Modal analysis is a fundamental and important task for modeling and control of the flexible manipulator. However, almost all of the traditional modal analysis methods view the flexible manipulator as a pure mechanical...Modal analysis is a fundamental and important task for modeling and control of the flexible manipulator. However, almost all of the traditional modal analysis methods view the flexible manipulator as a pure mechanical structure and neglect feedback action of joint controller. In order to study the effects of joint controller on the modal analysis of rotational flexible manipulator, a closed-loop analytical modal analysis method is proposed. Firstly, two exact boundary constraints, namely servo feedback constraint and bending moment constraint, are derived to solve the vibration partial differential equation. It is found that the stiffness and damping gains of joint controller are both included in the boundary conditions, which lead to an unconventional secular term. Secondly, analytical algorithm based on Ritz approach is developed by using Laplace transform and complex modal approach to obtain the natural frequencies and mode shapes. And then, the numerical simulations are performed and the computational results show that joint controller has pronounced influence on the modal parameters： joint controller stiffness reduces the natural frequency, while joint controller damping makes the shape phase non-zero. Furthermore, the validity of the presented conclusion is confirmed through experimental studies. These findings are expected to improve the performance of dynamics simulation systems and model-based controllers.展开更多
The Oligocene Yacheng Fm contains the most important source rocks that have been confirmed by exploratory wells in the Qiongdongnan Basin.The efficiency of these source rocks is the key to the breakthrough in natural ...The Oligocene Yacheng Fm contains the most important source rocks that have been confirmed by exploratory wells in the Qiongdongnan Basin.The efficiency of these source rocks is the key to the breakthrough in natural gas exploration in the study area.This paper analyzes the hydrocarbon potential of each sag in this basin from the perspective of control of both source rocks and geothermal heat.Two types of source rocks occur in the Yacheng Fm,namely mudstone of transitional facies and mudstone of neritic facies.Both of them are dominated by a kerogen of type-III,followed by type-II.Their organic matter abundances are controlled by the amount of continental clastic input.The mudstone of transitional facies is commonly higher in organic matter abundance,while that of neritic facies is lower.The coal-measure source rocks of transitional facies were mainly formed in such environments as delta plains,coastal plains and barrier tidal flat-marshes.Due to the control of Cenozoic lithosphere extension and influence of neotectonism,the geothermal gradient,terrestrial heat flow value(HFV)and level of thermal evolution are generally high in deep water.The hot setting not only determines the predominance of gas generation in the deep-water sags,but can promote the shallow-buried source rocks in shallow water into oil window to generate oil.In addition to promoting the hydrocarbon generation of source rocks,the high geothermal and high heat flow value can also speed up the cracking of residual hydrocarbons,thus enhancing hydrocarbon generation efficiency and capacity.According to the theory of joint control of source quality and geothermal heat on hydrocarbon generation,we comprehensively evaluate and rank the exploration potentials of major sags in the Qiongdongnan Basin.These sags are divided into 3 types,of which type-I sags including Yanan,Lingshui,Baodao,Ledong and Huaguang are the highest in hydrocarbon exploration potential.展开更多
A parallel manipulator joint driven by three pneumatic muscles and its posture control strategy are presented. Based on geometric constraints and dynamics, a system model is developed through which some influences on ...A parallel manipulator joint driven by three pneumatic muscles and its posture control strategy are presented. Based on geometric constraints and dynamics, a system model is developed through which some influences on dynamic response and open-loop gain are analyzed including the supply pressure, the initial pressure and the volume of pneumatic muscle. A sliding-mode controller with a nonlinear switching function is applied to control posture, which adopts the combination of a main method that separates control of each muscle and an auxiliary method that postures error evaluation of multiple muscles, especially adopting the segmented and intelligent adjustments of sliding-mode parameters to fit different expected postures and initial states. Experimental results show that this control strategy not only amounts to the steady-state error of 0. 1° without overshoot, but also achieves good trajectory tracking.展开更多
