检索结果-内蒙古大学图书馆

A modular four-modal soft grasping device

Science China(Technological Sciences) 2022年第8期65卷 1845-1858页

作者： GAI LingJie ZONG XiaoFeng School of Automation China University of GeosciencesWuhan 430074China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan 430074China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of EducationWuhan 430074China

It is a key challenge for soft grasping devices to stably grasp unstructured objects with multi-size and multi-shape. The conventional single-function grippers have some limitations in grasping the above kinds of objects. This work proposes a modular four-modal soft grasping device(MFSGD), which consists of soft fingers, suction cups, soft wrapper, and other structures. It can perform a variety of grasping modes such as bending grasping mode, wrapping grasping mode, end liftingsucking mode, and side fixed-sucking mode. It may be one of the devices with the most grasping modes at present. Moreover, the device adopts a fully modular design with different structures connected by magnets. It is not only convenient to disassemble or assemble, so as to solve the mutual interference of different modal structures problem during grasping, but also simplifies the fabrication of the multi-modal grasping device. In addition, this work matches the suitable grasping modes for objects of different shapes and sizes, and obtains the relative characteristics of the MFSGD. The proposed device can improve the ability of the grasping robots, and is expected to play an important role in economic and industrial fields.

关键词： four-modal soft grasping device modular suction cups soft wrapper soft fingers

来源：评论

学校读者我要写书评

暂无评论

A Fully Soft Bionic Grasping Device with the Properties of Segmental Bending Shape and Automatically Adjusting Grasping Range

引用

Journal of Bionic Engineering 2022年第5期19卷 1334-1348页

作者： Lingjie Gai Xiaofeng Zong School of Automation China University of GeosciencesWuhan 430074China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan 430074China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of EducationWuhan 430074China

In this paper,we propose a fully Soft Bionic Grasping Device(SBGD),which has advantages in automatically adjusting the grasping range,variable stiffness,and controllable bending *** device consists of soft gripper structures and a soft bionic bracket *** adopt the local thin-walled design in the soft gripper *** design improves the grippers’bending efficiency,and imitate human finger’s segmental bending *** addition,this work also proposes a pneumatic soft bionic bracket structure,which not only can fix grippers,but also can automatically adjust the grasping space by imitating the human adjacent fingers’opening and closing *** to the above advantages,the SBGD can grasp larger or smaller objects than the regular grasping ***,to grasp small objects reliably,we further present a new Pinching Grasping(PG)*** great performance of the fully SBGD is verified by *** work will promote innovative development of the soft bionic grasping robots,and greatly meet the applications of dexterous grasping multi-size and multi-shape objects.

关键词： Fully soft bionic grasping device Local thin-walled grippers Soft bionic bracket Adjust grasping range automatically Segmental bending shape New pinching grasping method

来源：评论

学校读者我要写书评

暂无评论

Robust Velocity-Regulation control of Gimbal Servo systems Using a Predictive Comprehensive Disturbance Observer

Robust Velocity-Regulation Control of Gimbal Servo Systems U...

引用

2024 Jiangsu Annual Conference on Automation, JACA 2024

作者： Yang, Weifeng Jiang, Yuan Li, Shihua Nanjing Chenguang Group Co. Ltd Nanjing210008 China School of Automation Southeast University Nanjing210096 China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Nanjing210096 China

ISBN: (纸本)9781837242689

A robust high-precision velocity-regulation controller is researched for gimbal servo systems (GSSs) in this paper, which aims to mitigate the impact of multiple adverse factors, including both the internal time-delay characteristics and external time-varying disturbances. First, to enable a more accurate estimation and compensation against disturbances of multifrequency-band under input time-delay, a generalized system modelling of GSS is developed with detailed classification and description of different uncertainties. On the basis of such a generalized model, a predictive comprehensive disturbance observer (PCDO) is designed to accurately predict both system states and multiple disturbances with multi-frequency-band. Based upon the predictions provided from PCDO, a composite controller is further constructed to ensure the closed-loop stability of GSS. A rigorous robust stability proof of the closed-loop system is presented. Simulation analysis under various uncertainties are conducted to thoroughly validate the efficacy of the proposed PCDO-based control approach. © The Institution of Engineering & Technology 2024.

关键词： Time delay

来源：评论

学校读者我要写书评

暂无评论

Inverse Reinforcement Learning Integrated Reinforcement Learning for Single Intersection Traffic Signal control 5

Inverse Reinforcement Learning Integrated Reinforcement Lear...

