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Calibration of UR5 Manipulator based on Kinematic Models

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Calibration of UR5 Manipulator based on Kinematic Models

第30届中国控制与决策会议

作者： Bin Liang Yinzhu Cheng Xiaojun Zhu houde Liu Xueqian Wang Tsinghua University Graduate School at Shenzhen Tsinghua University Research Institute of Tsinghua University in Shenzhen School of Automation Beijing University of Posts and Telecommunications

The end-effector’s position errors of robot can be corrected by identifying kinematic parameters. In this paper, MD-H parameter model and end-effector’s position error model are established for Universal Robot 5. And we use the laser tracker to measure the real position of the robot. We identified the kinematic parameters based on the least square method. By analyzing and verifying the results of the parameters’ identification, the maximum error of robot end-effector position is decreased by 57.51%, the average error is decreased by 53.64% and the root mean square error is decreased by 55.89%, which shows the applicability and reliability of the calibration method in the entire robot movement space.

关键词： Robot Calibration Modified DH Parameters Linear Least Squares Method

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基于粒子群优化的偏斜α稳定分布参数估计

电波科学学报 2013年第1期28卷 163-168页

作者：李静威全厚德崔佩璋军械工程学院光学与电子工程系河北石家庄050003

基于粒子群优化算法,结合偏斜α稳定分布的分数低阶矩性质,提出了一种新的α稳定分布参数估计方法.针对已有方法无法实现多个参数同时估计的不足,结合α稳定分布分数低阶矩的特点,首先判断出对称参数的符号以及分数低阶矩阶数的取值范围... 详细信息

基于粒子群优化算法,结合偏斜α稳定分布的分数低阶矩性质,提出了一种新的α稳定分布参数估计方法.针对已有方法无法实现多个参数同时估计的不足,结合α稳定分布分数低阶矩的特点,首先判断出对称参数的符号以及分数低阶矩阶数的取值范围,进而确定目标函数.仿真试验结果表明:所提方法可以同时给出3个参数的估值,验证了该方法的有效性,同时与Kuru-FLOM相比在精度上有所提高或相当.

关键词：分数低阶矩粒子群优化偏斜α稳定分布参数估计

Design of Robust Adaptive Neural Course Controller for Unmanned Surface Vehicle Based on Trajectory Linearization Control

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Design of Robust Adaptive Neural Course Controller for Unman...

第30届中国控制与决策会议

作者： Bingbing Qiu Guofeng Wang Yunsheng Fan houde Wu Dongdong Mu Xiaojie Sun School of marine electrical engineering University of Dalian Maritime School of Information Science and Technology University of Dalian Maritime

This paper proposes a novel course controller on unmanned surface vehicle（USV） by using the methods of robust adaptive neural network trajectory linearization control（TLC）. TLC is an effective control method for solving nonlinear tracking and system decoupling. However, the performance of the current TLC control strategy will be significantly decreased when there is a large the uncertainty of model. To enhance performance of the systems, Radial Basis Function Neural Network（RBFNN） is introduced to approximate the uncertainty of model to achieve real-time online compensation. It is proven that all error signals in the system are uniformly ultimately bounded by Lyapunov ***, simulation results are presented to illustrate the effectiveness of the control strategy.

关键词： USV TLC robust adaptive neural network RBFNN

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一种新的跳频信号重构方法

西安电子科技大学学报 2013年第5期40卷 163-168页

作者：闫云斌全厚德崔佩璋军械工程学院无人机工程系河北石家庄050003 军械工程学院信息工程系河北石家庄050003

研究了噪声环境下跳频信号重构的问题.首先对接收端跳频信号模型的稀疏性进行了分析,根据跳频信号的特点,构建了一种时频原子字典.在此基础上,提出了一种基于推广的正则化再加权最小2-范数法算法的跳频信号重构方法.该方法通过选取合适... 详细信息

研究了噪声环境下跳频信号重构的问题.首先对接收端跳频信号模型的稀疏性进行了分析,根据跳频信号的特点,构建了一种时频原子字典.在此基础上,提出了一种基于推广的正则化再加权最小2-范数法算法的跳频信号重构方法.该方法通过选取合适的正则参数,在噪声环境下实现了跳频信号的重构.仿真结果验证了该方法的正确性和有效性.

