检索结果-内蒙古大学图书馆

2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Yang, Daolong Jiang, Li Xu, Kun Robotics Institute of School of Mechanical Engineering and Automation Beijing100191 China Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin150008 China

ISBN: (纸本)9798350325706

Physiological tremors of surgeons' hands bring vibration to the tip of surgical instruments, which may severely damage the accuracy of surgical procedures and even put patients' lives at risk. Thus robot-assisted surgery using a teleoperation system was introduced to solve this problem. Many filter algorithms were implemented into the robot-assisted surgery system to suppress the inevitable tremors, but always overlooking the traits of hand motion. An innovation/residual-based floating forgetting-factor adaptive Kalman filter (IFFAKF) is proposed to address this problem. A floating forgetting-factor is brought into the innovation/residual-based adaptive estimation algorithm to adjust the process noise covariance (Q) and measurement noise covariance (R) of the system, thus generating estimation of voluntary hand movement and suppressing the vibration at the tip of the surgical instrument caused by the physiological tremor during surgeries. The proposed filter has been contrasted with various filters in simulations and experiments. The results confirm that the proposed filter has obvious advantages in terms of time delay, estimation error, and tremor suppression performance. © 2023 IEEE.

关键词：

来源：评论

学校读者我要写书评

暂无评论

A Unified Trajectory Optimization Approach for Long-Term and Reactive Motion Planning of Legged Locomotion

引用

Journal of Bionic engineering 2023年第5期20卷 2108-2122页

作者： Yapeng Shi Bin Yu Kaixian Ba Mantian Li School of Mechanical Engineering Yanshan UniversityNo.438 West Hebei AvenueQinhuangdao066004HebeiPeople’s Republic of China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin150001People’s Republic of China

This paper proposes a unified trajectory optimization approach that simultaneously optimizes the trajectory of the center of mass and footholds for legged *** on a generic point-mass model,the approach is formulated as a nonlinear optimization problem,incorporating constraints such as robot kinematics,dynamics,ground reaction forces,obstacles,and target *** unified optimization approach can be applied to both long-term motion planning and the reactive online planning through the use of model predictive control,and it incorporates vector field guidance to converge to the long-term planned *** effectiveness of the approach is demonstrated through simulations and physical experiments,showing its ability to generate a variety of walking and jumping gaits,as well as transitions between them,and to perform reactive walking in obstructed environments.

关键词： Legged locomotion Motion planning Trajectory optimization Bionic robot

来源：评论

学校读者我要写书评

暂无评论

High accuracy target point classification through dark-field detection of large-aperture optics surface based on machine vision

High accuracy target point classification through dark-field...

引用

2024 Applied Optics and Photonics China: Optical Sensing, Imaging Technology, and Applications, AOPC 2024

作者： Zhou, Shicheng Yin, Zhaoyang Wang, Bei Zhao, Linjie Cheng, Jian Chen, Mingjun School of Mechatronics Engineering Harbin Institute of Technology Harbin150001 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

ISBN: (数字)9781510687820

ISBN: (纸本)9781510687813

Surface defects on optics seriously affect their service life in high-power laser system. To address this issue, repair technologies for large-aperture optics are extensively employed. However, the operation of high-power laser system generates a large number of optics requiring repair. Currently, microscopic inspection is widely used for target points classification due to its high accuracy, but it has limitations such as small field of view and low efficiency. Utilizing the OTSU algorithm and Convolutional Neural Networks (CNN), a dark-field classification model for optical surface target points has been developed. Upon conducting experiments with several network models, the ResNet model, a probability threshold of 0.998 were determined. In conclusion, the classification accuracy for defects was 99.18% and for contaminants was 90.34%. The outcomes show that target points on the surfaces of optics can be accurately classified using this method. © 2024 SPIE.

关键词： Machine vision

来源：评论

学校读者我要写书评

暂无评论

Speed Fluctuation Suppression of Current Scaling Errors Based on Improved Iterative Learning Control Method 26

Speed Fluctuation Suppression of Current Scaling Errors Base...

引用

26th International Conference on Electrical Machines and systems, ICEMS 2023

作者： Mu, Haoyi Yu, Guodong Li, Shaobin Zhu, Pengcheng Xu, Yongxiang School of Electrical Engineering and Automation Harbin Institute of Technology Harbin China State Key Laboratory of Robotics and System Harbin China

ISBN: (纸本)9798350317589

In recent years, there has been a growing demand for high-precision speed control of permanent magnet synchronous motor (PMSM), drawing significant attention to the issue of inherent current measurement errors in drive control. This paper presents a novel approach to mitigate periodic speed fluctuations using an expert system-based iterative learning control (ILC) method. The proposed method employs an expert system to dynamically adjust the weight values of the memory factor during online updates. This ensures the calculated relaxation factor optimally suppresses speed fluctuations across all operating conditions. Furthermore, the stability and parameter tuning aspects are analyzed from the perspective of transfer functions, and the feasibility of the proposed method is demonstrated through simulation. © 2023 IEEE.

