检索结果-内蒙古大学图书馆

Flexible servo riveting system control strategy based on the RBF network and self-pierce riveting process

Advances in Manufacturing 2023年第1期11卷 39-55页

作者： Yan Liu Qiu Tang Xin-Cheng Tian Long Cui Center for Robotics School of Control Science and EngineeringShandong UniversityJinan250061People’s Republic of China Engineering Research Center of Intelligent Unmanned System Ministry of EducationJinan250061People’s Republic of China

As more and more composite materials are used in lightweight vehicle white bodies,self-pierce riveting(SPR)technology has attracted great ***,the existing riveting tools still have the disadvantages of low efficiency and *** improve these disadvantages and the riveting qualification rate,this paper improves the control scheme of the existing riveting tools,and proposes a novel controller design approach of the flexible servo riveting system based on the RBF network and SPR ***,this paper briefly introduces the working principle and SPR procedure of the servo riveting *** a moving component force analysis is performed,which lays the foundation for the motion ***,the riveting quality inspection rules of traditional riveting tools are used for reference to plan the force-displacement curve *** control this process,the riveting force is fed back into the closed-loop control of the riveting tool and the riveting speed is computed based on the admittance control ***,this paper adopts the permanent magnet synchronous motor(PMSM)as the power of riveting tool,and proposes an integral sliding mode control approach based on the improved reaching law and the radial basis function(RBF)network friction compensation for the PMSM speed ***,the proposed control approach is simulated by Matlab,and is applied to the servo riveting system designed by our *** simulation and riveting results show the feasibility of the designed controller.

关键词： Lightweight vehicle body connection Self-pierce riveting(SPR)process Flexible servo riveting tool Riveting force planning and control

来源：评论

学校读者我要写书评

暂无评论

Design and Experimental Validation of a Worm-Like Tensegrity Robot for In-Pipe Locomotion

引用

Journal of Bionic engineering 2023年第2期20卷 515-529页

作者： Xiaolin Dai Yixiang Liu Wei Wang Rui Song Yibin Li Jie Zhao School of Control Science and Engineering Shandong UniversityJinan250061China Engineering Research Center of Intelligent Unmanned System of Ministry of Education Jinan250061China Shandong Research Institute of Industrial Technology Jinan250061China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin150080China

Traditional rigid-body in-pipe robots usually have complex and heavy structures with limited flexibility and *** soft in-pipe robots have great improvements in flexibility,they still have manufacturing difficulties due to their reliance on high-performance soft *** structure is a kind of self-stressed spatial structure consisting discrete rigid struts connected by a continuous net of tensional flexible strings,which combines the advantages of both rigid structures and soft *** applying tensegrity structures into robotics,this paper proposes a novel worm-like tensegrity robot for moving inside ***,a robot module capable of body deformation is designed based on the concept of tensegrity and its deformation performance is ***,the optimal parameters of the module are obtained based on the tensegrity *** deformation ability of the tensegrity module is tested ***,the worm-like tensegrity robot that can crawl inside pipes is developed by connecting three modules in *** performance and load capacity are tested on the prototype of the worm-like tensegrity robot by experiments of moving in horizontal pipe,vertical pipe,and elbow *** results demonstrate the effectiveness of the proposed design and suggest that the robot has high compliance,mobility,and adaptability although with simple structure and low cost.

关键词： Bio-inspired robot Soft robot application Tensegrity structure Pipe crawling

来源：评论

学校读者我要写书评

暂无评论

Adaptive control of a Flexible Manipulator With Unknown Hysteresis and Intermittent Actuator Faults

引用

IEEE/CAA Journal of Automatica Sinica 2025年第1期12卷 148-158页

作者： Shouyan Chen Weitian He Zhijia Zhao Yun Feng Zhijie Liu Keum-Shik Hong School of Mechanical and Electrical Engineering Guangzhou University the School of Control Science and Engineering Shandong University IEEE the College of Electrical and Information Engineering Hunan University the National Engineering Research Center for Robot Visual Perception and Control Technology Hunan University the School of Intelligence Science and Technology University of Science and Technology Beijing (USTB) the Institute for Future the School of AutomationQingdao University the School of Mechanical Engineering Pusan National University

In this study, we consider a single-link flexible manipulator in the presence of an unknown Bouc-Wen type of hysteresis and intermittent actuator faults. First, an inverse hysteresis dynamics model is introduced, and then the control input is divided into an expected input and an error compensator. Second,a novel adaptive neural network-based control scheme is proposed to cancel the unknown input hysteresis. Subsequently,by modifying the adaptive laws and local control laws, a fault-tolerant control strategy is applied to address uncertain intermittent actuator faults in a flexible manipulator system. Through the direct Lyapunov theory, the proposed scheme allows the state errors to asymptotically converge to a specified interval. Finally,the effectiveness of the proposed scheme is verified through numerical simulations and experiments.

