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第41届中国控制会议

作者： Kui Jie Wangyong He Renjie Gui School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems System Integration and Industrial Robotics Laboratory

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

At present,rehabilitation robots usually work together with patients and train them to achieve therapeutic effects by assisting them to complete movement within a certain *** this paper,it analyzes the average length and proportion of Chinese human lower limbs,as well as the range of extreme motion and comfortable motion of each joint of human lower *** on the error transfer matrix of rigid body connecting rod,the three-DOF lower limb rehabilitation robot human lower limb static pose error model and human/machine integration model are *** D-H method was used to solve the kinematic function between the angle of each joint and the position of the end of human lower *** analysis of the kinematics of human lower limbs is to calculate its inverse kinematics *** the motion control of rehabilitation robots,the inverse kinematics is more important than the forward kinematics,which is the basis for rehabilitation robot to realize trajectory planning under the training mode of passive trajectory traction,as well as the basis for compliant ***,a simulation model is established with Matlab software,and the simulation results show the feasibility and safety of the rehabilitation training process.

关键词： Lower limb rehabilitation robot Range of motion Human kinematics

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Photopolymerization-based additive manufacturing of ceramics:A systematic review

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Journal of Advanced Ceramics 2021年第3期10卷 442-471页

作者： Sefiu Abolaji RASAKI Dingyu XIONG Shufeng XIONG Fang SU Muhammad IDREES Zhangwei CHEN Additive Manufacturing Institute Shenzhen UniversityShenzhen 518060China Institute of Microscale Optoelectronics Shenzhen UniversityShenzhen 518060China Guangdong Key Laboratory of Electromagnetic Control and Intelligent Robotics College of Mechatronics and Control EngineeringShenzhen UniversityShenzhen 518060China

Conversion of inorganic-organic frameworks (ceramic precursors and ceramic-polymer mixtures) into solid mass ceramic structures based on photopolymerization process is currently receiving plentiful attention in the field of additive manufacturing (3D printing).Various techniques(e.g.,stereolithography,digital light processing,and two-photon polymerization) that are compatible with this strategy have so far been widely *** is due to their cost-viability,flexibility,and ability to design and manufacture complex geometric *** platforms related to these techniques have been developed too,in order to meet up with modem technology *** relevant to this review are the challenges faced by the researchers in using these 3D printing techniques for the fabrication of ceramic *** challenges often range from shape shrinkage,mass loss,poor densification,cracking,weak mechanical performance to undesirable surface roughness of the final ceramic *** is due to the brittle nature of ceramic *** on the summary and discussion on the current progress of material-technique correlation available,here we show the significance of material composition and printing processes in addressing these *** use of appropriate solid loading,solvent,and preceramic polymers in forming slurries is suggested as steps in the right *** are indicated as another factor playing vital roles and their selection and development are suggested as plausible ways to remove these barriers.

关键词： ceramics photopolymerization stereolithography additive manufacturing 3D printing polymer-derived ceramics

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Development of the software for ball nut grinding process based on Siemens 840D System

Development of the software for ball nut grinding process ba...

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作者： Shao, Jing Feng Li, Jing Shen, Nan Yan He, Yong Yi Shanghai Key Laboratory of Intelligent Manufacture and Robotics School of Mechatronics Engineering and Automation Shanghai University Shanghai 200072 China

ISBN: (纸本)9783038351221

Based on the analysis of the grinding model and grinding process of ball nut, the grinding process software for ball nut is developed by using VB programming language and Access database technology. Afterwards, the software is integrated into the Siemens SINUMERIK 840D System. As a result, it realizes the database management of grinding parameters and the automatic generation of machining program, thereby simplifying the process of CNC operation and improving the production efficiency greatly. © (2014) Trans Tech Publications, Switzerland.

