Various control systems for a robotic excavator named LUCIE (Lancaster University Computerized and Intelligent Excavator),were investigated. The excavator is being developed to dig trenches autonomously. One stumbling...Various control systems for a robotic excavator named LUCIE (Lancaster University Computerized and Intelligent Excavator),were investigated. The excavator is being developed to dig trenches autonomously. One stumbling block is the achievement of adequate,accurate,quick and smooth movement under automatic control. Here,both classical and modern approaches are considered,including proportional-integral-derivative (PID) control tuned by conventional Zigler-Nichols rules,linear proportional-integral-plus (PIP) control,and a novel nonlinear PIP controller based on a state-dependent parameter (SDP) model structure,in which the parameters are functionally dependent on other variables in the system. Implementation results for the excavator joint arms control demonstrate that SDP-PIP controller provides the improved performance with fast,smooth and accurate response in comparison with both PID and linearized PIP control.展开更多
The primary focus of this study is to investigate the control strategies of a hybrid system used in hydraulic excavators. First, the structure and evaluation target of hybrid hydraulic excavators are analyzed. Then th...The primary focus of this study is to investigate the control strategies of a hybrid system used in hydraulic excavators. First, the structure and evaluation target of hybrid hydraulic excavators are analyzed. Then the dynamic system model including batteries, motor and engine is built as the simulation environment to obtain control results. A so-called multi-work-point dynamic control strategy, which has both closed-loop speed PI (proportion integral) control and direct torque control, is proposed and studied in the simulation model. Simulation results indicate that the hybrid system with this strategy can meet the power demand and achieve better system stability and higher fuel efficiency.展开更多
In order to find a feasible way to control excavator’s arm and realize autonomous excavation, the dynamic model for the boom of excavator’s arm which was regarded as a planar manipulator with three degrees of freedo...In order to find a feasible way to control excavator’s arm and realize autonomous excavation, the dynamic model for the boom of excavator’s arm which was regarded as a planar manipulator with three degrees of freedom was constructed with Lagrange equation. The excavator was retrofitted with electrohydraulic proportional valves, associated sensors (three inclinometers) and a computer control system (the motion controller of EPEC). The full nonlinear mathematic model of electrohydraulic proportional system was achieved. A discontinuous projection based on an adaptive robust controller to approximate the nonlinear gain coefficient of the valve was presented to deal with the nonlinearity of the whole system, the error was dealt with by robust feedback and an adaptive robust controller was designed. The experiment results of the boom motion control show that, using the controller, good performance for tracking can be achieved, and the peak tracking error of boom angles is less than 4°.展开更多
Consider the design and implementation of an electro-hydraulic control system for a robotic excavator, namely the Lancaster University computerized and intelligent excavator (LUCIE). The excavator was developed to aut...Consider the design and implementation of an electro-hydraulic control system for a robotic excavator, namely the Lancaster University computerized and intelligent excavator (LUCIE). The excavator was developed to autonomously dig trenches without human intervention. One stumbling block is the achievement of adequate, accurate, quick and smooth movement under automatic control, which is difficult for traditional control algorithm, e.g. PI/PID. A gain scheduling design, based on the true digital proportional-integral-plus (PIP) control methodology, was utilized to regulate the nonlinear joint dynamics. Simulation and initial field tests both demonstrated the feasibility and robustness of proposed technique to the uncertainties of parameters, time delay and load disturbances, with the excavator arm directed along specified trajectories in a smooth, fast and accurate manner. The tracking error magnitudes for oblique straight line and horizontal straight line are less than 20 mm and 50 mm, respectively, while the velocity reaches 9 m/min.展开更多
