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Article
Publication date: 27 April 2022

Qixin Zhu, Yusheng Jin and Yonghong Zhu

The purpose of this paper is to propose a new acceleration/deceleration (acc/dec) algorithm for motion profiles. The motion efficiency, flexibility of the motion profiles and the…

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Abstract

Purpose

The purpose of this paper is to propose a new acceleration/deceleration (acc/dec) algorithm for motion profiles. The motion efficiency, flexibility of the motion profiles and the residual vibration of the movement are discussed in this paper.

Design/methodology/approach

A dynamics model is developed to assess the residual vibration of these two kinds of motion profile. And a Simulink model is created to assess the motion efficiency and flexibility of the motion profiles with the proposed acc/dec algorithm.

Findings

Considering the flexibility of trigonometric motion profiles and the higher motion efficiency of S-curve motion profiles, the authors add the polynomial parts into the jerk profile of the cosine function acc/dec algorithm to hold the jerk when it reaches the maximum so that the motion efficiency can increase and decrease residual vibration at the same time. And the cyclical parameter k shows the decisive factor for the flexibility of trigonometric motion profiles.

Originality/value

Comparing with the traditional motion profiles, the proposed motion profiles have higher motion efficiency and excite less residual vibration. The acc/dec algorithm proposed in this paper is useful for the present motion control and servo system.

Details

Assembly Automation, vol. 42 no. 3
Type: Research Article
ISSN: 0144-5154

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Article
Publication date: 17 September 2024

Qixin Zhu, Wenxin Sun, Yehu Shen, Guizhong Fu, Yong Yang and Jinbin Li

This study aims to improve the control accuracy and antidisturbance performance of the manipulator with the flexible link, a combined controller, which combines the novel…

50

Abstract

Purpose

This study aims to improve the control accuracy and antidisturbance performance of the manipulator with the flexible link, a combined controller, which combines the novel backstepping sliding mode controller based on the extended state observer (ESO) and super-twisting sliding mode controller.

Design/methodology/approach

First, the dynamic of the system is constructed by Lagrange method and assumed mode method, and then the dynamic is decoupled by the singular perturbation theory to obtain the slow-varying subsystem and fast-varying subsystem. For the slow-varying subsystem, the novel backstepping sliding mode controller based on ESO is used to achieve joint tracking. For the fast-varying subsystem, the super-twisting sliding mode controller is used for vibration suppression. At the same time, to suppress chattering, the tanh function is used to replace the sign function in the reaching law.

Findings

The simulation results show that the combined control has better trajectory tracking performance, antiinterference performance and vibration suppression performance than traditional sliding mode control (SMC).

Originality/value

A novel backstepping sliding mode controller based on ESO is designed to guarantee the performance of the tracking trajectory. The new controller improves the converge rate. A super-twisting sliding mode controller, which can stabilize the fast-varying subsystem, is used to suppress the vibration of flexible link.

Details

Robotic Intelligence and Automation, vol. 44 no. 6
Type: Research Article
ISSN: 2754-6969

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Article
Publication date: 3 November 2021

Hongjun Shi, Lei Xiong, Xuchen Nie and Qixin Zhu

This paper aims to mainly discuss how to suppress the disturbances accurately and effectively in the wind energy conversion system (WECS) of the direct drive surface mount…

370

Abstract

Purpose

This paper aims to mainly discuss how to suppress the disturbances accurately and effectively in the wind energy conversion system (WECS) of the direct drive surface mount permanent magnet synchronous generator (SPMSG).

Design/methodology/approach

The disturbances in wind energy conversion system have seriously negative influence on the maximum power tracking performance. Therefore, a model predictive control (MPC) method of model compensation active disturbance rejection control (ADRC) strategy in parallel connection is designed, which optimizes the speed tracking performance compared with the existing control strategy of MPC and ADRC in series connection. Based on the traditional ADRC, a multi parameter model compensation ADRC strategy is added to better estimate the disturbances. At the same time, a torque feedback strategy is added to compensate the disturbances caused by load torque and further optimize the speed loop tracking performance.

Findings

The simulation results show that the designed control method has advantages than the traditional control method in compensating the disturbances and tracking the maximum power more effectively.

