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Research Square 2021年

作者： Cheng, Qiang Wang, Chang Sun, Dongyang Chu, Hongyan Chang, Wenfen Institute of Advanced Manufacturing and Intelligent Technology Beijing University of Technology Beijing100124 China Beijing Key Laboratory of advanced manufacturing technology Beijing University of Technology Beijing100124 China Beijing Institute of Precise Mechatronics and Controls Beijing100076 China

The reliability allocation of machine tools which is a multi-attribute decision making problem has great significance in designment of machine tools. This paper integrates the intuitionistic trapezoidal fuzzy numbers and performance sorting technique based on similar ideal solutions to achieve the flexible allocation of machine tools reliability. Firstly, intuitionistic trapezoidal fuzzy numbers are employed to integrate decisions made by multiple decision makers and fuzzy information of their preferences. Then, intuitionistic trapezoid fuzzy numbers’ expectations are treated as the weights of criteria. Finally, performance sorting technique based on similar ideal solutions is used to obtain the reliability allocation weight of every subsystem. To investigate the efficacy and simplicity of the provided approach, reliability distribution in a CNC machine tool is introduced as an example to explain its specific contents. It can be concluded that the provided method is more precise and convenient by comparing the results of this approach with those obtained by analytic hierarchy process method. © 2021, CC BY.

关键词： Machine tools

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Research on Velocity Bank Angle H∞ Control Method for Some Vehicle

Research on Velocity Bank Angle H∞ Control Method for Some ...

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2019 IEEE International Conference on Unmanned Systems, ICUS 2019

作者： Li, Xin Gu, Jiaqi Gu, Jiahui Xiao, Wen Ji, Denggao Science and Technology on Space Physics Laboratory Beijing China Capital Aereospace Machinery Corporation Limited Beijing China Research Institute of Precise Mechatronics and Controls Beijing China

ISBN: (纸本)9781728137926

Due to the weak lateral control ability of the vehicle in some state, the rudder cannot take part in controlling. As a result, the aileron can be used to realize the horizontal and lateral attitude tracking control. To solve the problem caused by only using aileron to control lateral-direction movement, this paper introduces an innovative method of H∞ velocity bank angle control. Compared with single-channel PID control method, a velocity bank angle controller designed by H∞ control method can achieve better flight quality. In this paper, the effect of tracking velocity bank angle is compared by using two different control methods. The simulation results show that H∞ control method can achieve fast and precise control, make the aileron more efficient, restrain the sideslip angle effectively and ensure that the vehicle has a better flight quality. © 2019 IEEE.

关键词： Velocity

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Research on Control Strategy for Vibration and Noise Reduction of Permanent Magnet Synchronous Motor

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Journal of Physics: Conference Series 2021年第1期2029卷

作者： Liwei Yuan Guanzhi Tian Juan Wei Guoqiang Li Zengwu Zhao Liting Jiang Beijing Research Institute of Precise Mechatronics and Controls Laboratory of Aerospace Servo Actuation and Transmission Beijing China

In order to reduce the vibration and noise of permanent magnet synchronous motors, this paper proposes a control strategy by analyzing the relationship between the vibration and noise of the permanent magnet synchronous motor and the current harmonics of the inverter based on actual project applications. Some methods include random switching frequency modulation technology, random pulse position modulation technology and dead zone compensation technology on current harmonics are analyzed respectively in this paper. Then this paper proposed a mixed control strategy, which combined with random switching frequency-random and pulse position-dead zone compensation methods. Matlab tools are used to simulation and verification the Mixed control strategy. Simulation and experimental results show that this control strategy can effectively reduce the total underwater noise level of permanent magnet synchronous motors.

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Design and Test of Lightweight Long-life Electric Mechanism without Controller

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Journal of Physics: Conference Series 2021年第1期1986卷

作者： Jiyuan Moupengtao Macuijuan Quanyunqing Liguoqiang Beijing Institute of Precision Mechatronics and Controls Beijing China Laboratory of Aerospace Servo Actuation and Transmission Beijing China

The traditional airborne electric mechanism is mostly controlled by mechanical switch, which seriously restricts the life and reliability of the system. This paper introduces a design method of a lightweight electric mechanism without a controller. The electric mechanism drives the motor directly by receiving the instructions of the control system, acts directly on the switch of the pipeline valve through the decelerator, breaks down the lock after reaching the specified position, and feeds back the current position signal. It is a high reliability, long life, compact structure, and widely used EMA product, which can adapt to all kinds of extreme environments required by the airborne equipment. And it has good maintainability.

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A method for feature extraction based on SVD and machine learning 2

A method for feature extraction based on SVD and machine lea...

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2019 2nd International Conference on Advanced Materials, Intelligent Manufacturing and Automation, AMIMA 2019

作者： Mao, Wei Huang, Shuxian Liu, Xin Liu, Hongyan Liu, Jiaqi Shu, Yi National Key Laboratory of Science and Technology on Test Physics and Numerical Mathematics 100076 China Beijing Institute of Precision Mechatronics and Controls 100076 China Beijing Institute of Long March Vehicle 100076 China

By studying the shortcomings of feature, which extracted from Radar-Cross Section(RCS),using mathematical and statistical method, using the idea of extracting abstract features in image recognition and speech recognition by artificial intelligence for reference[2][3]. This paper explores the possibility of extracting abstract features of target's RCS sequence, and proposes an abstract feature extraction method of RCS sequence based on singular value decomposition(SVD) feature decomposition. Because of the poor interpretability of abstract features, four different machine learning algorithms are used to classify the extracted Abstract features. The experimental results show that the machine learning algorithm can classify different types of spatial objects with high accuracy, which shows that the RCS features of different spatial objects can be characterized by abstract features. © Published under licence by IOP Publishing Ltd.

