检索结果-内蒙古大学图书馆

Contact Force Optimization to Enhance Fault-tolerant Motion Stability of a Hexapod Robot

Journal of Bionic Engineering 2024年第5期21卷 2199-2214页

作者： Bo You Shangdong Shi Chen Chen Jiayu Li Nan Li Liang Ding The Key Laboratory of Intelligent Technology for Cutting and Manufacturing Ministry of Education and the Heilongjiang Provincial Key Laboratory of Complex Intelligent System and Integration Harbin University of Science and TechnologyHarbin150080China The State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin150001China

This paper presents a novel method for optimizing the contact force of a hexapod robot to enhance its dynamic motion stability when one of its legs *** proposed approach aims to improve the Force Angle Stability Margin(FASM)and adapt the foot trajectory through contact force optimization to achieve safe and stable motion on various *** foot force optimization approach is designed to optimize the FASM,a factor rarely considered in existing contact force optimization *** formulating the problem of enhancing the motion stability of the hexapod robot as a Quadratic Programming(QP)optimization problem,this approach can effectively address this *** of a hexapod robot using a fault-tolerant gait,along with real field experiments,were conducted to validate the effectiveness and feasibility of the contact force optimization *** results demonstrate that this approach can be used to design a motion controller for a hexapod robot with a significantly improved motion *** summary,the proposed contact force optimization method offers a promising solution for enhancing the motion stability of hexapod robots with single leg failures and has the potential to significantly advance the development of fault-tolerant hexapod robots for various applications.

关键词： Hexapod robot Fault-tolerant Stability margin Contact force optimization

来源：评论

学校读者我要写书评

暂无评论

A trajectory-level robot skill learning method based on fuzzy systems

引用

Science China(Information Sciences) 2025年第5期68卷 38-52页

作者： Chao ZENG Zhen DENG Boyang TI Yongsheng GAO Department of Computer Science University of Liverpool School of Mechanical Engineering and Automation Fuzhou University State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences State Key Laboratory of Robotics and System Harbin Institute of Technology

Learning from demonstration(LfD) allows for the effective transfer of human manipulation skills to a robot by building a model that represents these skills based on a limited number of demonstrated ***,a skilllearning model that can comprehensively satisfy multiple requirements,such as computational complexity,modeling accuracy,trajectory smoothness,and robustness,is still ***,this work aims to provide such a model by employing fuzzy ***,we introduce an LfD model named Takagi-Sugeno-Kang fuzzy system-based movement primitives(TSKFMPs),which exploits the advantages of the fuzzy theory for effective robotic imitation learning of human *** work formulates the TSK fuzzy system and gradient descent(GD) as imitation learning models,leveraging recent advancements in GD-based optimization for fuzzy *** study takes a two-step strategy.(ⅰ) The input-output relationships of the model are established using TSK fuzzy systems based on demonstration *** this way,the skill is encoded by the model parameter in the latent space.(ⅱ) GD is used to optimize the model parameter to increase the modeling accuracy and trajectory *** further explain how learned trajectories are adapted to new task scenarios through local *** conduct multiple tests using an open dataset to validate our method,and the results demonstrate performance comparable with those of other ***,we implement it in a real-world case study.

关键词： robot skill learning movement primitives TSK fuzzy systems gradient descent robotics

来源：评论

学校读者我要写书评

暂无评论

Review on Development of Automatic Docking system for Weapons and Cabins

引用

Recent Patents on Engineering 2024年第2期18卷 63-87页

作者： Tang, Dedong Cheng, Chao Quan, Qiquan Deng, Zongquan Liu, Hao Key Laboratory of Advanced Manufacturing and Intelligent Technology Ministry of Education Harbin University of Science and Technology Harbin150080 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

Background: In the manufacturing setup process of weapons, aviation, and aerospace, docking assembly is a key component in determining manufacturing efficiency and quality. The traditional docking method uses manual alignment, which depends on the experience and operation level of the workers, so the docking accuracy is low and the installation speed is slow. In response to this problem, how to achieve automatic docking of weapons and cabins has become a key technology. Objective: The objective of this study is to provide an overview of recent key technologies for automatic docking systems and introduce their respective classification, characteristics, and development. Methods: This paper reviews the patents and products related to the key technologies of automatic docking systems. The structural features, methodological principles, control characteristics and applications of the patents and products are summarized. Results: The key technologies related to different aspects of an automatic docking system are compared and analyzed, and the structural features, and methodological principles are also summarized. The problems of the current key technologies are analyzed, and the current status of research and future directions of the automatic docking system are discussed. Conclusion: According to the key technologies related to different aspects of the automatic docking system, they can be divided into motion mechanism, pose detection technology, and computer control technology. The accuracy, compliance, and flexibility of the automatic docking system can be improved by choosing the proper key technology. Further improvements are needed in terms of fast performance, robustness and authenticity, and more patents on key technologies of automatic docking systems should be invented. © 2024 Bentham Science Publishers.

