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General closed-form inverse kinematics for arbitrary three-joint subproblems based on the product of exponential model

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Frontiers of Mechanical engineering 2022年第2期17卷 85-101页

作者： Tao SONG Bo PAN Guojun NIU Jiawen YAN Yili FU State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China School of Mechanical Engineering and Automation Zhejiang Sci-Tech UniversityHangzhou 310018China

The inverse kinematics problems of robots are usually decomposed into several Paden–Kahan subproblems based on the product of exponential model. However, the simple combination of subproblems cannot solve all the inverse kinematics problems, and there is no common approach to solve arbitrary three-joint subproblems in an arbitrary postural relationship. The novel algebraic geometric (NAG) methods that obtain the general closed-form inverse kinematics for all types of three-joint subproblems are presented in this paper. The geometric and algebraic constraints are used as the conditions precedent to solve the inverse kinematics of three-joint subproblems. The NAG methods can be applied in the inverse kinematics of three-joint subproblems in an arbitrary postural relationship. The inverse kinematics simulations of all three-joint subproblems are implemented, and simulation results indicating that the inverse solutions are consistent with the given joint angles validate the general closed-form inverse kinematics. Huaque III minimally invasive surgical robot is used as the experimental platform for the simulation, and a master–slave tracking experiment is conducted to verify the NAG methods. The simulation result shows the inverse solutions and six sets given joint angles are consistent. Additionally, the mean and maximum of the master–slave tracking experiment for the closed-form solution are 0.1486 and 0.4777 mm, respectively, while the mean and maximum of the master–slave tracking experiment for the compensation method are 0.3188 and 0.6394 mm, respectively. The experiments results demonstrate that the closed-form solution is superior to the compensation method. The results verify the proposed general closed-form inverse kinematics based on the NAG methods.

关键词： inverse kinematics Paden-Kahan subproblems three-joint subproblems product of exponential closed-form solution

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Globally Exponential Regulation of Hypersonic Vehicle with Strong Nonlinearies 6

Globally Exponential Regulation of Hypersonic Vehicle with S...

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6th International Symposium on Autonomous systems, ISAS 2023

作者： Yang, Shaohua Li, Xia Liu, Zhen Zhang, Yanjun Qufu Normal University Institute of Automation College of Engineering Qufu273165 China Qufu Normal University School of Cyber Science and Engineering Qufu273165 China Institute of Automation Chinese Academy of Sciences Integrated Information System Research Center Beijing100190 China Beijing Institute of Technology School of Automation Beijing100081 China

ISBN: (纸本)9798350316155

This paper considers a regulation problem for a longitudinal dynamical model of hypersonic vehicles with strong nonlinearies. The problem is reduced to a stabilization problem by shifting the desired equilibrium position to the origin. By means of a control input domination idea and suitable coordinate transformations, the longitudinal dynamics of hypersonic vehicles with engine throttle setting dynamics are divided into a flight-path angle controlled subsystem and a velocity controlled subsystem. A new nonlinear state-feedback control scheme is proposed using a parameter separation technique for dealing with strong nonlinearies and a backstepping approach for designing virtual and actual controllers. The proposed controller ensures the closed-loop signals global boundedness and achieves exponential regulation throughout the vehicle's operational envelope. Simulation results show the desired control system performance for the hypersonic vehicle models with strong nonlinearies. © 2023 IEEE.

关键词： Hypersonic vehicles

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Non-Autoregressive Sign Language Translation: A Transformer Encoder-only Approach for Enhanced Multimodal Integration 24

Non-Autoregressive Sign Language Translation: A Transformer ...

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2024 International Conference on Advanced Robotics, automation engineering and Machine Learning, ARAEML 2024

作者： Du, Yao Xie, Pan Peng, Taiying Hu, Xiaohui School of Automation Science and Electrical Engineering Beihang University Beijing China Science and Technology on Integrated Information System Laboratory Institute of Software Chinese Academy of Sciences Beijing China

ISBN: (纸本)9798400717116

Sign language translation aims to transform continuous sign language videos into text, thereby mapping sign language actions onto natural language. Current research primarily focuses on the Transformer's encoder-decoder architecture, employing an autoregressive (AR) approach for SLT. This one-by-one token generation method has a slow speed to translate. We design a Non-Autoregressive Sign Language Translation (NA-SLT) model based on Transformer Encoder. The proposed model consists of three components: The text-encoder, sign-encoder, and sign-Text-encoder. Both the text-encoder and sign-encoder utilize the Encoder to model single-modality data. The sign-Text-encoder effectively engages with multi-modal data, producing high-quality corresponding text after minimal refinement iterations. Moreover, during model training, we devise a double-mask strategy. In addition to traditional random masking, the schedule allocates mask probabilities based on each word's frequency, ensuring long-Tail tokens have an increased chance of being masked and receiving extensive training. We evaluate the model on PHOENIX-2014T, and the results indicate that NA-SLT approaches the performance of AR models on BLEU (21.06) and ROUGE(49.59) metrics while significantly improving translation speed (5.4x-7.9x). © 2024 ACM.