引用

5th International Conference on Industrial Artificial Intelligence, IAI 2023

作者： Gu, Shiyi Zhang, Tingting Zhang, Ya Southeast University School of Automation Nanjing210096 China Ministry of Education Key Laboratory of Measurement and Control of Complex Systems of Engineering Nanjing China Army Engineering University College of Command and Control Engineering Nanjing210017 China

ISBN: (纸本)9798350325294

Traffic Signal control (TSC) optimization is vital for efficient traffic flow in urban intersections. Recent research has explored the application of Reinforcement Learning (RL) agents to tackle TSC challenges. However, the selection of an appropriate reward function in RL agent training still relies on subjective judgment and experience. To address this issue, an Inverse Reinforcement Learning (IRL) integrated RL algorithm is proposed. In the IRL learning section, expert trajectory data are collected and analyzed by Relative Entropy IRL (REIRL). The latent reward of expert policy is reconstructed and utilized in RL agent training process. In the RL control section, a Double Dueling Deep Q Network is applied under a cycle control framework. As verified in simulations, the introduction of expert experience improves the performance of the RL agent to the expert level and concurrently enables robustness to expert policy noises. © 2023 IEEE.

关键词： Reinforcement learning

来源：评论

学校读者我要写书评

暂无评论

Containment control of Multi-Agent systems with Stochastic Multiplicative Noises

引用

Journal of systems Science & complexity 2022年第3期35卷 909-930页

作者： REN Junhao ZONG Xiaofeng School of Automation China University of GeosciencesWuhan 430074China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan 430074China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of EducationWuhan 430074China

This paper investigates the containment problem of continuous-time multi-agent systems with multiplicative noises,where the first-order and second-order multi-agent systems are studied *** on stochastic analysis tools,algebraic graph theory,and Lyapunov function method,the containment protocols based the relative states measurement with multiplicative noises are developed to guarantee the mean square and almost sure ***,the sufficient conditions and necessary conditions related to the control gains are derived for achieving mean square and almost sure *** is also shown that multiplicative noises may works positively for the almost sure containment of the first-order multi-agent *** examples are also introduced to illustrate the effectiveness of the theoretical results.

关键词： Containment control multi-agent system multiplicative noises stochastic system

来源：评论

学校读者我要写书评

暂无评论

Design of Recursive Filtering Scheme via An Improved Weighted Try-Once Discard Protocol 6

Design of Recursive Filtering Scheme via An Improved Weighte...

引用

6th International Conference on Industrial Artificial Intelligence, IAI 2024

作者： Zheng, Kaiwen Hu, Jun Du, Junhua Yu, Hui Harbin University of Science and Technology Department of Applied Mathematics Harbin150080 China Harbin University of Science and Technology Heilongjiang Prov. Key Lab. of Optimization Control and Intelligent Analysis for Complex Systems Harbin150080 China School of Automation Harbin University of Science and Technology Harbin150080 China

ISBN: (纸本)9798350356618

This paper investigates the recursive filtering (RF) problem for stochastic multi-rate (MR) systems, where the information transmission is regulated by an improved weighted try-once-discard protocol (IWTODP). In order to reduce communication overhead and mitigate network congestion, the IWTODP is firstly proposed and designed to schedule the order of data transmission from the sensors. The main objective of this paper is to design a new RF scheme to minimize the upper bound (UB) on the filtering error (FE) covariance in each iteration step in the presence of IWTODP and MR sampling. In particular, an iterative way is given to provide the expression form of the gain of RF. Finally, the effectiveness of the proposed RF method is illustrated through simulation example. © 2024 IEEE.

关键词： Stochastic systems

来源：评论

学校读者我要写书评

暂无评论

Exploring Image Generation for UAV Change Detection

引用

IEEE/CAA Journal of Automatica Sinica 2022年第6期9卷 1061-1072页

作者： Xuan Li Haibin Duan Yonglin Tian Fei-Yue Wang Peng Cheng Laboratory Shenzhen 518000China IEEE State Key Laboratory of Virtual Reality Technology and Systems School of Automation Science and Electrical EngineeringBeihang UniversityBeijing 100083 Department of Automation University of Science and Technology of ChinaHefei 230027 State Key Laboratory for Management and Control of Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China Research Center for Computational Experiments and Parallel Systems Technology National University of Defense TechnologyChangsha 410073China

Change detection(CD)is becoming indispensable for unmanned aerial vehicles(UAVs),especially in the domain of water landing,rescue and ***,even the most advanced models require large amounts of data for model training and ***,sufficient labeled images with different imaging conditions are *** by computer graphics,we present a cloning method to simulate inland-water scene and collect an auto-labeled simulated *** simulated dataset consists of six challenges to test the effects of dynamic background,weather,and noise on change detection ***,we propose an image translation framework that translates simulated images to synthetic *** framework uses shared parameters(encoder and generator)and 22×22 receptive fields(discriminator)to generate realistic synthetic images as model training *** experimental results indicate that:1)different imaging challenges affect the performance of change detection models;2)compared with simulated images,synthetic images can effectively improve the accuracy of supervised models.

