检索结果-内蒙古大学图书馆

Study of Improved Active Disturbance Rejection control for Two-degree-of-freedom Serial Flexible Manipulator

International Journal of control, Automation and Systems 2025年第5期23卷 1307-1321页

作者： Han, Guang-Xin Liu, Yao-Yao Chen, Sen-Lin Hu, Yun-Feng School of Information and Control Engineering Jilin Institute of Chemical Technology Jilin132022 China School of Communication Engineering Jilin University Changchun130025 China

In order to enhance the trajectory tracking accuracy of the two-degree-of-freedom serial flexible manipulator system, an improved active disturbance rejection control method was proposed to conquer efficiently the impact of disturbance and chattering. Firstly, the dynamics model of the system was established according to the Euler-Lagrange dynamic formulation. Then, a new tracking differentiator is designed based on a S-type function, and the non-smooth function is reconstructed to continuous smooth function with the tangent function. Thirdly, the nonlinear states error feedback control law and an extended state observer are redesigned to obtain the improved active disturbance rejection control scheme. Simulation results show smaller chattering and higher tracking accuracy under the proposed control strategy. © ICROS, KIEE and Springer 2025.

关键词： Disturbance rejection

来源：评论

学校读者我要写书评

暂无评论

Design of Double-Loop Current Transformer Based on Magnetic Field Incomplete Cancellation

引用

CSEE Journal of Power and Energy Systems 2025年第2期11卷 772-782页

作者： Wenbo Li Xiaojun Tang Youshui Lu Ling Yan Yi Wu Mingzhe Rong Department of Measurement and Control Technology&Instrumentation School of Electrical EngineeringXi'an Jiaotong UniversityXi'an 710000China State Key Laboratory of Electrical Insulation&Power Equipment School of Electrical EngineeringXi'an Jiaotong UniversityXi'an 710000China

Electromagnetic current transformer is one of the important pieces of equipment used in AC power system measurement. Due to continuous improvement of current level to be measured in the power system, ordinary single-loop magnetic core structure cannot meet industrial needs of wide measuring range with high accuracy, while it even has a magnetic saturation problem when measured current is reaching the limit. Most existing methods expand measuring range and increase antisaturation ability of the magnetic core by either opening an air gap in the magnetic core or increasing number of turns of primary and secondary windings, but it will bring additional problems such as volume and heat dissipation of the transformer. To solve such issues, in this paper, we proposed a magnetic core structure of double-loop current transformer based on incomplete magnetic field cancellation principle. Calculation formula of air gap size and theoretical error are analyzed. We provide a theo-retical analysis of working characteristics, amplitude error and phase error throughout a three-dimensional simulation model of transformer. In addition, we evaluate performance through a series of comparison experiments. Results demonstrate our double-loop current transformer can maintain good linear relationship between primary and secondary current while ensuring measurement accuracy at 0.2 level. With the same volume, it has a wider range of rated current measurements and a certain anti-saturation ability.

关键词： Current difference coefficient double-loop core incomplete magneticfield cancellation

来源：评论

学校读者我要写书评

暂无评论

Non-contact all-optic OCT–PAM imaging with shared detection light

引用

Applied Optics 2025年第13期64卷 3431-3437页

作者： Ding, Ning Xiang, Ben Jiang, Huiwen Yue, Jinyun Yu, Yao Liu, Jian Zhao, Yuqian Luan, Jingmin Yang, Yanqiu Wang, Yi Ma, Zhenhe College of Information Science and Engineering Northeastern University Shenyang110819 China School of Control Engineering Northeastern University at Qinhuangdao Qinhuangdao066004 China Hebei Key Laboratory of Micro-Nano Precision Optical Sensing and Measurement Technology Qinhuangdao066004 China School of Computer and Communication Engineering Northeastern University at Qinhuangdao Qinhuangdao066004 China

We proposed a non-contact all-optic OCT–PAM dual-modal system based on a single detection light source. A homodyne low-coherence interferometer was adopted to detect the vibration induced by photoacoustic excitation. The optical coherence tomography (OCT) and photoacoustic microscopy (PAM) shared the same broadband light source for signal detection, thus simplifying the dual-modal system and making it compact. Using the proposed system, we performed absorption-scattering imaging of human hairs, measured the femoral artery and vein flow rates in mice, and imaged the auricle blood vessels in mice in vivo. The combination of OCT and PAM can provide complementary biological tissue information and offer a richer reference for the diagnosis of diseases. © 2025 Optica Publishing Group. All rights, including for text and data mining (TDM), Artificial Intelligence (AI) training, and similar technologies, are reserved.

