检索结果-内蒙古大学图书馆

2017 IEEE International Conference on robotics and Automation, ICRA 2017

作者： Liu, Xiaoming Kojima, Masaru Shi, Qing Wang, Huaping Sun, Tao Mae, Yasushi Huang, Qiang Arai, Tatsuo Fukuda, Toshio Intelligent Robotics Institute School of Mechatronical Engineering Key Laboratory of Biomimetic Robots and Systems Ministry of Education Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing100081 China Department of Systems Innovation Osaka University 1-3 Machikaneyama Toyonaka Osaka560-8531 Japan Faculty of Science and Engineering Meijo University 1-501 Shiogamaguchi Tenpaku-ku Nagoya468-8502 Japan

ISBN: (纸本)9781509046331

In micromanipulation, lots of methods have been developed to manipulate objects in microscale. However, few of them can be applied in both the transportation and the rotation of the micro objects. In this paper, we present a novel method to realize the non-contact transportation and rotation of the micro objects based on the vibration-induced swirl flow. A piezo actuator is set between the glass needle and a metal rod. The sine wave with controlled frequency and amplitude is input into the piezo actuator to drive the glass needle to move circularly, which is caused by resonance of the actuator and the metal rod. We place the glass needle under water and keep a limited distance to the bottom. The circular vibration of the glass needle can generate a swirl flow and low pressure around it. The low pressure can trap and transport the micro objects vertically to the glass needle, and the swirl flow can rotate the objects continuously. Finally, we realize the trap and rotation of micro object with only one piezo actuator. Experiments of transportation and rotation of microbeads are carried out, and the results demonstrate it is a simple, low-cost, effective micromanipulation method. © 2017 IEEE.

关键词： Needles

来源：评论

学校读者我要写书评

暂无评论

Task specific cooperative grasp planning for decentralized multi-robot systems

Task specific cooperative grasp planning for decentralized m...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Rajkumar Muthusamy Charalampos P. Bechlioulis Kostas J. Kyriakopoulos Ville Kyrki The authors are with the Intelligent Robotics Group Aalto University Finland Control Systems Laboratory National Technical University of Athens Zografou Greece

ISBN: (纸本)9781479969241

Grasp planning in multi-robot systems is usually studied in a centralized setting with all robots sharing common knowledge about the overall system. Relaxing this assumption would allow multiple mobile manipulators to cooperate even without strict and precise coordination. Moreover, most typical tasks for cooperative settings, such as transporting heavy objects, require certain forces/torques to be exerted along/around particular directions, for instance, compensating for the weight of the transported object. In this paper, we propose task specific multi-robot grasp planning strategies that allow decentralized planning. Each agent plans its own actions without precise information about the other's plans. The approach is based on analysing a task specific grasp quality metric in a probabilistic context, compensating thus for the incomplete knowledge. Results from simulation experiments demonstrate that task independent planning is clearly inferior when task characteristics are known and thus task specific quality measures should be used. Furthermore, the proposed decentralized planning approaches clearly outperform the baseline and show close to globally optimal performance.

关键词： Planning Robot kinematics Grasping Measurement Force Multi-robot systems

来源：评论

学校读者我要写书评

暂无评论

Biped robot push detection and recovery

Biped robot push detection and recovery

引用

International Conference on Information and Automation (ICIA)

作者： Awais Yasin Qiang Huang Qian Xu Weimin Zhang Key Laboratory of Biomimetic Robots and Systems Key Laboratory of Intelligent Control & Decision of Complex Systems Intelligent Robotics Institute School of Mechatronics Engineering Beijing Institute of Technology Beijing P.R. China

This paper presents a balance control approach for a biped robot by regulating COM position with the help of proper foot placement in response to external perturbation. The proposed approach detects present postural and stability state of robot through sensory data from Attitude and Heading Reference System (AHRS) and foot force sensors; and in case of external push, recovers the balance and posture of the robot by foot placement in appropriate direction. The foot placement is carried out using one of the alternative or rescue trajectories already available in the memory of the robot. The rescue trajectories are developed for both sagittal and lateral plane and the strategy for switching from current trajectory to the rescue trajectory and then back to the normal trajectory is discussed in detail. The proposed balance recovery approach is then implemented on a biped robot and is experimentally verified.

关键词： Trajectory Legged locomotion Robot sensing systems Foot Robot kinematics Current measurement

来源：评论

学校读者我要写书评

暂无评论

Artificial neural network-based direct power control to enhance the performance of a PMSG-wind energy conversion system under real wind speed and parameter uncertainties: An experimental validation

引用

Energy Reports 2024年 11卷 4356-4378页

作者： Majout, Btissam Bossoufi, Badre Karim, Mohammed Skruch, Pawel Mobayen, Saleh El Mourabit, Youness El Zair Laggoun, Zakaria Laboratory of Engineering Modelling and Systems Analysis SMBA University Fez Morocco Department of Automatic Control and Robotics AGH University of Krakow Poland Graduate School of Intelligent Data Science National Yunlin University of Science and Technology 123 University Road Section 3 Yunlin Douliou640301 Taiwan National School of Applied Sciences Abdelmalek Essaadi University Tetouan Morocco Laboratory of Electrotechnique Constantine Mentouri Brothers Constantine 1 University Constantine Algeria

