作者机构：
[李立君; 文韬; 桑孟祥; 龚中良; 郑立章; 董帅] School of Mechanical and Electrical Engineering, Central South University of Forestry and Technology, Changsha, 410004, China
通讯机构：
School of Mechanical and Electrical Engineering, Central South University of Forestry and Technology, Changsha, China
摘要：
For improving the reliability of Concrete pump, fault diagnosis is proposed based on the main oil hydraulic pumping system T-S fuzzy fault tree method. The proposed method used fuzzy numbers to descri
作者机构：
[李立君; 高自成; 阳涵疆] School of Mechanical and Electrical Engineer, Central South University of Forestry and Technology, Changsha, 410000, China
通讯机构：
School of Mechanical and Electrical Engineer, Central South University of Forestry and Technology, Changsha, China
关键词：
机器人;机械臂;算法;避障;混联;路径规划;关节构形空间
摘要：
针对混联采摘机器人在非结构性环境中进行避障采摘作业的要求,该文提出了一种基于关节构形空间的混联采摘机械臂避障路径规划算法。根据机械臂和障碍物的几何特征,对机械臂及障碍物模型进行合理简化,通过分析末端执行器目标点和串联机械臂结构参数选取合适的并联机械臂动平台目标点,然后采用遍历法构建串联机械臂关节构形空间,并利用快速扩展随机树(rapidly-exploring random tree,RRT)算法搜寻串联机械臂无撞路径,再通过同样的方法获得并联机械臂关节空间障碍物映射模型和无撞路径,最后综合串、并联机械臂的无撞路径,获得混联机械臂整体的避障路径。仿真和试验结果表明,文中所提出的算法搜索的避障路径能够驱动采摘机械臂避开工作空间内的障碍物,引导末端执行器到达目标点。
会议名称：
1st International Conference on Electronics Instrumentation & Information Systems (EIIS)
会议时间：
JUN 03-05, 2017
会议地点：
Harbin Inst Technol, Harbin, PEOPLES R CHINA
会议主办单位：
Harbin Inst Technol
关键词：
deep sea mining;coordinated control;miner;ship
摘要：
According to the environment of Chinese deep sea mining area, the influence from the ship and the miner on the sea bed is analyzed, and the coordinated working mode of the ship and the miner is proposed. Meanwhile, the working path of the miner is determined. Considering the safe areas of the ship, miner and the buffer, the relative distance between the ship and the miner, that is 240 meters, is presented as the coordinated control target. Also, the saddle shape of the flexible hose, which ensure the productivity of the transportation, can be guaranteed. A simple PID control strategy is put forward and the model of control system is ascertained. Through along and adverse current simulations, the efficiency and accuracy of the presented coordinated control strategy is proved.
作者机构：
[李立君; 赵兵; 文韬; 张仟仟; 刘付] School of Mechanical and Electrical Engineering, Central South University of Forestry and Technology, Changsha, China;[郭鑫] School of Science, Central South University of Forestry and Technology, Changsha, China;[洪添胜] Division of Citrus Machinery, China Agriculture Research System, Guangzhou, China;[洪添胜; 文韬] Key Laboratory of Key Technology for South Agricultural Machinery and Equipment, Ministry of Education, Engineering College of South China agricultural University, Guangzhou, China
通讯机构：
Key Laboratory of Key Technology for South Agricultural Machinery and Equipment, Ministry of Education, Engineering College of South China agricultural University, Guangzhou, China
关键词：
模型;光谱检测;农业;霉变稻谷;脂肪酸;可见/近红外光谱;特征波段;样本集划分
摘要：
为了实现霉变稻谷脂肪酸含量无损、快速检测,该文研究应用可见/近红外光谱技术检测霉变稻谷的脂肪酸含量。考虑到直接选用霉变稻谷可见/近红外光谱数据构建脂肪酸含量预测模型存在建模费时、预测失准等问题,研究提出了霉变稻谷脂肪酸含量的可见/近红外优化校正模型。研究中通过光谱-理化值共生距离(sample set partitioning based on joint x-y distance, SPXY)算法结合偏最小二乘法初步分析了不同校正集样本预测霉变稻谷脂肪酸含量的差异;利用连续投影算法(SPA)提取了反映霉变稻谷脂肪酸含量变化的特征波段;采用偏最小二乘法(partial least square, PLS)和多元线性回归法(multivariable linear regression, MLR)分别建立了基于特征波段光谱反射值的霉变稻谷脂肪酸含量预测模型,并对比分析了采用SPXY样本集划分的模型预测效果。结果表明:采用SPXY法筛选出的65个校正集样本分布与初始校正集相近,脂肪酸含量变化范围为18.55~127.26 mg,其标准差为32.39;SPA算法最终从256个全光谱波段中优选出9个特征波段,实现了光谱数据的压缩;分别建立的SPXY-SPA-PLSR模型和SPXY-SPA-MLR模型预测霉变稻谷脂肪酸含量相关系数RP为0.922 1和0.915 9,预测均方根误差RMSEP为13.889 3和14.261 0;SPXY筛选校正集所构建模型预测精度与初始校正集所建模型相当,但校正集样本数量减少为初始校正集的41%,运算时长缩短为初始样本集的32%,提高了模型的校正速度。
作者机构：
[李立君; 谢洁飞; 文韬; 郑立章; 龚中良] School of Mechanical and Electrical Engineering, Central South University of Forestry and Technology, Changsha, 410004, China;[马强] School of Science, Central South University of Forestry and Technology, Changsha, 410004, China
通讯机构：
School of Mechanical and Electrical Engineering, Central South University of Forestry and Technology, Changsha, China
作者机构：
[Zhao, Qing; Li, Lijun] Cent South Univ Forestry & Technol, Sch Mech & Elect, Changsha 410004, Hunan, Peoples R China.;[Han, Qiang] China Railway Construct Heavy Ind Co LTD, Changsha 410100, Hunan, Peoples R China.
会议名称：
7th International Conference on Mechatronics, Control and Materials (ICMCM)
会议时间：
OCT 29-30, 2016
会议地点：
Changsha, PEOPLES R CHINA
会议主办单位：
[Zhao, Qing;Li, Lijun] Cent South Univ Forestry & Technol, Sch Mech & Elect, Changsha 410004, Hunan, Peoples R China.^[Han, Qiang] China Railway Construct Heavy Ind Co LTD, Changsha 410100, Hunan, Peoples R China.
摘要：
For improving the reliability of the concerte pump,a reliable hydraulic system is required.In this paper,a new concrete pump hydraulic system was designed to achieve single pump driving multiple load.
