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Fuzzy force control of constrained robot manipulators based on impedance model in an unknown environment

LIU Hongyi, WANG Fei, WANG Lei

Frontiers of Mechanical Engineering 2007, Volume 2, Issue 2,   Pages 168-174 doi: 10.1007/s11465-007-0028-4

Abstract: To precisely implement the force control of robot manipulators in an unknown environment, a control strategybased on fuzzy prediction of the reference trajectory in the impedance model is developed.The force tracking experiments are executed in an open-architecture control system with different trackingThe corresponding force control results are compared and analyzed.The experimental results show that the desired trajectory in the impedance model is predicted exactly

Keywords： predictive     tracking     corresponding     stiffness     algorithm    

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Human–Robot Collaboration Framework Based on Impedance Control in Robotic Assembly Article

Xingwei Zhao,Yiming Chen,Lu Qian,Bo Tao,Han Ding

Engineering 2023, Volume 30, Issue 11,   Pages 83-92 doi: 10.1016/j.eng.2022.08.022

Abstract: An HRC framework for robotic assembly based on impedance control is proposed in this paper.The robot is the main executor to perform the assembly action, which has the position control, drag anddrop, positive impedance control, and negative impedance control modes.To reveal the characteristics of the HRC framework, the switch condition map of different control modes

Keywords： Human–robot collaboration     Impedance control     Robotic assembly    

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Fuzzy impedance control of an electro-hydraulic actuator with an extended disturbance observer Regular Papers-Research Articles

Ming-jie LI, Jian-hua WEI, Jin-hui FANG, Wen-zhuo SHI, Kai GUO

Frontiers of Information Technology & Electronic Engineering 2019, Volume 20, Issue 9,   Pages 1221-1233 doi: 10.1631/FITEE.1800155

Abstract: In this paper, we deal with both velocity control and force control of a single-rod electro-hydraulicIn some implementations, both velocity control and force control are required.Impedance control and an extended disturbance observer are combined to solve this issue.Impedance control is applied to regulate the dynamic relationship between the velocity and output forceParameters of impedance rules are regulated by a fuzzy algorithm.

Keywords： Fuzzy control     Impedance control     Disturbance observer     Parameter uncertainties     Electro-hydraulic actuator    

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Spectral element modeling based structure piezoelectric impedance computation and damage identification

Zhigang GUO, Zhi SUN

Frontiers of Structural and Civil Engineering 2011, Volume 5, Issue 4,   Pages 458-464 doi: 10.1007/s11709-011-0133-7

Abstract: This paper presents a numerical simulation study on electromechanical impedance technique for structuralThe basic principle of impedance based damage detection is structural impedance will vary with the occurrencelocation and severity of structural damage through the minimization of the deviations between structural impedance

Keywords： PZT     piezoelectric impedance     optimization     spectral element     damage identification    

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stack configuration on interface resistances in reverse electrodialysis by in situ electrochemical impedance

Frontiers of Environmental Science & Engineering 2022, Volume 16, Issue 4, doi: 10.1007/s11783-021-1480-9

Abstract:

• RED performance and stack resistance were studied by EIS and LSV.

Keywords： Reverse electrodialysis     Electrochemical impedance spectroscopy     Concentration polarization     Spacer shadow    

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Detection of void and metallic inclusion in 2D piezoelectric cantilever beam using impedance measurements

S. SAMANTA, S. S. NANTHAKUMAR, R. K. ANNABATTULA, X. ZHUANG

Frontiers of Structural and Civil Engineering 2019, Volume 13, Issue 3,   Pages 542-556 doi: 10.1007/s11709-018-0496-0

Abstract: of current work is to improve the existing inverse methodology of void-detection based on a target impedanceIn this work, mode-shape dependent shifting phenomenon of peaks of impedance curve with change in voideach iteration starting from each initial guess, the difference between the computationally obtained impedancecurve and the target impedance curve has been reduced.

