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A calibration and compensation method for an industrial robot with high accuracy harmonic reducers

Science China(Technological Sciences) 2024年第3期67卷 725-739页

作者： ZHAO Yiyang liu Xun CAO JiaBin liu JinYu XU yan yan WeiXin School of Mechanical Engineering Shanghai Jiao Tong UniversityShanghai 200240China College of Computer and Control Engineering Northeast Forestry UniversityHarbin 150040China

Industrial serial robots need high stiffness to keep absolute pose accuracy and meet the requirements in practical applications. However, the weak stiffness feature of robot joints and the payloads affected on robot end-effector, which will also increase the pose error of robot. Especially, the existing calibration methods often consider under no-payload condition without discussing the payload state. In this paper, we report a new industrial serial robot composed by a new harmonic reducer: Model-Y, based on high accuracy and high stiffness, and a kinematic parameter calibration algorithm which is based on a harmonic reducer forcedeformation model. To decrease the accuracy effects of payload, an iterative calibration method for kinematic parameters with payload situation was proposed. Simulation and experiments are conducted to verify the effectiveness of the proposed calibration method using the self-developed industrial serial robot. The results show a remarkably improved accuracy in absolute position and orientation with the robot's payload range. The position mean error has 70% decreased to 0.1 mm and the orientation mean error diminished to less than 0.01° after calibration with compensation. Additionally, online linear and circular tests are carried out to evaluate the position error of the robot during large-scale spatial and low-speed continuous movement. The accuracy is consistent with the previous calibration results, indicating the effectiveness and advantages of the proposed strategy in this article.

关键词： industrial serial robot Model-Y harmonic calibration stiffness model online compensation

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Fast measurement and prediction method for electromagnetic susceptibility of receiver

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Journal of Systems Engineering and Electronics 2024年第2期35卷 275-285页

作者： CHEN yan LU Zhonghao liu Yunxia State Key Laboratory of Complex Electromagnetic Environment Effects on Electronics and Information System College of Electronic Science and TechnologyNational University of Defense TechnologyChangsha 410073China State Key Laboratory of Astronautic Dynamics Xi’an 710043China

Aiming at evaluating and predicting rapidly and accurately a high sensitivity receiver’s adaptability in complex electromagnetic environments,a novel testing and prediction method based on dual-channel multi-frequency is proposed to improve the traditional two-tone ***,two signal generators are used to generate signals at the radio frequency(RF)by frequency scanning,and then a rapid measurement at the intermediate frequency(IF)output port is carried out to obtain a huge amount of sample data for the subsequent ***,the IF output response data are modeled and analyzed to construct the linear and nonlinear response constraint equations in the frequency domain and prediction models in the power domain,which provide the theoretical criteria for interpreting and predicting electromagnetic susceptibility(EMS)of the *** experiment performed on a radar receiver confirms the reliability of the method proposed in this *** shows that the interference of each harmonic frequency and each order to the receiver can be identified and predicted with the sensitivity *** on this,fast and comprehensive evaluation and prediction of the receiver’s EMS in complex environment can be efficiently realized.

关键词： electromagnetic susceptibility(EMS) receiver dualchannel multi-frequency nonlinear response frequency domain power domain

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LncRNA PCgEM1 facilitates cervical cancer progression via miR-642a-5p/KIF5B axis

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Oncology Research 2024年第7期32卷 1221-1229页

作者： YUANLIN liu yan liu yan WANg QIANg WANg yan yan DANDAN ZHANg HUIQIN liu Department of Obstetrics and gynecology Shanghai First Maternity and Infant HospitalSchool of MedicineTongji UniversityShanghai200092China Department of Obstetrics and gynecology The Second People’s Hospital of Nantong CityNantong226002China Department of Obstetrics and gynecology Affiliated Hospital of Nantong UniversityNantong226002China

At present,the role of many long non-coding RNAs(lncRNAs)as tumor suppressors in the formation and development of cervical cancer(CC)has been ***,lncRNA prostate cancer gene expression marker 1(PCgEM1),whose high expression not only aggravates ovarian cancer but also can induce tumorigenesis and endometrial cancer progression,has not been studied in *** objective of this study was to investigate the expression and the underlying role of PCgEM1 in *** relative expression of PCgEM1 in CC cells was detected by real-time *** the suppression of PCgEM1 expression by shRNA,the changes in the proliferation,migration,and invasion capacities were detected via CCK-8 assay,EdU assay,and colony formation assay wound healing *** assay and the changes in expressions of epithelial-to-mesenchymal transition(EMT)markers were determined by western blot and immunoﬂ*** interplay among PCgEM1,miR-642a-5p,and kinesin family member 5B(KIF5B)was conﬁrmed by bioinformatics analyses and luciferase reporter *** showed that PCgEM1 expressions were up-regulated within CC *** viabilities,migration,and invasion were remarkably reduced after the suppression of PCgEM1 expression by shRNA in Hela and SiHa cells.N-cadherin was silenced,but E-cadherin expression was elevated by ***,by sponging miR-642a-5p in CC,PCgEM1 was veriﬁed as a competitive endogenous RNA(ceRNA)that modulates KIF5B ***-642a-5p down-regulation partially rescued sh-PCgEM1’s inhibitory effects on cell proliferation,migration,invasion,and EMT *** conclusion,the PCgEM1/miR-642a-5p/KIF5B signaling axis might be a novel therapeutic target in *** study provides a research basis and new direction for targeted therapy of CC.

