The Experts below are selected from a list of 51 Experts worldwide ranked by ideXlab platform
Zize Liang - One of the best experts on this subject based on the ideXlab platform.
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Design of the tip state estimator for hybrid-structured flexible manipulator based on SDFT and FLAKF
Assembly Automation, 2018Co-Authors: Teng Long, En Li, Lei Yang, Zize LiangAbstract:Purpose This paper aims to design a tip state estimation method for a hybrid-structured flexible manipulator (HSFM) with one rotating Joint and one Telescopic Joint in the vertical plane. Design/methodology/approach The HSFM model is decomposed into a static deflection model and a vibration model. The sliding discrete Fourier transform (SDFT) is used to filter the high frequency noise and obtain main vibration components to represent the vibration model. Then, a novel fuzzy logic adaptive Kalman filter (FLAKF) is designed to estimate the state of a vibrational equilibrium position. The complete tip state of the HSFM is obtained by superimposing the FLAKF filter results with the SDFT vibration analysis results. Findings Both the simulation results and physical experimental results verify the effectiveness of the proposed tip state estimation method. The vibration analysis based on SDFT is used to represent the vibration model and reduce the computational complexity in the process of solving differential equation. The proposed FLAKF can effectively increase the stability and robustness of the estimator. Originality/value In this paper, the tip state estimation problem of the HSFM in vertical plane is first proposed. The effect of gravity on the HSFM is considered by the static deflection model. A precise tip state estimator is designed by a closed loop SDFT and a novel FLAKF, which can provide an accurate feedback for the vibration control controller and make an accurate evaluation of the control effect.
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A Vibration Control Method for Hybrid-Structured Flexible Manipulator Based on Sliding Mode Control and Reinforcement Learning
IEEE Transactions on Neural Networks and Learning Systems, 1Co-Authors: Teng Long, En Li, Yunqing Hu, Lei Yang, Zize LiangAbstract:The hybrid-structured flexible manipulator has a complex structure and strong coupling between state variables. Meanwhile, the natural frequency of the hybrid-structured flexible manipulator varies with the motion of the Telescopic Joint, so it is difficult to suppress the vibration quickly. In this article, the tip state signal of the hybrid-structured flexible manipulator is decomposed into elastic vibration signal and tip vibration equilibrium position signal, and a combined control method is proposed to improve tip positioning accuracy and trajectory tracking accuracy. In the proposed combined control method, an improved nominal model-based sliding mode controller (NMBSMC) is used as the main controller to output the driving torque, and an actor-critic-based reinforcement learning controller (ACBRLC) is used as an auxiliary controller to output small compensation torque. The improved NMBSMC can be divided into a nominal model-based sliding mode robust controller and a practical model-based integral sliding mode controller. Two sliding mode controllers with different structures make full use of the mathematical model and the measured data of the actual system to improve the vibration equilibrium position tracking accuracy. The ACBRLC uses the tip elastic vibration signal and the prioritized experience replay method to obtain the small reverse compensation torque, which is superimposed with the output of the NMBSMC to suppress tip vibration and improve the positioning accuracy of the hybrid-structured flexible manipulator. Finally, several groups of experiments are designed to verify the effectiveness and robustness of the proposed combined control method.
Teng Long - One of the best experts on this subject based on the ideXlab platform.
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Design of the tip state estimator for hybrid-structured flexible manipulator based on SDFT and FLAKF
Assembly Automation, 2018Co-Authors: Teng Long, En Li, Lei Yang, Zize LiangAbstract:Purpose This paper aims to design a tip state estimation method for a hybrid-structured flexible manipulator (HSFM) with one rotating Joint and one Telescopic Joint in the vertical plane. Design/methodology/approach The HSFM model is decomposed into a static deflection model and a vibration model. The sliding discrete Fourier transform (SDFT) is used to filter the high frequency noise and obtain main vibration components to represent the vibration model. Then, a novel fuzzy logic adaptive Kalman filter (FLAKF) is designed to estimate the state of a vibrational equilibrium position. The complete tip state of the HSFM is obtained by superimposing the FLAKF filter results with the SDFT vibration analysis results. Findings Both the simulation results and physical experimental results verify the effectiveness of the proposed tip state estimation method. The vibration analysis based on SDFT is used to represent the vibration model and reduce the computational complexity in the process of solving differential equation. The proposed FLAKF can effectively increase the stability and robustness of the estimator. Originality/value In this paper, the tip state estimation problem of the HSFM in vertical plane is first proposed. The effect of gravity on the HSFM is considered by the static deflection model. A precise tip state estimator is designed by a closed loop SDFT and a novel FLAKF, which can provide an accurate feedback for the vibration control controller and make an accurate evaluation of the control effect.