关键词： Errors

来源：评论

学校读者我要写书评

暂无评论

Fault Prognosis of Assembly Line of Automobile Rear Axle Based on Time Series Data 12th

Fault Prognosis of Assembly Line of Automobile Rear Axle Bas...

引用

12th International Workshop of Advanced Manufacturing and Automation, IWAMA 2022

作者： Zhang, Cheng Liu, Lilan Zou, Wei Yang, MuChen Xu, ZiFeng Qi, MengJia Shanghai Key Laboratory of Intelligent Manufacturing and Robotics Shanghai University Shanghai China Aerospace System Engineering Shanghai Shanghai China

ISBN: (纸本)9789811993374

Recently, the digital transformation of the automobile manufacturing industry is developing rapidly, meanwhile the demand for intelligent assembly lines is becoming increasingly urgent. However, it is difficult for regular maintenance to deal with sudden fault, while arranging maintenance based on the real-time state of production is more suitable for the needs of safe, stable, efficient and economic operation of intelligent assembly lines. Therefore, this paper establishes a support vector regression(SVR) and optimize it with genetic algorithm(GA) for achieving accurate prognosis of equipment fault. Because of it, we can early obtain warning and maintenance before the equipment fault occurs to ensure the safe and stable operation of the production process. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Genetic algorithms

来源：评论

学校读者我要写书评

暂无评论

Damage evolution and removal behaviors of GaN crystals involved in double-grits grinding

引用

International Journal of Extreme Manufacturing 2024年第2期6卷 469-484页

作者： Chen Li Yuxiu Hu Zongze Wei Chongjun Wu Yunfeng Peng Feihu Zhang Yanquan Geng State Key Laboratory of Robotics and System(HIT) Harbin Institute of TechnologyHarbin 150001People’s Republic of China Key Laboratory of Microsystems and Microstructures Manufacturing(HIT) Harbin Institute of TechnologyHarbin 150001People’s Republic of China College of Mechanical Engineering Donghua UniversityShanghai 201620People’s Republic of China Department of Mechanical and Electrical Engineering Xiamen UniversityXiamen 361005People’s Republic of China

Elucidating the complex interactions between the work material and abrasives during grinding of gallium nitride(GaN)single crystals is an active and challenging research *** this study,molecular dynamics simulations were performed on double-grits interacted grinding of GaN crystals;and the grinding force,coefficient of friction,stress distribution,plastic damage behaviors,and abrasive damage were systematically *** results demonstrated that the interacted distance in both radial and transverse directions achieved better grinding quality than that in only one *** grinding force,grinding induced stress,subsurface damage depth,and abrasive wear increase as the transverse interacted distance ***,there was no clear correlation between the interaction distance and the number of atoms in the phase transition and dislocation *** interacted distances between abrasives can decrease grinding force,coefficient of friction,grinding induced stress,subsurface damage depth,and abrasive wear during the grinding *** results of grinding tests combined with cross-sectional transmission electron micrographs validated the simulated damage results,*** atoms,high-pressure phase transition,dislocations,stacking faults,and lattice *** results of this study will deepen our understanding of damage accumulation and material removal resulting from coupling between abrasives during grinding and can be used to develop a feasible approach to the wheel design of ordered abrasives.

关键词： grinding double-grits molecular dynamics damage material removal gallium nitride

来源：评论

学校读者我要写书评

暂无评论

Multi-Type Target Detection and Tracking in UAV Images under Typical Scenarios

Multi-Type Target Detection and Tracking in UAV Images under...

引用

2024 IEEE International Conference on Unmanned systems, ICUS 2024

作者： Hou, Lei Lv, Hejun Jia, Beixi Yang, Li Kong, Linghao Li, Hongguang Intelligence General Department Aviation System Engineering Institute of China Beijing China Beijing Key Laboratory of Information Service Engineering College of Robotics Beijing Union University Beijing China Institute of Unmanned System Beihang University Beijing China

ISBN: (纸本)9798350384185

Despite significant advances in UAV target detection and tracking algorithms, real-world flight tests and data validation remain insufficient. In this study, we developed a stable and reliable UAV image target detection and tracking system based on the YOLOv5 and TCTrack networks. The system demonstrated excellent stability and reliability in laboratory-simulated scenarios, particularly excelling in target recognition accuracy. Additionally, the system was tested in real UAV flight scenarios, showcasing robust real-time performance suitable for various task scenarios. Furthermore, we collected and annotated a comprehensive outdoor multi-scene target detection dataset by operating different types of UAVs to further validate and optimize the algorithm. © 2024 IEEE.

