A robust topology optimization design framework is developed to solve lightweight structural design problems under uncertain conditions. To enhance the calculation accuracy and flexibility of the statistical moments o...A robust topology optimization design framework is developed to solve lightweight structural design problems under uncertain conditions. To enhance the calculation accuracy and flexibility of the statistical moments of robust analysis, number theory integral method is applied to sample point selection and weight assignment. Both the structure topology optimization and number theory integral methods are combined to form a new robust topology optimization method. A suspension control arm problem is provided as a demonstration of robust topology optimization methods under loading uncertainties. Based on the results of deterministic and robust topology optimization, it is demonstrated that the proposed robust topology optimization method can produce a more robust design than that obtained by deterministic topology optimization. It is also found that this new approach is easy to apply in the existing commercial topology optimization software and thus feasible in practical engineering problems.展开更多
In response to the current challenge of design efficiency faced by companies,this study focuses on the design process of the control arms in the five-link rear suspension.By summarizing the common structural types of ...In response to the current challenge of design efficiency faced by companies,this study focuses on the design process of the control arms in the five-link rear suspension.By summarizing the common structural types of control arms and their corresponding key design parameters,Visual Basic and CATIA parametric modeling are applied for secondary development.This approach enables the rapid structural design of control arms and facilitates quick model updates during the design iteration process,significantly reducing modeling time,effectively improving design efficiency,and laying the foundation for intelligent design development systems.展开更多
The paper introduces an electroencephalography(EEG) driven online position control scheme for a robot arm by utilizing motor imagery to activate and error related potential(ErrP) to stop the movement of the individual...The paper introduces an electroencephalography(EEG) driven online position control scheme for a robot arm by utilizing motor imagery to activate and error related potential(ErrP) to stop the movement of the individual links, following a fixed(pre-defined) order of link selection. The right(left)hand motor imagery is used to turn a link clockwise(counterclockwise) and foot imagery is used to move a link forward. The occurrence of ErrP here indicates that the link under motion crosses the visually fixed target position, which usually is a plane/line/point depending on the desired transition of the link across 3D planes/around 2D lines/along 2D lines respectively. The imagined task about individual link's movement is decoded by a classifier into three possible class labels: clockwise, counterclockwise and no movement in case of rotational movements and forward, backward and no movement in case of translational movements. One additional classifier is required to detect the occurrence of the ErrP signal, elicited due to visually inspired positional link error with reference to a geometrically selected target position. Wavelet coefficients and adaptive autoregressive parameters are extracted as features for motor imagery and ErrP signals respectively. Support vector machine classifiers are used to decode motor imagination and ErrP with high classification accuracy above 80%. The average time taken by the proposed scheme to decode and execute control intentions for the complete movement of three links of a robot is approximately33 seconds. The steady-state error and peak overshoot of the proposed controller are experimentally obtained as 1.1% and4.6% respectively.展开更多
A novel soft robotic arm(SRA)composed of two soft extensible arms(SEAs)and a soft bendable joint(SBJ)for space capture systems is presented in this paper.A diamond origami pattern was applied in the design of the SEAs...A novel soft robotic arm(SRA)composed of two soft extensible arms(SEAs)and a soft bendable joint(SBJ)for space capture systems is presented in this paper.A diamond origami pattern was applied in the design of the SEAs,and large deformations of the SEAs in positive pressure were simulated using the nonlinear finite element method.A kinematic model of the SRA using the Denavit–Hartenberg method based on the assumption of constant curvatures was proposed.A closed-loop model-free control system based on a PID controller was developed using real-time data from a vision sensor system.The kinematic model and closed-loop model-free control system are experimentally evaluated on an SRA prototype by four experiments.The experimental results demonstrate that the derived kinematic model can finely describe the movement of the SRA and that the closed-loop control system can control the SRA to reach the desired destination or trajectory within an acceptable error and performs well in long-term repeated operations.展开更多
In some sense, talking about arms control and non-proliferation at the present in East Asia seems unsuitable. Moreover, for the "hawkish" forces in the United States, who are more prominent now than other el...In some sense, talking about arms control and non-proliferation at the present in East Asia seems unsuitable. Moreover, for the "hawkish" forces in the United States, who are more prominent now than other elements in influencing international politics in East Asia, as well as for those people within this broadly defined region.展开更多
