检索结果-内蒙古大学图书馆

Exponential Stability of Impulsive system via Saturated Sliding Mode control

IEEE/CAA Journal of Automatica Sinica 2025年第2期12卷 469-471页

作者： Miaomiao Yu Xiaodi Li the Shandong Provincial Engineering Research Center of System Control and Intelligent Technology Shandong Normal University School of Mathematics and Statistics Shandong Normal University IEEE

Dear Editor,This letter presents a class of saturated sliding mode control (SMC)strategy for linear systems subject to impulsive disturbance and input saturation. To ensure the feasibility of proposed SMC under saturation, a relationship is established among attraction domain, saturation structure and control gain.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Design and Experimental Validation of a Worm-Like Tensegrity Robot for In-Pipe Locomotion

引用

Journal of Bionic engineering 2023年第2期20卷 515-529页

作者： Xiaolin Dai Yixiang Liu Wei Wang Rui Song Yibin Li Jie Zhao School of Control Science and Engineering Shandong UniversityJinan250061China Engineering Research Center of Intelligent Unmanned System of Ministry of Education Jinan250061China Shandong Research Institute of Industrial Technology Jinan250061China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin150080China

Traditional rigid-body in-pipe robots usually have complex and heavy structures with limited flexibility and *** soft in-pipe robots have great improvements in flexibility,they still have manufacturing difficulties due to their reliance on high-performance soft *** structure is a kind of self-stressed spatial structure consisting discrete rigid struts connected by a continuous net of tensional flexible strings,which combines the advantages of both rigid structures and soft *** applying tensegrity structures into robotics,this paper proposes a novel worm-like tensegrity robot for moving inside ***,a robot module capable of body deformation is designed based on the concept of tensegrity and its deformation performance is ***,the optimal parameters of the module are obtained based on the tensegrity *** deformation ability of the tensegrity module is tested ***,the worm-like tensegrity robot that can crawl inside pipes is developed by connecting three modules in *** performance and load capacity are tested on the prototype of the worm-like tensegrity robot by experiments of moving in horizontal pipe,vertical pipe,and elbow *** results demonstrate the effectiveness of the proposed design and suggest that the robot has high compliance,mobility,and adaptability although with simple structure and low cost.

关键词： Bio-inspired robot Soft robot application Tensegrity structure Pipe crawling

来源：评论

学校读者我要写书评

暂无评论

Reinforcement Learning-Based Resource Reservation for Mobile Edge Computing With Probable Failure

引用

IEEE Transactions on Vehicular technology 2025年第5期74卷 7985-7996页

作者： Dai, Qiuli Chen, Honglong Ni, Zhichen Yang, Yubin Chen, Linghan Fan, Xinglong Li, Xiangyu Shandong Provincial Engineering Research Center of Intelligent Sensing and Measurement and Control Technology Qingdao266580 China China Electronics Technology Instruments Company Ltd Qingdao266555 China

Mobile edge computing (MEC) has increasingly been propelled into the spotlight as a promising paradigm to address the growing demand for latency-sensitive mobile applications. The practical challenges associated with deploying and maintaining traditional edge service devices highlight the attraction of leveraging end devices as edge servers. Yet, the inherent mobility and power constraints of such servers make them prone to failure. As an effective strategy, some edge servers are earmarked to mitigate probable failure, which may cause resource redundancy. In this paper, a novel partial resource reservation scheme is proposed to diminish this waste, each edge server in system reserves a part of their resources to defend probable failure. The approach directs reservation actions towards the individual resources, rather than the entirety of edge servers. Given that edge servers serve as key participants within the system, it is imperative to optimize overall income by carefully balancing incurred costs and generated benefits. We investigate this partial resource reservation problem from the perspective of edge servers, and transform it into Markov decision process (MDP). A scheme that fomulates strategies for edge servers then been proposed, called Q-learning-based resource reservation (QLRR), which can accommodate the dynamic nature of edge server failure. Empirical evaluations demonstrate that our proposed scheme outperforms existing benchmark schemes, significantly enhancing the income of edge servers. © 1967-2012 IEEE.

关键词： Mobile edge computing

来源：评论

学校读者我要写书评

暂无评论

Flexible servo riveting system control strategy based on the RBF network and self-pierce riveting process

引用

Advances in Manufacturing 2023年第1期11卷 39-55页

作者： Yan Liu Qiu Tang Xin-Cheng Tian Long Cui Center for Robotics School of Control Science and EngineeringShandong UniversityJinan250061People’s Republic of China Engineering Research Center of Intelligent Unmanned System Ministry of EducationJinan250061People’s Republic of China

As more and more composite materials are used in lightweight vehicle white bodies,self-pierce riveting(SPR)technology has attracted great ***,the existing riveting tools still have the disadvantages of low efficiency and *** improve these disadvantages and the riveting qualification rate,this paper improves the control scheme of the existing riveting tools,and proposes a novel controller design approach of the flexible servo riveting system based on the RBF network and SPR ***,this paper briefly introduces the working principle and SPR procedure of the servo riveting *** a moving component force analysis is performed,which lays the foundation for the motion ***,the riveting quality inspection rules of traditional riveting tools are used for reference to plan the force-displacement curve *** control this process,the riveting force is fed back into the closed-loop control of the riveting tool and the riveting speed is computed based on the admittance control ***,this paper adopts the permanent magnet synchronous motor(PMSM)as the power of riveting tool,and proposes an integral sliding mode control approach based on the improved reaching law and the radial basis function(RBF)network friction compensation for the PMSM speed ***,the proposed control approach is simulated by Matlab,and is applied to the servo riveting system designed by our *** simulation and riveting results show the feasibility of the designed controller.

