检索结果-内蒙古大学图书馆

5th International Conference on System Reliability and Safety engineering, SRSE 2023

作者： Li, Ruiqi Wang, Kai Zeng, Peng Cao, Jiwei Chinese Academy of Sciences Key Laboratory of Networked Control Systems Shenyang110016 China Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Shenyang110169 China University of Chinese Academy of Sciences Beijing100049 China Chinese Academy of Sciences Shenyang Institute of Automation Shenyang110016 China Harbin Institute of Technology Department of Electrical Engineering China

ISBN: (纸本)9798350305944

Active magnetic bearings (AMBs) have many advantages over traditional oil bearings due to their non-contact characteristics. They are environmentally friendly solution and have been proven to be highly reliable and available. Electromagnetic coils are vital components of AMB and they are failure prone. In this paper, the failure mode of magnetic bearing coil and its corresponding failure mechanism are reviewed by FMMEA method, and the existing coil fault diagnosis methods are introduced. Future directions for coil insulation health monitoring aiming at the application characteristics of AMBs are also discussed. © 2023 IEEE.

关键词： Failure analysis

来源：评论

学校读者我要写书评

暂无评论

Consensus Control of Leader-Following Multi-Agent systems in Directed Topology With Heterogeneous Disturbances

引用

IEEE/CAA Journal of Automatica Sinica 2021年第2期8卷 423-431页

作者： Qinglai Wei Xin Wang Xiangnan Zhong Naiqi Wu the State Key Laboratory for Management and Control of Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190 the School of Artificial Intelligence University of Chinese Academy of SciencesBeijing 100049and also with Qingdao Academy of Intelligent IndustriesQingdao 266109China the Department of Computer and Electrical Engineering and Computer Science Florida Atlantic UniversityBoca Raton FL33431 USA the Institute of Systems Engineering and Collaborative Laboratory for Intelligent Science and SystemsMacao University of Science and TechnologyMacao 999078China

This paper investigates the consensus problem for linear multi-agent systems with the heterogeneous disturbances generated by the Brown *** main contribution is that a control scheme is designed to achieve the dynamic consensus for the multi-agent systems in directed topology interfered by stochastic *** traditional ways,the coupling weights depending on the communication structure are static.A new distributed controller is designed based on Riccati inequalities,while updating the coupling weights associated with the gain matrix by state errors between adjacent *** introducing time-varying coupling weights into this novel control law,the state errors between leader and followers asymptotically converge to the minimum value utilizing the local *** the Lyapunov directed method and It?formula,the stability of the closed-loop system with the proposed control law is *** simulation results conducted by the new and traditional schemes are presented to demonstrate the effectiveness and advantage of the developed control method.

关键词： Consensus control directed topology external disturbance multi-agent(MA)systems

来源：评论

学校读者我要写书评

暂无评论

Fuzzy Object Ambiguity Determination and Human Attention Assessment for Domestic Service Robots

Fuzzy Object Ambiguity Determination and Human Attention Ass...

引用

International Conference on Soft Computing and Machine Intelligence (ISCMI)

作者： Kevin Fan Melanie Jouaiti Kerstin Dautenhahn Chrystopher L. Nehaniv Department of Electrical & Computer Engineering and Systems Design Engineering Social and Intelligent Robotics Research Laboratory (SIRRL) University of Waterloo Waterloo Canada Departments of Electrical & Computer Engineering and Systems Design Engineering Social and Intelligent Robotics Research Laboratory (SIRRL) University of Waterloo Waterloo Canada

Domestic service robots have the promising potential of bringing significant services to the general population, and more importantly, successful applications of universal domestic service robots can potentially help mitigate critical societal issues such as senior care. In order to do so, domestic service robots need to integrate seamlessly into home environments. However, home environments are dynamic, complex and filled with personal items. Therefore, ambiguity can quickly arise for robots operating in such rich environments. In this paper, we propose an object ambiguity determination system that can determine the level of ambiguity in robot object selection tasks with fuzzy logic data integration. Additionally, we propose a functional human attention assessment system with fuzzy logic that enables the robot to determine user attention before committing to general disambiguation processes. Our preliminary results show that the proposed fuzzy logic inference systems can reliably estimate the robot object selection task ambiguity from object confidence level and the number of potential target objects that satisfy the user's command. Furthermore, fuzzy inference is applied to decide human eye gaze direction robustly. These subsystems can be utilized in the context of human-robot interaction to guide the robot when to seek feedback from a human partner in order to disambiguate reference in domestic service tasks. The source code of all proposed systems is available publicly on GitHub. 1