关键词：跳频信号正则化再加权最小2-范数法算法稀疏分解信号重构

单侧忽视症多重行为与认知功能障碍的神经机制

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中国特殊教育 2008年第9期 73-79页

作者：蔡厚德王琰南京师范大学教育科学学院脑与行为实验室南京210097

单侧忽视症通常被认为是一种空间注意定向机制的障碍,一般由右半球的顶叶皮层受损所致。近期的认知神经心理学研究证据显示,单侧忽视的症状涉及多重行为与认知能力紊乱,与注意定向、探索性运动行为和空间工作记忆相互作用的功能障碍有... 详细信息

单侧忽视症通常被认为是一种空间注意定向机制的障碍,一般由右半球的顶叶皮层受损所致。近期的认知神经心理学研究证据显示,单侧忽视的症状涉及多重行为与认知能力紊乱,与注意定向、探索性运动行为和空间工作记忆相互作用的功能障碍有关。脑损伤、经颅磁刺激(TMS)和神经成像等技术的研究证据也显示,右半球的顶下叶、颞-顶交界区和颞上回都是单侧忽视症病人受损的关键脑区。这些脑区功能的同时受损可以解释单侧忽视多重功能障碍的神经机制。

关键词：单侧忽视症注意定向探索性运动行为空间工作记忆

DYNAMINCAL SIMULATION AND ENERGY-SAVING OF COOLING SYSTEM FOF MARINE AIR CONDITIONING

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DYNAMINCAL SIMULATION AND ENERGY-SAVING OF COOLING SYSTEM FO...

Levels and trends of current-use pesticides(CUPs)in the arctic:An updated review,2010-2018

CSPE-JSME-ASME International Conference on Power Engineering

作者： Han houde Cui Yisong Chen BaozhongDepartment of Marine EngineeringShanghai Maritime University Shanghai 200135 CHINA

＜正＞The dynamic simulation of cooling water,Refrigerant 22 and sea water cirulating Pump used for marine air conditioningsystem are presented. With the sea area and working conditions change, the energy consumption and heat transfer capacity arestudied The result of computer system simulation shows that the mathematical models are reasonable and energy-saving ofcooling water pump is remarkable when the frequency modulator is put into use.

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Emerging Contaminants 2019年第1期5卷 70-88页

作者： Jennifer E.Balmer Adam D.Morris Hayley Hung Liisa Jantunen Katrin Vorkamp Frank Riget Marlene Evans Magali houde Derek C.G.Muir Arctic Monitoring and Assessment Programme Fram CentrePO Box 6606Langnes9296TromsøNorway Department of Biology The Citadel171 Moultrie StreetCharlestonSCUSA Environment and Climate Change Canada National Wildlife Research CenterOttawaCanada Air Quality Processes Research Section Environment and Climate Change CanadaTorontoOntarioCanada Air Quality Processes Research Section Environment and Climate Change CanadaEgbertOntarioCanada Aarhus University Department of Environmental ScienceArctic Research CentreRoskildeDenmark Aarhus University Department of BioscienceRoskildeDenmark Aquatic Ecosystem Protection Research Division Environment Canada11 Innovation BlvdSaskatoonSKS7N 3H5Canada Environment and Climate Change Canada St.Lawrence CenterMontrealQuebecCanada Environment and Climate Change Canada Canada Centre for Inland WatersBurlingtonOntarioCanada