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A Vibration Control Method for Hybrid-Structured Flexible Manipulator Based on Sliding Mode Control and Reinforcement Learning
IEEE Transactions on Neural Networks and Learning Systems, 1Co-Authors: Teng Long, En Li, Yunqing Hu, Lei Yang, Zize LiangAbstract:The hybrid-structured flexible manipulator has a complex structure and strong coupling between state variables. Meanwhile, the natural frequency of the hybrid-structured flexible manipulator varies with the motion of the Telescopic Joint, so it is difficult to suppress the vibration quickly. In this article, the tip state signal of the hybrid-structured flexible manipulator is decomposed into elastic vibration signal and tip vibration equilibrium position signal, and a combined control method is proposed to improve tip positioning accuracy and trajectory tracking accuracy. In the proposed combined control method, an improved nominal model-based sliding mode controller (NMBSMC) is used as the main controller to output the driving torque, and an actor-critic-based reinforcement learning controller (ACBRLC) is used as an auxiliary controller to output small compensation torque. The improved NMBSMC can be divided into a nominal model-based sliding mode robust controller and a practical model-based integral sliding mode controller. Two sliding mode controllers with different structures make full use of the mathematical model and the measured data of the actual system to improve the vibration equilibrium position tracking accuracy. The ACBRLC uses the tip elastic vibration signal and the prioritized experience replay method to obtain the small reverse compensation torque, which is superimposed with the output of the NMBSMC to suppress tip vibration and improve the positioning accuracy of the hybrid-structured flexible manipulator. Finally, several groups of experiments are designed to verify the effectiveness and robustness of the proposed combined control method.
Lei Yang - One of the best experts on this subject based on the ideXlab platform.
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Design of the tip state estimator for hybrid-structured flexible manipulator based on SDFT and FLAKF
Assembly Automation, 2018Co-Authors: Teng Long, En Li, Lei Yang, Zize LiangAbstract:Purpose This paper aims to design a tip state estimation method for a hybrid-structured flexible manipulator (HSFM) with one rotating Joint and one Telescopic Joint in the vertical plane. Design/methodology/approach The HSFM model is decomposed into a static deflection model and a vibration model. The sliding discrete Fourier transform (SDFT) is used to filter the high frequency noise and obtain main vibration components to represent the vibration model. Then, a novel fuzzy logic adaptive Kalman filter (FLAKF) is designed to estimate the state of a vibrational equilibrium position. The complete tip state of the HSFM is obtained by superimposing the FLAKF filter results with the SDFT vibration analysis results. Findings Both the simulation results and physical experimental results verify the effectiveness of the proposed tip state estimation method. The vibration analysis based on SDFT is used to represent the vibration model and reduce the computational complexity in the process of solving differential equation. The proposed FLAKF can effectively increase the stability and robustness of the estimator. Originality/value In this paper, the tip state estimation problem of the HSFM in vertical plane is first proposed. The effect of gravity on the HSFM is considered by the static deflection model. A precise tip state estimator is designed by a closed loop SDFT and a novel FLAKF, which can provide an accurate feedback for the vibration control controller and make an accurate evaluation of the control effect.
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A Vibration Control Method for Hybrid-Structured Flexible Manipulator Based on Sliding Mode Control and Reinforcement Learning
IEEE Transactions on Neural Networks and Learning Systems, 1Co-Authors: Teng Long, En Li, Yunqing Hu, Lei Yang, Zize LiangAbstract:The hybrid-structured flexible manipulator has a complex structure and strong coupling between state variables. Meanwhile, the natural frequency of the hybrid-structured flexible manipulator varies with the motion of the Telescopic Joint, so it is difficult to suppress the vibration quickly. In this article, the tip state signal of the hybrid-structured flexible manipulator is decomposed into elastic vibration signal and tip vibration equilibrium position signal, and a combined control method is proposed to improve tip positioning accuracy and trajectory tracking accuracy. In the proposed combined control method, an improved nominal model-based sliding mode controller (NMBSMC) is used as the main controller to output the driving torque, and an actor-critic-based reinforcement learning controller (ACBRLC) is used as an auxiliary controller to output small compensation torque. The improved NMBSMC can be divided into a nominal model-based sliding mode robust controller and a practical model-based integral sliding mode controller. Two sliding mode controllers with different structures make full use of the mathematical model and the measured data of the actual system to improve the vibration equilibrium position tracking accuracy. The ACBRLC uses the tip elastic vibration signal and the prioritized experience replay method to obtain the small reverse compensation torque, which is superimposed with the output of the NMBSMC to suppress tip vibration and improve the positioning accuracy of the hybrid-structured flexible manipulator. Finally, several groups of experiments are designed to verify the effectiveness and robustness of the proposed combined control method.
