检索结果-内蒙古大学图书馆

IEEE International Conference on mechatronics and Automation

作者： Alex Smith Chenguang Yang Chunxu Li Hongbin Ma Lijun Zhao Centre for Robotics and Neural Systems Plymouth University Ply-mouth UK Zienkiewicz Centre for Computational Engineering Swansea University UK School of Automation Beijing Institute of Technology Beijing China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781509023974

The dynamics model of a robot is important to find the relation between the joint actuator torques and the resulting motion. There are two common methods to do this: The Lagrange formulation, which gives a closed form of the dynamics equations, and the Newton-Euler method, which uses a recursive form. Presented in this paper is a formulation of the Lagrange-Euler (L-E) equations representing the dynamics of the Baxter manipulator. These equations are then verified against torque trajectories recorded from the Baxter robot. Experimental studies show that torques generated using the L-E method closely match recorded actuator torques. All of Baxter's kinematic and dynamics parameters are presented here for easy future reference, and the full symbolic dynamics are made available online for closed loop analysis by the community.

关键词： Manipulator dynamics Dynamics Gravity Trajectory Mathematical model

来源：评论

学校读者我要写书评

暂无评论

A Two-Step Fault Diagnosis Framework for Rolling Element Bearings with Imbalanced Data

A Two-Step Fault Diagnosis Framework for Rolling Element Bea...

引用

2016 13th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)

作者： Yuan Lan Weiwei Zong Xiaojian Ding Xiaoyan Xiong Xiaohang Han Jiahai Huang Bing Ma Key Laboratory of Ministry of Education in Advance Transducers and Intelligent Control System Institute of Mechatronics Engineering under School of Mechanical EngineeringTaiyuan University of Technology Department of Computer Science Wayne State University Science and Technology on Information Systems Engineering Laboratory The Second Research Institute of China Electronic Technology Group Corporation

Rolling element bearings constitute the key parts on rotating machinery and their fault diagnosis are of great importance. In this paper, a novel Two-Step fault diagnosis framework is proposed to diagnose the status of rolling element bearings with imbalanced data. The Wavelet Packet Transform(WPT) is used to determine the feature vectors. 16-dimensional wavelet packet node energies were extracted from the original datasets as the feature vectors prepared to input to the ***, our proposed framework consists of two steps for the fault diagnosis, where Step One makes use of Weighted Extreme Learning Machine(weighted ELM) in an effort to classify the normal or abnormal categories, and Step Two further diagnoses the underlying anomaly in details. The effectiveness of our proposed approach is testified on the raw data collected from the rolling element bearing experiments conducted in our Institute,and the empirical results showed that our approach is really fast and can achieve the diagnosis accuracies more than 95%.

关键词： Two-Step fault diagnosis framework Weighed ELM ELM Bearing fault diagnosis

来源：评论

学校读者我要写书评

暂无评论

A Two-Step Fault Diagnosis Framework for Rolling Element Bearings with Imbalanced Data

A Two-Step Fault Diagnosis Framework for Rolling Element Bea...

引用

International Conference on Ubiquitous Robots and Ambient Intelligence

作者： Yuan Lan Weiwei Zong Xiaojian Ding Xiaoyan Xiong Xiaohang Han Jiahai Huang Bing Ma Key Laboratory of Ministry of Education in Advance Transducers and Intelligent Control System Institute of Mechatronics Engineering under School of Mechanical Engineering Taiyuan University of Technology Department of Computer Science Wayne State University Science and Technology on Information Systems Engineering Laboratory The Second Research Institute of China Electronic Technology Group Corporation

ISBN: (纸本)9781509008223

Rolling element bearings constitute the key parts on rotating machinery and their fault diagnosis are of great importance. In this paper, a novel Two-Step fault diagnosis framework is proposed to diagnose the status of rolling element bearings with imbalanced data. The Wavelet Packet Transform (WPT) is used to determine the feature vectors. 16-dimensional wavelet packet node energies were extracted from the original datasets as the feature vectors prepared to input to the classifiers. Next, our proposed framework consists of two steps for the fault diagnosis, where Step One makes use of Weighted Extreme Learning Machine (weighted ELM) in an effort to classify the normal or abnormal categories, and Step Two further diagnoses the underlying anomaly in details. The effectiveness of our proposed approach is testified on the raw data collected from the rolling element bearing experiments conducted in our Institute, and the empirical results showed that our approach is really fast and can achieve the diagnosis accuracies more than 95%.

