Current research on robot calibration can be roughly classified into two categories,and both of them have certain inherent limitations.Model-based methods are difficult to model and compensate the pose errors arising ...Current research on robot calibration can be roughly classified into two categories,and both of them have certain inherent limitations.Model-based methods are difficult to model and compensate the pose errors arising from configuration-dependent geometric and non-geometric source errors,whereas the accuracy of data-driven methods depends on a large amount of measurement data.Using a 5-DOF(degrees of freedom)hybrid machining robot as an exemplar,this study presents a model data-driven approach for the calibration of robotic manipulators.An f-DOF realistic robot containing various source errors is visualized as a 6-DOF fictitious robot having error-free parameters,but erroneous actuated/virtual joint motions.The calibration process essentially involves four steps:(1)formulating the linear map relating the pose error twist to the joint motion errors,(2)parameterizing the joint motion errors using second-order polynomials in terms of nominal actuated joint variables,(3)identifying the polynomial coefficients using the weighted least squares plus principal component analysis,and(4)compensating the compensable pose errors by updating the nominal actuated joint variables.The merit of this approach is that it enables compensation of the pose errors caused by configuration-dependent geometric and non-geometric source errors using finite measurement configurations.Experimental studies on a prototype machine illustrate the effectiveness of the proposed approach.展开更多
Wave driven unmanned surface vehicle(WUSV) is a new concept ocean robot drived by wave energy and solar energy,and it is very suitable for the vast ocean observations with incomparable endurance.Its dynamic modeling i...Wave driven unmanned surface vehicle(WUSV) is a new concept ocean robot drived by wave energy and solar energy,and it is very suitable for the vast ocean observations with incomparable endurance.Its dynamic modeling is very important because it is the theoretical foundation for further study in the WUSV motion control and efficiency analysis.In this work,the multibody system of WUSV was described based on D-H approach.Then,the driving principle was analyzed and the dynamic model of WUSV in longitudinal profile is established by Lagrangian mechanics.Finally,the motion simulation of WUSV and comparative analysis are completed by setting different inputs of sea state.Simulation results show that the WUSV dynamic model can correctly reflect the WUSV longitudinal motion process,and the results are consistent with the wave theory.展开更多
There are several software process models that have been proposed and are based on task involved in developing and maintaining software product. The large number of software projects not meeting their expectation in t...There are several software process models that have been proposed and are based on task involved in developing and maintaining software product. The large number of software projects not meeting their expectation in terms of functionality, cost, delivery schedule and effective project management appears to be lacking. In this paper, we present a new software fusion process model, which depicts the essential phases of a software project from initiate stage until the product is retired. Fusion is component based software process model, where each component implements a problem solving model. This approach reduces the risk associated with cost and time, as these risks will be limited to a component only and ensure the overall quality of software system by considering the changing requirements of customer, risk assessment, identification, evaluation and composition of relative concerns at each phase of development process.展开更多
锂电池健康状态(state of health,SOH)的在线估计是锂电池管理系统中必不可少的一部分。大部分基于数据驱动的锂电池SOH估计方法由于计算量较大,难以在锂电池管理系统微控制器中在线使用。因此,文中提出基于新型健康特征的锂电池SOH快...锂电池健康状态(state of health,SOH)的在线估计是锂电池管理系统中必不可少的一部分。大部分基于数据驱动的锂电池SOH估计方法由于计算量较大,难以在锂电池管理系统微控制器中在线使用。因此,文中提出基于新型健康特征的锂电池SOH快速估计方法。首先,分析锂电池的充电数据,基于已有的锂电池恒流充电过程的等压升时间(time interval of an equal charging voltage difference,TIECVD)健康特征,构建一个同充电电压起点、同充电时间间隔的健康特征。其次,文中提出基于新型健康特征和多元线性回归(multiple linear regression,MLR)的锂电池SOH快速估计方法。然后,通过对牛津锂电池老化数据集和美国国家航空航天局锂电池随机使用数据集进行分析,以0.01 V步长遍历恒流充电电压区间,以皮尔逊相关系数最大为目标,确定锂电池最优的起始电压。最后,考虑不同充电时间间隔,利用最小二乘(ordinary least squares,OLS)回归分析方法,确定锂电池最优充电时间间隔参数。使用2个数据集划分的训练集建立MLR模型,使用2个数据集划分的验证集对文中方法进行验证。实验结果表明,文中基于新型健康特征方法可极大缩减计算量,并且可以在保障预测精度的前提下实现锂电池SOH的快速估计。展开更多
基金Supported by National Natural Science Foundation of China(Grant Nos.52325501,U24B2047).