Originality/value

The simulation results show that the designed control method is superior to the traditional proportional control method, which can better compensate the internal and external disturbances and track the maximum power more effectively.

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Article
Publication date: 31 October 2023

Lei Xiong, Hongjun Shi and Qixin Zhu

This study aims to construct a novel maximum power tracking control system for the direct drive permanent magnet synchronous generator (PMSG) of the wind energy conversion system…

74

Abstract

Purpose

This study aims to construct a novel maximum power tracking control system for the direct drive permanent magnet synchronous generator (PMSG) of the wind energy conversion system (WECS) to solve the following problems: how to effectively eliminate the system’s model parameter disturbances and speed up the dynamic performance of the system; and how to eliminate harmonics in WECS under different wind speeds.

Design/methodology/approach

To obtain the maximum output power of PMSG at WECS under different wind speeds, the following issues should be considered: (1) how to effectively eliminate the system’s model parameter disturbances and speed up the dynamic performance of the system; and (2) how to suppress system harmonics. For Problem 1, adding dq compensation factors to active disturbance rejection control (ADRC) for the current loop realizes the dq axis decoupling control, which speeds up the dynamic performance of the system. For Problem 2, the resonant controller is introduced into the ADRC for the current loop to suppress harmonic current in WECS under different wind speeds.

Findings

The simulation results demonstrate that the proposed control method is simpler and more reliable than conventional controllers for maximum power tracking.

Originality/value

Compared with traditional controllers, the proposed controller can speed up the dynamic performance of the system and suppress the current harmonic effectively, thus better achieving maximum power tracking.

Details

Robotic Intelligence and Automation, vol. 43 no. 6
Type: Research Article
ISSN: 2754-6969

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Article
Publication date: 16 August 2013

Xiaoxiao Zhu and Qixin Cao

The purpose of the present paper is to propose a full model‐based method for distance‐mapping calibration for the non‐SVP (non‐single viewpoint) catadioptric camera of the soccer…

158

Abstract

Purpose

The purpose of the present paper is to propose a full model‐based method for distance‐mapping calibration for the non‐SVP (non‐single viewpoint) catadioptric camera of the soccer robot. The method should be easy to operate, efficient, accurate, and scalable to fit larger field sizes.

Design/methodology/approach

The distance‐mapping model was first constructed based on the imaging principle. The authors then calibrated the internal parameters using the mirror boundary and used the mirror center to choose the correct pose from two possible solutions. The authors then proposed a three‐point method based on a unique solution case of the non‐SVP P3P (perspective‐three‐point) problem to solve the external parameters. Lastly, they built the distance mapping by back‐projection.

Findings

The simulation experimental results have shown that the authors' method is very accurate even when there is severe misalignment between the mirror and the camera and that all calibration operations, except the calibration of a standard camera, can be completed in 1 min. The result of the comparison with the traditional calibration method shows that the authors' method is superior to the traditional method in terms of accuracy and efficiency.

Originality/value

The proposed calibration method is scalable to larger fields because it only uses the boundary of the mirror and three feature points on the field, and does not need additional calibration objects. Additionally, an automatic calibration method that can be used during the game can be easily developed based on this method. Moreover, the proposed mirror‐pose‐selection method and a unique solution to the non‐SVP P3P problem are especially useful for a non‐SVP catadioptric camera.

Details

Industrial Robot: An International Journal, vol. 40 no. 5
Type: Research Article
ISSN: 0143-991X

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Article
Publication date: 11 March 2014

Wenshan Wang, Qixin Cao, Xiaoxiao Zhu and Masaru Adachi

Robot localization technology has been widely studied for decades and a lot of remarkable approaches have been developed. However, in practice, this technology has hardly been…

340

Abstract

Purpose

Robot localization technology has been widely studied for decades and a lot of remarkable approaches have been developed. However, in practice, this technology has hardly been applied to common day-to-day deployment scenarios. The purpose of this paper is to present a novel approach that focuses on improving the localization robustness in complicated environment.

Design/methodology/approach

The localization robustness is improved by dynamically switching the localization components (such as the environmental camera, the laser range finder and the depth camera). As the components are highly heterogeneous, they are developed under the robotic technology component (RTC) framework. This simplifies the developing process by increasing the potential for reusability and future expansion. To realize this switching, the localization reliability for each component is modeled, and a configuration method for dynamically selecting dependable components at run-time is presented.

