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Intelligent diagnosis methods for plant machinery

Huaqing WANG, Peng CHEN, Shuming WANG,

《机械工程前沿（英文）》 2010年第5卷第1期页码 118-124 doi: 10.1007/s11465-009-0084-z

摘要： This paper reports several intelligent diagnostic approaches based on artificial neural network and fuzzy algorithm for plant machinery, such as the diagnosis method using the wavelet transform, rough sets, and fuzzy neural network; the diagnosis method based on the sequential inference and fuzzy neural network; the diagnosis approach by the possibility theory and certainty factor model; and the diagnosis method on the basis of the adaptive filtering technique and fuzzy neural network. These intelligent diagnostic methods have been successfully applied to condition diagnosis in different types of practical plant machinery.

关键词： intelligent diagnosis neural network fuzzy algorithm adaptive filtering plant machinery

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应用指数平滑技术预测边坡位移

沈良峰

《中国工程科学》 2007年第9卷第6期页码 94-97

摘要：

应用趋势型指数平滑模型根据其观测值的数据特点（具线性趋势），选取趋势型二次指数平滑的线性预测公式和相应at，bt的计算公式及合适的平滑系数值进行计算，预测了某市滑坡区５号监测点的位移量。预测结果表明，该方法应用于斜坡变形位移的预测，可使预测值与实际位移值之间的误差很小。

关键词：指数平滑预测边坡位移自适应过滤

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基于LMS自适应时延估计法的微地形测距系统研究

刘爱军,周知进,卜英勇,龙迎春

《中国工程科学》 2009年第11卷第8期页码 79-82

摘要：

根据单波束超声波测距原理，向模拟海底钴结壳微地形的水池表面发射超声波，应用自适应滤波方法可以估计超声回波信号的时延，使最小均方误差（LMS）后的回波信号与参考信号之间方差达到最小值，此刻的延时量就是渡越时间t，从而求出探头与目标之间的距离。通过计算机仿真和试验结果表明,将最小均方误差自适应时延法应用于海底微地形高程数据的测量,获得测距精度高，能够适用于海底微地形的探测。

关键词：海底钴结壳微地形测距 LMS 单波束测距自适应滤波法

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一般四元数函数梯度的定义、特性及在信号处理领域的应用

Meng-di Jiang, Yi Li, Wei Liu,w.liu@sheffield.ac.uk

《信息与电子工程前沿（英文）》 2016年第17卷第2期页码 83-95 doi: 10.1631/FITEE.1500334

摘要：目的：随着四元数在信号处理各个领域越来越广泛的应用，基于四元数的信号处理理论也获得了快速发展。然而，制约其进一步应用的一个瓶颈就是对一般四元数函数的梯度的定义及特性还缺乏清晰并有说服力的描述。本文就试图对这一问题进行探索。创新点：在信号处理中，虽然很多优化函数的值都是实数，但在进行优化时，尤其是在非线性信号处理中，经常会遇到对取值为四元数的四元数函数求梯度。不同于以往只适用于实数值四元数函数梯度的定义，本文第一次就一般四元数函数的梯度给出了一个自洽的定义，并对其特性进行了详细的研究和描述。基于以上研究，本文对四元数值的最小均方(LMS)自适应算法，以及一个有代表性的非线性自适应算法进行了推导，并以矢量传感器阵列波束形成为例进行了计算机模拟。

关键词：四元数；梯度；信号处理；最小均方算法；非线性自适应滤波；波束形成

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近似高斯共轭：非线性、多模态、不确定以及约束下的参数递归滤波等 Review

Tian-cheng LI, Jin-ya SU, Wei LIU, Juan M. CORCHADO

《信息与电子工程前沿（英文）》 2017年第18卷第12期页码 1913-1939 doi: 10.1631/FITEE.1700379

摘要：自上世纪60年代作为现代估计开山之作的卡尔曼滤波器（Kalman filter）的诞生，时间序列状态空间模型应用于各类动态估计问题吸引了大量的研究关注。特别是，寻求实现闭环马尔科夫−贝叶斯递归（比如，从一个高斯先验到一个高斯后验，本文称之为高斯共轭）的解析解成为一般时间序列滤波器设计的主流思路。其面临的主要挑战包括：系统的非线性、多模态（包括机动模型）、复杂不确定性（比如未知的系统输入，非高斯噪声等）和系统约束（包括循环随机变量）等。这些挑战不断触生新的理论、算法与滤波技术，以实现所期望的参数共轭递归。本文对最新研究进行分类、系统回顾，强调了一些容易被忽略的要点。着重介绍了高精观测非线性系统、高斯后验和机动多模态、以及复杂未知系统输入与约束，以弥补当前文献介绍的不足。同时，本文提出一些新的思考：一是一阶马尔科夫转移模型的替代模型，二是有关计算复杂度的滤波器评价。

