To adapt to the digital and intelligent trend of ship management and meet the requirements of shipborne industrial Ethernet with high reliability and strong real-time performance, this paper develops a shipboard redun...
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Data-driven deep learning has been widely applied to solve subsurface flow problems. However, it is difficult to achieve accurate prediction with pure data-driven methods, especially when there is only a small amount ...
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ISBN:
(数字)9798350394085
ISBN:
(纸本)9798350394092
Data-driven deep learning has been widely applied to solve subsurface flow problems. However, it is difficult to achieve accurate prediction with pure data-driven methods, especially when there is only a small amount of valid data. Prior knowledge is pre-existent and comes from an independent source. The neural network can be informed by prior knowledge to improve algorithm performance even with limited and sparse data. In this study, prior knowledge informed neural network (PKINN) is proposed to predict subsurface flow. The prior knowledge, on the one hand, is embedded in the neural networks as integrated loss function to inform the training process of deep learning methods. On the other hand, it is used as part of input term of neural network to improve calculation accuracy. Subsurface flow models are built to verify the proposed PKINN model. The results show that the PKINN method can solve subsurface flow problems effectively.
Cyber-physical production systems (CPPS) is of great importance for improving production efficiency. In this paper, first, the background and technical characteristics of CPPS are introduced. Aiming at dealing with th...
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Rapid reconfiguration is an important capability of flexible production system supporting personalized customization. When the product requirement change and the existing capacity configuration of the production syste...
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作者:
Liu, YiyangYan, ShuaihuaHou, ZhengZhao, YangChinese Academy of Sciences
Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences China Kunshan Intelligent Equipment Research Institute Key Laboratory of Networked Control Systems Shenyang China Chinese Academy of Sciences
Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences China University of Chinese Academy of Sciences Key Laboratory of Networked Control Systems Shenyang China College of Information Science and Engineering
Northeastern University Shenyang China School of Automation and Electrical Engineering
Shenyang Ligong University Shenyang China
This paper studies the path planning problem of multiple automated guided vehicles (multi-AGV) in a matrix manufacturing workshop. We proposed the multi-AGV path planning problem with default time, which is a variant ...
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To address the problems of chattering and slow response in the sliding mode control system of surface-mounted permanent magnet synchronous motor (SPMSM), a novel sliding mode controller combined with an enhanced slidi...
To address the problems of chattering and slow response in the sliding mode control system of surface-mounted permanent magnet synchronous motor (SPMSM), a novel sliding mode controller combined with an enhanced sliding mode observer is proposed. A new reaching law of sliding mode is designed, which uses the tanh function as the switching function of the control system to smooth the switching process. The terminal attractor is introduced to improve the convergence speed and control quality of the system. An improved sliding mode observer is developed, which replaces the sign function with a continuous function, compensates for the observation error, reduces the chattering effect, and improves the observation accuracy. A simulation model of double closed-loop speed control system based on the proposed sliding mode controller and observer is established, and a simulation experiment is conducted to compare it with the PI control system and the sliding mode control system based on exponential reaching law. The simulation results show that the proposed control strategy can effectively diminish the chattering effect, enhance the system convergence, and better track the given signal.
Autonomous underwater vehicles (AUVs) are important equipment for ocean development and exploration. To ensure the task implementation of AUV, faults shall be detected in time. We propose a fault detection method base...
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The high-precision multi-joint synchronous control problem of the 7 DOF humanoid manipulator is studied. The control system uses a distributed control architecture based on EtherCAT. synchronization error causes track...
The high-precision multi-joint synchronous control problem of the 7 DOF humanoid manipulator is studied. The control system uses a distributed control architecture based on EtherCAT. synchronization error causes tracking error between the end trajectory of the manipulator with theoretical trajectory. In order to achieve the purpose of high-precision synchronous control of manipulators, the kinematics model of manipulators is analyzed, and the method of network distributed clock control mode based on EtherCAT is proposed. Firstly, according to the source of synchronous error of the manipulator, the distributed network clock is used to calibrate the controller master station and the servo slave station to reduce the sampling and control synchronization error of each joint, and then improve the real-time performance of the main station Linux operating system. The station position command synchronization error is calibrated. Finally, the semi-physical simulation system of the joint and manipulator controller in the ring is designed. The simulation experiment analysis of the humanoid manipulator in the joint space and Cartesian space is carried out. The results show that the clock is distributed based on the EtherCAT network. The multi-joint synchronization control method can realize high-precision position control of the humanoid manipulator.
A method that can identify the rotational inertia in a timely manner is proposed because the performance of a permanent magnet synchronous motor servo system is easily affected by the rotational inertia. Firstly, prin...
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In this paper, a new compact, low-inertia, and flexible tensegrity joint is proposed, which aims to overcome the shortcomings of traditional collaborative robots and tendon-driven robots. The joint is composed of two ...
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