检索结果-内蒙古大学图书馆

2022 29th International Conference on Nuclear Engineering, ICONE 2022

作者： Wang, Hongrui Xing, Kunpeng Zou, Tao Yang, Zhijia Wang, Jingyang Zhang, Pengbin State Key Laboratory of Robotics Key Laboratory of Networked Control System Institutes for Robotics and Intelligent Manufacturing Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China University of Chinese Academy of Sciences Beijing China China Nuclear Power Engineering Co. Ltd Shenzhen China College of Mechanical and Electrical Engineering Guangzhou University Guangzhou China Key Laboratory of Networked Control System Institutes for Robotics and Intelligent Manufacturing Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China

ISBN: (纸本)9780791886373

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 the control system is strongly coupled. When using the PID control method, it is difficult to tune the parameters, and the difficulty is exacerbated when the set value fluctuates. This paper aims at the multi-input and multioutput pressurizer control system, based on the particle swarm optimization to realize the PID controller parameters self-tuning, adopting the time and absolute error integral as the fitness function to evaluate the merits of the PID parameters, and constantly iterating to update and obtain the PID parameters that better satisfy the current working conditions. For coupled pressurizer control systems, the PID parameter tuning method using particle swarm optimization algorithms can give a group of PID controller parameters that make the system operation stable despite the frequent fluctuation of the set value, and compared with the traditional PID controller parameter tuning method, this method can realize the PID parameter self-tuning, eliminating the trouble of manual tuning. Copyright © 2022 by ASME.

关键词： Nuclear power plants

来源：评论

学校读者我要写书评

暂无评论

A NOVEL PID SELF-TUNING METHOD BASED ON CLOSED-LOOP IDENTIFICATION USED IN NUCLEAR POWER PLANTS 29

A NOVEL PID SELF-TUNING METHOD BASED ON CLOSED-LOOP IDENTIFI...

引用

2022 29th International Conference on Nuclear Engineering, ICONE 2022

作者： Zhang, Pengbin Xing, Kunpeng Zou, Tao Yang, Zhijia Wang, Jingyang Wang, Hongrui State Key Laboratory of Robotics Key Laboratory of Networked Control System Institutes for Robotics and Intelligent Manufacturing Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China University of Chinese Academy of Sciences Beijing China China Nuclear Power Engineering Co. Ltd Shenzhen China College of Mechanical and Electrical Engineering Guangzhou University Guangzhou China Key Laboratory of Networked Control System Institutes for Robotics and Intelligent Manufacturing Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China

ISBN: (纸本)9780791886472

Nuclear power is one of several significant clean energy and its production capacity is increasing rapidly. This paper proposed a novel PID self-tuning method based on closed-loop identification used in nuclear power plants to deal with the turbine's load tracking problem. A setpoint-shifting method is adopted to achieve the informativity of the closed-loop system, and the PID parameters are designed through an optimization method. For validating the proposed method, this paper modeled a pressurized-water reactor (PWR) nuclear power plant, a complex system consisting of three circuits, through the first principle. The primary circuit contains three main devices: a nuclear reactor, a pressurizer, and a steam generator. The models of these three devices are provided by previous literature separately. The whole model is generated through mass and energy balance. This mechanism model is used as the plant model, while the identified model is used as the control model. The initial PID parameters are set through open-loop identification using an external excitation. Then the proposed method works online to track the turbine's load in time. The effectiveness of the proposed method is illustrated by simulations. Copyright © 2022 by ASME.

关键词： Nuclear power plants

来源：评论

学校读者我要写书评

暂无评论

Analysis and compensation of kinematic errors in a five-axis machine tool based on an internal data-driven method 10

Analysis and compensation of kinematic errors in a five-axis...

