With the development of Internet technology,the computing power of data has increased,and the development of machine learning has become faster and *** the industrial production of industrial controlsystems,quality i...
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With the development of Internet technology,the computing power of data has increased,and the development of machine learning has become faster and *** the industrial production of industrial controlsystems,quality inspection and safety production of process products have always been our *** at the low accuracy of anomaly detection in process data in industrial control system,this paper proposes an anomaly detection method based on stacking integration using the machine learning *** are collected from the industrial site and processed by feature *** component analysis(PCA)and integrated rule tree method are adopted to reduce the dimension of the process data,which can restore the original feature information of the data to the maximum *** forest(RF),Adaboost,XGboost,SVM were selected as the first layer of basic *** regression(LR)was used as the secondary learner to build the exception detection model based on stacking integrated *** data was used to train the base learner model and the integrated *** comparing and analyzing the experimental results of between integrated model and each basic learning *** comparing and analyzing the experimental results of the constructed anomaly detection model and the basic learning model,the accuracy of process data anomaly detection is effectively improved,and the false alarm rate of process data anomaly detection is effectively reduced.
In this study, we describe the first-ever demonstration of the turning and jumping control of locusts based on electrical stimulation, which can realize a cyborg jumper. In terms of perception, walking distance, speed...
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ISBN:
(纸本)9781665449670
In this study, we describe the first-ever demonstration of the turning and jumping control of locusts based on electrical stimulation, which can realize a cyborg jumper. In terms of perception, walking distance, speed, payload, maneuverability, and adaptability to complex environments, cyborgs can reveal unmatchable advantages to insect-scale artificial robots. Herein, live locusts (Locusta migratoria) were selected as the study platform. Antennae and cercus stimulations using electrical pulses were applied to elicit the insect to turn and jump. We examined both the turning angle and the angular velocity by tuning the stimulus amplitude or frequency. It is found the turning rate induced by antenna stimulation can be graded. Besides, the stimulation of the cercus at the distal abdomen triggered the jump reliably. Moreover, the directional jumping control of the locust was achieved by the collaboration of turning and jumping control. Such results provide the potential to establish a more precise and more efficient model to develop a direction-controllable cyborg jumper.
For the problem of previous fault-estimation studies that the so-called observer-matching condition should be satisfied,as well as the difficulty to estimate actuator and sensor faults simultaneously,an augmented syst...
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For the problem of previous fault-estimation studies that the so-called observer-matching condition should be satisfied,as well as the difficulty to estimate actuator and sensor faults simultaneously,an augmented system fault-estimation observer is proposed for a sort of nonlinear systems subject to process and sensor *** essential idea is to construct an augmented system using a filter and to further create an augmented state vector by considering the system states and simultaneous actuator and sensor *** nonlinearity,process,and sensor disturbances and multiple-fault problem of the actuator and sensor are all taken into ***,an augmented observer is designed for the augmented system by attenuating the disturbances and simultaneously estimating the system states and actuator and sensor *** asymptotic stability is confirmed via the Lyapunov stability theory,and the linear matrix inequality optimization technique is further utilized to solve the designed *** simulations of a single-link flexible-joint robot are performed to illustrate the effectiveness of the proposed robust fault-estimation scheme.
Humanoid robot joints require real-time torque detection to provide accurate force feedback information for the control system. To meet the measurement requirements and realize the miniaturization of the sensor, a tor...
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Humanoid robot joints require real-time torque detection to provide accurate force feedback information for the control system. To meet the measurement requirements and realize the miniaturization of the sensor, a torque sensor based on the magnetoelastic effect is developed, utilizing planar spiral coils as detection probes. In this work, a planar spiral coil mutual inductance calculation model is established to solve the mutual inductance coefficient, and the mechanical structure and circuit design of the sensor are completed. Finally, a torque loading platform is built to perform calibration experiments, and the hysteresis model is improved to compensate for the hysteresis phenomenon. The calibration results indicate that the sensor shows excellent loaded nonlinearity of 3.08%F.S., unloaded nonlinearity of 2.71%F.S., loaded repeatability of 2.48%F.S., unloaded repeatability of 1.89%F.S. and hysteresis of 1.9%F.S., at a compact probe size of 13.8 × 9 . 9 × 1.8 mm.
Haptic feedback is critical for teleoperation in surgical robots, particularly in Natural Orifice Transluminal Endoscopic Surgery (NOTES). This paper introduces a haptic controller designed to enhance force generation...
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ISBN:
(数字)9798331509644
ISBN:
(纸本)9798331509651
Haptic feedback is critical for teleoperation in surgical robots, particularly in Natural Orifice Transluminal Endoscopic Surgery (NOTES). This paper introduces a haptic controller designed to enhance force generation efficiency and resolution, surpassing traditional motor control frameworks. We propose a Maximum Torque Per Ampere (MTPA)-based Field-Oriented control (FoC) strategy for haptic kinesthetic feedback controller, optimizing the performance of a master manipulator's joint with a brushless DC (BLDC) motor under stalled and ultra-slow conditions. This approach enables a master manipulator with three degrees of freedom (DoF) for force feedback. Its effectiveness is validated through simulator and surgical trials, demonstrating improved haptic feedback in surgical applications.
作者:
D. FuT. ZhouT. YangT. ZhangJ. DongKey Laboratory of Networked Control Systems
Institutes for Robotics and Intelligent Manufacturing Digital Factory Department Shenyang Institute of Automation Chinese Academy of Sciences Shenyang People's Republic of China Technical Management Division
Guodian Technology & Environment Group Co Ltd. Beijing People's Republic of China Digital Factory Department
Shenyang Institute of Automation Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang People's Republic of China
Biofuel-based heat sources are gradually penetrated into heating systems in Northern China in the background of carbon neutrality. It is essential to conduct biofuel risk management study, not only for enhancing the a...