关键词： Optical coherence tomography

来源：评论

学校读者我要写书评

暂无评论

Optimized Algorithm for Steel Surface Defect Detection Based on YOLOv8n-CSDE

Optimized Algorithm for Steel Surface Defect Detection Based...

引用

2024 International Conference on measurement, communication, and Virtual Reality, MCVR 2024

作者： Sun, Tong Wang, Wei Fu, Zhijia School of Measurement and Communication Engineering Harbin University of Science and Technology Harbin150080 China

ISBN: (纸本)9781510691773

Surface defect detection remains a significant challenge in the industrial sector due to frequent inspection errors, false positives, and low detection accuracy. Traditional object detection algorithms often face issues such as missed detections, false detections, insufficient feature extraction capabilities, and inadequate feature fusion when applied to steel surface defect detection tasks. To address these challenges, this study proposes an improved surface defect detection method for industrial components, named YOLOv8n-CSDE, based on the YOLOv8n object detection framework. Firstly, the CGAttention is incorporated into the C2f module to enhance the model's semantic understanding and feature generation capabilities. Secondly, the DySample method is employed to replace the nearest-neighbor algorithm, reducing computational complexity and improving upsampling efficiency. Thirdly, the original Spatial Pyramid Pooling Fast module is upgraded to the SimSPPF module to enable the network to better emphasize the target's features. Finally, the CIoU loss function in YOLOv8n has been replaced with the EIoU loss function to accelerate model convergence and improve localization performance. Extensive experiments conducted on the NEU-DET dataset demonstrate that the enhanced model achieves an accuracy of 76.6%, representing an improvement of 2.8% over traditional models. The experimental results indicate that the proposed method achieves more accurate detection of steel surface defects compared to state-of-the-art object detection algorithms. © 2025 SPIE.

关键词： Surface defects

来源：评论

学校读者我要写书评

暂无评论

Hyperspectral Image Cross Scene Classification Combined Domain Adaptation with XGBoost

Hyperspectral Image Cross Scene Classification Combined Doma...

引用

2024 International Conference on measurement, communication, and Virtual Reality, MCVR 2024

作者： Liu, Chengyang Wu, Haibin Li, Jiarong Liu, Xinyu Yan, Siqi Wang, Aili Heilongjiang Province Key Laboratory of Laser Spectroscopy Technology and Application College of Measurement and Control Technology and Communication Engineering Harbin University of Science and Technology Harbin150080 China School of Electronics and Information Engineering Harbin Institute of Technology Harbin150001 China

ISBN: (纸本)9781510691773

To address the issues of domain discrepancies and limited labeled samples in hyperspectral image classification of cross scene, this paper proposes an ensemble learning framework that integrates eXtreme Gradient Boosting (XGBoost) with confidence domain adaptation strategies to improve classification performance. First, the Houston dataset from different scenes is input separately into a deep embedding model. The hyperspectral images are embedded into a low-dimensional space, ensuring that similar spectra are represented more closely in this space, thereby capturing the intrinsic structure and distribution of the hyperspectral image dataset. Subsequently, these samples are mapped into a discriminator model, where domain adaptation techniques are employed to reduce differences in feature distributions across different scenes. Additionally, confidence-based learning is used to identify and remove noisy samples in the Houston dataset, thereby enhancing the alignment of feature distributions among various scenes. Finally, through ensemble learning, a weighted voting strategy is employed to combine multiple base classifiers into a strong classification model. This approach better captures the complex features within the data, thereby reducing the bias of individual classifiers and enhancing the overall generalization ability and robustness of the model. Experimental results on the Houston dataset demonstrate that the proposed method outperforms popular domain adaptation learning models and traditional methods in terms of classification accuracy and robustness, showcasing its potential and advantages in practical applications. This result confirms the effectiveness of combining XGBoost and confidence domain adaptation strategies in handling hyperspectral image classification. © 2025 SPIE.