关键词： Adaptive control flexible manipulator intermittent actuator faults inverse hysteresis dynamics vibration control

来源：评论

学校读者我要写书评

暂无评论

Axial Assembled Correspondence Network for Few-Shot Semantic Segmentation

引用

IEEE/CAA Journal of Automatica Sinica 2023年第3期10卷 711-721页

作者： Yu Liu Bin Jiang Jiaming Xu School of Automation Science and Engineering South China University of TechnologyGuangzhou 510640 R&D Center of Precision Electronic Manufacturing Technology Guangzhou Institute of Modern Industrial Technologyand also with the High Performance Motor and Intelligent Control Engineering Technology Research Center of Guangdong ProvinceGuangzhou 511458China School of Automation Science and Engineering South China University of TechnologyGuangzhou 510640China IEEE

Few-shot semantic segmentation aims at training a model that can segment novel classes in a query image with only a few densely annotated support *** remains a challenge because of large intra-class variations between the support and query *** approaches utilize 4D convolutions to mine semantic correspondence between the support and query ***,they still suffer from heavy computation,sparse correspondence,and large *** propose axial assembled correspondence network(AACNet)to alleviate these *** key point of AACNet is the proposed axial assembled 4D kernel,which constructs the basic block for semantic correspondence encoder(SCE).Furthermore,we propose the deblurring equations to provide more robust correspondence for the aforementioned SCE and design a novel fusion module to mix correspondences in a learnable *** on PASCAL-5~i reveal that our AACNet achieves a mean intersection-over-union score of 65.9%for 1-shot segmentation and 70.6%for 5-shot segmentation,surpassing the state-of-the-art method by 5.8%and 5.0%respectively.

关键词： Artificial intelligence computer vision deep convolutional neural network few-shot semantic segmentation

来源：评论

学校读者我要写书评

暂无评论

Steady-state Voltage Security-constrained Optimal Frequency control for Weak HVDC Sending-end AC Power Systems

引用

Journal of Modern Power Systems and Clean Energy 2024年第2期12卷 658-669页

作者： Qiangqiang Wang Liangzhong Yao Jian Xu Yuping Zheng Wei Li Wei Wang School of Electrical Engineering and Automation Wuhan UniversityWuhan 430072China Hubei Engineering and Technology Research Center for AC/DC Intelligent Distribution Network(Wuhan University) Wuhan 430072China State Key Laboratory of Smart Grid Protection and Control NARI Group Corporation(State Grid Electric Power Research Institute)Nanjing 211106China

Due to the fact that a high share of renewable energy sources(RESs)are connected to high-voltage direct current(HVDC)sending-end AC power systems,the voltage and frequency regulation capabilities of HVDC sending-end AC power systems have *** has resulted in potential system operating problems such as overvoltage and overfrequency,which occur simultaneously when block faults exist in the HVDC *** this study,a steady-state voltage security-constrained optimal frequency control method for weak HVDC sending-end AC power systems is *** integrated virtual inertia control of RESs is employed for system frequency *** dynamic reactive power compensation devices are utilized to control the voltage of all nodes meet voltage security ***,an optimization model that simultaneously considers the frequency and steady-state voltage security constraints for weak HVDC sending-end AC power systems is *** optimal control scheme with the minimum total cost of generation tripping and additional dynamic reactive power compensation required is obtained through the optimization *** are conducted on a modified IEEE 9-bus test system and practical Qing-Yu line commutated converter based HVDC(LCC-HVDC)sending-end AC power system to verify the effectiveness of the proposed method.

关键词： Renewable energy source(RES) high-voltage direct current(HVDC) AC power system optimal frequency control steady-state voltage security dynamic reactive power compensation

来源：评论

学校读者我要写书评

暂无评论

H8 voltage control of islanded microgrid three-phase inverter: a model-free integral reinforcement learning approach 3

H8 voltage control of islanded microgrid three-phase inverte...

