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The welding tracking technology of an underwater welding robot based on sliding mode active disturbance rejection control Robot. Intell. Autom. (IF 2.1) Pub Date : 2022-11-30 Shengqian Li, Xiaofan Zhang
Purpose A welding robot is a complicated system with uncertainty, time-varying, strong coupling and non-linear system. It is more complicated if it is used in an underwater environment. It is difficult to establish an accurate dynamic model for an underwater welding robot. Aiming at the tracking control of an underwater welding robot, it is difficult to achieve the control performance requirements
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Adaptive neural prescribed performance control for switched pure-feedback non-linear systems with input quantization Robot. Intell. Autom. (IF 2.1) Pub Date : 2022-11-25 Zhongwen Cao, Liang Zhang, Adil M. Ahmad, Fawaz E. Alsaadi, Madini O. Alassafi
Purpose This paper aims to investigate an adaptive prescribed performance control problem for switched pure-feedback non-linear systems with input quantization. Design/methodology/approach By using the semi-bounded continuous condition of non-affine functions, the controllability of the system can be guaranteed. Then, a constraint variable method is introduced to ensure that the tracking error satisfies
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Online modeling of environmental constraint region for complex-shaped parts assembly Robot. Intell. Autom. (IF 2.1) Pub Date : 2022-11-25 Shuai Gan, Yang Liu, Ziyu Chen
Purpose The paper aims to propose a method to build environmental constraint region online in complex-shaped peg-in-hole assembly tasks. Design/methodology/approach Compared with conventional way which using computer-aided design (CAD) models of assembly parts to construct the environmental constraint region offline, the paper provides an online approach that consists of three aspects: modeling assembly
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The application of robotics and artificial intelligence in embroidery: challenges and benefits Robot. Intell. Autom. (IF 2.1) Pub Date : 2022-11-25 Ling Chen, Zhi Su, Xiaotong He, Xiang Chen, Lin Dong
Purpose Embroidery as a textile embellishment technique plays an important role in people's daily life. Esthetic embroidery artworks possess cultural values. With the development of robotics and artificial intelligence (AI), these technologies have been studied and applied in the embroidery process. This study aims to survey how these technologies facilitate embroidery from different aspects. Desi
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Automatic tolerance analyses by generation of assembly graph and mating edges from STEP AP 242 file of mechanical assembly Robot. Intell. Autom. (IF 2.1) Pub Date : 2022-11-17 Mukunthan S., Manu R., Deepak Lawrence K.
Purpose This paper aims to propose a method to automate the tolerance analyses of mechanical assembly using STandard for the Exchange of Product model data-Application Protocol Part 242 (STEP AP 242) files derived from the 3-D computer-aided design (CAD) models. Design/methodology/approach Product manufacturing information and mating information available in ISO 10303 STEP AP242 files resulting from
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Tolerance analysis of planar parts with skin modeling considering spatial distribution characteristics of surface morphology and local surface deformations Robot. Intell. Autom. (IF 2.1) Pub Date : 2022-11-10 Tuan-Hui Shen, Cong Lu
Purpose This paper aims to develop a method to improve the accuracy of tolerance analysis considering the spatial distribution characteristics of part surface morphology (SDCPSM) and local surface deformations (LSD) of planar mating surfaces during the assembly process. Design/methodology/approach First, this paper proposes a skin modeling method considering SDCPSM based on Non-Gaussian random field
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An industrial heterogeneous data based quality management KPI visualization system for product quality control Robot. Intell. Autom. (IF 2.1) Pub Date : 2022-11-09 Ruihan Zhao, Liang Luo, Pengzhong Li, Jinguang Wang
Purpose Quality management systems are commonly applied to meet the increasingly stringent requirements for product quality in discrete manufacturing industries. However, traditional experience-driven quality management methods are incapable of handling heterogeneous data from multiple sources, leading to information islands. This study aims to present a quality management key performance indicator
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Geometric modeling analysis method for stacking assembly deviation of aero engine rotor Robot. Intell. Autom. (IF 2.1) Pub Date : 2022-11-08 Zesheng Wang, Dongbo Wu, Hui Wang, Jiawei Liang, Jingguang Peng
Purpose Assembly errors of aeroengine rotor must be controlled to improve the aeroengine efficiency. However, current method cannot truly reflect assembly errors of the rotor in working state owing to difficulties in error analysis. Therefore, the purpose of this study is to establish an optimization method for aeroengine rotor stacking assembly. Design/methodology/approach The assembly structure of
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Reinforcement learning control for a flapping-wing micro aerial vehicle with output constraint Robot. Intell. Autom. (IF 2.1) Pub Date : 2022-10-27 Haifeng Huang, Xiaoyang Wu, Tingting Wang, Yongbin Sun, Qiang Fu
