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	Smooth-Optimal Adaptive Trajectory Tracking Using an Uncalibrated Fish-Eye Camera 期刊论文 OAI收割 International Journal of Automation and Computing, 2020, 卷号: 17, 期号: 2, 页码: 267-278 作者: Zhaobing Kang; Wei Zou; Zheng Zhu; Hongxuan Ma; Kang, Zhaobing \| 收藏 \| 浏览/下载：23/0 \| 提交时间：2020/05/09 Smooth Motion Trajectory Tracking Wheeled Mobile Robots Visual Servoing Adaptive Control
	Smooth-optimal Adaptive Trajectory Tracking Using an Uncalibrated Fish-eye Camera 期刊论文 OAI收割 International Journal of Automation and Computing, 2020, 卷号: 17, 期号: 2, 页码: 267-278 作者: Zhao-Bing Kang; Wei Zou; Zheng Zhu; Hong-Xuan Ma \| 收藏 \| 浏览/下载：25/0 \| 提交时间：2021/02/22 Smooth motion adaptive control trajectory tracking wheeled mobile robots visual servoing.
	Application of precision harmonic gear drive in focusing mechanism of space camera (EI CONFERENCE) 会议论文 OAI收割 5th International Symposium on Advanced Optical Manufacturing and Testing Technologies: Smart Structures and Materials in Manufacturing and Testing, April 26, 2010 - April 29, 2010, Dalian, China 作者: Zhang X.; Zhang X.; Zhang X. 收藏 \| 浏览/下载：26/0 \| 提交时间：2013/03/25 A kind of precision harmonic gear drive in the focusing mechanism of space camera is studied which adopt external meshing complex wave transmission mode. Wave generator is combined with an elliptic cam and a flexible bearing around it. Flexspline is a structure of single wave with the same teeth. The output shaft is supported by a single cross-roller bearing. Ball screws connected the output shaft translate the rotational motion to the linear motion and drive the focusing mirror repeated moving along the linear guide. The output rigid wheel is connected with absolute encoder to detect displacement of focusing movement. It has the characteristics of big transmission ratio high precision compact structure high efficiency and smooth running etc. According to the practical application of this harmonic gear drive in the space camera the location relationship between the displacement of focusing structure and the focal plane movement is derived and the system error is analyzed its accuracy is tested with the open-loop control method. Experimental results show that transmission ratio of the instrument is 1:70 repeated positional accuracy is 2m which meet the requirements for use. 2010 SPIE.
	Nonlinear control design for system with mechanical resonance based on two tracking-differentiators (EI CONFERENCE) 会议论文 OAI收割 2010 IEEE International Conference on Mechatronics and Automation, ICMA 2010, August 4, 2010 - August 7, 2010, Xi'an, China 作者: Li J.; Li Y.; Li Y.; Li Y.; Li Y. 收藏 \| 浏览/下载：22/0 \| 提交时间：2013/03/25 A nonlinear control strategy for controlling a motion system with mechanical resonance is presented in this paper. A mathematical model of the servo system is derived according to the parameters of an actual system. By using two Tracking-Differentiators reference input and system output are tracked and their differential signals are given simultaneously. A nonlinear PD control law in velocity loop is designed based on non-smooth feedback. The simulation results show that the control law is superior remarkably in performance to linear PD control law and the classical PID control law. Tracking-Differentiator resolves the contradiction between rapidity and overshoot of system response. The nonlinear PD control law improves system dynamic performance and intensifies the ability of disturbance rejection. The control design achieved in this paper makes the servo system more robust. 2010 IEEE.
	Study on experiment of grinding SiC mirror with fixed abrasive (EI CONFERENCE) 会议论文 OAI收割 4th International Symposium on Advanced Optical Manufacturing and Testing Technologies: Advanced Optical Manufacturing Technologies, November 19, 2008 - November 21, 2008, Chengdu, China 作者: Wang X.; Zhang X.-J.; Wang X.; Wang X. 收藏 \| 浏览/下载：21/0 \| 提交时间：2013/03/25 A brand-new technology for manufacturing SiC reflecting mirror that is different from the traditional method is adopted which is called as fixed abrasive surfacing technology. Not only the new method achieves better mirror quality with bigger diamond in diameter quickly but also because of the fixed motion between the abrasive and workpiece and it will be good for surface finishing. During experiment material removal characteristic which is on SiC under certain rotation speed and pressure by W7 W5 W3.5 W1.5 pellets has been tested. Through those removal curves we come to a conclusion that the technology not only has a higher removal rate but also has much more stability. In addition the surface roughness experiment is mentioned. In the first stage we achieved a mirror with surface roughness 42.758nm rms with W7 pellets. The surface roughness is descending as we change pellets with smaller diamond in diameter . At the end of experiment a smooth surface with roughness 1.591nm rms has been achieved after using W1.5 pellets. Experiment results indicate that the technology which manufactures SiC reflecting mirror with fixed abrasive is able to replace the traditional slurry abrasive completely in certain finishing phase and also has a great foreground in application. 2009 SPIE.