关键词： Cervical cancer PCgEM1 KIF5B MiR-642a-5p tumorigenesis

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Distributed Minimum-Energy Containment Control of Continuous-Time Multi-Agent Systems by Inverse Optimal Control

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IEEE/CAA Journal of Automatica Sinica 2024年第6期11卷 1533-1535页

作者： Fei yan Xiangbiao liu Tao Feng School of Information Science and Technology Southwest Jiaotong UniversityChengdu 611756China National Engineering Laboratory of Integrated Transportation Big Data Application Technology Chengdu 611756China

Dear Editor,This letter focuses on the distributed optimal containment control of continuous-time multi-agent systems(CTMASs)with respect to the minimum-energy performance index over fixed *** achieve this,we firstly investigate the optimal containment control problem using the inverse optimal control method,where all states of followers asymptotically converge to the convex hull spanned by the leaders while some quadratic performance indexes get minimized.A sufficient condition for existence of the distributed optimal containment control protocol is *** introducing the parametric algebraic Riccati equation(PARE),it is strictly proved that the global performance index can be used to approximate the standard minimumenergy performance index as the parameters tends to *** consequence,the standard minimum-energy cooperative containment control can be solved by local steady state feedback protocols.

关键词： optimal infinity algebraic

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Model-driven path planning for robotic plasma cutting of branch pipe with single Y-groove based on pipe-rotating scheme

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Advances in Manufacturing 2024年第1期12卷 94-107页

作者： yan liu Qiu Tang Xin-Cheng Tian School of Control Science and Engineering Shandong UniversityJinan250061People’s Republic of China Engineering Research Center of Intelligent Unmanned System Ministry of EducationJinan250061People’s Republic of China School of Mechanical and Electronic Engineering Shandong Jianzhu UniversityJinan250101People’s Republic of China

The automatic cutting of intersecting pipes is a challenging task in *** improved automation and accuracy,this paper proposes a model-driven path planning approach for the robotic plasma cutting of a branch pipe with a single ***,it summarizes the intersection forms and introduces a dual-pipe intersection *** on this model,the moving three-plane structure(a description unit of the geometric characteristics of the intersecting curve)is constructed,and a geometric model of the branch pipe with a single Y-groove is ***,a novel mathematical model for plasma radius and taper compensation is ***,the compensation model and groove model are integrated by establishing movable ***,to prevent collisions between the plasma torch and workpiece,the torch height is planned and a branch pipe-rotating scheme is *** the established models and moving frames,the planned path description of cutting robot is provided in this novel *** accuracy of the proposed method is verified by simulations and robotic cutting experiments.

关键词： Automatic groove cutting of intersecting pipes Model-driven robot path planning Plasma beam radius and taper compensation

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Effect of Al_(2)O_(3)fiber on twin intersections-induced dynamic recrystallization in fine-grained TiAl matrix composite

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Journal of Materials Science & Technology 2024年第5期172卷 1-14页

作者： Yaofeng Luo yan Wang Li Wang Bin liu Yong liu State Key Laboratory of Powder Metallurgy Central South UniversityChangsha 410083China

Dynamic recrystallization(DRX)is of great significance for the thermomechanical processing and microstructural regulation of TiAl ***,the underlying DRX mechanism remains poorly *** this study,an Avrami kinetics model for DRX was established,which was capable of predicting the DRX fraction *** addition,the effect of Al_(2)O_(3)short fiber on the DRX mechanisms of TiAl matrix composite during the isothermal compression was investigated for the first *** re-sults showed that other than inhibiting DRX by particles in the TiAl matrix composites,the addition of Al_(2)O_(3)short fiber accelerated a novel DRX process,which was induced by twinning and twin intersec-tions(TDRX).Thus,this composite exhibited a higher DRX rate than that of the as-cast TiAl monolithic *** origin of the twin intersection and TDRX for the composite was *** stress concentration near the Al_(2)O_(3)fiber was above the critical shear stress for twinning and thus was favorable for the formation of twinning and twin *** high stored strain energy at the regions of twins and twin intersections provided the driving force for *** accelerated the grain refinement in the TiAl matrix near the Al_(2)O_(3)*** present findings would provide a new perspective on DRX mechanisms,and provide the scientific guidance for optimizing the microstructures of TiAl matrix composites.