关键词： Production efficiency

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Mobile robot modeling using local model networks

Mobile robot modeling using local model networks

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2003 European control Conference, ECC 2003

作者： Skoundrianos, E.N. Tzafestas, S.G. Intelligent Robotics and Automation Laboratory Division of Signals Control and Robotics National Technical University of Athens Zographou Athens15773 Greece

ISBN: (纸本)9783952417379

This article deals with the modeling issue of plants with unknown description. The modeling approach is based on the Local Model Network structure. Local Models perform local linearization and their structure is quite similar to the Takagi-Sugeno fuzzy models. Local Neural Models (LNM) function as linear filters, giving a satisfying estimation for the plant's output within parts of the operating regime. Their training is performed off-line, which ensures a reliable method. The method is applied on the RobuterTM mobile robot. © 2003 EUCA.

关键词： Mobile robots

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Evolutionary Dynamics and Individual Heterogeneity in Multi-agent networking systems 35

Evolutionary Dynamics and Individual Heterogeneity in Multi-...

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第35届中国控制会议

作者： ZHANG Jianlei CHEN Zengqiang LIU Zhongxin ZHANG Chunyan Department of Automation College of Computer and Control EngineeringNankai University Tianjin Key Laboratory of Intelligent Robotics Computer and Control EngineeringNankai University

ISBN: (纸本)9781509009107

Cooperative behaviors lie at the basis of human societies,yet its evolutionary origin still remains a perplexing *** exists a large evolutionary game literature exploring effects of population structures on evolutionary outcomes,but in most cases structured population models only employ one game alone.A relevant question is covered in this study thus concerns the effect of game diversity occurring along the edges linking two players situated on the *** basic structure of our mechanism provides more than one type of games available for the *** our game setting,the game model is assumed as a fixed property of each edge and will remain unaltered through game *** preliminary initiatives,we only consider two typical games（Prisoner’s dilemma game and Snowdrift game）,and all possible mixtures between them controlled by a *** performed simulations and theoretical analysis help us observe the remarkable improvement on cooperation levels in suitable parameter regions when the population are simultaneously provided with more than one type of ***,network heterogeneity helps to bring into existence of cooperator clusters and thus favors the survival of cooperators.

关键词： Collective Cooperation Evolutionary Game Theory Heterogeneity

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Study of advanced process control technology and its application for ammonia-based flue gas desulfurization process 4

Study of advanced process control technology and its applica...

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4th International Workshop of Advanced Manufacturing and automation, IWAMA 2014

作者： He, Ren Chu He, Ren Chu Gu, Xiao Jing Gu, Xiao Jing College of Mechatronics Engineering and Automation Shanghai University Shanghai China Shanghai Key Laboratory of Intelligent Manufacturing and Robotics Shanghai China

ISBN: (纸本)9783038352532

As a new environmental-protection technology, large-scale ammonia-based Flue Gas Desulfurization (FGD) requires high control and process technology. The process of FGD almost includes all the operation units in chemical industry. In order to make the equipment adapt to some complex changes of original flue gas and operate on better work conditions like low energy consumption, optimum liquid/gas ratio, minimum water consumption, completely nitrites oxidization, the multivariable predictive control and soft sensor based on mechanism model are studied in this paper. And the results show that these problems of variables correlation, large delay and variables coupling of FGD are resolved. In addition, ammonia consumption is lower, by-products quality is improved, Besides, the process operation is more smooth and safe, so the equipment can run effectively and economically after carrying on advanced process control. © (2014) Trans Tech Publications, Switzerland.

关键词： Flue gases

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Evolutionary Games with Different Time Scales of Strategy Updating 29

Evolutionary Games with Different Time Scales of Strategy Up...

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第29届中国控制与决策会议

作者： Jianlei Zhang Yuying Zhu Chunyan Zhang Department of Automation College of Computer and Control EngineeringNankai University Tianjin Key Laboratory of Intelligent Robotics College of Computer and Control EngineeringNankai University

ISBN: (纸本)9781509046584

Variation in learning rates within populations suggests that evolutionary game theory may not necessarily be restricted to uniform time scales associated with the game interaction and strategy adaption evolution. Using agent-based evolutionary simulation in the framework of prisoner's dilemma game, we demonstrate the sustainability of cooperation and the emergence of different macro-effects, when equipping agents with non-uniform time scale preferences. We employ a spatial random regular grid to describe the social interactions among agents. We conclude that the cooperation level has a strong dependence on the population composition, and the suitable fraction of the fast-updating players in the system which is associated with the maximal cooperation frequency has been found out. Besides, the extent of the promotive effect of diversifying time scales is also closely related with the payoff adoption rules in strategy updating,especially when we invent a past history for each agent. Summing up the gained results, a general conclusion can be drawn, saying that the combination of these factors(e.g. time scales and memory) gives rise to rich dynamic behavior of the system.