关键词： Radar cross section

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Grasping position recognition of spatial non-cooperative targets based on active light detection

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Journal of Physics: Conference Series 2021年第1期2029卷

作者： Zhihong Chen Junqin Lin Yanbo Wang Binyan Liang Yao Wang Beijing Institute of Precision Mechatronics and Controls Beijing 100076 China Laboratory of Aerospace Servo Actuation and Transmission Beijing 100076 China

The current mainstream operation methods are mainly oriented to cooperation goals and pre-designed signs, which are difficult to meet the needs of complex tasks. Taking the non-cooperative target as the research object, this paper proposes a method of active light source detection combined with different multi-source data processing networks. When the image brightness is relatively high, the residual convolutional neural network is used to identify the target capture area in the multi-source data; when the image brightness is dark, the PointNet++ network is used to identify the capture area from the point cloud data, thereby adaptively achieving a better segmentation effect. The final experiment proved the effectiveness of this method.

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Fundamental: Optimizing a teacher professional development program for teaching STEM with robotics through design-based research 125

Fundamental: Optimizing a teacher professional development p...

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125th ASEE Annual Conference and Exposition

作者： Mizanoor Rahman, S.M. Krishnan, Veena Jayasree Kapila, Vikram NY United States New York University Mechatronics Controls and Robotics Laboratory United States

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An Augmented Reality Interface for Human-Robot Interaction in Unconstrained Environments

An Augmented Reality Interface for Human-Robot Interaction i...

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2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Sonia Mary Chacko Vikram Kapila Mechatronics Controls and Robotics Laboratory (MCRL) Mechanical and Aerospace Engineering NYU Tandon School of Engineering Brooklyn NY USA

As robots start to become ubiquitous in the personal workspace, it is necessary to have simple and intuitive interfaces to interact with them. In this paper, we propose an augmented reality (AR) interface for human-robot interaction (HRI) in a shared working environment. By fusing marker-based and markerless AR technologies, a mobile AR interface is created that enables a smartphone to detect planar surfaces and localize a manipulator robot in its working environment while obviating the need for a controlled or constrained environment. The AR interface and robot manipulator are integrated to render a system that enables users to perform pick-and-place task effortlessly. Specifically, a smartphone-based AR application is developed that allows a user to select any location within the robot's workspace by merely touching on the smartphone screen. Virtual objects, rendered at user-selected locations, are used to determine the pick and place locations of objects in the real world. The virtual object's start and end points, originally specified in the smartphone camera coordinate frame, are transformed into the robot coordinate frame for the robot manipulator to autonomously perform the assigned task. A user study is conducted with participants to evaluate the system performance and user experience. The results show that the proposed AR interface is user-friendly and intuitive to operate the robot, and it allows users to communicate their intentions through the virtual object easily.

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Augmented Reality as a Medium for Human-Robot Collaborative Tasks

Augmented Reality as a Medium for Human-Robot Collaborative ...

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Sonia Mary Chacko Vikram Kapila Mechatronics Controls and Robotics Laboratory (MCRL) Mechanical and Aerospace Engineering NYU Tandon School of Engineering Brooklyn NY USA

This paper presents a novel augmented reality (AR) interaction method that allows a robot to perform manipulation of unknown physical objects in a human-robot collaborative working environment. A mobile AR application is developed to determine and communicate, in real-time, the position, orientation, and dimension of any random object in a robot manipulator's workspace to perform pick-and-place operations. The proposed method is based on estimating the pose and size of the object by means of an AR virtual element superimposed on the live view of the real object. In particular, a semi-transparent AR element is created and manipulated through touch screen interactions to match with the pose and scale of the physical object to provide the information about that object. The resulting data is communicated to the robot manipulator to perform pick-and-place tasks. In this way, the AR virtual element acts as a medium of communication between a human and a robot. The performance of the proposed AR interface is assessed by conducting multiple trials with random objects, and it is observed that the robot successfully accomplishes tasks communicated through the AR virtual elements. The proposed interface is also tested with 20 users to determine the quality of user experience, followed by a poststudy survey. The participants reported that the AR interface is intuitive and easy to operate for manipulating physical objects of various sizes and shapes.

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Research on Velocity Bank Angle H∞ Control Method for Some Vehicle

Research on Velocity Bank Angle H∞ Control Method for Some ...

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IEEE International Conference on Unmanned Systems (ICUS)

作者： Xin Li Jiaqi Gu Jiahui Gu Wen Xiao Denggao Ji Science and Technology on Space Physics Laboratory Beijing China Capital Aereospace Machinery Corporation Limited Beijing China Research Institute of Precise Mechatronics and Controls Beijing China

ISBN: (纸本)9781728137933

Due to the weak lateral control ability of the vehicle in some state, the rudder cannot take part in controlling. As a result, the aileron can be used to realize the horizontal and lateral attitude tracking control. To solve the problem caused by only using aileron to control lateral-direction movement, this paper introduces an innovative method of H ∞ velocity bank angle control. Compared with single-channel PID control method, a velocity bank angle controller designed by H ∞ control method can achieve better flight quality. In this paper, the effect of tracking velocity bank angle is compared by using two different control methods. The simulation results show that H ∞ control method can achieve fast and precise control, make the aileron more efficient, restrain the sideslip angle effectively and ensure that the vehicle has a better flight quality.

关键词： Hafnium State feedback PI control PD control Aerodynamics Mathematical model Aerospace control

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