检索结果-内蒙古大学图书馆

5th World Robot Conference Symposium on Advanced robotics and Automation, WRC SARA 2023

作者： Zhang, Feng Gu, Yuping Yuan, Shuai Yang, Yongliang Shenyang Jianzhu University School of Electrical and Control Engineering Liaoning Shenyang110168 China Shenyang Institute of Automation Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Liaoning Shenyang110016 China Shenyang Jianzhu University School of Computer Science and Engineering School of Electrical and Control Engineering Liaoning Shenyang110168 China

ISBN: (纸本)9798350307320

Natural swarms have inspired various controlling algorithms for swarm robotics, while few of them were programmed in a similar way as the natural swarms. Defining a reliable programming method is still a daunting challenge in swarm robotics. In nature, the information of 3D protein structure is programmed in the sequence of amino acids of the protein. To mimic the programming method of protein folding, we present a platform for investigating protein-folding inspired programming method for robot swarms. This platform includes three parts: a vibration machine, protein-like robot sequences, and recording devices. The preliminary results presented here demonstrated the effectiveness of this platform and the feasibility of protein-folding inspired programming method for robot swarms. © 2023 IEEE.

关键词： Protein folding

来源：评论

学校读者我要写书评

暂无评论

Event-Based Supervisor control for a Bascule Bridge 9

Event-Based Supervisor Control for a Bascule Bridge

引用

9th South-East Europe Design Automation, Computer Engineering, Computer Networks and Social Media Conference, SEEDA-CECNSM 2024

作者： Fragkoulis, Dimitrios G. Koumboulis, Fotis N. Tzamtzi, Maria P. Giannaris, Georgios L. National and Kapodistrian University of Athens Robotics Automatic Control and Cyber-Physical Systems Laboratory Department of Digital Industry Technologies School of Science Euripus Campus Euboea 34400 Greece National and Kapodistrian University of Athens Core Department Euripus Campus Euboea 34400 Greece

ISBN: (纸本)9798350342482

The automation of a bascule bridge, located in the Netherlands, is studied. The modeling of the system is worked out in the framework of Ramadge-Wonham and analyzed per automation component of the bridge. The desired performance of the bridge is expressed in the form of rules, that will be translated to five groups of sets of regular languages. Next, new groups of sets of regular languages will be introduced by the injection of appropriate uncontrollable events, in order to guarantee the controllability of the languages. Finally, an event-based supervisor scheme will be developed and the nonblockingness of the controlled automaton is proved. © 2024 IEEE.

关键词： Bascule bridges

来源：评论

学校读者我要写书评

暂无评论

Compliance while resisting: a shear-thickening fluid controller for physical human-robot interaction

arXiv

引用

arXiv 2025年

作者： Chen, Lu Chen, Lipeng Chen, Xiangchi Lu, Haojian Zheng, Yu Wu, Jun Wang, Yue Zhang, Zhengyou Xiong, Rong State Key Laboratory of Industrial Control Technology Zhejiang University Zhejiang Hangzhou China Tencent Robotics X Lab Shenzhen China

Physical human-robot interaction (pHRI) is widely needed in many fields, such as industrial manipulation, home services, and medical rehabilitation, and puts higher demands on the safety of robots. Due to the uncertainty of the working environment, the pHRI may receive unexpected impact interference, which affects the safety and smoothness of the task execution. The commonly used linear admittance control (L-AC) can cope well with high-frequency small-amplitude noise, but for medium-frequency high-intensity impact, the effect is not as good. Inspired by the solid-liquid phase change nature of shear-thickening fluid, we propose a Shear-thickening Fluid control (SFC) that can achieve both an easy human-robot collaboration and resistance to impact interference. The SFC’s stability, passivity, and phase trajectory are analyzed in detail, the frequency and time domain properties are quantified, and parameter constraints in discrete control and coupled stability conditions are provided. We conducted simulations to compare the frequency and time domain characteristics of L-AC, nonlinear admittance controller (N-AC), and SFC, and validated their dynamic properties. In real-world experiments, we compared the performance of L-AC, N-AC, and SFC in both fixed and mobile manipulators. L-AC exhibits weak resistance to impact. N-AC can resist moderate impacts but not high-intensity ones, and may exhibit self-excited oscillations. In contrast, SFC demonstrated superior impact resistance and maintained stable collaboration, enhancing comfort in cooperative water delivery tasks. Additionally, a case study was conducted in a factory setting, further affirming the SFC’s capability in facilitating human-robot collaborative manipulation and underscoring its potential in industrial applications. Copyright © 2025, The Authors. All rights reserved.