Global regulations and many regional and national controls restrict the use of substances that exhibit the potential for environmental persistence and long-range ***,many current-use pesticides(CUPs)continue to be newly discovered in remote regions,including the *** present review serves as an update,summarizing newly available information for CUPs in the Arctic environment and biota published from 2010 to *** 2010,at least seven new CUPs have been measured in Arctic media:2-methyl-4-chlorophenoxyacetic acid(MCPA),metribuzin,pendimethalin,phosalone,quizalofop-ethyl,tefluthrin and *** the large number of pesticides in current use,the number measured in the Arctic is very limited,however,modelling studies have identified additional CUPs as potential Arctic contaminants that have yet to be investigated in the *** to their recent detection,reports of CUPs in the Arctic are limited,but *** have been reported in a wide range of abiotic Arctic matrices,including air,snow,ice,freshwater and seawater,indicating their capacity for long-range atmospheric transport,however,concentrations are generally low in comparison to legacy pesticides and other persistent organic pollutants(POPs).Recent food-web studies indicate CUPs can enter Arctic terrestrial and marine food chains,however,in contrast to POPs,the highest concentrations of many CUPs were found in lower trophic-level organisms,and the lowest concentrations detected in animals at the highest trophic levels(i.e,ringed seals,polar bear,caribou,and wolves)indicating significant trophic *** detection of CUPs in the remote Arctic ecosystem reinforces the need for continued monitoring of both known and potential Arctic pollutants to prevent impacts on human and environmental health as the global arsenal of pesticides used in agriculture continuously changes.

关键词： POPs Contaminants Air Biota Long-range transport Persistence

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乳腺X线摄影若干技术要素的研究

中华放射学杂志 2000年第3期34卷 155-158页

作者：曹厚德蒋琴上海市静安区中心医院放射科 200040

目的　通过对乳腺摄影若干技术要素的解析及研究 ,提高摄影质量及诊断准确性。方法　对 2 1家医院的摄影质量进行调研。对常用的增感屏胶片组合的成像质量进行测试 ,并与计算机摄影进行比较研究。对摄影位置及操作技术进行研究。结果... 详细信息

目的　通过对乳腺摄影若干技术要素的解析及研究 ,提高摄影质量及诊断准确性。方法　对 2 1家医院的摄影质量进行调研。对常用的增感屏胶片组合的成像质量进行测试 ,并与计算机摄影进行比较研究。对摄影位置及操作技术进行研究。结果　乳腺摄影的重要影像细节显示及诊断要求的符合率甚低 ,均为 2 4% ,其主要原因在于机器设备不符合要求。国人乳腺摄影的加压以12kg左右为最佳。结论　机器设备成像性能的改进应引起必要的关注。

关键词：乳房 X线摄影术质量控制乳腺疾病 X线诊断

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善治视野下的国外低碳城市发展经验及启示

中国行政管理 2014年第11期 32-35页

作者：程厚德李春北京交通大学中国产业安全研究中心博士后北京100044 首都师范大学管理学院讲师北京100089

城市化浪潮在世界各地依然汹涌澎湃,城市人口剧增的同时环境恶化,因而建设低碳城市已成为世界各国追求的目标之一。在低碳城市建设过程中,各国采取了不同的战略、政策和方法,取得的效果也有所差异。借助"善治"理论的分析框架,从战略性... 详细信息

城市化浪潮在世界各地依然汹涌澎湃,城市人口剧增的同时环境恶化,因而建设低碳城市已成为世界各国追求的目标之一。在低碳城市建设过程中,各国采取了不同的战略、政策和方法,取得的效果也有所差异。借助"善治"理论的分析框架,从战略性、法治性、责任性、参与性和有效性等五个方面梳理分析国外低碳城市发展情况,可以发现国外经验主要包括:从国家层面确立符合城市发展阶段、资源禀赋和比较优势的低碳城市发展方向和重点,以法治明晰低碳城市发展规则及行动边界,运用激励约束机制推动低碳城市建设,积极发挥多元主体的优势和作用,制定评价低碳城市发展的绩效标准。这些对于我国建设低碳城市具有重要借鉴价值。

关键词：善治低碳城市城市管理