关键词： Two-Step fault diagnosis framework Weighed ELM ELM Bearing fault diagnosis

来源：评论

学校读者我要写书评

暂无评论

Gesture recognition based on sparse representation

引用

International Journal of Wireless and Mobile Computing 2016年第4期11卷 348-356页

作者： Miao, Wei Li, Gongfa Sun, Ying Jiang, Guozhang Kong, Jianyi Liu, Honghai College of Machinery and Automation Wuhan University of Science and Technology Wuhan430081 China State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University Shanghai200240 China Intelligent Systems and Biomedical Robotics Group School of Computing University of Portsmouth PortsmouthPO1 3HE United Kingdom

Aiming at the problem that the robustness of gesture recognition is difficult to guarantee, this paper presents a method based on multi-features and sparse representation. Hu invariant moments and HOG features of training samples are extracted in training phase. The K-SVD algorithm is used to train the initial value of dictionary formed by two features so as to obtain two sub-dictionaries. In recognition phase, sparse coefficients of corresponding training dictionary are derived by solving minimum l1-norm. Finally, the overall reconstruction error is calculated to judge the categories of test samples. In experimental simulation, five kinds of grasp gesture are collected to create gesture sample library. After selecting optimal HOG parameters and the weight of two features, the recognition effect of the method is analysed. Compared with the commonly used classification, the results show that the method has better recognition rate and robustness. Copyright © 2016 Inderscience Enterprises Ltd.

关键词： Gesture recognition

来源：评论

学校读者我要写书评

暂无评论

Stress of a Trunnion Joint

Stress of a Trunnion Joint

引用

IEEE International Conference on mechatronics and Automation

作者： Bo Zhang Ying Zhan Sheng Feng Haipeng Geng Jian Zhou Lie Yu Wenjie Cheng State Key Laboratory for Strength and Vibration of Mechanical Structures Institute of Mechatronics and Information Systems and School of Mechanical Engineering Jiaotong University Xi'an Shannxi Province 710049 China Department of Basic Courses Mechanics Research Center Xi'an University of Science and Technology Xi'an Shannxi Province 710054 China

ISBN: (纸本)9781509023974

A trunnion joint is modeled as a circular plate with a rotational spring at the outer peripheral portion to resist rotation. Asymmetrical bending deflection is produced when an external moment acts on the inner side of the circular plate. The equations of the circular plate with a special outer peripheral boundary condition are derived. Choosing the stiffness of the rotational spring and the ratio of the outer radius and inner radius of the circular plate as two parameters, the stresses consist of the radial stress, hoop stress and tangential stress are calculated. The effect of the stiffness of the rotational spring on the radial stress and hoop stress becomes obvious for a greater ratio of the outer radius and inner radius. However, the tangential stress is independent of the stiffness of the rotational spring.