关键词： Patents and inventions

来源：评论

学校读者我要写书评

暂无评论

Stress Relaxation Characteristics Analysis and Storage Life Prediction of Butt Separation Pusher Spring 1

引用

13th International Workshop of Advanced manufacturing and Automation, IWAMA 2023

作者： Qin, Zhongsheng Jiang, Hong Yuan, Huiling Yao, Jian Zhou, Bingqiang Nong, Weiping Liu, Lilan Shanghai Key Laboratory of Intelligent Manufacturing and Robotics Shanghai University Shanghai China Aerospace System Engineering Shanghai Shanghai China

ISBN: (数字)9789819706655

ISBN: (纸本)9789819706648

The space docking mechanism is the key mechanism to complete the in-orbit docking and separation of the spacecraft. As the key component of the docking mechanism, the stress relaxation of the push rod spring is very important for the safe separation of the docking mechanism. In view of the absence of stress relaxation data of the pusher spring when the butt mechanism is running in orbit, the stress relaxation experiment of the pusher spring is designed to obtain the stress relaxation data of the pusher spring under different temperatures, and the service life of the pusher spring under actual working environment is predicted based on the Arrhenius model. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Stress relaxation

来源：评论

学校读者我要写书评

暂无评论

A Method for Accurately Predicting the Stress Relaxation of Springs 13th

A Method for Accurately Predicting the Stress Relaxation of ...

引用

13th International Workshop of Advanced manufacturing and Automation, IWAMA 2023

作者： Zhang, Keqi Wang, Wenxi Zou, Wei Xu, Zifeng Liu, Lilan Shanghai Key Laboratory of Intelligent Manufacturing and Robotics Shanghai University Shanghai China Aerospace System Engineering Shanghai Shanghai China

ISBN: (纸本)9789819706648

The application of spring mechanism is very wide, from daily life to industrial manufacturing, spring mechanism plays an important role, but with the accumulation of working time, the spring can fail due to stress relaxation, leading to potential safety hazards. Therefore, in addition to improving the stress relaxation resistance of the spring through heat treatment and other methods, the stress relaxation should also be accurately predicted when the spring system is working. Based on the temporal series of spring stress relaxation data and long short-term memory (LSTM) network algorithm, this paper predicts spring stress relaxation by bidirectional long short-term memory (Bi-LSTM) network and bilayer LSTM model, respectively. At the same time, the prediction results of the two are compared to obtain the most accurate prediction scheme. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Long short-term memory

来源：评论

学校读者我要写书评

暂无评论

Digital Twin Method for Real-Time Stress Prediction Based on Surrogate Model 13th

Digital Twin Method for Real-Time Stress Prediction Based on...

引用

13th International Workshop of Advanced manufacturing and Automation, IWAMA 2023

作者： Pan, Jianchu Yao, Jian Jiang, Hong Yuan, Huiling Zhou, Bingqiang Nong, Weiping Liu, Lilan Shanghai Key Laboratory of Intelligent Manufacturing and Robotics Shanghai University Shanghai China Aerospace System Engineering Shanghai Shanghai China

ISBN: (纸本)9789819706648

In response to the challenge of real-time monitoring and early warning of structural safety, a digital twin method for real-time stress prediction based on surrogate modeling is proposed. By employing techniques such as numerical simulation, surrogate model algorithms, and digital twin technology, a digital twin focusing on structural mechanical performance is constructed. It enables real-time prediction and three-dimensional visualization of structural stress under different conditional input data, thus laying the foundation for real-time monitoring, analysis, and safety early warning of equipment operating status. Moreover, it serves as a valuable tool to assist in making informed decisions. The feasibility of the proposed method is validated through a truss structure example. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Forecasting

来源：评论

学校读者我要写书评

暂无评论

Processing Method for Missing Data in Digital Twin system 1

引用

13th International Workshop of Advanced manufacturing and Automation, IWAMA 2023

作者： Zhou, Bingqiang Cai, Hongxia Jiang, Hong Yuan, Huiling Yao, Jian Nong, Weiping Pan, Jianchu Liu, Lilan Shanghai Key Laboratory of Intelligent Manufacturing & Robotics Shanghai University Shanghai China Aerospace System Engineering Shanghai Shanghai China