ype-1 fuzzy sets cannot fully handle the uncertainties. To overcome the problem, type2 fuzzy sets have been proposed. The novelty of this paper is using interval type-2 fuzzy logic controller （IT2FLC） to control a f...ype-1 fuzzy sets cannot fully handle the uncertainties. To overcome the problem, type2 fuzzy sets have been proposed. The novelty of this paper is using interval type-2 fuzzy logic controller （IT2FLC） to control a flexible-joint robot with voltage control strategy. In order to take into account the whole robotic system including the dynamics of actuators and the robot manipulator, the voltages of motors are used as inputs of the system. To highlight the capabilities of the control system, a flexible joint robot which is highly nonlinear, heavily coupled and uncertain is used. In addition, to improve the control performance, the parameters of the primary membership functions of IT2FLC are optimized using particle swarm optimization （PSO）. A comparative study between the proposed IT2FLC and type-1 fuzzy logic controller （T1FLC） is presented to better assess their respective performance in presence of external disturbance and unmodelled dynamics. Stability analysis is presented and the effectiveness of the proposed control approach is demonstrated by simulations using a two-link flexible-joint robot driven by permanent magnet direct current motors. Simulation results show the superiority of the IT2FLC over the T1FLC in terms of accuracy, robustness and interpretability.展开更多
Shape memory alloy （SMA） actuator is a potential advanced component for servo- systems of aerospace vehicles and aircraft. This paper presents a joint with two degrees of freedom （DOF） and a mobility range close t...Shape memory alloy （SMA） actuator is a potential advanced component for servo- systems of aerospace vehicles and aircraft. This paper presents a joint with two degrees of freedom （DOF） and a mobility range close to ±60° when driven by SMA triple wires. The fuzzy proportional-integral-derivative （PID）-controlled actuator drive was designed using antagonistic SMA triple wires, and the resistance feedback signal made a closed loop. Experiments showed that, with the driving responding frequency increasing, the overstress became harder to be avoided at the position under the maximum friction force. Furthermore, the hysteresis gap between the heating and cooling paths of the strain-to-resistance curve expanded under this condition. A fuzzy logic control was considered as a solution, and the curves of the wires were then modeled by fitting polynomials so that the measured resistance was used directly to determine the control signal. Accurate control was demonstrated through the step response, and the experimental results showed that under the fuzzy PID-control program, the mean absolute error （MAE） of the rotation angle was about 3.147°. In addition, the investigation of the external interference to the system proved the controllable maximum output.展开更多
Controlled blasting techniques are used to control overbreak and to aid in the stability of the remaining rock formation. Presplitting is one of the most common methods which is used in many open pit mining and surfac...Controlled blasting techniques are used to control overbreak and to aid in the stability of the remaining rock formation. Presplitting is one of the most common methods which is used in many open pit mining and surface blast design. The purpose of presplitting is to form a fracture plane across which the radial cracks from the production blast cannot travel. The purpose of this study is to investigate of effect of presplitting on the generation of a smooth wall in continuum and jointed rock mass. The 2D distinct element code was used to simulate the presplitting in a rock slope. The blast load history as a function of time was applied to the inner wall of each blasthole. Important parameters that were considered in the analysis were stress tensor and fracturing pattern. The blast loading magnitude and blasthole spacing and jointing pattern were found to be very significant in the final results.展开更多
In the realm of quadruped robot locomotion,compliance control is imperative to handle impacts when negotiating unstructured terrains.At the same time,kinematic tracking accuracy should be guaranteed during locomotion....In the realm of quadruped robot locomotion,compliance control is imperative to handle impacts when negotiating unstructured terrains.At the same time,kinematic tracking accuracy should be guaranteed during locomotion.To meet both demands,ajoint space compliance controller is designed,so that compliance can be achieved in stance phase while position tracking performance can be guaranteed in swing phase.Unlike operational space compliance control,the joint space compliance control method is easy to implement and does not depend on robot dynamics.As for each joint actuator,high performance force control is of great importance for compliance design.Therefore,a nonlinear PI controller based on feedback linearization is proposed for the hydraulic actuator force control.Besides,an outer position loop（compliance loop）is closed for each joint.Experiments are carried out to verify the force controller and compliance of the hydraulic actuator.The robot leg compliance is assessed by a virtual prototyping simulation.展开更多
Joint power control has advantages of multi-user detection and power control; and it can combat the multi-access interference and the near-far problem. A novel adaptive joint power control algorithm with channel estim...Joint power control has advantages of multi-user detection and power control; and it can combat the multi-access interference and the near-far problem. A novel adaptive joint power control algorithm with channel estimation in a CDMA cellular system was designed. Simulation results show that the algorithm can control the power not only quickly but also precisely with a time change. The method is useful for increasing system capacity.展开更多
