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A New Method for Type Synthesis of 2R1T and 2T1R 3-DOF Redundant Actuated Parallel Mechanisms with Closed Loop Units

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Chinese Journal of Mechanical engineering 2020年第6期33卷 134-157页

作者： Yongquan Li Yang Zhang Lijie Zhang Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan UniversityQinhuangdao066004China Key Laboratory of Advanced Forging&Stamping Technology and Science Ministry of Education of ChinaYanshan UniversityQinhuangdao066004China School of Mechanical Engineering and Automation Harbin Institute of TechnologyShenzhen518052China Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control Yanshan UniversityQinhuangdao066004China

The current type synthesis of the redundant actuated parallel mechanisms is adding active-actuated kinematic branches on the basis of the traditional parallel mechanisms,or using screw theory to perform multiple getting intersection and union to complete type *** number of redundant parallel mechanisms obtained by these two methods is *** this paper,based on Grassmann line geometry and Atlas method,a novel and effective method for type synthesis of redundant actuated parallel mechanisms(PMs)with closed-loop units is ***,the degree of freedom(DOF)and constraint line graph of the moving platform are determined successively,and redundant lines are added in constraint line graph to obtain the redundant constraint line graph and their equivalent line graph,and a branch constraint allocation scheme is formulated based on the allocation ***,a scheme is selected and redundant lines are added in the branch chains DOF graph to construct the redundant actuated branch chains with closed-loop ***,the branch chains that meet the requirements of branch chains configuration criteria and F&C(degree of freedom&constraint)line graph are *** this paper,two types of 2 rotational and 1 translational(2R1T)redundant actuated parallel mechanisms and one type of 2 translational and 1 rotational(2T1R)redundant actuated parallel mechanisms with few branches and closed-loop units were taken as examples,and 238,92 and 15 new configurations were *** the mechanisms contain closed-loop units,and the mechanisms and the actuators both have good ***,all the mechanisms have excellent comprehensive performance,in which the two rotational DOFs of the moving platform of 2R1T redundant actuated parallel mechanism can be independently *** instantaneous analysis shows that all mechanisms are not instantaneous,which proves the feasibility and practicability of the method.

关键词： Redundant actuated Parallel mechanisms Type synthesis Atlas method Instantaneous analysis

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Design of a Capsule Robot system for Gastric Hemorrhage Detection using Luminol

Design of a Capsule Robot System for Gastric Hemorrhage Dete...

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IEEE International Conference on Mechatronics and Automation

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

Gastric hemorrhage in upper gastrointestinal bleeding is an obvious indicator of deteriorating gastric disease. This paper proposes a capsule robot system for detecting bleeding in the stomach. The patient ingests a capsule robot containing luminol reagent, which detects bleeding in the stomach via chemiluminescence. The MCU receives the optical sensor signal, and the data is transmitted via radio frequency. The external lower computer receives and forwards the data to the upper computer for processing and display. The data is used to determine the presence and amount of stomach bleeding. Chemiluminescence is an excellent sensor, requiring no external energy supply, and demonstrating excellent sensitivity and selectivity. Combining chemical and electronic sensors presents opportunities for further development. Capsule robot detection reduces the discomfort and risk of secondary injury associated with traditional endoscopy. This paper establishes an experimental platform using porcine blood to simulate human blood, demonstrating the feasibility of the system.

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Measurement and ray-tracing simulation for millimeter-wave automotive radar 4

Measurement and ray-tracing simulation for millimeter-wave a...

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4th IEEE International Conference on Electronic Information and Communication Technology, ICEICT 2021

作者： Zhu, Luoyan He, Danping Ai, Bo Zhong, Zhangdui Zhu, Fusheng Wang, Zhigang State Key Laboratory of Rail Traffic Control and Safety Beijing Jiaotong University Beijing100044 China Engineering Research Center of High-speed Railway Broadband Mobile Communications Beijing100044 China Frontiers Science Center for Smart High-speed Railway System Beijing100044 China Key Laboratory of Railway Industry of Broadband Mobile Information Communications Beijing100044 China Guangdong Communications and Networks Institute