In southwest of China, landslide reactivation caused by excavation has caused huge property and human losses, and posed severely threaten to the construction and operation of the man-made linear structures. A reactiva...In southwest of China, landslide reactivation caused by excavation has caused huge property and human losses, and posed severely threaten to the construction and operation of the man-made linear structures. A reactivated landslide is a complex process. The engineering practices have shown that a correct understanding of the reactivated mechanism of an ancient giant landslide is significant for the landslide mitigation. In this paper, a case study of the ancient Badu landslide that underwent multiple reactivations during the construction of Nanning-Kunming railway was discussed. The landslide characteristics are described and the reactivated features and progressive failure of the landslide are revealed. The reactivated mechanism of the landslide is analyzed by use of geological process analysis method and is simulated using the 3D FEM (finite element method). At last, the reactivated mechanism mode of Badu giant landslide is put forward, namely "creeping-tensile cracking-shear breaking with zoning and grading features". The understanding of this kind of reactivated mechanism had helped engineers to take efficient and economic mitigation measures to stabilize the landslide.展开更多
This paper deals with fuzzy intelligent position control of electro-hydraulic activated robotic excavator for the control of boom, arm and bucket axes. Intelligent control systems are required to overcome unde- sirabl...This paper deals with fuzzy intelligent position control of electro-hydraulic activated robotic excavator for the control of boom, arm and bucket axes. Intelligent control systems are required to overcome unde- sirable stick-slip motion, limit cycles and oscillations. Models of electro-hydraulic servo controlled front end loader excavators are highly nonlinear. The nonlinear model accounts for fluid flow rate of valve, pump hydraulics, and friction forces. The friction forces are modelled by Coulomb, viscous and Stribeck function. Interval Type-2 Fuzzy Logic Controller (IT2FLC) is used to study the time-domain position responses of axes in the presence of external applied load. It has the ability to control the position of each of the three axes with minimum actuator position errors. Models presented are accurate and study the dynamics of the actuator and load. To improve the transient behaviour of the robotic excavator, we elim- inated iitter of the bucket movement in the presence of nonlinearities.展开更多
Objective: Excavate the medication rule of traditional Chinese medicine in the treatment of prostate cancer, and predicting the biomolecular level mechanism of high-frequency drug compatibility. Methods: Relevant docu...Objective: Excavate the medication rule of traditional Chinese medicine in the treatment of prostate cancer, and predicting the biomolecular level mechanism of high-frequency drug compatibility. Methods: Relevant documents in CNKI, Wanfang Medical Network and VIP Chinese Biomedical Periodical Database Pubmed, EMbase were collected and collated systematically. Frequency statistics, association rule analysis and new party mining were carried out using TCMISSV2.5. BATMAN-TCM was used to analyze the interaction relationship and related pathways between high-frequency drug targets. Results: Huangqi (Astragalus membranaceus) was the single drug most used of the 102prescriptions included in the standard. There are 6 pairs of combinations with high confidence in association rule analysis. System entropy cluster analysis resulted in 20 core drug combinations and 9 new prescriptions. Through KEGG pathway analysis of Huangqi, Fuling (Poria cocos), Gancao (Glycyrrhiza uralensis) and Dihuang (Rehmannia glutinosa), it was found that the number of potential targets of the neural active ligand receptor rented pathway and purine metabolism pathway was the largest. Conclusions: Prostate cancer is mainly treated with deficiency-tonifying drugs, which are combined with drugs for promoting blood circulation, removing blood stasis, clearing heat, promoting diuresis, detoxifying and resolving hard mass. The mechanism of action of high-frequency traditional Chinese medicine may be realized by interfering with the neuroactive ligand receptor interaction pathway and purine metabolism pathway.展开更多
