作者:
Liu, YangZhang, TianshiShenyang Institute of Automation
Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang China
Industrial big data analysis is an important approach to explore the essence of industrial production processes. Traditional keyword retrieval and semantic retrieval are difficult to adapt to the industrial manufactur...
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Acupuncture is a classic treatment method in traditional Chinese medicine. At present, it mainly relies on experienced doctors for manual treatment. The inheritance of skills and the guarantee of treatment effects req...
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作者:
Liu, YangZhang, TianshiChinese Academy of Sciences
Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang Institute of Automation Chinese Academy of Sciences Key Laboratory of Networked Control Systems Shenyang China
Industrial big data processing is an important support for improving industrial production efficiency. Because industrial big data involves complex business logic in production scenarios, there is a widespread problem...
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To address the problems of chattering and slow response in the sliding mode control system of surface-mounted permanent magnet synchronous motor (SPMSM), a novel sliding mode controller combined with an enhanced slidi...
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This paper presents an adaptive feedforward optimization method based on iterative learning control mechanism, improving trajectory tracking accuracy from trial to trail. Conventional feedforward control researches fo...
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ISBN:
(数字)9798331544577
ISBN:
(纸本)9798331544584
This paper presents an adaptive feedforward optimization method based on iterative learning control mechanism, improving trajectory tracking accuracy from trial to trail. Conventional feedforward control researches focus on the precise prediction and compensation of torques, either by means of dynamic modelling and parameter identification or by data-driven approaches. However, there exists unpredictable time-delay for torques to work. The proposed method takes the previously less-concerned velocity feedforward part of the servo control system into consideration, and a self-adaptive fine-tuning mechanism is designed and established. The error measurement and feedforward optimization processes are integrated into an iterative learning framework to obtain efficiency and precision. The effectiveness of proposed method is validated by physical experiments on an EFORT ER15 industrial robot, and an averagely 90.71% error reduction is witnessed.
Minimum weight distribution (MWD) is an important metric to calculate the first term of union bound called minimum weight union bound (MWUB). In this paper, we first prove the maximum likelihood (ML) performance appro...
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Mobile robots represented by smart wheelchairs can assist elderly people with mobility *** paper proposes a multi-mode semi-autonomous navigation system based on a local semantic map for mobile robots,which can assist...
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Mobile robots represented by smart wheelchairs can assist elderly people with mobility *** paper proposes a multi-mode semi-autonomous navigation system based on a local semantic map for mobile robots,which can assist users to implement accurate navigation(e.g.,docking)in the environment without prior *** order to overcome the problem of repeated oscillations during the docking of traditional local path planning algorithms,this paper adopts a mode-switching method and uses feedback control to perform docking when approaching semantic *** last,comparative experiments were carried out in the real *** show that our method is superior in terms of safety,comfort and docking accuracy.
Miniature robotic blimps, as one type of lighter-than-air aerial vehicles, have attracted increasing attention in the science and engineering community for their enhanced safety, extended endurance, and quieter operat...
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Dear Editor,In this letter,in order to deal with random network delays and packet losses in a class of networked nonlinear systems,three data-driven networked predictive control methods are *** closed-loop systems and...
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Dear Editor,In this letter,in order to deal with random network delays and packet losses in a class of networked nonlinear systems,three data-driven networked predictive control methods are *** closed-loop systems and control increments are derived,respectively.
The pressurizer is an essential part of the safe operation of the nuclear power plant. It contains both the steam phase and the liquid phase, which requires simultaneous control of the pressure and water level, and th...
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