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Wyszukujesz frazę "Xie, C." wg kryterium: Autor


Wyświetlanie 1-3 z 3
Tytuł:
Parameter calibration for the discrete element simulation model of commercial organic fertilizer
Autorzy:
Xie, C.
Yang, J.
Wang, B.
Zhuo, P.
Li, C.
Wang, L.
Powiązania:
https://bibliotekanauki.pl/articles/2082983.pdf
Data publikacji:
2020
Wydawca:
Polska Akademia Nauk. Instytut Agrofizyki PAN
Tematy:
commercial organic fertilizer
discrete element
repose angle
parameter calibration
parameters for the particle
model
Opis:
The parameters of a discrete element simulation model for commercial organic fertilizer particles were obtained both quickly and accurately, so that the uniformity and stability of the fertilizer discharged from the feeder may be studied using the discrete element simulation method. This study screened out the parameters which significantly influenced the repose angle of the commercial organic fertilizer using the Plackett-Burman test. Then, a model for the quadratic regression response surface of the repose angle vs the parameters was established through a Box-Behnken experiment with the measured repose angle of the fertilizer particles as the optimization index. The optimization results showed that the rolling friction coefficient and static friction coefficient between the fertilizer particles, as well as the optimal simulation parameter for the Johnson-Kendall-Roberts surface energy were 0.056, 0.355 and 0.011 J m-2, respectively. A discrete element simulation test was carried out with the optimal simulation parameters, and the repose angle error of the simulation test was found to be 0.40% relative to that of the physical test, which proved the accuracy and validity of the simulation parameters for the discrete element model of the organic fertilizer. The simulation results may provide the basic parameters for establishing a discrete element model of commercial organic fertilizer particles and investigating the performance of organic fertilizer feeders using the simulation method.
Źródło:
International Agrophysics; 2021, 35, 1; 107-117
0236-8722
Pojawia się w:
International Agrophysics
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Dual manipulator system calibration based on virtual constraints
Autorzy:
Zhu, Q.
Xie, X.
Li, C.
Powiązania:
https://bibliotekanauki.pl/articles/200227.pdf
Data publikacji:
2019
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
dual manipulators
calibration
virtual constraint
optical axis
robot-robot
hand-eye
Opis:
Calibration is necessary for dual manipulator to complete operational tasks. This paper proposes an effective robot-robot and hand-eye calibration method based on virtual constraints. Firstly, a rotational error model and a translational error model are established based on the relationships between the transformation matrices of the dual manipulator calibration system. Then a poses-alignment method is designed to make the poses of the two robots satisfy the constructed virtual constraints. At the aligned positions, the joint angles of the two robots are saved and used to calculate the values of the variables in the error models. Finally, the robot-robot and hand-eye rotational errors are estimated by an iterative algorithm. These errors are then used to calculate translational errors based on the SVD (singular value decomposition) method. To show the feasibility and effectiveness of the proposed method, experiments of robot-robot and hand-eye calibration for dual manipulators are performed. The experiment results demonstrate that the accuracy of the dual manipulator system is improved greatly.
Źródło:
Bulletin of the Polish Academy of Sciences. Technical Sciences; 2019, 67, 6; 1149-1159
0239-7528
Pojawia się w:
Bulletin of the Polish Academy of Sciences. Technical Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Efficient learning variable impedance control for industrial robots
Autorzy:
Li, C.
Zhang, Z.
Xia, G.
Xie, X.
Zhu, Q.
Powiązania:
https://bibliotekanauki.pl/articles/200716.pdf
Data publikacji:
2019
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
variable impedance control
reinforcement learning
efficient
Gaussian process
industrial robots
impedancja
poprawa efektywności
wydajność
model Gaussa
roboty przemysłowe
Opis:
Compared with the robots, humans can learn to perform various contact tasks in unstructured environments by modulating arm impedance characteristics. In this article, we consider endowing this compliant ability to the industrial robots to effectively learn to perform repetitive force-sensitive tasks. Current learning impedance control methods usually suffer from inefficiency. This paper establishes an efficient variable impedance control method. To improve the learning efficiency, we employ the probabilistic Gaussian process model as the transition dynamics of the system for internal simulation, permitting long-term inference and planning in a Bayesian manner. Then, the optimal impedance regulation strategy is searched using a model-based reinforcement learning algorithm. The effectiveness and efficiency of the proposed method are verified through force control tasks using a 6-DoFs Reinovo industrial manipulator.
Źródło:
Bulletin of the Polish Academy of Sciences. Technical Sciences; 2019, 67, 2; 201-212
0239-7528
Pojawia się w:
Bulletin of the Polish Academy of Sciences. Technical Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
    Wyświetlanie 1-3 z 3

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