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Article
Publication date: 2 November 2018

Wei Jiang, Yu Yan, Lianqing Yu, Hong Jun Li, Lizhen Du and Wei Chen

In the high-altitude, high-voltage electromagnetic interference operation environment, due to the parameters perturbation for robot control model caused by uncertainties and…

388

Abstract

Purpose

In the high-altitude, high-voltage electromagnetic interference operation environment, due to the parameters perturbation for robot control model caused by uncertainties and disturbances, and with the poor effective of the conventional proportional–integral–derivative (PID) control to parameters perturbation system, the mathematical model of power cable live operation robot joint PID closed-loop control system is established.

Design/methodology/approach

The corresponding joint motion robust PID control method is also proposed based on Kharitonov theory, the system robust stability conditions including the sufficient and necessary conditions are deduced and obtained and the solving process of robust PID control parameters stability region is provided.

Findings

Finally, the simulation research on robot joint motion PID control system is also launched in MATLAB environment based on Kharitonov theory. The results show that the conventional PID control obtains better control effect only to nominal model but is ineffective to parameter perturbation system, while robust PID obtains sound control effect to parameter perturbation system. Compared with H8 robust PID, the Kharitonov robust PID has better control effect which meet the system design requirements of joint motor quickly response, high tracking accuracy and sound stability. Finally, the validity and engineering practicability are verified by 220-kV living replacing damper operation experiment.

Originality/value

This paper has described the development of a damper replacement power cable live maintenance robot experimental prototype, which greatly improves operation efficiency and deals with the safety problem of operation in a high-voltage environment. A general manipulator motion control model of the power cable robot is established; the Kharitonov theory-based parameter perturbation robust motion control method of damper replacement robot is also obtained. Through the simulation comparison, it is verified that the Kharitonov control has more superiority for dealing with the parameter perturbation systems under the premise of ensuring the stability motion. The field experiment has further confirmed the engineering practicability.

Details

Industrial Robot: An International Journal, vol. 45 no. 6
Type: Research Article
ISSN: 0143-991X

Keywords

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Article
Publication date: 2 April 2019

Wei Jiang, An Zhang, Gongping Wu, Lianqing Yu, Hong Jun Li, Lizhen Du and Wei Chen

To improve the operational efficiency and intelligence of live operation robots in dynamic-unstructured operation environments, this paper aims to propose a fuzzy logic-based…

204

Abstract

Purpose

To improve the operational efficiency and intelligence of live operation robots in dynamic-unstructured operation environments, this paper aims to propose a fuzzy logic-based method for the autonomous search and visual localization control of a manipulator end effector applied to a drainage plate bolt on a high-voltage transmission line. The proposed approach is based on a four-way video image information output from a dual-operation manipulator.

Design/methodology/approach

First, based on the structural characteristics of the drainage line, an autonomous search method for the drainage plate bolt and a mapping relationship between the autonomous search control parameters and the relative posture of the operation manipulator-drainage line are proposed. The posture control parameters of the dual manipulators can then be obtained, and a two-dimensional fuzzy controller is designed with the posture offset distance and the posture offset angle as its input signals. This enables the localization control of the bolt and nut alignment to be realized through a visual process.

Findings

The proposed fuzzy control algorithm is used for bolt location control, and its performance is compared with that of the conventional approach. The simulation results indicate that the fuzzy control algorithm greatly improves the localization accuracy and operational efficiency of live operation robots.

Originality/value

Field operation experiments on actual transmission lines verify that the fuzzy control-based visual localization control of the robot manipulator has great engineering practicality. Therefore, the proposed method further improves operational intelligence compared with conventional algorithms.

Details

Industrial Robot: the international journal of robotics research and application, vol. 46 no. 1
Type: Research Article
ISSN: 0143-991X

Keywords

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Article
Publication date: 19 November 2024

Ermao Liu, Lizhen Cui and Yongxing Du

The pedestrian dead reckoning (PDR) based on smartphones has been widely applied in continuous indoor positioning. However, when the position of the mobile phone and the walking…

67

Abstract

Purpose

The pedestrian dead reckoning (PDR) based on smartphones has been widely applied in continuous indoor positioning. However, when the position of the mobile phone and the walking patterns of the pedestrian are mixed, traditional PDR tends to become confused and thus degrade performance. To address this issue, this paper aims to propose an improved PDR scheme by focusing on gait pattern recognition and the impact of short-period but negative transitions on tracking.

