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2010 International Conference on System Science, Engineering Design and Manufacturing Informatization, ICSEM 2010

作者： Pei, Jiu-Fang Cheng, Jin-Shi Anhui Polytechnic University Anhui Key Laboratory of Advanced Numerical Control and Servo Technology Wuhu city China Dept. of Management Engineering Anhui Polytechnic University Wuhu city China

ISBN: (纸本)9780769542232

Research on grasping force optimization of dexterous robot hand is an important topic in manipulation planning, it is an effective way to improve the grasping precision and save energy. Based on the force manipulability ellipsoid of manipulator, this paper defines force directional manipulability of multi-fingered dexterous hand. On the condition that the operational configuration is known, and taking the force directional manipulability as the objective function, the optimization on force transmission direction of dexterous hand is presented. A numerical example of three-finger dexterous hand is presented that the force transmission performance and the best transmission direction of dexterous hand on a given configuration are obtained. © 2010 IEEE.

关键词： Robotic arms

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Elman dynamic neural network control for direct-drive feed system in advanced CNC machine tools

Elman dynamic neural network control for direct-drive feed s...

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International Conference on Computer, Mechatronics, control and Electronic Engineering (CMCE)

作者： Jian-Min Zuo Chao Pan Mu-Lan Wang Wei Su School of Mechanical Engineering Jiangsu University Zhenjiang China Jiangsu Key Laboratory of Advanced Numerical Control Technology Nanjing Institute of Technology Nanjing China

Permanent Magnet Linear Synchronous Motors (PMLSM) are gaining increasing interest as direct-drive actuator for CNC machine tools. However, the servo control system of PMLSM is multi-variable, non-linear and strong-coupled and sensitizes to various force disturbances. For high speed and high precision to CNC machine tools, Elman dynamic Neural Network(NN) is introduced and the compound controller of Proportional(P) controller and Elman NN is proposed based on on-line training. Elman NN is trained by P controller at the beginning of control process. Then, speed loop of PMLSM servo system is controlled by Elman NN. The work process of proposed compound controller is exposed and dynamic characteristic of Elman NN is proved. The simulation results show that the proposed control scheme not only has strong robustness to uncertainties of the linear servo system, but also has good tracking precision and disturbance rejection abilities.

关键词： Artificial neural networks Robustness Adaptation model Robots

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Study about Lithium Battery's Characteristics

Study about Lithium Battery's Characteristics

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2010 International Conference on Computer,Mechatronics,control and Electronic Engineering(2010计算机、机电、控制与电子工程国际会议 CMCE 2010)

作者： Qu Min Zhao Weijun Ding Zuowu Wang Shulin Department of Vehicle Engineering Nanjing Institute of TechnologyNanjing211167China Jiangsu Key Laboratory of Advanced Numerical Control Technology Nanjing Institute of TechnologyNanj

ISBN: (纸本)9781424479573

To make certain the lithium battery's terminal limited discharge voltage and internal resistance in different load, four 3.2V/60 Ah lithium batteries are put in series to form battery pack in tests. The lithium battery pack terminal voltage, current and overall internal resistance were recorded with the discharge time. By analyze datas from the tests with MATLAB, the lithium battery pack capacity, energy consumed by the load and internal resistance are figured out, lithium battery pack t-U, t-I, t-△U/△t and t-r0 graphs are drawn. From the graphs, we can draw that the limited discharge voltage of a single lithium battery is about 2.75V, the internal resistance of a single lithium battery is about 0.75mΩ, the lithium battery pack current and the voltage change trends are the same when the load keeps changeless, the higher load the less capacity lithium battery pack can release, the energy comsumed by internal resistance to the energy that lithium battery release is higher as the load increase. All the conclutions can do good to develop battery management system.

关键词： lithium batteries internal resistance discharge voltage discharge time LOAD Battery management systems Battery Pack Energy sources UNIVERSAL TIME

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Mobile robot simultaneous localization and mapping in unstructured environments

Mobile robot simultaneous localization and mapping in unstru...

