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IEEE International Conference on Mechatronics and Automation

作者： Xi Chen Liang Xu Yalong Wang Xiang Zhai Xiang Guo Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems and School of Electrical and Electronic Engineering Tianjin University of Technology Tianjin China PICC Property and Casualty Limited Beijing China

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164175

In order to improve the prediction accuracy of automobile insurance customer's risk level, a prediction model of automobile insurance customer's risk level based on GSPSO - ELM is proposed. The premium, insurance amount, number of risks, gender, driving age and other indicators were used as the main criteria to predict the risk level. The simulation results show that the proposed GSPSO - ELM prediction model can not only overcome the local optimal, and has higher precision of prediction, forecasting results of the mean square error (mse), decision coefficient and mean absolute percentage error and dynamic inertia weight PSO algorithm to optimize extreme learning machine, linear decreasing inertia weight PSO algorithm to optimize extreme learning machine model are improved.

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Investigation on Material Removal of the Sub-Aperture Tool Used for Polishing Riblet Surfaces

SSRN

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SSRN 2022年

作者： Wang, Guilian Lv, Bingrui Liu, Bin Fang, Fengzhou Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin 300384 China School of Mechanical and Materials Engineering University College Dublin Belfield D04 V1W8 Ireland Key Laboratory of Advanced Ceramics and Machining Technology Ministry of Education Tianjin University Tianjin300072 China Tianjin Laboratory of Control Theory and Applications in Complicated System School of Electrical and Electronic Engineering Tianjin University of Technology Tianjin 300384 China Tianjin University Tianjin 300072 China

Riblet surfaces find wide applications owing to their excellent performance such as drag reduction. In this study, sub-aperture tool is investigated to polish the riblet surfaces, two main different curvatures at any point of this kind of tool surface are proposed. A series of simulation studies are conducted to investigate the effect of key parameters on the material removal, such as tool radius, inclination angle, polishing pressure, and tool speed. The results show that a higher difference between the tool radius values in two directions increases the difference between the major and minor axes of the contact area. Based on experimental tests and simulation analysis, it is conluded that the profile and depth of material removal distribution both increase with an increase in polishing pressure, the material removal profile remains constant but the removal detpth increases with an increase in polishing speed, and the parameter K is a time-dependent. © 2022, The Authors. All rights reserved.

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Study on Delay and Accuracy of control System for the Vascular Interventional Surgical Robot based on Fuzzy PID and Improved Smith Algorithms

Study on Delay and Accuracy of Control System for the Vascul...

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IEEE International Conference on Mechatronics and Automation

作者： Jian Guo Zixiang Zhuang Shuxiang Guo Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems and Intelligent Robot Laboratory Tianjin University of Technology BinshuiXidao 391 Tianjin China Kagawa University 2217-20 Hayashi-cho Takamatsu Japan

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164175

In vascular interventional surgical robot, performance of displacement is one of the criteria for evaluating whether the robot's system can safely complete the operation. However, there is a pure time delay phenomenon which caused by motor of the slave side and also the data processing for the robot's system. These factors will reduce the control performance of the vascular interventional surgical robot and even cause the system is unstable, which makes the analysis of the system very complicated. In order to this situation, this paper proposed an algorithm combining fuzzy PID and improved smith estimation compensation, which reduces the error and time delay of vascular interventional surgical robot caused by time delay and improves the following ability of master and slave vascular interventional surgical robot. Finally, this paper verified the effectiveness of the algorithm through the tracking experiment of master-slave's tracking experiment. It showed the improved algorithms can improve the real-time and accuracy of the control system for the robot.

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Motion Planning of Redundant Dual-arm Based on Improved RRTstar

Motion Planning of Redundant Dual-arm Based on Improved RRTs...

