A cable-driven redundant manipulator(CDRM)characterized by redundant degrees of freedom and a lightweight,slender design can perform tasks in confined and restricted spaces efficiently.However,the complex multistage c...A cable-driven redundant manipulator(CDRM)characterized by redundant degrees of freedom and a lightweight,slender design can perform tasks in confined and restricted spaces efficiently.However,the complex multistage coupling between drive cables and passive joints in CDRM leads to a challenging dynamic model with difficult parameter identification,complicating the efforts to achieve accurate modeling and control.To address these challenges,this paper proposes a dynamic modeling and adaptive control approach tailored for CDRM systems.A multilevel kinematic model of the cable-driven redundant manipulator is presented,and a screw theory is employed to represent the cable tension and cable contact forces as spatial wrenches,which are equivalently mapped to joint torque using the principle of virtual work.This approach simplifies the mapping process while maintaining the integrity of the dynamic model.A recursive method is used to compute cable tension section-by-section for enhancing the efficiency of inverse dynamics calculations and meeting the high-frequency demands of the controller,thereby avoiding large matrix operations.An adaptive control method is proposed building on this foundation,which involves the design of a dynamic parameter adaptive controller in the joint space to simplify the linearization process of the dynamic equations along with a closed-loop controller that incorporates motor parameters in the driving space.This approach improves the control accuracy and dynamic performance of the CDRM under dynamic uncertainties.The accuracy and computational efficiency of the dynamic model are validated through simulations,and the effectiveness of the proposed control method is demonstrated through control tests.This paper presents a dynamic modeling and adaptive control approach for CDRM to enhance accuracy and performance under dynamic uncertainties.展开更多
In this paper,a novel cooperative collision avoidance control strategy with relative velocity information for redundant robotic manipulators is derived to guarantee the behavioral safety of robots in the cooperative o...In this paper,a novel cooperative collision avoidance control strategy with relative velocity information for redundant robotic manipulators is derived to guarantee the behavioral safety of robots in the cooperative operational task.This strategy can generate the collision-free trajectory of the robotic links in real-time,which is to realize that the robot can avoid moving obstacles less conservatively and ensure tracking accuracy of terminal end-effector tasks in performing cooperative tasks.For the case where there is interference between the moving obstacle and the desired path of the robotic end-effector,the method inherits the null-space-based self-motion characteristics of the redundant manipulator,integrates the relative motion information,and uses the improved artificial potential field method to design the control items,which are used to generate the collision avoidance motion and carry out moving obstacles smoothly and less conservatively.At the same time,the strategy maintains the kinematic constraint relationship of dual-arm cooperatives,to meet the real-time collision avoidance task under collaborative tasks.Finally,the algorithm simulation indicates that the method can better ensure the tracking accuracy of the end-effector task and carry out moving obstacles smoothly.The experimental results show that the method can generate the real-time collision-free trajectory of the robot in the cooperative handling task,and the joint movement is continuous and stable.展开更多
Aim To define a mixed redundant model(MRM), improving the reliability of C 3I system. Methods The model combined the technology characters of two? unit system with one warm stand by unit and function substitute s...Aim To define a mixed redundant model(MRM), improving the reliability of C 3I system. Methods The model combined the technology characters of two? unit system with one warm stand by unit and function substitute system. The reliability and availability equations of MRM were deduced. Results and Conclusion Compared with several other reliability models, it has obvious effect upon improving the system reliability. The effect? cost rate is very high among these models. The model can be used in reliability design, evaluation and check of C 3I system. Only a little attached cost is needed to improve C 3I system reliability effectively.展开更多
This paper presents an integrated fuzzy controller design approach to synchronize a dis- similar redundant actuation system of a hydraulic actuator （HA） and an electro-hydrostatic actu- ator （EHA） with system unce...This paper presents an integrated fuzzy controller design approach to synchronize a dis- similar redundant actuation system of a hydraulic actuator （HA） and an electro-hydrostatic actu- ator （EHA） with system uncertainties and disturbances. The motion synchronous control system consists of a trajectory generator, an individual position controller for each actuator, and a fuzzy force tracking controller （FFTC） for both actuators. The trajectory generator provides the desired motion dynamics and designing parameters of the trajectory which are taken according to the dynamic characteristics of the EHA. The position controller consists of a feed-forward controller and a fuzzy position tracking controller （FPTC） and acts as a decoupled controller, improving posi- tion tracking performance with the help of the feed-forward controller and the FPTC. The FFTC acts as a coupled controller and takes into account the inherent coupling effect. The simulation results show that the proposed controller not only eliminates initial force fighting by synchronizing the two actuators, but also improves disturbance rejection performance.展开更多
The control method of highly redundant robot manipulators is introduced. A decentralized autonomous control scheme is used to guide the movement of robot manipulators so that the work done by manipulators is minimized...The control method of highly redundant robot manipulators is introduced. A decentralized autonomous control scheme is used to guide the movement of robot manipulators so that the work done by manipulators is minimized. The method of computing pseudoinverse which needs too many complicated calculation can be avoided. Then the calculation and control of robots are simplified. At the same time system robustness/fault tolerance is achieved.展开更多
