检索结果-南通市图书馆

Proportional-derivative Control of Second-order Tethered Satellites System Based on Extended State Observer and Feed-forward Compensation

在线全文

维普期刊数据库

学校读者我要写书评

暂无评论

Guidance, Navigation and Control 2023年第3期3卷 65-88页

作者： Bowen Su Fan Zhang Panfeng Huang Research center for intelligent robotics School of Astronautics Northwestern Polytechnical University Xi'an P.R.China National Key Laboratory of Aerospace Flight Dynamics Northwestern Polytechnical University Xi'an P.R.China

This paper researches the proportional-derivative(PD)feedback control with feed-forward compensations from input for a triangular tethered satellite system(TTSS),and the extended state observer(ESO)design which is further incorporated in control to estimate the structural uncertainties in *** expanding Lagrangian equations under chosen variables,the dynamic equations of TTSS are derived which is the second-order nonlinear *** the feedback control under typical feed-forward compensations is discussed as the nonlinear functions in system are counteracted,and the controlled outputs are computed by deriving the transfer functions of the transformed ***,in case of the uncertain structures in system which may constrain the control e®ect,ESO-based PD control is further proposed,and the observed error and controlled accuracy are analyzed by Lyapunov *** results on the designed controls are presented to validate the theoretic analyses.

关键词： PD control extended state observer feed-forward compensation transfer function tethered formation

A novel method of water bath heating assisted small ball-end magnetorheological polishing for hemispherical shell resonators

在线全文

维普期刊数据库

学校读者我要写书评

暂无评论

Chinese Journal of Aeronautics 2023年第12期36卷 451-460页

作者： Jinchuan TIAN Mingjun CHEN Jian CHENG Henan LIU State Key Laboratory of robotics and System Harbin Institute of TechnologyHarbin 150001China center for Precision Engineering Harbin Institute of TechnologyHarbin 150001China

Hemispherical shell resonator(HSR)is the core component of hemispherical resonator *** is aφ-shaped small-bore complex component with minimum curvature radius less than 3 ***,traditional polishing methods are difficult to polish *** ball-end magnetorheological polishing method can polish the small components with complicated three-dimensional surface and obtain non-destructive ***,this method is suitable for polishing ***,the material removal rate of the ordinary small ball-end magnetorheological polishing is low,leading to long polishing time and low output of *** solve this problem,a water bath heating assisted small ball-end magnetorheological polishing method is proposed in this *** influence rule of processing parameters on the material removal rate is studied experimentally.A set of optimal processing parameters is obtained to maximize the material removal *** with the ordinary method,the material removal rate of the new method can be improved by 143%.Subsequently,an HSR is polished by the new *** results show that the polishing time can be reduced by 55%,and the polished surface roughness can reach 7.7 *** new method has the great potential to be used in actual production to improve the polishing efficiency of HSR.

关键词： Hemispherical shell resonator Magnetorheological fluid temperature Material removal rate Optimization Small ball-end magnetorheological polishing

Development of Digital Stereotaxic Instrument for Pigeons(Columba Livia)

在线全文

学校读者我要写书评

暂无评论

Journal of Bionic Engineering 2022年第4期19卷 1003-1013页

作者： Xinyu Liu Yanna Ping Dongyun Wang Hang Xie Li Shi School of intelligent Manufacturing Huanghuai UniversityZhumadian 463000China Henan Engineering Reseacrh center of intelligent Human-Machine Interaction Equipment Huanghuai UniversityZhumadian 463000China Department of Automation Tsinghua UniversityBeijing 100084China

Stereotaxic instrument is an indispensable tool for numerous types of neuroscience studies and is routinely performed in neuroscience laboratories as part of a variety of experimental *** to the development of robotics and automation,the stereotaxic instrument for rodents has made great progress,while it is relatively backward and scarce for birds.A digital stereotaxic instrument for pigeons(Columba livia),a classic animal model for learning,memory and cognition,was developed in this *** performance was verified from three aspects including stereotaxic accuracy,stereotaxic stability and stereotaxic *** developed stereotaxic instrument has the following characteristics:(1)a digital positioning system was used,which is characterized by high stereotaxic accuracy;(2)a novel head-fixation system was developed to increase the adaptability of head-fixation;(3)a four-point fixation method was suggested,improving the stability of head-fixation;(4)the stereotaxic instrument has strong versatility,which can be suitable for a wide variety of ***,the proposed stereotaxic instrument has better positioning accuracy and stability,which will promote the study of neural mechanisms for pigeons.