关键词： Photointerpretation

来源：评论

学校读者我要写书评

暂无评论

A Low-Cost Robotic Assembly Method for Large Planar Workpieces Using Laser Displacement Sensors and Monocular Vision

Informatica (Slovenia)

引用

Informatica (Slovenia) 2025年第17期49卷 155-172页

作者： Cao, Xiaobing Xu, Yicen Yao, Yonghong Chen, Sheng School of Control Technology Wuxi Institute of Technology Wuxi Jiangsu214121 China School of Intelligent Equipment and Automotive Engineering Wuxi Institute of Commerce Wuxi Jiangsu214153 China School of Communication and Electronic Engineering East China Normal University Shanghai200062 China

To address the challenges associated with large planar workpieces, such as the side window glass of a train, this paper proposes a practical, intelligent robotic assembly method that utilizes laser displacement sensors (LDSs) and monocular vision. The laser point cloud data is fitted to the equation of the plane of the side window optimally, allowing for the calculation of its plane coefficients and unit normal vector (UNV) using the Lagrange multiplier method. The robot's end flange is adjusted to ensure the camera imaging plane is along with the window plane at a specified distance. Monocular vision is employed to capture the pose features of the upper right corner of the window, facilitating a compensation method for precise assembly. The experimental results show that the robot achieved a positioning accuracy of less than 0.5mm and an orientation accuracy within 1 degree, confirming the effectiveness of the proposed method. In the experiment, the maximum displacement deviation in the X direction is about ± 0.4mm, the maximum offset in the Y and Z directions is about ± 0.3mm, the maximum rotation deviation in the X axis is about 0.6 °, and the minimum rotation deviation in the Y axis is about 0.8 °. All deviations meet the requirements of ± 1 ° attitude correction and ± 0.5mm displacement accuracy, and have good reliability. This method solves the practical problem of assembling large planar workpieces with integrated LDS and monocular vision. This technology involves using laser point cloud data to fit the precise plane equation of the window, determining alignment parameters through Lagrange multiplier method, and adjusting the posture of the end flange of the robot. Monocular vision further assists in extracting positional features, achieving precise real-time posture correction and alignment. This system proposes an effective and low-cost automation that reduces manual intervention and alleviates typical problems of remote processing of large workpieces. © 20

关键词： Lagrange multipliers

来源：评论

学校读者我要写书评

暂无评论

Spatial Coordination of Multiple Nonholonomic Agents With Sensory Connectivity Maintenance

引用

IEEE Transactions on Systems, Man, and Cybernetics: Systems 2025年第5期55卷 3425-3435页

作者： Chen, Xi Chen, Meimin Zhu, Lijun Chai, Li Wuhan University of Science and Technology Engineering Research Center of Metallurgical Automation and Measurement Technology Wuhan430081 China Shandong Huayu University of Technology School of Electrical Engineering Shandong253034 China School of Artificial Intelligence and Automation Wuhan430074 China Zhejiang University College of Control Science and Engineering Hangzhou310027 China

This article aims to propose a general control strategy for coordination of multiple nonholonomic agents in three dimensional space. For real-world applications, since the field sensor equipped on the mobile agents for local information detection and estimation has some limited detecting range, it is necessary to guarantee that the nearby agents must stay within this range of the onboard sensor. This is called sensory connectivity maintenance. A function termed as coordination function with sensory connectivity maintenance (CFSCM) is defined to describe the performances of the coordination as well as the sensory connectivity status between the agents. Then, a general control strategy is designed based on the proposed CFSCM for spatial coordination of multiple nonholonomic agents with sensory connectivity maintenance. Moreover, the applications of the proposed control strategy for formation with omnidirectional sensors and flocking with directional sensors are shown, respectively. Finally, some numerical examples are conducted to validate the theoretical analysis. © 2013 IEEE.

