Mechanical manufacturing enterprises face numerous choices about *** order to take full advantage of the information, the technologies and methods of implementing information integration should be carefully ***, the d...
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Mechanical manufacturing enterprises face numerous choices about *** order to take full advantage of the information, the technologies and methods of implementing information integration should be carefully ***, the developments of its standard protocols are ***, the information integration of mechanical manufacturing enterprises is *** last, an example is provided to illustrate the method of information integration.
This paper investigates the formation tracking problem for a group of networked agents with second-order unknown locally Lipschitz continuous nonlinear dynamics. By utilizing the ISS (input-to-state stable) notion and...
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This paper addresses the problem of trajectory tracking control for the nonholonomic mobile robot with two actuated wheels. By applying adaptive control technique, an adaptive trajectory tracking controller with globa...
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This paper addresses the problem of trajectory tracking control for the nonholonomic mobile robot with two actuated wheels. By applying adaptive control technique, an adaptive trajectory tracking controller with globally asymptotic stability is proposed for a kinematic model with unknown parameters. The global stability of the system is easily proven via the Lyapunov function and Barbalat's lemma. The simulation results are provided to illustrate the effectiveness and correctness of the controller.
The interest in the propagation of ultrasound waves in pipe-like solid waveguides arises out of several areas of the structural health monitoring (SHM) community for the detection, localization and assessment of defec...
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ISBN:
(纸本)9783940283412
The interest in the propagation of ultrasound waves in pipe-like solid waveguides arises out of several areas of the structural health monitoring (SHM) community for the detection, localization and assessment of defects as well as the prediction of remaining life in civil, mechanical, aeronautic and aerospace structures. SHM premise offers a continuous observation of the structural integrity of operational systems. This is particularly convenient, therefore, for the reduction of time and cost for maintenance without decreasing the level of safety. Some practical applications are the monitoring of pipework in gas and oil industries, suspension bridge cables, nuclear fuel cladding tubes, etc. This paper describes an approach for SHM using guided waves in pipe-like structures in terms of a pattern recognition problem. The formalism is based on a distributed piezoelectric sensor network for the detection of structural dynamic responses. Several methods for signal filtration, feature selection and extraction, and data compression of the recorded time histories are discussed and evaluated. Principal Component Analysis (PCA), Non-Linear PCA (NLPCA) and Wavelet Transform are among them. Additionally, the different clusters, corresponding to each damage level are visualized with the help of Self Organizing Maps (SOM). Tests were performed on a piping system where the properties of the proposed methods are compared and appraised with experimental pitch-catch signals between the pristine and the damaged structure.
Development of a cascade controller structure including adaptive backstepping for a nonlinear hydraulic-mechanical system is considered in this paper where a dynamic friction (LuGre) model is included to obtain the ne...
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Development of a cascade controller structure including adaptive backstepping for a nonlinear hydraulic-mechanical system is considered in this paper where a dynamic friction (LuGre) model is included to obtain the necessary accuracy. The paper compares the performance of two variants of an adaptive backstepping tracking controller with earlier results. The new control architecture is analysed and enhanced tracking performance is demonstrated when including the extended friction model. The complexity of the backstepping procedure is significantly reduced due to the cascade structure. Hence, the proposed control structure is better suited to real-time implementation.
In this paper we present a multi-robot application from the field of industrial automation. The multi-robot system forms the central part of a novel kind of profile wrapping machine, which is used to laminate decorati...
