检索结果-内蒙古大学图书馆

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

作者： Feng, Zhimin Guo, Jian Guo, Shuxiang Fu, Qiang Tianjin University of Technology Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems Intelligent Robot Laboratory Binshui Xidao Extension 391 Tianjin300384 China Shenzhen Institute of Advanced Biomedical Robot Co. Ltd. No.12 Ganli Sixth Road Jihua Street Longgang District Shenzhen518100 China Beijing Institute of Technology Key Laboratory of Convergence Medical Engineering System and Healthcare Technology The Ministry of Industry and Information Technology School of Life Science No.5Zhongguancun South Street Beijing100081 China

ISBN: (纸本)9798350320831

The control system of vascular interventional surgical robot is a complex nonlinear system. When the catheter is inserted into human blood vessels, due to the irregular and curved shape of human blood vessels, the catheter will undergo small deformation, which will affect the displacement of the catheter. In order to reduce the displacement tracking error, a BP neural network PID controller was designed to compensate the displacement error of the autonomous vascular interventional surgical robot. Firstly, the dynamic analysis is carried out according to the axial displacement motion of the vascular interventional surgical robot, and the catheter displacement tracking controller was designed. According to the displacement error, BP neural network PID control is used to output three parameters of PID. Finally, in the experiment and PID control simulation comparison, the results show that the BP neural network PID control has a small displacement tracking error and superior tracking performance, which can meet the requirements. © 2023 IEEE.

关键词： Three term control systems

来源：评论

学校读者我要写书评

暂无评论

A DDPG-Based Method of Autonomous Catheter Navigation in Virtual Environment 20

A DDPG-Based Method of Autonomous Catheter Navigation in Vir...

引用

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

作者： Tian, Wei Guo, Jian Guo, Shuxiang Fu, Qiang Tianjin University of Technology Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems Intelligent Robot Laboratory Binshui Xidao Extension 391 Tianjin300384 China Shenzhen Institute of Advanced Biomedical Robot Co. Ltd. No.12 Ganli Sixth Road Jihua Street Longgang District Shenzhen518100 China Beijing Institute of Technology Key Laboratory of Convergence Medical Engineering System and Healthcare Technology The Ministry of Industry and Information Technology School of Life Science No.5Zhongguancun South Street Beijing100081 China

ISBN: (纸本)9798350320831

Vascular interventional surgery is the main method for treating cardiovascular diseases. But navigating endovascular catheters through the vascular tree is a highly challenging task even for highly trained specialists. Automation of this task can reduce the burden on surgeons and is expected to improve the surgical outcomes. Although there have been relevant studies utilizing reinforcement learning algorithms to realize autonomous navigation of catheter in the virtual environment Cathsim. However, the kinematics model of the catheter in Cathsim does not conform to the operating mode of the catheter in real vascular interventional surgery. Besides, there are problems such as low success rates of catheter autonomous navigation tasks. To address these issues, this paper modifies the kinematics model of the catheter in Cathsim and designs a catheter autonomous navigation model based on reinforcement learning DDPG (Deep Deterministic Policy Gradient) algorithm. The experimental results show that the agents trained through DDPG in this paper performs better than the agents trained through PPO (Proximal Policy optimization) in other studies in terms of navigation task success rate, completion time, and contact force between the catheter and vascular wall during the navigation process. © 2023 IEEE.

关键词： Reinforcement learning

来源：评论

学校读者我要写书评

暂无评论

Adaptive Fuzzy control for Nonlinear Systems in Nonstrict-Feedback Form with Full State Constraints:A Feasibility Condition Free Approach

Adaptive Fuzzy Control for Nonlinear Systems in Nonstrict-Fe...

引用

作者： Junjie Gao Xiaotong Zhou Anqing Wang College of Marine Electrical Engineering Dalian Maritime University Center for Control Theory and Guidance Technology Harbin Institute of Technology

In this paper,we aim to solve the full state constrained control problem for nonstrict-feedback nonlinear systems subject to completely unknown nonlinearities,unknown control gains and external *** full state constraints are assumed to be asymmetric and *** logic systems(FLSs) are utilized to approximate the completely unknown nonlinearities.A shifting function is first introduced to remove the feasibility condition on the virtual controllers while using the traditional barrier Lyapunov functions(BLFs).Then,a dynamic surface control(DSC) based adaptive fuzzy controller is developed to prevent the state constraints from being *** main feature of this paper lies in that a unified structure for both symmetric and asymmetric full state constraints is constructed without feasibility condition,and the Lyapunov stability of the closed-loop system is *** results are given to demonstrate the effectiveness of the proposed control structure.

关键词： adaptive fuzzy control nonstrict-feedback nonlinear systems full state constraints barrier Lyapunov functions

来源：评论

学校读者我要写书评

暂无评论

Study on control Strategy of the Vascular Interventional Surgical Robot Based on LADRC 20

Study on Control Strategy of the Vascular Interventional Sur...