文摘Current research on robot calibration can be roughly classified into two categories,and both of them have certain inherent limitations.Model-based methods are difficult to model and compensate the pose errors arising from configuration-dependent geometric and non-geometric source errors,whereas the accuracy of data-driven methods depends on a large amount of measurement data.Using a 5-DOF(degrees of freedom)hybrid machining robot as an exemplar,this study presents a model data-driven approach for the calibration of robotic manipulators.An f-DOF realistic robot containing various source errors is visualized as a 6-DOF fictitious robot having error-free parameters,but erroneous actuated/virtual joint motions.The calibration process essentially involves four steps:(1)formulating the linear map relating the pose error twist to the joint motion errors,(2)parameterizing the joint motion errors using second-order polynomials in terms of nominal actuated joint variables,(3)identifying the polynomial coefficients using the weighted least squares plus principal component analysis,and(4)compensating the compensable pose errors by updating the nominal actuated joint variables.The merit of this approach is that it enables compensation of the pose errors caused by configuration-dependent geometric and non-geometric source errors using finite measurement configurations.Experimental studies on a prototype machine illustrate the effectiveness of the proposed approach.
基金Project(2012-Z05)supported by the State Key Laboratory of Robotics,ChinaProjects(61233013,51179183)supported by the National Natural Science Foundation of China
文摘Wave driven unmanned surface vehicle(WUSV) is a new concept ocean robot drived by wave energy and solar energy,and it is very suitable for the vast ocean observations with incomparable endurance.Its dynamic modeling is very important because it is the theoretical foundation for further study in the WUSV motion control and efficiency analysis.In this work,the multibody system of WUSV was described based on D-H approach.Then,the driving principle was analyzed and the dynamic model of WUSV in longitudinal profile is established by Lagrangian mechanics.Finally,the motion simulation of WUSV and comparative analysis are completed by setting different inputs of sea state.Simulation results show that the WUSV dynamic model can correctly reflect the WUSV longitudinal motion process,and the results are consistent with the wave theory.
文摘There are several software process models that have been proposed and are based on task involved in developing and maintaining software product. The large number of software projects not meeting their expectation in terms of functionality, cost, delivery schedule and effective project management appears to be lacking. In this paper, we present a new software fusion process model, which depicts the essential phases of a software project from initiate stage until the product is retired. Fusion is component based software process model, where each component implements a problem solving model. This approach reduces the risk associated with cost and time, as these risks will be limited to a component only and ensure the overall quality of software system by considering the changing requirements of customer, risk assessment, identification, evaluation and composition of relative concerns at each phase of development process.
文摘锂电池健康状态(state of health,SOH)的在线估计是锂电池管理系统中必不可少的一部分。大部分基于数据驱动的锂电池SOH估计方法由于计算量较大,难以在锂电池管理系统微控制器中在线使用。因此,文中提出基于新型健康特征的锂电池SOH快速估计方法。首先,分析锂电池的充电数据,基于已有的锂电池恒流充电过程的等压升时间(time interval of an equal charging voltage difference,TIECVD)健康特征,构建一个同充电电压起点、同充电时间间隔的健康特征。其次,文中提出基于新型健康特征和多元线性回归(multiple linear regression,MLR)的锂电池SOH快速估计方法。然后,通过对牛津锂电池老化数据集和美国国家航空航天局锂电池随机使用数据集进行分析,以0.01 V步长遍历恒流充电电压区间,以皮尔逊相关系数最大为目标,确定锂电池最优的起始电压。最后,考虑不同充电时间间隔,利用最小二乘(ordinary least squares,OLS)回归分析方法,确定锂电池最优充电时间间隔参数。使用2个数据集划分的训练集建立MLR模型,使用2个数据集划分的验证集对文中方法进行验证。实验结果表明,文中基于新型健康特征方法可极大缩减计算量,并且可以在保障预测精度的前提下实现锂电池SOH的快速估计。