关键词： Evolutionary Game Theory Complex Networks Evolution Dynamics

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On Trajectory Tracking for an Under-actuated Helicopter 35

On Trajectory Tracking for an Under-actuated Helicopter

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第35届中国控制会议

作者： LI Junfang LI Yi Gao Qiang SUN Mingwei CHEN Zengqiang Tianjin Key Laboratory of Intelligent Robotics Nankai University Dept of Automation College of Computer and Control Engineering Nankai University Dept of Automation College of Automation Tianjin University of Technology

ISBN: (纸本)9781509009107

This paper tackles the problem of the attitude tracking control for the 3-DOF helicopter. A robust tracking control scheme is proposed based on active disturbance rejection control(ADRC). Aiming at the 3-DOF helicopter manufactured by Quanser Inc, a high order nonlinear ESO is designed to implement the real-time estimation and online compensation of the external disturbance. Simulation results show high performance and good robustness in the presence of the external disturbance.

关键词： helicopter active disturbance rejection controller high order ESO trajectory tracking control

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Evolutionary Game Dynamics Driven by Setting a Ceiling in Payoffs of Defectors 36

Evolutionary Game Dynamics Driven by Setting a Ceiling in Pa...

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第36届中国控制会议

作者： ZHANG Jianlei ZHU Yuying CHEN Zengqiang CAO Ming Department of Automation College of Computer and Control EngineeringNankai University Tianjin Key Laboratory of Intelligent Robotics College of Computer and Control EngineeringNankai University

ISBN: (纸本)9781538629185

The collective cooperation dilemma,where players are involved in a public goods game and must decide whether to make an individual contribution or not,has gained increasing attention from game theorists and control *** from the traditional definition,defectors here will face the payoff restriction after adopting the strategy of free riding others' ***,we introduce payoff ceilings applied to the gained benefits of the defectors,which leads to an extensive public goods game *** the number of cooperators is lower than the threshold value,the current model can be transferred to the setups of the general public goods *** further increasing the number of cooperators will bring the restricted payoffs for *** results suggest that the payoff ceilings provide us with more insight into the resolution of cooperative ***,together with other parameters(e.g.,the amplification factor and the size of gaming population) of the introduced model,lower values of the payoff ceilings can better facilitate the domination of cooperation strategy at the steady state.

关键词： Evolutionary game theory Replicator dynamics Public goods games

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Short-term load forecasting of long-short term memory neural network based on genetic algorithm 4

Short-term load forecasting of long-short term memory neural...

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4th IEEE Conference on Energy Internet and Energy System Integration, EI2 2020

作者： Li, Wanting Zang, Chuanzhi Liu, Ding Zeng, Peng Shenyang Institute of Automation Chinese Academy of Sciences Key Laboratory of Networked Control Systems State Key Laboratory of Robotics Institutes for Robotics and Intelligent Manufacturing Beijing China

ISBN: (纸本)9781728196060

Accurate load forecasting is conducive to the reasonable arrangement of power grid dispatching plans. Traditional load forecasting methods cannot handle the time series and nonlinear characteristics of load well. Long-short term memory (LSTM) neural networks can record long-term and short-term information, which can effectively solve this kind of problem. But the parameters of LSTM network are difficult to determine. For this reason, this paper proposes a long-short term neural network based on genetic algorithm. The learning rate and iteration number of the LSTM network are used as chromosomes, and the genes are continuously selected, crossed, and mutated to obtain more good genes. Comparing this method with the standard LSTM network, the simulation results show that the LSTM network using genetic algorithm for parameter optimization improves the prediction accuracy of the standard LSTM network by 63%. © 2020 IEEE.

关键词： Genetic algorithms

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