Robotic fingers, which are the key parts of robot hand, are divided into two main kinds： dexterous fingers and under-actuated fingers. Although dexterous fingers are agile, they are too expensive. Under-actuated fing...Robotic fingers, which are the key parts of robot hand, are divided into two main kinds： dexterous fingers and under-actuated fingers. Although dexterous fingers are agile, they are too expensive. Under-actuated fingers can grasp objects self-adaptively, which makes them easy to control and low cost, on the contrary, under-actuated function makes fingers feel hard to grasp things agilely enough and make many gestures. For the purpose of designing a new finger which can grasp things dexterously, perform many gestures and feel easy to control and maintain, a concept called ＂gesture-changeable under-actuated＂ （GCUA） function is put forward. The GCUA function combines the advantages of dexterous fingers and under-actuated fingers： a pre-bending function is embedded into the under-actuated finger. The GCUA finger can not only perform self-adaptive grasping function, but also actively bend the middle joint of the finger. On the basis of the concept, a GCUA finger with 2 joints is designed, which is realized by the coordination of screw-nut transmission mechanism, flexible drawstring constraint and pulley-belt under-actuated mechanism. Principle analyses of its grasping and the design optimization of the GCUA finger are given. An important problem of how to stably grasp an object which is easy to glide is discussed. The force analysis on gliding object in grasping process is introduced in detail. A GCUA finger with 3 joints is developed. Many experiments of grasping different objects by of the finger were carried out. The experimental results show that the GCUA finger can effectively realize functions of pre-bending and self-adaptive grasping, the grasping processes are stable. The GCUA finger excels under-actuated fingers in dexterity and gesture actions and it is easier to control and cheaper than dexterous hands, becomes the third kinds of finger.展开更多
This paper addresses a major issue in planning the trajectories of under-actuated autonomous vehicles based on neurodynamic optimization.A receding-horizon vehicle trajectory planning task is formulated as a sequentia...This paper addresses a major issue in planning the trajectories of under-actuated autonomous vehicles based on neurodynamic optimization.A receding-horizon vehicle trajectory planning task is formulated as a sequential global optimization problem with weighted quadratic navigation functions and obstacle avoidance constraints based on given vehicle goal configurations.The feasibility of the formulated optimization problem is guaranteed under derived conditions.The optimization problem is sequentially solved via collaborative neurodynamic optimization in a neurodynamics-driven trajectory planning method/procedure.Simulation results with under-actuated unmanned wheeled vehicles and autonomous surface vehicles are elaborated to substantiate the efficacy of the neurodynamics-driven trajectory planning method.展开更多
在船舶大型化的发展以及港口资源日益紧张的趋势下,拖轮调度作为减少港口拥堵与节约港口资源的重要手段,成为当前亟待解决的问题。通过以拖轮空驶燃油成本与拖轮助航燃油成本为目标函数,构建多停泊基地条件下的多目标拖轮调度模型,提出...在船舶大型化的发展以及港口资源日益紧张的趋势下,拖轮调度作为减少港口拥堵与节约港口资源的重要手段,成为当前亟待解决的问题。通过以拖轮空驶燃油成本与拖轮助航燃油成本为目标函数,构建多停泊基地条件下的多目标拖轮调度模型,提出一种混合小生境灰狼算法(Hybrid Niche Grey Wolf Optimization,HNGWO)进行求解,针对拖轮调度问题的整数规划特点引入交叉修正更新策略,以加强算法的收敛性能,最后分别采用CPLEX、GA、PSO、GWO、HNGWO对多规模算例的求解结果进行对比分析。结果表明,HNGWO相比于GA、PSO的最优值平均优化比例可达5.07%,相比于GWO的收敛速度平均优化比例为13.23%,并输出中等规模下的收敛曲线与最优调度方案甘特图,直观展示了改进算法的求解效果与收敛速度,为提高港口通行效率与经济效益提供了参考方案。展开更多
This paper investigates fault tolerant attitude control theory and experiment for underactuated spacecraft with one reaction wheel completely broken and two others suffering actuator faults of partial loss of effectiv...This paper investigates fault tolerant attitude control theory and experiment for underactuated spacecraft with one reaction wheel completely broken and two others suffering actuator faults of partial loss of effectiveness or bias.A non-smooth robust adaptive fault tolerant control law is proposed under the zero-momentum and input saturation conditions.It shows that the available reaction wheels need to produce sufficient control torque for the fault tolerance.Such a new control method is implemented in a semi-physical simulation system of an air-bearing platform.Experimental results show the effectiveness of the proposed method in spacecraft practical engineering.展开更多