引用

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

作者： Zhang, Wenqiang Guo, Jian Guo, Shuxiang Fu, Qiang Tianjin University of Technology Tianjin Key Laboratory for Control Theory & Applications Complicated Systems and Intelligent Robot Laboratory Binshui Xidao Extension 391 Tianjin300384 China Shenzhen Institute of Advanced Biomedical Robot Co. Ltd. No.12 Ganli Sixth Road Jihua Street Longgang District Shenzhen518100 China Beijing Institute of Technology Key Laboratory of Convergence Medical Engineering System and Healthcare Technology The Ministry of Industry and Information Technology School of Life Science No.5Zhongguancun South Street Beijing100081 China

ISBN: (纸本)9798350320831

As a medical device used in surgery, the vascular interventional surgical robot itself needs to have good control accuracy to ensure the safety of the surgery process. Given this security problem, this paper selects the Line Active Disturbance Rejection control (LADRC) as the control strategy of the vascular interventional robot, aiming at improving the master-slave tracking accuracy of the vascular interventional robot. This article compares the LADRC and PID(Proportional-Integral-Derivative) control strategies through simulation and experiments. The experimental results show that LADRC has good control performance for master-slave tracking and can be applied to the vascular interventional surgical robots. © 2023 IEEE.

关键词： Robotic surgery

来源：评论

学校读者我要写书评

暂无评论

Identification of Unknown Inertia Parameters of Spacecraft and Spacecraft Hovering

Identification of Unknown Inertia Parameters of Spacecraft a...

引用

第40届中国控制会议

作者： Guangquan Duan Guo-Ping Liu Zhong-Hua Pang Center for Control Theory and Guidance Technology Harbin Institute of Technology Department of Artificial Intelligence and Automation Wuhan University School of Electrical and Control Engineering North China University of Technology

It is necessary to know the inertia parameters of the spacecraft when the spacecraft attitude is controlled accurately in space. So it is very important to identify the moment of inertia of the spacecraft. In this paper, the satellite simulator（air floating platform） is studied. When the actuator provides stable thrust, the angular velocity generated by the open-loop control is measured by the sensor, and the collected data is filtered and fused to obtain an accurate moment of inertia. The digital PID simulation was carried out recently. According to the controller used in the simulation, the satellite simulator physical experiment was carried out. The experimental results verified the accuracy of the identification of the moment of inertia.

关键词： Identification of Moment of Inertial Information Fusion Spacecraft Hovering

来源：评论

学校读者我要写书评

暂无评论

Transportation of Chromium(VI) from Hydrochloric Acid Medium via a Dispersion Supported Liquid Membrane Using N235 1

引用

4th International Conference on Sustainable Development of Water and Environment, ICSDWE 2021

作者： Li, Yingxue Zhong, Yijian Wu, Jiaheng Shao, Qingsong Chen, Xiaoyan Zhu, Yan School of Inspection and Testing Certification Changzhou Vocational Institute of Engineering Changzhou Jiangsu203164 China College of Environmental Science and Engineering Guilin University of Technology Guilin541006 China Guangxi Key Laboratory of Theory and Technology for Environmental Pollution Control Guilin University of Technology Guilin541006 China Collaborative Innovation Center for Water Pollution Control and Water Safety in Karst Area Guilin University of Technology Guilin541006 China

ISBN: (数字)9783030752781

ISBN: (纸本)9783030752774

The permeation of Cr(VI) from acidic media, through a dispersion supported liquid membrane (DSLM), impregnated with tri-n-octylamine (N235) in diluent has been investigated in flat-sheet operational mode. Effects of operational factors including stirring speed, initial Cr(VI) concentration, N235 concentration, NaOH concentration, and the volume ratio of liquid membrane and strip liquor in dispersion phase on Cr(VI) transport have been studied. The evaluation of Cr(VI) separation from hydrochloric acidic media was carried out. Under the optimal condition, the migration rate of 0.01 g/L Cr(VI) was observed as 94%. © 2021, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Liquid membranes

来源：评论

学校读者我要写书评

暂无评论

Distinct Arsenic Uptake Feature in Rice Reveals the Importance of N Fertilization Strategies

SSRN

引用

SSRN 2022年

作者： Chen, Gongning Du, Yanhong Fang, Liping Wang, Xiangqin Liu, Chuanping Yu, Huanyun Feng, Mi Chen, Xi Li, Fangbai National-Regional Joint Engineering Research Center for Soil Pollution Control and Remediation in South China Guangdong Key Laboratory of Integrated Agro-environmental Pollution Control and Management Institute of Eco-environmental and Soil Sciences Guangdong Academy of Sciences Guangzhou510650 China College of Environmental Science and Engineering Guilin University of Technology Guilin541004 China Guangxi Key Laboratory of Environmental Pollution Control Theory and Technology Guilin University of Technology Guilin541004 China Henan Key Laboratory for Environmental Pollution Control China

