检索结果-内蒙古大学图书馆

International Conference on Machine Tool Technology and mechatronics engineering, ICMTTME 2014

作者： Hou, Ming Xin Jiang, Li Chen, Zhao Peng School of Technology State Key Laboratory of Robotics and System Harbin Institute of Technology HarbinHeilongjiang China Institute of Robotics and Mechatronics German Aerospace Center Munich Germany

ISBN: (纸本)9783038352464

A novel strategy of online force distribution for multi-finger robot hand is developed based on impedance control. The real-time controller system including the finger dynamics and multi-fingers constraints is considered as a nonlinear system. Because when the robot hand grasps the object, the fingertip force is usually changed which could cause the grasp unstable. Our method gains the ability to deal with online grasping force distribution and can satisfy the real-time requirements at the same time. Experiment shows that our method provides the most feasible grasp configurations in real-time performance. © (2014) Trans Tech Publications, Switzerland.

关键词： Robotic arms

来源：评论

学校读者我要写书评

暂无评论

Dynamic evaluation of LCL-type grid-connected inverters with different current feedback control schemes

Dynamic evaluation of LCL-type grid-connected inverters with...

引用

International Conference on Power Electronics (ICPE)

作者： Yang Han Zipeng Li Josep M. Guerrero State Key Laboratory of Power Transmission Equipment & System Security and New Technology Chongqing University Chongqing China School of Mechatronics Engineering University of Electronic Science and Technology of China Chengdu China Department of Energy Technology Aalborg University Aalborg Denmark

Proportional-resonant (PR) compensator and LCL filter becomes a better choice in grid-connected inverter system with high performance and low costs. However, the resonance phenomenon caused by LCL filter affect the system stability significantly. In this paper, the stability problem of three typical current feedback control schemes in LCL grid-connected system are analyzed and compared systematically. Analysis in s-domain take the effect of the digital computation and modulation delay into account. The stability analysis is presented by root locus in the discrete domain, the optimal values of the controller and filter with different feedback configurations are provided. The impacts of digital delay, PR parameters and LCL parameters on different control strategies are also investigated. Finally, the theoretical analysis are validated by simulation results.

关键词： Feedback control Stability analysis Power system stability Delays Integrated circuits Inverters Transfer functions

来源：评论

学校读者我要写书评

暂无评论

Dynamics assessment of grid-synchronization algorithms for single-phase grid-connected converters

Dynamics assessment of grid-synchronization algorithms for s...

引用

International Conference on Power Electronics (ICPE)

作者： Yang Han Mingyu Luo Josep M. Guerrero State Key Laboratory of Power Transmission Equipment & System Security and New Technology Chongqing University Chongqing China School of Mechatronics Engineering University of Electronic Science and Technology of China Chengdu China Department of Energy Technology Aalborg University Aalborg Denmark

ISBN: (纸本)9781479988006

Several advanced phase-lock-loop (PLL) algorithms have been proposed for single-phase power electronic systems. Among these algorithms, the orthogonal signal generators (OSGs) are widely utilized to generate a set of in-quadrature signals, owing to its benefit of simple digital implementation and low computational burden. Meanwhile, some other techniques have been proposed to enhance system robustness and stability characteristics. In this paper, a comprehensive comparison among the OSG-based PLLs and the advanced single-phase PLLs is presented when the grid voltage undergoes disturbances, and the performance comparison of transient response and disturbance rejection capabilities are presented. Finally, the moving average filter (MAF) is applied to enhance steady state and dynamic response of the delayed-type PLL, derivator-based PLL and the complex-coefficient filter (CCF-PLL) under grid frequency variations, harmonics and white noise contamination scenarios.

关键词： Phase locked loops Simulation Frequency estimation Power harmonic filters Time-frequency analysis Harmonic analysis Voltage fluctuations

来源：评论

学校读者我要写书评

暂无评论

An inverse projective mapping-based approach for robust rail track extraction

An inverse projective mapping-based approach for robust rail...

引用

Congress on Image and Signal Processing, CISP

作者： Zhongli Wang Xian Wu Yan Yan Chunxiao Jia Baigen Cai Zhenhui Huang Guiguo Wang Tianbai Zhang State Key Laboratory of Robotics and System Harbin Institute of Technology China Beijing Engineering Research Center of EMC and GNSS Technology for Rail Transportation Beijing China School of Electronic Information and Engineering Beijing Jiao Tong University China CNR Tangshan Railway Vehicle Corporation Tangshan China

ISBN: (纸本)9781467390996

Rail track extraction from the image can be used to determine the train localization, or vision-based inspection of the rail, and some other driver supporting systems in railway. For the vision-based inspection, it is one of the most important tasks. But visual approach suffers from some common difficulties, the illumination change, shadow, weather effects, etc, which make the image processing for the successive procedures a very tough work, even in a sample application. In this paper, with a calibrated camera and based on inverse projective mapping (IPM), we can get a bird-view image or IPM image first. Then the IPM image is converted to an edge map with modified binary method. In order to extract the rail track, a Hough transformation is used detect the line segments in the edge map. Combined with some geometric constraints from the prior knowledge, the rail track can be robustly extracted. Some experiments with on-site image show the proposed method can works well.

关键词： Rails Image edge detection Image segmentation Cameras Rail transportation Detectors Robustness

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

Research on 3D reconstruction for robot based on SIFT feature

Research on 3D reconstruction for robot based on SIFT featur...