关键词： Maintenance Robot sensing systems Kinematics Vectors Electronic mail Aerospace electronics Three-dimensional displays System dynamics Robot kinematics Multi-agent systems

来源：评论

学校读者我要写书评

暂无评论

DOA Estimation Based on N-shape Array

DOA Estimation Based on N-shape Array

引用

2024 International Conference on measurement, communication, and Virtual Reality, MCVR 2024

作者： Han, Chuang Gao, Mengran Heilongjiang Province Laboratory of Laser Spectroscopy Technology Application Harbin University of Science and Technology Harbin China School of Measurement-Control Technology and Communication Engineering Harbin University of Science and Technology Harbin China

ISBN: (纸本)9781510691773

This paper combines the L-shaped array and two parallel linear arrays to propose an N-shape array configuration. For the N-shape array, the multiple signal classification (MUSIC) algorithm is utilized for DOA estimation under far-field conditions. When the signal source is in the far-field region, the signal arriving at the array elements can typically be represented as a plane wave. By utilizing the array manifold matrices of the L-shaped array and two parallel linear arrays, the array manifold matrix for the N-shape array is derived, which is then used for DOA estimation via the MUSIC algorithm. Simulation results indicate that the N-shape array can effectively achieve DOA estimation of signals in far-field conditions using the MUSIC algorithm. © 2025 SPIE.

关键词： Matrix algebra

来源：评论

学校读者我要写书评

暂无评论

Braille Recognition Based on a Dual-Mode Tactile Sensor With Piezoresistive and Piezoelectric Properties by the CNN-ResNet-BiLSTM Fusion Model

引用

IEEE Sensors Journal 2025年第9期25卷 14473-14483页

作者： Song, Yang Liu, Meng-Ru Wang, Fei-Lu Zhu, Jing-Gen Hu, An-Yang Anhui Jianzhu University Key Laboratory of Building Information Acquisition and Measurement Control Technology Hefei230601 China Anhui Jianzhu University School of Electronic and Information Engineering Hefei230601 China

Skin-like, flexible tactile sensors play a crucial role in healthcare and human-computer interaction. Based on multiwalled carbon nanotube (MWCNT)/cotton fabric (CF) piezoresistive sensor and polyvinylidene fluoride (PVDF) piezoelectric sensor, a dual-mode tactile sensor (MCP-DTS) featuring high sensitivity, excellent synergistic response, and stability is fabricated in conjunction with finite element analysis. The sensor is affixed to the stepper and slides uniformly across 25 different Braille character texture boards. Then, 3000 sets of sequential voltage data with 3500 dimensions and two channels collected by the sensor are used to form a dataset. On this basis, a convolutional neural network (CNN)-residual network (ResNet)-bidirectional long short-term memory (BiLSTM) fusion model combining CNN, ResNet, and BiLSTM is developed. This model demonstrates a robust feature extraction capability, achieving a high recognition accuracy (97.17%) for 25 different types of Braille. To verify the actual performance of the sensor, it is installed on the index finger to simulate the experience of a visually impaired person swiping to read Braille. Subsequently, the fusion model achieves high classification accuracy (89.17%) for Braille tactile perception. The MCP-DTS presented in this article demonstrates exceptional capability in perceiving tactile information and can effectively distinguish and recognize various types of tactile signals in Braille. © 2001-2012 IEEE.

关键词： Piezoelectricity

来源：评论

学校读者我要写书评

暂无评论

Research on Identification Method of Toroidal Propeller

Research on Identification Method of Toroidal Propeller

引用

2024 International Conference on measurement, communication, and Virtual Reality, MCVR 2024

作者： Han, Chuang Hu, Aiai Wu, Haibin Heilongjiang Province Key Laboratory of Laser Spectroscopy Technology and Application Harbin University of Science and Technology Harbin China School of Measurement - Control Technology and Communication Engineering Harbin University of Science and Technology Harbin China

ISBN: (纸本)9781510691773

With the continuous development of marine science and technology, propeller shapes are developing in a more complex direction. Among them, the toroidal propeller represents the latest research progress in propeller technology. This design features a ring-shaped geometry for the blades, which are similar to the catenary curve of a hanging chain. This propeller offers the advantages of higher efficiency and lower noise. In this paper, starting from the geometric shape analysis study of toroidal propeller, we introduce the geometric parameters such as wheelbase, outboard angle, lateral inclination angle among others, derive the mathematical formula of the coordinates of toroidal propeller in detail, simulate the modulation waveform and spectrogram of the toroidal propeller, and compare with those of the ordinary propeller, and according to the experimental data, the geometric shape of toroidal propeller can be recognized by using the proposed method. This lays a firm foundation for further research on the physical properties and scientific problems of toroidal propellers. © 2025 SPIE.

关键词： Geometry

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：