Redundant techniques are widely adopted in vehicle management computer （VMC） to ensure that VMC has high reliability and safety. At the same time, it makes VMC have special characteristics, e.g., failure correlation...Redundant techniques are widely adopted in vehicle management computer （VMC） to ensure that VMC has high reliability and safety. At the same time, it makes VMC have special characteristics, e.g., failure correlation, event simultaneity, and failure self-recovery. Accordingly, the reliability and safety analysis to redundant VMC system （RVMCS） becomes more difficult. Aimed at the difficulties in RVMCS reliability modeling, this paper adopts generalized stochastic Petri nets to establish the reliability and safety models of RVMCS. Then this paper analyzes RVMCS oper- ating states and potential threats to flight control system. It is verified by simulation that the reli- ability of VMC is not the product of hardware reliability and software reliability, and the interactions between hardware and software faults can reduce the real reliability of VMC obviously. Furthermore, the failure undetected states and false alarming states inevitably exist in RVMCS due to the influences of limited fault monitoring coverage and false alarming probability of fault mon- itoring devices （FMD）. RVMCS operating in some failure undetected states will produce fatal threats to the safety of flight control system. RVMCS operating in some false alarming states will reduce utility of RVMCS obviously. The results abstracted in this paper can guide reliable VMC and efficient FMD designs. The methods adopted in this paper can also be used to analyze other intelligent systems＇ reliability.展开更多
A super redundant serpentine manipulator has slender structure and multiple degrees of freedom.It can travel through narrow spaces and move in complex spaces.This manipulator is composed of many modules that can form ...A super redundant serpentine manipulator has slender structure and multiple degrees of freedom.It can travel through narrow spaces and move in complex spaces.This manipulator is composed of many modules that can form different lengths of robot arms for different application sites.The increase in degrees of freedom causes the inverse kinematics of redundant manipulator to be typical and immensely increases the calculation load in the joint space.This paper presents an integrated optimization method to solve the path planning for obstacle avoidance and discrete trajectory tracking of a super redundant manipulator.In this integrated optimization,path planning is established on a Bezier curve,and particle swarm optimization is adopted to adjust the control points of the Bezier curve with the kinematic constraints of manipulator.A feasible obstacle avoidance path is obtained along with a discrete trajectory tracking by using a follow-the-leader strategy.The relative distance between each two discrete path points is limited to reduce the fitting error of the connecting rigid links to the smooth curve.Simulation results show that this integrated optimization method can rapidly search for the appropriate trajectory to guide the manipulator in obtaining the target while achieving obstacle avoidance and meeting joint constraints.The proposed algorithm is suitable for 3D space obstacle avoidance and multitarget path tracking.展开更多
The current type synthesis of the redundant actuated parallel mechanisms is adding active-actuated kinematic branches on the basis of the traditional parallel mechanisms,or using screw theory to perform multiple getti...The current type synthesis of the redundant actuated parallel mechanisms is adding active-actuated kinematic branches on the basis of the traditional parallel mechanisms,or using screw theory to perform multiple getting intersection and union to complete type synthesis.The number of redundant parallel mechanisms obtained by these two methods is limited.In this paper,based on Grassmann line geometry and Atlas method,a novel and effective method for type synthesis of redundant actuated parallel mechanisms(PMs)with closed-loop units is proposed.Firstly,the degree of freedom(DOF)and constraint line graph of the moving platform are determined successively,and redundant lines are added in constraint line graph to obtain the redundant constraint line graph and their equivalent line graph,and a branch constraint allocation scheme is formulated based on the allocation criteria.Secondly,a scheme is selected and redundant lines are added in the branch chains DOF graph to construct the redundant actuated branch chains with closed-loop units.Finally,the branch chains that meet the requirements of branch chains configuration criteria and F&C(degree of freedom&constraint)line graph are assembled.In this paper,two types of 2 rotational and 1 translational(2R1T)redundant actuated parallel mechanisms and one type of 2 translational and 1 rotational(2T1R)redundant actuated parallel mechanisms with few branches and closed-loop units were taken as examples,and 238,92 and 15 new configurations were synthesized.All the mechanisms contain closed-loop units,and the mechanisms and the actuators both have good symmetry.Therefore,all the mechanisms have excellent comprehensive performance,in which the two rotational DOFs of the moving platform of 2R1T redundant actuated parallel mechanism can be independently controlled.The instantaneous analysis shows that all mechanisms are not instantaneous,which proves the feasibility and practicability of the method.展开更多
A servo press is a new type of mechanical press that is driven by programmable motors and offers superior performance such as low noise,excellent efficiency and high precision for metal forming operations.Similar to m...A servo press is a new type of mechanical press that is driven by programmable motors and offers superior performance such as low noise,excellent efficiency and high precision for metal forming operations.Similar to multi-link mechanical presses,a servo mechanical press tends to grow in size as the tonnage increases that calls for larger,heavy duty servo motors,which could be expensive and may not even be available.In this paper,a new concept of servo mechanical press with redundant actuation is proposed firstly using two servo motors driving one input shaft,i.e.one-point-two-motor mode that makes it possible to produce a larger press with available servomotors.Then the punching mechanism design is detailed.The performance indices are set up including mechanical advantage reciprocal and link force ratios.A bounded feasible solution space is constructed for dimensional synthesis based on non-dimensional link lengths and assembly conditions.The performance atlases are depicted over the bounded feasible solution space that lead to a visual solution of the punching mechanism with global optimization.Finally,case studies are given to illustrate the design method with visual global optimization,and a prototype with 200 t punching force is being developed in our laboratory to demonstrate efficacy of the new concept for servo mechanical press.The presented research provides a feasible solution to the development of heavy-duty servo mechanical presses and finds potential applications in the development of other types of heavy equipments with electric drive.展开更多