关键词：卡尔曼滤波；高斯滤波；时间序列估计；贝叶斯滤波；非线性滤波；约束滤波；高斯混合；机动；未知输入

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Ion beam figuring of continuous phase plates based on the frequency filtering process

Mingjin XU,Yifan DAI,Xuhui XIE,Lin ZHOU,Shengyi LI,Wenqiang PENG

《机械工程前沿（英文）》 2017年第12卷第1期页码 110-115 doi: 10.1007/s11465-017-0430-5

摘要：

Ion beam figuring (IBF) technology is an effective technique for fabricating continuous phase plates (CPPs) with small feature structures. This study proposes a multi-pass IBF approach with different beam diameters based on the frequency filtering method to improve the machining accuracy and efficiency of CPPs during IBF. We present the selection principle of the frequency filtering method, which incorporates different removal functions that maximize material removal over the topographical frequencies being imprinted. Large removal functions are used early in the fabrication to figure the surface profile with low frequency. Small removal functions are used to perform final topographical correction with higher frequency and larger surface gradient. A high-precision surface can be obtained as long as the filtering frequency is suitably selected. This method maximizes the high removal efficiency of the large removal function and the high corrective capability of the small removal function. Consequently, the fast convergence of the machining accuracy and efficiency can be achieved.

关键词： ion beam figuring (IBF) continuous phase plates (CPPs) machining accuracy machining efficiency frequency filtering process

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三元数域自适应滤波与跟踪算法 Article

Xiao-ming GOU,Zhi-wen LIU,Wei LIU,You-gen XU

《信息与电子工程前沿（英文）》 2016年第17卷第8期页码 834-840 doi: 10.1631/FITEE.1601164

摘要：本文首次提出了一种基于三元数代数的三维过程新模型。与纯四元数模型相比，三元数模型更加紧凑，计算量更小，同时在自适应线性滤波方面具有类似或者可比的性能。此外，三元数模型可以有效表征卡尔曼滤波中状态转移的一般性关系，而纯四元数模型则无法对此进行表征。基于实测风力数据和合成数据集的仿真实验验证了这一新建模方法的潜能。

关键词：三维过程；三元数；最小均方；卡尔曼滤波器

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滤波天线：从创新概念到工业应用 Review Articles

Yun-fei CAO, Yao ZHANG, Xiu-yin ZHANG

《信息与电子工程前沿（英文）》 2020年第21卷第1期页码 116-127 doi: 10.1631/FITEE.1900474

摘要：滤波天线兼具滤波和辐射功能，可用于减少不同频带、距离较近的天线单元间的异频耦合。本文回顾论文作者提出的几款滤波天线和3个相关的双频基站天线阵列作为应用示例。滤波天线设计包括单极化和双极化滤波贴片天线、单极化全向滤波偶极子天线及用于基站的双极化滤波偶极子天线。不同于其他天线，本文中的滤波天线是具有消除多余滤波电路的创新概念。对于每种设计，滤波结构都与辐射体或馈电线良好集成。故提出的设计具有尺寸紧凑、结构简单、带内辐射性能良好、损耗低的优点，且不包含复杂滤波电路。基于提出的滤波天线，已开发出单极化和双极化双频天线阵列。利用滤波天线自身的频率选择功能，可有效降低不同频段天线单元间的异频互耦。相比于典型工业产品，双频阵列性能更佳。一些提出的技术已实现产业化应用。

关键词：滤波天线；双频；天线阵列

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Terrain classification and adaptive locomotion for a hexapod robot Qingzhui