关键词： Pigeons Stereotaxic instrument Digital positioning system Head fixation system Reproducibility

A Robotic System with Robust Remote center of Motion Constraint for Endometrial Regeneration Surgery

在线全文

维普期刊数据库

学校读者我要写书评

暂无评论

Chinese Journal of Mechanical Engineering 2022年第4期35卷 169-181页

作者： Jianhua Li Chongyang Wang Zhenxing Wang Xiong Zheng Zhidong Wang Jichun Tan Hao Liu State Key Laboratory of robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Institutes for robotics and intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China University of Chinese Academy of Sciences Beijing 100049China Shenyang Jianzhu University Shenyang 110168China Chiba Institute of Technology Chiba 275-0016Japan Shengjing Hospital of China Medical University Shenyang 110016China

Surgical robots have been widely used in diferent procedures to improve and facilitate the ***,there is no robot designed for endometrial regeneration surgery,which is a new therapy for restoring fertility in women using stem *** regeneration surgery requires processing of the endometrium and transplantation of stem cells with minimal trauma to the *** this paper,we introduce a surgical robotic system that consists of a dexterous hysteroscope,supporting arm,and additional novel instruments to facilitate the operation and decrease trauma to the *** center of motion(RCM)constraint is required to protect the cervix of the ***,the supporting arm and hysteroscope are controlled separately in kinematics to ensure that the RCM constraint and hysteroscope’s shape and posture are ***,a task-decoupled method is used to improve the robustness of the RCM *** confrm that the proposed method is more robust and achieves higher RCM *** addition,the master-slave control of a robot with RCM constraint is also *** study proposes the realization of a robot with robust RCM control for endometrial regeneration surgery.

关键词： Endometrial regeneration Surgical robot Remote center of motion Task decoupled

A Systematic Literature Review on Task Allocation and Performance Management Techniques in Cloud Data center

在线全文

学校读者我要写书评

暂无评论

Computer Systems Science & Engineering 2024年第3期48卷 571-608页

作者： Nidhika Chauhan Navneet Kaur Kamaljit Singh Saini Sahil Verma Abdulatif Alabdulatif Ruba Abu Khurma Maribel Garcia-Arenas Pedro A.Castillo University Institute of Computing Chandigarh UniversityPunjab143001India Department of Computer Science and Engineering Chandigarh UniversityPunjab143001India Department of Computer Science and Engineering Uttaranchal UniversityUttarakhand248007India Department of Computer Science College of Computer Qassim UniversityBuraydah52571Saudi Arabia MEU Research Unit Faculty of Information TechnologyMiddle East UniversityAmman11831Jordan Department of Computer Engineering Automatics and RoboticsUniversity of GranadaGranada18071Spain Applied Science Research center Applied Science Private UniversityAmman11931Jordan

As cloud computing usage grows,cloud data centers play an increasingly important *** maximize resource utilization,ensure service quality,and enhance system performance,it is crucial to allocate tasks and manage performance *** purpose of this study is to provide an extensive analysis of task allocation and performance management techniques employed in cloud data *** aim is to systematically categorize and organize previous research by identifying the cloud computing methodologies,categories,and gaps.A literature review was conducted,which included the analysis of 463 task allocations and 480 performance management *** review revealed three task allocation research topics and seven performance management *** allocation research areas are resource allocation,load-Balancing,and *** management includes monitoring and control,power and energy management,resource utilization optimization,quality of service management,fault management,virtual machine management,and network *** study proposes new techniques to enhance cloud computing work allocation and performance ***-comings in each approach can guide future *** research’s findings on cloud data center task allocation and performance management can assist academics,practitioners,and cloud service providers in optimizing their systems for dependability,cost-effectiveness,and *** methodologies can steer future research to fill gaps in the literature.

关键词： Cloud computing data centre task allocation performance management resource utilization

A Client Selection Method Based on Loss Function Optimization for Federated Learning

在线全文

维普期刊数据库

学校读者我要写书评

暂无评论

Computer Modeling in Engineering & Sciences 2023年第10期137卷 1047-1064页

作者： Yan Zeng Siyuan Teng Tian Xiang Jilin Zhang Yuankai Mu Yongjian Ren Jian Wan School of Computer Science and Technology Hangzhou Dianzi UniversityHangzhou310018China Key Laboratory of Complex System Modeling and Simulation Ministry of EducationHangzhou310018China Zhejiang Engineering Research center of Data Security Governance Hangzhou310018China intelligent robotics Research center Zhejiang LabHangzhou311100China HDU-ITMO Joint Institute Hangzhou Dianzi UniversityHangzhou310018China

Federated learning is a distributedmachine learningmethod that can solve the increasingly serious problemof data islands and user data privacy,as it allows training data to be kept locally and not shared with other *** trains a globalmodel by aggregating locally-computedmodels of clients rather than their ***,the divergence of local models caused by data heterogeneity of different clients may lead to slow convergence of the global *** this problem,we focus on the client selection with federated learning,which can affect the convergence performance of the global model with the selected local *** propose FedChoice,a client selection method based on loss function optimization,to select appropriate local models to improve the convergence of the global *** firstly sets selected probability for clients with the value of loss function,and the client with high loss will be set higher selected probability,which can make them more likely to participate in ***,it introduces a local control vector and a global control vector to predict the local gradient direction and global gradient direction,respectively,and calculates the gradient correction vector to correct the gradient direction to reduce the cumulative deviationof the local gradient causedby *** experiments to verify the validity of FedChoice on CIFAR-10,CINIC-10,MNIST,EMNITS,and FEMNIST datasets,and the results show that the convergence of FedChoice is significantly improved,compared with FedAvg,FedProx,and FedNova.