ISBN: (纸本)9781665432030

The underlying requirement of autonomous driving test orienting the future Internet of Intelligent Vehicles (IoIV) needs knowledge of authentic millimeter-wave (mmWave) radar simulation system. In this paper, a mmWave radar measurement system, which is validated by two corner reflectors with a constant radar cross-sectional (RCS), is set up to carry out the parallel parking measurement campaign on road. The key characteristics of the measurement, including Range-Power profile, Range-Doppler spectrum, and Range-Angle spectrum are obtained and analyzed for the subsequent ray tracing (RT) simulation. The RCSs of key targets are estimated based on the measurement results and provide a visible cue for calibrating EM parameters, which are then matched with the measured ones. The calibrated simulation results are then compared with the measurement results, which realizes the closed-loop verification and analysis. © 2021 IEEE

关键词： Radar measurement

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Research on Uncertainty Measurement Methods of Aircraft HWIL system

Research on Uncertainty Measurement Methods of Aircraft HWIL...

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2020中国仿真大会

作者： Geng huapin Tong jiahui Beijing Electro-Mechanical Engineering Institute Science and Technology on Complex System Control and Intelligent Agent Cooperative Laboratory

Uncertainty is an inherent attribute of a simulation system which causes inconsistency between the predicated result of the system and its actual result,affecting the robustness and reliability of the *** on analysis of the uncertainty characteristics of the hardware-in-loop(HWIL) system of an aircraft,a framework of uncertainty measurement and analysis is proposed for the HWIL system,and three types of methods are studied which are suitable for measuring the randomness,cognition,and hybrid uncertainties of the HWIL *** a typical simulation object,various methods of measuring uncertainty are investigated,with their effectiveness validated,which lays the ground for further studying the influence of the uncertainty measurement result on the system.

关键词： HWIL system uncertainty measurement method

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A Learning Convolutional Neural Network Approach for Network Robustness Prediction

arXiv

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arXiv 2022年

作者： Lou, Yang Wu, Ruizi Li, Junli Wang, Lin Li, Xiang Chen, Guanrong The Department of Computing and Decision Sciences Lingnan University Hong Kong The Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China The College of Computer Science Sichuan Normal University Chengdu610066 China The Department of Automation Shanghai Jiao Tong University Shanghai200240 China The Institute of Complex Networks and Intelligent Systems Shanghai Research Institute for Intelligent Autonomous Systems Tongji University Shanghai201210 China The Department of Control Science and Engineering Tongji University Shanghai200240 China The Department of Electrical Engineering City University of Hong Kong Hong Kong

Network robustness is critical for various societal and industrial networks again malicious attacks. In particular, connectivity robustness and controllability robustness reflect how well a networked system can maintain its connectedness and controllability against destructive attacks, which can be quantified by a sequence of values that record the remaining connectivity and controllability of the network after a sequence of node- or edge-removal attacks. Traditionally, robustness is determined by attack simulations, which are computationally very time-consuming or even practically infeasible. In this paper, an improved method for network robustness prediction is developed based on learning feature representation using convolutional neural network (LFR-CNN). In this scheme, higher-dimensional network data are compressed to lower-dimensional representations, and then passed to a CNN to perform robustness prediction. Extensive experimental studies on both synthetic and real-world networks, both directed and undirected, demonstrate that 1) the proposed LFR-CNN performs better than other two state-of-the-art prediction methods, with significantly lower prediction errors;2) LFR-CNN is insensitive to the variation of the network size, which significantly extends its applicability;3) although LFR-CNN needs more time to perform feature learning, it can achieve accurate prediction faster than attack simulations;4) LFR-CNN not only can accurately predict network robustness, but also provides a good indicator for connectivity robustness, better than the classical spectral measures. © 2022, CC BY.

关键词： Complex networks

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Wavelet Transform-Based High-Definition Map Construction From a Panoramic Camera

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Journal of Shanghai Jiaotong university(science) 2021年第5期26卷 569-576页

作者： ZHUANG Hanyang ZHOU Xuejun WANG Chunxiang QIAN Yuhan University of Michigan-Shanghai Jiao Tong University Joint Institute Shanghai Jiao Tong UniversityShanghai 200240China Guangxi Key Laboratory of Automobile Components and Vehicle Technology Guangxi University of Science and TechnologyLiuzhou 545006GuangxiChina Noblelift Intelligent Equipment Co. Ltd.Huzhou 313100ZhejiangChina Department of Automation Shanghai Jiao Tong UniversityShanghai 200240China Key Laboratory of System Control and Information Processing of Ministry of Education Shanghai 200240China School of Mechanical Engineering Shanghai Jiao Tong UniversityShanghai 200240China

High-definition(HD)maps are key components that provide rich topologic and semantic information for decision-making in vehicle autonomous driving systems.A complete ground orthophoto is usually used as the base image to construct the HD *** ground orthophoto is obtained through inverse perspective transformation and image *** the image mosaicing,multiple consecutive orthophotos are stitched together using pose information and image *** this study,wavelet transform is introduced to the image mosaicing process to alleviate the information loss caused by image *** the orthophoto wavelet transform,high-frequency and low-frequency components are fused using different strategies to form a complete base image with clearer local *** results show that the accuracy of the orthophotos generated using this method is improved.