关键词： Industrial robots

来源：评论

学校读者我要写书评

暂无评论

High-precision Calibration of Camera and IMU on Manipulator for Bio-inspired Robotic System

引用

Journal of Bionic Engineering 2022年第2期19卷 299-313页

作者： Yinlong Zhang Wei Liang Sichao Zhang Xudong Yuan Xiaofang Xia Jindong Tan Zhibo Pang State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Key Laboratory of Networked Control Systems Chinese Academy of SciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China The School of Computer Science and Technology Xidian UniversityXi’an 710071China Department of Mechanical Aerospace and Biomedical EngineeringUniversity of TennesseeKonxville 37996USA Department of Automation Technology ABB Corporate Research Sweden72178 VästerasSweden

Inspired by box jellyfish that has distributed and complementary perceptive system,we seek to equip manipulator with a camera and an Inertial Measurement Unit(IMU)to perceive ego motion and surrounding unstructured *** robot perception,a reliable and high-precision calibration between camera,IMU and manipulator is a critical *** paper introduces a novel calibration ***,we seek to correlate the spatial relationship between the sensing units and manipulator in a joint ***,the manipulator moving trajectory is elaborately designed in a spiral pattern that enables full excitations on yaw-pitch-roll rotations and x-y-z translations in a repeatable and consistent *** calibration has been evaluated on our collected visual inertial-manipulator *** systematic comparisons and analysis indicate the consistency,precision and effectiveness of our proposed calibration method.

关键词： Bio-inspired robotic system Monocular camera IMU Manipulator Calibration

来源：评论

学校读者我要写书评

暂无评论

Effect of additional cylinders on power-extraction performance of a Savonius vertical-axis wind turbine

引用

Journal of Zhejiang University-Science A(Applied Physics & Engineering) 2023年第6期24卷 531-542页

作者： Yangyang YAN Jintao ZHANG Junao SHE Wenhao LIU Jianghong DENG Jianyang ZHU Institute of Robotics and Intelligent Systems Wuhan University of Science and TechnologyWuhan 430081China Key Laboratory of Metallurgical Equipment and Control Technology Ministry of EducationWuhan University of Science and TechnologyWuhan 430081China

To improve the power-extraction performance of the Savonius vertical-axis wind turbine(S-VAWT),additional cylinders,which are used to control the fluid flow around the wind turbine blade,were introduced into the blade *** contrast to the traditional numerical method,a mathematical model in the form of a dynamical system was used in this study.A numerical calculation program that could effectively solve the equations of wind-induced rotation of S-VAWT was developed,and combined with the Taguchi experimental method to investigate the influence of additional cylinders on the power-extraction characteristics of the *** results showed that the additional cylinders have a significant impact on the power-extraction performance of the *** 4-m/s wind speed,the average power coefficient of the S-VAWT with additional cylinders is 15%higher than that of the conventional *** construction of the wind turbine prototype and power-extraction tests,the results showed that compared with a conventional S-VAWT,the output power was 29%higher for the S-VAWT with additional cylinders under the same particular conditions.

关键词： Additional cylinders Taguchi experimental method Savonius vertical-axis wind turbine(S-VAWT) Average power coefficient Wind-induced rotation

来源：评论

学校读者我要写书评

暂无评论

Aspect-Ratio and Scale Aware Rotated Defect Detection for Fiber-reinforced Composites 5

Aspect-Ratio and Scale Aware Rotated Defect Detection for Fi...

