检索结果-内蒙古大学图书馆

Interaction model estimation-based robotic force-position coordinated optimization for rigid-soft heterogeneous contact tasks

引用

Biomimetic Intelligence & Robotics 2025年第1期5卷 77-86页

作者： Haochen Zheng Xueqian Zhai Hongmin Wu Jia Pan Zhihao Xu Xuefeng Zhou Institute of Intelligent Manufacturing Guangdong Academy of SciencesGuangdong Key Laboratory of Modern Control TechnologyGuangzhou 510070China School of Rail Transportation Wuyi UniversityJiangmen 529020China Department of Computer Science The University of Hong KongHong Kong 999077China

Inspired by Model Predictive Interaction control(MPIC),this paper proposes differential models for estimating contact geometric parameters and normal-friction forces and formulates an optimal control problem with multiple constraints to allow robots to perform rigid-soft heterogeneous contact *** the MPIC,robot dynamics are linearized,and Extended Kalman Filters are used for the online estimation of geometry-aware ***,a geometry-aware Hertz contact model is introduced for the online estimation of contact *** then implement the force-position coordinate optimization by incorporating the contact parameters and interaction force constraints into a gradient-based optimization *** validations were designed for two contact modes:“single-point contact”and“continuous contact”,involving materials with four different Young’s moduli and tested in human arm“relaxation-contraction”*** indicate that our framework ensures consistent geometry-aware parameter estimation and maintains reliable force interaction to guarantee *** method reduces the maximum impact force by 50%and decreases the average force error by 42%.The proposed framework has potential applications in medical and industrial tasks involving the manipulation of rigid,soft,and deformable objects.

关键词： Heterogeneous contact Interaction model estimation Coordination optimization Model Predictive control

来源：评论

学校读者我要写书评

暂无评论

USDE-Based Task-space Bilateral Teleoperator control Design with Time Delay 16th

USDE-Based Task-Space Bilateral Teleoperator Control Design ...

引用

16th International Conference on Modelling, Identification and control, ICMIC 2024

作者： Luo, Xin Ma, Jun Wang, Xian Na, Jing Xing, Yashan Faculty of Information Engineering and Automation Kunming University of Science and Technology Kunming650500 China Faculty of Mechanical and Electrical Engineering Kunming University of Science and Technology Kunming650500 China Yunnan Key Laboratory of Intelligent Control and Application Kunming University of Science and Technology Kunming650500 China

ISBN: (纸本)9789819617760

In this paper, we present a control strategy for bilateral teleoperators operated in the task space, which is designed to estimate the uncertain dynamics. To implement this proposed strategy, we develop a straightforward yet robust unknown system dynamics estimator (USDE) by incorporating a low-pass filtering operation. By using the USDE, we can eliminate the impact of unmodeled system dynamics without the need to measure the acceleration signal. Furthermore, the proposed USDE offers the advantages of requiring only one tuning parameter and being easily adjustable compared to conventional estimators. The convergence of the estimation error associated with the unmodeled system dynamics and the stability of the closed-loop control system are both rigorously demonstrated through Lyapunov’s theorem. Ultimately, the superior performance of our method, as evidenced by enhancing motion synchronization and stability, is confirmed through simulation. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Time delay

来源：评论

学校读者我要写书评

暂无评论

Structure design and analysis of a rigid-soft robotic hand with large load capacity 3

Structure design and analysis of a rigid-soft robotic hand w...

引用

3rd International Conference on Electrical, Electronics, and Information Engineering, EEIE 2024

作者： Wu, Peichen Lan, Fuming Hong, Wen Chen, Xiaoping Shuai, Wei Cui, Guowei Gao, Yang Institute of Intelligent Manufacturing Guangdong Academy of Sciences Guangdong Key Laboratory of Modern Control Technology Guangzhou510070 China Shanghai Institute of Aerospace System Engineering Shanghai201100 China Intelligent Manufacturing Institute of HFUT HeFei230041 China School of Computer Science and Technology University of Science and Technology of China Hefei230026 China

ISBN: (纸本)9781510688179

In recent years, soft grippers have gained significant attention due to their adaptability and safety. However, when performing horizontal object grasping, their limited structural stiffness prevents them from withstanding the torque generated by friction between the gripper and the object, leading to a loss of contact and limiting their horizontal load capacity. To address this limitation while preserving the adaptability of soft grippers, this paper proposes a gripper structure called the rigid-soft robotic hand, which incorporates lateral rigid connecting rods outside the soft joints. The paper analyzes the bending capacity of the rigid-soft joint using kinematic methods and investigates the influence of link design parameters on maximum bending angle. Subsequently, a finite element analysis is conducted to study the finger structure with the added connecting rods, aiming to optimize the link design parameters. Experimental results demonstrate the grasping capabilities of the rigid-soft gripper in both vertical and horizontal orientations. The findings show that the rigid-soft gripper significantly improves the load-carrying capacity during horizontal object grasping while maintaining the adaptability of the soft gripper. © The Authors.

