检索结果-内蒙古大学图书馆

Interference Suppression and Jitter Elimination Ability-Based Adaption Tracking Guidance for Robotic Fishes

IEEE/CAA Journal of Automatica Sinica 2025年第1期12卷 126-137页

作者： Dongfang Li Jie Huang Rob Law Xin Xu Limin Zhu Edmond Q.Wu IEEE the School of Electrical Engineering and Automation Fuzhou University the Key Laboratory of System Control and Information Processing Ministry of Education the School of Electrical Engineering and Automation Fuzhou University 5G+Industrial Internet Institute Fuzhou University the University of Macau the College of Mechatronics and Automation National University of Defense Technology the School of Mechanical Engineering Shanghai Jiao Tong University the Department of Computer Science and Engineering Shanghai Jiao Tong University

This work presents an adaptive tracking guidance method for robotic fishes. The scheme enables robots to suppress external interference and eliminate motion jitter. An adaptive integral surge line-of-sight guidance rule is designed to eliminate dynamics interference and sideslip issues. Limited-time yaw and surge speed observers are reported to fit disturbance variables in the model. The approximation values can compensate for the system's control input and improve the robots' tracking ***, this work develops a terminal sliding mode controller and third-order differential processor to determine the rotational torque and reduce the robots' run jitter. Then, Lyapunov's theory proves the uniform ultimate boundedness of the proposed method. Simulation and physical experiments confirm that the technology improves the tracking error convergence speed and stability of robotic fishes.

关键词： Adaptive integral surge line-of-sight approximation robotic fish speed observer

来源：评论

学校读者我要写书评

暂无评论

Self-Tuning Clamping Force Control with Optimal Trajectory Tracking for Autonomous Pipe Inspection Robots

SSRN

引用

SSRN 2025年

作者： Sun, Guoxin Xia, Longfei Du, Xinpeng Yu, Qihui Zhang, Jianlong Qin, Ripeng School of Mechanical Engineering Inner Mongolia University of Science and Technology Inner Mongolia Autonomous Region Baotou014010 China Inner Mongolia Engineering Technology Research Center of Mechatronics System Intelligent Diagnosis & Control Engineering 014010 China Inner Mongolia Ming yang North Smart Energy Research and Development Center Co LTD China Department of Mechanical Engineering Denmark Inner Mongolia University of Science and Technology China

In response to the limitations of existing external pipe-crawling robots, which are unable to automatically adjust clamping force during operation, a novel external pipe-crawling robot has been designed. To enable adaptive clamping based on varying pipeline conditions, an adaptive clamping force control method based on optimal speed curve tracking is proposed. First, the target clamping force is calculated according to pipeline conditions, and it is then converted into a target speed signal through optimal speed curve planning. Subsequently, the motor precisely tracks the speed signal to achieve accurate clamping force control. Experimental results from the robot prototype demonstrate that the proposed algorithm maintains a clamping force control error rate of less than 8.0% under pipelines with different diameters, inclination angles, and surface roughness, ensuring stable operation across various pipeline conditions. © 2025, The Authors. All rights reserved.

关键词： Clamping devices

来源：评论

学校读者我要写书评

暂无评论

A Hybrid GRA-TOPSIS-RFR Optimization Approach for Minimizing Burrs in Micro-Milling of Ti-6Al-4V Alloys

引用

Micromachines 2025年第4期16卷 464-464页

作者： Tan, Rongkai Madathil, Abhilash Puthanveettil Liu, Qi Cheng, Jian Lin, Fengtao School of Mechatronics and Vehicle Engineering East China Jiaotong University Nanchang330013 China Centre for Precision Manufacturing DMEM University of Strathclyde G1 Glasgow1XJ United Kingdom RenfrewPA3 2EF United Kingdom Department of Mechanical Engineering University of Bath BA2 Bath7HA United Kingdom State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