ISBN: (数字)9789819706655

ISBN: (纸本)9789819706648

The current digital twin system is extremely dependent on the integrity of the data when performing data analysis, and in the process of data collection and transmission, the phenomenon of data loss is very easy to occur. In this paper, the types of missing data are classified according to the size of missing data. For long-term data missing, it is processed in segments. For short-term data missing, the training of random forest algorithm model and the prediction of missing values are carried out according to different missing data sizes, And filled in the prediction using missing values from the wind power data twin system, which shows a good filling effect and helps to solve the problem of missing data filling in the digital twin system. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Wind power

来源：评论

学校读者我要写书评

暂无评论

Credibility Evaluation Software Design for Digital Twin systems of Spacecraft Agencies 1

引用

13th International Workshop of Advanced manufacturing and Automation, IWAMA 2023

作者： Wang, Zhe Zou, Wei Wang, Wenxi Xu, Zifeng Liu, Lilan Shanghai Key Laboratory of Intelligent Manufacturing & Robotics Shanghai University Shanghai China Aerospace System Engineering Shanghai Shanghai China

ISBN: (数字)9789819706655

ISBN: (纸本)9789819706648

The credibility evaluation of the digital twin system of the space spacecraft mechanism is convenient for identifying errors within the system, reducing its application risk, and improving the usability of the system itself. Only by ensuring that the digital twin system is credible can it be correctly used in the aerospace field use. For spacecraft institutions, the credible evaluation process is often a complicated process, and there will be many problems in relying on manual evaluation. This paper designs a The Spacecraft Agency Credibility Evaluation system is used to help the digital twin system to conduct credible evaluation, and the system is analyzed through the results of case verification to verify the accuracy of the system. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Software design

来源：评论

学校读者我要写书评

暂无评论

Fault Prognosis of Assembly Line of Automobile Rear Axle Based on Time Series Data 12th

Fault Prognosis of Assembly Line of Automobile Rear Axle Bas...

引用

12th International Workshop of Advanced manufacturing and Automation, IWAMA 2022

作者： Zhang, Cheng Liu, Lilan Zou, Wei Yang, MuChen Xu, ZiFeng Qi, MengJia Shanghai Key Laboratory of Intelligent Manufacturing and Robotics Shanghai University Shanghai China Aerospace System Engineering Shanghai Shanghai China

ISBN: (纸本)9789811993374

Recently, the digital transformation of the automobile manufacturing industry is developing rapidly, meanwhile the demand for intelligent assembly lines is becoming increasingly urgent. However, it is difficult for regular maintenance to deal with sudden fault, while arranging maintenance based on the real-time state of production is more suitable for the needs of safe, stable, efficient and economic operation of intelligent assembly lines. Therefore, this paper establishes a support vector regression(SVR) and optimize it with genetic algorithm(GA) for achieving accurate prognosis of equipment fault. Because of it, we can early obtain warning and maintenance before the equipment fault occurs to ensure the safe and stable operation of the production process. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Genetic algorithms

来源：评论

学校读者我要写书评

暂无评论

A Hierarchical Control Scheme for Active Power-assist Lower-limb Exoskeletons

引用

Journal of Bionic Engineering 2024年第5期21卷 2184-2198页

作者： Jing Deng Wenzheng Jiang Haibo Gao Yapeng Shi Mantian Li State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin150001HeilongjiangChina Shenzhen Academy of Aerospace Technology Shenzhen518063China Faculty of Computing Harbin Institute of TechnologyHarbin150001HeilongjiangChina Institute of Intelligent Manufacturing Technology Shenzhen Polytechnic UniversityShenzhen518055China

Effectively controlling active power-assist lower-limb exoskeletons in a human-in-the-loop manner poses a substantial chal-lenge,demanding an approach that ensures wearer autonomy while seamlessly adapting to diverse wearer *** paper introduces a novel hierarchical control scheme comprising five integral components:intention recognition layer,dynamics feedforward layer,force distribution layer,feedback compensation layer,as well as sensors and *** intention rec-ognition layer predicts the wearer's movement and enables wearer-dominant movement through integrated force and position *** force distribution layer effectively resolves the statically indeterminate problem in the context of double-foot support,showcasing flexible control *** dynamics feedforward layer mitigates the effect of the exoskeleton itself on ***,the feedback compensation layer provides reliable closed-loop *** approach mitigates abrupt changes in joint torques during frequent transitions between swing and stance phases by decomposed *** this innovative hierarchical control scheme on a hydraulic exoskeleton platform through a series of experiments,the results demonstrate its capability to deliver assistance in various modes such as stepping,squatting,and jumping while adapting seamlessly to different terrains.

关键词： Hierarchical control Active power-assist Exoskeleton robots Dynamics feedforward Force distribution Feedback compensation

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：