A new robust controller is proposed to regulate both flexural vibrations and rigid body motion of a hydraulically driven flexible arm. The controller combines backstepping control and sliding mode to arrive at a contr...A new robust controller is proposed to regulate both flexural vibrations and rigid body motion of a hydraulically driven flexible arm. The controller combines backstepping control and sliding mode to arrive at a controller capable of dealing with a nonlinear system with uncertainties. The sliding mode technique is used to achieve an asymptotic joint angle and vibration regulation in the presence of payload uncertainty by providing a virtual torque input at the joint while the backstepping technique is used to regulate the spool position of a hydraulic valve to provide the required torque. It is shown that there is no chatter in the hydraulic valve, which results in smoother operation of the system.展开更多
To address the problems of torque limit and controller saturation in the control of robot arm joint,an anti-windup control strategy is proposed for a humanoid robot arm,which is based on the integral state prediction ...To address the problems of torque limit and controller saturation in the control of robot arm joint,an anti-windup control strategy is proposed for a humanoid robot arm,which is based on the integral state prediction under the direct torque control system of brushless DC motor. First,the arm joint of the humanoid robot is modelled. Then the speed controller model and the influence of the initial value of the integral element on the system are analyzed. On the basis of the traditional antiwindup controller,an integral state estimator is set up. Under the condition of different load torques and the given speed,the integral steady-state value is estimated. Therefore the accumulation of the speed error terminates when the integrator reaches saturation. Then the predicted integral steady-state value is used as the initial value of the regulator to enter the linear region to make the system achieve the purpose of anti-windup. The simulation results demonstrate that the control strategy for the humanoid robot arm joint based on integral state prediction can play the role of anti-windup and suppress the overshoot of the system effectively. The system has a good dynamic performance.展开更多
International arms control and disarmament has recorded remarkable achieve-ments in recent years in the wake of rapproachment among major powers andoverall detente in the world at large. These remarkable achievements,...International arms control and disarmament has recorded remarkable achieve-ments in recent years in the wake of rapproachment among major powers andoverall detente in the world at large. These remarkable achievements, in theirturn, have propelled the global situation further in the direction favorable to furtherrelaxation of global tension. These mutually reinforcing and supplementary trends,展开更多
Human arm movements may be adversely affected in the event of stroke or spinal cord injuries, eventually causing the patient to lose control of arm movements. Electromyography (EMG) is con-sidered the most effective t...Human arm movements may be adversely affected in the event of stroke or spinal cord injuries, eventually causing the patient to lose control of arm movements. Electromyography (EMG) is con-sidered the most effective technique for the restoration of arm movement in such cases. The reha-bilitation period for such patients is usually long. Moreover, complex treatment techniques may demoralize them. Therefore, this study, attempts to contribute to the development of a relaxing rehabilitation environment through electromyography control of a computer model of the arm. The model is created using MATLAB? and Data LINK software and other requisite components for training the targeted participants to control their arm movements. Six male participants with no history of injury to the arms or back were selected using the set protocol. The results and data collected are analysed using three performance measures i.e. the number of target hits, average time to target, and path efficiency for each target. Then, the main results in terms of the obtained performance measures are discussed and compared with those of previous studies.展开更多
In order to solve the problem of trajectory tracking for a class of novel serial-parallel hybrid humanoid arm（HHA）, which has parameters uncertainty, frictions, disturbance, abrasion and pulse forces derived from mo...In order to solve the problem of trajectory tracking for a class of novel serial-parallel hybrid humanoid arm（HHA）, which has parameters uncertainty, frictions, disturbance, abrasion and pulse forces derived from motors, a multistep dynamics modeling strategy is proposed and a robust controller based on neural network（NN）-adaptive algorithm is designed. At the first step of dynamics modeling, the dynamics model of the reduced HHA is established by Lagrange method. At the second step of dynamics modeling, the parameter uncertain part resulting mainly from the idealization of the HHA is learned by adaptive algorithm. In the trajectory tracking controller, the radial basis function（RBF） NN, whose optimal weights are learned online by adaptive algorithm, is used to learn the upper limit function of the total uncertainties including frictions, disturbances, abrasion and pulse forces. To a great extent, the conservatism of this robust trajectory tracking controller is reduced, and by this controller the HHA can impersonate mostly human actions. The proof and simulation results testify the validity of the adaptive strategy for parameter learning and the neural network-adaptive strategy for the trajectory tracking control.展开更多