基金supported by National Natural Science Foundation of China (No. 50905093)National Hi-tech Research and Development Program of China(863 Program,Grant No.2007AA04Z258)
文摘Robotic fingers, which are the key parts of robot hand, are divided into two main kinds： dexterous fingers and under-actuated fingers. Although dexterous fingers are agile, they are too expensive. Under-actuated fingers can grasp objects self-adaptively, which makes them easy to control and low cost, on the contrary, under-actuated function makes fingers feel hard to grasp things agilely enough and make many gestures. For the purpose of designing a new finger which can grasp things dexterously, perform many gestures and feel easy to control and maintain, a concept called ＂gesture-changeable under-actuated＂ （GCUA） function is put forward. The GCUA function combines the advantages of dexterous fingers and under-actuated fingers： a pre-bending function is embedded into the under-actuated finger. The GCUA finger can not only perform self-adaptive grasping function, but also actively bend the middle joint of the finger. On the basis of the concept, a GCUA finger with 2 joints is designed, which is realized by the coordination of screw-nut transmission mechanism, flexible drawstring constraint and pulley-belt under-actuated mechanism. Principle analyses of its grasping and the design optimization of the GCUA finger are given. An important problem of how to stably grasp an object which is easy to glide is discussed. The force analysis on gliding object in grasping process is introduced in detail. A GCUA finger with 3 joints is developed. Many experiments of grasping different objects by of the finger were carried out. The experimental results show that the GCUA finger can effectively realize functions of pre-bending and self-adaptive grasping, the grasping processes are stable. The GCUA finger excels under-actuated fingers in dexterity and gesture actions and it is easier to control and cheaper than dexterous hands, becomes the third kinds of finger.
基金supported in part by the Research Grants Council of the Hong Kong Special Administrative Region of China(11202318,11203721)the Australian Research Council(DP200100700)。
文摘This paper addresses a major issue in planning the trajectories of under-actuated autonomous vehicles based on neurodynamic optimization.A receding-horizon vehicle trajectory planning task is formulated as a sequential global optimization problem with weighted quadratic navigation functions and obstacle avoidance constraints based on given vehicle goal configurations.The feasibility of the formulated optimization problem is guaranteed under derived conditions.The optimization problem is sequentially solved via collaborative neurodynamic optimization in a neurodynamics-driven trajectory planning method/procedure.Simulation results with under-actuated unmanned wheeled vehicles and autonomous surface vehicles are elaborated to substantiate the efficacy of the neurodynamics-driven trajectory planning method.
文摘在船舶大型化的发展以及港口资源日益紧张的趋势下,拖轮调度作为减少港口拥堵与节约港口资源的重要手段,成为当前亟待解决的问题。通过以拖轮空驶燃油成本与拖轮助航燃油成本为目标函数,构建多停泊基地条件下的多目标拖轮调度模型,提出一种混合小生境灰狼算法(Hybrid Niche Grey Wolf Optimization,HNGWO)进行求解,针对拖轮调度问题的整数规划特点引入交叉修正更新策略,以加强算法的收敛性能,最后分别采用CPLEX、GA、PSO、GWO、HNGWO对多规模算例的求解结果进行对比分析。结果表明,HNGWO相比于GA、PSO的最优值平均优化比例可达5.07%,相比于GWO的收敛速度平均优化比例为13.23%,并输出中等规模下的收敛曲线与最优调度方案甘特图,直观展示了改进算法的求解效果与收敛速度,为提高港口通行效率与经济效益提供了参考方案。
基金supported by the National Natural Science Foundation of China(Nos.62073165 and 62233009)the 111 Project,China(No.B20007).
文摘This paper investigates fault tolerant attitude control theory and experiment for underactuated spacecraft with one reaction wheel completely broken and two others suffering actuator faults of partial loss of effectiveness or bias.A non-smooth robust adaptive fault tolerant control law is proposed under the zero-momentum and input saturation conditions.It shows that the available reaction wheels need to produce sufficient control torque for the fault tolerance.Such a new control method is implemented in a semi-physical simulation system of an air-bearing platform.Experimental results show the effectiveness of the proposed method in spacecraft practical engineering.