Findings

The experimental results show that this approach significantly decreases robot lost situation in the complicated environment. The robustness is further enhanced through the cooperation of heterogeneous localization components.

Originality/value

A multi-component automatic switching approach for robot localization system is developed and described in this paper. The reliability of this system is proved to be a substantial improvement over single-component localization techniques.

Details

Industrial Robot: An International Journal, vol. 41 no. 2
Type: Research Article
ISSN: 0143-991X

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Article
Publication date: 14 April 2022

Guangyuan Wu, Haitao Zhang, Qixin Ge, Junfeng Sun and Tengjiang Yu

In order to determine the range of medium temperature zone of road asphalt, it is hoped that the evolution of viscoelastic characteristics of road asphalt under medium temperature…

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Abstract

Purpose

In order to determine the range of medium temperature zone of road asphalt, it is hoped that the evolution of viscoelastic characteristics of road asphalt under medium temperature state can be deeply explored.

Design/methodology/approach

In this paper, the needle penetration test and temperature scanning test were designed for 90# and 70# bitumen as test materials, and the boundary of medium temperature zone of 90# and 70# bitumen was accurately determined by data analysis method. A mathematical model was established based on principal component analysis, and a comprehensive evaluation index was proposed to evaluate the evolution of temperature viscoelastic characteristics of road asphalt by means of standardization and rotational dimensionality reduction.

Findings

The test results show that the medium temperature zone of 90# asphalt is [−5 ± 1°C, 38 ± 1°C], and the medium temperature zone of 70# asphalt is [0 ± 1°C, 51 ± 1°C]. According to the viscoelastic response of road asphalt in the medium temperature zone, the medium temperature zone can be divided into three evolution stages: weak viscoelastic stage, viscoelastic equilibrium stage, strong viscoelastic weak stage. Analysis based on the intrinsic viscosity fillip target describing the various intrinsic viscoelastic index represents the viscoelastic properties of bitumen from different angles, and limitations inherent stick fillip for target put forward the integrated the inherent stick fillip mark information, as well as targeted and accurate evaluation of road asphalt temperature comprehensive evaluation indexes in the evolution of the viscoelastic properties of IM-T. Finally, the temperature data of asphalt pavement in several representative regions of China are compared with the determined medium temperature region, and it is proved that the research on the evolution of viscoelastic characteristics of asphalt pavement under the medium temperature condition has important practical significance.

Originality/value

The boundary of medium temperature zone of 90# and 70# base asphalt was determined, and the viscoelastic characteristic evolution of road asphalt under medium temperature state was studied deeply. Aiming at the limitation of intrinsic viscoelastic index, a comprehensive evaluation index IM-T which not only integrates the information of intrinsic viscoelastic index but also can accurately evaluate the evolution of temperature viscoelastic characteristics in road asphalt is proposed.

Details

Multidiscipline Modeling in Materials and Structures, vol. 18 no. 2
Type: Research Article
ISSN: 1573-6105

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Article
Publication date: 14 February 2025

Zhenxu Guo, Qing’e Wang, Haofei Jing and Qixin Gao

Mega construction projects (megaprojects) require technological innovation cooperation (TIC) to address complex construction demands and the interests of multiple stakeholders…

8

Abstract

Purpose

Mega construction projects (megaprojects) require technological innovation cooperation (TIC) to address complex construction demands and the interests of multiple stakeholders. Although TIC has been extensively discussed at the firm level, a significant gap remains in understanding megaprojects at the project level. This paper aims to identify TIC’s influencing factors and transmission paths and discuss stakeholders’ TIC mechanisms at the project level.

Design/methodology/approach

Based on case analysis, expert interviews, literature analysis and the Delphi method, this paper identifies the influencing factors of TIC in megaprojects at the project level. A structural system of these influencing factors is constructed by interpretive structural modeling (ISM), developing various mechanisms for TIC from bottom to top. The Matriced’ Impacts Croisés Multiplication Appliquée à un Classement (MICMAC) method validates the driving forces and dependencies of the influencing factors, clarifying their roles and positions within the system. Additionally, the TIC mechanism is constructed.