Micro-milling is increasingly recognized as a crucial technique for machining intricate and miniature 3D aerospace components, particularly those fabricated from difficult-to-cut Ti-6Al-4V alloys. However, its practical applications are hindered by significant challenges, particularly the unavoidable generation of burrs, which complicate subsequent finishing processes and adversely affect overall part quality. To optimize the burr formation in the micro-milling of Ti-6Al-4V alloys, this study proposes a novel hybrid-ranking optimization algorithm that integrates Grey Relational Analysis (GRA) with the Technique for Order Preference by Similarity to Ideal Solution (TOPSIS). This approach innovatively combines GRA and TOPSIS with a random forest regression (RFR) model, facilitating the exploration of nonlinear and complex relationships between input parameters and machining outcomes. Specifically, the effects of spindle speed, depth of cut, and feed rate per tooth on surface roughness and burr width generated during both down-milling and up-milling processes were systematically investigated using the proposed methodology. The results reveal that the depth of cut is the most influential factor affecting surface roughness, while feed rate per tooth plays a critical role in controlling burr formation. Moreover, the GRA-TOPSIS-RFR method significantly outperforms existing optimization and prediction models, with the integration of the RFR model enhancing prediction accuracy by 42.6% compared to traditional linear regression approaches. The validation experimental results agree well with the GRA-TOPSIS-RFR-optimized outcomes. This research provides valuable insights into optimizing the micro-milling process of titanium components, ultimately contributing to improved quality, performance, and service life across various aerospace applications. © 2025 by the authors.

关键词： Milling (machining)

来源：评论

学校读者我要写书评

暂无评论

Closed-Form Modeling and Analysis of an XY Flexure-Based Nano-Manipulator

引用

Chinese Journal of mechanical engineering 2018年第1期31卷 176-186页

作者： Yan-Ding Qin Xin Zhao Bijan Shirinzadeh Yan-Ling Tian Da-Wei Zhang Institute of Robotics and Automatic Information System (Tianjin Key Laboratory of Intelligent Robotics) Nankai University Robotics and Mechatronics Research Laboratory Department of Mechanical and Aerospace Engineering Monash University School of Mechanical Engineering Tianjin University

Flexure-based mechanisms are widely utilized in nano manipulations. The closed-form statics and dynamics modeling is difficult due to the complex topologies, the inevitable compliance of levers, the Hertzian contact interface, etc. This paper presents the closed-form modeling of an XY nano-manipulator consisting of statically indeterminate symmetric(SIS) structures using leaf and circular flexure hinges. Theoretical analysis reveals that the lever’s compliance, the contact stiffness, and the load mass have significant influence on the static and dynamic performances of the *** are conducted to verify the effectiveness of the established models. If no piezoelectric actuator(PEA) is installed, the influence of the contact stiffness can be eliminated. Experimental results show that the estimation error on the output stiffness and first natural frequency can reach 2% and 1.7%, respectively. If PEAs are installed, the contact stiffness shows up in the models. As no effective method is currently available to measure or estimate the contact stiffness, it is impossible to precisely estimate the performance of the overall system. In this case, the established closed-form models can be utilized to calculate the bounds of the performance. The established closed-form models are widely applicable in the design and optimization of planar flexure-based mechanisms.

关键词： Flexure-based mechanism Statically indeterminate structure Dynamics Lever mechanism Piezoelectric actuator

来源：评论

学校读者我要写书评

暂无评论

Scheduled controller design for systems with two switching sensor configurations: A frequency-domain approach

引用

IFAC-PapersOnLine 2015年第27期48卷 99-104页

作者： Van Loon, S.J.L.M. Van Der Weijst, R. Heertjes, M.F. Heemels, W.P.M.H. Mechanical Engineering Department Eindhoven University of Technology Netherlands ASML Netherlands B.V. Mechatronics System Development Netherlands

