检索结果-内蒙古大学图书馆

Time-synchronous-averaging-spectrum based on super-resolution analysis and application in bearing fault signal identification

引用

Journal of Zhejiang University-Science A(Applied Physics & Engineering) 2024年第7期25卷 573-585页

作者： Zengle REN Yuan WANG Huiyue TANG Xin'an CHEN Wei FENG Guangdong Provincial Key Laboratory of Construction Robotics and Intelligent Construction Shenzhen Institute of Advanced TechnologyChinese Academy of SciencesShenzhen518055China Shenzhen EBORAIL Technology Co. Ltd.Shenzhen518038China National Supercomputing Center in Shenzhen Shenzhen518055China State Key Lab of Rail Traffic Control and Safety Beijing Jiaotong UniversityBeijing100044China University of Chinese Academy of Sciences Beijing100190China Shenzhen University of Advanced Technology Shenzhen518107China

Time-synchronous-averaging(TSA)is based on the idea of denoising by averaging,and it extracts the periodic components of a quasiperiodic signal and keeps the extracted waveform *** paper studies the mathematical properties of TSA,where three propositions are given to reveal the nature of *** paper also proposes a TSA-spectrum based on super-resolution analysis and it decomposes a signal without using any base *** contrast to discrete Fourier transform spectrum(DFT-spectrum),which is a spectrum in frequency domain,TSA-spectrum is a period-based spectrum,which can present more details of the cross effects between different periodic components of a quasiperiodic ***,a case study is carried out using bearing fault analysis to illustrate the performance of TSA-spectrum,where the rotation speed fluctuation of the shaft is estimated,which is about 0.12 ms *** extracted fault signals are presented and some insights are *** believe that this paper can provide new motivation for TSA-spectrum to be widely used in applications involving quasiperiodic signal processing(QSP).

关键词： Time-synchronous-averaging(TSA) Spectrum Quasiperiodic signal processing(QSP) Super-resolution analysis Bearingfaultdetection

来源：评论

学校读者我要写书评

暂无评论

General Kinetostatic Modeling and Deformation Analysis of a Two-Module Rod-Driven Continuum Robot with Friction Considered

引用

Chinese Journal of Mechanical Engineering 2023年第3期36卷 110-122页

作者： Peiyi Wang Xinhua Yang Xiangyang Wang Sheng Guo School of Mechanical Electronic and Control EngineeringBeijing Jiaotong UniversityBeijing 100044China Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institute of Advanced TechnologyChinese Academy of SciencesShenzhen 518005China

Continuum robots actuated by flexible rods have large potential applications,such as detection and operation tasks in confined environments,since the push and pull actuation of flexible rods withstand tension and compressive force,and increase the structure's *** this paper,a generalized kinetostatics model for multi-module and multi-segment continuum robots considering the effect of friction based on the Cosserat rod theory is ***,the model is applied to a two-module rod-driven continuum robot with winding ropes to analyze its deformation and load *** different in-plane configurations under the external load term as S1,S2,C1,and C2 are *** a bending plane as an example,the tip deformation along thex-axis of these shapes is simulated and compared,which shows that the load capacity of C1 and C2 is generally larger than that of S1 and ***,the deformation experiments and simulations show that the maximum error ratio without external loads relative to the total length is no more than 3%,and it is no more than 4.7%under the external *** established kinetostatics model is proven sufficient to accurately analyze the rod-driven continuum robot with the consideration of internal friction.

关键词： Rod-driven continuum robot Kinetostatic model Cosserat rod theory Deformation and stiffness analysis

来源：评论

学校读者我要写书评

暂无评论

3D Source Tracking Using a Position-Unknown AOA Sensor with Measurement Drift and UAV Moving Direction Optimization

3D Source Tracking Using a Position-Unknown AOA Sensor with ...

