In the construction and maintenance for large space equipment,it is essential to ensure the control accuracy and improve the dexterity of the space manipulator.In this paper,a FiniteTime Convergence Kinematic Control(...In the construction and maintenance for large space equipment,it is essential to ensure the control accuracy and improve the dexterity of the space manipulator.In this paper,a FiniteTime Convergence Kinematic Control(FTCKC)added with Acceleration Level Dexterity Optimization(ALDO)scheme is proposed to solve the kinematic uncertainty and dexterity optimization problems of redundant space manipulators.Concretely,distinguishing from the asymptotic convergence property of traditional adaptive Jacobian methods,the FTCKC scheme is adopted to construct the equality constraint to address the model uncertainty problem,and its error can converge within a finite time.Subsequently,the dexterity index is reconstructed at acceleration level by a multi-level target handling method.Then,the equality constraint,optimization task,and limit constraints are reformulated as a quadratic programming problem.Moreover,a Recurrent Neural Network(RNN)is engineered for the constructed FTCKC-ALDO scheme.Finally,the superiority of the FTCKC-ALDO-RNN scheme is verified by experiments.展开更多
为了减小配电网带电作业的人身安全风险,降低电力系统的运维成本,文中设计了一种面向配电网作业的半人形智能机器人系统,包括硬件结构和控制系统设计。不同于绝缘杆作业法,该系统通过佩戴数据手套和腕部红外追踪器等多模态可穿戴设备来...为了减小配电网带电作业的人身安全风险,降低电力系统的运维成本,文中设计了一种面向配电网作业的半人形智能机器人系统,包括硬件结构和控制系统设计。不同于绝缘杆作业法,该系统通过佩戴数据手套和腕部红外追踪器等多模态可穿戴设备来捕捉人体动作和作业细节,并采用动态运动基元(dynamic movement primitives, DMP)将人体数据映射到半人形机器人的机械臂和末端灵巧手来进行配网作业。测试结果表明:所设计的半人形机器人系统能够稳定跟踪人体演示细节。在模拟配电网线路中可以完成多种作业功能,作业实验成功率可达88.9%。展开更多
To improve the grinding quality of robotic belt grinding systems for the workpieces with complex shaped surfaces, new concepts of the dexterity grinding point and the dexterity grinding space are proposed and their ma...To improve the grinding quality of robotic belt grinding systems for the workpieces with complex shaped surfaces, new concepts of the dexterity grinding point and the dexterity grinding space are proposed and their mathematical descriptions are defined. Factors influencing the dexterity grinding space are analyzed. And a method to determine the necessary dexterity grinding space is suggested. Based on particle swarm optimization （PSO） method, a strategy to optimize the grinding robot structural dimensions and position with respect to the grinding wheel is put forward to obtain the necessary dexterity grinding space. Finally, to grind an aerial engine blade, a dedicated PPPRRR （P： prismatic R： rotary） grinding robot structural dimensions and position with respect to the grinding wheel are optimized using the above strategy. According to simulation results, if the blade is placed within the dexterity grinding space, only one gripper and one grinding machine are needed to grind its complex shaped surfaces.展开更多
Due to the correlation and diversity of robotic kinematic dexterity indexes, the principal component analysis （PCA） and kernel principal component analysis （KPCA） based on linear dimension reduction and nonlinear ...Due to the correlation and diversity of robotic kinematic dexterity indexes, the principal component analysis （PCA） and kernel principal component analysis （KPCA） based on linear dimension reduction and nonlinear dimension reduction principle could be respectively introduced into comprehensive kinematic dexterity performance evaluation of space 3R robot of different tasks. By comparing different dimension reduction effects, the KPCA method could deal more effectively with the nonlinear relationship among different single kinematic dexterity indexes, and its calculation result is more reasonable for containing more comprehensive information. KPCA＇ s calculation provides scientific basis for optimum order of robotic tasks, and furthermore a new optimization method for robotic task selection is proposed based on various performance indexes.展开更多
In the field of medical equipment and equipment storage work, when we access accessories and equipment, due to the actual conditions, it causes low efficiency. It is often difficult to quickly and efficiently search b...In the field of medical equipment and equipment storage work, when we access accessories and equipment, due to the actual conditions, it causes low efficiency. It is often difficult to quickly and efficiently search by using simple data management software, such as excel. In order to solve the problem, our team used Python development tool to build high-performance retrieval software, which enabled the equipment custodian to maintain or redesign the database according to actual needs. Through actual verification, this system not only can greatly improve the accuracy of device access, but also has good expansion portability, which could manage various multimedia data systems.展开更多
Ying Chao,born in the 1990s in Jiaxing City of east China’s Zhejiang Province,is of the opinion that traditional agricultural methods cannot meet the demands of modern farming.He plans to change agricultural practice...Ying Chao,born in the 1990s in Jiaxing City of east China’s Zhejiang Province,is of the opinion that traditional agricultural methods cannot meet the demands of modern farming.He plans to change agricultural practices and follow the road of mechanisation after taking part in a one-year vocational training course on drones in Jiaxing Vocational and Technical College in 2021.In fact,more and more young people like Ying are applying digital technology and big data to agricultural production and rural development.And the government has laid out plans to encourage this transition.展开更多
基金supported by the National Natural Science Foundation of China(Nos.92148203 and T2388101)。
文摘In the construction and maintenance for large space equipment,it is essential to ensure the control accuracy and improve the dexterity of the space manipulator.In this paper,a FiniteTime Convergence Kinematic Control(FTCKC)added with Acceleration Level Dexterity Optimization(ALDO)scheme is proposed to solve the kinematic uncertainty and dexterity optimization problems of redundant space manipulators.Concretely,distinguishing from the asymptotic convergence property of traditional adaptive Jacobian methods,the FTCKC scheme is adopted to construct the equality constraint to address the model uncertainty problem,and its error can converge within a finite time.Subsequently,the dexterity index is reconstructed at acceleration level by a multi-level target handling method.Then,the equality constraint,optimization task,and limit constraints are reformulated as a quadratic programming problem.Moreover,a Recurrent Neural Network(RNN)is engineered for the constructed FTCKC-ALDO scheme.Finally,the superiority of the FTCKC-ALDO-RNN scheme is verified by experiments.