引用

2024 10th International Conference on Applied Materials and Manufacturing Technology, ICAMMT 2024

作者： Wu, Junjie Ji, Yulei Zhong, Lei Wang, Yuhan State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University Shanghai200240 China Meta Robotics Institute Shanghai Jiao Tong University Shanghai200240 China Shanghai TOP Numerical Control Technology Co. Ltd Shanghai201100 China

The increasing demand for highly efficient and precise machining in the aerospace industry is leading to increasingly stringent requirements for machine tool accuracy measurement and compensation technologies. However, existing methods can only measure the accuracy of machine tools after they have been shut down, using instruments that do not measure the kinematic errors during the machining process. To address this issue, a method for real-time prediction of kinematic errors in a five-axis machine tool has been proposed to enhance machining accuracy and efficiency. The method employs a neural network-based predictive model, which has been trained and validated through experimental testing and data collection using internal sensors of the machine tool. The study reveals that this predictive model can effectively forecast the kinematic errors, through real-time compensation, and can reduce errors by 60-86%, significantly enhancing machine performance. © Published under licence by IOP Publishing Ltd.

关键词： Aerospace industry

来源：评论

学校读者我要写书评

暂无评论

A Miniaturized Pneumatic Electrode Gripper for Robotic Cochlear Implant Surgery

A Miniaturized Pneumatic Electrode Gripper for Robotic Cochl...

引用

2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Gao, Hongyan Zou, Yun Huang, Shaoping Chen, Weidong Gao, Anzhu Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education Institute of Medical Robotics and Department of Automation Shanghai200240 China Institute of Medical Robotics Shanghai Jiao Tong University Shanghai200240 China

ISBN: (纸本)9781665481090

Cochlear implant surgery is one of the most challenging surgeries due to the limited workspace and delicate inner structure. A traditional electrode implant instrument is a passive elastic forceps, which needs another forceps to help grip or release the electrode. It is not convenient to achieve delicate operations in a confined space. This paper develops a miniaturized pneumatic electrode gripper at the tip of forceps to achieve active gripping. It transmits the pressurized air through 3D-printed inner lumens to form two inflated soft bubbles to push the electrode to the rigid shell for accurate positioning. The finite element analysis is carried out to evaluate the shape of inflated soft bubbles with variable soft films. A prototype of a gripper with inner tortuous airways is fabricated using micro 3D printing technique, and experiments are carried out to validate its accuracy and demonstrate its ability to grip and release. Finally, robotic teleoperation using a robotic arm and a joystick is implemented for cochlear implant surgery. Results demonstrate that the developed miniaturized pneumatic gripper has successfully achieved electrode implantation in a 3D-printed cochlear phantom. © 2022 IEEE.

关键词： Electrodes

来源：评论

学校读者我要写书评

暂无评论

PS-Loc: Robust LiDAR Localization with Prior Structural Reference

PS-Loc: Robust LiDAR Localization with Prior Structural Refe...

引用

IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Rui Li Wentao Zhao Tianchen Deng Yanbo Wang Jingchuan Wang Institute of Medical Robotics Department of Automation Shanghai Jiao Tong University Ministry of Education Key Laboratory of System Control and Information Processing Shanghai China

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

Prior structural reference like floor plan is readily accessible in indoor scene, which exhibits the potential of improving localization quality without the requirements of a previously-built high-precision map. This paper introduces a novel optimal transport-based framework for prior structural reference-based localization, aiming to improve the robustness for the robot localization. Leveraging the spacial relations of structures, a matching method based on optimal transport theory is proposed and it improves the robustness of matching results in dynamic scene and rapid rotation conditions. Additionally, this paper handles metric inaccuracies in the known structural reference by implementing an prior guided plane adjustment-based updating strategy. This strategy combines prior and observational information to jointly optimize the structural information within a sliding window. The performance of the framework is validated through real-world experiments, demonstrating superior accuracy and robustness to disturbances from dynamic occlusion and rapid rotation compared to common state-of-the-art SLAM and localization methods.

关键词： Location awareness Measurement Laser radar Simultaneous localization and mapping Accuracy Robustness Robot localization Intelligent robots Floors

来源：评论

学校读者我要写书评

暂无评论

Tactile-Based Object Pose Estimation Employing Extended Kalman Filter 8

Tactile-Based Object Pose Estimation Employing Extended Kalm...