关键词： Fuzzy logic Service robots Source coding Sociology Human-robot interaction Data integration Reliability

来源：评论

学校读者我要写书评

暂无评论

Automated Disassembly Sequence Prediction for Industry 4.0 Using Enhanced Genetic Algorithm

引用

computers, Materials & Continua 2021年第11期69卷 2531-2548页

作者： Anil Kumar Gulivindala M.V.A.Raju Bahubalendruni R.Chandrasekar Ejaz Ahmed Mustufa Haider Abidi Abdulrahman Al-Ahmari Department of Mechanical Engineering Industrial Robotics and Manufacturing Automation LaboratoryNational Institute of TechnologyKariakal609609India Department of Computer Science Engineering National Institute of TechnologyKariakal609609India Raytheon Chair for Systems Engineering Advanced Manufacturing InstituteKing Saud UniversityRiyadh11421Saudi Arabia Industrial Engineering Department College of EngineeringKing Saud UniversityRiyadh11421Saudi Arabia

The evolution of Industry 4.0 made it essential to adopt the Internet of Things(IoT)and Cloud Computing(CC)technologies to perform activities in the new age of *** technologies enable collecting,storing,and retrieving essential information from the manufacturing *** collected at sites are shared with others where execution automatedly *** obtained information must be validated at manufacturing to avoid undesirable data losses during the de-manufacturing ***,information sharing from the assembly level at the manufacturing stage to disassembly at the product end-of-life state is a major *** current research validates the information optimally to offer a minimum set of activities to complete the disassembly *** optimal disassembly sequence plan(DSP)can possess valid information to organize the necessary actions in ***,finding an optimal DSP is complex because of its combinatorial *** genetic algorithm(GA)is a widely preferred artificial intelligence(AI)algorithm to obtain a near-optimal solution for the DSP *** converging nature at local optima is a limitation in the traditional *** study improvised the GA workability by integrating with the proposed priori crossover *** optimality function is defined to reduce disassembly effort by considering directional changes as *** enhanced GA method is tested on a real-time product to evaluate the *** obtained results reveal that diversity control depends on the operators employed in the disassembly *** proposed method’s solution can be stored in the cloud and shared through IoT devices for effective resource allocation and disassembly for maximum recovery of the *** effectiveness of the proposed enhanced GA method is determined by making a comparative assessment with traditional GA and other AI methods at different population sizes.

关键词： automation internet of things disassembly sequence planning priori cross over operator enhanced GA disassembly predicates

来源：评论

学校读者我要写书评

暂无评论

Adaptive Stiffness Control of Series Elastic Actuator Manipulators Based on Dynamic System

Adaptive Stiffness Control of Series Elastic Actuator Manipu...

引用

IEEE International Conference on automation Science and engineering (CASE)

作者： Kunlin Guo Chao Zeng Weiyong Si Ning Wang Chenguang Yang Key Laboratory of Autonomous Systems and Networked Control School of Automation Science and Engineering South China University of Technology Guangzhou China Department of Computer Science University of Liverpool Liverpool UK School of Computer Science and Electronic Engineering University of Essex Colchester Bristol Robotics Laboratory University of the West of England Bristol UK

ISBN: (数字)9798350358513

ISBN: (纸本)9798350358520

In traditional control methods, Series Elastic Actuator (SEA) joint manipulators are limited by their hardware and can only perform simple tasks with low stiffness. To address this issue, we propose a stiffness adjustment control strategy for SEA manipulators based on Dynamic systems (DS) with good generalization performance. By enhancing the generalization capability of DS in complex tasks and combining posture control, the SEA manipulators can autonomously adjust control gains and postures according to task requirements to achieve higher stiffness at the end-effector. Experimental results involving the activation of air switches with different stiffness levels and installation angles have demonstrated the effectiveness of our proposed method. The results indicate that compared to traditional methods of adjusting the control gain and retraining DS for similar tasks, our approach exhibits superior generalization performance while maintaining end-effector stiffness during interactions.

关键词： Actuators computer aided software engineering automation Adaptive systems Control systems End effectors Hardware Dynamical systems Manipulator dynamics

来源：评论

学校读者我要写书评

暂无评论

Optimized Admittance Control for Manipulators Interacting with Unknown Environment 25

Optimized Admittance Control for Manipulators Interacting wi...