引用

2024 IEEE International Conference on Real-Time Computing and robotics, RCAR 2024

作者： Xu, Rongrong Xu, Sheng Cao, Kaimin Li, Xianliang Wang, Jialiang Cao, Wujing Chinese Academy of Sciences Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Shenzhen518055 China China Nanhu Academy of Electronics and Information Technology Robotics Laboratory 314051 China University of Chinese Academy of Sciences Beijing101408 China

ISBN: (纸本)9798350372601

This work solves the angle-of-arrival (AOA) source tracking problem in 3-dimensional (3D) space utilizing a position-unknown unmanned aerial vehicle (UAV). An AOA sensor is carried by a mobile UAV, and the conventional self-positioning module, such as the global positioning system (GPS), is not allowed due to environmental limitations. Thus, to guarantee the feasibility of this source tracking problem, at least two position-known landmarks are required. Firstly, the detailed problem formulation is provided with the consideration of measurement drift caused by sensor-vehicle installation errors. Secondly, all the unknown states are estimated using a proposed extended Kalman filter (EKF). Thirdly, a UAV moving direction optimization algorithm is developed to promote the estimation accuracies of the source, UAV and measurement drift. Finally, simulation examples demonstrate the characteristics of the proposed method. © 2024 IEEE.

关键词： Extended Kalman filters

来源：评论

学校读者我要写书评

暂无评论

A practical PID variable stiffness control and its enhancement for compliant force-tracking interactions with unknown environments

引用

Science China(Technological Sciences) 2023年第10期66卷 2882-2896页

作者： ZHANG Xin ZHOU Hao LIU JinGuo JU ZhaoJie LENG YuQuan YANG ChenGuang State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China University of Chinese Academy of Sciences Beijing 100049China School of Computing University of PortsmouthPortsmouth PO13HEUK Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy EngineeringSouthern University of Science and TechnologyShenzhen 518055China Key Laboratory of Autonomous Systems and Networked Control College of Automation Science and EngineeringSouth China University of TechnologyGuangzhou 510640China

Compliant interaction control is a key technology for robots performing contact-rich manipulation *** design of the compliant controller needs to consider the robot hardware because complex control algorithms may not be compatible with the hardware performance,especially for some industrial robots with low bandwidth *** paper focuses on effective and easy-to-use compliant control algorithms for position/velocity-controlled *** by human arm stiffness adaptation behavior,a novel variable target stiffness(NVTS)admittance control strategy is proposed for adaptive force tracking,in which a proportional integral derivative(PID)variable stiffness law is designed to update the stiffness coefficient of the admittance function by the force and position ***,its stability and force-tracking capability are theoretically *** addition,an impact compensator(Impc)is integrated into the NVTS controller to enhance its disturbance-suppression capability when the robot is subjected to strong vibration disturbances in complicated surface polishing *** proposed controllers are validated through four groups of experimental tests using different robots and the corresponding results demonstrate that they have high-accuracy tracking capability and strong adaptability in unknown environments.

关键词： compliant interaction control force tracking PID variable stiffness impact compensator unknown environments

来源：评论

学校读者我要写书评

暂无评论

Robot Navigation Strategy in Complex Environment Based on Episode Cognition

引用

Journal of Bionic Engineering 2023年第1期20卷 1-15页

作者： Jinsheng Yuan Wei Guo Zhiyuan Hou Fusheng Zha Mantian Li Lining Sun Pengfei Wang State Key Laboratory of Robotics and System Harbin Institute of Technology(HIT)Harbin150001China Shenzhen Academy of Aerospace Technology Shenzhen518057China School of Mechanical and Electrical Engineering Lanzhou University of TechnologyLanzhou730050China

The hippocampal formation of the brain contains a series of nerve cells related to environmental cognition and *** cells can integrate their moment information and external perceptual information and acquire episodic cognitive *** episodic cognition and memory,organisms can achieve autonomous navigation in complex *** paper mainly studies the strategy of robot episode navigation in complex *** exploring the environment,the robot obtains subjective environmental cognition and forms a cognition *** grid cells information contained in the cognitive map can obtain the direction and distance of the target through vector calculation,which can get a shortcut through the inexperienced *** synaptic connection of place cells in the cognitive map can be used as the topological relationship between episode *** the target-oriented vector navigation encounters obstacles,the obstacles can be realized by setting closer *** on the known obstacle information obtained from boundary cells in the cognitive map,topological paths can be divided into multi-segment vector navigation to avoid encountering *** paper combines vector and topological navigation to achieve goal-oriented and robust navigation capability in a complex environment.

