检索结果-内蒙古大学图书馆

2nd International Conference on Artificial Intelligence, Automation, and High-Performance Computing, AIAHPC 2022

作者： Li, Delun Zhu, Chao Zhang, Yun Bai, Mei Huang, Zhipeng Xie, Zongwu Liu, Teng Fu, Hao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing Institute of Spacecraft System Engineering CAST Beijing100094 China Beijing Satellite Manufacturing Co. Ltd. Beijing100094 China Beijing Institute of Space Environment Engineering Beijing100094 China

ISBN: (纸本)9781510657717

The TianHe manipulator is responsible for major tasks such as China Space Station construction, operation, and supporting astronaut's extravehicular operations. The joint is the direct execution part of the manipulator to realize flexible movement, and it is the key component to ensure the core functions and performance of the China Space Station manipulator, The composition of the joint is complex, and the experience of its reliability design is very poor. So the research of reliability design method for the joint is of great significance. Starting from the joint reliability design method, this paper uses various methods such as redundant design, margin design, and environmental adaptability design to complete the joint reliability design comprehensively. The ideas and methods for reliability design for the joint of the China Space Station manipulator introduced in this paper have important reference value for the reliability design for the space complicated electromechanical products. © 2022 SPIE. All rights reserved.

关键词： Space stations

来源：评论

学校读者我要写书评

暂无评论

Real-time collision detection for manipulators based on fuzzy synthetic evaluation 13

Real-time collision detection for manipulators based on fuzz...

引用

13th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2016

作者： Jing, Xia Wu, Guangxin Li, Chongyang Hong, Liu School of Mechanical Engineering Xi'An University of Science and Technology Xi'an Shaanxi Province710054 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province150001 China

ISBN: (纸本)9781509023943

To overcome the shortcoming that the collision detection method based on three-dimension model only depends on the shortest distance between components to determine collision, a novel collision detection method for manipulators is proposed to indicate how dangerous the current movement of the robot are to the surrounding objects. The method more comprehensively considers the effect of the shortest distance, motion state, braking performance of joints, robot control mode and the contact state on robot collision risk, obtains a robot collision risk index by using the fuzzy synthetic evaluation. At the same time, building the collision detection model by using sphere sweeping convex hulls (SSCH) improves the real-time of the collision detection. Finally, the proposed method is validated through simulations and experiments. © 2016 IEEE.

关键词： Manipulators

来源：评论

学校读者我要写书评

暂无评论

Designing decentralized control systems without structural fixed modes: A multilayer approach

Designing decentralized control systems without structural f...

引用

4th IFAC Workshop on Distributed Estimation and Control in Networked systems, NecSys 2013

作者： Pequito, Sérgio Agbi, Clarance Popli, Nipun Kar, Soummya Aguiar, A. Pedro Ilić, Marija Department of Electrical and Computer Engineering Carnegie Mellon University Pittsburgh PA 15213 United States Institute for System and Robotics Instituto Superior Técnico Technical University of Lisbon Lisbon Portugal Portugal

ISBN: (纸本)9783902823557

In this paper we propose a methodology to design decentralized controllers applied to large-scale systems. The key idea is to split the design into two control layers. The first layer, consists mainly in a pre-processing step, where an optimal subset of inputs and outputs are used for feedback to close the loop, such that the resulting associated state matrix of the closed loop system has two desirable structural properties: it has no structural fixed modes and it is structurally controllable and observable thru any single state variable. After this first layer, we can select an arbitrary decentralization control scheme to achieve some specified performance, which is the second layer of the proposed approach. We illustrate this methodology for the following applications: a two zones temperature regulation and a frequency regulation of a 3- bus system. Copyright © 2013 IFAC.

关键词： Decentralized control

来源：评论

学校读者我要写书评

暂无评论

A framework for actuator placement in large scale power systems: Minimal strong structural controllability

A framework for actuator placement in large scale power syst...

引用

2013 5th IEEE International Workshop on Computational Advances in Multi-Sensor Adaptive Processing, CAMSAP 2013

作者： Pequito, Sergio Popli, Nipun Kar, Soummya Ilic, Marija D. Aguiar, A. Pedro Department of Electrical and Computer Engineering Carnegie Mellon University Pittsburgh PA 15213 United States Institute for System and Robotics Instituto Superior Técnico Technical University of Lisbon Portugal Porto Portugal

ISBN: (纸本)9781467331463

This paper addresses the problem of minimal placement of actuators in large-scale linear time invariant (LTI) systems, such as large-scale power systems, for dynamic controller design. A novel sufficient and necessary condition to ensure a strong structurally controllable (SSC) system is proposed. Specifically, the paper addresses the problem of obtaining the minimal number of dedicated inputs, i.e., inputs which actuate only a single state variable, and the respective state variables they should be assigned to, such that the LTI system is SSC. In addition, an efficient and scalable algorithm, with polynomial implementation complexity, to achieve such minimal placement of dedicated inputs is proposed. An illustration of the proposed design methodology is provided on the IEEE 5-bus test system, thereby identifying the minimal number of physical state variables to be actuated for ensuring strong structural controllability. © 2013 IEEE.

