Current research on robot calibration can be roughly classified into two categories,and both of them have certain inherent limitations.Model-based methods are difficult to model and compensate the pose errors arising ...Current research on robot calibration can be roughly classified into two categories,and both of them have certain inherent limitations.Model-based methods are difficult to model and compensate the pose errors arising from configuration-dependent geometric and non-geometric source errors,whereas the accuracy of data-driven methods depends on a large amount of measurement data.Using a 5-DOF(degrees of freedom)hybrid machining robot as an exemplar,this study presents a model data-driven approach for the calibration of robotic manipulators.An f-DOF realistic robot containing various source errors is visualized as a 6-DOF fictitious robot having error-free parameters,but erroneous actuated/virtual joint motions.The calibration process essentially involves four steps:(1)formulating the linear map relating the pose error twist to the joint motion errors,(2)parameterizing the joint motion errors using second-order polynomials in terms of nominal actuated joint variables,(3)identifying the polynomial coefficients using the weighted least squares plus principal component analysis,and(4)compensating the compensable pose errors by updating the nominal actuated joint variables.The merit of this approach is that it enables compensation of the pose errors caused by configuration-dependent geometric and non-geometric source errors using finite measurement configurations.Experimental studies on a prototype machine illustrate the effectiveness of the proposed approach.展开更多
Introduction Early cancer detection represents a critical evolution in healthcare,addressing a significant pain point in cancer treatment:the tendency for diagnoses to occur at advanced stages.Traditionally,many cance...Introduction Early cancer detection represents a critical evolution in healthcare,addressing a significant pain point in cancer treatment:the tendency for diagnoses to occur at advanced stages.Traditionally,many cancers are not identified until they have progressed to late stages,where treatment options become limited,less effective,and more costly.This late detection results in poorer prognoses,higher mortality rates,and increased healthcare costs.Without early detection tools like Fluorescence In Situ Hybridization(FISH),these challenges persist,leaving patients with fewer opportunities for successful outcomes.展开更多
We developed a one-dimensional hybrid model to simulate the DC/RF combined driven capacitively coupled plasma for argon discharges. The numerical results are used to analyze the influence of the DC source on the plasm...We developed a one-dimensional hybrid model to simulate the DC/RF combined driven capacitively coupled plasma for argon discharges. The numerical results are used to analyze the influence of the DC source on the plasma density distribution, ion energy distributions （IEDs） and ion angle distributions （IADs） on both the RF and DC electrodes. The increase in DC voltage drives more high-energy ions to the electrode applied to the DC source, which makes the IEDs at the DC electrode shift towards higher energy, and the peaks in the IADs shift towards small angle regions. At the same time, it also decreases the ion energy at the RF electrode and enlarges the incident angles of the ions, which strike the RF electrode.展开更多
PETREL, a winged hybrid-driven underwater glider is a novel and practical marine survey platform which combines the features of legacy underwater glider and conventional AUV （autonomous underwater vehicle）. It can b...PETREL, a winged hybrid-driven underwater glider is a novel and practical marine survey platform which combines the features of legacy underwater glider and conventional AUV （autonomous underwater vehicle）. It can be treated as a multi-rigid-body system with a floating base and a particular hydrodynamic profile. In this paper, theorems on linear and angular momentum are used to establish the dynamic equations of motion of each rigid body and the effect of translational and rotational motion of internal masses on the attitude control are taken into consideration. In addition, due to the unique external shape with fixed wings and deflectable rudders and the dual-drive operation in thrust and glide modes, the approaches of building dynamic model of conventional AUV and hydrodynamic model of submarine are introduced, and the tailored dynamic equations of the hybrid glider are formulated. Moreover, the behaviors of motion in glide and thrust operation are analyzed based on the simulation and the feasibility of the dynamic model is validated by data from lake field trials.展开更多