关键词： Metadata

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RESEARCH ON DAMAGE LOCALIZATION TECHNIQUES FOR REUSABLE CARRIER TANK STRUCTURES

RESEARCH ON DAMAGE LOCALIZATION TECHNIQUES FOR REUSABLE CARR...

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2024 CSAA/IET International Conference on Aircraft Utility systems, AUS 2024

作者： Ben, Xu Mei, Yuan Shaopeng, Dong Jiutian, Zhang Fuel System Department Nanjing Engineering Institute of Aircraft Systems AVIC Nanjing China School of Automation Science and Electrical Engineering Beihang University Beijing China Aviation Key Laboratory of Science and Technology on Aero Electromechanical System Integration Nanjing China Ningho Institute of Technology Beihang University Ningbo China

Lamb waves, characterized by slow attenuation, short wavelength, and sensitivity to damage, have been widely utilized in the field of composite material damage detection. In addressing the issue of damage localization in composite curved tank structures, this study proposes a composite tank localization algorithm based on convolutional neural networks (CNNs) using Lamb wave data. The approach transforms the damage localization regression problem into a classification problem through partitioning, achieving damage zone localization in composite tank structures with fewer sensors. The accuracy of the algorithm is more than 98% in the dataset constructed from physical experiments, which verifies its accuracy and applicability. © The Institution of engineering & Technology 2024.

关键词： Tanks (containers)

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A Self-organized Coverage Algorithm for UAV Swarms based on Color Information Recognition 4

A Self-organized Coverage Algorithm for UAV Swarms based on ...

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4th International Symposium on Artificial Intelligence and Intelligent Manufacturing, AIIM 2024

作者： Liu, Tao Zhang, Xiao Zhang, Junfu Jiang, Shiqi School of Mechanical Engineering Xi Hua University Chengdu China International Joint Institute of Robotics and Intelligent System School of Automation Chengdu University of Information Technology Chengdu China

ISBN: (纸本)9798331541729

This paper proposes a self-organized coverage method for unmanned aerial vehicle (UAV) swarm aimed at multi-area coverage. The proposed method attempts to take the color light emitted from the UVA as an important state information. The virtual forces and the color state are incorporated to develop the self-organized coverage algorithm, so that the communication dependency among UAV swarm has been weakened. Simulation experiments show that under the condition of weak communication, the algorithm effectively achieves coverage of multiple areas. Moreover, when part of UAVs in the swarm are damaged or fails, the swarm based on the proposed algorithm can achieve self-organized recovery and continue to complete the task. © 2024 IEEE.

关键词： Unmanned aerial vehicles (UAV)

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A Distributed Task Allocation Algorithm for UAV Swarm Based on Local Information 4

A Distributed Task Allocation Algorithm for UAV Swarm Based ...

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4th International Symposium on Artificial Intelligence and Intelligent Manufacturing, AIIM 2024

作者： Zhang, Junfu Liu, Chengjin Liu, Tao Jiang, Shiqi School of Mechanical Engineering Xi Hua University Chengdu China International Joint Institute of Robotics and Intelligent System School of Automation Chengdu University of Information Technology Chengdu China

ISBN: (纸本)9798331541729

This article proposes a distributed task allocation algorithm based on local information for unmanned aerial vehicle (UAV) swarm. A Part of the UAVs which are in the information exchange range participate in the local range auction. The auction members will change due to the movement of the UAVs in the following auctions. Each UAV in the swarm will be allocated a task by multiple rounds of local range auctions. The experimental data clearly demonstrate that the method has superior performance for enabling UAV swarm to complete the allocation of tasks based on local information. © 2024 IEEE.