Keywords： piezoelectricity     impedance curve     mode shapes     inverse problem     flaw detection     curve shifting    

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Valveless pumping using a two-stage impedance pump

V. C.-C. LEE, Y. A. ABAKR, K.-C. WOO

Frontiers of Mechanical Engineering 2013, Volume 8, Issue 3,   Pages 311-318 doi: 10.1007/s11465-013-0270-x

Abstract:

Impedance pump is defined as a type of valveless pumping mechanism, where an elastic tube is joinedwith a tube of different impedance, a periodic asymmetrical compression on part of the elastic tubeconducted in the past, but little experimental work was found to exploit the principle of multi-stage impedancethis work is to have an insight on the deliverable head and pumping rate of an open-loop two-stage impedance

Keywords： valveless pumping     open-loop     two-stage     unidirectional     composite    

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New method to determine optimum impedance of fault current limiters for symmetrical and/or asymmetrical None

Mahmoud MODARESI, Hamid LESANI

Frontiers of Information Technology & Electronic Engineering 2018, Volume 19, Issue 2,   Pages 297-307 doi: 10.1631/FITEE.1601689

Abstract: To select the type and value of the impedance of fault current limiters (FCLs) for power network designers, we introduce a new method to calculate the optimum value of FCL impedance depending on its positionDue to the complexity of its impedance, the costs of both real and imaginary parts of FCL impedance areThe optimization of FCL impedance is based on a goal function that maximizes the reduction of the faultboth real and imaginary parts of FCL impedance.

Keywords： Fault current limiter (FCL)     FCL impedance     Short circuit current     Fault current     Power system    

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A new method of rock-explosive matching in drilling and blasting based on reasonable control of the crushed

LengZhendong,LuWenbo,YanPeng, ChenMing,Hu Yingguo

Strategic Study of CAE 2014, Volume 16, Issue 11,   Pages 28-35

Abstract: The traditionally emphasized method of acoustic impedance matching is not reasonable.The new approach chooses explosive parameters by reasonable control of the size of crushed zone under

Keywords： drilling and blasting     crushed zone     rock-explosive matching     acoustic impedance matching    

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An investigation on stress distribution effect on multi- piezoelectric energy harvesters

Hailu YANG, Dongwei CAO

Frontiers of Structural and Civil Engineering 2017, Volume 11, Issue 3,   Pages 301-307 doi: 10.1007/s11709-017-0404-z

Abstract: With the fast development of piezoelectric materials and due to its green and renewable characteristics, the piezoelectric energy harvesting technology has been paid more and more attention by pavement engineers. The stress distribution will significantly affect the piezoelectric material performance. In this paper, the effects of multiple piezoelectric elements on the generation of electrical energy and output power are studied. In the case of constant external load, the number of the piezoelectric units does not necessarily produce more energy. When the same multi piezoelectric units work together, if the stress state of the piezoelectric units is different, the total output energy affected by the connection mode. For uneven stress distribution, the optimal output mode is that each of the piezoelectric units rectified before connected in parallel.

Keywords： piezoelectric transducer     uneven stress     impedance matching     optimal energy output    

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Advances in tissue state recognition in spinal surgery: a review

Hao Qu, Yu Zhao

Frontiers of Medicine 2021, Volume 15, Issue 4,   Pages 575-584 doi: 10.1007/s11684-020-0816-3

Abstract: Aside from traditional imaging methods, surgical sensing techniques based on force, bioelectrical impedance

Keywords： spinal surgery     tissue state recognition     image     force sensing     bioelectrical impedance    

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Review of pantograph and catenary interaction

Weihua ZHANG, Dong ZOU, Mengying TAN, Ning ZHOU, Ruiping LI, Guiming MEI

Frontiers of Mechanical Engineering 2018, Volume 13, Issue 2,   Pages 311-322 doi: 10.1007/s11465-018-0494-x

Abstract: pantograph-catenary interaction into a moving load problem and utilizing the theory of matching mechanical impedance

Keywords： railway     pantograph and catenary interaction     contact force variation     moving load problem     mechanical impedance    

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A facile synthesis of high activity cube-like Pt/carbon composites for fuel cell application