引用

25th IEEE International Conference on Industrial Technology, ICIT 2024

作者： Kong, Haiyi Peng, Guangzhu Li, Guang Yang, Chenguang University Of Manchester Department Of Electrical And Electronic Engineering Oxford Rd ManchesterM13 9PL United Kingdom University Of The West Of England Bristol Robotics Laboratory BristolBS16 1QY United Kingdom School Of Automation Nanjing University Of Information Science And Technology Nanjing210044 China University Of Liverpool Department Of Computer Science LiverpoolL69 3BX United Kingdom

ISBN: (纸本)9798350340266

This paper considers the study scenario that the end-effector of a manipulator follows a desired trajectory and interacts with external environment. To maximize the interaction performance, admittance control is combined with adaptive dynamic programming (ADP). The optimal admittance parameters can be learned online without prior knowledge of the environment. A data-driven Hybrid Iteration is employed in the ADP, which can relax the initial stabilizing requirement and at the same time has a faster convergence rate compared with Value Iteration. In addition, a more accurate environment model is considered in the system control design, where a general iterative expression is proposed to describe the varying contour of the environment. At last, simulation and experimental studies are given to verify the effectiveness of the proposed method. © 2024 IEEE.

关键词： Manipulators

来源：评论

学校读者我要写书评

暂无评论

Rock-Climbing Fish Inspired Skeleton-Embedded Rigid-Flexible Coupling Suction Disc Design for Adhesion Enhancement 16th

Rock-Climbing Fish Inspired Skeleton-Embedded Rigid-Flexible...

引用

16th International Conference on Intelligent robotics and Applications, ICIRA 2023

作者： Tan, Wenjun Qin, Hengshen Zhang, Chuang Wang, Ruiqian Zhang, Yiwei Yang, Lianchao Chen, Qin Wang, Feifei Xi, Ning Liu, Lianqing State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China University of Chinese Academy of Sciences Beijing100049 China Chengdu Institute of Biology Chinese Academy of Sciences Sichuan Chengdu610042 China Department of Electrical and Electronic Engineering University of Hong Kong 999077 Hong Kong Emerging Technologies Institute Department of Industrial and Manufacturing Systems Engineering University of Hong Kong Pokfulam999077 Hong Kong

ISBN: (纸本)9789819964888

Underwater high-performance biological adhesion systems have attracted increasing research interest to inspire engineered adhesion systems. Switchable underwater adhesion systems typically employ suction adhesion. However, achieving low pre-pressure negative pressure adhesion is still a challenge. An inspiring nature mode is provided by the rock-climbing fish, which needs little preload and can resist a pull-off force of 1000 times its own body weight. The pectoral and abdominal fins of rock-climbing fish have evolved to almost a flat suction cup. Through micro CT, we found that a unique skeletal network is embedded in the suction cup. This unique structure increases the stiffness of the suction cup and enhances its adhesion performance. Through numerical simulation, it was revealed that this rigid, flexible coupling structure enhances the ability of the suction cup to resist lateral pressure and increases the energy dissipation of the edge detachment of the suction cup. This work can shed light on the design of novel underwater adhesion systems and inspire underwater adhesion crawling robots. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.

关键词： Adhesion

来源：评论

学校读者我要写书评

暂无评论

Discrete control algorithms for systems with big dead time for control101 MATLAB toolbox

Discrete control algorithms for systems with big dead time f...

引用

Cybernetics & Informatics (K&I)

作者： Ruth Bars Gyula Max J. Anthony Rossiter László Keviczky Department of Automation and Applied Informatics Budapest University of Technology and Economics Budapest Hungary School of Electrical and Electronic Engineering University of Sheffield Sheffield UK Systems and Control Laboratory Institute for Computer Science and Control Budapest Hungary

ISBN: (数字)9798331541811

ISBN: (纸本)9798331541828

The first course of control is under a critical review. Both the teaching material covered and the teaching methods require new considerations. Introducing interactivity in the education process makes the learning more successful and enjoyable. MATLAB provides an effective environment for learning and applying different disciplines. Control101 is a new MATLAB toolbox under development which provides tools for interactive learning of control disciplines. This paper presents the framework for teaching discrete control algorithms applied for processes containing large dead times.