Findings

The research findings identify 26 influencing factors categorized into four hierarchical levels: cooperative relationships, cooperative behavior, cooperative performance and technological innovation risks. Regarding direct factors, resource sharing affects goal congruence and communication effectiveness in megaprojects, affecting TIC’s satisfaction and trust. Most factors exist in the middle layer, and bridging the upper and lower levels depends on stakeholder collaboration. The root factors in the independent group significantly impact TIC, including policy circumstances, high technical requirements and limited site conditions. Addressing these issues influences improvements in other factors. The development of a digital resource-sharing platform, the enhancement of innovation incentives, the optimization of benefit distribution mechanisms and the improvement of risk-sharing mechanisms are essential for the effective operation of the TIC mechanism.

Originality/value

This study contributes to identifying and classifying challenges and opportunities in TIC. It explores transmission paths for enhancing TIC and presents strategies for successfully implementing and delivering megaprojects.

Details

Engineering, Construction and Architectural Management, vol. ahead-of-print no. ahead-of-print
Type: Research Article
ISSN: 0969-9988

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Article
Publication date: 21 August 2017

Weibang Bai, Qixin Cao, Pengfei Wang, Peng Chen, Chuntao Leng and Tiewen Pan

Robotic systems for laparoscopic minimally invasive surgery (MIS) always end up with highly sophisticated mechanisms and control schemes – making it a long and hard development…

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Abstract

Purpose

Robotic systems for laparoscopic minimally invasive surgery (MIS) always end up with highly sophisticated mechanisms and control schemes – making it a long and hard development process with a steep price. This paper aims to propose and realize a new, efficient and convenient strategy for building effective control systems for surgical and even other complex robotic systems.

Design/methodology/approach

A novel method that takes advantage of the modularization concept by integrating two middleware technologies (robot operating system and robotic technology middleware) into a common architecture based on the strengths of both was designed and developed.

Findings

Tests of the developed control system showed very low time-delay between the master and slave sides; good movement representation on the slave manipulator; and high positional and operational accuracy. Moreover, the new development strategy trial came with much higher efficiency and lower costs.

Research limitations/implications

This method results in a modularized and distributed control system that is amenable to collaboratively develop; convenient to modify and update; componentized and easy to extend; mutually independent among subsystems; and practicable to be running and communicating across multiple operating systems. However, experiments show that surgical training and updates of the robotic system are still required to achieve better proficiency for completing complex minimally invasive surgical operations with the proposed and developed system.

Originality/value

This research proposed and developed a novel modularization design method and a novel architecture for building a distributed teleoperation control system for laparoscopic MIS.

Details

Industrial Robot: An International Journal, vol. 44 no. 5
Type: Research Article
ISSN: 0143-991X

Keywords

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Article
Publication date: 5 March 2020

Chao Feng, Guijun Zhuang, Hui Chen and Daxian Hu

Based on social network theory and the literature of contract governance, the purpose of this study is to explore how distributors’ “banding together” (network intensity) affects…

173

Abstract

Purpose

Based on social network theory and the literature of contract governance, the purpose of this study is to explore how distributors’ “banding together” (network intensity) affects contract governance (detailed contracts), which, in turn, influences channel conflict and simultaneously tests the moderating effect of network centrality.

Design/methodology/approach

The authors collect the data from the side of 288 manufacturers.

Findings

This study finds that, first, distributors’ network intensity positively affects detailed contracts between manufacturers and distributors; second, detailed contracts, in turn, declines channel conflict; and third, network centrality will weaken the positive influence of network density on detailed contracts. In addition, an ex post analysis finds that detailed contracts play a negative mediating role between distributors’ network density and channel conflict and this negative mediating effect would be weakened by distributors’ network centrality.

Originality/value

The current study not only helps to make up for the shortcomings of using the dyadic analysis paradigm to analyze channel behavior but also helps manufacturers to understand and respond to the phenomenon of distributors’ “banding together” comprehensively and deeply.

Details

Nankai Business Review International, vol. 11 no. 4
Type: Research Article
ISSN: 2040-8749

Keywords

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