Reza B. MOGHADDAM, Samaneh SHAHGALDI, Xianguo LI

Frontiers in Energy 2017, Volume 11, Issue 3,   Pages 245-253 doi: 10.1007/s11708-017-0492-4

Abstract: Impedance spectroscopy analysis of the temperature treated and as-prepared (i.e., untreated) Pt /K composites

Keywords： synthesis     cube-like Pt     Pt/C composite     catalyst     impedance    

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The Arithmetic of GTEM Cell Axe-shaped Piece´s Side Curve Equation

Zhou Xu

Strategic Study of CAE 2003, Volume 5, Issue 9,   Pages 36-38

Abstract:

To be convenient for machining, the conventional axe-shaped pieces were approximately designed. It is proved that the traditional transition in a GTEM Cell can not give a satisfactory transmission loss distribution. So this paper gives the exact continuous curve equation for the axe-shaped piece´s two sides for the first time.

Keywords： giga-hz transverse electromagnetic cell     the axe-shaped piece     the side curve equation     impedance matching    

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Electrochemical characterization methods of the key materials for SOFC

Fan Liquan,Zhao Erqing and Gao Keqing

Strategic Study of CAE 2013, Volume 15, Issue 2,   Pages 50-56

Abstract:

Solid oxide fuel cells (SOFCs) are the solid-state devices for generating electricity from the chemical energy. The effect of solid oxide materials on the performance of SOFC is especially important. From the influence of materials on electrochemical performance of SOFC, this paper summarizes electrochemical characterization methods for the composition materials of SOFC briefly based on the fundamentals of electrochemistry and solid electrochemistry. Some research experience is also included in the paper, which can facilitate the further research of materials.

Keywords： solid oxide materials     direct current polarization     alternating current impedance     solid oxide fuel cell    

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Title Author Date Type Operation

Fuzzy force control of constrained robot manipulators based on impedance model in an unknown environment

LIU Hongyi, WANG Fei, WANG Lei

Journal Article

Human–Robot Collaboration Framework Based on Impedance Control in Robotic Assembly

Xingwei Zhao,Yiming Chen,Lu Qian,Bo Tao,Han Ding

Journal Article

Fuzzy impedance control of an electro-hydraulic actuator with an extended disturbance observer

Ming-jie LI, Jian-hua WEI, Jin-hui FANG, Wen-zhuo SHI, Kai GUO

Journal Article

Spectral element modeling based structure piezoelectric impedance computation and damage identification

Zhigang GUO, Zhi SUN

Journal Article

stack configuration on interface resistances in reverse electrodialysis by in situ electrochemical impedance

Journal Article

Detection of void and metallic inclusion in 2D piezoelectric cantilever beam using impedance measurements

S. SAMANTA, S. S. NANTHAKUMAR, R. K. ANNABATTULA, X. ZHUANG

Journal Article

Valveless pumping using a two-stage impedance pump

V. C.-C. LEE, Y. A. ABAKR, K.-C. WOO

Journal Article

New method to determine optimum impedance of fault current limiters for symmetrical and/or asymmetrical

Mahmoud MODARESI, Hamid LESANI

Journal Article

A new method of rock-explosive matching in drilling and blasting based on reasonable control of the crushed

LengZhendong,LuWenbo,YanPeng, ChenMing,Hu Yingguo

Journal Article

An investigation on stress distribution effect on multi- piezoelectric energy harvesters

Hailu YANG, Dongwei CAO

Journal Article

Advances in tissue state recognition in spinal surgery: a review

Hao Qu, Yu Zhao

Journal Article

Review of pantograph and catenary interaction

Weihua ZHANG, Dong ZOU, Mengying TAN, Ning ZHOU, Ruiping LI, Guiming MEI

Journal Article

A facile synthesis of high activity cube-like Pt/carbon composites for fuel cell application

Reza B. MOGHADDAM, Samaneh SHAHGALDI, Xianguo LI

Journal Article

The Arithmetic of GTEM Cell Axe-shaped Piece´s Side Curve Equation

Zhou Xu

Journal Article

Electrochemical characterization methods of the key materials for SOFC

Fan Liquan,Zhao Erqing and Gao Keqing

Journal Article