This paper proposes an active fault-tolerant control strategy for an aircraft with dissimilar redundant actuation system （DRAS） that has suffered from vertical tail damage. A damage degree coefficient based on the e...This paper proposes an active fault-tolerant control strategy for an aircraft with dissimilar redundant actuation system （DRAS） that has suffered from vertical tail damage. A damage degree coefficient based on the effective vertical tail area is introduced to parameterize the damaged flight dynamic model. The nonlinear relationship between the damage degree coefficient and the corresponding stability derivatives is considered. Furthermore, the performance degradation of new input channel with electro-hydrostatic actuator （EHA） is also taken into account in the damaged flight dynamic model. Based on the accurate damaged flight dynamic model, a composite method of linear quadratic regulator （LQR） integrating model reference adaptive control （MRAC） is proposed to reconfigure the fault-tolerant control law. The numerical simulation results validate the effectiveness of the proposed fault-tolerant control strategy with accurate flight dynamic model. The results also indicate that aircraft with DRAS has better fault-tolerant control ability than the traditional ones when the vertical tail suffers from serious damage.展开更多
Redundant actuator is the key component of Fly-By-Wire （FBW） system in which exists the inherent force fighting among different redundant channels at colligation point, This paper establishes the mathematical model ...Redundant actuator is the key component of Fly-By-Wire （FBW） system in which exists the inherent force fighting among different redundant channels at colligation point, This paper establishes the mathematical model of quad redundant actuator （QRA）, investigates the force equalization algorithm and carries out the performance degradation simulation and reliability analysis under the first failure and the second failure. The results indicate that the optimal equalization algorithm can solve the force fighting effectively, and the QRA can operate at degradation performance continuously under the first failure and the second failure. With the dynamic fault tree analysis, this paper calculates the reliability based on the performance of QRA and proves that the redundant actuator has very high reliability and safety.展开更多
Dual redundant manipulators are extremely useful for tasks in dangerous or space environments, but efficient and real time coordinated control is hard to achieve. Collision avoidance between two cooperative manipulat...Dual redundant manipulators are extremely useful for tasks in dangerous or space environments, but efficient and real time coordinated control is hard to achieve. Collision avoidance between two cooperative manipulators is vital to the successful applications of dual redundant manipulators. Although methods based on the distance function have been demonstrated simple and efficient, different collision avoidance points can usually produce completely different results and even failure. The paper discussed the choices of collision avoidance points and proposed a novel method for the choosing of those points. The method is testified by simulation results of two redundant planar manipulators.展开更多
The current motion planning approaches for redundant manipulators mainly includes two categories:improved gradient-projection method and some other efficiency numerical methods.The former is excessively sensitive to p...The current motion planning approaches for redundant manipulators mainly includes two categories:improved gradient-projection method and some other efficiency numerical methods.The former is excessively sensitive to parameters,which makes adjustment difficult;and the latter treats the motion planning as general task by ignoring the particularity,which has good universal property but reduces the solving speed for on-line real-time planning.In this paper,a novel stepwise solution based on self-motion manifold is proposed for motion planning of redundant manipulators,namely,the chief tasks and secondary tasks are implemented step by step.Firstly,the posture tracking of end-effector is achieved accurately by employing the non-redundant joint.Secondly,the end-effector is set to keep stationary.Finally,self-motion of manipulator is realized via additional work on the gradient of redundant joint displacement.To verify this solution,experiments of round obstacle avoiding are carried out via the planar 3 degree-of-~eedom manipulator.And the experimental results indicate that this motion planning algorithm can effectively achieve obstacle avoiding and posture tracking of the end-effector.Compared with traditional gradient projection method,this approach can accelerate the problem-solving process,and is more applicable to obstacle avoiding and other additional work in displacement level.展开更多
Redundant technology plays an important role in improving the reliability and fault-tolerance of the airborne avionics systems. A Markov state transition model is introduced to the reliability analysis of the redundan...Redundant technology plays an important role in improving the reliability and fault-tolerance of the airborne avionics systems. A Markov state transition model is introduced to the reliability analysis of the redundant inertial navigation system （RINS） in airborne navigation systems. An information processing mechanism based on difference filtering is put forward to strengthen the consistency between the outputs of the equal-precision inertial navigation system （INS）. On this basis, the homologous fault monitoring algorithm is designed to realize the homologous fault monitoring of RINS. The simulation is carried out based on the above algorithms, and the results verify the effectiveness of the proposed fault monitoring algorithm based on difference filtering. Research results have good reference value for the configuration and design of RINS in airborne integrated avionics systems.展开更多
