4-RRR冗余并联机器人驱动力优化

为了在机构中实施内力控制,提出了一种基于功率优化的驱动力分配策略。首先,提出一种冗余平面并联机器人运动学和动力学分析的方法。用螺旋理论推导了机构雅可比矩阵,基于牛顿-欧拉公式计算主元点的惯性力螺旋,用虚功原理构建动力学公式。然后,基于力优化,分别分析了4-RRR机构和3-RRR机构的驱动力,比较结果表明4-RRR的驱动力峰值有所下降。最后,基于功率优化,对4-RRR的内力和驱动力进行优化,得到了机构内力和驱动力的变化规律。

浅谈高职院校工业机器人应用技术人才培养

随着人力成本的增加和＂工业4.0＂的推进,工业机器人应用技术人才需求旺盛而急迫。本文根据工业机器人应用技术人才的岗位要求,提出了工业机器人应用技术师资队伍培养方法和途径,并提出了工业机器人应用技术人才理论及实践能力培养方法。

并联机器人支链结构的解析识别

提出了一种基于螺旋理论的少自由度并联机器人机构支链结构的解析识别方法,按照对并联机器人动平台运动的要求,确定对动平台的约束方式,并按照特定的约束识别对应支链螺旋系的基螺旋,通过基螺旋的线性组合确定转动副和移动副的螺旋表达式,进而根据有限运动条件列举出所有满足约束条件的支链结构.

机械式挖掘机建模及动力学分析

利用机器人理论和方法对机械式挖掘机进行建模和动力学研究。首先根据WS-005机械式挖掘机的结构及运动特性,采用机器人建模方法,建立了挖掘机模型,求出其运动学方程;然后结合工程机械作业特点,探讨了挖掘轨迹规划的方法,并给出挖掘过程中的规划结果;最后运用拉格朗日法求出其动力学方程,并分析了挖掘过程中所受的外力,进而给出该过程中动力学结果,为下一步机械式挖掘机的智能控制提供了重要依据。

Research on adsorption mechanism of wall climbing robots based on internally balanced theory

The internally balanced theory proposed by the Japanese researchers,solved the contradiction between adsorption ability and moving capability of the permanent magnetic adsorption mechanism.However,it still has some problems when applied to wall climbing robots.This paper analyzes and improves this theory,and the improved internally balanced theory satisfies the requirements of the adsorption mechanism significantly.Finally,a practical prototype is proposed based on this method,and both the analysis using ANSYS and the experiment results justify the design validity.

Design of an Adaptive Controller for Dive-plane Control of a Torpedo-shaped AUV

Underwater vehicles operating in complex ocean conditions present difficulties in determining accurate dynamic models. To guarantee robustness against parameter uncertainty, an adaptive controller for dive-plane control, based on Lyapunov theory and back-stepping techniques, was proposed. In the closed-loop system, asymptotic tracking of the reference depth and pitch angle trajectories was accomplished. Simulation results were presented which show effective dive-plane control in spite of the uncertainties in the system parameters.

Design of ADS-B Simulator

In this paper, the ADS-B （automatic dependent surveillance-broadcast） used for manned aircrafts is chosen for aSee-and-Avoid sensor of UAV （unmanned aerial vehicle）, then GDL90 type is selected among three types of ADS-B. The serialcommunication data protocol which communicates between GDL90 and control panel of GDL90 is analyzed and tailored for theinterface of the GDL90 simulator here. This ADS-B （GDL90） simulator sends intruder information to FCC （flight control computer）of UAV for collision avoidance function.

The kinematics modeling based on Spinor theory for CT-guided hybrid robot

This paper focused on a simplified method for solving the hybrid robot kinematics in CT-guided （computerized tomography, CT） surgery. By position constraint introduced, the hybrid robot can be transformed as a redundant serial 7-DOF robot. The forward displacement calculation was developed based on the product-of-exponential formula （POE）. Because of the kinematics complexity of the hybrid and redundant robot, the combination technique of Ulrich two-step iteration method and paul variables detachment method （UTI-PVD） was introduced to fulfill the inverse kinematics of redundant robot, the novelty of which lay in the flexibility of various robots structures and in high calculation efficiency for realtime control. The process of solving the inverse displacement was analyzed. The UTI-PVD method can be applicable to kinematics of many robots, especially for redundant robots with more than 6DOF. The kinematics simulation was provided, and robot dexterity analysis was presented. The results indicated that the hybrid robot could implement the minimally invasive CT-guided surgery.