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International Asia Conference on Informatics in control, Automation and Robotics, CAR

作者： Tingting Wan Chongwei Zhang Wei Bao Mulan Wang School of Electric Engineering and Automation Hefei University of Technology Hefei China Jiangsu Province College Key Laboratory of Advanced Numerical Control Technology Nanjing Institute of Technology Nanjing China

This paper describes a method of mobile robot simultaneous localization and mapping (SLAM) based on laser range finder in unstructured environments. Considering drawbacks of the traditional iterative closest point (ICP) algorithm, matching laser range scans gets into local extrema when severe occlusions occur, the iterative dual closest point based on clustering (IDCP BoC) algorithm is proposed. Scan data are filtered and divided into clusters firstly, and then a procedure of reducing of data is conducted. The closest point (CP) rule is modified and dual closest point (DCP) rule is advanced when choosing the closest points. The reduced data is used for iterative computation before the error of two consecutive iterations' residual errors less than a preset threshold to speed up the algorithm, after that the data which is not reduced is used to guarantee the accuracy. Experimental results show that the method improves the accuracy of localization and mapping.

关键词： Mobile robots Simultaneous localization and mapping Iterative algorithms Clustering algorithms Robot kinematics Iterative closest point algorithm Robotics and automation Paper technology Iterative methods Orbital robotics

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Optimization of Force Directional Manipulability of Dexterous Robot Hand

Optimization of Force Directional Manipulability of Dexterou...

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International Conference on System Science, Engineering Design and Manufacturing Informatization (ICSEM)

作者： Jiu-fang Pei Jin-shi Cheng Anhui Key Laboratory of Advanced Numerical Control & Servo Technology Anhui Polytechnic University Wuhu China Department of Management Engineering Anhui Polytechnic University Wuhu China

关键词： Force Grasping Fingers Robots Ellipsoids Jacobian matrices Indexes

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Sparse representation based on projection method in online least squares support vector machines

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控制理论与应用（英文版） 2009年第2期7卷 163-168页

作者： Lijuan LI Hongye SU Jian CHU State Key Laboratory of Industrial Control Technology Institute of Advanced Process Control Zhejiang University Hangzhou Zhejiang 310027 China College of Automation Nanjing University of Technology Nanjing Jiangsu 210009 China

A sparse approximation algorithm based on projection is presented in this paper in order to overcome the limitation of the non-sparsity of least squares support vector machines （LS-SVM）. The new inputs are projected into the subspace spanned by previous basis vectors （BV） and those inputs whose squared distance from the subspace is higher than a threshold are added in the BV set, while others are rejected. This consequently results in the sparse approximation. In addition, a recursive approach to deleting an exiting vector in the BV set is proposed. Then the online LS-SVM, sparse approximation and BV removal are combined to produce the sparse online LS-SVM algorithm that can control the size of memory irrespective of the processed data size. The suggested algorithm is applied in the online modeling of a pH neutralizing process and the isomerization plant of a refinery, respectively. The detailed comparison of computing time and precision is also given between the suggested algorithm and the nonsparse one. The results show that the proposed algorithm greatly improves the sparsity just with little cost of precision.

关键词： Least squares support vector machines Projection Sparsity pH neutralizing process Isomerization

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Research on Surface Recognition Method Based on the Freehand Sketch

Research on Surface Recognition Method Based on the Freehand...

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WRI World Congress on Software Engineering, WCSE

作者： Li-tao Wang Ping Xiao Kong-yin Wu Chuan-qing Chen Anhui Key Laboratory of Advanced Numerical Control & Servo Technology Anhui University of Technology and Science Wuhu China Anhui Polytechnic University Wuhu Anhui CN

The modeling method of freehand sketch based on conceptual design is the focus research in CAD. Though projection and mapping algorithm, freehand 2D curved surface was identified and mapped to 3D space to conceive target 3D curved surface. Man-machine interactive technology was used to realize on-line correction of a curved surface. At last, a software system for identifying space curve based on freehand sketch was designed. The experiment result indicated that the method could conceive ideal space curve and curved surface for user more freely and rapidly.

