中国科学院机构知识库网格系统: 检索

Surrogate model-based cognitive digital twin for smart remote maintenance of fusion reactor: modeling and implementation 期刊论文 OAI收割
NUCLEAR FUSION, 2024, 卷号: 64
作者: Yao, Zhixin; Wu, Huapeng; Song, Yuntao; Cheng, Yong; Pan, Hongtao

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收藏 | 浏览/下载：11/0 | 提交时间：2024/11/20

cognitive digital twin model-based system engineering surrogate model error compensation-based precision control fusion reactor smart maintenance

Modified Newton Integration Algorithm With Noise Tolerance Applied to Robotics 期刊论文 OAI收割
IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS, 2021, 页码: 11
作者: Fu, Dongyang; Huang, Haoen; Wei, Lin; Xiao, Xiuchun; Jin, Long

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收藏 | 浏览/下载：23/0 | 提交时间：2022/08/22

Mathematical model Heuristic algorithms Oceans Noise measurement Iterative algorithms Education Technological innovation Dynamic system of linear equations modified Newton integration (MNI) algorithm noise tolerance steady-state error

Adaptive Kalman filtering-based pedestrian navigation algorithm for smartphones 期刊论文 OAI收割
INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS, 2020, 卷号: 17, 期号: 3, 页码: 14
作者: Yu, Chen; Luo, Haiyong; Fang, Zhao; Qu, Wang; Shao, Wenhua

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收藏 | 浏览/下载：31/0 | 提交时间：2020/12/10

Pedestrian navigation error model system inertial sensors integration magnetic field heading estimation

Feedforward Control Based on Error and Disturbance Observation for the CCD and Fiber-Optic Gyroscope-Based Mobile Optoelectronic Tracking System 期刊论文 OAI收割
ELECTRONICS, 2018, 卷号: 7, 期号: 10, 页码: 223
作者: Yong Luo; Wei Ren; Yongmei Huang; Qiunong He; Qiongyan Wu

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收藏 | 浏览/下载：53/0 | 提交时间：2019/08/23

feedforward control mobile optoelectronic tracking system error observer disturbance observer tracking performance anti-disturbance ability model reference

Accuracy synthesis of a 3-RPS parallel robot based on manufacturing costs (EI CONFERENCE) 会议论文 OAI收割
31st Chinese Control Conference, CCC 2012, July 25, 2012 - July 27, 2012, Hefei, China
Yao T.-K.; Xi Z.; Feng Z.; Zhang L.-M.; Yong W.

收藏 | 浏览/下载：32/0 | 提交时间：2013/03/25

Pose accuracy is an important issue for parallel robot being used as mirror supporting system of telescope. One challenging topic is the accuracy synthesis which deals with the optimal design of the manufacturing and assembling tolerances of each component under the given pose accuracy. First the error model of the 3-RPS parallel robot is built based on total derivation of the kinematic equations. And the error variable of each spherical or rotate joint can be expressed as a single boundary error parameter but not three independent position parameters. Then the accuracy synthesis model is formulated taking the manufacturing costs as the optimization objective and the accuracy requirements as the constraint condition. Finally the genetic algorithm is used to solve the optimization problem and a simulation example is given. The results show that the accuracy synthesis method based on manufacturing costs can satisfy the need of pose accuracy and is better for engineering application than the method based on error sensitivity. 2012 Chinese Assoc of Automati.

Trajectory tacking control of a quad-rotor based on active disturbance rejection control (EI CONFERENCE) 会议论文 OAI收割
2012 IEEE International Conference on Automation and Logistics, ICAL 2012, August 15, 2012 - August 17, 2012, Zhengzhou, China
Gong X.; Tian Y.; Bai Y.; Zhao C.

收藏 | 浏览/下载：30/0 | 提交时间：2013/03/25

The objective of this paper is to deal with a trajectory tracking of a Quad-rotor unmanned aerial vehicle (UAV). For the model uncertainty the external disturbance and the coupling factor are considered an active disturbance rejection control (ADRC) algorithm is introduced into the designing procedure. The aircraft dynamic model is proposed in this article based on which the closed-loop control system is divided into four independent channels with the coupling factor compensated by the extended state observer (ESO). The nonlinear state error feedback (NLSEF) algorithm is designed in each channel to improve the closed-loop dynamics. In this article the ADRC controller is expressed in the discrete form. And finally the simulation results show that the proposed control algorithm achieves a favourable tracking performance. 2012 IEEE.