The hybrid beamforming is a promising technology for the millimeter wave MIMO system,which provides high spectrum efficiency,high data rate transmission,and a good balance between transmission performance and hardware...The hybrid beamforming is a promising technology for the millimeter wave MIMO system,which provides high spectrum efficiency,high data rate transmission,and a good balance between transmission performance and hardware complexity.The most existing beamforming systems transmit multiple streams by formulating multiple orthogonal beams.However,the Neural network Hybrid Beamforming(NHB)adopts a totally different strategy,which combines multiple streams into one and transmits by employing a high-order non-orthogonal modulation strategy.Driven by the Deep Learning(DL)hybrid beamforming,in this work,we propose a DL-driven nonorthogonal hybrid beamforming for the single-user multiple streams scenario.We first analyze the beamforming strategy of NHB and prove it with better Bit Error Rate(BER)performance than the orthogonal hybrid beamforming even with the optimal power allocation.Inspired by the NHB,we propose a new DL-driven beamforming scheme to simulate the NHB behavior,which avoids time-consuming neural network training and achieves better BERs than traditional hybrid beamforming.Moreover,our simulation results demonstrate that the DL-driven nonorthogonal beamforming outperforms its traditional orthogonal beamforming counterpart in the presence of subconnected schemes and imperfect Channel State Information(CSI).展开更多
Hybrid-driven underwater glider is a new type of tmmanned underwater vehicle, which combines the advantages of autonomous underwater vehicles and traditional underwater gliders. The autonomous underwater vehicles have...Hybrid-driven underwater glider is a new type of tmmanned underwater vehicle, which combines the advantages of autonomous underwater vehicles and traditional underwater gliders. The autonomous underwater vehicles have good maneuverability and can travel with a high speed, while the traditional underwater gliders are highlighted by low power consumption, long voyage, long endurance and good stealth characteristics. The hybrid-driven underwater gliders can realize variable motion profiles by their own buoyancy-driven and propeller propulsion systems. Stability of the mechanical system determines the performance of the system. In this paper, the Petrel-II hybrid-driven underwater glider developed by Tianjin University is selected as the research object and the stability of hybrid-driven underwater glider unitedly controlled by buoyancy and propeller has been targeted and evidenced. The dimensionless equations of the hybrid-driven underwater glider are obtained when the propeller is working. Then, the steady speed and steady glide path angle under steady-state motion have also been achieved. The steady-state operating conditions can be calculated when the hybrid-driven underwater glider reaches the desired steady-state motion. And the steady- state operating conditions are relatively conservative at the lower bound of the velocity range compared with the range of the velocity derived from the method of the composite Lyapunov function. By calculating the hydrodynamic coefficients of the Petrel-II hybrid-driven underwater glider, the simulation analysis has been conducted. In addition, the results of the field trials conducted in the South China Sea and the Danjiangkou Reservoir of China have been presented to illustrate the validity of the analysis and simulations.and to show the feasibility of the method of the composite Lyapunov function which verifies the stability of the Petrel-II hybrid-driven underwater glider.展开更多
This paper mainly analyzes a hybrid position/force control strategy and experiment of a six-cable driven parallel manipulator for a forty-meter aperture radio telescope. Through the establishments of a kinematic model...This paper mainly analyzes a hybrid position/force control strategy and experiment of a six-cable driven parallel manipulator for a forty-meter aperture radio telescope. Through the establishments of a kinematic model, a catenary model and a cable-force characteristics model, a basic method is presented based on preventing the pseudo-drag problem of a flexible cable and realizing the hybrid position/force control for a six-cable driven parallel manipulator, and a hybrid position/force control system is developed. Some specific experiments in two typical velocities for astronomical observations are carried out. Experimental results show that the tracking accuracy is related to the speed of the movement. The desired tracking accuracy of the support system is achieved through an effective hybrid position/force control strategy, the cable forces are controlled effectively, and the pseudo-drag problem of flexible cable is solved. This study establishes the foundation of achieving the harmonious movement of the six-cable driven parallel manipulator, A-B rotating platform and the Stewart fine tuninz olatform.展开更多