关键词： Visualization Systematics PI control Reviews Education Laboratories Process control Prediction algorithms PD control MATLAB

来源：评论

学校读者我要写书评

暂无评论

Learning Goal-based Movement via Motivational-based Models in Cognitive Mobile Robots

arXiv

引用

arXiv 2023年

作者： Berto, Letícia Costa, Paula Simões, Alexandre Gudwin, Ricardo Colombini, Esther Laboratory of Robotics and Cognitive Systems Institute of Computing University of Campinas Brazil Dept. of Computer Engineering and Industrial Automation School of Electrical and Computer Engineering University of Campinas Brazil Dept. of Control and Automation Engineering Institute of Science and Technology São Paulo State University Sorocaba Brazil University of Campinas Brazil

Humans have needs motivating their behavior according to intensity and context. However, we also create preferences associated with each action’s perceived pleasure, which is susceptible to changes over time. This makes decision-making more complex, requiring learning to balance needs and preferences according to the context. To understand how this process works and enable the development of robots with a motivational-based learning model, we computationally model a motivation theory proposed by Hull. In this model, the agent (an abstraction of a mobile robot) is motivated to keep itself in a state of homeostasis. We added hedonic dimensions to see how preferences affect decision-making, and we employed reinforcement learning to train our motivated-based agents. We run three agents with energy decay rates representing different metabolisms in two different environments to see the impact on their strategy, movement, and behavior. The results show that the agent learned better strategies in the environment that enables choices more adequate according to its metabolism. The use of pleasure in the motivational mechanism significantly impacted behavior learning, mainly for slow metabolism agents. When survival is at risk, the agent ignores pleasure and equilibrium, hinting at how to behave in harsh scenarios. Copyright © 2023, The Authors. All rights reserved.

关键词： Metabolism

来源：评论

学校读者我要写书评

暂无评论

The applied principles of EEG analysis methods in neuroscience and clinical neurology

引用

Military Medical Research 2024年第6期11卷 907-941页

作者： Hao Zhang Qing-Qi Zhou He Chen Xiao-Qing Hu Wei-Guang Li Yang Bai Jun-Xia Han Yao Wang Zhen-Hu Liang Dan Chen Feng-Yu Cong Jia-Qing Yan Xiao-Li Li School of Systems Science Beijing Normal UniversityBeijing 100875China College of Electrical and Control Engineering North China University of TechnologyBeijing 100041China School of Automation Science and Engineering South China University of TechnologyGuangzhou 510641China Department of Psychology the State Key Laboratory of Brain and Cognitive Sciencesthe University of Hong KongHong Kong SAR 999077China HKU-Shenzhen Institute of Research and Innovation Shenzhen 518057GuangdongChina Department of Health Technology and Informatics the Hong Kong Polytechnic UniversityHong Kong SAR 999077China Department of Rehabilitation Medicine the First Afliated Hospital of Nanchang UniversityNanchang 330006China Rehabilitation Medicine Clinical Research Center of Jiangxi Province Nanchang 330006China Beijing Key Laboratory of Learning and Cognition School of PsychologyCapital Normal UniversityBeijing 100048China School of Communication Science Beijing Language and Culture UniversityBeijing 100083China Institute of Electrical Engineering Yanshan UniversityQinhuangdao 066004HebeiChina School of Computer Science Wuhan UniversityWuhan 430072China School of Biomedical Engineering Faculty of Electronic Information and Electrical EngineeringDalian University of TechnologyDalian 116081LiaoningChina Guangdong Artifcial Intelligence and Digital Economy Laboratory(Guangzhou) Guangzhou 510335China.

Electroencephalography(EEG)is a non-invasive measurement method for brain *** to its safety,high resolution,and hypersensitivity to dynamic changes in brain neural signals,EEG has aroused much interest in scientific research and medical *** article reviews the types of EEG signals,multiple EEG signal analysis methods,and the application of relevant methods in the neuroscience feld and for diagnosing neurological ***,3 types of EEG signals,including time-invariant EEG,accurate event-related EEG,and random event-related EEG,are ***,5 main directions for the methods of EEG analysis,including power spectrum analysis,time-frequency analysis,connectivity analysis,source localization methods,and machine learning methods,are described in the main section,along with diferent sub-methods and effect evaluations for solving the same ***,the application scenarios of different EEG analysis methods are emphasized,and the advantages and disadvantages of similar methods are *** article is expected to assist researchers in selecting suitable EEG analysis methods based on their research objectives,provide references for subsequent research,and summarize current issues and prospects for the future.

关键词： Electroencephalogram analysis methods Applied principles Neuroscience Diagnosis Neurological diseases

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：