A set of new current sensing device is used to realize joint torque control based on current measurement in a precision assembly robot's third joint. The output torque's model of the joint's brushless DC m...A set of new current sensing device is used to realize joint torque control based on current measurement in a precision assembly robot's third joint. The output torque's model of the joint's brushless DC motor is founded. Disturbance factors and the compensated effect of the torque's closed loop based on current measurement are analyzed. Related simulations and experiments show that the system has good current tracking and anti-disturbances performance, which improve the force control performance of the robot in assembly.展开更多
The three important historical development stages of China from"standing up","getting rich"to"becoming strong"were analyzed deeply.Regional coordinated development policies and strategies...The three important historical development stages of China from"standing up","getting rich"to"becoming strong"were analyzed deeply.Regional coordinated development policies and strategies have also gone through the"enlightenment stage","development stage"and"mature stage".On this basis,the problems of the coordination of China s regional coordinated development and joint prevention and control for environmental protection in the new era,as well as suggestions for the next step were further analyzed.展开更多
The adaptive tracking problem for uncertain flexible joint robot system is studied in this paper. By utilizing the adaptive backstepping method, an adaptive controller is constructed at the beginning. By utilizing the...The adaptive tracking problem for uncertain flexible joint robot system is studied in this paper. By utilizing the adaptive backstepping method, an adaptive controller is constructed at the beginning. By utilizing the modified adaptive dynamic surface control technique, a new adaptive controller is presented afterwards to avoid the overparametrization problem and the explosion of complexity problem existing in the adaptive backstepping method. All the signals of the closed-loop system are rendered globally/semi-globally uniformly ultimately bounded, and the tracking error can be made arbitrarily small by tuning the designed parameters. A simulation example is given to show the validity of the control algorithm.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
This paper develops a novel interval type-2 fuzzy Proportional-Derivative (PD) control scheme for electrically driven flexible-joint robots using the direct method of Lyapunov. The controller has a simple design in a ...This paper develops a novel interval type-2 fuzzy Proportional-Derivative (PD) control scheme for electrically driven flexible-joint robots using the direct method of Lyapunov. The controller has a simple design in a decentralized structure. Compared to the previous controllers reported for the flexible-joint robots which use two control loops, it has a simpler structure using only one control loop. It guarantees stability and provides a good tracking performance. The controller considers the whole robotic system including the manipulator and motors by applying the voltage control strategy. Stability analysis is presented and the effectiveness of the proposed control approach is demonstrated by simulations using a three link flexible-joint robot driven by permanent magnet DC motors. Simulation results show that the interval type-2 fuzzy PD controller can handle external disturbance better than the type-1 fuzzy PD controller. In addition, it spends less control effort than the type-1 in order to deal with disturbance.展开更多
Background: Sacroiliac joint (SIJ) pain presents as a deep and somatic pain, predominantly affecting the lower back and buttock and referring down the leg, sometimes as far as the foot. Given that the features of SIJ ...Background: Sacroiliac joint (SIJ) pain presents as a deep and somatic pain, predominantly affecting the lower back and buttock and referring down the leg, sometimes as far as the foot. Given that the features of SIJ pain are non-specific and that this referred pain is similar to lumbar facet joint and lumbar disc pain, diagnostic local anesthetic injections (diagnostic blocks) into the SIJ are used to identify the source of pain. Despite wide use, little is known about the false positive rate of a single diagnostic sacroiliac (SI) block and the requirement for a control block. Objective: To determine whether a control SI block is necessary and to monitor the false positive rate for a single injection. Study Design: A prospective and observational study was conducted as part of a practice audit, with data collected over 3.5 years at the authors’ private practice. Patients & Methods: Under fluoroscopic guidance, 1408 consecutive patients presenting with prominent deep somatic pain over the SIJ region were sterilely injected with anesthetic into the SIJ and/or the deep interosseous ligament (DIL). Pain was measured on the 11-point Numerical Rating Scale (NRS) prior to injection and incrementally over the following 1- 2 weeks. Fully completed and unequivocal data sets were available for 1060 patients. Decreases in pain scores (of >80%) at >2 hours of post-injection were indicative of SIJ pain and recorded as a positive SIJ block. Results: Of 1060 patients receiving a first SIJ diagnostic block, 680 (64.1%) recorded a positive result. Subsequently, 271 positive patients and 22 who were negative for SIJ pain opted to receive a second