A cable-driven redundant manipulator has significant potential in confined space applications, such as environmental exploration, equipment monitoring, or maintenance. A traditional design requires 3N driving motors/c...A cable-driven redundant manipulator has significant potential in confined space applications, such as environmental exploration, equipment monitoring, or maintenance. A traditional design requires 3N driving motors/cables to supply 2N degrees of freedom(DOF) movement ability.The number of motors is 1.5 times that of the joints’ DOF, increasing the hardware cost and the complexity of the kinematics, dynamics, and control. This study develops a novel redundant space manipulator with decoupled cable-driven joints and segmented linkages. It is a 1680 mm continuum manipulator with eight DOF, consisting of four segmented linkages driven by eight motors/pairs of cables. Each segment has two equivalent DOF, which are realized by four quaternion joints synchronously driven by two linkage cables. The linkage cables of adjacent joints are symmetrically decoupled and offset at 180°. This design allows equal-angle movement of all the joints of each segment. Moreover, each decoupling driving mechanism is designed based on a pulley block composed of two fixed and movable pulleys. The two movable pulleys realize the opposite but equidistant motions of the two driving cables, i.e., pulling and loosening, assuring symmetrical movements of the two driving cables of each segment. Consequently, the equivalent 2N-DOF joints are driven only by 2N motors, significantly reducing the hardware cost and simplifying the mapping relationship between the motor angle/cable length and the joint angle. Furthermore, the bending range of each segment could reach 360°, which is three times that of a traditional design. Finally, a prototype has been developed and experimented with to verify the performance of the proposed mechanism and the corresponding algorithms.展开更多
When a redundant robot performs a fault-tolerant operation for locked joint failures,its fault tolerant properties should include dexterity and sudden change of joint velocity at the moment of locking failed joints an...When a redundant robot performs a fault-tolerant operation for locked joint failures,its fault tolerant properties should include dexterity and sudden change of joint velocity at the moment of locking failed joints and the dexterity during the post-failure.Firstly three fault-tolerant indexes,reduced condition number,sudden change of relative joint velocity and centrality are proposed,which can comprehensively evaluate the kinematical performance of a redundant robot during its entire fault-tolerant operations.Then,the influence of the initial postures of robot's end-effector on these fault-tolerant indexes is analyzed with a planar robot and a spatial robot.Simulation results show that for a given task the joint trajectory with the best comprehensive effect of fault tolerance can be determined by optimizing the initial posture of a robot.展开更多
A method for moving object recognition and tracking in the intelligent traffic monitoring system is presented. For the shortcomings and deficiencies of the frame-subtraction method, a redundant discrete wavelet transf...A method for moving object recognition and tracking in the intelligent traffic monitoring system is presented. For the shortcomings and deficiencies of the frame-subtraction method, a redundant discrete wavelet transform （RDWT） based moving object recognition algorithm is put forward, which directly detects moving objects in the redundant discrete wavelet transform domain. An improved adaptive mean-shift algorithm is used to track the moving object in the follow up frames. Experimental results show that the algorithm can effectively extract the moving object, even though the object is similar to the background, and the results are better than the traditional frame-subtraction method. The object tracking is accurate without the impact of changes in the size of the object. Therefore the algorithm has a certain practical value and prospect.展开更多
BACKGROUND Redundant nerve roots(RNRs)of the cauda equina are often a natural evolutionary part of lumbar spinal canal stenosis secondary to degenerative processes characterized by elongated,enlarged,and tortuous nerv...BACKGROUND Redundant nerve roots(RNRs)of the cauda equina are often a natural evolutionary part of lumbar spinal canal stenosis secondary to degenerative processes characterized by elongated,enlarged,and tortuous nerve roots in the superior and/or inferior of the stenotic segment.Although magnetic resonance imaging(MRI)findings have been defined more frequently in recent years,this condition has been relatively under-recognized in radiological practice.In this study,lumbar MRI findings of RNRs of the cauda equina were evaluated in spinal stenosis patients.AIM To evaluate RNRs of the cauda equina in spinal stenosis patients.METHODS One-hundred and thirty-one patients who underwent lumbar MRI and were found to have spinal stenosis between March 2010 and February 2019 were included in the study.On axial T2-weighted images(T2WI),the cross-sectional area(CSA)of the dural sac was measured at L2-3,L3-4,L4-5,and L5-S1 levels in the axial plane.CSA levels below 100 mm^2 were considered stenosis.Elongation,expansion,and tortuosity in cauda equina fibers in the superior and/or inferior of the stenotic segment were evaluated as RNRs.The patients were divided into two groups:Those with RNRs and those without RNRs.The CSA cut-off value resulting in RNRs of cauda equina was calculated.Relative length(RL)of RNRs was calculated by dividing the length of RNRs at mid-sagittal T2WI by the height of the vertebral body superior to the stenosis level.The associations of CSA leading to RNRs with RL,disc herniation type,and spondylolisthesis were evaluated.RESULTS Fifty-five patients(42%)with spinal stenosis had RNRs of the cauda equina.The average CSA was 40.99±12.76 mm^2 in patients with RNRs of the cauda equina and 66.83±19.32 mm^2 in patients without RNRs.A significant difference was found between the two groups for CSA values(P<0.001).Using a cut-off value of 55.22 mm^2 for RNRs of the cauda equina,sensitivity,specificity,positive predictive value(PPV),and negative predictive value(NPV)values of 96.4%,96.1%,89.4%,and 98.7%were obtained,respectively.RL was 3.39±1.31(range:0.93-6.01).When the extension of RNRs into the superior and/or inferior of the spinal canal stenosis level was evaluated,it was superior in 54.5%,both superior and inferior in 32.8%,and inferior in 12.7%.At stenosis levels leading to RNRs of the cauda equina,29 disc herniations with soft margins and 26 with sharp margins were detected.Disc herniation type and spondylolisthesis had no significant relationship with RL or CSA of the dural sac with stenotic levels(P>0.05).As the CSA of the dural sac decreased,the incidence of RNRs observed at the superior of the stenosis level increased(P<0.001).CONCLUSION RNRs of the cauda equina are frequently observed in patients with spinal stenosis.When the CSA of the dural sac is<55 mm^2,lumbar MRIs should be carefully examined for this condition.展开更多