Biofuel-based heat sources are gradually penetrated into heating systems in Northern China in the background of carbon neutrality. It is essential to conduct biofuel risk management study, not only for enhancing the ability of continuous heat supply for heating systems, but also improving the ability of effective cost control. A biofuel risk management model is thus proposed innovatively for biomass-based heat sources considering supply-demand-side uncertainties. The developed model integrates Chance-constrained programming, Two-stage stochastic programming and the traditional linear programming into a general framework. After that, the developed model is applied in to a real heat-source case of biofuel risk management under uncertainties and the corresponding solutions on biofuel risk management are generated. The beneficial results of biofuel allocation pattern can be obtained for decision-makers to provide the fuel management support under different risk levels. Besides, a trade-off analysis between the constraint-violation risk and the system cost can also be provided to conduct in-depth analysis.
The integration of visuotactile sensor technology with endoscopy enables the provision of tactile information for minimally invasive surgeries and other operations. This paper proposes a real-time sensing framework fo...
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ISBN:
(数字)9798350372601
ISBN:
(纸本)9798350372618
The integration of visuotactile sensor technology with endoscopy enables the provision of tactile information for minimally invasive surgeries and other operations. This paper proposes a real-time sensing framework for contact deformation pattern shape, providing a foundation for precise perception in miniaturized visuotactile sensors. Specifically, we first construct a Deformation Pattern shape Descriptor (DPSD) and then track the key points in the descriptor using optical flow to obtain contact deformation shape information. Through extensive qualitative and quantitative experiments, our proposed algorithm achieves an average perception accuracy of around 83.81% for contact pattern shapes. It demonstrates consistent perception accuracy across various contact force magnitudes, directions, and scenarios, highlighting its robustness. Additionally, compared to traditional marker-level methods, it achieves a notable 46.5% improvement in displacement field perception accuracy. This research elevates tactile perception to the dimension of contact pattern shape sensing and has the potential for application in miniaturized visual tactile sensors.
This paper investigates the robustness and optimality of the multi-kernel correntropy (MKC) on linear regression. We first derive an upper error bound for a scalar regression problem in the presence of arbitrarily lar...
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This paper investigates the robustness and optimality of the multi-kernel correntropy (MKC) on linear regression. We first derive an upper error bound for a scalar regression problem in the presence of arbitrarily large outliers and state that the kernel bandwidth plays an important role in minimizing the lowest upper error bound. Then, we find that the proposed MKC is related to a specific heavy-tail distribution, where its head shape is consistent with the Gaussian distribution but its tail shape is heavy-tailed, and the extent of heavy-tail is controlled by the kernel bandwidth. It becomes a Gaussian distribution when the bandwidth is infinite, which allows one to tackle both Gaussian and non-Gaussian problems without explicitly investigating the noise distributions. To explore the optimal underlying distribution parameters, an expectation-maximization-like (EM) algorithm is developed to estimate the parameter vectors and the distribution parameters in an alternating manner. The results show that our algorithm can achieve equivalent performance compared with the traditional linear regression under Gaussian noise, and it significantly outperforms the conventional method under heavy-tailed noise. Both numerical simulations and experiments on a magnetometer calibration application verify the effectiveness of the proposed method. Note to Practitioners-The goal of this paper is to enhance the accuracy of conventional linear regression in handling outliers while maintaining its optimality under Gaussian assumptions. Our algorithm is formulated under the maximum likelihood estimation (MLE) framework, assuming the regression residuals follow a type of heavy-tailed noise distribution with an extreme case of Gaussian. The degree of the heavy tail is explored alternatingly using an Expectation-Maximization (EM) algorithm which converges very quickly. The robustness and optimality of the proposed approach are investigated and compared with the traditional approaches. Both th
Based on the requirements of safety communication in the safety instrumented system (SIS), a fieldbus functional safety communication protocol is proposed in this paper. According to the reasons of communication failu...
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ISBN:
(数字)9781728180281
ISBN:
(纸本)9781728180298
Based on the requirements of safety communication in the safety instrumented system (SIS), a fieldbus functional safety communication protocol is proposed in this paper. According to the reasons of communication failure, several safety measures are used implicitly or explicitly to detect the error in the transmission. They include connection authentication, time stamp, sequence number and cyclic redundancy check (CRC). The communication architecture of full redundancy is structured to improve the reliability of communication system. Finally, the calculation results of the residual error rate show that the proposed functional safety fieldbus communication protocol meets the requirements of the safety integrity level (SIL) 3.
The sensor-less control system of PMSM is complicated,and it is of great significance to carry out accurate mathematical modeling and simulation *** is small in size,high in efficiency,and low in noise,so it is very p...
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The sensor-less control system of PMSM is complicated,and it is of great significance to carry out accurate mathematical modeling and simulation *** is small in size,high in efficiency,and low in noise,so it is very popular in AC motor *** have been widely used in various electrical appliances such as machine tools,robots,and household *** order to reduce the high-frequency chatter of the sensor-less control strategy of permanent magnet synchronous motors,a sensor-less control method based on improved SMO is *** back-EMF component in the static coordinate system is obtained through the *** backEMF component undergoes closed-loop feedback to eliminate the high-frequency *** back-EMF component is calculated by an improved PLL to obtain the position and speed of the rotor to improve system *** the end of the article,the feasibility is proved by comparing it with the simulation of conventional SMO-PLL.
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