With the increasing emphasis on embedding advanced technology into system controls, the Direct Power control (DPC) approach has garnered considerable attention due to its simple and highly adaptable algorithm. This approach has been increasingly recognized in numerous applications. However, the variable frequency, harmonic distortion of the currents, and power ripples caused by Hysteresis controllers and switching tables decrease its effectiveness and robustness, affecting the system's performance. For this reason, this paper proposed a new DPC based on Artificial Neural Network (ANN) approaches. In this approach, the hysteresis comparator and the switching table are substituted with ANN controllers and then applied on both sides: machine-side converter (MSC) and grid-side converter (GSC) of a Permanent Magnet Synchronous Generator based Wind Energy Conversion System (PMSG-WECS). Moreover, to make the system more efficient in varying wind conditions, this study expands the utilization of the artificial neural networks (ANN) to encompass the maximum power point tracking (MPPT) control strategy. To demonstrate the effectiveness of the proposed approach on the system behaviors, a simulation test was carried out in the Matlab/Simulink environment, using a real wind profile of a Moroccan city (Essaouira). In comparison to the classical DPC control, the simulation results showed the superior performance of the proposed ANN-DPC control in terms of reference tracking, response time, overshoot, precision, and its capacity to reduce the rate of power ripples and total harmonic distortion (THD) in the injected currents. Furthermore, a robustness test was also included in this work to check the robustness of the proposed control against parameters variation. In conclusion, the feasibility and effectiveness of the ANN-DPC control approach were confirmed through experimental validation using the dSPACE DS1104 board. © 2024 The Authors

关键词： MATLAB

来源：评论

学校读者我要写书评

暂无评论

Vibration-based terrain classification for electric powered wheelchairs

Vibration-based terrain classification for electric powered ...

引用

4th IASTED International Conference on Telehealth and Assistive Technologies, Telehealth/AT 2008

作者： Coyle, Eric Collins, Emmanuel G. DuPont, Edmond Dan, Ding Hongwu, Wang Cooper, Rory A. Grindle, Garrett Dept. of Mechanical Engineering at FAMU-FSU Center for Intelligent Systems Control and Robotics Tallahassee FL 32310 United States Dept. of Rehabilitation Science and Tech. Human Engineering Research Laboratory Univ. of Pittsburgh Pittsburgh PA 15261 United States

ISBN: (纸本)9780889867406

Automated terrain classification for electric powered wheelchairs (EPWs) has two primary motivations. First, certain terrains (e.g., sand and gravel) make wheelchair mobility more difficult. To alleviate this problem the wheelchair control system can be manually tuned for maximum speeds and/or accelerations to help adapt to various terrains. Terrain classification can then be used to automate the switch from one control mode to another. Second, terrain classification can help yield a better understanding of the surfaces traversed by various groups of wheelchair users. This can provide the data needed to develop wheelchairs geared to specific groups of users. This paper presents an algorithm for vibration-based terrain classification on EPWs. This algorithm has been shown to be highly accurate in offline analysis of experimental data. Future work will stress online implementation and algorithm improvements.

关键词： Wheelchairs

来源：评论

学校读者我要写书评

暂无评论

Research on prefabricated component production line mold platform combination method

Research on prefabricated component production line mold pla...

引用

2021 International Conference on Advanced Manufacturing Technology and Electronic Information, AMTEI 2021

作者： Han, Zhonghua Yu, Lingfeng Li, Bo Qi, Yuanwei School of Information and Control Engineering Shenyang Jianzhu University Shenyang110168 China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang110016 China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China

In traditional prefabricated component manufacturing enterprises, there are often problems such as low utilization rate of the platform surface due to poor production plans of the enterprise, resulting in waste of production resources and low production capacity of the enterprise. In order to solve the problem of mold platform combination allocation in the production process of prefabricated component manufacturers, a mold platform combination allocation method based on the combination of machine learning and backtracking is proposed. The backtracking method is used to search for the theoretical best fit combination result, and the improved BL is used. The positioning algorithm simulates the placement process of the mold on the platform, and uses the Apriori algorithm to train the obtained data set to obtain the association rules contained in the frequent item set. When the enterprise re-produces, the prefabricated components are combined according to the association rules for production, and the utilization rate of the platform is improved. The simulation test is carried out with the example data of the prefabricated component manufacturing enterprise, which verifies the effectiveness of the combination allocation method of mold and platform combined with the backtracking method and the Apriori algorithm to solve the problem. © Published under licence by IOP Publishing Ltd.

关键词： Production control

来源：评论

学校读者我要写书评

暂无评论

Research on optimization method of routing buffer linkage based on Q-learning

Research on optimization method of routing buffer linkage ba...