基金Supported by National Natural Science Foundation of China(Grant No.52405040)Research Project of State Key Laboratory of Mechanical System and Vibration(Grant No.MSV202514)。
文摘A cable-driven redundant manipulator(CDRM)characterized by redundant degrees of freedom and a lightweight,slender design can perform tasks in confined and restricted spaces efficiently.However,the complex multistage coupling between drive cables and passive joints in CDRM leads to a challenging dynamic model with difficult parameter identification,complicating the efforts to achieve accurate modeling and control.To address these challenges,this paper proposes a dynamic modeling and adaptive control approach tailored for CDRM systems.A multilevel kinematic model of the cable-driven redundant manipulator is presented,and a screw theory is employed to represent the cable tension and cable contact forces as spatial wrenches,which are equivalently mapped to joint torque using the principle of virtual work.This approach simplifies the mapping process while maintaining the integrity of the dynamic model.A recursive method is used to compute cable tension section-by-section for enhancing the efficiency of inverse dynamics calculations and meeting the high-frequency demands of the controller,thereby avoiding large matrix operations.An adaptive control method is proposed building on this foundation,which involves the design of a dynamic parameter adaptive controller in the joint space to simplify the linearization process of the dynamic equations along with a closed-loop controller that incorporates motor parameters in the driving space.This approach improves the control accuracy and dynamic performance of the CDRM under dynamic uncertainties.The accuracy and computational efficiency of the dynamic model are validated through simulations,and the effectiveness of the proposed control method is demonstrated through control tests.This paper presents a dynamic modeling and adaptive control approach for CDRM to enhance accuracy and performance under dynamic uncertainties.
基金supported in part by the Advanced Equipment Manufacturing Technology Innovation Project of Hebei Province under Grant No.22311801D,23311807D,and 236Z1816Gin part by the National Natural Science Foundation of China under Grant No.U20A20283.
文摘In this paper,a novel cooperative collision avoidance control strategy with relative velocity information for redundant robotic manipulators is derived to guarantee the behavioral safety of robots in the cooperative operational task.This strategy can generate the collision-free trajectory of the robotic links in real-time,which is to realize that the robot can avoid moving obstacles less conservatively and ensure tracking accuracy of terminal end-effector tasks in performing cooperative tasks.For the case where there is interference between the moving obstacle and the desired path of the robotic end-effector,the method inherits the null-space-based self-motion characteristics of the redundant manipulator,integrates the relative motion information,and uses the improved artificial potential field method to design the control items,which are used to generate the collision avoidance motion and carry out moving obstacles smoothly and less conservatively.At the same time,the strategy maintains the kinematic constraint relationship of dual-arm cooperatives,to meet the real-time collision avoidance task under collaborative tasks.Finally,the algorithm simulation indicates that the method can better ensure the tracking accuracy of the end-effector task and carry out moving obstacles smoothly.The experimental results show that the method can generate the real-time collision-free trajectory of the robot in the cooperative handling task,and the joint movement is continuous and stable.
文摘Aim To define a mixed redundant model(MRM), improving the reliability of C 3I system. Methods The model combined the technology characters of two? unit system with one warm stand by unit and function substitute system. The reliability and availability equations of MRM were deduced. Results and Conclusion Compared with several other reliability models, it has obvious effect upon improving the system reliability. The effect? cost rate is very high among these models. The model can be used in reliability design, evaluation and check of C 3I system. Only a little attached cost is needed to improve C 3I system reliability effectively.
基金supported by the National Basic Research Program of China(973 Program)(No.2014CB046402)the National Natural Science Foundation of China(Nos.51575019,51305011)the 111 Program of China
文摘This paper presents an integrated fuzzy controller design approach to synchronize a dis- similar redundant actuation system of a hydraulic actuator （HA） and an electro-hydrostatic actu- ator （EHA） with system uncertainties and disturbances. The motion synchronous control system consists of a trajectory generator, an individual position controller for each actuator, and a fuzzy force tracking controller （FFTC） for both actuators. The trajectory generator provides the desired motion dynamics and designing parameters of the trajectory which are taken according to the dynamic characteristics of the EHA. The position controller consists of a feed-forward controller and a fuzzy position tracking controller （FPTC） and acts as a decoupled controller, improving posi- tion tracking performance with the help of the feed-forward controller and the FPTC. The FFTC acts as a coupled controller and takes into account the inherent coupling effect. The simulation results show that the proposed controller not only eliminates initial force fighting by synchronizing the two actuators, but also improves disturbance rejection performance.
文摘The control method of highly redundant robot manipulators is introduced. A decentralized autonomous control scheme is used to guide the movement of robot manipulators so that the work done by manipulators is minimized. The method of computing pseudoinverse which needs too many complicated calculation can be avoided. Then the calculation and control of robots are simplified. At the same time system robustness/fault tolerance is achieved.