关键词： Trunnion joint stress rotational spring bending moment

来源：评论

学校读者我要写书评

暂无评论

Experiments and simulations of the standing wave acoustic field produced by two transducers mounted in contraposition

引用

Proceedings of Meetings on Acoustics 2017年第1期32卷

作者： Huijuan Dong Longfei Jia Yingzi Guan Jie Zhao 1School of Mechatronics Engineering Harbin Institute of Technology Harbin Hei Longjiang 150001 CHINA dhj@*** 2Chongqing Vocational College of Transportation Chongqing CHINA ***@*** 3School of Astronautics Harbin Institute of Technology Harbin Hei Longjiang 150001 CHINA guanyz@*** 4The State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Hei Longjiang 150001 CHINA jzhao@***

Acoustic standing wave levitation transmission technique has been widely used in many research areas. In this work, two Langevin-type piezoelectric transducers’ output are assembled face to face at a certain angle. Each transducer’s output acts as both its radiator and another transducer’s reflector. The authors termed it as contraposition transducer array. Standing acoustic wave in the cavity between the radiator and the reflector is formed when optimizing the angle between the central lines of the two transducers, the distance of the cavity, and the phase differential of the generator being used to excite the two transducers. Accordingly, the object during the acoustic field can be levitated, moved and manipulated. Not only the standing acoustic field pressure is theoretically derived, but also its potential location is Ansys-programmed simulated and illustrated. As a result, the restrictions are detailed which are necessary to form the standing acoustic wave. The corresponding experiments are carried out to demonstrate the proposed method by the authors. Finally, the influences of geometrical parameters and exciting phase differential on the formed acoustic field are numerically simulated.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Study of Individual Characteristic Abdominal Wall Thickness Based on Magnetic Anchored Surgical Instruments

引用

Chinese Medical Journal 2015年第15期128卷 2040-2044页

作者： Ding-Hui Dong Wen-Yan Liu Hai-Bo Feng Yi-Li FU Shi Huang Jun-Xi Xiang Yi Lyu Department of Hepatobiliary Surgery First Affiliated Hospital Xi'an Jiaotong University Xi'an Shaanxi 710061 China School of Mechatronics Engineering State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang 150001 China

Background：Magnetic anchored surgical instruments （MASI）,relying on magnetic force,can break through the limitations of the single port approach in *** characteristic abdominal wall thickness （ICAWT） deeply influences magnetic force that determines the safety of *** purpose of this study was to research the abdominal wall characteristics in MASI applied environment to find ICAWT,and then construct an artful method to predict ICAWT,resulting in better safety and feasibility for ***：For MASI,ICAWT is referred to the thickness of thickest point in the applied *** determined ICAWT through finding the thickest point in computed tomography *** also investigated the traits of abdominal wall thickness to discover the factor that can be used to predict ***：Abdominal wall at C point in the middle third lumbar vertebra plane （L3） is the thickest during chosen *** layer thickness plays a more important role in abdominal wall thickness than muscle layer thickness.＂BMI-ICAWT＂ curve was obtained based on abdominal wall thickness of C point in L3 plane,and the expression was as follow：f（x） =P1 × x^2 ＋ P2 x x ＋ P3,where P1 =0.03916 （0.01776,0.06056）,P2 =1.098 （0.03197,2.164）,P3 =-18.52 （-31.64,-5.412）,R-square：***：Abdominal wall thickness of C point at L3 could be regarded as *** could be a reliable predictor of *** the light of ＂BMI-ICAWT＂ curve,we may conveniently predict ICAWT by BMI,resulting a better safety and feasibility for MASI.

关键词： Individual Characteristic Abdominal Wall Thickness Magnetic Anchored Surgical Instruments Minimally Invasive Surgery

来源：评论

学校读者我要写书评

暂无评论

26th Annual Computational Neuroscience Meeting (CNS*2017): Part 3 Antwerp, Belgium. 15-20 July 2017 Abstracts

