Passivity‐based adaptive control of a 2‐DOF serial robot manipulator with temperature dependent joint frictions

Mechanical systems are always suffering from the effects of temperature dependent friction forces where the system is operated in a wide range of temperature. Temperature and its variation play an important role in friction force in mechanical systems. If it is not compensated, it will tend to unwanted consequences, including steady‐state errors, limit cycling, and hunting. Therefore, it is necessary to take the temperature effects into account. This has been a strong motivation for the researchers to work on temperature effects on joint friction. In this paper, an adaptive compensation (control) scheme is proposed and applied to a 2‐degree‐of‐freedom serial robot manipulator by taking the temperature effects into account on the joints friction. In the proposed control scheme, the temperature is not required to be sensed. In this paper, joint friction is described by LuGre dynamic model with temperature dependent parameters. These parameters are described by some functions with unknown temperature dependent terms. According to the mathematical and practical concepts, the temperature dependent friction is decomposed into a viscous term and a disturbance term. An adaptive controller is designed to compensate the friction effect and it is shown that the proposed controller relaxes the condition for a priori knowledge about the environment characteristics, including the upper and lower bounds of the environment temperature and the parameters of the functions, describing the temperature dependent joint frictions. The stability and convergence of the joint position and velocity are proved in the sense of Lyapunov and then the proposed method is confirmed by the simulations.     

复杂型急倾斜煤层的开采技术探析

中国煤炭资源多处于中厚煤层中,伴随煤炭资源的不断开采,矿井深度日渐增加,煤层的开采环境也日渐复杂,其中复杂型急倾斜煤层对开采技术和开采施工工艺水平的要求较为突出。课题基于中国复杂型急倾斜煤层开发工艺的现状,深入分析了现有工艺在实际开采过程中存在的不足,提出了伪倾斜斜坡短臂采煤法,旨在为中国复杂型急倾斜煤层开采工艺的研究提供借鉴。     

随车起重机伸缩臂截面多目标优化

为了提高某火箭炮弹药装填车随车起重机伸缩臂的结构刚度,减轻结构质量,建立了随车起重机伸缩臂参数化模型,并对伸缩臂在水平受载状态下进行仿真分析。以伸缩臂截面尺寸参数为设计变量,借助最优拉丁超立方试验设计建立样本空间,构造响应面多项式函数近似模型。在此基础上,利用NSGA-Ⅱ型遗传算法对伸缩臂自身重量、挠度进行多目标优化。优化结果表明:伸缩臂质量减轻了24.5%,减重效果明显。文中所采用的将参数化建模、有限元分析和数值寻优相结合的优化方法,可为起重机伸缩臂截面优化提供一定的参考。     

基于混沌理论的弧形闸门支臂振动特性

为了研究弧形闸门支臂的振动问题,采用混沌理论对时间序列进行处理,确定延迟时间τ、嵌入维数m进行相空间重构,并计算时间序列的混沌特征值,进而研究弧形闸门在启闭过程中振动的复杂性。以某水电站弧形闸门支臂振动为研究对象,根据支臂振动加速度原型观测资料,分析不同开度的振动情况,发现启门振动的复杂程度高于闭门工况,小开度的振动复杂程度更高,且支臂振动的复杂程度为与面板连接位置最大,与闸墩连接位置最小,中间位置介于前两者之间。为弧形闸门短期振动预测提供了支持。     

铁路货车状态修车轮踏面损伤非接触检测研究

针对轮轴检修车间多种轮轴检测设备部分检测环节的手动行为,进行传感器部件安装方法的自动化改造,降低检测设备的人工参与环节,提高设备的自动化程度。提高检测效率。     

新冠肺炎应急临床试验设计中的统计学考虑

新型冠状病毒肺炎的突然来袭，国内各地相继启动重大突发公共卫生事件一级响应。为了探索新冠肺炎的治疗，百余项临床研究陆续在国内开展。在突发公共卫生事件下，尽早找到有效的药物和治疗方案对于疾病的控制更加重要，这也对在这种应急情况下所开展临床试验的时效性提出要求，尤其是针对新冠肺炎的注册临床试验。本文从统计学角度，对应急临床试验中临床终点的选择和试验设计中的相关问题进行探讨。     

Preliminary results of hand arm vibration (HAV) exposures of chipping hammer operators in tropical weather: Analysis of exposures and protective gloves

Objectives of this study are to analyze the HAV exposures of chipping hammer operators from field measurements and to investigate the potential of various types of gloves in reducing the exposures. HAV exposures of twelve male operators were measured at four different operating conditions: bare hand, wearing normal workman gloves, wearing heavy workman gloves and wearing vibration reducing gloves. From the measurements, 8 h exposure values were determined and assessed against standards. The total vibration values were determined and effectiveness in vibration attenuation by gloves was compared. It was found that all most all operators, HAV exposure levels exceeded the exposure action value (EAV) and about 83% of the operators exceeded the exposure limit values (ELV). A reduction in the total vibration magnitude was observed with protective gloves: 8.3% with normal workman gloves, 14.6% with heavy workman gloves and 40% with vibration-reducing gloves. To confirm the effectiveness of the vibration reducing gloves, further field investigations are required with simultaneous measurements by considering parameters affecting HAV (i.e., hand forces and postures).     

Φ177mm PQF无缝管连轧机前横移系统改进

对鞍钢股份无缝钢管厂连轧机前毛管坯横移装置存在的设计缺陷进行了分析,并提出改进方案,将原横移装置由高架轨道横移机构及上下升降链传动装置,改进为地面轨道横移系统及同步旋转臂实现取管、放管过程。实施后消除了生产故障,缩短了轧制周期,降低生产成本。     

机器人系统有限时间自适应迭代学习控制

研究任意初态下，机器人系统的有限时间自适应迭代学习控制方法。引入初始修正吸引子的概念，构造一个含有初始修正项的误差变量。针对定常机器人系统和时变机器人系统，采用Lyapunov-like方法，分别设计迭代学习控制器处理系统中不确定性。并且，采用未含/含限幅学习机制，保证闭环系统各变量的一致有界性和误差变量在整个作业区间一致收敛性。藉以实现跟踪误差在预先指定区间的完全跟踪。仿真结果验证所设计控制方法的有效性。     

Team O2AS' approach for the task-board task of the World Robot Challenge 2018

ABSTRACT

In this paper, we describe the approach of Team O2AS to complete the task-board task of the World Robot Challenge 2018, held in Tokyo. We use a custom gripper and graspable tools with in-built compliance to work with various kinds of parts, increase robustness against uncertainties, and to avoid complicated control strategies. The robots are able to finish all the sub-tasks without the need to exchange grippers. The main idea is to use mechanical compliance and self-centering mechanisms to deal with uncertainty. This is achieved by aligning the objects using either the gripper and tools, or by the design of the robot motions.