关键词： high-definition(HD)map wavelet transform image registration panorama

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Joint Association, Beamforming, and Resource Allocation for Multi-IRS Enabled MU-MISO systems With RSMA

arXiv

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arXiv 2024年

作者： Wang, Chunjie Zhang, Xuhui Xing, Huijun Xue, Liang Wang, Shuqiang Shen, Yanyan Yang, Bo Guan, Xinping Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China School of Information and Electrical Engineering Hebei University of Engineering Handan056038 China Hebei Key Laboratory of Security and Protection Information Sensing and Processing Handan056038 China Shenzhen Future Network of Intelligence Institute The School of Science and Engineering The Guangdong Provincial Key Laboratory of Future Networks of Intelligence The Chinese University of Hong Kong Guangdong Shenzhen518172 China Department of Electrical and Electronic Engineering Imperial College London LondonSW7 2AZ United Kingdom Shenzhen Future Network of Intelligence Institute The Guangdong Provincial Key Laboratory of Future Networks of Intelligence The Chinese University of Hong Kong Guangdong Shenzhen518172 China Department of Automation The Key Laboratory of System Control and Information Processing Ministry of Education Shanghai Jiao Tong University Shanghai200240 China

Intelligent reflecting surface (IRS) and rate-splitting multiple access (RSMA) technologies are at the forefront of enhancing spectrum and energy efficiency in the next generation multi-antenna communication systems. This paper explores a RSMA system with multiple IRSs, and proposes two purpose-driven scheduling schemes, i.e., the exhaustive IRS-aided (EIA) and opportunistic IRS-aided (OIA) schemes. The aim is to optimize the system weighted energy efficiency (EE) under the above two schemes, respectively. Specifically, the Dinkelbach, branch and bound, successive convex approximation, and the semidefinite relaxation methods are exploited within the alternating optimization framework to obtain effective solutions to the considered problems. The numerical findings indicate that the EIA scheme exhibits better performance compared to the OIA scheme in diverse scenarios when considering the weighted EE, and the proposed algorithm demonstrates superior performance in comparison to the baseline algorithms. Copyright © 2024, The Authors. All rights reserved.

关键词： Beamforming

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Apply PSO Algorithm with Searching Space Improvements on a 5 Degrees of Freedom Robot 3

Apply PSO Algorithm with Searching Space Improvements on a 5...

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3rd International Conference on Intelligent Robotics and control engineering, IRCE 2020

作者： Nguyen, Thanh-Trung Tao, Ngoc-Linh Nguyen, Van-Tinh Bui, Ngoc-Tam Nguyen, V.H Watanabe, Dai School of Mechanical Engineering Hanoi University of Science and Technology No1 Dai Co Viet Road Ha Noi Viet Nam Shibaura Institute of Technology Department of Machinery and Control System 307 Fusaku Minuma-ku Saitama City Japan

ISBN: (纸本)9781728189727

In this research, Particle Swarm Optimization (PSO) algorithm has been applied to solve the Inverse Kinematic (IK) problem for redundant serial manipulator robots. The new point of the study is to consider the continuity of the joints' variable. By noting this problem, the process of solving the Inverse Kinematic problem for the robots by the optimal algorithm has been significantly improved in terms of accuracy, execution time, and standard deviation (STD) as well as the number of iterations needed. The algorithm has been applied to solve the Inverse Kinematic problem on the 5-Degree of Freedom 5R robot model. The results show that just using the PSO algorithm with the above search domain limit has improved the quality of IK process. © 2020 IEEE.