关键词： Spline Space technology Surface topography Surface reconstruction Geometry Man machine systems Design automation Design methodology Software engineering Laboratories

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Robust stabilization for a class of nonlinear networked control systems

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控制理论与应用（英文版） 2008年第3期6卷 300-304页

作者： Jinfeng GAO Hongye SU Xiaofu JI Jian CHU State Key Laboratory of Industrial Control Technology Institute of Advanced Process Control Zhejiang University Hangzhou Zhejiang 310027 China School of Electrical and Information Engineering Jiangsu University Zhenjiang Jiangsu 212013 China

The problem of robust stabilization for a class of uncertain networked control systems （NCSs） with nonlinearities satisfying a given sector condition is investigated in this paper. By introducing a new model of NCSs with parameter uncertainty, network-induced delay, nonlinearity and data packet dropout in the transmission, a strict linear matrix inequality （LMI） criterion is proposed for robust stabilization of the uncertain nonlinear NCSs based on the Lyapunov stability theory. The maximum allowable transfer interval （MATI） can be derived by solving the feasibility problem of the corresponding LMI. Some numerical examples are provided to demonstrate the applicability of the proposed algorithm.

关键词： Networked control systems （NCSs） Robust control Nonlinearity Linear matrix inequality （LMI）

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A research for intelligent cotton picking robot based on machine vision

A research for intelligent cotton picking robot based on mac...

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International Conference on Information and Automation (ICIA)

作者： Mulan Wang Jieding Wei Jianning Yuan Kaiyun Xu Jiangsu Key Laboratory of Advanced Numerical Control Technology Nanjing Institute of Technology China School of Automation South-East University Nanjing Jiangsu China

Analysing the cotton picker in current situation of China, this paper proposed a new design of Intelligent Cotton Picking Robot (ICPR) based on machine vision including the motion control subsystem and machine vision subsystem. The former adopts the YASKAWA MP2100 as the core, which can control the robot of 4-DOF and X-axis. The latter based on the interface module of SEED-VPM642 with 2-CCD cameras, can get an efficient and precise recognition. The identification of mature cotton is one of the critical tasks in this robotic application. According to the statistic experiments and analysis, an optimized segmentation algorithm based on chromatic aberration is studied. The results demonstrate that the method for cotton recognition is well done and the increased pace helps improve the speed of the processing.

关键词： Cotton Machine vision Robots Manipulators Cameras Image segmentation Object segmentation

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Robust Stabilization for Linear Time-varying Uncertain Periodic Descriptor Systems

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自动化学报 2008年第9期34卷 1219-1220页

作者： JI Xiao-Fu YANG Ze-Bin SUN Yu-Kun SU Hong-Ye School of Electrical and Information Engineering Jiangsu University Zhenjiang 212013 P.R. China National Key Laboratory of Industrial Control Technology Institute of Advanced Process Control Zhejiang University Hangzhou 310027 P.R. China

这个问题赶出为线性变化时间的不明确的周期的描述符系统的稳定被重游。为线性变化时间的不明确的周期的描述符系统基于柔韧的稳定性的概念，为柔韧的稳定性的一个必要、足够的条件被提出。柔韧的稳定问题也被学习，相应必要、足够的条... 详细信息

这个问题赶出为线性变化时间的不明确的周期的描述符系统的稳定被重游。为线性变化时间的不明确的周期的描述符系统基于柔韧的稳定性的概念，为柔韧的稳定性的一个必要、足够的条件被提出。柔韧的稳定问题也被学习，相应必要、足够的条件用双系统的符号被给。获得的矩阵不平等条件能被转变到与一些免费矩阵的介绍的线性矩阵不平等一，它使分析和设计过程简单、可靠。

关键词：稳定性自动化系统周期控制系统

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