随机模糊控制策略及其在机器人控制中的应用

针对模糊规则的自动生成问题,采用Skinner操作条件反射(OC)和概率有限自动机(PFA)构成的OCPFA学习系统,设计能对模糊规则进行自学习和自组织的随机模糊控制策略.本策略首先采用设计的OC学习机制,从模糊行为集合中随机选取一个模糊行为,作为模糊规则的后件;然后利用环境对选取模糊行为的反馈信息,更新OC学习机制;最后依据更新后的OC学习机制,重新选取模糊后件行为,直至学习到最优的模糊规则.理论证明,其自学习和自组织过程在概率意义上是收敛的.在两轮自平衡机器人上的仿真和实验均表明,设计的随机模糊控制策略不需要系统的模型,成功地实现了机器人的自平衡控制,并提高了机器人的学习速度和控制精度.     

一种基于信息融合的巡线机器人电磁导航方法

围绕巡线机器人电磁导航,分析了电磁传感器阵列信息与机器人位姿之间强非线性映射的特点,提出了采用反向传播(BP)人工神经网络方法对机器人上的电磁传感器阵列信息进行数据融合的方法。该方法利用神经网络方法的非线性拟合逼近特点,通过离线学习训练,建立电磁传感器阵列信息与机器人机械臂相对导线的空间位姿的非线性映射关系模型,实现巡线机器人自主导航。该方法可有效减小单个电磁传感器信息检测误差对机器人导航控制的影响,提高机器人抓线控制的准确性。最后,通过实验验证了该方法的可行性和有效性。     

无线射频识别在机器人导航中的应用

针对无线射频识别(Radio Frequency Identification,RFID)在机器人导航中由于噪声干扰等带来的信息不确定性,文章介绍了一种通过后验概率提高信息准确性的方法。建立RFID观测模型,用Monte carlo法估计RFID阅读器天线检测标签的概率,根据此概率,动态调整阅读器的检测时间。理论分析表明,本文介绍的方法可显著提高RFID信息准确度,减少误动作,使机器人自主、安全、可靠地完成任务,进行特定操作。     

变电站开关柜带电操作机器人关键技术研究

随着科技智能化的发展,无人值守变电站越来越多,往往很简单的倒闸操作都需要操作人员去现场进行操作,极大的降低了工作效率。基于此,本文对变电站开关柜带电操作机器人关键技术进行研究,提升开关柜机器人操作的准确性与智能化。文中分别对带电操作机器人的定位与导航技术、图像识别技术、智能巡检技术和柔性机械臂操作技术进行研究,其中图像识别技术包括基于双目视觉的自动目标定位算法、基于深度学习的同心圆识别方法、基于深度学习的目标分类算法、倒闸操作图像处理方法;柔性机械臂操作技术包括手眼标定技术、非碰撞机械臂路径规划、基于电流环的柔性操作。通过对这些技术研究实现对设备的指针、数字仪表、开关分合等状态免人工的远程高效、准确识别,提升了工作效率。     

基于二次规划的四足机器人机身轨迹优化研究

为使四足机器人在无地形感知运动过程中能表现出较稳定的运动性能,结合对角步态运动特点,提出了一种对角步态下零力矩点的约束方法。采用二次规划的优化方法分别在线优化出行走、对角步态下机器人稳定运动的机身轨迹。将优化出的两种步态下机身轨迹采用相同的映射关系映射到全身状态,结合规划控制框架,通过仿真验证两种步态下机器人的运动状态及轨迹跟随情况。仿真结果表明,机器人以行走步态运动时位置、速度跟踪效果及机身姿态稳定性相比对角步态较好,且两种步态下机器人都能跟随规划轨迹保持稳定运动。     

基于在线培训的仿真变电站操作票专家系统

介绍了仿真变电站基于在线培训的操作票专家系统，运用变电站运行和控制规程以及现场操作经验产生领域规则和元规则，引入数据结构B＿Tree生成动态操作树，经推理自动生成操作票，利用仿真变电站系统的半实物仿真环境和实时数据采集与通信系统，引入了在线培训的培训方法，实现了仿真在线培训和就地在线培训两种培训模式，这种新颖的培训方法大大提高了培训效率，设计了“去抖动”功能，以去除对实物操作过程中因为抖动而产生的冗狡信息，真实反映操作意图，该操作票系统已在南昌500KV赣培仿真变电站投入运行。     

真空开关选相操作特性在线检测消除电感性电流开断的操作过电压

真空开关开断电感性负载时,电弧重燃是产生严重操作过电压的根本原因。真空开关选相操作可以消除电弧重燃,避免严重的操作过电压。选相真空开关的机械稳定性是保证可靠选相操作的关键,对选相真空开关的机械稳定性进行在线检测,可及时发现和避免选相失效。文中提出两种选相特性在线检测方法:在选相真空开关的操动机构上设置一个和主触头动作稳定同步的辅助接点,用于触头刚分时刻的信号传感,可实现选相特性的在线检测和选相操作的自适应控制,及时发现选相特性劣化,避免选相失效;通过检测真空开关开断过程中的空间电磁波,识别电弧重燃产生的电磁波脉冲,可以实现电弧重燃的在线检测,及时发现选相失效。     