关键词： Actuators

来源：评论

学校读者我要写书评

暂无评论

Improving guidewire-mediated steerability of a magnetically actuated flexible microrobot

引用

Micro and Nano systems Letters 2018年第1期6卷 1页

作者： Jeon, Sungwoong Hoshiar, Ali Kafash Kim, Sangwon Lee, Seungmin Kim, Eunhee Lee, Sunkey Kim, Kangho Lee, Jeonghun Kim, Jin-young Choi, Hongsoo Department of Robotics Engineering Daegu Gyeongbuk Institute of Science and Technology (DGIST) Daegu 42988 South Korea DGIST-ETH Microrobotics Research Center DGIST Daegu 42988 South Korea Institute of Robotic and Intelligent System (IRIS) ETH Zurich Zurich 8092 Switzerland

Here, we develop a flexible microrobot enhancing the steerability of a conventional guidewire. To improve steerability, a microrobot is attached to the tip of the guidewire and guided using an external magnetic field generated by an electromagnetic coil system. The flexible microrobot is fabricated via replica-molding and features a body made of polydimethylsiloxane (PDMS) and a single permanent magnet. As the robot is made of a deformable material, it can be steered using a low-intensity external magnetic field;the robot can potentially be guided into the coronary artery. To study steering performance, we employed mathematical modeling and a finite element model (FEM), and performed experiments under various magnetic fields. We found that a mathematical model using the Euler–Bernoulli beam could not precisely calculate the deformation angles. The FEM more accurately estimated those angles. The deformation angle can be controlled from 0 to 80° at a magnetic field intensity of 15 mT. The trackability at angles of 45 and 80° of the guidewire-based microrobot was confirmed in vitro using a two-dimensional blood vessel phantom. © 2018, The Author(s).

关键词： Angioplasty Flexible microrobot (robot) Guidewire Magnetic actuation PCI surgery Steerability Trackability

来源：评论

学校读者我要写书评

暂无评论

Introduction of mission unit on information collection by on-rubble mobile platforms of development of rescue robot systems (DDT) project in Japan

Introduction of mission unit on information collection by on...

引用

2006 SICE-ICASE International Joint Conference

作者： Matsuno, Fumitoshi Hirose, Shigeo Akiyama, Iwaki Inoh, Takao Guarnieri, Michele Shiroma, Naoji Kamegawa, Tetsushi Qhno, Kazunori Sato, Noritaka Department of Mechanical Engineering and Intelligent Systems University of Electro-Communications Tokyo Japan Department of Mechanical and Aerospace Engineering Tokyo Institute of Technology Tokyo Japan Department of Electrical and Electronic Engineering Shonan Institute of Technology Japan Kawasaki Laboratory International Rescue System Institute Kawasaki Japan Department of Intelligent Systems Engineering Ibaraki University Hitachi Japan Department of System Engineering Okayama University Qkayama Japan Department of Bioengineering and Robotics Tohoku University Sendai Japan

ISBN: (纸本)8995003855

Intelligent rescue systems with high information and robot technology have been expected to mitigate disaster damages, especially in Japan after the 1995 Hanshin-Awaji Earthquake. In development of robots for search and rescue tasks it is important to develop a robot which can actually work in a real disaster ate. Several robots were used for the search and detection operation in the collapsed World Trade Center building in September 2001. From 2002 "Special Project for Earthquake Disaster Mitigation in Urban Areas" (5 yeras project) launched by Ministry of Education, Culture, Sports, Science and Technology, Japan. It aims at significant mitigation the earthquake disaster damage on the scale of the Great Hanshin Earthquake, in densely populated areas in big city regions such as Tokyo metropolitan area and Keihanshin area. In this paper, we introduce the activities of the mission unit on the information collection by on-rubble mobile platforms. © 2006 ICASE.

关键词： Project management

来源：评论

学校读者我要写书评

暂无评论

Research on Robot Path Planning Algorithm for Filter Plate Cleaning of Plate and Frame Filter Press 4

Research on Robot Path Planning Algorithm for Filter Plate C...

