This study deals with a robot manipulator for yarn bobbin handling in the cotton yarns lattice distortion modification system.The aim is to achieve an operation of yarn bobbin handling with minimal execution time,ener...This study deals with a robot manipulator for yarn bobbin handling in the cotton yarns lattice distortion modification system.The aim is to achieve an operation of yarn bobbin handling with minimal execution time,energy consumption and jerk in motion together.The placement of the robot,in relation to the yarn bobbin stations,is also optimized in conjunction of trajectory optimization.Three possible techniques for building the handling traj'ectory were considered:the quaternion spherical linear interpolation in Cartesian space,the quintic polynomial spline and quintic B-spline in joint space.The genetic algorithm(GA) was used to optimize the trajectories of the robot,with a penalty function to handle nonlinear constraints associated in the robot motion.Two simulations of the optimal trajectory in joint space and the placement of robot were carried out and the results obtained were presented and discussed.It is concluded that the quintic polynomial spline constructs a better trajectory in joint space and the proper placement of robot makes better performance.展开更多
电网故障处置预案区域差异化明显且实体嵌套复杂,仅凭实体类型识别难以准确地将其结构化。提出一种基于通用信息抽取(universal information extraction,UIE)框架的故障处置预案实体和事件识别方法。首先,提出基于句法分析的故障处置预...电网故障处置预案区域差异化明显且实体嵌套复杂,仅凭实体类型识别难以准确地将其结构化。提出一种基于通用信息抽取(universal information extraction,UIE)框架的故障处置预案实体和事件识别方法。首先,提出基于句法分析的故障处置预案实体标记方法,生成故障处置预案标记实体;然后,接入ERNIE 3.0编码及双指针解码模块替代UIE框架中生成式模型,通过调节超参数训练故障处置预案实体与实体标签在高维空间的映射关系及实体嵌套关系;最后,基于句法结构组合嵌套复杂的预案实体得到预案事件。通过不同区域电网调控中心预案验证,与其他算法相比,所提方法对故障处置预案具有较高的实体和事件识别精度,能够准确识别预案中故障处置策略和恢复策略,为故障情况下区域电网弹性提升提供支撑。展开更多
基金National Key Technology Support Program,China(No.2012BAF13B03)Program for Changjiang Scholars and Innovative Research Team in University,China(No.IRT1220)
文摘This study deals with a robot manipulator for yarn bobbin handling in the cotton yarns lattice distortion modification system.The aim is to achieve an operation of yarn bobbin handling with minimal execution time,energy consumption and jerk in motion together.The placement of the robot,in relation to the yarn bobbin stations,is also optimized in conjunction of trajectory optimization.Three possible techniques for building the handling traj'ectory were considered:the quaternion spherical linear interpolation in Cartesian space,the quintic polynomial spline and quintic B-spline in joint space.The genetic algorithm(GA) was used to optimize the trajectories of the robot,with a penalty function to handle nonlinear constraints associated in the robot motion.Two simulations of the optimal trajectory in joint space and the placement of robot were carried out and the results obtained were presented and discussed.It is concluded that the quintic polynomial spline constructs a better trajectory in joint space and the proper placement of robot makes better performance.
文摘电网故障处置预案区域差异化明显且实体嵌套复杂,仅凭实体类型识别难以准确地将其结构化。提出一种基于通用信息抽取(universal information extraction,UIE)框架的故障处置预案实体和事件识别方法。首先,提出基于句法分析的故障处置预案实体标记方法,生成故障处置预案标记实体;然后,接入ERNIE 3.0编码及双指针解码模块替代UIE框架中生成式模型,通过调节超参数训练故障处置预案实体与实体标签在高维空间的映射关系及实体嵌套关系;最后,基于句法结构组合嵌套复杂的预案实体得到预案事件。通过不同区域电网调控中心预案验证,与其他算法相比,所提方法对故障处置预案具有较高的实体和事件识别精度,能够准确识别预案中故障处置策略和恢复策略,为故障情况下区域电网弹性提升提供支撑。