Yue ZHAO, Feng GAO, Qiao SUN, Yunpeng YIN

《机械工程前沿（英文）》 2021年第16卷第2期页码 271-284 doi: 10.1007/s11465-020-0623-1

摘要： Legged robots have potential advantages in mobility compared with wheeled robots in outdoor environments. The knowledge of various ground properties and adaptive locomotion based on different surface materials plays an important role in improving the stability of legged robots. A terrain classification and adaptive locomotion method for a hexapod robot named Qingzhui is proposed in this paper. First, a force-based terrain classification method is suggested. Ground contact force is calculated by collecting joint torques and inertial measurement unit information. Ground substrates are classified with the feature vector extracted from the collected data using the support vector machine algorithm. Then, an adaptive locomotion on different ground properties is proposed. The dynamic alternating tripod trotting gait is developed to control the robot, and the parameters of active compliance control change with the terrain. Finally, the method is integrated on a hexapod robot and tested by real experiments. Our method is shown effective for the hexapod robot to walk on concrete, wood, grass, and foam. The strategies and experimental results can be a valuable reference for other legged robots applied in outdoor environments.

关键词： terrain classification hexapod robot legged robot adaptive locomotion gait control

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Conservation and adaptive-reuse of historical industrial building in China in the post-industrial era

WANG Jianguo, JIANG Nan

《结构与土木工程前沿（英文）》 2007年第1卷第4期页码 474-480 doi: 10.1007/s11709-007-0064-5

摘要： The conservation and adaptive-reuse of historical industrial building is one of the most important issues to be solved in today s urban development and construction in China. In this paper, the necessity and academic meaning of the conservation and adaptive-reuse of historical industrial building were discussed by reviewing its development rend both at home and abroad, and the basic contents of the implementation of the conservation and adaptive-reuse of historical industrial building in China with specific cases provided were analyzed. It is the central task for China to put forward the restructuring and design methods, assessment principles and relevant core technical specifications based on the empirical researches on the historical industrial building and site.

关键词： historical industrial industrial building implementation adaptive-reuse empirical

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An adaptive sliding mode control technology for weld seam tracking

Jie LIU,Youmin HU,Bo WU,Kaibo ZHOU,Mingfeng GE

《机械工程前沿（英文）》 2015年第10卷第1期页码 95-101 doi: 10.1007/s11465-015-0332-3

摘要：

A novel adaptive sliding mode control algorithm is derived to deal with seam tracking control problem of welding robotic manipulator, during the process of large-scale structure component welding. The proposed algorithm does not require the precise dynamic model, and is more practical. Its robustness is verified by the Lyapunov stability theory. The analytical results show that the proposed algorithm enables better high-precision tracking performance with chattering-free than traditional sliding mode control algorithm under various disturbances.

关键词： weld seam tracking welding robotic manipulator adaptive control sliding mode control

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A model reference adaptive control based method for actuator delay estimation in real-time testing

Cheng CHEN, James M. RICLES

《结构与土木工程前沿（英文）》 2010年第4卷第3期页码 277-286 doi: 10.1007/s11709-010-0072-8

摘要： Real-time testing provides a viable experimental technique to evaluate the performance of structural systems subjected to dynamic loading. Servo-hydraulic actuators are often utilized to apply calculated displacements from an integration algorithm to the experimental structures in a real-time manner. The compensation of actuator delay is therefore critical to achieve stable and reliable experimental results. The advances in compensation methods based on adaptive control theory enable researchers to accommodate variable actuator delay and achieve good actuator control for real-time tests. However, these adaptive methods all require time duration for actuator delay adaptation. Experiments show that a good actuator delay estimate can help optimize the performance of the adaptive compensation methods. The rate of adaptation also requires that a good actuator delay estimate be acquired especially for the tests where the peak structural response might occur at the beginning of the tests. This paper presents a model reference adaptive control based method to identify the parameter of a simplified discrete model for servo-hydraulic dynamics and the resulting compensation method. Simulations are conducted using both numerical analysis and experimental results to evaluate the effectiveness of the proposed estimation method.