引用

3rd Conference on Fully Actuated System Theory and Applications, FASTA 2024

作者： Zhou, Linna Li, Fuxing Li, Gonghe Liu, Xiaomin Yang, Chunyu China University of Mining and Technology School of Information and Control Engineering Xuzhou221116 China Ministry of Education Engineering Research Center of Intelligent Control for Underground Space Xuzhou221116 China

ISBN: (纸本)9798350373691

In this paper, an inner-loop control method based on the integral reinforcement learning (IRL) algorithm is proposed to address the challenges of uncertain inverter model parameters and strong disturbances caused by nonlinear and unbalanced loads. Firstly, the mathematical model of an LC-type off-grid inverter is established in the d-q axis, and the off-grid inverter voltage control problem is transformed into an H8 tracking problem by introducing the augmented system. The reference signal of the inverter output voltage, together with the original state, are defined as the state of the augmented system. An initial control gain along with exploration noises are conducted on the inverter to collect augmented state data and disturbance data (output current). Then, by utilizing the principles of zero-sum game theory, the tracking Hamilton-Jacobi-Isaacs (HJI) equation is derived, and the IRL algorithm is proposed to solve this equation. The Kronecker products containing state values, control inputs, and disturbance values are calculated based on the measurement data, and the iterative inverter voltage control strategy is derived. Next, it is proven that the proposed control policy ensures the asymptotic stability of the augmented system and satisfies the L2 gain condition. Finally, the effectiveness of the proposed algorithm is verified through simulation. © 2024 IEEE.

关键词： Reinforcement learning

来源：评论

学校读者我要写书评

暂无评论

New insights into the mechanisms of iron absorption:Iron dextran uptake in the intestines of weaned pigs through glucose transporter 5(GLUT5)and divalent metal transporter 1(DMT1)transporters

引用

Animal Nutrition 2024年第4期19卷 25-40页

作者： Shengting Deng Weiguang Yang Chengkun Fang Haosheng He Jiamin Liu Rejun Fang College of Animal Science and Technology Hunan Agricultural UniversityChangsha 410128China Hunan Engineering Research Center of Intelligent Animal Husbandry Changsha 410128China

The purpose of this study was to gain insight into the mechanism of iron dextran(DexFe)absorption in the intestines.A total of 72 piglets(average BW=7.12±0.75 kg,male to female ratio=1:1)weaned at 28 d of age were randomly divided into two treatment groups with six replicates for each *** experimental diets included the basal diet supplemented with 100 mg/kg iron dextran(DexFe group)and the basal diet supplemented with 100 mg/kg FeSO_(4)$H_(2)O(CON group).The experiment lasted for 28 *** piglets'intestinal iron transport was measured in vitro using an Ussing *** intestinal epithelial cell line(IPEC-J2)cells were used to develop a monolayer cell model that explored the molecular mechanism of DexFe *** showed that compared to the CON group,the ADG of pigs in the DexFe group was improved(P=0.022),while the F/G was decreased(P=0.015).The serum iron concentration,apparent iron digestibility,and iron deposition in the duodenum,jejunum,and ileum were increased(P<0.05)by dietary DexFe *** in the DexFe group had higher serum red blood count,hemoglobin,serum iron content,serum ferritin and transferrin levels and lower total iron binding capacity(P<0.05).In the Ussing chamber test,the iron absorption rate of the DexFe group was greater(P<0.001)than the CON group,and there was no significant difference between the DexFe group and the glucose group(P>0.05).Furthermore,when compared to the CON group,DexFe administration improved(P<0.05)SLC2A5 gene and glucose transporter 5(GLUT5)protein expression but had no effect(P>0.05)on SLC11A2 gene or divalent metal transporter 1(DMT1)protein *** the GLUT5 protein was suppressed,the iron transport rate and apparent permeability coefficient were decreased(P<0.05)in IPEC-J2 monolayer cell *** findings suggest the effectiveness of DexFe application in weaned piglets and revealed for the first time that DexFe absorption in the intestine is closely related to the glucose t

关键词： Iron dextran Weaned piglet Divalent metal transporter 1 Glucose transporter 5 Intestinal iron absorption

来源：评论

学校读者我要写书评

暂无评论

Data-driven consensus control of fully distributed event-triggered multi-agent systems

引用

Science China(Information Sciences) 2023年第5期66卷 147-161页

作者： Yifei LI Xin WANG Jian SUN Gang WANG Jie CHEN School of Automation Beijing Institute of Technology The State Key Lab of Autonomous Intelligent Unmanned Systems Beijing Institute of Technology Beijing Institute of Technology Chongqing Innovation Center Department of Control Science and Engineering Tongji University

This study investigates the consensus control issue in discrete-time linear multi-agent systems(MASs) using data-driven control under undirected communication networks. To alleviate the communication burden, an adaptive event-triggered control strategy involving only local information is proposed and a model-based stability condition is derived that guarantees the asymptotic consensus of MASs. Furthermore,a data-based consensus condition for unknown MASs is established by combining a data-based system representation with the model-based stability condition, using only pre-collected noisy input-state data instead of the accurate system information a priori. Specifically, both model-based and data-driven event-triggered controllers can be utilized without requiring any global information. The validity and correctness of the controllers and associated theoretical results are demonstrated via numerical simulations.