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In this paper we present a multi-robot application from the field of industrial automation. The multi-robot system forms the central part of a novel kind of profile wrapping machine, which is used to laminate decorative surfaces onto profiles, e.g. parts for window frames. The robots operate in a confined area and perform different tasks such as re-tooling and setting up machine parts simultaneously as quick and as accurate as possible. During lamination, each robot uses a special roller to press the adhesive-coated surface onto the profile. For this application, we use a scalable number of at least 10 and up to 50 standard articulated-arm robots. The system consists of three lines of robots, three movable depots capable of holding hundreds of different rollers and a computer with a fieldbus interface allowing for communication with additional machine components like servo converters. On the computer runs custom software and serves as a central control unit. The control software receives the given reference values, like roller positions and desired pressure, and distributes them to the robots. Robot actions are triggered, monitored and synchronized by the central control unit, but every robot performs its tasks autonomously. The main control unit and robots communicate via standard Ethernet, since time-critical actions can be handled on each robot's own controller. User interface and sophisticated software modules allowing for a completely automated machine configuration are also linked to the control system via Ethernet, as well as any additional components like data logging or remote service applications. Tests revealed that the multi-robot approach for profile wrapping reduces set-up time from more than 1.5 hrs on conventional machines to approximately five minutes. At the same time, it ensures a higher and more constant process quality as the system autonomously compensates for wear of rollers or variation in the profile's geometry.
Support vector machines(SVM) and artificial neural network(ANN) were employed in modeling the flow stress of the AZ80 magnesium. The hot deformation behavior of extruded AZ80 magnesium was investigated by compression ...
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Support vector machines(SVM) and artificial neural network(ANN) were employed in modeling the flow stress of the AZ80 magnesium. The hot deformation behavior of extruded AZ80 magnesium was investigated by compression tests in the temperature 350-450℃ and strain rate range 0.01-50 s-1. The maximum relative errors at different temperatures and different strain rates between experimental and predicted flow stresses by SVM and ANN were compared. The results show the SVM derives statistical models have better similar prediction ability to those of ANN, especially at high strain rate. This indicates that SVM can be used as an alternative modeling tool for high temperature rheological behavior studies.
In this paper, we focus on cooperative adaptive cruise control of ground vehicles and platoon stability in daily traffic. The general adaptive cruise control (ACC) structure and different cooperative adaptive cruise c...
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In this paper, we focus on cooperative adaptive cruise control of ground vehicles and platoon stability in daily traffic. The general adaptive cruise control (ACC) structure and different cooperative adaptive cruise control (CACC) approaches are discussed for highway platooning, considering case studies for a Grand Cooperative Driving Challenge (GCDC) program the authors involved in. The hardware design and the low level control strategy for braking, throttle and gearshift actuators for these case studies are presented. Finally, the performance of a PD based CACC algorithm used in GCDC is analyzed.
This paper discusses optimization of the 4 links of an 8 DOF haptic master device in order to minimize dynamics effects of the device on human hand during minimally invasive surgical operation. In minimally invasive s...
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This paper discusses optimization of the 4 links of an 8 DOF haptic master device in order to minimize dynamics effects of the device on human hand during minimally invasive surgical operation. In minimally invasive surgery, because of limited information from surgical scene, sensation of feedback force and manipulability of device are important factors to be accounted. Therefore, optimization of the device is required for improved efficiency of surgical procedures. To achieve this purpose, physical meaning of a new global performance index is introduced. That index is responsible to minimize the residual force on human hand after implementing the dynamics compensation of the device by a controller.
作者：
Cheng ChangJiyang ZhangMingfei HanJie MaSongfeng WuWei ZhangHongwei XieFuchu HeYunping ZhuInstitutes of Biomedical Sciences and Department of Chemistry
130 DongAn RoadFudan UniversityShanghai 200032P.R.China State Key Laboratory of Proteomics
Beijing Proteome Research CenterNational Engineering Research Center for Protein DrugsNational Center for Protein Sciences BeijingInstitute of Radiation MedicineBeijing 102206P.R.China Department of Automatic ControlCollege of Mechatronics and AutomationNational University of Defense TechnologyChangshaHunan 410073China State Key Laboratory of ProteomicsBeijing Proteome Research CenterNational Engineering Research Center for Protein DrugsNational Center for Protein Sciences BeijingInstitute of Radiation MedicineBeijing 102206P.R.China
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