关键词： Lightweight vehicle body connection Self-pierce riveting(SPR)process Flexible servo riveting tool Riveting force planning and control

来源：评论

学校读者我要写书评

暂无评论

Model-driven path planning for robotic plasma cutting of branch pipe with single Y-groove based on pipe-rotating scheme

引用

Advances in Manufacturing 2024年第1期12卷 94-107页

作者： Yan Liu Qiu Tang Xin-Cheng Tian School of Control Science and Engineering Shandong UniversityJinan250061People’s Republic of China Engineering Research Center of Intelligent Unmanned System Ministry of EducationJinan250061People’s Republic of China School of Mechanical and Electronic Engineering Shandong Jianzhu UniversityJinan250101People’s Republic of China

The automatic cutting of intersecting pipes is a challenging task in *** improved automation and accuracy,this paper proposes a model-driven path planning approach for the robotic plasma cutting of a branch pipe with a single ***,it summarizes the intersection forms and introduces a dual-pipe intersection *** on this model,the moving three-plane structure(a description unit of the geometric characteristics of the intersecting curve)is constructed,and a geometric model of the branch pipe with a single Y-groove is ***,a novel mathematical model for plasma radius and taper compensation is ***,the compensation model and groove model are integrated by establishing movable ***,to prevent collisions between the plasma torch and workpiece,the torch height is planned and a branch pipe-rotating scheme is *** the established models and moving frames,the planned path description of cutting robot is provided in this novel *** accuracy of the proposed method is verified by simulations and robotic cutting experiments.

关键词： Automatic groove cutting of intersecting pipes Model-driven robot path planning Plasma beam radius and taper compensation

来源：评论

学校读者我要写书评

暂无评论

An online terrain classification framework for legged robots based on acoustic signals

引用

Biomimetic Intelligence & Robotics 2023年第2期3卷 51-53页

作者： Daoling Qin Guoteng Zhang Zhengguo Zhu Xianwu Zeng Jingxuan Cao School of Control Science and Engineering Shandong UniversityJinan 250061China Engineering Research Center of Intelligent Unmanned System Ministry of EducationShandong UniversityJinan 250061China

Terrain classification information is of great significance for legged robots to traverse various ***,this communication presents an online terrain classification framework for legged robots,utilizing the acoustic signals produced during *** Mel-Frequency Cepstral Coefficient(MFCC)feature vectors are extracted from the acoustic data recorded by an on-board *** the Gaussian mixture models(GMMs)are used to classify the MFCC features into different terrain type *** proposed framework was validated on a quadruped ***,our investigations achieved a classification time-resolution of 1 s when the robot trotted over three kinds of terrains,thus recording a comprehensive success rate of 92.7%.

关键词： Legged robots Terrain classification Acoustics GMMs

来源：评论

学校读者我要写书评

暂无评论

Multi-Lever EarlyWarning forWind and Photovoltaic Power Ramp Events Based on Neural Network and Fuzzy Logic

引用

Energy engineering 2024年第11期121卷 3133-3160页

作者： Huan Ma Linlin Ma Zengwei Wang Zhendong Li Yuanzhen Zhu Yutian Liu Power Grid Technology Center State Grid Shandong Electric Power Research InstituteJinan250003China Shandong Electric Power Dispatching and Control Center State Grid Shandong Electric Power CompanyJinan250012China Key Laboratory of Power System Intelligent Dispatch and Control of Ministry of Education Shandong UniversityJinan250061China

With the increasing penetration of renewable energy in power system,renewable energy power ramp events(REPREs),dominated by wind power and photovoltaic power,pose significant threats to the secure and stable operation of power *** paper presents an early warning method for REPREs based on long short-term memory(LSTM)network and fuzzy ***,the warning levels of REPREs are defined by assessing the control costs of various power control ***,the next 4-h power support capability of external grid is estimated by a tie line power predictionmodel,which is constructed based on the ***,considering the risk attitudes of dispatchers,fuzzy rules are employed to address the boundary value attribution of the early warning interval,improving the rationality of power ramp event early *** results demonstrate that the proposed method can generate reasonable early warning levels for REPREs,guiding decision-making for control strategy.