关键词： Robotic arms

来源：评论

学校读者我要写书评

暂无评论

Upper crustal azimuthal anisotropy and seismogenic tectonics of the Hefei segment of the Tan-Lu Fault Zone from ambient noise tomography

引用

Earth and Planetary Physics 2025年第2期9卷 253-265页

作者： Cheng Li HuaJianYao Song Luo HaiJiang Zhang LingLi Li XiaoLi Wang ShengJun Ni State Key Laboratory of Mining Response and Disaster Prevention and Control in Deep Coal Mines Anhui University of Science and TechnologyHuainan Anhui 232001China School of Earth and Space Sciences University of Science and Technology of ChinaHefei 230026China Mengcheng National Geophysical Observatory University of Science and Technology of ChinaBozhou Anhui 233500China Anhui Earthquake Agency Hefei 230031China Anhui Huizhou Geology Security Institute Company Ltd.Hefei 231202China

The Tan-Lu Fault Zone is a large NNE-trending fault zone that has a substantial effect on the development of eastern China and its earthquake disaster prevention efforts. Aiming at the azimuthally anisotropic structure in the upper crust and seismogenic tectonics in the Hefei segment of this fault, we collected phase velocity dispersion data of fundamental mode Rayleigh waves from ambient noise cross-correlation functions of ~400 temporal seismographs in an area of approximately 80 × 70 km along the fault zone. The period band of the dispersion data was ~0.5–10 s. We inverted for the upper crustal three-dimensional(3-D) shear velocity model with azimuthal anisotropy from the surface to 10 km depth by using a 3-D direct azimuthal anisotropy inversion method. The inversion result shows the spatial distribution characteristics of the tectonic units in the upper crust. Additionally, the deformation of the Tan-Lu Fault Zone and its conjugated fault systems could be inferred from the anisotropy model. In particular, the faults that have remained active from the early and middle Pleistocene control the anisotropic characteristics of the upper crustal structure in this area. The direction of fast axes near the fault zone area in the upper crust is consistent with the strike of the faults, whereas for the region far away from the fault zone, the direction of fast axes is consistent with the direction of the regional principal stress caused by plate movement. Combined with the azimuthal anisotropy models in the deep crust and uppermost mantle from the surface wave and Pn wave, the different anisotropic patterns caused by the Tan-Lu Fault Zone and its conjugated fault system nearby are shown in the upper and lower crust. Furthermore,by using the double-difference method, we relocated the Lujiang earthquake series, which contained 32 earthquakes with a depth shallower than 10 km. Both the Vs model and earthquake relocation results indicate that earthquakes mostly occurred in th

关键词： ambient noise tomography azimuthal anisotropy upper crust seismogenic structure the Tan-Lu Fault Zone Hefei segment

来源：评论

学校读者我要写书评

暂无评论

Synchronous Regulation of S-Deficient ZnS-MoS2 Heterostructure Nanoreactor for Fast and Durable Sodium Storage

引用

Nano Letters 2025年第18期25卷 7241-7248页

作者： Jiang, Ying Lian, Mingyu Ma, Jinlian Long, Yunsong Guo, Xuejing Sun, Yitong Lao, Junchao Ye, Zhengqing School of Material Science and Engineering Tianjin University of Technology Tianjin300384 China Tianjin Key Laboratory of Materials Laminating Fabrication and Interface Control Technology School of Material Science and Engineering Hebei University of Technology Tianjin300401 China Tianjin Key Laboratory of Life and Health Detection Life and Health Intelligent Research Institute Tianjin University of Technology Tianjin300384 China Joint Key Laboratory of the Ministry of Education Institute of Applied Physics and Materials Engineering University of Macau Avenida da Universidade Taipa999078 China