引用

8th IEEE International Conference on Advanced robotics and Mechatronics, ICARM 2023

作者： Lin, Qiguang Yan, Chaojie Li, Qiang Ling, Yonggen Zheng, Yu Lee, Wangwei Wan, Zhaoliang Huang, Bidan Liu, Xiaofeng College of IoT Engineering Hohai University Jiangsu Key Laboratory of Special Robotic Technology Jiangsu Changzhou213022 China Zhejiang University Institute of Cyber-System and Control State Key Laboratory of Industrial Control and Technology Hangzhou China Bielefeld33619 Germany Tencent Robotics X Shenzhen China School of Computer Science and Engineering Sun Yat-sen University Guangzhou China

ISBN: (纸本)9798350300178

In this paper, we present a new approach to estimate the pose of an object being manipulated by a multi-fingered robotic hand. The method utilizes advanced tactile sensors with high spatial resolution to optimize the estimation of the object's pose using an Extended Kalman Filter (EKF) based approach. We defined and derived the state and measurement equations, as well as evaluated the estimation accuracy in grasping tasks. The approach is able to effectively account for the pose transition caused by tactile pushing, and the mapping from the object's pose to the contact position and normal direction as measured by the tactile sensor. The method was evaluated in multiple grasping experiments in simulation scenarios. Results show that the estimation can converge towards the ground truth in a relatively short period of time, with displacement and rotation errors remaining within acceptable levels. This new method has the potential to improve the accuracy and reliability of robotic grasping and manipulation tasks. © 2023 IEEE.

关键词： Extended Kalman filters

来源：评论

学校读者我要写书评

暂无评论

A New Recursive Composite Adaptive controller for Robot Manipulators

引用

Space(Science & Technology) 2021年第1期2021卷 77-83页

作者： Jianfei Li Yaobing Wang Zhiyong Liu Xin Jing Chengwei Hu The State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China Beijing Key Laboratory of Intelligent Space Robotic System Technology and Applications Beijing Institute of Spacecraft System EngineeringBeijing 100094China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

In this paper,a new recursive implementation of composite adaptive control for robot manipulators is *** investigate the recursive composite adaptive algorithm and prove the stability directly based on the Newton-Euler equations in matrix form,which,to our knowledge,is the first result on this point in the *** proposed algorithm has an amount of computation O(n),which is less than any existing similar algorithms and can satisfy the computation need of the complicated multidegree *** manipulator of the Chinese Space Station is employed as a simulation example,and the results verify the effectiveness of this proposed recursive algorithm.

关键词： Robot manipulators robot

来源：评论

学校读者我要写书评

暂无评论

MGL4QGR: Multi-Gait Locomotion of Quadruped Guide Robot via Teacher-Student Learning

MGL4QGR: Multi-Gait Locomotion of Quadruped Guide Robot via ...

引用

IEEE International Conference on robotics and Biomimetics

作者： Baoping Ma Yuanxiang Wang Wenrui Wang Feng Chen Hongwei Kan Qirong Tang Laboratory of Robotics and Multibody System School of Mechanical Engineering Tongji University Shanghai China Shanghai Institute of Aircraft Mechanics and Control Yangpu District Shanghai China

ISBN: (数字)9798331509644

ISBN: (纸本)9798331509651

To address the locomotion control issue of quadruped guide robots across multiple terrains, a teacher-student framework is adopted to learn the multi-gait locomotion policy. Specifically, the interaction forces between the individual and the guide robot are treated as privileged information for the teacher's policy, and the multi-gait stylized unit serves as proprioceptive information for the student's policy. The trained agent policy is then deployed in a zero-shot and no-tuning manner. The experimental results demonstrate that the quadruped guide robot can efficiently climb 25-degree slopes and 20-cm high steps and exhibit excellent omnidirectional tracking capability in trotting, walking, and pacing gaits.

关键词： Legged locomotion Training Imitation learning Biomimetics Supervised learning Propioception Dogs Angular velocity Quadrupedal robots Immune system

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

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

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：