control block. SIJ pain diagnosis was confirmed in 237/271 (87.5%) of those with an initial positive response, while 18/22 patients (81%) had their initial negative result confirmed. The false positive rate of a single block is therefore calculated at 12.5%, and on a contingency table analysis, a single anesthetic SIJ injection has diagnostic accuracy of 87.03%, with high sensitivity (98.3%), when compared with a second control diagnostic block. Limitations: All injections were performed at one clinical centre. A proportion (348/1408) of initial patients did not return fully completed pain records or had equivocal responses (≥80% pain relief, but transiently, for ≤30 min) and were excluded from further analysis. Conclusion: Given the observed high rates of accuracy in this study, it is reasonable to suggest the use of one diagnostic block as the criterion standard for assessing the SIJ as the source of a patient’s pain.展开更多
This paper is dealing with the problem of tracking control for uncertain flexible joint manipulator robots driven by brushless direct current motor(BDCM). Flexibility of joint in the manipulator constitutes one of the...This paper is dealing with the problem of tracking control for uncertain flexible joint manipulator robots driven by brushless direct current motor(BDCM). Flexibility of joint in the manipulator constitutes one of the most important sources of uncertainties. In order to achieve high performance, all parts of the manipulator including actuator have been modeled. To cancel the tracking error, a hysteresis current controller and speed controllers have been developed. To evaluate the effectiveness of speed controllers, a comparative study between proportional integral(PI) and sliding mode controllers has been performed. Finally, simulation results carried out in the Matlab simulink environment demonstrate the high precision of sliding mode controller compared with PI controller in the presence of uncertainties of joint flexibility.展开更多
This paper presented a joint resource allocation(RA) and admission control(AC) mechanism in software defined mobile networks(SDMNs). In this mechanism, the joint RA and AC problem can be formulated as an optimization ...This paper presented a joint resource allocation(RA) and admission control(AC) mechanism in software defined mobile networks(SDMNs). In this mechanism, the joint RA and AC problem can be formulated as an optimization problem with the aim of maximizing the number of admitted users while simultaneously minimizing the number of allocated channels. Since the primal problem is modeled to be a mixed integer nonlinear problem(MINLP), we attain the suboptimal solutions to the primal MINLP by convex relaxation. Additionally, with the global information collected by the SDMNs controller, a centralized joint RA and AC(CJRA)algorithm is proposed by the Lagrange dual decomposition technique to obtain the global optimum. Meanwhile, we propose an OpenFlow rules placement strategy to realize CJRA in an efficient way. Moreover, a distributed algorithm is also developed to find the local optimum, showing a performance benchmark for the centralized one. Finally, simulation results show that the proposed centralized algorithm admits more users compared with the distributed.展开更多
A robust controller method for flexible joint robot considering the effect caused by nonlinear friction was presented.The nonlinear friction was denoted as inverse additive output uncertainty relative to the nominal m...A robust controller method for flexible joint robot considering the effect caused by nonlinear friction was presented.The nonlinear friction was denoted as inverse additive output uncertainty relative to the nominal model in our work,based on which the describing function was analyzed in frequency domain,and the weighting function of nonlinear friction was further calculated as well. By combining the friction uncertainty,the mixed sensitivity H∞optimization was proposed as the benchmark for controller design, which also leaded to good performance of robustness. Furthermore,unstructured perturbation to the system was analyzed so that the stability was guaranteed. Simulation results show that the proposed controller can provide excellent tracking and regulation performance.展开更多
Components of mechanical product are assembled by structural joints,such as bolting,riveting,welding,etc.Structural joints introduce nonlinearity to some engineering structures,and the nonlinearity need to be modeled ...Components of mechanical product are assembled by structural joints,such as bolting,riveting,welding,etc.Structural joints introduce nonlinearity to some engineering structures,and the nonlinearity need to be modeled precisely.To meet serious quality requirements,it is necessary to detect and identify nonlinearity of mechanical products for structural optimization.Modal test to acquire a dynamic response has been applied for decades,which provides reliable results for finite element(FE)model updating.Here response control vibration test for identification of nonlinearity is presented.A nonlinear system can be regarded as linearity for particular steady state response,and classical linear analysis tool is applicable to extract modal data for particular response.First,its applicability is illustrated by some numerical simulations.Subsequently,it is implemented on experimental setup with structural joints by shaking table.The stiffness and damping function dependent of relative displacement are fitted to describe its inherent nonlinearity.The spring and damping forces are identified by harmonic balance method(HBM)to predict output response.Based on the identified results,the procedure is recommended that it allows a reliable measurement of nonlinearity with a certain accuracy.展开更多