关键词： Object tracking

来源：评论

学校读者我要写书评

暂无评论

Optimal biaxial prestretch ratios of soft dielectric elastomer actuators for maximal voltage-induced displacement

引用

Science China(Technological Sciences) 2023年第10期66卷 2871-2881页

作者： LUO Kai WU JiaNing CHEN FeiFei School of Mechanical Engineering Shanghai Jiao Tong UniversityShanghai 200240China State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong UniversityShanghai 200240China Meta Robotics Institute Shanghai Jiao Tong UniversityShanghai 200240China

Prestretch plays an indispensable role in programming the voltage-induced deformation of dielectric elastomer actuators(DEAs).However,lacking rational design methods,the level of prestretch is usually determined through time-consuming experiments and trial-and-error *** this paper,we aim to quantitatively determine the optimal biaxial prestretch ratios for maximizing the voltage-induced displacement of *** on the Lagrange method and adjoint sensitivity analysis,we obtain the derivative of the displacement field with respect to the principal prestretch ratios,in which the nonlinearities and complex electromechanical coupling of DEAs are rigorously taken into *** derivative information allows for performing gradient-based optimization at a high convergence *** propose a comprehensive optimization framework connecting the nonlinear finite element analysis and sensitivity analysis to iteratively identify the optimal prestretch *** validate our method on two classical types of DEAs,i.e.,planar DEAs with fixed boundaries and free-standing three-dimensional dielectric elastomer minimum energy structures(DEMES).The simulation and experiment results both show that remarkable improvements in concerned displacements are obtained compared with the non-optimized designs.

关键词： dielectric elastomer prestretch ratios design optimization

来源：评论

学校读者我要写书评

暂无评论

The dental implant robot system based on binocular vision 5

The dental implant robot system based on binocular vision

引用

5th International Conference on robotics and Computer Vision, ICRCV 2023

作者： Yan, Zhuangzhuang Tang, Qirong Wang, Fang Guo, Ruiqin Wu, Xianglong Liu, Qingyun School of Mechanical Engineering Anhui University of Technology Laboratory of Robotics and Multibody System Tongji University Maanshan China Laboratory of Robotics and Multibody System Tongji University Shanghai China The Affiliated Stomatology Hospital of Tongji University Tongji University Shanghai China School of Mechanical Engineering Anhui University of Technology Maanshan China

ISBN: (纸本)9798350326369

The dental implant surgery robot is currently one of the hot topics in dental implant technology research. This study proposed a dental implant robot system based on binocular vision navigation and presented the basic principles and methods of the localization system. By analyzing the surgical process and localization features of the dental implant robot, a tracking and localization strategy for the end effector of the robot was planned, and a method for obtaining pose parameters was provided. Finally, motion planning simulations were conducted in the Robot Operating system (ROS) simulation environment based on the target pose information provided by the binocular vision system. The simulation results verified the feasibility of the proposed dental implant robot system and provided a solid foundation for further practical research of the system. © 2023 IEEE.

关键词： Binocular vision

来源：评论

学校读者我要写书评

暂无评论

The hydrodynamics of self-rolling locomotion driven by the flexible pectoral fins of 3-D bionic dolphin

引用

Journal of Ocean engineering and Science 2022年第1期7卷 29-40页

作者： Zhihan Li Dan Xia Xufeng Zhou Jiabo Cao Weishan Chen Xingsong Wang School of Mechanical Engineering Southeast UniversityNanjing 211189China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150080China

The novel autonomous rolling performance is realized by the pair of pectoral fins of a three-dimensional(3-D)bionic dolphin in this paper numerically.3-D Navier-Stokes equations are employed to simulate the viscous fluid around the bionic *** effect of self-rolling manoeuvrability is ex-plored using the dynamic mesh technology and user-defined function(UDF).By varying the parameter ratios,the interaction of flexible pectoral fins is divided into two motion modes,amplitude differential and frequency differential *** the primary driving source,the differential motion of a pair of pec-toral fins can effectively provide the rolling torque,and the trajectory of the entire rolling process is approximately the clockwise *** results demonstrate that the rolling angular velocity and driving torque in the steady state can be improved by increasing parameter ratios,and the rolling efficiency can reach the maximum under the optimal parameter ***,different parameter ratios do not af-fect the rolling radius of the self-rolling *** evolution process around the pair of pectoral fins is shown by the flow structures in self-rolling swimming,reasonably revealing that self-rolling locomotion is produced by the pressure and wake vortices surrounding the pair of pectoral fins,and the wake struc-tures depend primarily on the variation of parameter *** properly turns out that the application of the pair of pectoral fins can realize the self-rolling performance through parameter differential modes.

关键词： Self-rolling dolphin Parameter differential mode Numerical simulation Hydrodynamic performance Flow structures

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：