让你的思维与机器人同步——《机器人分辨颜色》案例解析

智能机器人作为信息技术教育又一载体,充实了教学内容,引起学生极大的兴趣。然而,由于我校硬件条件的限制,其课程教材只能通过仿真软件学习模拟机器人的活动,经过一段时间后,学生的学习活动变成了完成教师任务的机械操作。《机器人分辨颜色》一课经过三次磨课,第一次模仿教材手把手演示,每个学生都能把书本的知识操作出来,但变换一下要求,大部分学生就无从入手了。     

500 kV双龙变电所操作票自动生成系统

介绍了500kV双龙变电所操作票自动生成系统。提出了一种采用模型化设备、领域知识库、拓扑路径算法和推理机的实用的专家系统构成方案。系统采用多重产生式系统来构造专家知识库。提出了二次设备模型化,并构造了相应的知识库,解决了二次设备操作票自动生成问题。通过在线拓扑分析算法,推理出操作路径,使该系统具有很好的跟踪电网运行方式的能力。所设计的解释机,能对推理过程和知识利用情况进行详细解释。该系统在线利用SCADA实时信息,形成一在线智能生成与监视的闭环系统,并于1999年5月在金华500kV双在电所中投入运行。     

钦州供电局“机器人”规范操作我先行

今年以来钦州供电局发生了两起中断安全记录的安全事件,给该局安全生产敲响了警钟。痛定思痛,分析事故的原因后,该局在全局范围内掀起人人争当“啄木鸟”认真查找安全隐患,为夯实安全生产基础,开展“提倡做现场规范操作“机器人”活动,规范倒闸操作的动作行为,有效地降低电气运行操作风险,防止误操作事故的发生,     

The variable structure learning automaton network

Learning automata select an action from a finite set of their available actions and update their strategy on the basis of response received from the random environment using what is known as a reinforcement scheme. As an environment changes, the ordering of the actions with performance criterion may vary. If a learning automaton with a fixed strategy is used in such an environment, it may become less expedient with time and even inexpedient. However, using the learning scheme that has sufficient flexibility to track the better actions makes the performance improved. In this paper, a variable structure learning automaton network with periodic random environment is proposed. The results of some numerical simulations show that our model can be used for tracking some periodic nonstationary environment for which an upper bound on the period is known. © 1999 Scripta Technica, Electr Eng Jpn, 129(1): 39–45, 1999     

A natural basis for efficient brain-actuated control.

The prospect of noninvasive brain-actuated control of computerized screen displays or locomotive devices is of interest to many and of crucial importance to a few 'locked-in' subjects who experience near total motor paralysis while retaining sensory and mental faculties. Currently several groups are attempting to achieve brain-actuated control of screen displays using operant conditioning of particular features of the spontaneous scalp electroencephalogram (EEG) including central mu-rhythms (9-12 Hz). A new EEG decomposition technique, independent component analysis (ICA), appears to be a foundation for new research in the design of systems for detection and operant control of endogenous EEG rhythms to achieve flexible EEG-based communication. ICA separates multichannel EEG data into spatially static and temporally independent components including separate components accounting for posterior alpha rhythms and central mu activities. We demonstrate using data from a visual selective attention task that ICA-derived mu-components can show much stronger spectral reactivity to motor events than activity measures for single scalp channels. ICA decompositions of spontaneous EEG would thus appear to form a natural basis for operant conditioning to achieve efficient and multidimensional brain-actuated control in motor-limited and locked-in subjects.     

一种低成本高可靠性纹波补偿控制方法

单电阻电流采样算法已在电机控制领域应用,采样电路结构较传统采样电路简单,运用的电子元件相对少一些,可以节省成本提高公司的效益,但此种电流采样方式在低调制区域及临界过渡区域由于IGBT开关动作引起的电机电流纹波抖动而引起的电流重构失效引起电流畸变问题,此种问题在电机高频容易引起IPM模块保护而停机,.5HP空调系统上进行了上基于DSP-28034的一套永磁同步电机驱动的主板测试系统,系统实验结果进一步验证了此方法的正确性与先进性,同时对在驱动中小功率压缩机及风机等领域的企业有很强的实践指导意义。     

一种面向对象的备自投装置设计方案的研究

针对困扰备自投装置生产厂家的大量的客户定制问题,分析了备自投装置客户定制的特点,提出了一种面向对象的备自投装置设计方案,通过设计的配置工具绘制主接线、选择关联的对象属性、编制动作方程式等,即可完成备自投装置的客户定制设计,该设计具有不用修改源程序、简单直观、免测试、校验码不变等优势。     