关键词： real-time testing actuator delay compensation adaptive control MIT rule discrete transfer function

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Obstacle-circumventing adaptive control of a four-wheeled mobile robot subjected to motion uncertainties

《机械工程前沿（英文）》 2023年第18卷第3期 doi: 10.1007/s11465-023-0753-3

摘要： To achieve the collision-free trajectory tracking of the four-wheeled mobile robot (FMR), existing methods resolve the tracking control and obstacle avoidance separately. Guaranteeing the synergistic robustness and smooth navigation of mobile robots subjected to motion uncertainties in a dynamic environment using this non-cooperative processing method is difficult. To address this challenge, this paper proposes an obstacle-circumventing adaptive control (OCAC) framework. Specifically, a novel anti-disturbance terminal slide mode control with adaptive gains is formulated, incorporating specified control laws for different stages. This formulation guarantees rapid convergence and simultaneous chattering elimination. By introducing sub-target points, a new sub-target dynamic tracking regression obstacle avoidance strategy is presented to transfer the obstacle avoidance problem into a dynamic tracking one, thereby reducing the burden of local path searching while ensuring system stability during obstacle circumvention. Comparative experiments demonstrate that the proposed OCAC method can strengthen the convergence and obstacle avoidance efficiency of the concerned FMR system.

关键词： four-wheeled mobile robot obstacle-circumventing adaptive control adaptive anti-disturbance terminal sliding mode control sub-target dynamic tracking regression obstacle avoidance

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Research on Anthropomorphic Obstacle Avoidance Trajectory Planning for Adaptive Driving Scenarios Based

Jian Wu,Yang Yan,Yulong Liu,Yahui Liu,

《工程（英文）》 doi: 10.1016/j.eng.2023.07.018

摘要： The forward design of trajectory planning strategies requires preset trajectory optimization functions, resulting in poor adaptability of the strategy and an inability to accurately generate obstacle avoidance trajectories that conform to real driver behavior habits. In addition, owing to the strong time-varying dynamic characteristics of obstacle avoidance scenarios, it is necessary to design numerous trajectory optimization functions and adjust the corresponding parameters. Therefore, an anthropomorphic obstacle-avoidance trajectory planning strategy for adaptive driving scenarios is proposed. First, numerous expert-demonstrated trajectories are extracted from the HighD natural driving dataset. Subsequently, a trajectory expectation feature-matching algorithm is proposed that uses maximum entropy inverse reinforcement learning theory to learn the extracted expert-demonstrated trajectories and achieve automatic acquisition of the optimization function of the expert-demonstrated trajectory. Furthermore, a mapping model is constructed by combining the key driving scenario information that affects vehicle obstacle avoidance with the weight of the optimization function, and an anthropomorphic obstacle avoidance trajectory planning strategy for adaptive driving scenarios is proposed. Finally, the proposed strategy is verified based on real driving scenarios. The results show that the strategy can adjust the weight distribution of the trajectory optimization function in real time according to the “emergency degree” of obstacle avoidance and the state of the vehicle. Moreover, this strategy can generate anthropomorphic trajectories that are similar to expert-demonstrated trajectories, effectively improving the adaptability and acceptability of trajectories in driving scenarios.

关键词： Obstacle avoidance trajectory planning Inverse reinforcement theory Anthropomorphic Adaptive driving scenarios

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Application of adaptive neuro-fuzzy inference system and cuckoo optimization algorithm for analyzing

Reza TEIMOURI, Hamed SOHRABPOOR

《机械工程前沿（英文）》 2013年第8卷第4期页码 429-442 doi: 10.1007/s11465-013-0277-3

摘要：

Electrochemical machining process (ECM) is increasing its importance due to some of the specific advantages which can be exploited during machining operation. The process offers several special privileges such as higher machining rate, better accuracy and control, and wider range of materials that can be machined. Contribution of too many predominate parameters in the process, makes its prediction and selection of optimal values really complex, especially while the process is programmized for machining of hard materials. In the present work in order to investigate effects of electrolyte concentration, electrolyte flow rate, applied voltage and feed rate on material removal rate (MRR) and surface roughness (SR) the adaptive neuro-fuzzy inference systems (ANFIS) have been used for creation predictive models based on experimental observations. Then the ANFIS 3D surfaces have been plotted for analyzing effects of process parameters on MRR and SR. Finally, the cuckoo optimization algorithm (COA) was used for selection solutions in which the process reaches maximum material removal rate and minimum surface roughness simultaneously. Results indicated that the ANFIS technique has superiority in modeling of MRR and SR with high prediction accuracy. Also, results obtained while applying of COA have been compared with those derived from confirmatory experiments which validate the applicability and suitability of the proposed techniques in enhancing the performance of ECM process.

关键词： electrochemical machining process (ECM) modeling adaptive neuro-fuzzy inference system (ANFIS) optimization cuckoo optimization algorithm (COA)