基金Supported by National Natural Science Foundation of China(Grant No.51305039)Specialized Research Fund for the Doctoral Program of Higher Education,China(Grant No.20110005120004)+1 种基金Fundamental Research Funds for the Central Universities,China(Grant No.2014PTB-00-01)National Basic Research Program of China(973 Program,Grant No.2013CB733000)
文摘Modal analysis is a fundamental and important task for modeling and control of the flexible manipulator. However, almost all of the traditional modal analysis methods view the flexible manipulator as a pure mechanical structure and neglect feedback action of joint controller. In order to study the effects of joint controller on the modal analysis of rotational flexible manipulator, a closed-loop analytical modal analysis method is proposed. Firstly, two exact boundary constraints, namely servo feedback constraint and bending moment constraint, are derived to solve the vibration partial differential equation. It is found that the stiffness and damping gains of joint controller are both included in the boundary conditions, which lead to an unconventional secular term. Secondly, analytical algorithm based on Ritz approach is developed by using Laplace transform and complex modal approach to obtain the natural frequencies and mode shapes. And then, the numerical simulations are performed and the computational results show that joint controller has pronounced influence on the modal parameters： joint controller stiffness reduces the natural frequency, while joint controller damping makes the shape phase non-zero. Furthermore, the validity of the presented conclusion is confirmed through experimental studies. These findings are expected to improve the performance of dynamics simulation systems and model-based controllers.
基金National Key Basic Research and Development Plan(973 plans)“Basic research on oil and gas formation and distribution in deep water basins in South China Sea”(No.2009CB219400)Special and Significant Project of National Science and Technology“Key technology of marine oil and gas exploration in deep water area”(No.2008ZX05025 and 2011ZX05025)Investigation and Evaluation Project of National Strategic Petroleum Resource Provinces of the Ministry of Land and Resources(No.XQ-2004-05 and XQ-2007-05).
文摘The Oligocene Yacheng Fm contains the most important source rocks that have been confirmed by exploratory wells in the Qiongdongnan Basin.The efficiency of these source rocks is the key to the breakthrough in natural gas exploration in the study area.This paper analyzes the hydrocarbon potential of each sag in this basin from the perspective of control of both source rocks and geothermal heat.Two types of source rocks occur in the Yacheng Fm,namely mudstone of transitional facies and mudstone of neritic facies.Both of them are dominated by a kerogen of type-III,followed by type-II.Their organic matter abundances are controlled by the amount of continental clastic input.The mudstone of transitional facies is commonly higher in organic matter abundance,while that of neritic facies is lower.The coal-measure source rocks of transitional facies were mainly formed in such environments as delta plains,coastal plains and barrier tidal flat-marshes.Due to the control of Cenozoic lithosphere extension and influence of neotectonism,the geothermal gradient,terrestrial heat flow value(HFV)and level of thermal evolution are generally high in deep water.The hot setting not only determines the predominance of gas generation in the deep-water sags,but can promote the shallow-buried source rocks in shallow water into oil window to generate oil.In addition to promoting the hydrocarbon generation of source rocks,the high geothermal and high heat flow value can also speed up the cracking of residual hydrocarbons,thus enhancing hydrocarbon generation efficiency and capacity.According to the theory of joint control of source quality and geothermal heat on hydrocarbon generation,we comprehensively evaluate and rank the exploration potentials of major sags in the Qiongdongnan Basin.These sags are divided into 3 types,of which type-I sags including Yanan,Lingshui,Baodao,Ledong and Huaguang are the highest in hydrocarbon exploration potential.
基金This project is supported by International Cooperation with Festo.
文摘A parallel manipulator joint driven by three pneumatic muscles and its posture control strategy are presented. Based on geometric constraints and dynamics, a system model is developed through which some influences on dynamic response and open-loop gain are analyzed including the supply pressure, the initial pressure and the volume of pneumatic muscle. A sliding-mode controller with a nonlinear switching function is applied to control posture, which adopts the combination of a main method that separates control of each muscle and an auxiliary method that postures error evaluation of multiple muscles, especially adopting the segmented and intelligent adjustments of sliding-mode parameters to fit different expected postures and initial states. Experimental results show that this control strategy not only amounts to the steady-state error of 0. 1° without overshoot, but also achieves good trajectory tracking.
