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Simulation research on trajectory tracking control system of manipulator based on fuzzy PID control

International Journal of Innovative Computing and Applications 2022年第5-6期13卷 269-277页

作者： Ma, Ruyi Li, Zeshen Jiang, Du Yun, Juntong Liu, Ying Liu, Yibo Bai, Dongxu Li, Gongfa Key Laboratory of Metallurgical Equipment and Control Technology Ministry of Education Wuhan University of Science and Technology Hubei Wuhan430081 China Hubei Key Laboratory of Mechanical Transmission and Manufacturing Engineering Wuhan University of Science and Technology Hubei Wuhan430081 China Research Centre for Biomimetic Robot and Intelligent Measurement and Control Wuhan University of Science and Technology Wuhan430081 China Institute of Precision Manufacturing Wuhan University of Science and Technology Wuhan430081 China

In view of the influence of external environment interference, parameter changing and random noise in the process of manipulator trajectory tracking, as well as the problems of fuzzy PID control, such as fuzzy rules are not easy to set, quantisation interval and parameters are affected by subjective consciousness, which leads to the problem of insufficient performance of manipulator system. In this paper, firstly, in the MATLAB simulation environment, based on the D-H parameter model, the linkage model of the four degree of freedom manipulator is established, and the homogeneous transformation matrix of the manipulator is calculated. Then, through the application of fuzzy PID control in the Simulink toolbox, the optimal parameters of the controller are found by using the proportion factor self-adjusting strategy, and the corresponding trajectory tracking and forward inverse kinematics simulation are studied. The trajectory tracking curve of the manipulator is obtained. The research method and experimental results in the paper are of great significance for the simulation of articulated manipulator. Copyright © 2022 Inderscience Enterprises Ltd.

关键词： Simulink

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Mechanism Design of a Self-submersible Planetary Drilling and Sampling robot

Mechanism Design of a Self-submersible Planetary Drilling an...

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International Conference on Mechanical Design, ICMD 2023

作者： Wu, Riyue Wang, Wei Liu, Jiabin Zhao, Zeng Dong, Jiawei Long, Zhiwei Zhong, Lin Xu, Jinchang Zhong, Peineng Li, Jian Xu, Kun Zhang, Tao State Key Laboratory of Precision Electronic Manufacturing Technology and Equipment Guangdong University of Technology Guangzhou China Beijing Spacecrafts China Academy of Space Technology Beijing China School of Intelligent Engineering Shaoguan University Shaoguan China School of Mechanical Engineering and Automation Beihang University Beijing China

ISBN: (纸本)9789819709212

With the continuous development of planetary exploration, penetrating the planetary regolith into the deep subsurface has become increasingly important. A self-submersible planetary drilling and sampling robot (SPDSR) is proposed in this work, including design idea and mechanism configuration. The robot is comprised of an anchoring and feeding mechanism, a rotation and percussion mechanism, and a coring mechanism. The anchoring and feeding mechanism can counteract drilling resistance or resistance torque and enable the robot to move vertically. The rotation and percussion mechanism can realize the crushing of planetary regolith or rock. The coring mechanism can realize the function of fixed-point coring of regolith samples. Drilled cuttings can be retained inside an inner chamber and the robot can be lifted out of the borehole to remove the cuttings when the chamber is fully filled. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Feeding

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Multi-branch low-light enhancement algorithm based on spatial transformation

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Multimedia Tools and Applications 2024年 1-21页

作者： Wang, Wenlu Sun, Ying Zou, Chunlong Tang, Dalai Fang, Zifan Tao, Bo Key Laboratory of Metallurgical Equipment and Control Technology of Ministry of Education Wuhan University of Science and Technology Wuhan430081 China School of Computer Information Management Inner Mongolia University of Finance and Economics Hohhot010051 China College of Mechanical Engineering Hubei University of Automotive Technology Shiyan442000 China Research Center for Biomimetic Robot and Intelligent Measurement and Control Wuhan University of Science and Technology Wuhan430081 China Precision Manufacturing Research Institute Wuhan University of Science and Technology Wuhan430081 China Hubei Key Laboratory of Hydroelectric Design & amp Maintenance China Three Gorges University Yichang443002 China

