Motion Planning by T‐RRT with Potential Function for Vertical Articulated Robots

RRT (rapidly exploring random tree) with random sampling is an effective method for path planning, and is often used for robot manipulators. The RRT has many modified methods for applying various problems and conditions. Particularly, T‐RRT (Transition‐based RRT) one of those has advantage that it is able to adopt arbitrary evaluation function. In this paper, a novel path planning method based on the T‐RRT is proposed for ensuring “quality” of a generated path. Then, its effectiveness is evaluated via comparison with other sampling‐based methods using simulation of the industrial robot having seven DOFs.     

Evaluation of standing‐sitting support system with passive rotational seat mechanism in standing motion

Since a decrease in muscle mass of elderly people, the physical burden of them in standing‐sitting motion of a seat are increasing than young people. For this problem, several standing‐sitting support systems have been developed, and evaluations of these systems focusing on a reduction of physical load have been discussed. However, these evaluations are of support systems with an active actuators or of support systems when they use a handrail and a standing aid. Thus, an evaluation of a support system with only passive actuators has not been reported. In this paper, in standing motion with using a standing‐sitting support system with passive rotational seat mechanism which our group proposes, we objectively evaluate an effectiveness of the passive rotational seat mechanism by statistical analysis.     

A Real Time Self-Tuning Motion Controller for Mobile Robot Systems

This paper proposes an intelligent controller for motion control of robotic systems to obtain high precision tracking without the need for a real-time trial and error method. In addition, a new self-tuning algorithm has been developed based on both the ant colony algorithm and a fuzzy system for real-time tuning of controller parameters. Simulations and experiments using a real robot have been addressed to demonstrate the success of the proposed controller and validate the theoretical analysis. Obtained results confirm that the proposed controller ensures robust performance in the presence of disturbances and parametric uncertainties without the need for adjustment of control law parameters by a trial and error method.      

链条套筒与销轴铰链副冲击载荷-往复运动的弹流润滑数值模拟

数值模拟链传动中销轴与套筒之间的定载荷和变载荷弹流润滑接触问题,套筒相对于销轴做纯滑动往复运动。定载荷是假定往复运动过程中载荷恒定不变;变载荷是假定链节在啮入和啮出链轮过程中存在的冲击载荷按正弦函数规律变化。比较在定载荷和变载荷加载条件下线接触往复运动工况的弹性润滑油膜变化情况,分析在动载荷加载条件下不同行程长度对弹性流体动力润滑特性的影响。研究发现,动载荷对油膜的压力、膜厚影响较大:随着动载荷的增加,油膜中压力急剧增大,膜厚减小;但加载方式对摩擦因数的影响不大;在相同的加载方式下,随着行程长度的增加,油膜压力减小,中心膜厚和最小膜厚显著增加。     

基于混合特征LLE融合与SVM的质量异常模式识别

针对生产过程中存在的异常模式识别的问题,提出基于LLE融合与支持向量机的质量异常模式识别方法。首先从动态数据流中提取其原始特征、统计特征、几何特征并将其进行混合,形成动态数据流的混合特征,然后利用LLE算法对混合特征进行降维,将降维后的特征集作为MSVM分类器的输入进行训练,同时采用粒子群算法对MSVM分类器进行参数寻优。最后用训练好的模型对动态数据流进行异常模式的识别。并将所提方法与单一类型特征方法、混合特征方法的识别模型进行比较,仿真结果和应用实例表明,所提方法的识别精度较高,可用于生产过程的质量异常模式识别中。     

两栖装甲车辆由陆入水过程中车体稳定性分析

对两栖装甲车辆水动力学模型的构建以及基于水上航行耐波稳定性的横摇运动进行了探索。首先建立了两栖装甲车辆由陆入水的动力学模型,并进行了仿真分析；而后将模型试验与融入遗传算法的系统辨识思想相结合,构建了对于两栖装甲车辆摇荡运动的辨别模型；最后通过对车辆在水上的横摇运动试验设计及侧体方案布置,对辨别模型的应用效果进行了验证。通过研究发现,水动力学模型能够对两栖装甲车辆由陆入水时的车体稳定性情况进行准确描述,基于遗传算法的系统辨识方法能够分段辨识两栖装甲车辆的横摇运动,为车辆水上航行稳定性的研究提供了借鉴。     

Reversible and irreversible domain wall dynamics in [011]C oriented relaxor ferroelectric single crystals