In this paper, we consider a hybrid system consisting of a motion stage that exhibits, from a control point-of-view, position-dependent dynamics as a result of varying sensor configurations. A scheduled controller design is proposed that is intuitive for control engineers as all individual filters can be obtained using classical frequency-domain loop-shaping techniques thereby connecting to the industrial motion control practice. Moreover, data-based graphical conditions are provided in the frequency-domain under which closed-loop stability can be verified irrespective of how the switching between the controllers occurs in time. The effectiveness of the proposed scheduling technique, as a way to improve both transient and steady-state performance compared to the current state-of-the-art industrial control solution, is demonstrated by means of experiments on a high-precision industrial motion stage. © 2015, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Controllers Applications Frequency domain analysis Hybrid systems Circle criterion Frequency domain approaches Input to state stability Loop shaping Loop shaping technique Scheduling techniques Steady state performance Switched system

来源：评论

学校读者我要写书评

暂无评论

Collaborative Perception Datasets for Autonomous Driving: A Review

arXiv

引用

arXiv 2025年

作者： Wang, Naibang Shang, Deyong Gong, Yan Hu, Xiaoxi Song, Ziying Yang, Lei Huang, Yuhan Wang, Xiaoyu Lu, Jianli Beijing100083 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China State Key Laboratory of Intelligent Green Vehicle and Mobility Tsinghua University Beijing100084 China Beijing Key Laboratory of Traffic Data Mining and Embodied Intelligence School of Computer Science and Technology Beijing Jiaotong University China School of Mechanical and Aerospace Engineering Nanyang Technological University Singapore School of Mechatronics Engineering Harbin Institute of Technology 92 West Dazhi St. Harbin China Department of Electronic & Electrical Engineering University of Bath United Kingdom

Collaborative perception has attracted growing interest from academia and industry due to its potential to enhance perception accuracy, safety, and robustness in autonomous driving through multi-agent information fusion. With the advancement of Vehicle-to-Everything (V2X) communication, numerous collaborative perception datasets have emerged, varying in cooperation paradigms, sensor configurations, data sources, and application scenarios. However, the absence of systematic summarization and comparative analysis hinders effective resource utilization and standardization of model evaluation. As the first comprehensive review focused on collaborative perception datasets, this work reviews and compares existing resources from a multi-dimensional perspective. We categorize datasets based on cooperation paradigms, examine their data sources and scenarios, and analyze sensor modalities and supported tasks. A detailed comparative analysis is conducted across multiple dimensions. We also outline key challenges and future directions, including dataset scalability, diversity, domain adaptation, standardization, privacy, and the integration of large language models. To support ongoing research, we provide a continuously updated online repository of collaborative perception datasets and related literature: https://***/frankwnb/Collaborative-Perceptio n-Datasets-for-Autonomous-Driving. © 2025, CC BY-SA.

关键词： Sensor data fusion

来源：评论

学校读者我要写书评

暂无评论

Data-driven tuning of a hybrid integrator-gain system

引用

IFAC-PapersOnLine 2017年第1期50卷 10851-10856页

作者： Heertjes M. Irigoyen N. Deenen D. Mechanical Engineering Department Eindhoven University of Technology Netherlands Mechatronics System Design Department ASML Netherlands

In an attempt to surpass Bode's gain-phase relationship, a hybrid integrator-gain system is studied that has significantly less phase lag in its describing function description when compared to a linear integrator. The hybrid integrator is designed to obtain improved low-frequency disturbance rejection properties under double-integrator (PI2D-like) control, but without the unwanted increase of overshoot otherwise resulting from adding an extra linear integrator. Closed-loop stability of the hybrid control design is guaranteed on the basis of a circle-criterion-like argument and checked through (measured) frequency response data. Closed-loop performance is obtained by data-driven optimization using gradients derived from a state-space description of the hybrid integrator, frequency response data from the linear part of the control system, and data obtained from machine-in-the-loop measurement. © 2017

关键词：

来源：评论

学校读者我要写书评

暂无评论

Robust prediction-based control for unknown time-varying delays and disturbances in spherical motion platform

引用

Control engineering Practice 2025年 163卷

作者： Seong-Min Lee Sangheon Lee Hungsun Son Department of Mechanical Systems Engineering Jeju National University Jeju 63243 South Korea Major of Mechatronics Engineering and faculty of Applied Energy System Jeju National University Jeju 63243 South Korea School of Mechanical Engineering Kyungpook National University Daegu 41566 South Korea Department of Mechanical Engineering Ulsan National Institute of Science and Technology Ulsan 44919 South Korea