The environmental behavior of As is commonly affected by the biogeochemical processes of Fe and N. In this study, field experiments were conducted to explore As uptake in rice and As translation and distribution in As-contaminated iron-rich paddy soils after applying different forms of N fertilizers. The results indicated that applying nitrate fertilizer inhibited the reduction and dissolution of As-bearing iron minerals and promoted microbial-mediated As(III) oxidation in flooded soil, thus reducing the soil As bioavailability. The accumulation of total As and inorganic As ratio (iAs/TAs) in rice decreased by 32.4% and 15.4%, respectively. However, the application of ammonium nitrogen promoted the reduction and dissolution of iron minerals, leading to the release of As from soil to pore water. The total As content and inorganic As uptake ratio in rice increased by 20.1% and 6.2%, respectively, when urea was applied, and by 29.6% and 10.5%, respectively, when ammonium bicarbonate was applied. However, the simultaneous application of NHH4+ and NO3- had no significant effect on As accumulation in rice and its transformation in paddy soils. Ammonium nitrogen enhanced the organic As accumulation in rice because the increased iAs(III) promoted As methylation in soil. In contrast, nitrate decreased the organic As uptake by rice because the decreased iAs(III) diminished As methylation in soil. The results provide reasonable N fertilization strategies for regulating the As biogeochemical process and reducing the risk of arsenic contamination in rice. © 2022, The Authors. All rights reserved.

关键词： Nitrogen fertilizers

来源：评论

学校读者我要写书评

暂无评论

On a generalized flat input definition and physical realizability

引用

IFAC-PapersOnLine 2020年第2期53卷 5994-5999页

作者： Klemens Fritzsche Klaus Röbenack Institute of Control Theory Faculty of Electrical and Computer Engineering TU Dresden Germany

We generalize the definition of flat inputs to implicit nonlinear differential equations of order α > 1. By allowing injections of input components and its time derivatives up to some finite order δ in both the dynamics and the output equations we show that physical realizability of generalized flat inputs can be achieved in cases that were shown to possess no physically realizable flat input. In addition, it can be shown that there always exists a physically realizable (generalized) flat input of order δ < α in the linear case.

关键词： Nonlinear systems differential flatness flat inputs algorithm physical realizability

来源：评论

学校读者我要写书评

暂无评论

Elasticity-Aware Online Motion Optimization for Link-Elastic Manipulators

引用

IFAC-PapersOnLine 2020年第2期53卷 9980-9985页

作者： Maximilian Krmer Freia I. Muster Christoph Rsmann Torsten Bertram Institute of Control Theory and Systems Engineering TU Dortmund University Dortmund Germany

The field of human-robot interaction is a typical application of elastic robots, as they reduce the risk of injuries and physical damage in case of a collision. Elasticities, however, also impose high demands on underlying joint controllers to guarantee minimal vibration during regular operation. Numerous control concepts assume a sufficiently high ability to control vibrations, by e.g., dedicated actuators or special kinematic structures. This work presents an online, optimization-based trajectory planning approach that concentrates on maximizing this ability for elastic manipulators without additional damping actuators or certain kinematic structures. The planning algorithm utilizes a modified quadratic objective function to incorporate the controllability of vibrations as a secondary goal. The effectiveness of the approach is demonstrated on a real 3-DOF, link-elastic robot for different set-points subject to disturbances. The results show that the approach successfully generates elasticity-aware motions and improves the vibration damping capabilities of the underlying controllers. Especially for critical configurations in which the controllers usually have little or no influence on the vibrations, vibration damping is improved or even made possible.

关键词： Online Trajectory Planning Elastic Links Robotic Manipulators Model Predictive control Vibration Damping

来源：评论

学校读者我要写书评

暂无评论

A High-Precision Edge Detection Algorithm Based on Improved Sobel Operator-Assisted HED

A High-Precision Edge Detection Algorithm Based on Improved ...

引用

IEEE International Conference on Cyber Technology in Automation, control, and Intelligent Systems

作者： Yeborui Yuan Wenyuan Chen Jie Tang Jia Yang School of Electrical Engineering and Automation Tianjin University of Technology Tianjin China State Key Laboratory of Robotics Shenyang Institute of Automation Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China University of Chinese Academy of Sciences Beijing China Tianjin Key Laboratory for Control Theory and Applications in Complicated Systems School of Electrical Engineering and Automation Tianjin University of Technology Tianjin China

ISBN: (数字)9798331506056

ISBN: (纸本)9798331506063

In response to the problem of poor detection performance of the traditional Sobel operator in edge detection, a high-precision edge detection algorithm based on Sobel operator-assisted Holistically-nested Edge Detection (HED) network was proposed, which is named ISAHED here. The algorithm is designed as follows. Firstly, an improved Sobel operator based on the traditional Sobel operator was proposed through adding gradient direction. Then, the image output by the improved Sobel operator is taken as the ground-truth image and as the end-to-end comparison object in a HED-like network. Finally, the ISAHED algorithm outputs edge images with better quality through iterative learning of the HED-like neural network. The experimental results prove that the proposed ISAHED algorithm has better edge detection performance by visually observing the final edge images and further evaluating the values of FOM. This work provides an important reference for the further development of the edge detection technology.

关键词： Automation Image edge detection Image processing Neural networks control systems Iterative algorithms Intelligent systems

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：