文摘ype-1 fuzzy sets cannot fully handle the uncertainties. To overcome the problem, type2 fuzzy sets have been proposed. The novelty of this paper is using interval type-2 fuzzy logic controller （IT2FLC） to control a flexible-joint robot with voltage control strategy. In order to take into account the whole robotic system including the dynamics of actuators and the robot manipulator, the voltages of motors are used as inputs of the system. To highlight the capabilities of the control system, a flexible joint robot which is highly nonlinear, heavily coupled and uncertain is used. In addition, to improve the control performance, the parameters of the primary membership functions of IT2FLC are optimized using particle swarm optimization （PSO）. A comparative study between the proposed IT2FLC and type-1 fuzzy logic controller （T1FLC） is presented to better assess their respective performance in presence of external disturbance and unmodelled dynamics. Stability analysis is presented and the effectiveness of the proposed control approach is demonstrated by simulations using a two-link flexible-joint robot driven by permanent magnet direct current motors. Simulation results show the superiority of the IT2FLC over the T1FLC in terms of accuracy, robustness and interpretability.
基金co-supported by the National Natural Science Foundation of China (61175104)National Science and Technology Support Program of China (2012BA114B01)
文摘Shape memory alloy （SMA） actuator is a potential advanced component for servo- systems of aerospace vehicles and aircraft. This paper presents a joint with two degrees of freedom （DOF） and a mobility range close to ±60° when driven by SMA triple wires. The fuzzy proportional-integral-derivative （PID）-controlled actuator drive was designed using antagonistic SMA triple wires, and the resistance feedback signal made a closed loop. Experiments showed that, with the driving responding frequency increasing, the overstress became harder to be avoided at the position under the maximum friction force. Furthermore, the hysteresis gap between the heating and cooling paths of the strain-to-resistance curve expanded under this condition. A fuzzy logic control was considered as a solution, and the curves of the wires were then modeled by fitting polynomials so that the measured resistance was used directly to determine the control signal. Accurate control was demonstrated through the step response, and the experimental results showed that under the fuzzy PID-control program, the mean absolute error （MAE） of the rotation angle was about 3.147°. In addition, the investigation of the external interference to the system proved the controllable maximum output.
文摘Controlled blasting techniques are used to control overbreak and to aid in the stability of the remaining rock formation. Presplitting is one of the most common methods which is used in many open pit mining and surface blast design. The purpose of presplitting is to form a fracture plane across which the radial cracks from the production blast cannot travel. The purpose of this study is to investigate of effect of presplitting on the generation of a smooth wall in continuum and jointed rock mass. The 2D distinct element code was used to simulate the presplitting in a rock slope. The blast load history as a function of time was applied to the inner wall of each blasthole. Important parameters that were considered in the analysis were stress tensor and fracturing pattern. The blast loading magnitude and blasthole spacing and jointing pattern were found to be very significant in the final results.
基金Supported by the National High Technology Research and Development Program of China(863 Program)(2011AA041002)
文摘In the realm of quadruped robot locomotion,compliance control is imperative to handle impacts when negotiating unstructured terrains.At the same time,kinematic tracking accuracy should be guaranteed during locomotion.To meet both demands,ajoint space compliance controller is designed,so that compliance can be achieved in stance phase while position tracking performance can be guaranteed in swing phase.Unlike operational space compliance control,the joint space compliance control method is easy to implement and does not depend on robot dynamics.As for each joint actuator,high performance force control is of great importance for compliance design.Therefore,a nonlinear PI controller based on feedback linearization is proposed for the hydraulic actuator force control.Besides,an outer position loop（compliance loop）is closed for each joint.Experiments are carried out to verify the force controller and compliance of the hydraulic actuator.The robot leg compliance is assessed by a virtual prototyping simulation.
文摘Joint power control has advantages of multi-user detection and power control; and it can combat the multi-access interference and the near-far problem. A novel adaptive joint power control algorithm with channel estimation in a CDMA cellular system was designed. Simulation results show that the algorithm can control the power not only quickly but also precisely with a time change. The method is useful for increasing system capacity.