基金financed by the National Natural Science Foundation of China (No.61004022)111 Project of China Education Department
文摘Redundant techniques are widely adopted in vehicle management computer （VMC） to ensure that VMC has high reliability and safety. At the same time, it makes VMC have special characteristics, e.g., failure correlation, event simultaneity, and failure self-recovery. Accordingly, the reliability and safety analysis to redundant VMC system （RVMCS） becomes more difficult. Aimed at the difficulties in RVMCS reliability modeling, this paper adopts generalized stochastic Petri nets to establish the reliability and safety models of RVMCS. Then this paper analyzes RVMCS oper- ating states and potential threats to flight control system. It is verified by simulation that the reli- ability of VMC is not the product of hardware reliability and software reliability, and the interactions between hardware and software faults can reduce the real reliability of VMC obviously. Furthermore, the failure undetected states and false alarming states inevitably exist in RVMCS due to the influences of limited fault monitoring coverage and false alarming probability of fault mon- itoring devices （FMD）. RVMCS operating in some failure undetected states will produce fatal threats to the safety of flight control system. RVMCS operating in some false alarming states will reduce utility of RVMCS obviously. The results abstracted in this paper can guide reliable VMC and efficient FMD designs. The methods adopted in this paper can also be used to analyze other intelligent systems＇ reliability.
基金Supported by National Natural Science Foundation of China(Grant No.61733017)Foundation of State Key Laboratory of Robotics of China(Grant No.2018O13)Shanghai Pujiang Program of China(Grant No.18PJD018).
文摘A super redundant serpentine manipulator has slender structure and multiple degrees of freedom.It can travel through narrow spaces and move in complex spaces.This manipulator is composed of many modules that can form different lengths of robot arms for different application sites.The increase in degrees of freedom causes the inverse kinematics of redundant manipulator to be typical and immensely increases the calculation load in the joint space.This paper presents an integrated optimization method to solve the path planning for obstacle avoidance and discrete trajectory tracking of a super redundant manipulator.In this integrated optimization,path planning is established on a Bezier curve,and particle swarm optimization is adopted to adjust the control points of the Bezier curve with the kinematic constraints of manipulator.A feasible obstacle avoidance path is obtained along with a discrete trajectory tracking by using a follow-the-leader strategy.The relative distance between each two discrete path points is limited to reduce the fitting error of the connecting rigid links to the smooth curve.Simulation results show that this integrated optimization method can rapidly search for the appropriate trajectory to guide the manipulator in obtaining the target while achieving obstacle avoidance and meeting joint constraints.The proposed algorithm is suitable for 3D space obstacle avoidance and multitarget path tracking.
基金Supported by National Natural Science Foundation of China(Grant No.51875499).
文摘The current type synthesis of the redundant actuated parallel mechanisms is adding active-actuated kinematic branches on the basis of the traditional parallel mechanisms,or using screw theory to perform multiple getting intersection and union to complete type synthesis.The number of redundant parallel mechanisms obtained by these two methods is limited.In this paper,based on Grassmann line geometry and Atlas method,a novel and effective method for type synthesis of redundant actuated parallel mechanisms(PMs)with closed-loop units is proposed.Firstly,the degree of freedom(DOF)and constraint line graph of the moving platform are determined successively,and redundant lines are added in constraint line graph to obtain the redundant constraint line graph and their equivalent line graph,and a branch constraint allocation scheme is formulated based on the allocation criteria.Secondly,a scheme is selected and redundant lines are added in the branch chains DOF graph to construct the redundant actuated branch chains with closed-loop units.Finally,the branch chains that meet the requirements of branch chains configuration criteria and F&C(degree of freedom&constraint)line graph are assembled.In this paper,two types of 2 rotational and 1 translational(2R1T)redundant actuated parallel mechanisms and one type of 2 translational and 1 rotational(2T1R)redundant actuated parallel mechanisms with few branches and closed-loop units were taken as examples,and 238,92 and 15 new configurations were synthesized.All the mechanisms contain closed-loop units,and the mechanisms and the actuators both have good symmetry.Therefore,all the mechanisms have excellent comprehensive performance,in which the two rotational DOFs of the moving platform of 2R1T redundant actuated parallel mechanism can be independently controlled.The instantaneous analysis shows that all mechanisms are not instantaneous,which proves the feasibility and practicability of the method.
基金supported by National Natural Science Foundation of China(Grant No.50875161,No.50405017)National Hi-Tech Research and Development Program of China(863 Program,Grant No.2006AA04Z118)
文摘A servo press is a new type of mechanical press that is driven by programmable motors and offers superior performance such as low noise,excellent efficiency and high precision for metal forming operations.Similar to multi-link mechanical presses,a servo mechanical press tends to grow in size as the tonnage increases that calls for larger,heavy duty servo motors,which could be expensive and may not even be available.In this paper,a new concept of servo mechanical press with redundant actuation is proposed firstly using two servo motors driving one input shaft,i.e.one-point-two-motor mode that makes it possible to produce a larger press with available servomotors.Then the punching mechanism design is detailed.The performance indices are set up including mechanical advantage reciprocal and link force ratios.A bounded feasible solution space is constructed for dimensional synthesis based on non-dimensional link lengths and assembly conditions.The performance atlases are depicted over the bounded feasible solution space that lead to a visual solution of the punching mechanism with global optimization.Finally,case studies are given to illustrate the design method with visual global optimization,and a prototype with 200 t punching force is being developed in our laboratory to demonstrate efficacy of the new concept for servo mechanical press.The presented research provides a feasible solution to the development of heavy-duty servo mechanical presses and finds potential applications in the development of other types of heavy equipments with electric drive.