The enhancement of charge transfer and the relief of volume stress of anode materials contribute to fully exploiting electrochemical performance for sodium ion storage. Herein, a hollow carbon polyhedra nanoreactor adhered with a ZnS-MoS2 heterostructure with tunable sulfur vacancy content (denoted as hp-ZMS-600/700/800) is prepared by self-assembly and a temperature dependent sulfurization procedure. The intimate heterointerface and moderate sulfur vacancies provide fast ion/electron transfer channels, and the hollow nanoreactors afford large volume variation and maintain structural integrity during the sodiation/desodiation process. Theoretical calculations and in situ/ex situ characterization techniques reveal both excellent electron/ion diffusion dynamics and a sodium storage mechanism. As a result, the optimized hp-ZMS-700 anode in sodium-ion batteries delivers a high initial Coulombic efficiency of 96.3%, a high capacity of 398 mAh g-1 at 0.1 A g-1, good rate capability of 119.8 mAh g-1 at 5 A g-1, and an excellent capacity retention of 84.6% after 1000 cycles at 2 A g-1 © 2025 American Chemical Society.

关键词： Self assembly

来源：评论

学校读者我要写书评

暂无评论

Research on Fault Diagnosis Method for Rolling Bearings Based on Improved ConvNext V2

Research on Fault Diagnosis Method for Rolling Bearings Base...

引用

TEPEN International Workshop on Fault Diagnostics and Prognostics, TEPEN-IWFDP 2024

作者： Qin, Feifan Zhang, Chao Wang, Jianguo Wu, Le Wu, Yangbiao Ouyang, Bing Liu, Guiyi College of Mechanical Engineering Inner Mongolia University of Science and Technology Baotou014010 China Inner Mongolia Key Laboratory for Intelligent Diagnosis and Control of Electromechanical Systems Baotou014010 China

ISBN: (纸本)9783031734069

Aiming to address issues such as insensitivity to fault characteristics, inadequate feature extraction, and susceptibility to external environmental interference in traditional bearing fault diagnosis methods, an improved approach to rolling bearing fault diagnosis based on ConvNext V2 is proposed. Firstly, leveraging the advantages of wavelet time-frequency analysis, one-dimensional vibration signals collected from the experimental setup are transformed into two-dimensional images containing abundant time-frequency information using continuous wavelet transform. Secondly, the next-generation convolutional neural network ConvNext V2 is introduced as the underlying network for rolling bearing fault diagnosis, and the Efficient Channel Attention (ECA) network is incorporated to enhance the feature extraction capability of the Block module in the base network. Subsequently, the wavelet time-frequency images are used as feature map inputs to the improved ConvNext V2 network for training, enabling the diagnosis and recognition of rolling bearing faults. Finally, experimental results demonstrate that the proposed method exhibits good fault recognition accuracy and stability in laboratory data, with high generalization capability, thereby offering a new solution for rolling bearing fault diagnosis. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： Roller bearings

来源：评论

学校读者我要写书评

暂无评论

Bearing Fault Diagnosis Based on an Improved Morphological Filter

Bearing Fault Diagnosis Based on an Improved Morphological F...

引用

TEPEN International Workshop on Fault Diagnostics and Prognostics, TEPEN-IWFDP 2024

作者： Ren, Xueping Guo, Liangjian Qiu, Fuqiang Liu, Tongtong School of Mechanical Engineering Inner Monglia University of Science and Technology Baotou014010 China Inner Monglia Key Laboratory of Intelligent Diagnosis and Control of Mechatronic System Baotou014010 China

ISBN: (纸本)9783031734069

Extraction of repetitive shock signals from vibration signals is crucial in bearing fault detection. Morphological filtering can extract the signal components based on the geometric features of the signal. In this paper, we propose an improved morphological filter for extracting fault cycle pulses from vibration signals in the time domain. Morlet wavelets are used as the main waveforms of the structural elements, which guide the construction of the structural elements based on their correlation with the defect-induced pulse, the Teager energy operator (TEO) is used to reduce the modulated signal interference. The improved morphological filtering algorithm can obtain fault features from low signal-to-noise ratio signals. The processing results of one simulated signal and two sets of experimental signals verify the effectiveness and robustness of the method. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： Wiener filtering

来源：评论

学校读者我要写书评

暂无评论

Deep Co-Training Partial Least Squares Model for Semi-Supervised Industrial Soft Sensing

引用

IEEE Transactions on Systems, Man, and Cybernetics: Systems 2025年第5期55卷 3363-3371页

作者： Zheng, Junhua Zhou, Le Ye, Lingjian Ge, Zhiqiang Zhejiang University of Science and Technology School of Automation and Electrical Engineering Hangzhou310023 China Huzhou University Huzhou Key Laboratory of Intelligent Sensing and Optimal Control for Industrial Systems School of Engineering Huzhou313000 China Southeast University School of Mathematics Nanjing210096 China