引用

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

作者： Xu, Jie Cui, Long Zhao, Yongguo Tian, Xincheng Center for Robotics School of Control Science and Engineering Shandong University Jinan China Engineering Research Center of Intelligent Unmanned System Ministry of Education Jinan China Institute of Automation Qilu University of Technology Shandong Academy of Sciences Jinan China

ISBN: (纸本)9798331541729

Plate and frame filter press is an important solid-liquid separation equipment that plays an important role in many fields. The filter plate is one of the core components of the frame filter press, and its main function is to support the filter cloth and form a filter chamber. After the filtration process of the filter press is completed, a large number of impurities are often attached to the filter plate, so it is of great value to study the impurity cleaning problem of the filter plate of the plate and frame filter press. In this paper, aiming at the cleaning process of the filter plate of the plate and frame filter press, the image information of the filter plate is obtained by visual means, and then the image is analyzed and processed to obtain the position information of the impurities of the filter plate, the path planning of the obtained position information is carried out, and finally the robot is made to complete the cleaning task efficiently and accurately according to the planned path, which has certain practical value. © 2024 IEEE.

关键词： Robot programming

来源：评论

学校读者我要写书评

暂无评论

Architecture and Operational Control for Resilient Microgrids

Architecture and Operational Control for Resilient Microgrid...

引用

Annual Meeting Industrial and Commercial Power systems Technical Conference

作者： Alexandre F. M. Correia Miguel Cavaleiro Miguel Neves A. Paulo Coimbra Tony R. O. Almeida Pedro Moura Aníbal T. de Almeida Department of Electrical and Computer Engineering Institute of System and Robotics University of Coimbra Coimbra Portugal

ISBN: (数字)9798350345308

ISBN: (纸本)9798350345315

The increasing frequency of natural disasters has led to situations in which small urban centers and critical infrastructures become isolated from the main utility grid. The microgrids’ ability to work autonomously from the utility grid presents a viable solution to this problem. Microgrid resiliency is the characteristic related to the capacity of a microgrid to minimize the impact of disruptive events and ensure that the power supply is maintained under a variety of adverse conditions. This is especially important for critical infrastructures such as hospitals, communications, computer networks and military bases. The objective of this paper is to simulate strategies and propose an algorithm for the design and management of electric microgrids with a focus on resiliency towards critical and disaster situations. The proposed solutions were validated, using an experimental microgrid implemented at the University of Coimbra as a pilot. As a result of the work, the study presents an algorithm that efficiently manages loads of a microgrid, including automatic islanding operation, in order to increase its resilience when the microgrid is isolated from the utility grid.

关键词： Surveys Disasters Microgrids Computer architecture Quality of service Stability analysis Critical infrastructure

来源：评论

学校读者我要写书评

暂无评论

A method for spatial signature estimation with uncalibrated uniform linear array

A method for spatial signature estimation with uncalibrated ...

引用

Sensor Signal Processing for Defence, SSPD 2012

作者： Cao, Xiang Xin, Jingmin Nishio, Yoshifumi Zheng, Nanning Sano, Akira Institute of Artificial Intelligence and Robotics Xi'an Jiaotong University Xi'an 710049 China Department of Electrical and Electronic Engineering University of Tokushima Tokushima 770-8506 Japan Department of System Design Engineering Keio University Yokohama 223-8522 Japan

ISBN: (纸本)9781849197120

In this paper, a multidimensional search procedure is presented for estimating spatial signature with uniform linear array in the presence of unknown gain and phase errors. The proposed method fully exploits multiple invariances in the interior of the sensor array and it is desirable that the quality of estimate improves as more and more array invariances are used. A Gauss-Newton iterative algorithm is applied for solving the multidimensional nonlinear problem. Simulation results indicate that a solution close to the minimum is obtained after only two or three iterations. Furthermore, the introduction of a weighting matrix, similar to weighted subspace fitting, can tone up the performance of our method.

关键词： Iterative methods

来源：评论

学校读者我要写书评

暂无评论

A-Student's View: On the Usefulness of a Professional Software Environment for Computer-Aided Control Education

引用

IFAC Proceedings Volumes 1994年第9期27卷 265-268页

作者： G. Grübel DLR Oberpfaffenhofen Control-Design Engineering Group Institute for Robotics and System Dynamics D-82234 Wessling Germany

For computer-aided control engineering education a scalable software technology is proposed, which is both useful for professional work in control engineering theory and practice and for novice training. The idea is to provide a common environment for computational experimenting in all stages of control engineering. This proposal is based on ANDECS (ANalysis & Design of Controlled systems), a modular interactive control- and system dynamics analysis and design system developed at the German Aerospace Research Establishment DLR.

关键词： Control Education Computer-Aided Control engineering (CACE, CACSD)

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：