基金supported by the National Basic Research Program of China (No 2014CB046402)the National Natural Science Foundation of China (No.51575019)111 Project of China
文摘This paper proposes an active fault-tolerant control strategy for an aircraft with dissimilar redundant actuation system （DRAS） that has suffered from vertical tail damage. A damage degree coefficient based on the effective vertical tail area is introduced to parameterize the damaged flight dynamic model. The nonlinear relationship between the damage degree coefficient and the corresponding stability derivatives is considered. Furthermore, the performance degradation of new input channel with electro-hydrostatic actuator （EHA） is also taken into account in the damaged flight dynamic model. Based on the accurate damaged flight dynamic model, a composite method of linear quadratic regulator （LQR） integrating model reference adaptive control （MRAC） is proposed to reconfigure the fault-tolerant control law. The numerical simulation results validate the effectiveness of the proposed fault-tolerant control strategy with accurate flight dynamic model. The results also indicate that aircraft with DRAS has better fault-tolerant control ability than the traditional ones when the vertical tail suffers from serious damage.
文摘Redundant actuator is the key component of Fly-By-Wire （FBW） system in which exists the inherent force fighting among different redundant channels at colligation point, This paper establishes the mathematical model of quad redundant actuator （QRA）, investigates the force equalization algorithm and carries out the performance degradation simulation and reliability analysis under the first failure and the second failure. The results indicate that the optimal equalization algorithm can solve the force fighting effectively, and the QRA can operate at degradation performance continuously under the first failure and the second failure. With the dynamic fault tree analysis, this paper calculates the reliability based on the performance of QRA and proves that the redundant actuator has very high reliability and safety.
文摘Dual redundant manipulators are extremely useful for tasks in dangerous or space environments, but efficient and real time coordinated control is hard to achieve. Collision avoidance between two cooperative manipulators is vital to the successful applications of dual redundant manipulators. Although methods based on the distance function have been demonstrated simple and efficient, different collision avoidance points can usually produce completely different results and even failure. The paper discussed the choices of collision avoidance points and proposed a novel method for the choosing of those points. The method is testified by simulation results of two redundant planar manipulators.
基金supported by National Hi-tech Research and Develop-ment Program of China(863 Program,Grant No.2005AA404291)
文摘The current motion planning approaches for redundant manipulators mainly includes two categories:improved gradient-projection method and some other efficiency numerical methods.The former is excessively sensitive to parameters,which makes adjustment difficult;and the latter treats the motion planning as general task by ignoring the particularity,which has good universal property but reduces the solving speed for on-line real-time planning.In this paper,a novel stepwise solution based on self-motion manifold is proposed for motion planning of redundant manipulators,namely,the chief tasks and secondary tasks are implemented step by step.Firstly,the posture tracking of end-effector is achieved accurately by employing the non-redundant joint.Secondly,the end-effector is set to keep stationary.Finally,self-motion of manipulator is realized via additional work on the gradient of redundant joint displacement.To verify this solution,experiments of round obstacle avoiding are carried out via the planar 3 degree-of-~eedom manipulator.And the experimental results indicate that this motion planning algorithm can effectively achieve obstacle avoiding and posture tracking of the end-effector.Compared with traditional gradient projection method,this approach can accelerate the problem-solving process,and is more applicable to obstacle avoiding and other additional work in displacement level.
基金supported by the National Natural Science Foundation of China (6117419791016019)+1 种基金the Nanjing University of Aeronautics and Astronautics Research Foundation (NP2011049NZ2012003)
文摘Redundant technology plays an important role in improving the reliability and fault-tolerance of the airborne avionics systems. A Markov state transition model is introduced to the reliability analysis of the redundant inertial navigation system （RINS） in airborne navigation systems. An information processing mechanism based on difference filtering is put forward to strengthen the consistency between the outputs of the equal-precision inertial navigation system （INS）. On this basis, the homologous fault monitoring algorithm is designed to realize the homologous fault monitoring of RINS. The simulation is carried out based on the above algorithms, and the results verify the effectiveness of the proposed fault monitoring algorithm based on difference filtering. Research results have good reference value for the configuration and design of RINS in airborne integrated avionics systems.
基金supported by the National Natural Science Foundation of China(Grant No.62233001)Program of Shenzhen Peacock Innovation Team(Grant No.KQTD20210811090146075)Shenzhen Excellent Scientific and Technological Innovation Talent Training Project(Grant No.RCJC20200714114436040).