文摘为了减小配电网带电作业的人身安全风险,降低电力系统的运维成本,文中设计了一种面向配电网作业的半人形智能机器人系统,包括硬件结构和控制系统设计。不同于绝缘杆作业法,该系统通过佩戴数据手套和腕部红外追踪器等多模态可穿戴设备来捕捉人体动作和作业细节,并采用动态运动基元(dynamic movement primitives, DMP)将人体数据映射到半人形机器人的机械臂和末端灵巧手来进行配网作业。测试结果表明:所设计的半人形机器人系统能够稳定跟踪人体演示细节。在模拟配电网线路中可以完成多种作业功能,作业实验成功率可达88.9%。
基金National Natural Science Foundation of China （51075013） Beijing Natural Science Foundation （4102035）+1 种基金 Fundamental Research Funds for the Central Universities （YWF-10-01-A09） Research Foundation of State Key Laboratory for Manufacturing Systems Engineering （Xi＇an Jiaotong University）
文摘To improve the grinding quality of robotic belt grinding systems for the workpieces with complex shaped surfaces, new concepts of the dexterity grinding point and the dexterity grinding space are proposed and their mathematical descriptions are defined. Factors influencing the dexterity grinding space are analyzed. And a method to determine the necessary dexterity grinding space is suggested. Based on particle swarm optimization （PSO） method, a strategy to optimize the grinding robot structural dimensions and position with respect to the grinding wheel is put forward to obtain the necessary dexterity grinding space. Finally, to grind an aerial engine blade, a dedicated PPPRRR （P： prismatic R： rotary） grinding robot structural dimensions and position with respect to the grinding wheel are optimized using the above strategy. According to simulation results, if the blade is placed within the dexterity grinding space, only one gripper and one grinding machine are needed to grind its complex shaped surfaces.
基金Supported by the National Natural Science Foundation of China(No.51075005)the Beijing City Science and Technology Project(No.Z131100005313009)
文摘Due to the correlation and diversity of robotic kinematic dexterity indexes, the principal component analysis （PCA） and kernel principal component analysis （KPCA） based on linear dimension reduction and nonlinear dimension reduction principle could be respectively introduced into comprehensive kinematic dexterity performance evaluation of space 3R robot of different tasks. By comparing different dimension reduction effects, the KPCA method could deal more effectively with the nonlinear relationship among different single kinematic dexterity indexes, and its calculation result is more reasonable for containing more comprehensive information. KPCA＇ s calculation provides scientific basis for optimum order of robotic tasks, and furthermore a new optimization method for robotic task selection is proposed based on various performance indexes.
文摘In the field of medical equipment and equipment storage work, when we access accessories and equipment, due to the actual conditions, it causes low efficiency. It is often difficult to quickly and efficiently search by using simple data management software, such as excel. In order to solve the problem, our team used Python development tool to build high-performance retrieval software, which enabled the equipment custodian to maintain or redesign the database according to actual needs. Through actual verification, this system not only can greatly improve the accuracy of device access, but also has good expansion portability, which could manage various multimedia data systems.
文摘Ying Chao,born in the 1990s in Jiaxing City of east China’s Zhejiang Province,is of the opinion that traditional agricultural methods cannot meet the demands of modern farming.He plans to change agricultural practices and follow the road of mechanisation after taking part in a one-year vocational training course on drones in Jiaxing Vocational and Technical College in 2021.In fact,more and more young people like Ying are applying digital technology and big data to agricultural production and rural development.And the government has laid out plans to encourage this transition.