引用

5th International Conference on Computer Vision, Image and Deep Learning, CVIDL 2024

作者： Xu, Yuanye Liu, Yuanhao University of Chinese Academy of Sciences Key Laboratory of Networked Control System Shenyang Institute of Automation Chinese Academy of Sciences Shenyang Institute of Automation Chinese Acad. of Sci. Institutes for Robotics and Intelligent Mfg. Chinese Academy of Sciences Shenyang China

ISBN: (纸本)9798350373820

Detecting surface defects in carbon fiber-reinforced composites (FRCs) during prepreg stacking is crucial for ensuring product quality. Traditional methods using horizontal bounding boxes (HBBs) for defect detection often lead to overlapping boxes and inaccurate results. This paper proposes an Aspect-Ratio and Scale Aware Detector network (ARSADet) specifically designed for rotated defect detection in FRCs. The network incorporates a Gabor convolutional network for feature extraction, an aspect-ratio and scale-aware label assignment method, and a newly established FRCs Oriented Defect Detection dataset (FODD). Evaluation on the FODD dataset demonstrates superior performance compared to existing methods. © 2024 IEEE.

关键词： Aspect ratio

来源：评论

学校读者我要写书评

暂无评论

RESEARCH ON THE PID PARAMETER SELF-TUNING OF THE PRESSURIZER control SYSTEM OF NUCLEAR POWER PLANT 29

RESEARCH ON THE PID PARAMETER SELF-TUNING OF THE PRESSURIZER...

引用

2022 29th International Conference on Nuclear Engineering, ICONE 2022

作者： Wang, Hongrui Xing, Kunpeng Zou, Tao Yang, Zhijia Wang, Jingyang Zhang, Pengbin State Key Laboratory of Robotics Key Laboratory of Networked Control System Institutes for Robotics and Intelligent Manufacturing Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China University of Chinese Academy of Sciences Beijing China China Nuclear Power Engineering Co. Ltd Shenzhen China College of Mechanical and Electrical Engineering Guangzhou University Guangzhou China Key Laboratory of Networked Control System Institutes for Robotics and Intelligent Manufacturing Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China

ISBN: (纸本)9780791886373

The pressurizer is an essential part of the safe operation of the nuclear power plant. It contains both the steam phase and the liquid phase, which requires simultaneous control of the pressure and water level, and the control system is strongly coupled. When using the PID control method, it is difficult to tune the parameters, and the difficulty is exacerbated when the set value fluctuates. This paper aims at the multi-input and multioutput pressurizer control system, based on the particle swarm optimization to realize the PID controller parameters self-tuning, adopting the time and absolute error integral as the fitness function to evaluate the merits of the PID parameters, and constantly iterating to update and obtain the PID parameters that better satisfy the current working conditions. For coupled pressurizer control systems, the PID parameter tuning method using particle swarm optimization algorithms can give a group of PID controller parameters that make the system operation stable despite the frequent fluctuation of the set value, and compared with the traditional PID controller parameter tuning method, this method can realize the PID parameter self-tuning, eliminating the trouble of manual tuning. Copyright © 2022 by ASME.

关键词： Nuclear power plants

来源：评论

学校读者我要写书评

暂无评论

A NOVEL PID SELF-TUNING METHOD BASED ON CLOSED-LOOP IDENTIFICATION USED IN NUCLEAR POWER PLANTS 29

A NOVEL PID SELF-TUNING METHOD BASED ON CLOSED-LOOP IDENTIFI...

引用

2022 29th International Conference on Nuclear Engineering, ICONE 2022

作者： Zhang, Pengbin Xing, Kunpeng Zou, Tao Yang, Zhijia Wang, Jingyang Wang, Hongrui State Key Laboratory of Robotics Key Laboratory of Networked Control System Institutes for Robotics and Intelligent Manufacturing Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China University of Chinese Academy of Sciences Beijing China China Nuclear Power Engineering Co. Ltd Shenzhen China College of Mechanical and Electrical Engineering Guangzhou University Guangzhou China Key Laboratory of Networked Control System Institutes for Robotics and Intelligent Manufacturing Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China