Data-driven soft sensing has become quite popular in recent years, which can provide real-time estimations of key variables in industrial processes. While the introduction of deep learning does improve the prediction performance, it is highly restricted to the number of labeled training data, as well as large computational burden and cumbersome parameter tuning procedures. How to break through the bottleneck of data-drive models in terms of limited labeled data and high computational complexity should be one of the main recent focuses in the field of industrial soft sensing. In this article, a deep co-training PLS (deep CT-PLS) model is proposed to extend the ordinary PLS model to the semi-supervised deep form. While the deep model can efficiently extract inherent natures of process data, the co-training strategy makes lots of unlabeled data useful through a two-view cross training and annotation process. In this case, the performance restriction of the deep PLS model can be greatly relieved, with the incorporation of additional unlabeled data, while at the same time the designed model structure keeps in a low computational complexity. Based on the case study on a real industrial production process, the deep CT-PLS model can significantly improve the soft sensing performance. © 2013 IEEE.

关键词： Self-supervised learning

来源：评论

学校读者我要写书评

暂无评论

Fault Diagnosis of Rolling Bearing in Broad Learning System Based on Multi-domain Feature Selection

Fault Diagnosis of Rolling Bearing in Broad Learning System ...

引用

TEPEN International Workshop on Fault Diagnostics and Prognostics, TEPEN-IWFDP 2024

作者： Ouyang, Bing Zhang, Chao Wu, Le Liu, Guiyi Wu, Yangbiao Xu, Shuai School of Mechanical Engineering Inner Monglia University of Science and Technology Baotou014010 China Inner Monglia Key Laboratory of Intelligent Diagnosis and Control of Mechatronic System Baotou014010 China

ISBN: (纸本)9783031734069

This paper presents a novel solution for bearing fault diagnosis based on a Broad Learning System with multi-domain feature selection. Currently, the diagnosis of bearing faults is beset with numerous challenges, including operation under complex and fluctuating conditions, the subtlety of early fault indicators, noise interference in measurement signals, variations in operational conditions, and a broad spectrum of potential fault types. These factors collectively contribute to the complexity of accurately identifying and classifying bearing faults. The Broad Learning System introduced in this paper, by integrating multi-domain feature selection, enhances the model's capability to extract and utilize relevant features from noisy or incomplete data, potentially increasing diagnostic accuracy in suboptimal sensor environments. By leveraging features across multiple domains, the method based on the Broad Learning System can capture a wider array of fault characteristics, thereby broadening its applicability across various types of bearing faults and operational conditions. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： Roller bearings

来源：评论

学校读者我要写书评

暂无评论

The magnetic stripe signatures of the North Atlantic Ocean crust derived from Swarm and Macao science Satellite-1 observations

引用

Earth and Planetary Physics 2025年第3期9卷 635-641页

作者： PengFei Liu Liang Yin ShiDa Sun HongBo Yao Macao Institute of Space Technology and Application Macao University of Science and TechnologyMacao 999078China Key Laboratory of Intelligent Detection and Equipment for Underground Space of Beijing-Tianjin-Hebei Urban Agglomeration Ministry of Natural ResourcesHebei GEO UniversityShijiazhuang 050031China

The Earth's crust,the outer shell of the Earth,consists of continental crust and oceanic *** crust is created at the mid-oceanic ridge,where it is magnetized in the ambient field of the *** new material is extruded,the crust spreads outward,retaining its *** reversal of the polarity of the Earth's magnetic field over geologic time leads to a pattern of striped magnetic *** this study,we carry out a preliminary evaluation on how data from the Macao science Satellite-1(MSS-1),which has a low orbital inclination,influences inversion models of the oceanic crustal magnetic field when combined with data from the Swarm *** our modeling we use an equivalent source method based on a cubed-sphere *** model captures the broad magnetic structure over the North Atlantic Ocean and demonstrates that the trend of magnetic stripes is consistent with the age frame of the oceanic *** amplitude of the radial magnetic field at 450 km the North Atlantic Ocean ranges from–11 nT to+8 *** addition of MSS-1 observations to Swarm data generates results consistent with the overall magnetic stripe *** lack of short-wavelength scale structure reveals the limitation of high-altitude satellites in portraying fine features and hence lower-altitude observations would be required to delineate a more detailed crustal *** is expected to obtain a finer structure of oceanic magnetic stripes by combining low-altitude CHAMP field data and east-west gradient data derived from MSS-1 in future work.

关键词： ocean magnetic stripes lithospheric magnetic structure Macao science Satellite-1

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：