Many state-of-the-art low-light image enhancement techniques now suffer from issues like color distortion, detail blurring, and the halo effect, hindering their ability to produce visual effects. This paper presents a multi-branch low-light enhancement algorithm based on spatial transformation to significantly improve the visual impact of images under low-light settings, overcoming the limitations of existing approaches. The process involves dividing the initial low-light picture into three distinct layers. Bootstrap filtering and Contrast Limited Adaptive Histogram Equalization are used to process the main feature layer. Primary feature extraction is used to extract features for the compensation layer, which is then integrated with Contrast Limited Adaptive Histogram Equalization and MSRCR. The auxiliary layer utilizes spatial transformation to apply gamma correction to the V-channel and performs color space transformation and additional processing. Ultimately, these three layers are combined and refined to create the final improved image. Based on the experimental results, the proposed method outperforms the standard MSRCR algorithm by 52.47%, 71.58%, and 12.10%, respectively, on the assessment metrics AG, SD, and IE. LOE declines by 22.3%. The processed image presents a good visual quality, effectively enhancing the image brightness while retaining a large amount of information and improving the image details. This paper proposes an effective method to deal with the problem of low illumination image enhancement, which provides a strong reference for future research and application in related fields. © The Author(s), under exclusive licence to Springer Science+Business Media, LLC, part of Springer Nature 2024.

关键词： Image enhancement

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Performance Evaluation of Public Bus Transportation by Using DEA Models and Shannon’s Entropy:An Example From a Company in a Large City of China

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IEEE/CAA Journal of Automatica Sinica 2021年第4期8卷 779-795页

作者： Zicheng Liu Naiqi Wu Yan Qiao Zhiwu Li Institute of Systems Engineering and the Collaborative Laboratory for Intelligent Science and Systems Macao University of Science and TechnologyMacaoChina Institute of Systems Engineering and the Collaborative Laboratory for Intelligent Science and Systems Macao University of Science and Technologyand also with the State Key Laboratory of Precision Electronic Manufacturing Technology and EquipmentGuangdong University of TechnologyGuangzhou 510006China

The purpose of this paper is to assess the operational efficiency of a public bus transportation via a case study from a company in a large city of China by using data envelopment analysis(DEA)model and Shannon’s *** company operates 37 main routes on the backbone ***,it plays a significant role in public transportation in the *** to bus industry norms,an efficiency evaluation index system is constructed from the perspective of both company operations and passenger *** passenger satisfaction,passenger waiting time and passenger-crowding degree are considered,and they are undesirable *** describe such indicators,a superefficient DEA model is *** this model,by using actual data,efficiency is evaluated for each bus *** show that the DEA model with Shannon’s entropy being combined achieves more reasonable ***,sensitivity analysis is ***,the results are meaningful for the company to improve its operations and management.

关键词： Performance evaluation public transportation system Shannon’s entropy super-efficiency data envelopment analysis undesirable outputs

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Probing subcycle spectral structures and dynamics of high-order harmonic generation in crystals

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Chinese Physics B 2022年第9期31卷 273-280页

作者： Long Lin Tong-Gang Jia Zhi-Bin Wang Peng-Cheng Li Research Center for Advanced Optics and Photoelectronics Department of PhysicsCollege of ScienceShantou UniversityShantou 515063China Key Laboratory of Intelligent Manufacturing Technology of MOE Shantou UniversityShantou 515063China College of Physics and Electronic Engineering Northwest Normal UniversityLanzhou 730070China

Subcycle spectral structures and dynamics of high-order harmonic generation(HHG)processes of atoms and molecules driven by intense laser fields on the attosecond time scale have been originally studied theoretically and ***,the time scale of HHG dynamics in crystals is in the order of sub-femtosecond,and the carrier dynamics of HHG in crystals driven by subcycle laser pulses are largely *** we perform a theoretical study of subcycle structures,spectra,and dynamics of HHG of crystals in mid-infrared laser fields subject to excitation by a subcycle laser pulse with a time *** HHG spectra as a function of time delay between two laser fields are cal-culated by using a single-band model for the intra-band carrier dynamics in crystal momentum space and by solving the time-dependent Schr?dinger equation in velocity gauge for the treatment of multi-band crystal *** results exhibit a complex time-delay-dependent oscillatory pattern,and the enhancement and suppression of the HHG related to subcycle pulse are observed at the given time delay in either single-band or multi-band crystal *** understand oscillation structures with respect to the dependence for the subcycle laser fields,the time-frequency characteristics of the HHG as well as the probability density distribution of the radiation are analyzed in detail.

关键词： high-order harmonic generation carrier dynamics subcycle laser pulses crystal systems

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Weld Seam Identification and Calibration Method of Spiral Steel Pipe Grinding robot 5

Weld Seam Identification and Calibration Method of Spiral St...