About one year on,international arms control and disarmament appeared to be rebounding to become an issue of great international attention,paralleling the issues of financial crisis and climate change.International nu...About one year on,international arms control and disarmament appeared to be rebounding to become an issue of great international attention,paralleling the issues of financial crisis and climate change.International nuclear disarmament re-dawned with high profile readjustments by the United States in its nuclear arms control policy and tactics.The US and Russia signed a new agreement of bilateral nuclear disarmament.Multilateral nuclear arms control has also softened,and the nuclear security issue loomed large.The Conference on the Review of Nuclear Non-proliferation was held,the main illustration of the adjustment by the US to its arms control policy and tactics.On balance,however,the US arms control and disarmament policies remain largely rhetorical,as its two strategic objectives of nuclear weapon policy--nuclear deterrence and non-proliferation--has been kept intact,and even intensified.展开更多
An inverse dynamic model is deve1oped through further deduction from the dynamic model of a flexible arm based upon the lagrangian formula,and a dynamic non-linear tracking control scheme,which combines an inverse dyn...An inverse dynamic model is deve1oped through further deduction from the dynamic model of a flexible arm based upon the lagrangian formula,and a dynamic non-linear tracking control scheme,which combines an inverse dynamic method with PD control and non-linear compensator,is proposed for flexible arms.Simulation reaults show this non-linear control scheme can put the flexible arm system under effective control and realize accurate trajectory tracking.展开更多
In response to the frequent safety accidents of industrial robots, this paper designs and implements a safety detection system for robot control. It can perform real-time security detection of robot operations on indu...In response to the frequent safety accidents of industrial robots, this paper designs and implements a safety detection system for robot control. It can perform real-time security detection of robot operations on industrial production lines to improve the security and reliability of robot control systems. This paper designs and implements a robot control system based Snort-BASE for real-time online detection of DoS attacks. The system uses a six-degree-of-freedom robotic arm as an example, uses Snort to record the network communication data of the robot arm control system in real time, and filters the network traffic through self-defined rules, and then uses the BASE analysis platform to achieve security analysis of the network traffic. The solution verifies the effectiveness of online real-time detection of attacks and visualisation of attack records by designing simulated robotic arm and real robotic arm attack experiments respectively, thus achieving the security of network communication of the robot remote control system.展开更多
This paper discusses a force control problem for a flexible Timoshenko arm. The effect of shear deformation and the effect of rotary inertia are considered in Timoshenko beam theory. Most of the research about force c...This paper discusses a force control problem for a flexible Timoshenko arm. The effect of shear deformation and the effect of rotary inertia are considered in Timoshenko beam theory. Most of the research about force control of the flexible arm is based on Euler Bernoulli beam theory. There are a few researches about force control of the flexible arm using Timoshenko beam theory. The aim of the force control is to control the contact force at the contact point. To solve this problem, we propose a simple controller using Timoshenko beam theory. Finally, we describe simulation results using a numerical inversion of Laplace transform carried out to investigate the validity of the proposed controller for the force control problem. The results of the time response show the transverse displacement, the angle of deflection, the slider position, the rotational angle and the contact force toward the desired their values.展开更多
The precise control upon each degree of freedom of a robotic arm is a great challenge in implementing industrial work. This paper aims to design a novel controller for an automated robotic arm. A discrete Proportional...The precise control upon each degree of freedom of a robotic arm is a great challenge in implementing industrial work. This paper aims to design a novel controller for an automated robotic arm. A discrete Proportional Integral Derivative (PID) control technique is being used to replace the complex electronic circuitry, which would greatly reduce the cost and size of the controller. DC motors will be controlled on the basis of Closed-loop System using an avr (Atmega 16/32) microcontroller. Transfer functions have been derived for mathematical modeling of the system through which the stability of the system can be evaluated prior to fabrication.展开更多