The determination of digging resistance is of decisive importance when evaluating the mining process of digging-wheel excavators. Methodic of measuring and determinant relations (formulae) are different in various c...The determination of digging resistance is of decisive importance when evaluating the mining process of digging-wheel excavators. Methodic of measuring and determinant relations (formulae) are different in various countries and by the comparison of them, underlying data for complex and objective evaluation using the knowledge from the field of rock disintegration can be obtained. In virtue of analysis of many measurements in situ, rather high specific power consumption with a wheel of excavator has been proved. What was the criterion for evaluation was the power consumption related to the volume of a rock disintegrated per unit time. From theoretical analyses, possibilities of eliminating a negative influence of the human factor upon the mining process and thus possibilities of optimum utilizing the power input of a wheel drive follow.展开更多
OBJECTIVE:To study and analyze the etiology and pathogenesis,diagnosis and prescription for cases of diabetic nephropathy(DN) treated by Professor Zhongying Zhou(Prof.Zhou) with the help of dada mining technique,so as...OBJECTIVE:To study and analyze the etiology and pathogenesis,diagnosis and prescription for cases of diabetic nephropathy(DN) treated by Professor Zhongying Zhou(Prof.Zhou) with the help of dada mining technique,so as to inherit his clinical experience and academic thoughts.METHODS:After pretreatment of the medical record information,statistical software SPSS 13.0 was used to analyze and process the standardized data using the descriptive analysis,cluster analysis and association rules.RESULTS:Ninety-four entries derived from Traditional Chinese Medicine(TCM) four-diagnostic information were selected.Through data mining,the highest frequency was yellow-thin-greasy tongue coating,followed by dark tongue,and then by thready-slippery pulse.The main self-conscious symptoms were limb numbness,dry mouth,frequent micturition,etc.With respect to pathogenesis,the etiology related to kidney reached 73.46%.The frequency of pathological factors for deficiency,blood stasis,heat,dampness,phlegm and dryness were 137.65%,80.25%,78.40%,48.77%,21.60%,and 14.20% respectively.A total of 236 kinds of herbs were used 2913 person times,averaging 17.98 herbs per prescription.CONCLUSION:The pathological location of DN is in the kidney.The pathogenesis of the disease is deficiency in origin and excess in superficiality,the former of which include deficiency of the liver and kidney,and deficiency of both Qi and Yin.The main pathological factors are blood stasis,heat,dampness,phlegm,and dryness;and they act upon each other to form the complex pathogenesis in terms of blood stasis-heat,dampness-heat,phlegm-heat,and dryness-heat.All the above factors are always crucial in the aggravation of DN throughout the whole course of its pathological evolution.展开更多
基金Work supported by the Lancaster University,UK and Jiangsu Provincial Laboratory of Advanced Robotics,SooChow University,ChinaProject(BK2009509) supported by the Natural Science Foundation of Jiangsu Province,China+1 种基金Project(K5117827) supported by the Scientific Research Foundation for the Returned Scholars,Ministry of Education of ChinaProject(Q3117918) supported by the Scientific Research Foundation for Young Teachers of Soochow University,China
文摘Various control systems for a robotic excavator named LUCIE (Lancaster University Computerized and Intelligent Excavator),were investigated. The excavator is being developed to dig trenches autonomously. One stumbling block is the achievement of adequate,accurate,quick and smooth movement under automatic control. Here,both classical and modern approaches are considered,including proportional-integral-derivative (PID) control tuned by conventional Zigler-Nichols rules,linear proportional-integral-plus (PIP) control,and a novel nonlinear PIP controller based on a state-dependent parameter (SDP) model structure,in which the parameters are functionally dependent on other variables in the system. Implementation results for the excavator joint arms control demonstrate that SDP-PIP controller provides the improved performance with fast,smooth and accurate response in comparison with both PID and linearized PIP control.
基金Project (No. 2006C11148) supported by the ScienceTechnology Project of Zhejiang Province, China
文摘The primary focus of this study is to investigate the control strategies of a hybrid system used in hydraulic excavators. First, the structure and evaluation target of hybrid hydraulic excavators are analyzed. Then the dynamic system model including batteries, motor and engine is built as the simulation environment to obtain control results. A so-called multi-work-point dynamic control strategy, which has both closed-loop speed PI (proportion integral) control and direct torque control, is proposed and studied in the simulation model. Simulation results indicate that the hybrid system with this strategy can meet the power demand and achieve better system stability and higher fuel efficiency.