关键词： distributed control event-triggered control data-driven control discrete-time MASs

来源：评论

学校读者我要写书评

暂无评论

Fuzzy identification of nonlinear dynamic system based on selection of important input variables

引用

Journal of Systems engineering and Electronics 2022年第3期33卷 737-747页

作者： LYU Jinfeng LIU Fucai REN Yaxue Engineering Research Center of the Ministry of Education for Intelligent Control System and Intelligent Equipment Yanshan UniversityQinhuangdao 066004China School of Mathematics and Information Science and Technology Hebei Normal University of Science and TechnologyQinhuangdao 066004China

Input variables selection(IVS) is proved to be pivotal in nonlinear dynamic system modeling. In order to optimize the model of the nonlinear dynamic system, a fuzzy modeling method for determining the premise structure by selecting important inputs of the system is studied. Firstly, a simplified two stage fuzzy curves method is proposed, which is employed to sort all possible inputs by their relevance with outputs, select the important input variables of the system and identify the ***, in order to reduce the complexity of the model, the standard fuzzy c-means clustering algorithm and the recursive least squares algorithm are used to identify the premise parameters and conclusion parameters, respectively. Then, the effectiveness of IVS is verified by two well-known issues. Finally, the proposed identification method is applied to a realistic variable load pneumatic system. The simulation experiments indi cate that the IVS method in this paper has a positive influence on the approximation performance of the Takagi-Sugeno(T-S) fuzzy modeling.

关键词： Takagi-Sugeno(T-S)fuzzy modeling input variable selection(IVS) fuzzy identification fuzzy c-means clustering algorithm

来源：评论

学校读者我要写书评

暂无评论

Feasibility of low-intensity ultrasound treatment with hydroxylamine to accelerate the initiation of partial nitrification and allow operation under intermittent aeration

引用

Journal of Environmental Sciences 2024年第5期139卷 446-459页

作者： Jianxiong Jian Xiaojian Liao Zhihua Mo Shoupeng Li Lei Li Shaojin Chen Zhenhua Huang Junhao Chen Wencan Dai Shuiyu Sun Guangzhou Key Laboratory Environmental Catalysis and Pollution Control Guangdong Key Laboratory of Environmental Catalysis and Health Risk ControlSchool of Environmental Science and EngineeringInstitute of Environmental Health and Pollution ControlGuangdong University of TechnologyGuangzhou 510006China Guangdong Province Solid Waste Recycling and Heavy Metal Pollution Control Engineering Technology Research Center Guangdong Polytechnic of Environmental Protection EngineeringFoshan 528216China Analysis and Test Center Guangdong University of TechnologyGuangzhou 510006China

Partial nitrification is a key aspect of efficient nitrogen removal,although practically it suf-fers from long start-up cycles and unstable long-term operational *** address these drawbacks,this study investigated the effect of low intensity ultrasound treatment combined with hydroxylamine(NH2OH)on the performance of partial *** showthat compared with the control group,low-intensity ultrasound treatment(0.10W/mL,15 min)combined with NH2OH(5 mg/L)reduced the time required for partial nitrification initiation by 6 days,increasing the nitrite accumulation rate(NAR)and ammonia nitro-gen removal rate(NRR)by 20.4% and 6.7%,respectively,achieving 96.48% ***-tic analysis showed that NH2OH enhanced ammonia oxidation,inhibited nitrite-oxidizing bacteria(NOB)activity and shortened the time required for partial nitrification ***,ultrasonication combined with NH2OH dosing stimulated EPS(extracellular polymeric substances)secretion,increased carbonyl,hydroxyl and amine functional group abundances and enhanced mass *** addition,16S rRNA gene sequencing results showed that ultrasonication-sensitive Nitrospira disappeared from the ultrasound+NH_(2)OH system,while Nitrosomonas gradually became the dominant ***,the results of this study provide valuable insight into the enhancement of partial nitrification start-up during the process of wastewater nitrogen removal.

关键词： Partial nitrification Low-intensity ultrasound Hydroxylamine Ammonia oxidizing bacteria Nitrite oxidizing bacteria

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：