This paper proposes an improved disturbance observer to realize accurate contact force estimation using the joint torque sensor. The sensor separates dynamics of link side from motor robot manipulator. Therefore, only computing partial on can external estimation. considerably reduce modeling workload and error terms that may affect results. Furthermore, this presents observed residual value during free motion be considered as friction dynamics, which is approximated by neural network (NN)...

This letter presents a novel teleoperation interface that enables remote loco-manipulation control of MObile Collaborative robotic Assistant (MOCA). MOCA is new research platform developed at the Istituto Italiano di Tecnologia (IIT), which composed lightweight manipulator arm, Pisa/IIT SoftHand, and mobile driven by four omni-directional wheels. A whole-body impedance controller consequently to ensure accurate tracking position trajectories end-effector considering causal interactions in...

Abstract Avian hepatitis E virus (HEV) has been identified in chickens; however, only 4 complete or near-complete genomic sequences have reported. We found that the sequence of avian HEV chickens from China shared highest identity (98.3%) with Europe and belonged to genotype 3.

Condition monitoring (CM) is the escort of smart manufacturing, which guarantees safety, precision, and efficiency production process. However, traditional CM capacities with limited storage computing resources cannot follow explosive growth manufacturing data. Empowered by emerging Internet Things, cyber-physical system, cloud computing, (CMfg) characterizes a new service-oriented technology, reshaping paradigm into an agile, scalable, interoperable mode. In this article, CMfg-based...

In this brief, impedance adaptation is investigated for robots interacting with unknown environments, subject to environment dynamics and position parameters. A cost function that measures the tracking error interaction force defined, a complete state-space considering desired trajectory, dynamics, parameters presented. The unobservable lead part of system as well states in model. To end, output feedback adaptive dynamic programming (OPFB ADP) method selected realize optimized adaptation....

This paper presents an analytical continuous smoothing method for the five-axis toolpath by simultaneously scheduling tool position and orientation trajectories. In order to ensure high-order continuous, peak-controlled jerk arclength-parameterized property, a novel curve "airthoid" is proposed first time. The biairthoid involved smooth corners of in workpiece coordinate system (WCS) machine (MCS), geometries which are analytically determined user-defined deviation errors. A time...

In this work, we propose a framework to address the autonomous impedance regulation problem of robots in class constrained manipulation tasks. framework, human arm endpoint stiffness model is used extract task geometry along trajectory, which then encoded offline and reproduced online by Gaussian Mixture Model (GMM) Regression (GMR), respectively. Furthermore, full Cartesian robot formulated through an optimal control problem, i.e., Linear-Quadratic Regulator (LQR), (extracted from...

This work presents a unified approach for hybrid motion control of the Mobile Collaborative Robotic Assistant (MOCA). The objective is to develop loco-manipulation controller, enabling various couplings arm and mobile base movements, particularly their purely decoupled motions. proposed method based on weighted whole-body Cartesian impedance where decoupling motions can be achieved by solving local optimization problem joint torques in first task space its nullspace, respectively. Under this...

Surface roughness is considered to be one of the most significant indicators for evaluating machining quality. Manufacturing industries generally aim achieve high product quality while considering reducing production costs and time. Therefore, an accurate reliable surface prediction model plays a key role in process. Recently, broad learning system (BLS) has attracted great attention due its outstanding performance. In order improve accuracy reduce influence uncertain factors, sensors are...

Free-piston linear generators (FPLGs) have attractive application prospects for hybrid electric vehicles (HEVs) owing to their high-efficiency, low-emissions and multi-fuel flexibility. In order achieve long-term stable operation, the system design full-cycle operation strategy are essential factors that should be considered. A 25 kW FPLG consisting of an internal combustion engine (ICE), a machine (LEM) gas spring (GS) is designed. To improve power density generating efficiency, LEM...

Remaining useful life (RUL) prediction is a challenging research task in prognostics and receives extensive attention from academia to industry. This paper proposes novel deep convolutional neural network (CNN) for RUL prediction. Unlike health indicator-based methods which require the long-term tracking of sensor data initial stage, proposed aims utilize consecutive time samples at any interval Additionally, new kernel module designed where kernels are selected automatically, can further...

In this article, a novel interactioncontrol is presented to resolve the optimized robot-environment interaction control problems subject flexible environment with unknown dynamics parameters. A cost function measuring trajectory tracking error as well noninertial force defined. complete state-space equation considering robot desired trajectory, object and position parameters also address problem. The improved Q-learning method developed fundamental of proposed deal challenges brought by...

The internal sensor signals of the numerical controlled (NC) machine tools contain abundant information that associated with operating state and machining fault. However, signal characteristics extracted in time /frecquency domain miss its physical significance. This paper presents a preprocessing method spatial to extract meaning characteristic varying duty operation.The proposed uses encoder resample other condition firstly. Then, are analyzed by Fourier transform get spectrum. Compared...