The Free-floating Flexible Dual-arm Space Robot is a highly nonlinear and coupled dynamics system. In this paper, the dynamic model is derived of a Free-floating Flexible Dual-arm Space Robot holding a rigid payload. ...The Free-floating Flexible Dual-arm Space Robot is a highly nonlinear and coupled dynamics system. In this paper, the dynamic model is derived of a Free-floating Flexible Dual-arm Space Robot holding a rigid payload. Furthermore, according to the singular perturbation method, the system is separated into a slow subsystem representing rigid body motion of the robot and a fast subsystem representing the flexible link dynamics. For the slow subsystem, based on the second method of Lyapunov, using simple quantitative bounds on the model uncertainties, a robust tracking controller design is used during the trajectory tracking phase. The optimal control method is designed in the fast subsystem to guarantee the exponential stability. With the combination of the two above, the system can track the expected trajectory accurately, even though with uncertainty in model parameters, and its flexible vibration gets suppressed, too. Finally, some simulation tests have been conducted to verify the effectiveness of the proposed methods.展开更多
基金Supported by the National Key Research and Development Program of China(2017YFB0103704)the National Natural Science Foundation of China(51675044)
文摘A robust topology optimization design framework is developed to solve lightweight structural design problems under uncertain conditions. To enhance the calculation accuracy and flexibility of the statistical moments of robust analysis, number theory integral method is applied to sample point selection and weight assignment. Both the structure topology optimization and number theory integral methods are combined to form a new robust topology optimization method. A suspension control arm problem is provided as a demonstration of robust topology optimization methods under loading uncertainties. Based on the results of deterministic and robust topology optimization, it is demonstrated that the proposed robust topology optimization method can produce a more robust design than that obtained by deterministic topology optimization. It is also found that this new approach is easy to apply in the existing commercial topology optimization software and thus feasible in practical engineering problems.
文摘In response to the current challenge of design efficiency faced by companies,this study focuses on the design process of the control arms in the five-link rear suspension.By summarizing the common structural types of control arms and their corresponding key design parameters,Visual Basic and CATIA parametric modeling are applied for secondary development.This approach enables the rapid structural design of control arms and facilitates quick model updates during the design iteration process,significantly reducing modeling time,effectively improving design efficiency,and laying the foundation for intelligent design development systems.
基金supported by UGC Sponsored UPE-ⅡProject in Cognitive Science of Jadavpur University,Kolkata
文摘The paper introduces an electroencephalography(EEG) driven online position control scheme for a robot arm by utilizing motor imagery to activate and error related potential(ErrP) to stop the movement of the individual links, following a fixed(pre-defined) order of link selection. The right(left)hand motor imagery is used to turn a link clockwise(counterclockwise) and foot imagery is used to move a link forward. The occurrence of ErrP here indicates that the link under motion crosses the visually fixed target position, which usually is a plane/line/point depending on the desired transition of the link across 3D planes/around 2D lines/along 2D lines respectively. The imagined task about individual link's movement is decoded by a classifier into three possible class labels: clockwise, counterclockwise and no movement in case of rotational movements and forward, backward and no movement in case of translational movements. One additional classifier is required to detect the occurrence of the ErrP signal, elicited due to visually inspired positional link error with reference to a geometrically selected target position. Wavelet coefficients and adaptive autoregressive parameters are extracted as features for motor imagery and ErrP signals respectively. Support vector machine classifiers are used to decode motor imagination and ErrP with high classification accuracy above 80%. The average time taken by the proposed scheme to decode and execute control intentions for the complete movement of three links of a robot is approximately33 seconds. The steady-state error and peak overshoot of the proposed controller are experimentally obtained as 1.1% and4.6% respectively.
基金co-supported by the National Natural Science Foundation of China(No.91748209,11402229)Natural Science Foundation of Zhejiang Province(No.LY17A020003)the Fundamental Research Funds for the Central Universities(No.2018QNA4054,2019QNA4057)。
文摘A novel soft robotic arm(SRA)composed of two soft extensible arms(SEAs)and a soft bendable joint(SBJ)for space capture systems is presented in this paper.A diamond origami pattern was applied in the design of the SEAs,and large deformations of the SEAs in positive pressure were simulated using the nonlinear finite element method.A kinematic model of the SRA using the Denavit–Hartenberg method based on the assumption of constant curvatures was proposed.A closed-loop model-free control system based on a PID controller was developed using real-time data from a vision sensor system.The kinematic model and closed-loop model-free control system are experimentally evaluated on an SRA prototype by four experiments.The experimental results demonstrate that the derived kinematic model can finely describe the movement of the SRA and that the closed-loop control system can control the SRA to reach the desired destination or trajectory within an acceptable error and performs well in long-term repeated operations.
