of nuclear magnetic resonance spin echo. Copyright © 2015 Binary Information Press.

关键词： Signal to noise ratio

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Mathematical model and genetic optimization for hybrid flow shop scheduling problem based on energy consumption

Mathematical model and genetic optimization for hybrid flow ...

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Chinese control and Decision Conference, CCDC

作者： Xiang Liu Fengxing Zou Xiangping Zhang Department of Automatic Control College of Mechatronics Engineering Automation National University of Defense Technology Changsha Hunan China

Hybrid flow shop scheduling problem (HFSP) is characterized as the scheduling of jobs in a flow shop environment where, at any stage, there may exist multiple machines. Besides the finishing time of the last job, energy consumption is another important factor affecting economy benefit of hybrid flow shop. A mixed-integer nonlinear programming model is established for the HFSP with minimizing the energy consumption, according to the characteristic of HFSP in practice. It is a typical NP-hard combinatorial optimization problem. For solving it efficiently, an improved genetic algorithm is presented. The fitness based on the ranking of the energy consumption of every individual and the self-adaptive mutation operation based on the fitness are adopted. The numerical experiment is carried out on the three-two-three HFSP, and the result indicates that the model is right and the improved algorithm is efficient.

关键词： Energy consumption Job shop scheduling Genetics Genetic algorithms Optimization Encoding Finishing

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Energy Management System for Sustainable Operation of Robot in Disaster Response

Energy Management System for Sustainable Operation of Robot ...

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2020 International Conference on Sustainable Energy engineering and Application, ICSEEA 2020

作者： Lee, Min-Fan Ricky Nugroho, Asep Bahrudin Graduate Institute of Automation and Control National Taiwan University of Science and Technology Taipei Taiwan Research Center for Electrical Power and Mechatronics Indonesian Institute of Sciences Bandung Indonesia National Taiwan University of Science and Technology Department of Mechanical Engineering Taipei Taiwan

ISBN: (纸本)9781728188492

The search and rescue (SAR) robot needs a long-endurance energy source to extend the mission. It needs the energy harvesting and management system. One of the options to harvest energy from the environment is to use photovoltaic (PV). However, the energy which is generated by the PV fluctuates. Putting a supercapacitor to the system will solve this shortcoming. Moreover, it also supports the battery to handle abrupt load variations. The proportional-integral and fuzzy logic control (PI-FLC) is adopted to determine the powersharing between the battery and the supercapacitor. The low pass filter (LPF) is added to separate a high and low frequency of the load. The supercapacitor error voltage and the high frequency are employed as the input of FLC and the output of FLC is reference power which will be taken from the supercapacitor. The PI controller will regulate the supercapacitor current approaching reference power that is given by the FLC. The simulation using Simpower toolbox MATLAB is conducted to evaluate comprehensively and it proves that the proposed method can maintain the state of charge (SoC) of supercapacitor in that the desired level i.e 38%. © 2020 IEEE.

关键词： DC-DC power converters Energy management fuzzy logic robot solar energy supercapacitor

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