引用

BMC NEUROSCIENCE 2017年第SUPPL 1期18卷 95-176页

作者： [Anonymous] Department of Neuroscience Yale University New Haven CT 06520 USA Department Physiology & Pharmacology SUNY Downstate Brooklyn NY 11203 USA NYU School of Engineering 6 MetroTech Center Brooklyn NY 11201 USA Departament de Matemàtica Aplicada Universitat Politècnica de Catalunya Barcelona 08028 Spain Institut de Neurobiologie de la Méditerrannée (INMED) INSERM UMR901 Aix-Marseille Univ Marseille France Center of Neural Science New York University New York NY USA Aix-Marseille Univ INSERM INS Inst Neurosci Syst Marseille France Laboratoire de Physique Théorique et Modélisation CNRS UMR 8089 Université de Cergy-Pontoise 95300 Cergy-Pontoise Cedex France Department of Mathematics and Computer Science ENSAT Abdelmalek Essaadi’s University Tangier Morocco Laboratory of Natural Computation Department of Information and Electrical Engineering and Applied Mathematics University of Salerno 84084 Fisciano SA Italy Department of Medicine University of Salerno 84083 Lancusi SA Italy Dipartimento di Fisica Università degli Studi Aldo Moro Bari and INFN Sezione Di Bari Italy Data Analysis Department Ghent University Ghent Belgium Coma Science Group University of Liège Liège Belgium Cruces Hospital and Ikerbasque Research Center Bilbao Spain BIOtech Department of Industrial Engineering University of Trento and IRCS-PAT FBK 38010 Trento Italy Department of Data Analysis Ghent University Ghent 9000 Belgium The Wellcome Trust Centre for Neuroimaging University College London London WC1N 3BG UK Department of Electronic Engineering NED University of Engineering and Technology Karachi Pakistan Blue Brain Project École Polytechnique Fédérale de Lausanne Lausanne Switzerland Departement of Mathematics Swansea University Swansea Wales UK Laboratory for Topology and Neuroscience at the Brain Mind Institute École polytechnique fédérale de Lausanne Lausanne Switzerland Institute of Mathematics University of Aberdeen Aberdeen Scotland UK Department of Integrativ

来源：评论

学校读者我要写书评

暂无评论

Correction: Electrocoalescence of paired droplets encapsulated in double-emulsion drops

引用

Lab on a chip 2016年第22期16卷 4466页

作者： Yankai Jia Yukun Ren Weiyu Liu Likai Hou Ye Tao Qingming Hu Hongyuan Jiang School of Mechatronics Engineering Harbin Institute of Technology West Da-zhi Street 92 Harbin Heilongjiang 150001 PR China. rykhit@***. School of Mechatronics Engineering Harbin Institute of Technology West Da-zhi Street 92 Harbin Heilongjiang 150001 PR China. rykhit@*** and State Key Laboratory of Robotics and System Harbin Institute of Technology West Da-zhi Street 92 Harbin Heilongjiang 150001 PR China. jhy_hit@***.

Correction for 'Electrocoalescence of paired droplets encapsulated in double-emulsion drops' by Yankan Jia et al., Lab Chip, 2016, DOI: .

关键词：

来源：评论

学校读者我要写书评

暂无评论

Haptic intelligent interfaces for NAO robot hand control

Haptic intelligent interfaces for NAO robot hand control

引用

International Conference on Advanced Mechatronic systems (ICAMechS)

作者： Octavian Melinte Luige Vladareanu Ligia Munteanu Hongnian Yu Shuang Cang Zeng-Guang Hou Gui-Bin Bian Hongbo Wang Dept. Robotics and Mechatronics Institute of Solid Mechanics of Romanian Academy Bucharest Romania Engineering and Computing Bournemouth University Dorset UK State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing China Parallel Robot and Mechatronic Sys. Lab. Yanshan University Qinhuangdao China

The paper presents a new approach on haptic interface control for NAO robotic hand. The haptic teleoperation of NAO robot hand raises some issues, mapping the haptic device dynamic being the most important. The mapping was achieved through Neural Network by determining a dynamic gain of robot haptic feedback. The results lead to the achievement of the haptic intelligent interfaces for the NAO robot hand control which can be integrated into an innovative haptic robot control system.

关键词： Decision support systems Humanoid robots Haptic interfaces Economic indicators Joints mechatronics

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：