关键词： Bionic intelligent.Grid cell-Hippocampus-Navigation strategy Episode cognition

来源：评论

学校读者我要写书评

暂无评论

Pressure Pain Recognition for Lower Limb Exoskeleton Robot with Physiological Signals 1

引用

2nd International Conference on Cognitive Computation and Systems, ICCCS 2023

作者： Ma, Yue Wu, Xinyu Wang, Xiangyang Li, Jinke Qin, Pengjie Yin, Meng Cao, Wujing Yi, Zhengkun Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Guangdong Shenzhen China SIAT-CUHK Joint Laboratory of Robotics and Intelligent Systems Guangdong Shenzhen China Shandong Institute of Advanced Technology Chinese Academy of Sciences Shandong Jining China

ISBN: (数字)9789819708857

ISBN: (纸本)9789819708840

Pain is a feedback mechanism the body uses to protect itself. The perception of human pain is still missing in lower limb exoskeleton robots, such as the pain caused by the pressure between the knee joint and the baffle when the lower limb exoskeleton stands up, or the pain caused by the mismatch between the gait and the body function of the wearer when walking. Aiming at the pain perception problem of the exoskeleton robot, this study designed a pressure pain data acquisition paradigm combined first considering the movement mode of the exoskeleton robot, and collected facial electromyography and electrocardiography signals, as well as five levels of pain. Then a deep learning neural Network based on Temporal Convolutional Network and Long Short-Term Memory is designed. The composite Loss of Center Loss, InfoNEC Loss and Softmax Loss is designed. The designed deep neural network model was evaluated using the thermal pain dataset BioVid, and the average recognition rate using only electrocardiography signals reached 86.44%. By Using the fusion signals of electrocardiography, electrocardiogram and electromyogram signals, the average recognition accuracy can reach 87.16%, which is superior to other similar methods, and verifies the effectiveness of the proposed method. The proposed network is also used to verify the collected pressure pain dataset, and the recognition accuracy can reach 87.5%, which proves the validity of the collected data set. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Electrocardiography

来源：评论

学校读者我要写书评

暂无评论

Design and Evaluation of a Flat PCB Based Axial Flux Motor 27

Design and Evaluation of a Flat PCB Based Axial Flux Motor

引用

27th International Conference on Electrical Machines and Systems, ICEMS 2024

作者： Wu, Haotian Zhi, Chao Gao, Han Xu, Lijun Mao, Yinian Meituan Technology Department of Hardware Research Bcijing China Meituan Academy of Robotics Shenzhen Shenzhen China Meituan Technology Department of Hardware Research Shenzhen China

ISBN: (纸本)9784886864406

In this paper, a PCB based, flat axial flux motor is proposed and analyzed. The motor exhibits three originalities, the two-phase meander coil design, the integrated driving and speed sensing coil;the integrated heat dissipation board. The motor is fabricated and analyzed. The simulated Kt is around 0.16Nm/A. In open loop driving, the motor is capable of rotating 120RPM with 60Hz signal input. The motor can generate 0.8N m torque with 5A current input and the temperature is less than 80°C. The motor exhibits a high torque density of 14.28Nm/kg, thus demonstrate its potential in UAV as well as robotic field. © 2024 The Institute of Electrical Engineers of Japan.

关键词： Printed circuit motors

来源：评论

学校读者我要写书评

暂无评论

Characterization of a High Torque Density Halbach Motor in UAV Application 27

Characterization of a High Torque Density Halbach Motor in U...

引用

27th International Conference on Electrical Machines and Systems, ICEMS 2024

作者： Zhi, Chao Huang, Yangyang Wu, Haotian Zhao, Qian Xu, Lijun Mao, Yinian Meituan Technology Department of Hardware Research Shenzhen China Meituan Academy of Robotics Shenzhen Shenzhen China Meituan Technology Department of Hardware Research Beijing China

