Real-time accurate hand path tracking and joint trajectory planning for industrial robots (I)

Previously, researchers raised the accuracy for a robot’s hand to track a specified path in Cartesian space mainly through increasing the number of knots on the path and the number of the path’s segments, which results in the heavier online computational burden for the robot controller. Aiming at overcoming this drawback, the authors propose a new kind of real-time accurate hand path tracking and joint trajectory planning method. Through selecting some extra knots on the specified hand path by a certain rule and introducing a sinusoidal function to the joint displacement equation of each segment, this method can greatly raise the path tracking accuracy of robot’s hand and does not change the number of the path’s segments. It also does not increase markedly the computational burden of robot controller. The result of simulation indicates that this method is very effective, and has important value in increasing the application of industrial robots. Foundation item: Foundation of the Robotics Laboratory, Chinese Academy of Sciences (No. RL200002) Biography of the first author: TAN Guan-zheng, Dr., professor, born in Oct. 1962, majoring in artificial intelligence, robotics and automation.     

网格生成方法在APFSDS及弹托干扰流场计算中的应用

介绍APFSDS及弹托干扰流场数值模拟中的网格生成方法及其应用。利用等比数列网格生成技术，三维弧长生成技术以及拼接技术生成计算网格。该方法具有简明、快捷的特点。在临近物面的地方具有较好的贴体性和正交性。在计算脱壳穿甲弹和弹托之间的干扰时，将弹托简化为带圆弧的楔形块，计算结果比较令人满意。     

Basic concept and decentralized autonomous control of super‐distributed energy systems

New small‐scale dispersed generation systems, such as fuel cells and micro gas turbines, have made remarkable advances lately and they will be applied practically in the near future. Although a large number of researches on the introduction of small‐scale dispersed generation systems have been carried out, only a small number of small‐scale dispersed generation systems are considered in these researches. Therefore, little is known about problems to be solved when a large number of small‐scale dispersed generation systems are introduced into electric power systems. This paper deals with a super‐distributed energy system that consists of a great number of dispersed generation systems such as fuel cells, micro gas turbines, and so on. The behavior of a customer with a dispersed generation system is simulated as the Ising model in statistical mechanics. The necessity of a distribution network in super‐distributed energy systems is discussed based on the Ising model. The feasibility of decentralized autonomous control using vicinity information is also investigated on the basis of stability analysis of the Hopfield neural network model. © 2005 Wiley Periodicals, Inc. Electr Eng Jpn, 151(1): 43–55, 2005; Published online in Wiley InterScience ( www.interscience.wiley.com ). DOI 10.1002/eej.10368     

Integration of knowledge-based systems with data processing

Transaction Oriented Prolog-Online Environment is a multi-user, mainframe implementation of the logic programming language Prolog, specially designed and developed for the data processing environment. This article describes the background, functionality, implementation and use of TOP-ONE, stressing that applications of knowledge-based systems technology to data processing environments will achieve full success only when existing systems and existing conventional data are incorporated within the applications.     

Method of increasing the output signal-to-noise ratio in passive multi-element antenna arrays

A method of processing complex signals in passive multi-element antenna arrays based on an analysis of the natural values of the correlation matrix of the signal is considered. By means of the method it is possible to substantially increase the output signal-to-noise ratio. An iterational process by means of which optimal estimators of both the signal and the amplitude-phase distribution may be obtained, is proposed. Theoretical estimators of the efficiency of the method are given. It is proved that, in terms of the efficiency, the approach considered in the article comes close to the technique of matched filtration. Results of statistical modeling that confirm the statistical results are presented.     

A process-control and diagnostic tool based on continuous fuzzy Petri nets

The use of Petri nets and fuzzy logic in intelligent process control has caught the attention of many researchers. In this paper, a Continuous Fuzzy Petri Net (CFPN) tool which integrates the three technologies of fuzzy control, Petri nets and real-time expert systems is presented. The CFPN approach can deal with real-time continuous inferencing, for the purpose of process monitoring and diagnostics, at a high level in the presence of uncertainty. This tool has been implemented in the G2 real-time expert-system environment and is currently being used by ESSO Canada.     

Development and implementation of a NURBS curve motion interpolator

This paper deals with the issues of development and implementation of a real-time NURBS interpolator for a six-axis robot. Using an open-architecture controller system as a testbed, a real-time NURBS curve interpolator was developed, implemented and tested. Sample runs were conducted with the resulting trajectories measured in real-time during robot motion. The resulting trajectories are analyzed, discussed and compared with those from a commonly used point-to-point approximation technique. The real-time NURBS curve interpolator's feasibility, advantages and related issues are also discussed.     

高功率激光焊接光致等离子体的检测

系统地归纳了高功率激光焊接过程中光致等离子体的声、光、电、热等四种特征信号,综述了国外在等离子体信号检测方面的试验方法及研究进展,分析了未来的发展趋势。     

液压激振系统的检测与控制

本文阐述一种用于控制液压激振装置加载力和加载频率的机液电系统。简要叙述液压激振器的基本原理和特点。分析了双闭环控制回路。重点介绍激振力和激振频率的检测和处理技术。     

Optimal search for signals in a multichannel system: Arbitrary initial distribution in state space merging scheme

Markovian and semi-Markovian random processes are used to analyze the problem of optimal search for signals in a multichannel communication system with arbitrarily distributed random outputs. The search efficiency factor is found in explicit form based on state space merging, and a mathematical programming problem is set up to find a numerical suboptimal solution. __________ Translated from Kibernetika i Sistemnyi Analiz, No. 3, pp. 144–150, May–June 2007.