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5th World Conference on Mechanical Engineering and intelligent manufacturing, WCMEIM 2022

作者： Cao, Ao Zhu, Yaguang Liu, Yangyang Liu, Qiong He, Xu Chang'An University The Key Laboratory of Road Construction Technology and Equipment of MOE Xi'an China Shanghai Collaborative Innovation Center of Intelligent Manufacturing Robot Technology for Large Components Shanghai China

ISBN: (纸本)9781665473699

The identification and calibration of weld seam is the key to solve the problem of low efficiency and low quality in weld grinding of spiral welded steel pipe. For the identification of internal and external weld seams of spiral welded steel pipes, this paper proposes three weld seam identification methods, which are respectively based on the sum of squares of residuals (RSS), template matching and segmentation search;In addition, aiming at the calibration of the feature points of the weld, this paper proposes the farthest distance method and slope analysis method to calibrate the left and right inflection points of the weld. The experimental results show that the three weld seam identification methods can accurately identify the relative position of the laser profiler and the weld seam. The weld seam calibration method can enable the feature points to be accurately identified and calibrated, guaranteeing subsequent pipe end weld removal. © 2022 IEEE.

关键词： Template matching

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A Dual-Branch intelligent Fault Diagnosis Method based on Spatial Variable Scale Pooling for Inter-Class Incomplete Data 14

A Dual-Branch Intelligent Fault Diagnosis Method based on Sp...

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14th International Conference on Reliability, Maintainability and Safety, ICRMS 2023

作者： Chen, Fei Xu, Binbin Wu, Di Yang, Zheng He, Longbo Zhou, Xin Ma, Boquan Li, Xiaobing Sino-German College of Intelligent Manufacturing Shenzhen Technology University Shenzhen China School of Mechanical and Aerospace Engineering Jilin University Changchun China Guangdong Provincial Key Laboratory of Electronic Information Products Reliability Technology Guangzhou China

ISBN: (纸本)9798350329988

The intelligent fault diagnosis method based on convolutional neural network (CNN) has achieved significant success in the field of mechanical fault diagnosis. However, its application has been limited to complete inter-class data obtained from controlled laboratory settings. In practical working scenarios, inter-class data often lacks sufficient fault data compared with health data, which leads to an unsatisfactory CNN performance. This paper proposes a dual-branch intelligent fault diagnosis method based on spatial variable scale pooling aiming at the constraint of CNN in capturing local features only to enhance the applicability of intelligent fault diagnosis methods in real working conditions and improve the fault feature representation capability and diagnostic accuracy. First, this method constructs a dual-branch model that combines the VGG16 convolutional network and the self-attention Encoder from the Transformer architecture, enabling the fusion of local and global features and enhancing the fault representation learning capability of the model. Second, the pooling layers within the convolutional branch are improved by introducing spatial variable scale pooling for extracting more detailed fault features. Finally, a fusion module is designed to align the extracted features from the dual-branch model semantically. The superiority of the proposed model is demonstrated through the experiment. © 2023 IEEE.

关键词： Convolutional neural networks

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Using an Improved Artificial Hummingbird Algorithm for Vision-Guided Optimization And Grasping of Multi-Objective robots 3

Using an Improved Artificial Hummingbird Algorithm for Visio...

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2022 3rd International Conference on Internet of Things, Artificial Intelligence and Mechanical Automation, IoTAIMA 2022

作者： Yang, Rui Zhou, Qian Mo, Qinglong Gan, Lin Hu, Ruihan Guangdong Institute of Intelligent Manufacturing Guangdong Key Laboratory of Modern Control Technology Guangzhou510070 China College of Electronic Countermeasures National University of Defense Technology Hefei230037 China State Key Laboratory of Pulsed Power Laser Hefei230037 China Key Laboratory of Electronic Restriction of Anhui Province Hefei230037 China Chaozhou Zhongchao Intelligent Manufacturing Innovation Center Chaozhou China

AHA (artificial hummingbird algorithm) is a meta-heuristic optimization algorithm that simulates the unique flight and feeding patterns of hummingbirds. By combining the excellent strategy of the artificial hummingbird algorithm with the framework of the multi-objective optimization algorithm, the multi-objective artificial hummingbird algorithm is created, improved, and further enhanced. Therefore, the research on vision-guided optimization and grasping control of multi-objective robots based on an enhanced artificial hummingbird algorithm has significant academic significance and vast potential for application. © 2022 Institute of Physics Publishing. All rights reserved.

