During bipedal walking,it is critical to detect and adjust the robot postures by feedback control to maintain its normal state amidst multi-source random disturbances arising from some unavoidable uncertain factors.Th...During bipedal walking,it is critical to detect and adjust the robot postures by feedback control to maintain its normal state amidst multi-source random disturbances arising from some unavoidable uncertain factors.The radical basis function（RBF）neural network model of a five-link biped robot is established,and two certain disturbances and a randomly uncertain disturbance are then mixed with the optimal torques in the network model to study the performance of the biped robot by several evaluation indices and a specific Poincar′e map.In contrast with the simulations,the response varies as desired under optimal inputting while the output is fluctuating in the situation of disturbance driving.Simulation results from noise inputting also show that the dynamics of the robot is less sensitive to the disturbance of knee joint input of the swing leg than those of the other three joints,the response errors of the biped will be increasing with higher disturbance levels,and especially there are larger output fluctuations in the knee and hip joints of the swing leg.展开更多
A method was developed to realize quality evaluation on every weld-spot in resistance spot welding based on information processing of artificial intelligent. Firstly, the signals of welding current and welding voltage...A method was developed to realize quality evaluation on every weld-spot in resistance spot welding based on information processing of artificial intelligent. Firstly, the signals of welding current and welding voltage, as information source, were synchronously collected. Input power and dynamic resistance were selected as monitoring waveforms. Eight characteristic parameters relating to weld quality were extracted from the monitoring waveforms. Secondly, tensile-shear strength of the spot-welded joint was employed as evaluating target of weld quality. Through correlation analysis between every two parameters of characteristic vector, five characteristic parameters were reasonably selected to found a mapping model of weld quality estimation. At last, the model was realized by means of the algorithms of Radial Basic Function neural network and sample matrixes. The results showed validations by a satisfaction in evaluating weld quality of mild steel joint on-line in spot welding process.展开更多
基金supported by the Science Fund for Creative Research Groups of National Natural Science Foundation of China(51221004)the National Natural Science Foundation of China(11172260,11372270,and 51375434)+2 种基金the Higher School Specialized Research Fund for the Doctoral Program(20110101110016)the Science and technology project of Zhejiang Province(2013C31086)the Fundamental Research Funds forthe Central Universities of China(2013XZZX005)
文摘During bipedal walking,it is critical to detect and adjust the robot postures by feedback control to maintain its normal state amidst multi-source random disturbances arising from some unavoidable uncertain factors.The radical basis function（RBF）neural network model of a five-link biped robot is established,and two certain disturbances and a randomly uncertain disturbance are then mixed with the optimal torques in the network model to study the performance of the biped robot by several evaluation indices and a specific Poincar′e map.In contrast with the simulations,the response varies as desired under optimal inputting while the output is fluctuating in the situation of disturbance driving.Simulation results from noise inputting also show that the dynamics of the robot is less sensitive to the disturbance of knee joint input of the swing leg than those of the other three joints,the response errors of the biped will be increasing with higher disturbance levels,and especially there are larger output fluctuations in the knee and hip joints of the swing leg.
基金supported by National Natural Science Foundation of China (No.50275028)
文摘A method was developed to realize quality evaluation on every weld-spot in resistance spot welding based on information processing of artificial intelligent. Firstly, the signals of welding current and welding voltage, as information source, were synchronously collected. Input power and dynamic resistance were selected as monitoring waveforms. Eight characteristic parameters relating to weld quality were extracted from the monitoring waveforms. Secondly, tensile-shear strength of the spot-welded joint was employed as evaluating target of weld quality. Through correlation analysis between every two parameters of characteristic vector, five characteristic parameters were reasonably selected to found a mapping model of weld quality estimation. At last, the model was realized by means of the algorithms of Radial Basic Function neural network and sample matrixes. The results showed validations by a satisfaction in evaluating weld quality of mild steel joint on-line in spot welding process.
