Shenyang Institute of Automation,Chinese Academy Of Sciences
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Research on Calculation of Actual Cable Current Carrying Quantity Under IEC Standard
No full text在国外很多项目中，业主要求电气系统按照IEC标准进行设计。虽然在电气系统设计上，中国很多标准等同于IEC标准，但在具体细节上，还是有很多不同之处，尤其是在项目具体的执行过程中，很多细节问题被彻底暴露出来。为此对IEC标准下动力电缆的实际载流量计算进行了深入分析，以满足业主的技术要求。</p
Design and implementation of agent-based robotic system for agile manufacturing: A case study of ARIAC 2021
No full textWe share our experience and lessons learned from participating in the Agile Robotics for Industrial Automation Competition (ARIAC), 2021. We won 1st place in the finals and benefited from an agent-based architecture, task assignment strategy, and modular software programming design method based on the Unified Modeling Language
Special issue on interpretation of deep learning: prediction, representation, quantification and visualization
No full textNovel power-exponent-type modified RNN for RMP scheme of redundant manipulators with noise and physical constraints
No full textNoise and physical constraints of redundant manipulators are the two major challenges in the repetitive motion planning (RMP) problems. Therefore, this paper proposed a power-exponent-type modified recurrent neural network (PET-MRNN) to simultaneously address both noise and physical constraints. Moreover, PET-MRNN model is activated by a new Sbp-sinh type nonlinear activation function proposed in this paper. The Sbp-sinh type activation function is first applied to such time varying quadratic program (TVQP) solving and possesses excellent convergence performance. Theoretical analysis proves that the PET-MRNN model can completely eliminate noise disturbance through learning and compensation during the convergence process, and then converge the residual error to zero and obtain the theoretical solution. Finally, simulation and experiments further proved the superiority of the PET-MRNN and the Sbp-sinh type activation function.</p
Variable-gain control for continuum robots based on velocity sensitivity
No full textKinematic control for continuum robots usually involves an inverse model to provide actuator positions according to the desired end-tip position, as well as a servo controller at the actuator level. The resulting control performance of a continuum robot is then related to its kinematic characteristics that vary at different configurations. In this paper, a kinematic model for a typical rod-driven continuum robot is presented. Following this, a kinematic parameter, velocity sensitivity, is proposed to evaluate the kinematic characteristics of the continuum robot, indicating the contribution of the individual actuators to the instant movement of the end-tip when tracking a given path. Next, a variable gain control strategy is presented to tune the servo controller with respect to the varying velocity sensitivity along the path, reducing the fluctuation of the tracking errors in real time. The simulated and experimental results show that the presented methods can effectively smooth the movement of the continuum robot over its workspace by considering the coordination between the kinematic and servo controllers.</p
A wearable fiber-optic sensor for monitoring human elbow and wrist joint motion
No full textThis article describes a wearable sensor for monitoring the motion of human elbow and wrist joints. The sensor converts the joint motion angle into a displacement, which is monitored using a fiber-optic sensor based on reflective light intensity modulation. A mathematical model is established, and the potential influencing factors of the sensor are investigated. Two prototypes for elbow and wrist joint angle monitoring are fabricated and validated. The experimental results indicate that the proposed sensor has a measurement range of 0–60° (0–120°), with a resolution of 0.338° (3.6°) for monitoring the wrist joint palm flexion (elbow joint flexion). The proposed sensor has the potential to be used for rehabilitation purposes and monitoring of joint angles while performing reaching tasks, which are the most common upper-limb gestures.</p
Removing Artifacts from EEG for Brain-Machine Integration Control
No full text脑机融合控制的典型控制信号源是脑电，然而脑电信号具有低信噪比、低空间分辨率、极易受到伪迹的污染，这给该类控制系统中脑电信号的处理带来了巨大的挑战。本文针对脑电中存在的各种伪迹，分析总结了各种伪迹处理方法并比较它们的优缺点，最后针对脑机融合控制的实用化需求，指出该领域脑电伪迹处理方法未来的研究方向—在线实时、自适应/机器学习、免伪迹参考、少通道/单通道、优化融合多种有效方法综合去除EEG中的主要伪迹。</p
Three Birds, One Stone: Unified Laser-based 3D Reconstruction across Different Media
No full textThe laser-based 3D reconstruction is crucial for autonomous manipulation and resource exploration both the air and underwater scenarios, due to its accurate precision and robust to disturbances. However, most current laser-based 3D reconstruction sensors cannot be applied across different media without recalibration directly, e.g., air, and air glass air, air glass water, which is called killing three birds with one stone. This is because the variation of the medium density could change the sensor calibration parameters and further make the sensor suffer from a systematic geometric bias. To address these challenges, a unified laser-based 3D reconstruction method is proposed in order that the laser-based scanner could be used across different media without recalibration, where we first explicitly model the refraction of the underwater vision systems, and transform it across different media into a unified sensor reference frame. More specifically, an underwater refractive camera calibration model is designed to calibrate the orientation and position of the refractive interface, which can improve the accuracy of underwater reconstruction for laser-based scanner, and we then present a refractive pose estimation model with a unified sensor reference frame, which can help the sensor to be applied across different scenarios directly. For the experiments, we validate the performance of our method on our underwater 3D scanner prototype. Several reconstruction results on different objects and scenarios demonstrate the effectiveness of our proposed method, and the practicality of our designed sensor.</p
基于区块链技术的“互联网+科学教育”创新探究
No full text区块链技术已成为当下网络时代新的关注热点,它的应用已经从最初的数字货币扩展到更为广阔的领域。科学教育是提高国民科学素养,构建学习型社会、终身教育体系的重要载体,本文在分析区块链技术特征的基础上,探究区块链技术在"互联网+科学教育"领域的应用场景,阐述了区块链技术在提升教学数据的安全和共享效率、优化科学教育成果的分享和传播过程、增进"数据驱动"的科学教育质量提升、构建科学教育资源自动化的流转生态等方面的应用前景。为推动后移动互联网时代的科学教育发展变革提供新思路。</p
Research on Influence of Laser Beam Posture on Cross-section Morphology of Laser Melt Deposits
No full text在不同激光束位姿下进行多个基体倾斜角度（0°、15°、30°、45°）激光熔化沉积试验研究。分析了沉积层外观与形貌特征，以获得两种不同激光束位姿状态下基体倾斜角度对沉积层形貌的影响机制。结果表明：在小倾斜角度（0～30°）范围内，两种激光束位姿沉积层外观质量差距不大；在大倾斜角度（30°以上）范围内，激光束与基体面相对垂直的位姿状态，其沉积层外观质量更好，更有利于界面冶金结合。</p