关键词： Multiobjective optimization

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Structured Sparse Coding With the Group Log-regularizer for key Frame Extraction

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IEEE/CAA Journal of Automatica Sinica 2022年第10期9卷 1818-1830页

作者： Zhenni Li Yujie Li Benying Tan Shuxue Ding Shengli Xie the School of Automation Guangdong University of TechnologyGuangzhou 510006 the Guangdong-Hong Kong-Macao Joint Laboratory for Smart Discrete Manufacturing Guangdong University of Technology(GDUT)Guangzhou 510006China the School of Artificial Intelligence Guilin University of Electronic TechnologyGuilin 541004China the National Institute of Advanced Industrial Science and Technology TsukubaIbaraki 305-8560Japan IEEE the Key Laboratory of Intelligent Information Processing and System Integration of Io T(GDUT) Ministry of Education Guangdong Key Laboratory of IoT Information Technology(GDUT) Guangzhou 510006China

key frame extraction based on sparse coding can reduce the redundancy of continuous frames and concisely express the entire ***,how to develop a key frame extraction algorithm that can automatically extract a few frames with a low reconstruction error remains a *** this paper,we propose a novel model of structured sparse-codingbased key frame extraction,wherein a nonconvex group log-regularizer is used with strong sparsity and a low reconstruction *** automatically extract key frames,a decomposition scheme is designed to separate the sparse coefficient matrix by *** rows enforced by the nonconvex group log-regularizer become zero or nonzero,leading to the learning of the structured sparse coefficient *** solve the nonconvex problems due to the log-regularizer,the difference of convex algorithm(DCA)is employed to decompose the log-regularizer into the difference of two convex functions related to the l1 norm,which can be directly obtained through the proximal ***,an efficient structured sparse coding algorithm with the group log-regularizer for key frame extraction is developed,which can automatically extract a few frames directly from the video to represent the entire video with a low reconstruction *** results demonstrate that the proposed algorithm can extract more accurate key frames from most Sum Me videos compared to the stateof-the-art ***,the proposed algorithm can obtain a higher compression with a nearly 18% increase compared to sparse modeling representation selection(SMRS)and an 8% increase compared to SC-det on the VSUMM dataset.

关键词： Difference of convex algorithm(DCA) group logregularizer key frame extraction structured sparse coding

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Proton transport controlled at surface layer of CeO_(2) by gradient-doping with a built-in-field effect

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Journal of Rare Earths 2023年第12期41卷 2025-2032,I0008页

作者： Yuzheng Lu Naveed Mushtaq M.A.K Yousaf Shah Sajid Rauf Chen Xia Bin Zhu School of Electronic Engineering Nanjing Xiaozhuang UniversityNanjing21171China School of Physics Electronics and Intelligent ManufacturingHuaihua UniversityHuaihua418008China Jiangsu Provincial Key Laboratory of Solar Energy Science and Technology/Energy Storage Joint Research Center School of Energy and EnvironmentSoutheast UniversityNanjing210096China College of Electronics and Information Engineering Shenzhen UniversityShenzhen58000China Faculty of Physics and Electronic Science Hubei UniversityWuhan430062China

Ceramic fuel cells hold an important position for the sustainable energy future using renewable energy sources with high *** design and synthesis of active materials,interface engineering and having capability of low operating temperature is considered as an important factor to further increase the power output and stability of ceramic fuel cell devices.A novel methodology has vital importance to develop new functionalities of existing materials by introducing new different *** built-in electric field(BIEF) is one of the most recently used approaches to improve charge transfer and ionic conductivity of solid oxide ***,we demonstrate gradient doping strategy in CeO_(2)-δstructure to produce BIEF effect and to modulate the proton transport effectively at the surface layer rather than bulk *** inclusions of La and Sr metal ions at the surface and Co-metal ions into bulk-layer of CeO_(2)form the gradiently doped *** gradient doping into CeO_(2)highly improves the proton transport properties through the surface layer by modifying the energy ***,unbalanced charge distribution due to gradient doping produces built-in electric-field to provide extra driving force for protons transport through surface *** acquired gradiently doped fluorite structure exhibits remarkable proton conductivity of>0.2 S/cm,as a result ceramic fuel cell shows power output of>1000 mW/cm2while operating at 500℃.This unique work highlights the critical role of gradiently doped electrolyte in electrochemical conversion energy devices and offers new understanding and practices for sustainable energy future.

关键词： La_(0.20)Sr_(0.05)Ce_(0.65)Co_(0.1)0_(2-δ)(LSCC) Gradient doping Fast protonic transport High grain boundary conduction Built-in electric field Rare earths

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