引用

2021 International Conference on Advanced Manufacturing Technology and Electronic Information, AMTEI 2021

作者： Han, Zhonghua Qi, Hongfeng Chang, Daliang Gong, Wei Dai, Shilong School of Information and Control Engineering Shenyang Jianzhu University Shenyang110168 China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang110016 China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China

According to the characteristics of the painting process of passenger car manufacturing enterprises, by formulating the routing buffer linkage rules based on the total renewal cost, the linkage process of the bus in the routing buffer is controlled, and an improved Q-learning (Q- The routing buffer of learning) algorithm quickly finds the optimal path method. According to the actual production situation, this method improves the dynamic parameters of the algorithm on the basis of the traditional Q-learning algorithm, and improves the optimization speed and accuracy of the algorithm by establishing the correlation between the work-in-process and its neighboring work-in-process in the current state. Through multiple sets of example simulation tests, the effectiveness of the Q-learning algorithm in solving the optimization problem of routing buffer linkage is verified. © Published under licence by IOP Publishing Ltd.

关键词： Learning algorithms

来源：评论

学校读者我要写书评

暂无评论

AGV State Monitoring Based on Global and First-person View Fusion in Digital Workshops 12

AGV State Monitoring Based on Global and First-person View F...

引用

12th International Conference on CYBER Technology in Automation, control, and intelligent systems, CYBER 2022

作者： Zhang, Sichao Liang, Wei Li, Gengyu Yuan, Xudong An, Haibo Zhang, Yinlong State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Key Laboratory of Networked Control Systems Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China University of Chinese Academy of Science Beijing100049 China School of Information and Control Engineering Shenyang Jianzhu University Shenyang110168 China Science and Technology on Information Systems Engineering Laboratory The 28th Research Institute of Cetc Jiangsu Nanjing210007 China

ISBN: (数字)9781665472678

ISBN: (纸本)9781665472678

AGV state monitoring is becoming increasingly important for production system safety in digital workshops. This paper develops a global and first-person view fusion to monitor the AGV (Automated Guided Vehicle) running state in the complex digital workshops. Based on the affine transformation model, the AGV running states, i.e., position, velocity and orientation are estimated by the global camera with the assistance of ArUco markers, which are pasted on the front side of the AGV. Besides, the first-person view camera is used to implement pedestrian detection and distance measurement based on the YOLOv3 model. It is noticeable that the pitch angle is considered for distance measurement, and an improved triangular model for distance measurement is proposed. The effectiveness of the proposed method has been verified in our built platform. © 2022 IEEE.

关键词： Cameras

来源：评论

学校读者我要写书评

暂无评论

Temperature Rising Model of Tubular Permanent Magnet Linear Synchronous Motor Based on Transfer Learning-Deep Neural Network

Temperature Rising Model of Tubular Permanent Magnet Linear ...

引用

第42届中国控制会议

作者： YiFei Wang Tao Wu School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems System Integration and Industrial Robotics Laboratory

High temperature rise of permanent magnet linear synchronous motor can lead to irreversible demagnetization of the motor permanent magnet, which can negatively affect the motor performance. To address this problem, a thermal modeling analysis method based on Transfer learning-Deep neural network(TL-DNN) was proposed in this paper. Its specific implementation steps include(1) corresponding to different heat source inputs, the equivalent thermal circuit method and the finite element analysis was adopted based on the structure and main parameters of PMLSM including overall average temperature rise, coil temperature rise and permanent magnet temperature rise from the data sets of the motor;(2) TL-DNN was used to fit the functional relationship between the input source features and the output targets based on the characteristics of the sample data sets. In order to verify the accuracy of the prediction model with small sample data sets, this paper divided the proportion of the data set and compared the results with other classic nonparametric models(random forest, support vector machine, and deep neural network). The results show that the TL-DNN model outperforms other machine learning models and has better robustness and generalization ability when the training datasets are insufficient, and achieves an organic combination of physical field path model and data-driven model, which provides a feasible solution for PMLSM modeling in the case of small samples.

关键词：

来源：评论

学校读者我要写书评

暂无评论

A Weighting Factors Autotuning Strategy for Model Predictive Torque control of Permanent Magnet Synchronous Motor Based on Adaptive Multi-objective Black Hole Algorithm

A Weighting Factors Autotuning Strategy for Model Predictive...

引用

第42届中国控制会议

作者： Zixiang Zhou Tao Wu School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems System Integration and Industrial Robotics Laboratory

The rational design of weighting factors in the cost function for finite control set model predictive torque control(FCS-MPTC) has been a matter of great interest in power electronics and electrical drives. In order to solve this problem, a weighting factors autotuning strategy for FCS-MPTC of permanent magnet synchronous motor(PMSM) based on the adaptive multi-objective black hole algorithm(AMOBH) is proposed. In this paper, the design process of the FCS-MPTC algorithm is first analyzed in detail. Then, an AMOBH algorithm that can take into account both population convergence and population diversity is introduced, and based on this algorithm, the design problem of the weighting factors is successfully transformed into a multiobjective optimization problem by means of reconstructing the cost function and designing the motor operation information collected in real time as the objective functions of the multi-objective optimization algorithm. Simulation results show that the proposed method can find a set of weighting factor combinations suitable for different working condition requirements, and these weighting factors can effectively improve the operation performance of the PMSM system.

关键词： Model Predictive Torque control Weighting Factors Multi-objective Optimization Algorithm Permanent Magnet Synchronous Motor

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：