En Li - One of the best experts on this subject based on the ideXlab platform.
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Design of the tip state estimator for hybrid-structured flexible manipulator based on SDFT and FLAKF
Assembly Automation, 2018Co-Authors: Teng Long, En Li, Lei Yang, Zize LiangAbstract:Purpose This paper aims to design a tip state estimation method for a hybrid-structured flexible manipulator (HSFM) with one rotating Joint and one Telescopic Joint in the vertical plane. Design/methodology/approach The HSFM model is decomposed into a static deflection model and a vibration model. The sliding discrete Fourier transform (SDFT) is used to filter the high frequency noise and obtain main vibration components to represent the vibration model. Then, a novel fuzzy logic adaptive Kalman filter (FLAKF) is designed to estimate the state of a vibrational equilibrium position. The complete tip state of the HSFM is obtained by superimposing the FLAKF filter results with the SDFT vibration analysis results. Findings Both the simulation results and physical experimental results verify the effectiveness of the proposed tip state estimation method. The vibration analysis based on SDFT is used to represent the vibration model and reduce the computational complexity in the process of solving differential equation. The proposed FLAKF can effectively increase the stability and robustness of the estimator. Originality/value In this paper, the tip state estimation problem of the HSFM in vertical plane is first proposed. The effect of gravity on the HSFM is considered by the static deflection model. A precise tip state estimator is designed by a closed loop SDFT and a novel FLAKF, which can provide an accurate feedback for the vibration control controller and make an accurate evaluation of the control effect.
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A Vibration Control Method for Hybrid-Structured Flexible Manipulator Based on Sliding Mode Control and Reinforcement Learning
IEEE Transactions on Neural Networks and Learning Systems, 1Co-Authors: Teng Long, En Li, Yunqing Hu, Lei Yang, Zize LiangAbstract:The hybrid-structured flexible manipulator has a complex structure and strong coupling between state variables. Meanwhile, the natural frequency of the hybrid-structured flexible manipulator varies with the motion of the Telescopic Joint, so it is difficult to suppress the vibration quickly. In this article, the tip state signal of the hybrid-structured flexible manipulator is decomposed into elastic vibration signal and tip vibration equilibrium position signal, and a combined control method is proposed to improve tip positioning accuracy and trajectory tracking accuracy. In the proposed combined control method, an improved nominal model-based sliding mode controller (NMBSMC) is used as the main controller to output the driving torque, and an actor-critic-based reinforcement learning controller (ACBRLC) is used as an auxiliary controller to output small compensation torque. The improved NMBSMC can be divided into a nominal model-based sliding mode robust controller and a practical model-based integral sliding mode controller. Two sliding mode controllers with different structures make full use of the mathematical model and the measured data of the actual system to improve the vibration equilibrium position tracking accuracy. The ACBRLC uses the tip elastic vibration signal and the prioritized experience replay method to obtain the small reverse compensation torque, which is superimposed with the output of the NMBSMC to suppress tip vibration and improve the positioning accuracy of the hybrid-structured flexible manipulator. Finally, several groups of experiments are designed to verify the effectiveness and robustness of the proposed combined control method.
Sugano Hiroshi - One of the best experts on this subject based on the ideXlab platform.
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back suction mechanism using cup rubber double container comprising this back suction mechanism and squeeze operation mode pump type product comprising this double container
2017Co-Authors: Sugano HiroshiAbstract:PROBLEM TO BE SOLVED: To attain the integrity of back suction action during content discharge movement using cup rubber and the prevention of oxidation of a container storage content by application for example to a delamination bottle.SOLUTION: A cup rubber 5, attached to the content discharge side of a known delamination bottle 1 which shows the action of preventing content oxidation, comprises a valve action cylindrical part (top face part 5e of a cross slit 5f+inner annular standing part 5d), a base part (5a+5b) attached to an inside plug 4, and an annular Telescopic Joint 5c between them. In accordance with content discharge operation to an outer container 3, the inside of the annular Telescopic Joint 5c displaces upward while resisting self elastic force to shift the whole of the valve action cylindrical part toward a content discharge opening 6e. The release of the content discharge operation causes the whole of the valve action cylindrical part reset to an initial position to be reset by the elastic force of the annular Telescopic Joint 5c. A volume change of a back suction space area S2 is increased between the time of content discharge operation and the time of release of the same by upward and downward positional changes of this whole of the valve action cylindrical part.SELECTED DRAWING: Figure 2