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Chinese Automation Congress (CAC)

作者： Zhi Li Qiang Gao Yu Song Chunping Liu Tianjin Key Laboratory for Control Theory and Applications in Complicated Systems Tianjin University of Technology Tianjin China Intelligent Manufacturing College Tianjin Sino-German University of Applied Sciences Tianjin China

ISBN: (数字)9781728176871

ISBN: (纸本)9781728176888

In view of the lack of search orientation and slow convergence speed of RRT * algorithm, this paper proposes an improved RRT * path planning algorithm. Firstly, after sampling random points, the attractive function is introduced to guide the expansion direction of the random tree. Then, the variable multiple step size method is used. Every time the random tree is expanded, if no collision is detected, the step size will be doubled in the next expansion, and so on; if collision is detected, the step size will be adjusted back to single step size for expansion, so as to speed up the algorithm and improve the efficiency. Then, after analyzing the workspace of the redundant double manipulator, the possibility of collision between the two arms is confirmed, and the loose coordination method of master-slave programming is used for the experiment. Simulation and experimental results show that compared with the original algorithm, the improved algorithm saves about 23% in time and 11% in path cost, which proves the effectiveness and efficiency of the proposed algorithm.

关键词： Manipulators control theory Task analysis Planning Mathematical model Manufacturing Kinematics

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Magnetic Localization Technology of Capsule Robot Based on Magnetic Sensor Array

Magnetic Localization Technology of Capsule Robot Based on M...

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IEEE International Conference on Mechatronics and Automation

作者： Qiang Fu Xinrui Wang Jian Guo Shuxiang Guo Zhuocong Cai Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems and Biomedical Robot Laboratory Tianjin University of Technology Binshui Xidao 391 Tianjin China Dpartment of Intelligent Mechanical Systems Engineering Kagawa University Takamatsu Kagawa Japan

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164175

Compared with traditional endoscopes, endoscopic capsule robots have been widely used in the medical field due to their small size, wireless transmission of internal images of digestive tract, and non-invasive and minimally invasive diagnosis and treatment. Therefore, when the capsule robot enters the human body, positioning it outside the human body becomes a key technology. Magnetic positioning technology has become the best method to realize capsule robot positioning with its high efficiency and high precision. In this paper, a magnetic positioning method is proposed, which measures the magnetic induction intensity through the magnetic sensor array platform built, and calculates the relative position of the capsule robot according to the magnetic dipole model derivation equation. In addition, this paper also carries out curve fitting for this method. The fitting results show that this method has higher positioning accuracy and shorter calculation time.

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Design and Analysis of a Wearable Exoskeleton Upper Limb Rehabilitation Robot

Design and Analysis of a Wearable Exoskeleton Upper Limb Reh...

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IEEE International Conference on Mechatronics and Automation

作者： Jian Guo Pengyu Li Shuxiang Guo Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems and Biomedical Robot Laboratory Tianjin University of Technology Binshui Xidao Extension 391 Tianjin China Faculty of Engineering Kagawa University Takamatsu Kagawa Japan

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164175

In order to solve the disadvantages of the large size of the braced upper limb rehabilitation robot, a wearable upper limb exoskeleton robot was designed. Firstly, a 3D model of the robot was built using SOLIDWORKS based on the principle of modularity. According to the structural characteristics of the wearable upper exoskeleton robot, choose the driving mode of the robot and the installation position of the motor reasonably. Secondly, the kinematic analysis of the robot was performed using the D-H parameter method. Finally, the model was imported into ADAMS for motion simulation of shoulder joint flexion/extension, adduction/abduction and elbow joint flexion/extension. Simulation results prove that the rehabilitation robot has a well-designed shoulder and elbow joint structure, smooth motion curve, no sudden changes in speed and position, and good bionic properties. The conclusion is the wearable upper limb rehabilitation robot is well designed, can provide patients with effective rehabilitation training. A theoretical basis for future prototype production and subsequent research was laid.

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Energy Consumption Data Prediction Analysis based on EEMD-ARMA Model 17

Energy Consumption Data Prediction Analysis based on EEMD-AR...