Domain wall motions mainly affect all kinds of properties of ferroelectric materials, such as piezoelectricity, dielectric response, and mechanical loss, and the extrinsic contributions associated with domain wall motions have always been an important issue. In this study, the reversible and irreversible extrinsic contributions to the dielectric properties of [011]_C-oriented 0.27Pb(In_1/2Nb_1/2)O₃-0.46Pb(Mg_1/3Nb_2/3)O₃-0.27PbTiO₃:Mn single crystals have been extracted by the Rayleigh analysis. We found that in the unpoled samples, the extrinsic contributions of reversible and irreversible domain wall motions to dielectric properties significantly reduced, whereas after poling, only the irreversible extrinsic contribution decreased. The pinning effect in the 2R domain structure is much weaker than that in the 4R domain structure, leading to the low enhancement of Q_m and a slight decrease in piezoelectricity caused by acceptor doping in 2R domain structure. This study explores the domain wall dynamics of acceptor-doped single crystals and mainly guides on further performance optimization in PbTiO₃-based relaxor single crystals.     

Research on image segmentation of Miao costume patterns based on the RSKP-UNet model北大核心CSCD

The Miao nationality is the sixth largest ethnic group in China which has a history of thousands of years. It has created a unique material culture and spiritual culture in its development process and the Miao costume is a highly condensed collection of the material and spiritual culture of the Miao nationality. As one of the unique symbols of Miao culture the Miao costume has profound cultural heritage and cultural connotations. The patterns of the Miao costume are particularly eye-catching as they not only symbolize the wisdom of the Miao people in thousands of years of production and life but also symbolize the pursuit of the good spirit of the Miao people. However under the impact of modern pop culture and foreign culture these cultural symbols are gradually disappearing. In order to protect and inherit them the Miao costume pattern segmentation has become the most important work. However the Miao costume pattern segmentation is quite difficult. At present there are few studies on the extraction classification identification and preservation of the features of Miao costume pattern segmentation. With the excellent segmentation performance of the U-Net model and the advantages of easy deployment the paper improves the basic structure of the U-Net model and proposes a Miao costume pattern segmentation algorithm based on the RSKP-UNet Residual Selective-Kernel Parallel U-Net model. The algorithm adds Residual modules in the encoder part of the U-Net model to improve the feature extraction capability of the model and embeds the SKNet modules and ParNet modules in the decoder part to enhance the feature expression capability of the model. The paper uses evaluation metrics to measure the segmentation performance of the model and compares it with four segmentation models based on deep learning. The paper not only combines the current research focus-deep learning and attention mechanism but also introduces the Lovász-hinge loss function to effectively solve the problem of class imbalance in the Miao costume patterns. The RSKP-UNet model is better than other models in various segmentation indicators. Compared with the benchmark model U-Net the Dice coefficient IoU precision recall and accuracy are improved by 6. 98% 11. 07% 2. 89% 6. 75% and 3. 92% . The segmentation algorithm proposed in this paper realizes the extraction of the element content of the Miao costume patterns through image segmentation of Miao costume patterns which can be used to build the Miao costume pattern database in this way thus helping designers relevant researchers and organizations to provide research foundation and completing the protection and inheritance of the Miao costume culture. The paper also provides some reference for the segmentation research of other minority costume patterns. © 2022 Authors. All rights reserved.     

Humidity-Induced Simultaneous Visible and Fluorescence Photonic Patterns Enabled by Integration of Covalent Bonds and Ionic Crosslinks

Stimuli-responsive photonic crystals (PCs) have been extensively studied due to their potential in fabrication of anti-counterfeiting devices and information storage. In this work, using Ca²⁺ ionic crosslinker, a cholesteric liquid crystalline network (CLCN) based PC able to simultaneously present visible and fluorescence pattern by moisture treatment is designed and prepared. The circularly polarized light from helical structure of CLCN makes the reflected pattern distinguishable under different circular polarizer, implying the unique advantage of this novel coating as anti-counterfeiting devices. More importantly, due to the thermochromic property of the liquid crystal monomers, permanent pattern is achievable by chemically crosslinking specific region at different temperature. By integrating chemically crosslinking and physically ionic crosslinking, a permanent pattern and a dynamic humidity responsive pattern can be incorporated in a single device, indicating the great potential of this novel photonic coating in information storage.