文摘In some sense, talking about arms control and non-proliferation at the present in East Asia seems unsuitable. Moreover, for the "hawkish" forces in the United States, who are more prominent now than other elements in influencing international politics in East Asia, as well as for those people within this broadly defined region.
文摘A new robust controller is proposed to regulate both flexural vibrations and rigid body motion of a hydraulically driven flexible arm. The controller combines backstepping control and sliding mode to arrive at a controller capable of dealing with a nonlinear system with uncertainties. The sliding mode technique is used to achieve an asymptotic joint angle and vibration regulation in the presence of payload uncertainty by providing a virtual torque input at the joint while the backstepping technique is used to regulate the spool position of a hydraulic valve to provide the required torque. It is shown that there is no chatter in the hydraulic valve, which results in smoother operation of the system.
基金Supported by the National Natural Science Foundation of China(61175090,61703249)Shandong Provincial Natural Science Foundation,China(ZR2017MF045)
文摘To address the problems of torque limit and controller saturation in the control of robot arm joint,an anti-windup control strategy is proposed for a humanoid robot arm,which is based on the integral state prediction under the direct torque control system of brushless DC motor. First,the arm joint of the humanoid robot is modelled. Then the speed controller model and the influence of the initial value of the integral element on the system are analyzed. On the basis of the traditional antiwindup controller,an integral state estimator is set up. Under the condition of different load torques and the given speed,the integral steady-state value is estimated. Therefore the accumulation of the speed error terminates when the integrator reaches saturation. Then the predicted integral steady-state value is used as the initial value of the regulator to enter the linear region to make the system achieve the purpose of anti-windup. The simulation results demonstrate that the control strategy for the humanoid robot arm joint based on integral state prediction can play the role of anti-windup and suppress the overshoot of the system effectively. The system has a good dynamic performance.
文摘International arms control and disarmament has recorded remarkable achieve-ments in recent years in the wake of rapproachment among major powers andoverall detente in the world at large. These remarkable achievements, in theirturn, have propelled the global situation further in the direction favorable to furtherrelaxation of global tension. These mutually reinforcing and supplementary trends,
文摘Human arm movements may be adversely affected in the event of stroke or spinal cord injuries, eventually causing the patient to lose control of arm movements. Electromyography (EMG) is con-sidered the most effective technique for the restoration of arm movement in such cases. The reha-bilitation period for such patients is usually long. Moreover, complex treatment techniques may demoralize them. Therefore, this study, attempts to contribute to the development of a relaxing rehabilitation environment through electromyography control of a computer model of the arm. The model is created using MATLAB? and Data LINK software and other requisite components for training the targeted participants to control their arm movements. Six male participants with no history of injury to the arms or back were selected using the set protocol. The results and data collected are analysed using three performance measures i.e. the number of target hits, average time to target, and path efficiency for each target. Then, the main results in terms of the obtained performance measures are discussed and compared with those of previous studies.
基金supported by National Basic Research and Development Program of China (973 Program, Grant No. 2006CB705402)
文摘In order to solve the problem of trajectory tracking for a class of novel serial-parallel hybrid humanoid arm（HHA）, which has parameters uncertainty, frictions, disturbance, abrasion and pulse forces derived from motors, a multistep dynamics modeling strategy is proposed and a robust controller based on neural network（NN）-adaptive algorithm is designed. At the first step of dynamics modeling, the dynamics model of the reduced HHA is established by Lagrange method. At the second step of dynamics modeling, the parameter uncertain part resulting mainly from the idealization of the HHA is learned by adaptive algorithm. In the trajectory tracking controller, the radial basis function（RBF） NN, whose optimal weights are learned online by adaptive algorithm, is used to learn the upper limit function of the total uncertainties including frictions, disturbances, abrasion and pulse forces. To a great extent, the conservatism of this robust trajectory tracking controller is reduced, and by this controller the HHA can impersonate mostly human actions. The proof and simulation results testify the validity of the adaptive strategy for parameter learning and the neural network-adaptive strategy for the trajectory tracking control.