ISBN: (纸本)9780791886472

Nuclear power is one of several significant clean energy and its production capacity is increasing rapidly. This paper proposed a novel PID self-tuning method based on closed-loop identification used in nuclear power plants to deal with the turbine's load tracking problem. A setpoint-shifting method is adopted to achieve the informativity of the closed-loop system, and the PID parameters are designed through an optimization method. For validating the proposed method, this paper modeled a pressurized-water reactor (PWR) nuclear power plant, a complex system consisting of three circuits, through the first principle. The primary circuit contains three main devices: a nuclear reactor, a pressurizer, and a steam generator. The models of these three devices are provided by previous literature separately. The whole model is generated through mass and energy balance. This mechanism model is used as the plant model, while the identified model is used as the control model. The initial PID parameters are set through open-loop identification using an external excitation. Then the proposed method works online to track the turbine's load in time. The effectiveness of the proposed method is illustrated by simulations. Copyright © 2022 by ASME.

关键词： Nuclear power plants

来源：评论

学校读者我要写书评

暂无评论

Photopolymerization-based additive manufacturing of ceramics:A systematic review

引用

Journal of Advanced Ceramics 2021年第3期10卷 442-471页

作者： Sefiu Abolaji RASAKI Dingyu XIONG Shufeng XIONG Fang SU Muhammad IDREES Zhangwei CHEN Additive Manufacturing Institute Shenzhen UniversityShenzhen 518060China Institute of Microscale Optoelectronics Shenzhen UniversityShenzhen 518060China Guangdong Key Laboratory of Electromagnetic Control and Intelligent Robotics College of Mechatronics and Control EngineeringShenzhen UniversityShenzhen 518060China

Conversion of inorganic-organic frameworks (ceramic precursors and ceramic-polymer mixtures) into solid mass ceramic structures based on photopolymerization process is currently receiving plentiful attention in the field of additive manufacturing (3D printing).Various techniques(e.g.,stereolithography,digital light processing,and two-photon polymerization) that are compatible with this strategy have so far been widely *** is due to their cost-viability,flexibility,and ability to design and manufacture complex geometric *** platforms related to these techniques have been developed too,in order to meet up with modem technology *** relevant to this review are the challenges faced by the researchers in using these 3D printing techniques for the fabrication of ceramic *** challenges often range from shape shrinkage,mass loss,poor densification,cracking,weak mechanical performance to undesirable surface roughness of the final ceramic *** is due to the brittle nature of ceramic *** on the summary and discussion on the current progress of material-technique correlation available,here we show the significance of material composition and printing processes in addressing these *** use of appropriate solid loading,solvent,and preceramic polymers in forming slurries is suggested as steps in the right *** are indicated as another factor playing vital roles and their selection and development are suggested as plausible ways to remove these barriers.

关键词： ceramics photopolymerization stereolithography additive manufacturing 3D printing polymer-derived ceramics

来源：评论

学校读者我要写书评

暂无评论

Towards Instance Segmentation-Based Litter Collection with Multi-Rotor Aerial Vehicle

Towards Instance Segmentation-Based Litter Collection with M...

引用

International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Filip Zoric Antonio Franchi Matko Orsag Zdenko Kovacic Chiara Gabellieri Laboratory for Robotics and Intelligent Control Systems (LARICS) at the Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia Robotics and Mechatronics Group from the University of Twente Department of Computer Control and Management Engineering Sapienza University of Rome Rome Italy

ISBN: (数字)9798350357882

ISBN: (纸本)9798350357899

This paper presents a novel aerial robotics application of instance segmentation-based floating litter collection with a multi-rotor aerial vehicle (MRAV). In the scope of the paper, we present a review of the available datasets for litter detection and segmentation. The reviewed datasets are used to train a Mask-RCNN neural network for instance segmentation. The neural network is off-board deployed on an edge computing device and used for litter position estimation. Based on the estimated litter position, we plan a path based on a quadratic Bezier curve for the litter pickup. We compare different trajectory generation methods for the object pickup. The system is verified in a laboratory environment. Eventually, we present practical considerations and improvements necessary to enable autonomous litter collection with MRAV.

关键词： Instance segmentation Reviews Neural networks Laboratories Estimation Trajectory Aircraft

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：