基金Supported by the National 863 Scheme of China No.863-512-03-02
文摘A set of new current sensing device is used to realize joint torque control based on current measurement in a precision assembly robot's third joint. The output torque's model of the joint's brushless DC motor is founded. Disturbance factors and the compensated effect of the torque's closed loop based on current measurement are analyzed. Related simulations and experiments show that the system has good current tracking and anti-disturbances performance, which improve the force control performance of the robot in assembly.
基金Supported by National Key Research and Development Plan(2016YFC0208102)Special Project for Transformation of Scientific and Technological Achievements in Jiangsu Province(BA2020001)Special Project for Prevention and Control of Air Pollution from Fixed Sources of Ministry of Ecology and Environment,China in 2020(2020A060).
文摘The three important historical development stages of China from"standing up","getting rich"to"becoming strong"were analyzed deeply.Regional coordinated development policies and strategies have also gone through the"enlightenment stage","development stage"and"mature stage".On this basis,the problems of the coordination of China s regional coordinated development and joint prevention and control for environmental protection in the new era,as well as suggestions for the next step were further analyzed.
基金supported by National Natural Science Foundation of China(No.61273091)the Project of Taishan Scholar of Shandong Provincethe Ph.D.Programs Foundation of Ministry of Education of China
文摘The adaptive tracking problem for uncertain flexible joint robot system is studied in this paper. By utilizing the adaptive backstepping method, an adaptive controller is constructed at the beginning. By utilizing the modified adaptive dynamic surface control technique, a new adaptive controller is presented afterwards to avoid the overparametrization problem and the explosion of complexity problem existing in the adaptive backstepping method. All the signals of the closed-loop system are rendered globally/semi-globally uniformly ultimately bounded, and the tracking error can be made arbitrarily small by tuning the designed parameters. A simulation example is given to show the validity of the control algorithm.
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This paper develops a novel interval type-2 fuzzy Proportional-Derivative (PD) control scheme for electrically driven flexible-joint robots using the direct method of Lyapunov. The controller has a simple design in a decentralized structure. Compared to the previous controllers reported for the flexible-joint robots which use two control loops, it has a simpler structure using only one control loop. It guarantees stability and provides a good tracking performance. The controller considers the whole robotic system including the manipulator and motors by applying the voltage control strategy. Stability analysis is presented and the effectiveness of the proposed control approach is demonstrated by simulations using a three link flexible-joint robot driven by permanent magnet DC motors. Simulation results show that the interval type-2 fuzzy PD controller can handle external disturbance better than the type-1 fuzzy PD controller. In addition, it spends less control effort than the type-1 in order to deal with disturbance.
文摘Background: Sacroiliac joint (SIJ) pain presents as a deep and somatic pain, predominantly affecting the lower back and buttock and referring down the leg, sometimes as far as the foot. Given that the features of SIJ pain are non-specific and that this referred pain is similar to lumbar facet joint and lumbar disc pain, diagnostic local anesthetic injections (diagnostic blocks) into the SIJ are used to identify the source of pain. Despite wide use, little is known about the false positive rate of a single diagnostic sacroiliac (SI) block and the requirement for a control block. Objective: To determine whether a control SI block is necessary and to monitor the false positive rate for a single injection. Study Design: A prospective and observational study was conducted as part of a practice audit, with data collected over 3.5 years at the authors’ private practice. Patients & Methods: Under fluoroscopic guidance, 1408 consecutive patients presenting with prominent deep somatic pain over the SIJ region were sterilely injected with anesthetic into the SIJ and/or the deep interosseous ligament (DIL). Pain was measured on the 11-point Numerical Rating Scale (NRS) prior to injection and incrementally over the following 1- 2 weeks. Fully completed and unequivocal data sets were available for 1060 patients. Decreases in pain scores (of >80%) at >2 hours of post-injection were indicative of SIJ pain and recorded as a positive SIJ block. Results: Of 1060 patients receiving a first SIJ diagnostic block, 680 (64.1%) recorded a positive result. Subsequently, 271 positive patients and 22 who were negative for SIJ pain opted to receive a second control block. SIJ pain diagnosis was confirmed in 237/271 (87.5%) of those with an initial positive response, while 18/22 patients (81%) had their initial negative result confirmed. The false positive rate of a single block is therefore calculated at 12.5%, and on a contingency table analysis, a single anesthetic SIJ injection has diagnostic accuracy of 87.03%, with high sensitivity (98.3%), when compared with a second control diagnostic block. Limitations: All injections were performed at one clinical centre. A proportion (348/1408) of initial patients did not return fully completed pain records or had equivocal responses (≥80% pain relief, but transiently, for ≤30 min) and were excluded from further analysis. Conclusion: Given the observed high rates of accuracy in this study, it is reasonable to suggest the use of one diagnostic block as the criterion standard for assessing the SIJ as the source of a patient’s pain.