ISBN: (纸本)9784886864406

As the low-altitude logistics economy continues to develop on a global scale, increasingly demands are placed on the flight range and operational stability of small aircraft. Traditional brushless outer rotor motors have notable advantages in terms of torque density and light weight in Unmanned Aerial Vehicles (UAV). To further increase torque density, permanent magnet synchronous motor (PMSM) based on the Halbach array is utilized. In this paper, an integrated magnetization method is proposed to improve the assembly process of the Halbach rotor. The simulation and experiment results show that the magnetization apparatus attains the current of 18kA and magnetic field of 1MA/m, thus is capable for magnetizing the Halbach array with MH magnet grade. The magnetized Halbach array is assembled into the motor to test its performance, compared with original brushless motors, the torque density is increased from 8.5Nm/kg to 8.79Nm/kg, providing a higher performance solution for the application in UAV. © 2024 The Institute of Electrical Engineers of Japan.

关键词： Unmanned aerial vehicles (UAV)

来源：评论

学校读者我要写书评

暂无评论

3D reconstruction in industrial environments based on an improved neural radiation field method research

3D reconstruction in industrial environments based on an imp...

引用

2024 International Conference on Computer Network Security and Software Engineering, CNSSE 2024

作者： Zhou, Kaichen Huang, Tianlun Wang, Weijun Luo, Haowen Khan, Fawad Du, Ziqian Feng, Wei Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen China University of Chinese Academy of Sciences Beijing100049 China Guangdong Provincial Key Laboratory of Construction Robotics and Intelligent Construction Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China Guangdong Provincial International Joint Research Center for Robotics and Intelligent Construction Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China

ISBN: (纸本)9781510680234

Neural Radiation Field (NeRF) is driving the development of 3D reconstruction technology. Several NeRF variants have been proposed to improve rendering accuracy and reconstruction speed. One of the most significant variants, TensoRF, uses a 4D tensor to model the radiation field, resulting in improved accuracy and speed. However, reconstruction quality remains limited. This study presents an improved TensoRF that addresses the aforementioned issues by reconstructing its multilayer perceptron network. Increasing the number of neurons in the input and network layers improves the render accuracy. To accelerate the reconstruction speed, we utilized the Nadam optimization algorithm and the RELU6 activation function. Our experiments on various classical datasets demonstrate that the PSNR value of the improved TensoRF is higher than that of the original TensoRF. Additionally, the improved TensoRF has a faster reconstruction speed (≤30min). Finally, we applied the improved TensoRF to a self-made industrial dataset. The results showed better global accuracy and local texture in the reconstructed image. © 2024 SPIE.

关键词： Network layers

来源：评论

学校读者我要写书评

暂无评论

TGCN-P: A TCN-GCN Network With Weighted Graph Constructed by Pearson Correlation Coefficient for Human Motion Tracking

TGCN-P: A TCN-GCN Network With Weighted Graph Constructed by...

引用

2023 IEEE International Conference on Real-Time Computing and robotics, RCAR 2023

作者： Li, Xiaoyu Wang, Jingnan Huang, Binhua Liu, Chengliang Liu, Yiwen Zhang, Yupo Yi, Zhengkun Wu, Xinyu Chinese Academy of Sciences Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Shenzhen518055 China Shenzhen Institute of Artificial Intelligence and Robotics for Society Siat Branch Shenzhen518055 China

ISBN: (纸本)9798350327182

Neural networks based on graph convolution are simple and effective network structures that have better performance in some fields compared to traditional convolutional networks. However, when graph convolution networks (GCN) are applied to other fields, how to transform data or features into graph edges is a challenge needed to be studied. In previous studies of non-Euclidean spatial data such as relationship studies, people achieve graph construction by indicating the connection or not of nodes with binary values. However, when graph network is applied to some multi-sensor data scenarios, especially human motion tracking tasks, binarization is obviously not the best solution for the weights of edges. In addition, relying on manual graph construction may ignore some cross-space sensor relationships, which makes the update information of nodes far away slower or unavailable. Therefore, we try to use Pearson correlation coefficient (PCC) as the estimation of node correlation, and construct a complete graph to enhance the connectivity of nodes, which achieve faster signal transmission at remote nodes. After combining it with the temporal convolutional network (TCN), we propose a new network structure TGCN-P. Experimentally, this approach is more effective compared to other baseline models. © 2023 IEEE.

关键词： Convolution

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：