A novel direct-drive type wind power generation system based on hybrid excitation synchronous machine（HESM）is introduced in this paper.The generator is connected to an uncontrollable rectifier,and a fully controlled...A novel direct-drive type wind power generation system based on hybrid excitation synchronous machine（HESM）is introduced in this paper.The generator is connected to an uncontrollable rectifier,and a fully controlled voltage-sourceinverter is used to connect the system to utility grid.An intermediate DC bus exists between the rectifier and inverter.A new control strategy is proposed which achieves the maximum power point tracking（MPPT） with the control of excitation current of HESM and stabilizes the DC link voltage with the control of inverter output current simultaneously.Specially-designed buck circuit is used to control the excitation current of HESM,and grid voltage-oriented vector control strategy is employed to realize the decoupling of the inverter output power.Simulation results and experiment in 3 kW lab prototype show an excellent static and dynamic performance of the proposed system.展开更多
The concept of virtual slider crank mechanism is proposed and decoupled to obtain parameters of controllable five bar mechanism without any principle error for any given trajectory. The model is simple and easy to sol...The concept of virtual slider crank mechanism is proposed and decoupled to obtain parameters of controllable five bar mechanism without any principle error for any given trajectory. The model is simple and easy to solve. This method has no convergence,flexible workspace and singularity of the mechanism problem. Through this method,we don’ t need any curve to fit the trajectory point. Using MATLAB program to calculate,the computation time can be reduced to less than 3% of the original. Finally,an example is given to illustrate the method which is meanwhile compared with the traditional five bar design method.展开更多
为有效提升配电网韧性,提出了一种基于数据-模型混合驱动的多类型移动应急资源优化调度方法。首先,考虑到交通道路状态动态变化对移动储能车(mobile energy storage system,MESS)和应急抢修队(repair crew,RC)策略的影响,构建了以电力-...为有效提升配电网韧性,提出了一种基于数据-模型混合驱动的多类型移动应急资源优化调度方法。首先,考虑到交通道路状态动态变化对移动储能车(mobile energy storage system,MESS)和应急抢修队(repair crew,RC)策略的影响,构建了以电力-交通耦合网总损失成本最小为目标的多类型移动应急资源随机优化调度模型。然后,为了实时准确地求解MESS和RC最优路由和调度策略,提出了一种数据-模型混合驱动方法对所构建的复杂非线性随机优化模型进行求解。在数据驱动部分提出一种图注意力网络多智能体强化学习算法,以求解考虑交通网道路修复时间和移动应急资源邻接关系动态变化等不确定因素的MESS和RC最优路由策略。所提算法有效结合多种改进策略和优先经验回放策略以提高算法的采样效率和训练效果。在模型驱动部分采用二阶锥松弛和大M法将多类型移动应急资源优化调度问题构建为混合整数二阶锥规划模型以求解可再生能源出力和配电网负荷变化影响下MESS和RC最优调度策略。最后,在2个不同规模的电力-交通耦合网中验证所提方法的有效性、泛化能力和可拓展能力。展开更多
基金Supported by National Natural Science Foundation of China(Grant Nos.52325501,U24B2047).
文摘Current research on robot calibration can be roughly classified into two categories,and both of them have certain inherent limitations.Model-based methods are difficult to model and compensate the pose errors arising from configuration-dependent geometric and non-geometric source errors,whereas the accuracy of data-driven methods depends on a large amount of measurement data.Using a 5-DOF(degrees of freedom)hybrid machining robot as an exemplar,this study presents a model data-driven approach for the calibration of robotic manipulators.An f-DOF realistic robot containing various source errors is visualized as a 6-DOF fictitious robot having error-free parameters,but erroneous actuated/virtual joint motions.The calibration process essentially involves four steps:(1)formulating the linear map relating the pose error twist to the joint motion errors,(2)parameterizing the joint motion errors using second-order polynomials in terms of nominal actuated joint variables,(3)identifying the polynomial coefficients using the weighted least squares plus principal component analysis,and(4)compensating the compensable pose errors by updating the nominal actuated joint variables.The merit of this approach is that it enables compensation of the pose errors caused by configuration-dependent geometric and non-geometric source errors using finite measurement configurations.Experimental studies on a prototype machine illustrate the effectiveness of the proposed approach.
基金supported by Guangzhou Development Zone Science and Technology(2021GH10,2020GH10,2023GH02)the University of Macao(MYRG2022-00271-FST)The Science and Technology Development Fund(FDCT)of Macao(0032/2022/A).
文摘Introduction Early cancer detection represents a critical evolution in healthcare,addressing a significant pain point in cancer treatment:the tendency for diagnoses to occur at advanced stages.Traditionally,many cancers are not identified until they have progressed to late stages,where treatment options become limited,less effective,and more costly.This late detection results in poorer prognoses,higher mortality rates,and increased healthcare costs.Without early detection tools like Fluorescence In Situ Hybridization(FISH),these challenges persist,leaving patients with fewer opportunities for successful outcomes.