关键词： Early warning machine learning power system security renewable energy power ramp event smart grid

来源：评论

学校读者我要写书评

暂无评论

Mechanism and Methods for Fault Recovery of Grid-Forming Inverter by Graphical Illustration

引用

IEEE Transactions on Power systems 2025年第2期40卷 1973-1976页

作者： Yang, Jialun Ye, Hua Wang, Yantuan Liu, Yutian Li, Yujun Du, Zhengchun Shandong Research Institute of Industrial Technology Jinan250061 China Shandong University Key Laboratory of Power System Intelligent Dispatch and Control Ministry of Education Jinan250061 China Xi'an Jiaotong University Department of Electrical Engineering Xi'an710049 China

The existing priority-based current limiting control (CLC) for grid-forming (GFM) inverters may lead to failures in fault recovery, including being locked in CLC and mode oscillation between CLC and constant voltage control (CVC). To resolve these problems, this letter first reveals the fault recovery mechanism of droop controlled GFM inverters by illustrating the conditions of three fault recovery states in the phasor diagram. Then, two methods including determination of the optimal range of current angle and upper limit of saturation block are presented to guarantee successful fault recovery of GFM inverters. The correctness of theoretical analyses is verified and validated by multiple experimental tests. © 1969-2012 IEEE.

关键词： Fault current limiters

来源：评论

学校读者我要写书评

暂无评论

Vibration-Based Fault Diagnosis for Railway Point Machines Using VMD and Multiscale Fluctuation-Based Dispersion Entropy

引用

Chinese Journal of Electronics 2024年第3期33卷 803-813页

作者： Yongkui SUN Yuan CAO Peng LI Guo XIE Tao WEN Shuai SU National Engineering Research Center of Rail Transportation Operation and Control System Beijing Jiaotong University School of Electronic and Information Engineering Beijing Jiaotong University Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi'an University of Technology Frontiers Science Center for Smart High-speed Railway System Beijing Jiaotong University

As one of the most important railway signaling equipment,railway point machines undertake the major task of ensuring train operation *** fault diagnosis for railway point machines becomes a hot *** the advantage of the anti-interference characteristics of vibration signals,this paper proposes an novel intelligent fault diagnosis method for railway point machines based on vibration signals.A feature extraction method combining variational mode decomposition(VMD) and multiscale fluctuation-based dispersion entropy is developed,which is verified a more effective tool for feature ***,a two-stage feature selection method based on Fisher discrimination and ReliefF is proposed,which is validated more powerful than single feature selection ***,support vector machine is utilized for fault *** comparisons show that the proposed method performs *** diagnosis accuracies of normal-reverse and reverse-normal switching processes reach 100% and 96.57% ***,it is a try to use new means for fault diagnosis on railway point machines,which can also provide references for similar fields.

关键词： Fault diagnosis Railway point machine Vibration signal Variational mode decomposition Two-stage feature selection

来源：评论

学校读者我要写书评

暂无评论

A Novel Grades Prediction Method for Undergraduate Students by Learning Explicit Conditional Distribution

IEEE Transactions on Artificial Intelligence

引用

IEEE Transactions on Artificial Intelligence 2024年第9期5卷 4837-4848页

作者： Zhang, Na Liu, Ming Wang, Lin Liu, Shuangrong Sun, Runyuan Yang, Bo Zhu, Shenghui Li, Chengdong Yang, Cheng Cheng, Yuhu China University of Mining and Technology School of Information and Control Engineering Xuzhou221116 China Shandong Key Laboratory of Intelligent Buildings Technology Jinan250101 China University of Jinan Shandong Provincial Key Laboratory of Network Based Intelligent Computing Jinan250022 China Quan Cheng Laboratory Jinan250100 China Shandong Jianzhu University Shandong Key Laboratory of Intelligent Buildings Technology Jinan250101 China Shandong Jianzhu University School of Information and Electrical Engineering Jinan250101 China Ministry of Education Engineering Research Center of Intelligent Control for Underground Space Xuzhou221116 China

Educational data mining (EDM) offers an effective solution to predict students' course grades in the next term. Conventional grade prediction methods can be viewed as regressing an expectation of the probability distribution of the student's grade, typically called single-value grade prediction. The reliable prediction outcomes of these methods depend on the complete input information related to students. However, next-term grade prediction often encounters the challenge of incomplete input information due to the inaccessibility of future data and the privacy of data. In this scenario, single-value grade prediction struggles to assess students' academic status, as it may not be represented and assessed by relying on a singular expectation value. This limitation increases the risk of misjudgment, and may lead to errors in educational decision-making. Considering the challenge of collecting complete input information, we shift from traditional single-value predictions to forecasting the explicit probability distribution of the course grade. The probability distribution of the grade can assess the students' academic status by providing probabilities corresponding to all possible grade values rather than relying solely on an expectation value, which offers the foundation to support the educators' decision-making. In this article, the course grade distribution prediction (CGDP) model is proposed, aiming to estimate an explicit conditional probability distribution of course grades in the next term. This model can identify at-risk students, offering comprehensive decision-making information for educators and students. To ensure precise distribution predictions, a calibration method is also employed to improve the alignment between predicted and actual probabilities. Experimental results verify the effectiveness of the proposed model in early grade warning for undergraduates, based on real university data. © 2020 IEEE.

关键词： Probability distributions

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：