关键词： TiAl matrix composite Al_(2)O_(3)fiber Twin intersection Dynamic recrystallization

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Research on Anthropomorphic Obstacle Avoidance Trajectory Planning for Adaptive Driving Scenarios Based on Inverse Reinforcement Learning Theory

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Engineering 2024年第2期33卷 133-145页

作者： Jian Wu yang yan Yulong liu Yahui liu School of Mechanical and Automotive Engineering Liaocheng UniversityLiaocheng 252000China 2 School of Vehicle and Mobility Tsinghua UniversityBeijing 100084China

The forward design of trajectory planning strategies requires preset trajectory optimization functions,resulting in poor adaptability of the strategy and an inability to accurately generate obstacle avoidance trajectories that conform to real driver behavior *** addition,owing to the strong time-varying dynamic characteristics of obstacle avoidance scenarios,it is necessary to design numerous trajectory optimization functions and adjust the corresponding ***,an anthropomorphic obstacle-avoidance trajectory planning strategy for adaptive driving scenarios is ***,numerous expert-demonstrated trajectories are extracted from the HighD natural driving ***,a trajectory expectation feature-matching algorithm is proposed that uses maximum entropy inverse reinforcement learning theory to learn the extracted expert-demonstrated trajectories and achieve automatic acquisition of the optimization function of the expert-demonstrated ***,a mapping model is constructed by combining the key driving scenario information that affects vehicle obstacle avoidance with the weight of the optimization function,and an anthropomorphic obstacle avoidance trajectory planning strategy for adaptive driving scenarios is ***,the proposed strategy is verified based on real driving *** results show that the strategy can adjust the weight distribution of the trajectory optimization function in real time according to the“emergency degree”of obstacle avoidance and the state of the ***,this strategy can generate anthropomorphic trajectories that are similar to expert-demonstrated trajectories,effectively improving the adaptability and acceptability of trajectories in driving scenarios.

关键词： Obstacle avoidance trajectory planning Inverse reinforcement theory Anthropomorphic Adaptive driving scenarios

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Homoclinic Solutions for a Class of Perturbed Fractional Hamiltonian Systems with Subquadratic Conditions

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Acta Mathematica Sinica,English Series 2024年第5期40卷 1177-1196页

作者： Ying LUO Fei gUO yan liu School of Mathematics Tianjin UniversityTianjin 300354P.R.China Tianjin Key Laboratory of Brain-Inspired Intelligence Technology Tianjin300354P.R.China

In this paper,we consider the following perturbed fractional Hamiltonian systems{tD_(∞)^(α)(_(-∞)D_(t)^(α)u(t))+L(t)u(t)=■_(u)W(t,u(t))+■(u)g(t,u(t)),t∈R,u∈H^(α)(R,R^(N)),whereα∈(1/2,1],L∈C(R,R^(N×N))is symmetric and not necessarily required to be positive definite,W∈C1(R×R^(N,R))is locally subquadratic and locally even near the origin,and perturbed term g∈C1(R×R^(N,R))maybe has no parity in *** the perturbed method improved by the authors,a sequence of nontrivial homo clinic solutions is obtained,which generalizes previous results.

关键词： Perturbed fractional Hamiltonian systems subquadratic condition perturbed method homoclinic solutions multiplicity

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Sobolev Mapping of the Bergman Projections on generalized Hartogs Triangles

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Acta Mathematica Sinica,English Series 2024年第2期40卷 451-466页

作者： Hong yan liu Zhen Han TU School of Mathematics and Statistics Wuhan UniversityWuhan 430072P.R.China

In this paper,we investigate Sobolev mapping properties of the Bergman *** domain we focus on is defined byΩm/n:={(z,w)∈C^(1+N):|w1|<|z|m1/n1<1,…|wN|<|z|/m_(N)/n_(N)<1},where m=(m1,…mN)∈(Z^(+))^(N),n=(n1,…nN)∈(... 详细信息

In this paper,we investigate Sobolev mapping properties of the Bergman *** domain we focus on is defined byΩm/n:={(z,w)∈C^(1+N):|w1|gularity of the Bergman projections on 2 is *** also prove some Sobolev regularity results of the Bergman projections onΩm/n for m=(1,…1).

关键词： Bergman projections generalized Hartogs triangles Sobolev spaces

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Engineering the future cereal crops with big biological data:toward intelligence-driven breeding by design

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Journal of genetics and genomics 2024年第8期51卷 781-789页

作者： Lei liu Jimin Zhan Jianbing yan National Key Laboratory of Crop genetic Improvement Hubei Hongshan LaboratoryHuazhong Agricultural UniversityWuhanHubei 430070China

How to feed 10 billion human populations is one of the challenges that need to be addressed in the following decades,especially under an unpredicted climate *** breeding,initiating from the phenotype-based selection by local farmers and developing into current biotechnology-based breeding,has played a critical role in securing the global food ***,regarding the changing environment and ever-increasing human population,can we breed outstanding crop varieties fast enough to achieve high productivity,good quality,and widespread adaptability?This review outlines the recent achievements in understanding cereal crop breeding,including the current knowledge about crop agronomic traits,newly developed techniques,crop big biological data research,and the possibility of integrating them for intelligence-driven breeding by design,which ushers in a new era of crop breeding practice and shapes the novel architecture of future *** review focuses on the major cereal crops,including rice,maize,and wheat,to explain how intelligence-driven breeding by design is becoming a reality.

关键词： Crop Big biological data Multi-omic Artificial intelligence Crop design breeding

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