文摘This paper is dealing with the problem of tracking control for uncertain flexible joint manipulator robots driven by brushless direct current motor(BDCM). Flexibility of joint in the manipulator constitutes one of the most important sources of uncertainties. In order to achieve high performance, all parts of the manipulator including actuator have been modeled. To cancel the tracking error, a hysteresis current controller and speed controllers have been developed. To evaluate the effectiveness of speed controllers, a comparative study between proportional integral(PI) and sliding mode controllers has been performed. Finally, simulation results carried out in the Matlab simulink environment demonstrate the high precision of sliding mode controller compared with PI controller in the presence of uncertainties of joint flexibility.
基金supported by the National Natural Science Foundation of China under Grant No.61701284,61472229,31671588 and 61801270the China Postdoctoral Science Foundation Funded Project under Grant No2017M622233+2 种基金the Application Research Project for Postdoctoral Researchers of Qingdao,the Scientific Research Foundation of Shandong University of Science and Technology for Recruited Talents under Grant No.2016RCJJ010the Sci.&Tech.DevelopmentFund of Shandong Province of China underGrant No.2016ZDJS02A11,ZR2017BF015and ZR2017MF027the Taishan Scholar Climbing Program of Shandong Province,and SDUST Research Fund under Grant No.2015TDJH102
文摘This paper presented a joint resource allocation(RA) and admission control(AC) mechanism in software defined mobile networks(SDMNs). In this mechanism, the joint RA and AC problem can be formulated as an optimization problem with the aim of maximizing the number of admitted users while simultaneously minimizing the number of allocated channels. Since the primal problem is modeled to be a mixed integer nonlinear problem(MINLP), we attain the suboptimal solutions to the primal MINLP by convex relaxation. Additionally, with the global information collected by the SDMNs controller, a centralized joint RA and AC(CJRA)algorithm is proposed by the Lagrange dual decomposition technique to obtain the global optimum. Meanwhile, we propose an OpenFlow rules placement strategy to realize CJRA in an efficient way. Moreover, a distributed algorithm is also developed to find the local optimum, showing a performance benchmark for the centralized one. Finally, simulation results show that the proposed centralized algorithm admits more users compared with the distributed.
基金National Natural Science Foundation of China(No.61273339)
文摘A robust controller method for flexible joint robot considering the effect caused by nonlinear friction was presented.The nonlinear friction was denoted as inverse additive output uncertainty relative to the nominal model in our work,based on which the describing function was analyzed in frequency domain,and the weighting function of nonlinear friction was further calculated as well. By combining the friction uncertainty,the mixed sensitivity H∞optimization was proposed as the benchmark for controller design, which also leaded to good performance of robustness. Furthermore,unstructured perturbation to the system was analyzed so that the stability was guaranteed. Simulation results show that the proposed controller can provide excellent tracking and regulation performance.
文摘Components of mechanical product are assembled by structural joints,such as bolting,riveting,welding,etc.Structural joints introduce nonlinearity to some engineering structures,and the nonlinearity need to be modeled precisely.To meet serious quality requirements,it is necessary to detect and identify nonlinearity of mechanical products for structural optimization.Modal test to acquire a dynamic response has been applied for decades,which provides reliable results for finite element(FE)model updating.Here response control vibration test for identification of nonlinearity is presented.A nonlinear system can be regarded as linearity for particular steady state response,and classical linear analysis tool is applicable to extract modal data for particular response.First,its applicability is illustrated by some numerical simulations.Subsequently,it is implemented on experimental setup with structural joints by shaking table.The stiffness and damping function dependent of relative displacement are fitted to describe its inherent nonlinearity.The spring and damping forces are identified by harmonic balance method(HBM)to predict output response.Based on the identified results,the procedure is recommended that it allows a reliable measurement of nonlinearity with a certain accuracy.