关键词： Change detection computer graphics image translation simulated images synthetic images unmanned aerial vehicles(UAVs)

来源：评论

学校读者我要写书评

暂无评论

Model Prediction Based Adaptive Variable Impedance control of Manipulator with Passivity

Model Prediction Based Adaptive Variable Impedance Control o...

引用

第43届中国控制会议

作者： Yang Xiao Wenbo Liu Shihua Li School of Automation Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

Aiming at the compliance control of rigid manipulators in human-robot interaction scenarios, a new variable impedance control(VIC) model is proposed to improve the adaptive ability of the manipulator to adjust compliance in different phases of the task. The parameter selection problem is transformed into a controller design problem. Impedance constraints are set by introducing the prior knowledge of the person, information about the state and contact force, and manipulability. The one-step model predictive control(MPC) method is used to search for the optimal solution of impedance parameters, so that the manipulator can adaptively select different balance relations between tracking accuracy and compliance. Moreover, in order to avoid the damage of time-varying impedance parameters to the stability, a tank-based method is implemented to ensure the passivity of the impedance system. Finally, the simulation results verify the effectiveness of the proposed control scheme.

关键词： Variable Impedance control(VIC) Model Predictive control(MPC) Tank-based method Passivity

来源：评论

学校读者我要写书评

暂无评论

Data-driven identification of variational equations for vortex-induced vibration systems

Data-driven identification of variational equations for vort...

引用

第十三届全国流体力学学术会议

作者： Kang Lu Zheng Zeng Rongchun Hu Zichen Deng Department of Engineering Mechanics MIIT Key Laboratory of Dynamics and Control of Complex SystemsNorthwestern Polytechnical University

In this study, a data-driven approach using the embedded variational principle is used to identify the variational equations of vortex-induced vibration fluid-solid coupled systems, in particular the coupling term and the aerodynamic damping term. Under the data-driven paradigm,variational equation identification is primarily accomplished through five steps: collecting discrete data, setting variational functions, building the product function, solving linear equations, and evaluating errors. The explicit variational equations of the system are eventually determined automatically from the excitation and response. Gaussian white noise is added to the excitation to evaluate the method's noise robustness. The findings demonstrate that numerical estimation which stays away from higher-order derivatives significantly enhances the variational law identification's noise robustness by taking advantage of the variational law's lower order time ***, the arbitrariness of the variational setting inherent in the variational law significantly improves the effectiveness of data utilization and lowers the necessary data volume. In addition, a system of linear equations is solved by identifying connected nonlinear equations, which significantly increases modelling efficiency. The basis for engineering modelling, optimization, and control of intricate fluid-solid coupled systems are provided by these benefits.

关键词： Data-driven System identification vortex-induced vibration fluid-solid coupled variational principle

来源：评论

学校读者我要写书评

暂无评论

Disturbance Rejection control Method Based on Adaptive Composite Disturbance Observer for Permanent Magnet Synchronous Motor

Disturbance Rejection Control Method Based on Adaptive Compo...

引用

第43届中国控制会议

作者： Yu Fang Di Wu Shihua Li School of Automation Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

The vehicle electronic scroll compressors exhibits significant speed fluctuations during low-speed and heavy-load *** periodic fluctuation of load torque leads to speed *** limited sensitivity gain of traditional disturbance observers results in poor performance in suppressing periodic *** response to this issue,this study adopts an adaptive composite disturbance observer to estimate and compensate for load disturbances,in order to reduce speed fluctuations in the low-speed *** adaptive composite disturbance observer has achieved simultaneous and adaptive observation and estimation of periodic and aperiodic slow varying *** adaptive notch filter(ANF) based on variable step-size quantize least mean square(VSQLMS) algorithm is used to estimate the fundamental frequency of periodic *** simulation experiments,the method proposed has improved the control accuracy and dynamic response performance of the system,and has enhanced its robustness.

关键词： Extended State Observer internal model principle ANF multiple disturbance

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：