文摘About one year on,international arms control and disarmament appeared to be rebounding to become an issue of great international attention,paralleling the issues of financial crisis and climate change.International nuclear disarmament re-dawned with high profile readjustments by the United States in its nuclear arms control policy and tactics.The US and Russia signed a new agreement of bilateral nuclear disarmament.Multilateral nuclear arms control has also softened,and the nuclear security issue loomed large.The Conference on the Review of Nuclear Non-proliferation was held,the main illustration of the adjustment by the US to its arms control policy and tactics.On balance,however,the US arms control and disarmament policies remain largely rhetorical,as its two strategic objectives of nuclear weapon policy--nuclear deterrence and non-proliferation--has been kept intact,and even intensified.
文摘An inverse dynamic model is deve1oped through further deduction from the dynamic model of a flexible arm based upon the lagrangian formula,and a dynamic non-linear tracking control scheme,which combines an inverse dynamic method with PD control and non-linear compensator,is proposed for flexible arms.Simulation reaults show this non-linear control scheme can put the flexible arm system under effective control and realize accurate trajectory tracking.
文摘In response to the frequent safety accidents of industrial robots, this paper designs and implements a safety detection system for robot control. It can perform real-time security detection of robot operations on industrial production lines to improve the security and reliability of robot control systems. This paper designs and implements a robot control system based Snort-BASE for real-time online detection of DoS attacks. The system uses a six-degree-of-freedom robotic arm as an example, uses Snort to record the network communication data of the robot arm control system in real time, and filters the network traffic through self-defined rules, and then uses the BASE analysis platform to achieve security analysis of the network traffic. The solution verifies the effectiveness of online real-time detection of attacks and visualisation of attack records by designing simulated robotic arm and real robotic arm attack experiments respectively, thus achieving the security of network communication of the robot remote control system.
文摘This paper discusses a force control problem for a flexible Timoshenko arm. The effect of shear deformation and the effect of rotary inertia are considered in Timoshenko beam theory. Most of the research about force control of the flexible arm is based on Euler Bernoulli beam theory. There are a few researches about force control of the flexible arm using Timoshenko beam theory. The aim of the force control is to control the contact force at the contact point. To solve this problem, we propose a simple controller using Timoshenko beam theory. Finally, we describe simulation results using a numerical inversion of Laplace transform carried out to investigate the validity of the proposed controller for the force control problem. The results of the time response show the transverse displacement, the angle of deflection, the slider position, the rotational angle and the contact force toward the desired their values.
文摘The precise control upon each degree of freedom of a robotic arm is a great challenge in implementing industrial work. This paper aims to design a novel controller for an automated robotic arm. A discrete Proportional Integral Derivative (PID) control technique is being used to replace the complex electronic circuitry, which would greatly reduce the cost and size of the controller. DC motors will be controlled on the basis of Closed-loop System using an avr (Atmega 16/32) microcontroller. Transfer functions have been derived for mathematical modeling of the system through which the stability of the system can be evaluated prior to fabrication.
基金This work was supported by the application foundation for basic research of Jiangsu(No.BJ98057)the innovation foundation for the scientific research of Nanjing University of Aeronautics and Astronautics(No.Y0487-031)
文摘The Free-floating Flexible Dual-arm Space Robot is a highly nonlinear and coupled dynamics system. In this paper, the dynamic model is derived of a Free-floating Flexible Dual-arm Space Robot holding a rigid payload. Furthermore, according to the singular perturbation method, the system is separated into a slow subsystem representing rigid body motion of the robot and a fast subsystem representing the flexible link dynamics. For the slow subsystem, based on the second method of Lyapunov, using simple quantitative bounds on the model uncertainties, a robust tracking controller design is used during the trajectory tracking phase. The optimal control method is designed in the fast subsystem to guarantee the exponential stability. With the combination of the two above, the system can track the expected trajectory accurately, even though with uncertainty in model parameters, and its flexible vibration gets suppressed, too. Finally, some simulation tests have been conducted to verify the effectiveness of the proposed methods.