基金supported by the Scientific Foundation from Ministry of Education of China (No.N090305004)Doctor Startup Foundation Program of Liaoning Province (No.20111008)
文摘We developed a one-dimensional hybrid model to simulate the DC/RF combined driven capacitively coupled plasma for argon discharges. The numerical results are used to analyze the influence of the DC source on the plasma density distribution, ion energy distributions （IEDs） and ion angle distributions （IADs） on both the RF and DC electrodes. The increase in DC voltage drives more high-energy ions to the electrode applied to the DC source, which makes the IEDs at the DC electrode shift towards higher energy, and the peaks in the IADs shift towards small angle regions. At the same time, it also decreases the ion energy at the RF electrode and enlarges the incident angles of the ions, which strike the RF electrode.
基金supported by the National Natural Science Foundation of China(Grant Nos. 50835006 and 51005161)the Science & Technology Support Planning Foundation of Tianjin(Grant No. 09ZCKFGX03000)the Natural Science Foundation of Tianjin(Grant No. 09JCZDJC23400)
文摘PETREL, a winged hybrid-driven underwater glider is a novel and practical marine survey platform which combines the features of legacy underwater glider and conventional AUV （autonomous underwater vehicle）. It can be treated as a multi-rigid-body system with a floating base and a particular hydrodynamic profile. In this paper, theorems on linear and angular momentum are used to establish the dynamic equations of motion of each rigid body and the effect of translational and rotational motion of internal masses on the attitude control are taken into consideration. In addition, due to the unique external shape with fixed wings and deflectable rudders and the dual-drive operation in thrust and glide modes, the approaches of building dynamic model of conventional AUV and hydrodynamic model of submarine are introduced, and the tailored dynamic equations of the hybrid glider are formulated. Moreover, the behaviors of motion in glide and thrust operation are analyzed based on the simulation and the feasibility of the dynamic model is validated by data from lake field trials.
基金This work is supported by Sichuan Science and Technology Program(NO.2021YFG0127).
文摘The hybrid beamforming is a promising technology for the millimeter wave MIMO system,which provides high spectrum efficiency,high data rate transmission,and a good balance between transmission performance and hardware complexity.The most existing beamforming systems transmit multiple streams by formulating multiple orthogonal beams.However,the Neural network Hybrid Beamforming(NHB)adopts a totally different strategy,which combines multiple streams into one and transmits by employing a high-order non-orthogonal modulation strategy.Driven by the Deep Learning(DL)hybrid beamforming,in this work,we propose a DL-driven nonorthogonal hybrid beamforming for the single-user multiple streams scenario.We first analyze the beamforming strategy of NHB and prove it with better Bit Error Rate(BER)performance than the orthogonal hybrid beamforming even with the optimal power allocation.Inspired by the NHB,we propose a new DL-driven beamforming scheme to simulate the NHB behavior,which avoids time-consuming neural network training and achieves better BERs than traditional hybrid beamforming.Moreover,our simulation results demonstrate that the DL-driven nonorthogonal beamforming outperforms its traditional orthogonal beamforming counterpart in the presence of subconnected schemes and imperfect Channel State Information(CSI).
基金financially supported by the National Natural Science Foundation of China(Grant Nos.51475319 and 51722508)the National Key R&D Plan(Grant No.2016YFC0301100)Aoshan Talents Program of Qingdao National Laboratory for Marine Science and Technology
文摘Hybrid-driven underwater glider is a new type of tmmanned underwater vehicle, which combines the advantages of autonomous underwater vehicles and traditional underwater gliders. The autonomous underwater vehicles have good maneuverability and can travel with a high speed, while the traditional underwater gliders are highlighted by low power consumption, long voyage, long endurance and good stealth characteristics. The hybrid-driven underwater gliders can realize variable motion profiles by their own buoyancy-driven and propeller propulsion systems. Stability of the mechanical system determines the performance of the system. In this paper, the Petrel-II hybrid-driven underwater glider developed by Tianjin University is selected as the research object and the stability of hybrid-driven underwater glider unitedly controlled by buoyancy and propeller has been targeted and evidenced. The dimensionless equations of the hybrid-driven underwater glider are obtained when the propeller is working. Then, the steady speed and steady glide path angle under steady-state motion have also been achieved. The steady-state operating conditions can be calculated when the hybrid-driven underwater glider reaches the desired steady-state motion. And the steady- state operating conditions are relatively conservative at the lower bound of the velocity range compared with the range of the velocity derived from the method of the composite Lyapunov function. By calculating the hydrodynamic coefficients of the Petrel-II hybrid-driven underwater glider, the simulation analysis has been conducted. In addition, the results of the field trials conducted in the South China Sea and the Danjiangkou Reservoir of China have been presented to illustrate the validity of the analysis and simulations.and to show the feasibility of the method of the composite Lyapunov function which verifies the stability of the Petrel-II hybrid-driven underwater glider.