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17th IEEE International Conference on Mechatronics and Automation, ICMA 2020

作者： Li, Ji Jiang, Xudong Shao, Lei Liu, Hongli Chen, Chao Wang, Gang Du, Dongdong Tianjin University of Technology Tianjin Key Laboratory for Control Theory Applications in Complicated Systems Binshui Xidao 391 Tianjin300384 China Tianjin Co. Ltd Tianjin Economic and Technological Development Zone No.2 Bohai Road Binhai New Area Tianjin China Institute of Data Management and Application China Academy of Industrial Internet Beijing100020 China

ISBN: (纸本)9781728164151

Energy consumption data prediction model based on EEMD-ARMA prediction model is used to predict the nonlinear and non-stationary characteristics of industrial energy consumption data, which leads to the difficulty of data prediction and low prediction accuracy. This paper improves empirical mode decomposition (empirical mode decomposition, EMD) by ensemble empirical mode decomposition (ensemble empirical mode decomposition, EEMD) and predicts energy consumption by combining auto regressive sliding average model (auto regressive and moving average model, ARMA). Finally, the historical data of a certain system is selected as a sample, and the comparative analysis of EMD-ARMA and EEMD-ARMA prediction results is used to verify that the EEMD-ARMA algorithm used is more accurate than the prediction algorithm, and its prediction results have certain reference value for the control of energy consumption data in enterprises. © 2020 IEEE.

关键词： Empirical mode decomposition

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Design of A Novel Virtual Sensor for the Vascular Interventional Robotic System

Design of A Novel Virtual Sensor for the Vascular Interventi...

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IEEE International Conference on Mechatronics and Automation

作者： Jian Guo Han Zhao Shuxiang Guo Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems and Intelligent Robot Laboratory Tianjin University of Technology Binshui Xidao 391 Tianjin China Faculty of Engineering Kagawa University Hayashi-cho Takamatsu Japan

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164175

In order to solve existed problems in the force measurement part of vascular interventional surgical robots. In this paper, A new concept was proposed to obtain more accurate force information and solve the problems of traditional sensors in vascular interventional surgery. This sensorless measurement is based on kinematic equations in robotics. First of all, the virtual sensor mentioned in this paper firstly collects the pictures of the catheter in the blood vessel, extracts the deformation variables, then establishes the catheter kinematics model, and imports the extracted deformation variables into the catheter kinematics model. The final output force value. Finally, experimental results showed that force measurement in this way can avoid the problem of sterilization caused by the sensor entering the blood vessel and the problem of insufficient accuracy caused by indirect measurement.

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A Novel Fuzzy Neural Network-based Rehabilitation Stage Classifying Method for the Upper Limb Rehabilitation Robotic System

A Novel Fuzzy Neural Network-based Rehabilitation Stage Clas...

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IEEE International Conference on Mechatronics and Automation

作者： Shuxiang Guo Huimin Cai Jian Guo Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems and Intelligent Robot Laboratory Tianjin University of Technology Binshui Xidao Extension 391 Tianjin China Faculty of Engineering Kagawa University Takamatsu Kagawa Japan

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164175

According to the “brain plasticity” theory, the hemiplegia patients could improve the ability to keep balance through rehabilitation training. This paper proposes a method of collecting sEMG signals and interaction force signals during the rehabilitation training which is completed by continuously making specified actions driven by external forces. The signals are collected to classify the rehabilitation stage and evaluate the rehabilitation effect to solve the problem of stroke rehabilitation physician's shortage. This paper conducted an experiment of rehabilitation exercise based on the manual muscle testing (MMT) scale, fitted a fuzzy neural network and verified its predicted performance for the assessment of rehabilitation stage.

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Publisher's Note: "A new autonomous memristive megastable oscillator and its Hamiltonian-energy-dependent megastability" [Chaos 32, 013127 (2022)]

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Chaos (Woodbury, N.Y.) 2022年第3期32卷 039901页

作者： Ronghao Li Enzeng Dong Jigang Tong Shengzhi Du Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems Tianjin University of Technology Tianjin 300384 China. Department of Electrical Engineering Tshwane University of Technology Pretoria 0001 South Africa.

This article was originally published online on 25 January 2022 with the incorrect corresponding author email address, and without the deceased author footnote.

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