This paper presents a new prediction-based controller utilizing enhanced preview and state prediction methods to deal with unknown time-varying delays and disturbances. In practice, uncertain and variable time delays in virtual reality applications can lead to control instability and a significant reduction in the overall sense of realism. In this paper, a robust prediction-based control (RPC) is proposed for the spherical motion platform (SMP) to compensate for the effects of the time-varying delays and disturbances. The RPC comprises a preview strategy and state/disturbance prediction methods with an estimator to handle unknown time-varying delays. In addition, a newly proposed preview method improves the system’s ability to follow a time-varying reference trajectory. The stability analysis for the time-delayed system incorporating the RPC is conducted using the Lyapunov–Krasovskii approach. Numerical simulations and various experiments demonstrate that the RPC effectively leads the state to converge to the desired trajectory within an error bound under various conditions of time-varying delays in the presence of disturbances, whereas the existing controllers have limitations in reducing the desired control errors. Consequently, the results validate the feasibility and effectiveness of the RPC in real-world applications, demonstrating its robustness in handling time-varying delays through practical implementation on the SMP.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Experimental and numerical study of deposition mechanisms for cold spray additive manufacturing process

引用

Chinese Journal of Aeronautics 2022年第2期35卷 276-290页

作者： Tianyu YU Mingjun CHEN Zhuoru WU State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China School of Mechatronics Engineering Harbin Institute of TechnologyHarbin 150001China Department of Mechanical Engineering Iowa State UniversityAmes 50011USA

Cold spray is an attractive and rapidly developing process for additive manufacturing with high efficiency and precision,repairing and coating,especially in aircraft and aerospace *** spray additive manufacturing deposits micro-particles with large plastic deformation below their melting point,eliminating heat effect zone which could deteriorate the quality of repairing *** particle deposition in cold spray is a complex process which involves high strain rate,high contact pressure and high *** we develop,utilize and validate a thermomechanical model to provide a definitive way to predict deposition mechanics and surface deformation evolution for particle deposition process in cold spray additive *** a single particle and dual particles models were developed to investigate the contact interaction between particle/substrate and particle/*** combinations of particle/substrate materials(Cu/Cu,Al/Al,steel/steel,and nickel/nickel)and process parameters were considered in this *** experimental study was conducted to validate simulation results,providing useful information for understanding the limitations and challenges associated with cold spray additive *** framework provides insights into improving the quality and precision of stress/strain formation,particle interactions and particle deposition in cold spray additive manufacturing process.

关键词： Additive manufacturing Cold spray Finite element analysis Residual stresses Surface morphology

来源：评论

学校读者我要写书评

暂无评论

A Fish Feeding Robot Prototype with a Water Level Control system Using a Proportional - Integral Controller 8

A Fish Feeding Robot Prototype with a Water Level Control Sy...

引用

2022 8th International Conference on Electrical engineering, Control and Robotics, EECR 2022

作者： Muhammad, Abdul Kadir Dermawan Center for Mechatronics and Control System Mechanical Engineering Department State Polytechnic of Ujung Pandang Indonesia

The purpose of this study is to develop a fish feeding robot prototype that equipped with a water level control system for pond use and to propose an effective control scheme for the robot prototype and the water level control system. The system used in this paper consists of a feed storage tank, a feed distribution mechanism, a feed ejection mechanism, an ejector position turning mechanism, a water level control system, a base and a solar panel system for energy sources. The three mechanisms used three DC motors as actuator, respectively. The water level control system used a water pump to pump water out of pond when the level of water exceeds the maximum level limit, and an ultrasonic sensor to measure the level of water in pond. On - Off and proportional - integral (PI) controllers used to control DC motors of the three mechanisms, and the water level control system, respectively. Performances of the robot prototype with the water level control system were examined through laboratory scale experiments. The result of the conducted experiments are presented and discussed. © Published under licence by IOP Publishing Ltd.

关键词： DC motors

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：