关键词： Inverse kinematics

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Hormesis Effect of Pyroligneous Acids on Conjugative Transfer of Plasmid-Mediated Multi-Antibiotic Resistance Genes within Bacterial Genus

SSRN

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SSRN 2022年

作者： Shao, Mengying Meng, Wei Liu, Bingjie Liu, Yifan Liu, Liuqingqing Ma, Xiaohan Sun, Cuizhu Luo, Xianxiang Zheng, Hao Li, Fengmin Institute of Coastal Environmental Pollution Control College of Environmental Science and Engineering Ministry of Education Key Laboratory of Marine Environment and Ecology Frontiers Science Center for Deep Ocean Multispheres and Earth System Ocean University of China Qingdao266100 China Marine Ecology and Environmental Science Laboratory Pilot National Laboratory for Marine Science and Technology Qingdao266071 China South China Institute of Environmental Sciences Ministry of Ecology and Environment Guangzhou510535 China Sanya Oceanographic Institution Ocean University of China Sanya572000 China

Spread of antibiotic resistance genes (ARGs) by conjugation poses great challenges to public health. Pyroligneous acids (PAs) as soil amendments could remediate soil ARG pollution. However, little is known about PA effects on ARG conjugation. This study investigated the effects of a woody waste derived PA prepared at 450ºC and its three distillation components (F1, F2, and F3) at different temperatures (98, 130, and 220ºC) on conjugative transfer of plasmid RP4 within Escherichia coli. PA and its fractions at high dosage (40–100 μL) inhibited conjugation by 0.39–0.85 folds, following PA > F3 > F2 > F1. The bacteriostasis caused by antibacterial components of PA, including acids, phenols, and alcohols, and its acidity (pH 2.81) contributed for inhibiting conjugation. However, low dosage (10–20 μL) of PA and its fractions enhanced ARG transfer by 1.00–3.34 folds, also following PA > F3 > F2 > F1, due to the increased intracellular reactive oxygen species, membrane permeability and intercellular contact. Our findings highlight the hormesis effect (low-dosage promotion and high-dosage inhibition) of PA on ARG conjugation, providing evidence for controlling ARG pollution by appropriate dosage of PAs, as well as highlighting the potential risks of soil amendments in ARG dissemination. © 2022, The Authors. All rights reserved.

关键词： Soils

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A Green Synthesis of Ru Modified g-C_(3)N_(4) Nanosheets for Enhanced Photocatalytic Ammonia Synthesis

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Energy Material Advances 2021年第1期2021卷 78-89页

作者： Derek Hao Jiawei Ren Ying Wang Hamidreza Arandiyan Magnus Garbrecht Xiaojuan Bai Ho Kyong Shon Wei Wei Bing-Jie Ni Centre for Technology in Water and Wastewater(CTWW) School of Civil and Environmental EngineeringUniversity of Technology Sydney(UTS)SydneyNSW 2007Australia State Key Laboratory of Rare Earth Resource Utilization Changchun Institute of Applied ChemistryChinese Academy of SciencesChangchun 130022China Laboratory of Advanced Catalysis for Sustainability School of ChemistryThe University of SydneySydney 2006Australia Centre for Advanced Materials&Industrial Chemistry(CAMIC) School of ScienceRMIT UniversityMelbourneVIC 3000Australia Australian Centre for Microscopy and Microanalysis The University of SydneySydney 2006Australia Beijing Engineering Research Center of Sustainable Urban Sewage System Construction and Risk Control Beijing University of Civil Engineering and ArchitectureBeijing 102612China

Nitrate is a crucial environmental pollutant,and its risk on ecosystem keeps *** conversion of nitrate to ammonia can simultaneously achieve the commercialization of environmental hazards and recovery of valuable ammonia,which is green and sustainable for the ***,due to the thermodynamic and kinetic energy barriers,photocatalytic nitrate reduction usually involves a higher selectivity of the formation of nitrogen that largely limits the ammonia synthesis *** this work,we reported a green and facile synthesis of novel metallic ruthenium particle modified graphitic carbon nitride *** with bulk graphitic carbon nitride,the optimal sample had 2.93-fold photocatalytic nitrate reduction to ammonia activity(2.627 mg/h/gcat),and the NH3 selectivity increased from 50.77%to 77.9%.According to the experimental and calculated results,the enhanced photocatalytic performance is attributed to the stronger light absorption,nitrate adsorption,and lower energy barrier for the generation of *** work may provide a facile way to prepare metal modified photocatalysts to achieve highly efficient nitrate reduction to ammonia.

关键词： ammonia nitrate selectivity

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