引用

2014 IEEE Workshop on Advanced Research and Technology in Industry Applications, WARTIA 2014

作者： Zhong, Qiubo Jie, Zhao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China School of Electronic and Information Engineering Ningbo University of Technology Harbin China

ISBN: (纸本)9781479969890

On the basis of only visual and odometer, a robust perception model is established to extract environmental features through effective fixed scale feature-transformation method, and updated feature by unscented Kalman filtering. The scale invariant feature transform (SIFT) is studied for 3D reconstruction, and a fast feature matching algorithm based on SIFT is proposed. A map representation method using SIFT features is also propounded, which is more convenient for environment recognition, robot localization and makes the data association map building much easier as well than the maps using simple features such as Harris corners and edges. The results of experiment show that this method can improve the success rate and precision of robot localization. © 2014 IEEE.

关键词： Image reconstruction

来源：评论

学校读者我要写书评

暂无评论

Erratum to: Robust adaptive synchronization of general dynamical networks with multiple delays and uncertainties

引用

Pramana 2016年第6期86卷 1413-1413页

作者： LU, YIMING HE, PING MA, SHU-HUA LI, GUO-ZHI MOBAYBEN, SALEH Laboratory of Train Network Department of Train Control Tech. Research Center of Product & Tech. CRRC TANGSHAN CO. LTD Tangshan People’s Republic of China School of Information Science and Engineering Northeastern University Shenyang People’s Republic of China School of Automation and Electronic Information Sichuan University of Science and Engineering Zigong People’s Republic of China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin People’s Republic of China

来源：评论

学校读者我要写书评

暂无评论

Study on the fuzzy sliding mode control of the quadruped robot's hydraulic driving unit

引用

ICIC Express Letters 2014年第9期8卷 2373-2382页

作者： Quan, Lingxiao Kong, Xiangdong Xu, Yancui Yu, Bin Li, Mantian School of Mechanical Engineering Yanshan University No. 438 Hebei Ave. Qinhuangdao 066004 China State Key Laboratory of Robotics and System Harbin Institute of Technology No. 92 West Da-Zhi Street Harbin 150001 China

The hydraulic Quadruped Robot (BigDog) always uses the hydraulic drive unit to control the motions of every joint. The symmetric servo-valve of high performance controls the symmetric servo cylinder in the hydraulic drive unit. This kind of drive mode has the advantages of large power volume ratio, fast response, etc. Because of its obvious nonlinearity and unknown parameters, the control effect is not good. According to the disadvantages of hydraulic drive unit, this paper firstly proposes a Sliding Mode Control strategy based on the Exponential Approach Law to improve the robustness of hydraulic drive unit position control. However, the existence of chattering of this strategy can lead to lower control precision and stimulate high frequency dynamic characteristic of the system, so as to damage the system performance. To restrain chattering effect on the performance of the system effectively, a fuzzy controller is used to adjust the Exponential Approach Law parameter to optimize control results. The research results show that the Fuzzy Sliding Mode Control can guarantee good robustness and dynamic performance of the system, and it can largely reduce chattering of system and improve the system steady-state accuracy. © 2014 ISSN 1881-803X.

关键词： Position control

来源：评论

学校读者我要写书评

暂无评论

Analysis and experiments of the arc heating for fiber fused biconical taper technology

引用

Zhongguo Jiguang/Chinese Journal of Lasers 2015年第3期42卷 0305003-1-0305003-1-0305003-8页

作者： Zhang, Wei Rong, Weibin Yang, Wei Wang, Lefeng Sun, Lining State Key Laboratory of Robotics and System Harbin Institute of Technology HarbinHeilongjiang150080 China School of Electrical Engineering and Automation Harbin Institute of Technology HarbinHeilongjiang150001 China

The heating temperature is one of the key factors in the fiber fused biconical taper manufacture, which can affect the component performance. In order to improve the temperature stability and controllability in the heating region, the high-voltage arc heating device is presented and arc heating, heating region temperature and fiber preheating are studied. The high-frequency high voltage power source, in which the current and frequency can be adjusted independently, and electrodes are designed. The closed-loop controls of the voltage and current are applied to ensure the success of the arc ignition and the stability of the arc discharge current, and the discharge process is analyzed. The temperature detection device in which the infrared camera is adopted to measure the heating region temperature by the ceramic rod is designed. Through the analysis of experimental data, the relationships among the frequency, arc control voltage, arc current, heating distance and arc region temperature are determined. According to experiments and computation results, the temperature of the arc center region can reach 1635℃ within the stability of 2.37℃. Based on the established heating model for fine fibers with the diameter of 80 μm, the preheating time is computed by the transient analysis of the ANSYS software. It is shown that the temperature of the heating region can reach the stability by 25 s. ©, 2015, Science Press. All right reserved.

关键词： Temperature measurement

来源：评论

学校读者我要写书评

暂无评论

Optimization design for complex pipelines inside electromechanical products based on flow resistance loss

Optimization design for complex pipelines inside electromech...

引用

2014 IEEE International Conference on Information and Automation, ICIA 2014

作者： Haibo, Feng Yili, Fu Lyi, L. School of Electrical Engineering and Automation Harbin Institute of Technology Harbin Heilongjiang Province China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781479941001

Optimization design for complex pipelines inside electromechanical products is a very difficult task within complex products such as cars, planes, ships and rockets. Thus, an optimization design for complex pipelines is proposed based on the flow resistance loss in this paper. The basic framework of the design includes three parts like pre-processing, evalution model and optimization search algorithm. Firstly, Monte Carlo pre-processing model is established to effectively reduce the complexity of the optimizaton design. Also, flow resistance loss model of complex pipelines with branches is constructed to evaluate design. Moreover, a novel particle swarm optimization (PSO) algorithm is presented to find an approximate optimal design. Finally, the comparison experiments and examples demonstrate that the optimization design is effective and practical.

关键词： Algorithm design and analysis Equations Mathematical model Monte Carlo methods Optimization Pipelines Resistance Flow resistance loss Monte Carlo Optimization design Preprocessing mode

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：