Vector modeling of robotic helical milling hole movement and theoretical analysis on roughness of hole surface

To avoid the machine problems of excessive axial force, complex process flow and frequent tool changing during robotic drilling holes, a new hole-making technology (i.e., helical milling hole) was introduced for designing a new robotic helical milling hole system, which could further improve robotic hole-making ability in airplane digital assembly. After analysis on the characteristics of helical milling hole, advantages and limitations of two typical robotic helical milling hole systems were summarized. Then, vector model of helical milling hole movement was built on vector analysis method. Finally, surface roughness calculation formula was deduced according to the movement principle of helical milling hole, then the influence of main technological parameters on surface roughness was analyzed. Analysis shows that theoretical surface roughness of hole becomes poor with the increase of tool speed ratio and revolution radius. Meanwhile, the roughness decreases according to the increase of tool teeth number. The research contributes greatly to the construction of roughness prediction model in helical milling hole.

Road boundary estimation to improve vehicle detection and tracking in UAV video

Video processing is one challenge in collecting vehicle trajectories from unmanned aerial vehicle(UAV) and road boundary estimation is one way to improve the video processing algorithms. However, current methods do not work well for low volume road, which is not well-marked and with noises such as vehicle tracks. A fusion-based method termed Dempster-Shafer-based road detection(DSRD) is proposed to address this issue. This method detects road boundary by combining multiple information sources using Dempster-Shafer theory(DST). In order to test the performance of the proposed method, two field experiments were conducted, one of which was on a highway partially covered by snow and another was on a dense traffic highway. The results show that DSRD is robust and accurate, whose detection rates are 100% and 99.8% compared with manual detection results. Then, DSRD is adopted to improve UAV video processing algorithm, and the vehicle detection and tracking rate are improved by 2.7% and 5.5%,respectively. Also, the computation time has decreased by 5% and 8.3% for two experiments, respectively.

HGR 2.0: A New Rule Induction Algorithm

This paper presents a new inductive learning algorithm, HGR (Version 2.0), based on the newly-developed extension matrix theory. The basic idea is to partition the positive examples of a specific class in a given example set into consistent groups, and each group corresponds to a consistent rule which covers all the examples in this group and none of the negative examples. Then a performance comparison of the HGR algorithm with other inductive algorithms, such as C4.5, OC1, HCV and SVM, is given in the paper. The authors not only selected 15 databases from the famous UCI machine learning repository, but also considered a real world problem. Experimental results show that their method achieves higher accuracy and fewer rules as compared with other algorithms.

Artificial intelligence in drug design

Thanks to the fast improvement of the computing power and the rapid development of the computational chemistry and biology,the computer-aided drug design techniques have been successfully applied in almost every stage of the drug discovery and development pipeline to speed up the process of research and reduce the cost and risk related to preclinical and clinical trials.Owing to the development of machine learning theory and the accumulation of pharmacological data, the artificial intelligence(AI) technology, as a powerful data mining tool, has cut a figure in various fields of the drug design, such as virtual screening,activity scoring, quantitative structure-activity relationship(QSAR) analysis, de novo drug design, and in silico evaluation of absorption, distribution, metabolism, excretion and toxicity(ADME/T) properties. Although it is still challenging to provide a physical explanation of the AI-based models, it indeed has been acting as a great power to help manipulating the drug discovery through the versatile frameworks. Recently, due to the strong generalization ability and powerful feature extraction capability,deep learning methods have been employed in predicting the molecular properties as well as generating the desired molecules,which will further promote the application of AI technologies in the field of drug design.

SYNCHRONIZED PATH FOLLOWING CONTROL OF MULTIPLE HOMOGENOUS UNDERACTUATED AUVS

This paper addresses the problem of synchronized path following of multiple homogenous underaetuated autonomous underwater vehicles （AUVs）. The dedicated control laws are categorized into two envelopes： One is steering individual underwater vehicle to track along predefined path, and the other is ensuring tracked paths of multiple vehicles to be synchronized, by means of decentralized speed adaption under the constraints of multi-vehicle communication topology. With these two tasks formulation, geometric path following is built on Lyapunov theory and baekstepping techniques, while injecting helmsman behavior into classic individual path following control. Synchronization of path parameters are reached by using a mixture of tools from linear algebra, graph theory and nonlinear control theory. A simple but effective control design on direct inter-vehicle speed adaption with minimized communication variables, enables the multi-AUV systems to be synchronized and stabilized into an invariant manifold, and all speeds converge to desired assignments as a byproduct. Simulation results illustrate the performance of the synchronized path following control laws proposed.