关键词： Consensus algorithm

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Tilt Tri-Rotor UAV Attitude Control in Hover Mode

Tilt Tri-Rotor UAV Attitude Control in Hover Mode

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International Conference on Guidance, Navigation and Control, ICGNC 2022

作者： Ma, Yan Wang, Yingxun Zhao, Jiang Cai, Zhihao Liu, Ningjun School of Automation Science and Electrical Engineering Beihang University Beijing100083 China Institute of Unmanned System Beihang University Beijing100083 China

ISBN: (纸本)9789811966125

This paper studied a tilt tri-rotor UAV (Unmanned Aerial Vehicle) attitude control in hover mode. Firstly, the mathematical model of the tilt tri-rotor UAV is established, in which the propeller forces and moments are analyzed and calculated. On this basis, the attitude dynamic equations are obtained. The mathematical model is used for attitude controller design. Secondly, a backstepping based control scheme is designed for the tilt tri-rotor UAV attitude control, and tracking differentiator (TD) is adopted to improve the control performance of basic backstepping control approach. On this basis, roll, pitch, and yaw angle controllers are designed. Also, different kinds of disturbances are considered, and PID (Proportion-Integral-Differential) controllers are used for comparison. Finally, comparative simulations are carried out by using MATLAB, and the performance of the attitude control system is tested. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Attitude control

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Optimized Deloading Operation of Wind Turbine Generator in Virtual Power Plant Considering Forecast Error and Carbon Trading 16

Optimized Deloading Operation of Wind Turbine Generator in V...

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16th IEEE PES Asia-Pacific Power and Energy engineering Conference, APPEEC 2024

作者： Yan, Yang Qian, Kang Li, Dongsen Xu, Yiyue Huang, Jiejie Wang, Zhangfan Jiangsu Power Design Institute Co. LTD. China Energy Engineering Group Department of integrated energy system Nanjing China School of Electrical Engineering and Automation Nantong University Nantong China

ISBN: (纸本)9798350386127

For virtual power plant (VPP) that includes the wind turbine generator (WTG) and gas turbine (GT), output power curve of the VPP to participate in the bidding of day-ahead electricity market is determined with the wind speed forecast. The forecast error of the wind speed may result in inadequate power output from the WTG and the deficiency may be compensated by power output from the GT. The deficiency may be reduced by bidding with the power output curve of the WTG under the deloading operation mode. In this article, the overall operation cost of the VPP with the deloading operation of the WTG is evaluated, which considers revenue from the electricity sale, as well as cost of GT operation, carbon trading, and active power reserve. The deloading ratio of the WTG is optimized by evaluating the operation cost, in order to minimize the impact of the forecast error on the overall operation cost of the VPP. Numerical analysis result validates the effectiveness of the proposed optimization algorithm. © 2024 IEEE.

关键词： Windmill

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Inflatable Metamorphic Origami

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Research 2023年第2期6卷 53-63页

作者： Sen Wang Peng Yan Hailin Huang Ning Zhang Bing Li School of Mechanical Engineering and Automation Harbin Institute of TechnologyShenzhen 518052P.R.China Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Harbin Institute of TechnologyShenzhen 518052P.R.China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001P.R.China

This study created a new type of inflatable metamorphic origami that has the advantage of being a highly simplified deployable system capable of realizing multiple sequential motion patterns with a monolithic actuation.

关键词： simplified lata system

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AFDX network system simulation design based on OPNET 3

AFDX network system simulation design based on OPNET

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3rd International Conference on Electronic Information engineering and Computer, EIECT 2023

作者： Jiang, Lei He, Jinsong State Nuclear Power Automation System Engineering Company. LTD Shanghai China Shanghai Technical Institute of Electronics and Information Shanghai China

ISBN: (纸本)9798350357707

Avionics Full Duplex Switched Ethernet (AFDX) has been widely used in civil aircraft avionics systems because of its advantages of low cost, delay, high reliability, real-Time performance and strong scalability. The performance of AFDX network has a direct influence on the real-Time data transmission, the integrity and effectiveness of information transmission of airborne avionics system. It is difficult for traditional tests to simulate on-site working conditions. Therefore, OPNET network simulation tools are used to conduct high-precision simulation and modeling of AFDX terminals and AFDX switches, and a semi-physical AFDX network system composed of simulation parts and physical parts is built as the target object of network analysis and optimization. Finally, the performance of the constructed network system is tested by means of network acquisition and monitoring, which provides an effective verification method for the performance analysis and network optimization of avionics network system. The design can improve the reliability and quality of airborne network, and play a guiding role in practical application and product design. © 2023 IEEE.

关键词： Product design

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