Industrial robot dynamics lay the foundation for high-precision and high-speed control, and accurate identification of dynamic parameters is essential for precise dynamic calculations. The choice of friction models is...Industrial robot dynamics lay the foundation for high-precision and high-speed control, and accurate identification of dynamic parameters is essential for precise dynamic calculations. The choice of friction models is a critical component in the identification of industrial robot dynamics. Traditional static friction models struggle to capture the hysteresis effects caused by robot joint elasticity and clearances, leading to large torque prediction errors when the joint velocity crosses zero. Due to the presence of hysteresis effects, the joint velocity crosses zero in the forward direction, and the reverse direction will have different friction patterns. Although the hysteresis effects can be modeled as an ordinary differential equation(ODE), it is difficult to determine the ODE structure that achieves both generalization and accuracy to describe the hysteresis effects of the friction model. To address this issue, we propose the neural hysteresis friction(NHF), which uses neural ODE to model the hysteresis effects in a data-driven manner, thereby mitigating the current inadequacies in the study of dynamic friction characteristics. The experiments on a real 6-axis industrial robot demonstrate that our proposed method can accurately model the friction dynamics during directional switching and outperform other modeling methods. Velocity tracking control experiments show that NHF can effectively reduce tracking errors when the velocity crosses zero.展开更多
A Bayesian analysis of the minimal model was proposed where both glucose and insulin were analyzed simultaneously under the insulin-modified intravenous glucose tolerance test (IVGTT). The resulting model was implemen...A Bayesian analysis of the minimal model was proposed where both glucose and insulin were analyzed simultaneously under the insulin-modified intravenous glucose tolerance test (IVGTT). The resulting model was implemented with a nonlinear mixed-effects modeling setup using ordinary differential equations (ODEs), which leads to precise estimation of population parameters by separating the inter- and intra-individual variability. The results indicated that the Bayesian method applied to the glucose-insulin minimal model provided a satisfactory solution with accurate parameter estimates which were numerically stable since the Bayesian method did not require approximation by linearization.展开更多
The paper is to introduce a computational methodology that is based on ordinary differential equations(ODE)solver for the structural systems adopted by a super tall building in its preliminary design stage so as to fa...The paper is to introduce a computational methodology that is based on ordinary differential equations(ODE)solver for the structural systems adopted by a super tall building in its preliminary design stage so as to facilitate the designers to adjust the dynamic properties of the adopted structural system.The construction of the study is composed by following aspects.The first aspect is the modelling of a structural system.As a typical example,a mega frame-core-tube structural system adopted by some famous super tall buildings such as Taipei 101 building,Shanghai World financial center,is employed to demonstrate the modelling of a computational model.The second aspect is the establishment of motion equations constituted by a group of ordinary differential equations for the analyses of free vibration and resonant response.The solutions of the motion equations(that constitutes the third aspect)resorted to ODE-solver technique.Finally,some valuable conclusions are summarized.展开更多
Keats's poems are famous for beauty,and Ode to Autumn is generally regarded as one of his most beautiful poems.In this ode,Keats presents a vivid picture of the harvesting autumn,in which many forms of beauty can ...Keats's poems are famous for beauty,and Ode to Autumn is generally regarded as one of his most beautiful poems.In this ode,Keats presents a vivid picture of the harvesting autumn,in which many forms of beauty can be captured.The present paper attempts to conduct an analysis of the beauty in Keats's Ode to Autumn,hopefully it could help readers better understand Keats and his works.展开更多
基金supported by the National Natural Science Foundation of China (Grant No.52188102)。
文摘Industrial robot dynamics lay the foundation for high-precision and high-speed control, and accurate identification of dynamic parameters is essential for precise dynamic calculations. The choice of friction models is a critical component in the identification of industrial robot dynamics. Traditional static friction models struggle to capture the hysteresis effects caused by robot joint elasticity and clearances, leading to large torque prediction errors when the joint velocity crosses zero. Due to the presence of hysteresis effects, the joint velocity crosses zero in the forward direction, and the reverse direction will have different friction patterns. Although the hysteresis effects can be modeled as an ordinary differential equation(ODE), it is difficult to determine the ODE structure that achieves both generalization and accuracy to describe the hysteresis effects of the friction model. To address this issue, we propose the neural hysteresis friction(NHF), which uses neural ODE to model the hysteresis effects in a data-driven manner, thereby mitigating the current inadequacies in the study of dynamic friction characteristics. The experiments on a real 6-axis industrial robot demonstrate that our proposed method can accurately model the friction dynamics during directional switching and outperform other modeling methods. Velocity tracking control experiments show that NHF can effectively reduce tracking errors when the velocity crosses zero.
文摘A Bayesian analysis of the minimal model was proposed where both glucose and insulin were analyzed simultaneously under the insulin-modified intravenous glucose tolerance test (IVGTT). The resulting model was implemented with a nonlinear mixed-effects modeling setup using ordinary differential equations (ODEs), which leads to precise estimation of population parameters by separating the inter- and intra-individual variability. The results indicated that the Bayesian method applied to the glucose-insulin minimal model provided a satisfactory solution with accurate parameter estimates which were numerically stable since the Bayesian method did not require approximation by linearization.
基金Acknowledgment The research work was financially supported both by the Natural Science Foundation of China(51178164)and the Priority Discipline Foundation of Henan Province(507909).
文摘The paper is to introduce a computational methodology that is based on ordinary differential equations(ODE)solver for the structural systems adopted by a super tall building in its preliminary design stage so as to facilitate the designers to adjust the dynamic properties of the adopted structural system.The construction of the study is composed by following aspects.The first aspect is the modelling of a structural system.As a typical example,a mega frame-core-tube structural system adopted by some famous super tall buildings such as Taipei 101 building,Shanghai World financial center,is employed to demonstrate the modelling of a computational model.The second aspect is the establishment of motion equations constituted by a group of ordinary differential equations for the analyses of free vibration and resonant response.The solutions of the motion equations(that constitutes the third aspect)resorted to ODE-solver technique.Finally,some valuable conclusions are summarized.
文摘Keats's poems are famous for beauty,and Ode to Autumn is generally regarded as one of his most beautiful poems.In this ode,Keats presents a vivid picture of the harvesting autumn,in which many forms of beauty can be captured.The present paper attempts to conduct an analysis of the beauty in Keats's Ode to Autumn,hopefully it could help readers better understand Keats and his works.