基金Project(2003AA430200) supported by the National Hi-Tech Research and Development Program(863) of China
文摘In order to find a feasible way to control excavator’s arm and realize autonomous excavation, the dynamic model for the boom of excavator’s arm which was regarded as a planar manipulator with three degrees of freedom was constructed with Lagrange equation. The excavator was retrofitted with electrohydraulic proportional valves, associated sensors (three inclinometers) and a computer control system (the motion controller of EPEC). The full nonlinear mathematic model of electrohydraulic proportional system was achieved. A discontinuous projection based on an adaptive robust controller to approximate the nonlinear gain coefficient of the valve was presented to deal with the nonlinearity of the whole system, the error was dealt with by robust feedback and an adaptive robust controller was designed. The experiment results of the boom motion control show that, using the controller, good performance for tracking can be achieved, and the peak tracking error of boom angles is less than 4°.
基金Project(K5117827)supported by Scientific Research Foundation for the Returned Overseas Chinese ScholarsProject(08KJB510021)supported by the Natural Science Research Council of Jiangsu Province,China+1 种基金Project(Q3117918)supported by Scientific Research Foundation for Young Teachers of Soochow University,ChinaProject(60910001)supported by National Natural Science Foundation of China
文摘Consider the design and implementation of an electro-hydraulic control system for a robotic excavator, namely the Lancaster University computerized and intelligent excavator (LUCIE). The excavator was developed to autonomously dig trenches without human intervention. One stumbling block is the achievement of adequate, accurate, quick and smooth movement under automatic control, which is difficult for traditional control algorithm, e.g. PI/PID. A gain scheduling design, based on the true digital proportional-integral-plus (PIP) control methodology, was utilized to regulate the nonlinear joint dynamics. Simulation and initial field tests both demonstrated the feasibility and robustness of proposed technique to the uncertainties of parameters, time delay and load disturbances, with the excavator arm directed along specified trajectories in a smooth, fast and accurate manner. The tracking error magnitudes for oblique straight line and horizontal straight line are less than 20 mm and 50 mm, respectively, while the velocity reaches 9 m/min.
文摘In southwest of China, landslide reactivation caused by excavation has caused huge property and human losses, and posed severely threaten to the construction and operation of the man-made linear structures. A reactivated landslide is a complex process. The engineering practices have shown that a correct understanding of the reactivated mechanism of an ancient giant landslide is significant for the landslide mitigation. In this paper, a case study of the ancient Badu landslide that underwent multiple reactivations during the construction of Nanning-Kunming railway was discussed. The landslide characteristics are described and the reactivated features and progressive failure of the landslide are revealed. The reactivated mechanism of the landslide is analyzed by use of geological process analysis method and is simulated using the 3D FEM (finite element method). At last, the reactivated mechanism mode of Badu giant landslide is put forward, namely "creeping-tensile cracking-shear breaking with zoning and grading features". The understanding of this kind of reactivated mechanism had helped engineers to take efficient and economic mitigation measures to stabilize the landslide.
文摘This paper deals with fuzzy intelligent position control of electro-hydraulic activated robotic excavator for the control of boom, arm and bucket axes. Intelligent control systems are required to overcome unde- sirable stick-slip motion, limit cycles and oscillations. Models of electro-hydraulic servo controlled front end loader excavators are highly nonlinear. The nonlinear model accounts for fluid flow rate of valve, pump hydraulics, and friction forces. The friction forces are modelled by Coulomb, viscous and Stribeck function. Interval Type-2 Fuzzy Logic Controller (IT2FLC) is used to study the time-domain position responses of axes in the presence of external applied load. It has the ability to control the position of each of the three axes with minimum actuator position errors. Models presented are accurate and study the dynamics of the actuator and load. To improve the transient behaviour of the robotic excavator, we elim- inated iitter of the bucket movement in the presence of nonlinearities.
基金the National Natural Science Foundation of Hebei (No.H2018201179)Hebei University of Science and Technology (No. QN2016077)Health and Family Planning Commission of Hebei (No. 20160388).