Design/methodology/approach

The overall solution uses the inertial sensor integrated within the phone for positioning. A binary classifier-based change point detection algorithm is used to identify the transition points in pedestrian gait. Additionally, to enhance the accuracy of gait recognition, this paper presents a combined CNN-attention-based bi-directional long short-term memory(ABiLSTM) model, integrating convolutional neural networks (CNN), bi-directional long short-term memory (Bi-LSTM) and an attention mechanism, to recognize the current gait pattern. The outcomes of this gait pattern recognition are then applied to PDR. Based on distinct gait patterns, corresponding PDR strategies are devised to enable continuous tracking and positioning of pedestrians.

Findings

Through experimental verification, the CNN-ABiLSTM model achieves a gait recognition accuracy of 99.52% on the self-constructed data set. The pedestrian navigation estimation method proposed in this paper, which is based on gait recognition assistance, demonstrates a 32.56% improvement in accuracy over traditional positioning algorithms in multi-gait scenarios.

Originality/value

The improved PDR scheme algorithm significantly enhances the robustness and smoothness of pedestrian tracking, particularly during multiple gait transitions. This, in turn, provides strong support for the utilization of low-cost inertial sensors integrated within mobile phones for indoor positioning applications.

Details

Sensor Review, vol. 45 no. 1
Type: Research Article
ISSN: 0260-2288

Keywords

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Article
Publication date: 6 February 2017

Yongsheng Xiao, Lizhen Huang and Jianjiang Zhou

The purpose of this paper is to solve the azimuth sensitivity of a high-resolution range profile (HRRP), which is one of the biggest obstacles faced by a radar automatic target…

97

Abstract

Purpose

The purpose of this paper is to solve the azimuth sensitivity of a high-resolution range profile (HRRP), which is one of the biggest obstacles faced by a radar automatic target recognition (RATR) system.

Design/methodology/approach

Aimed at addressing the shortcomings of the equal angular-sector segmentation based on the scatterer model, an adaptive angular-sector segmentation is proposed on the basis of grey incidence analysis (GIA).

Findings

The main conclusions reached are as follows. First, the adaptive angular-sector segmentation in terms of GIA is suitable for RATR based on the HRRP; and, second, the adaptive angular-sector segmentation based on the type-B degree of grey incidence model is better than the Deng-Si degree of grey incidence model and the degree of grey slope incidence model.

Practical implications

The outcome obtained in this paper can be selected for the RATR application.

Originality/value

This paper has been built on the basis of previous research achievements, and a new RATR method of adaptive angular-sector segmentation is presented based on the GIA.

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Article
Publication date: 28 June 2013

Sheau‐yueh J. Chao

The purpose of this paper is to provide the historical background of genealogical records and analyze the value of Chinese genealogical research through the study of names and…

325

Abstract

Purpose

The purpose of this paper is to provide the historical background of genealogical records and analyze the value of Chinese genealogical research through the study of names and genealogical resources.

Design/methodology/approach

The paper examines the historical evolution and value of Chinese genealogical records, with the focus on researching the Islamic Chinese names used by the people living in Guilin. The highlight of this paper includes the analysis and evolution of the Islamic Chinese names commonly adopted by the local people in Guilin. It concludes with the recommendations on emphasizing and making the best use of genealogical records to enhance the research value of Chinese overseas studies.

Findings

The paper covers the history of Islam and describes how the religion was introduced into China, as well as Muslims' ethnicity and identity. It also places focus on the importance of building a research collection in Asian history and Chinese genealogy.

Research limitations/implications

This research study has a strong subject focus on Chinese genealogy, Asian history, and Islamic Chinese surnames. It is a narrow field that few researchers have delved into.

Practical implications

The results of this study will assist students, researchers, and the general public in tracing the origin of their surnames and developing their interest in the social and historical value of Chinese local history and genealogies.

Social implications

The study of Chinese surnames is, by itself, a particular field for researching the social and political implications of contemporary Chinese society during the time the family members lived.

Originality/value

Very little research has been done in the area of Chinese local history and genealogy. The paper would be of value to researchers such as historians, sociologists, ethnologists and archaeologists, as well as students and anyone interested in researching a surname origin, its history and evolution.

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