Trajectory tracking control for mobile robot based on the fuzzy sliding mode (EI CONFERENCE) 会议论文 OAI收割
10th World Congress on Intelligent Control and Automation, WCICA 2012, July 6, 2012 - July 8, 2012, Beijing, China
Xie M.-J.; Li L.-T.; Wang Z.-Q.

收藏 | 浏览/下载：26/0 | 提交时间：2013/03/25

The trajectory tracking control problem of the uncertain mobile robot with nonholonomic constraints is analyzed. Sliding mode control is presented based on the kinematics models analysis. Switching function of sliding model control is designed according to back-stepping method. Trending law control is selected to improve the system dynamic performance. In order to solve the constant speed problem caused by conventional trending law control fuzzy control is used to adjust trending speed in the real time. The simulation results demonstrate that the fuzzy sliding mode controller improves the rapidity of trajectory tracking and reduces the tracking error and the chattering of the control output. 2012 IEEE.

Tracking error modeling of the theodolite based on GRNN method (EI CONFERENCE) 会议论文 OAI收割
2nd International Conference on Frontiers of Manufacturing and Design Science, ICFMD 2011, December 11, 2011 - December 13, 2011, Taichung, Taiwan
作者: Li M.

收藏 | 浏览/下载：24/0 | 提交时间：2013/03/25

To meet the requirement of high tracking accuracy as well as develop more reasonable evaluation method in this paper the General Regression Neural Network (GRNN) has been applied to build the tracking error model of the theodolite. First we analyze the nonlinear factors in the theodolite. Second we discuss the principle of GRNN including its structure the function as well as its priors. Third we build the tracking error model based on GRNN and verify the model through the different parameters. The result indicated that the network model based on GRNN has high accuracy and good generalization ability. It could instead the real system to a certain extent. The research in this paper has important value to the engineering practice.

PID control of glucose concentration in subjects with type 1 diabetes based on a simplified model: An in silico trial (EI CONFERENCE) 会议论文 OAI收割
10th World Congress on Intelligent Control and Automation, WCICA 2012, July 6, 2012 - July 8, 2012, Beijing, China
作者: Yu L.

收藏 | 浏览/下载：29/0 | 提交时间：2013/03/25

An artificial pancreas system (APS) mimics the function of a real pancreas through monitoring a diabetic's blood glucose and administering the right dose of insulin via an automatic control loop. It is hailed as a promising cure of diabetes though this technology is still years away from commercial use due to a few technological bottlenecks. The simulation model of insulin-glucose metabolism of type 1 diabetes mellitus (T1DM) is an essential part of APS. In order to simplify the parameter identification task so that the model can be implemented electronically with ease this paper presents a simplified model based on Routh approximation model reduction method. The results show that the approximation error between the simplified model and the original model is so small that can be neglected. Based on the simplified model a PID controller is designed to maintain normoglycemia (90mg/dl) in subjects with T1DM. The in silico simulation results show that the glucose concentration is controlled well the risk of hyperglycemia and hypoglycemia is reduced a lot. This suggests that the simplified model describes the insulin-glucose metabolism process accurately and the PID control algorithm is well-suitable to guide the further development of an APS. 2012 IEEE.

The effect of backlash nonlinear on resonance frequency of electric actuator transmission system (EI CONFERENCE) 会议论文 OAI收割
3rd IEEE International Conference on Advanced Computer Control, ICACC 2011, January 18, 2011 - January 20, 2011, Harbin, China
Han X.; Ge M.; Bai Y.; Jia H.; Ge W.

收藏 | 浏览/下载：22/0 | 提交时间：2013/03/25

In order to study the effect of backlash nonlinear on resonance frequency of electric actuator transmission system then Finally in the premise of meeting the stability the dynamic equilibrium equation of transmission system with backlash is established it makes dynamic simulation analysis for the transmission system based on virtual prototype technology it establishes balanced equation of dynamics system with backlash the effect of backlash on system natural frequency and resonance frequency and the theoretical values and simulation values are compared. Theoretical analysis and simulation results show that the theoretical analysis is basically consistent with simulation results when it is zero backlash and does some theory research and dynamic analysis of backlash nonlinearity and system natural frequency and resonance frequency. First and the error of theoretical analysis and simulation results is within 10%. Therefore according to describing function to theoretically model the backlash nonlinear it can be concluded that considering the transmission system theoretical analysis of backlash nonlinearity is feasible the relation between describing function and the amount of backlash and input amplitude is analyzed and it is much closer to the actual system with instructive significance. 2011 IEEE.