基金Supported by the National Basic Research Program of China （ No. 2007CB714007） , the National Natural Science Foundation of China （ No. 50975149） , and the Important National Science ＆ Technology Specific Projects of China （No. 2009ZX04014-.035, 2009ZX04001-042-02）.
文摘This paper mainly analyzes a hybrid position/force control strategy and experiment of a six-cable driven parallel manipulator for a forty-meter aperture radio telescope. Through the establishments of a kinematic model, a catenary model and a cable-force characteristics model, a basic method is presented based on preventing the pseudo-drag problem of a flexible cable and realizing the hybrid position/force control for a six-cable driven parallel manipulator, and a hybrid position/force control system is developed. Some specific experiments in two typical velocities for astronomical observations are carried out. Experimental results show that the tracking accuracy is related to the speed of the movement. The desired tracking accuracy of the support system is achieved through an effective hybrid position/force control strategy, the cable forces are controlled effectively, and the pseudo-drag problem of flexible cable is solved. This study establishes the foundation of achieving the harmonious movement of the six-cable driven parallel manipulator, A-B rotating platform and the Stewart fine tuninz olatform.
基金Project supported by Delta Power Electronic Science and Education Development (Grant No.DRES2007002)
文摘A novel direct-drive type wind power generation system based on hybrid excitation synchronous machine（HESM）is introduced in this paper.The generator is connected to an uncontrollable rectifier,and a fully controlled voltage-sourceinverter is used to connect the system to utility grid.An intermediate DC bus exists between the rectifier and inverter.A new control strategy is proposed which achieves the maximum power point tracking（MPPT） with the control of excitation current of HESM and stabilizes the DC link voltage with the control of inverter output current simultaneously.Specially-designed buck circuit is used to control the excitation current of HESM,and grid voltage-oriented vector control strategy is employed to realize the decoupling of the inverter output power.Simulation results and experiment in 3 kW lab prototype show an excellent static and dynamic performance of the proposed system.
基金supported by National Innovation Training Project(201710959044)Anhui Province Quality Engineering Project(2016jyxm0336)Anhui Province Educational Department University Natural Science Research Project(KJ2017A523)
文摘The concept of virtual slider crank mechanism is proposed and decoupled to obtain parameters of controllable five bar mechanism without any principle error for any given trajectory. The model is simple and easy to solve. This method has no convergence,flexible workspace and singularity of the mechanism problem. Through this method,we don’ t need any curve to fit the trajectory point. Using MATLAB program to calculate,the computation time can be reduced to less than 3% of the original. Finally,an example is given to illustrate the method which is meanwhile compared with the traditional five bar design method.
文摘为有效提升配电网韧性,提出了一种基于数据-模型混合驱动的多类型移动应急资源优化调度方法。首先,考虑到交通道路状态动态变化对移动储能车(mobile energy storage system,MESS)和应急抢修队(repair crew,RC)策略的影响,构建了以电力-交通耦合网总损失成本最小为目标的多类型移动应急资源随机优化调度模型。然后,为了实时准确地求解MESS和RC最优路由和调度策略,提出了一种数据-模型混合驱动方法对所构建的复杂非线性随机优化模型进行求解。在数据驱动部分提出一种图注意力网络多智能体强化学习算法,以求解考虑交通网道路修复时间和移动应急资源邻接关系动态变化等不确定因素的MESS和RC最优路由策略。所提算法有效结合多种改进策略和优先经验回放策略以提高算法的采样效率和训练效果。在模型驱动部分采用二阶锥松弛和大M法将多类型移动应急资源优化调度问题构建为混合整数二阶锥规划模型以求解可再生能源出力和配电网负荷变化影响下MESS和RC最优调度策略。最后,在2个不同规模的电力-交通耦合网中验证所提方法的有效性、泛化能力和可拓展能力。
