Robot teleoperation plays an important role in industrial manufacturing in unknown and dangerous environments beyond human *** telerobotic manufacturing tasks,environmental interaction forces may vary significantly fr...
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Robot teleoperation plays an important role in industrial manufacturing in unknown and dangerous environments beyond human *** telerobotic manufacturing tasks,environmental interaction forces may vary significantly from task to ***,it is crucial to provide operators with the specific proportional feedback of environmental interaction forces to enhance their environmental awareness and manipulation ***,variable time delays and various scales of environmental interaction force feedback seriously affect the system stability,which should be rigorously addressed when designing control *** cope with these difficulties,a position and scaled force tracking control framework is proposed and the LyapunovKrasovskii theory is used to obtain a simple algebraic stability criterion with the scaling factor of the environmental interaction force *** addition,a low-pass filter-based radial basis function neural network is designed to avoid the effect of the measurement noise and the sudden change of the non-passive environmental interaction force on the system *** with different controllers in various telerobotic manufacturing tasks such as heavy lifting,cutting,and polishing,our proposed method achieves better position and scaled force tracking performance.
Friction is one of the primary factors affecting the tracking performance of a machine tool feed system. Establishing an accurate friction model is the key to achieving friction compensation. Although neural networks ...
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In the field of automated fruit harvesting,precise and efficient fruit target recognition and localization play a pivotal role in enhancing the efficiency of harvesting ***,this domain faces two core challenges:firstl...
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In the field of automated fruit harvesting,precise and efficient fruit target recognition and localization play a pivotal role in enhancing the efficiency of harvesting ***,this domain faces two core challenges:firstly,the dynamic nature of the automatic picking process requires fruit target detection algorithms to adapt to multi-view characteristics,ensuring effective recognition of the same fruit from different ***,fruits in natural environments often suffer from interference factors such as overlapping,occlusion,and illumination fluctuations,which increase the difficulty of image capture and *** address these challenges,this study conducted an in-depth analysis of the key features in fruit recognition and discovered that the stem,body,and base serve as constant and core information in fruit identification,exhibiting long-term dependent semantic relationships during the recognition *** invariant features provide a stable foundation for dynamic fruit recognition,contributing to improved recognition accuracy and ***,the morphology and position of the stem,body,and base are relatively fixed,and the effective extraction of these features plays a crucial role in fruit *** paper proposes a novel model,TransSSA,and designs two innovative modules to effectively extract fruit image *** Self-Attention Core Feature Extraction(SAF)module integrates YOLOV8 and Swin Transformer as backbone networks and introduces the Shuffle Attention self-attention mechanism,significantly enhancing the ability to extract core *** module focuses on constant features such as the stem,body,and base,ensuring accurate fruit recognition in different *** the other hand,the Squeeze and Excitation Aggregation(SAE)module combines the network’s ability to capture channel patterns with global knowledge,further optimizing the extraction of effective ***,to improve detection ac
The Glass reinforced epoxy resin (FRP) composite material is introduced to optimize the design of the key bearing components of the substation frame. The finite element model is established, and the dynamic simulation...
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Recently,intelligent fault diagnosis methods have been employed in the condition monitoring of rotating *** them,graph neural networks are emerging as a new feature extraction tool that can mine the relationship chara...
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Recently,intelligent fault diagnosis methods have been employed in the condition monitoring of rotating *** them,graph neural networks are emerging as a new feature extraction tool that can mine the relationship characteristics between ***,many existing graph construction methods suffer from structural redundancy or missing node relationships,thus limiting the diagnosis accuracy of the models in *** this paper,an adaptive adjustment k-nearest neighbor graph-driven dynamic-weighted graph attention network(AAKNN-DWGAT)is proposed to address this ***,time-domain signals are transformed into frequency-domain features by using fast Fourier ***,a frequency similarity evaluation method based on dynamic frequency warping is proposed,which enables the conversion of distance measurements into a frequency similarity matrix(FSM).Then,an adaptive edge construction operation is conducted on the basis of FSM,whereby the effective domain is captured for each node using an adaptive edge adjustment method,generating an AAKNN graph(AAKNNG).Next,the constructed AAKNNG is fed into a dynamic-weighted graph attention network(DWGAT)to extract the fault features of nodes layer by *** particular,the proposed DWGAT employs a dynamic-weighted strategy that can update the edge weight periodically using high-level output features,thereby eliminating the adverse impacts caused by noisy ***,the model outputs fault diagnosis results through a softmax *** case studies verified the effectiveness and the superiority of the proposed method compared with other graph neural networks and graph construction methods.
Manufacturers must be able to figure out the most suitable technique capable of generating rapid and accurate performance when developing a precise modelling approach for the development of an efficient machining proc...
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The current research work aimed to measure the effect of graphene nanoparticles reinforcement on thermal and mechanical behaviour of glass fibre/epoxy composites. Epoxy and hardener were mixed in a 10:1 ratio, with gr...
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Due to the increasing number of vehicles on the road and the associated environmental concerns, biodiesel engine performance needs to be greatly improved. The work cleverly mixes the special qualities of hydrogen fuel...
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The swinging-loading process is essential for automatic artillery loading systems. This study focuses on the problems of reliability analysis that affect swinging-loading positioning accuracy. A dynamic model for a mu...
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As humans and robots work closer together than ever,anthropomorphic robotic arms with intuitive human-robot interaction interfaces have drawn massive attention to improving the quality of robot-assisted *** pursuit of...
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As humans and robots work closer together than ever,anthropomorphic robotic arms with intuitive human-robot interaction interfaces have drawn massive attention to improving the quality of robot-assisted *** pursuit of this,we designed a dedicated 7-degrees-of-freedom(DoF)anthropomorphic robotic arm having three compact differential joints and a head-mounted gaze tracker enabling head-pose-tracked 3D gaze ***,two key challenges were addressed to achieve accurate robot-assisted manipulation of the object indicated by the direction of human ***,a novel predictive pupil feature was proposed for 3D gaze *** from most existing features subjected to the common paraxial approximation assumption,the proposed novel predictive pupil feature considered the light refraction at two corneal surfaces with a more realistic eye model,significantly improving the 3D gaze estimation accuracy when the eyeball rotates at large ***,a novel optimization-based approach was developed to efficiently compensate for the posture errors of the designed 7-DoF anthropomorphic robotic arm for accurate *** with the existing Jacobian-based or optimization-based approaches with nominal joint values as iteration initial,the proposed approach computed the optimal iteration initial and realized faster convergence for real-time posture error *** the posture error compensation in real time and 3D gaze estimated accurately,the human can command accurate robot-assisted manipulation using his eyes *** proposed system was successfully tested on five healthy subjects.
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