关键词： Federated learning model aggregation Non-IID

Outlier Mining Based Abnormal Machine Detection in intelligent Maintenance

在线全文

维普期刊数据库

学校读者我要写书评

暂无评论

Journal of Shanghai Jiaotong university(Science) 2009年第6期14卷 695-700页

作者：张蕾曹其新李杰 robotics Laboratory Shanghai Jiaotong University NSF I/UCR center for intelligent Maintenance Systems University of Cincinnati

Assessing machine's performance through comparing the same or similar machines is important to implement intelligent maintenance for swarm *** this paper,an outlier mining based abnormal machine detection algorithm is proposed for this ***,the outlier mining based on clustering is introduced and the definition of cluster-based global outlier factor(CBGOF) is *** the modified swarm intelligence clustering(MSIC) algorithm is suggested and the outlier mining algorithm based on MSIC is *** algorithm can not only cluster machines according to their performance but also detect possible abnormal ***,a comparison of mobile soccer robots' performance proves the algorithm is feasible and effective.

关键词：异常检测算法离群数据挖掘维修检测智能机足球机器人数据挖掘算法智能维护异常挖掘

Fusion of Feature Ranking Methods for an Effective Intrusion Detection System

在线全文

学校读者我要写书评

暂无评论

Computers, Materials & Continua 2023年第8期76卷 1721-1744页

作者： Seshu Bhavani Mallampati Seetha Hari School of Computer Science and Engineering VIT-AP UniversityAndhra PradeshIndia center of Excellence AIand RoboticsVIT-AP UniversityAndhra PradeshIndia

Expanding internet-connected services has increased cyberattacks,many of which have grave and disastrous *** Intrusion Detection System(IDS)plays an essential role in network security since it helps to protect the network from vulnerabilities and *** extensive research was reported in IDS,detecting novel intrusions with optimal features and reducing false alarm rates are still ***,we developed a novel fusion-based feature importance method to reduce the high dimensional feature space,which helps to identify attacks accurately with less false alarm ***,to improve training data quality,various preprocessing techniques are *** Adaptive Synthetic oversampling technique generates synthetic samples for minority *** the proposed fusion-based feature importance,we use different approaches from the filter,wrapper,and embedded methods like mutual information,random forest importance,permutation importance,Shapley Additive exPlanations(SHAP)-based feature importance,and statistical feature importance methods like the difference of mean and median and standard deviation to rank each feature according to its *** by simple plurality voting,the most optimal features are *** the optimal features are fed to various models like Extra Tree(ET),Logistic Regression(LR),Support vector Machine(SVM),Decision Tree(DT),and Extreme Gradient Boosting Machine(XGBM).Then the hyperparameters of classification models are tuned with Halving Random Search cross-validation to enhance the *** experiments were carried out on the original imbalanced data and balanced *** outcomes demonstrate that the balanced data scenario knocked out the imbalanced ***,the experimental analysis proved that our proposed fusionbased feature importance performed well with XGBM giving an accuracy of 99.86%,99.68%,and 92.4%,with 9,7 and 8 features by training time of 1.5,4.5 and 5.5 s on Network Security Laborat

关键词： Cyber security feature ranking imbalance preprocessing IDS SHAP

航空发动机机匣修复用AlSi10Mg激光金属沉积:显微硬度、磨损和腐蚀行为

在线全文

维普期刊数据库

学校读者我要写书评

暂无评论

表面工程与再制造 2024年第2期24卷 53-53页

作者： Enjie Dong Tingyu Chang Linjie Zhao Yunhao Xing Jiaxuan Chen Mingjun Chen Junwen Lu Jian Cheng State Key Laboratory of robotics and System Harbin Institute of Technology Harbin Heilongjiang 150001 China State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang University Hangzhou 310027 China Aircraft Repair & Overhaul Plant/Sichuan Province Engineering Technology Research center of General Aircraft Maintenance Civil Aviation Flight University of China Guanghan 618307 China

基于激光金属沉积(Laser Metal Deposition,LMD)的再制造利用了增材制造的灵活性,为修复或再制造高价值工程零部件提供了一种极具吸引力和性价比的手段。本工作在航空发动机机匣用铸造铝合金板表面熔覆AlSi10Mg合金,当激光功率P=1800 W... 详细信息

基于激光金属沉积(Laser Metal Deposition,LMD)的再制造利用了增材制造的灵活性,为修复或再制造高价值工程零部件提供了一种极具吸引力和性价比的手段。本工作在航空发动机机匣用铸造铝合金板表面熔覆AlSi10Mg合金,当激光功率P=1800 W、送粉速率f=1.6 g/min、扫描速度v=8 mm/s时,获得了孔隙率仅为0.19%的AlSi10Mg修复层。

关键词：铸造铝合金增材制造送粉速率显微硬度激光金属沉积扫描速度激光功率修复层