Modelling and self-adjusting control of an absorption column

This paper describes the model and solution of the constrained optimal control problem associated with a packed absorption column. The control problem is solved using a learning automaton operating in a random environment. On the basis of physical and chemical laws, a model has been developed. It consists of three hyperbolic partial non-linear differential equations. A solution of diethanolamine (the absorbent) is used to absorb the CO₂ contained in a gas mixture. The primary manipulated variables are the flow rate of the absorbent and the concentration of CO₂ in the gas mixture. The control objective is to maintain the concentration of CO₂ close to a desired value, subject to control limit restriction, in order to avoid the flooding of the column. It leads to a stochastic programming problem, the solution of which is closely associated with the behaviour of an automaton in a random environment corresponding to the column. Detailed computer simulation results which demonstrate the performance of this automaton controller are presented     

νMOS cellular‐automaton circuit for picture thinning and shrinking

In this study we propose a design for an LSI circuit that implements a cellular automaton. The cellular automaton is a parallel and distributed architecture device suitable for high‐speed image processing. To develop a cellular automaton LSI circuit, it is necessary to design small‐size unit cell circuits that can operate according to cell–cell interaction rules. We propose to use νMOSFET devices for such cell circuits. Template matching is implemented by combining multiple input νMOSFET circuits and inverters. A cell circuit was designed for image thinning and shrinking, and its operation was analyzed using a circuit simulator. It was demonstrated that high speed operation (up to 100 MHz clock frequency) can be obtained. © 1999 Scripta Technica, Electr Eng Jpn, 126(3): 41–48, 1999     

Influence of electro-mechanical stress on electrical properties of dielectric polymers

The influence of high electrical fields on water treeing, electrical treeing, relaxation, conductivity and charge mobility in various polymers is reviewed within the context of a molecular model. The real value of the AC field acting on water trees is questioned and it is shown that the strain induced by very large fields may affect the water tree growth in solutions with large dielectric constant. A model based on simple electrostatic and molecular parameters describes most water treeing results. Light emitted during electrical tree growth could be associated with the field-induced strain at the tip of the electrode. The strain in PET is also related to the Maxwell stress due to high DC field. The log of the charge stored in some polymers varies with the square of the field suggesting that there same phenomenon might influence charge formation under high fields. The significance of a constant mobility value is discussed in light of experiments showing that it is not constant at moderate fields in various polymers. It is shown that the only constant parameter under varying high fields is the activation volume typical of a given sample. Future work is pointed out, especially regarding the nature of the trapping sites and the influence of sample size on the activation volume.     

并联电抗器运行异常分析及处理

500KV深圳站变低35KV并联电抗器在运行过程中,时常发生在投运时过流保护运作及运行时周边围栏发热的异常情况。通过对电抗器进行建模分析发现,电抗器在合闸瞬间存在涌流现象,涌流值的大小随合闸角的变化而变化,最大值可以达到正常电流的近2号,从而导致按常规方法整定的过流保护动作。另外,在对电抗器周边磁场进行分析发现,时变的磁场穿过其周边导体围栏使其产生感应电流是周边围栏发热的直接原因。发现异常的原因后,提出了相应的措施,并在实际中加以实施, 结果表明,所采取的措施是行之有效的。     

Emission of liquid metal in vacuum

We present the dynamics of the liquid viscosity and of the liquid bath depth: it can be shown that the dominant wavelength is smaller with higher fields but differs if the liquid film is thick or thin, inviscid or viscous. The development of the pattern involves nonlinear interactions. While a stable deformed interface has been observed on the analogous case of a magnetic fluid under magnetic field, experimentally we only found a stable non-plane interface for a confined geometry where the volume conservation makes forming the destabilisation more difficult: indeed the critical field for obtaining of peaks is then greater than the value of the horizontally infinite surface. Otherwise, some peaks emit at their apex, killing the field: thus the peaks fall, do not emit any more and the electric field is installed again; this gives an oscillatory phenomenon. For a sufficiently large liquid bath different wavelengths can be seen, depending on the electric field and the way this field was reached. For confined geometries one or two peaks grow on the surface and the critical field can be significantly higher     

电缆外护套环流分布在线监测系统的研制(英文)

The value of metal sheath’s circulating current of cross-linked power cables is very small in ideal condition, but the value is not so small that the circulating current can’t be ignored because of various factors in actual running condition. The circulating current method can judge whether the multipoint earthing fault happens by monitoring the variety of metal sheath’s circulating current value. This article introduces an on-line monitoring system which uses the circulating current method to monitor the multipoint earthing fault of the metal sheath. In the hardware layer, we use distributed current sensors and microcontroller’s acquisition units to complete the signal acquisition and signal conditioning of the circulating current value. After the distributed acquisition and conditioning, the signals, through the RS485 bus, will be sent to the Ethernet Serial Device Server network system and then connected to the console cabinet. The computer of the console cabinet could read the circulating current value on-line by the Real Com Mode of the Ethernet Serial Device Server. This distributed on-line monitoring system has a simple structure, excellent real-time performance and high reliability proved by the practical operation.