文摘A cable-driven redundant manipulator has significant potential in confined space applications, such as environmental exploration, equipment monitoring, or maintenance. A traditional design requires 3N driving motors/cables to supply 2N degrees of freedom(DOF) movement ability.The number of motors is 1.5 times that of the joints’ DOF, increasing the hardware cost and the complexity of the kinematics, dynamics, and control. This study develops a novel redundant space manipulator with decoupled cable-driven joints and segmented linkages. It is a 1680 mm continuum manipulator with eight DOF, consisting of four segmented linkages driven by eight motors/pairs of cables. Each segment has two equivalent DOF, which are realized by four quaternion joints synchronously driven by two linkage cables. The linkage cables of adjacent joints are symmetrically decoupled and offset at 180°. This design allows equal-angle movement of all the joints of each segment. Moreover, each decoupling driving mechanism is designed based on a pulley block composed of two fixed and movable pulleys. The two movable pulleys realize the opposite but equidistant motions of the two driving cables, i.e., pulling and loosening, assuring symmetrical movements of the two driving cables of each segment. Consequently, the equivalent 2N-DOF joints are driven only by 2N motors, significantly reducing the hardware cost and simplifying the mapping relationship between the motor angle/cable length and the joint angle. Furthermore, the bending range of each segment could reach 360°, which is three times that of a traditional design. Finally, a prototype has been developed and experimented with to verify the performance of the proposed mechanism and the corresponding algorithms.
基金National Natural Science Foundation of China(No.50775002)Academic Human Resources Devel-opment in Institution of Higher Learning Under the Jurisdiction of Beijing Municipality,China.
文摘When a redundant robot performs a fault-tolerant operation for locked joint failures,its fault tolerant properties should include dexterity and sudden change of joint velocity at the moment of locking failed joints and the dexterity during the post-failure.Firstly three fault-tolerant indexes,reduced condition number,sudden change of relative joint velocity and centrality are proposed,which can comprehensively evaluate the kinematical performance of a redundant robot during its entire fault-tolerant operations.Then,the influence of the initial postures of robot's end-effector on these fault-tolerant indexes is analyzed with a planar robot and a spatial robot.Simulation results show that for a given task the joint trajectory with the best comprehensive effect of fault tolerance can be determined by optimizing the initial posture of a robot.
文摘A method for moving object recognition and tracking in the intelligent traffic monitoring system is presented. For the shortcomings and deficiencies of the frame-subtraction method, a redundant discrete wavelet transform （RDWT） based moving object recognition algorithm is put forward, which directly detects moving objects in the redundant discrete wavelet transform domain. An improved adaptive mean-shift algorithm is used to track the moving object in the follow up frames. Experimental results show that the algorithm can effectively extract the moving object, even though the object is similar to the background, and the results are better than the traditional frame-subtraction method. The object tracking is accurate without the impact of changes in the size of the object. Therefore the algorithm has a certain practical value and prospect.
基金This study was reviewed and approved by the Ethics Committee of the Tokat Gaziosmanpasa University Faculty of Medicine(No.19-KAEK-099).
文摘BACKGROUND Redundant nerve roots(RNRs)of the cauda equina are often a natural evolutionary part of lumbar spinal canal stenosis secondary to degenerative processes characterized by elongated,enlarged,and tortuous nerve roots in the superior and/or inferior of the stenotic segment.Although magnetic resonance imaging(MRI)findings have been defined more frequently in recent years,this condition has been relatively under-recognized in radiological practice.In this study,lumbar MRI findings of RNRs of the cauda equina were evaluated in spinal stenosis patients.AIM To evaluate RNRs of the cauda equina in spinal stenosis patients.METHODS One-hundred and thirty-one patients who underwent lumbar MRI and were found to have spinal stenosis between March 2010 and February 2019 were included in the study.On axial T2-weighted images(T2WI),the cross-sectional area(CSA)of the dural sac was measured at L2-3,L3-4,L4-5,and L5-S1 levels in the axial plane.CSA levels below 100 mm^2 were considered stenosis.Elongation,expansion,and tortuosity in cauda equina fibers in the superior and/or inferior of the stenotic segment were evaluated as RNRs.The patients were divided into two groups:Those with RNRs and those without RNRs.The CSA cut-off value resulting in RNRs of cauda equina was calculated.Relative length(RL)of RNRs was calculated by dividing the length of RNRs at mid-sagittal T2WI by the height of the vertebral body superior to the stenosis level.The associations of CSA leading to RNRs with RL,disc herniation type,and spondylolisthesis were evaluated.RESULTS Fifty-five patients(42%)with spinal stenosis had RNRs of the cauda equina.The average CSA was 40.99±12.76 mm^2 in patients with RNRs of the cauda equina and 66.83±19.32 mm^2 in patients without RNRs.A significant difference was found between the two groups for CSA values(P<0.001).Using a cut-off value of 55.22 mm^2 for RNRs of the cauda equina,sensitivity,specificity,positive predictive value(PPV),and negative predictive value(NPV)values of 96.4%,96.1%,89.4%,and 98.7%were obtained,respectively.RL was 3.39±1.31(range:0.93-6.01).When the extension of RNRs into the superior and/or inferior of the spinal canal stenosis level was evaluated,it was superior in 54.5%,both superior and inferior in 32.8%,and inferior in 12.7%.At stenosis levels leading to RNRs of the cauda equina,29 disc herniations with soft margins and 26 with sharp margins were detected.Disc herniation type and spondylolisthesis had no significant relationship with RL or CSA of the dural sac with stenotic levels(P>0.05).As the CSA of the dural sac decreased,the incidence of RNRs observed at the superior of the stenosis level increased(P<0.001).CONCLUSION RNRs of the cauda equina are frequently observed in patients with spinal stenosis.When the CSA of the dural sac is<55 mm^2,lumbar MRIs should be carefully examined for this condition.