文摘Objective: Excavate the medication rule of traditional Chinese medicine in the treatment of prostate cancer, and predicting the biomolecular level mechanism of high-frequency drug compatibility. Methods: Relevant documents in CNKI, Wanfang Medical Network and VIP Chinese Biomedical Periodical Database Pubmed, EMbase were collected and collated systematically. Frequency statistics, association rule analysis and new party mining were carried out using TCMISSV2.5. BATMAN-TCM was used to analyze the interaction relationship and related pathways between high-frequency drug targets. Results: Huangqi (Astragalus membranaceus) was the single drug most used of the 102prescriptions included in the standard. There are 6 pairs of combinations with high confidence in association rule analysis. System entropy cluster analysis resulted in 20 core drug combinations and 9 new prescriptions. Through KEGG pathway analysis of Huangqi, Fuling (Poria cocos), Gancao (Glycyrrhiza uralensis) and Dihuang (Rehmannia glutinosa), it was found that the number of potential targets of the neural active ligand receptor rented pathway and purine metabolism pathway was the largest. Conclusions: Prostate cancer is mainly treated with deficiency-tonifying drugs, which are combined with drugs for promoting blood circulation, removing blood stasis, clearing heat, promoting diuresis, detoxifying and resolving hard mass. The mechanism of action of high-frequency traditional Chinese medicine may be realized by interfering with the neuroactive ligand receptor interaction pathway and purine metabolism pathway.
文摘The determination of digging resistance is of decisive importance when evaluating the mining process of digging-wheel excavators. Methodic of measuring and determinant relations (formulae) are different in various countries and by the comparison of them, underlying data for complex and objective evaluation using the knowledge from the field of rock disintegration can be obtained. In virtue of analysis of many measurements in situ, rather high specific power consumption with a wheel of excavator has been proved. What was the criterion for evaluation was the power consumption related to the volume of a rock disintegrated per unit time. From theoretical analyses, possibilities of eliminating a negative influence of the human factor upon the mining process and thus possibilities of optimum utilizing the power input of a wheel drive follow.
基金Supported by Jiangsu Province College Natural Science Research Project (No. 09KJD360001)Scientific and Technological Innovation and Achievements Transformation Special Projects of Jiangsu Province (BM2009903)
文摘OBJECTIVE:To study and analyze the etiology and pathogenesis,diagnosis and prescription for cases of diabetic nephropathy(DN) treated by Professor Zhongying Zhou(Prof.Zhou) with the help of dada mining technique,so as to inherit his clinical experience and academic thoughts.METHODS:After pretreatment of the medical record information,statistical software SPSS 13.0 was used to analyze and process the standardized data using the descriptive analysis,cluster analysis and association rules.RESULTS:Ninety-four entries derived from Traditional Chinese Medicine(TCM) four-diagnostic information were selected.Through data mining,the highest frequency was yellow-thin-greasy tongue coating,followed by dark tongue,and then by thready-slippery pulse.The main self-conscious symptoms were limb numbness,dry mouth,frequent micturition,etc.With respect to pathogenesis,the etiology related to kidney reached 73.46%.The frequency of pathological factors for deficiency,blood stasis,heat,dampness,phlegm and dryness were 137.65%,80.25%,78.40%,48.77%,21.60%,and 14.20% respectively.A total of 236 kinds of herbs were used 2913 person times,averaging 17.98 herbs per prescription.CONCLUSION:The pathological location of DN is in the kidney.The pathogenesis of the disease is deficiency in origin and excess in superficiality,the former of which include deficiency of the liver and kidney,and deficiency of both Qi and Yin.The main pathological factors are blood stasis,heat,dampness,phlegm,and dryness;and they act upon each other to form the complex pathogenesis in terms of blood stasis-heat,dampness-heat,phlegm-heat,and dryness-heat.All the above factors are always crucial in the aggravation of DN throughout the whole course of its pathological evolution.