Purpose This paper aims to study the application of reinforcement learning (RL) in the control of an output-constrained flapping-wing micro aerial vehicle (FWMAV) with system uncertainty. Design/methodology/approach A six-degrees-of-freedom hummingbird model is used without consideration of the inertial effects of the wings. A RL algorithm based on actor–critic framework is applied, which consists
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A detailed review and analysis of assembly line rebalancing problems Robot. Intell. Autom. (IF 2.1) Pub Date : 2022-10-21 Tolga Çimen, Adil Baykasoğlu, Sebnem Demirkol Akyol
Purpose Various approaches and algorithms have been proposed since the 1950s to solve the assembly line (AL) balancing problem. These methods have established an AL configuration from the beginning. However, a prebalanced AL may have to be rebalanced in real life for many reasons, such as changes in the cycle time, production demand, product features or task operation times. This problem has increasingly
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Associated tolerance optimization approach using manufacturing difficulty coefficients and genetic algorithm Robot. Intell. Autom. (IF 2.1) Pub Date : 2022-10-19 Maroua Ghali, Sami Elghali, Nizar Aifaoui
Purpose The purpose of this paper is to establish a tolerance optimization method based on manufacturing difficulty computation using the genetic algorithm (GA) method. This proposal is among the authors’ perspectives of accomplished previous research work to cooperative optimal tolerance allocation approach for concurrent engineering area. Design/methodology/approach This study introduces the proposed
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Coil shape defects prediction algorithm for hot strip rolling based on Siamese semi-supervised DAE-CNN model Robot. Intell. Autom. (IF 2.1) Pub Date : 2022-10-17 Fengwei Jing, Mengyang Zhang, Jie Li, Guozheng Xu, Jing Wang
Purpose Coil shape quality is the external representation of strip product quality, and it is also a direct reflection of strip production process level. This paper aims to predict the coil shape results in advance based on the real-time data through the designed algorithm. Design/methodology/approach Aiming at the strip production scale and coil shape application requirements, this paper proposes
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Inventive redesign for automatic assembly in the household appliances industry Robot. Intell. Autom. (IF 2.1) Pub Date : 2022-10-10 Augusto Bianchini, Alessandro Ceruti, Andrea D’Anniballe, Jessica Rossi, Giorgio Zompi
Purpose In the redesign process of assembly components that need adaptation to robotic assembly, designers can find support from structured methodologies for innovation, such as the theory of inventive problem solving (TRIZ). This paper aims to illustrate the authors’ methodology for redesigning gas hobs components for adaptation to robotic assembly. Design/methodology/approach A designer approaching
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A knowledge-based real-time scheduling system for steam turbine assembly under CPS environment Robot. Intell. Autom. (IF 2.1) Pub Date : 2022-10-10 Teng Wang, Xiaofeng Hu, Yahui Zhang
Purpose Steam turbine final assembly is a dynamic process, in which various interference events occur frequently. Currently, data transmission relies on oral presentation, while scheduling depends on the manual experience of managers. This mode has low information transmission efficiency and is difficult to timely respond to emergencies. Besides, it is difficult to consider various factors when manually
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Fusion event-triggered model predictive control based on shrinking prediction horizon Robot. Intell. Autom. (IF 2.1) Pub Date : 2022-10-13 Qun Cao, Yuanqing Xia, Zhongqi Sun, Li Dai
Purpose This paper aims to design an algorithm which is used to deal with non-linear discrete systems with constraints under the lower computation burden. As a result, we solve the non-holonomic vehicle tracking problem with the lower computational load and the convergence performance. Design/methodology/approach A fusion event-triggered model predictive control version is developed in this paper.
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Coaxiality and perpendicularity prediction of saddle surface rotor based on deep belief networks Robot. Intell. Autom. (IF 2.1) Pub Date : 2022-10-11 Chuanzhi Sun, Yin Chu Wang, Qing Lu, Yongmeng Liu, Jiubin Tan
Purpose Aiming at the problem that the transmission mechanism of the assembly error of the multi-stage rotor with saddle surface type is not clear, the purpose of this paper is to propose a deep belief network to realize the prediction of the coaxiality and perpendicularity of the multi-stage rotor. Design/methodology/approach First, the surface type of the aero-engine rotor is classified. The rotor
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Smoothly adapting viscosity to velocity during comanipulation pointing movements Robot. Intell. Autom. (IF 2.1) Pub Date : 2022-10-05 Lin Dong, Florian Richer, Agnes Roby-Brami, Guillaume Morel
Purpose When a robot comanipulates an object with a human user, damping is a useful function. This is achieved by programming the robot to exhibit a viscous field. For some specific applications, the viscosity is required to change according to the manipulation velocity. A reported method is programming the viscosity varying inversely to the velocity. In this paper, this method is experimentally shown
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Active disturbance rejection control for optoelectronic stabilized platform based on model-assisted double extended state observers Robot. Intell. Autom. (IF 2.1) Pub Date : 2022-09-23 Peng Gao, Xiuqin Su, Wenbo Zhang
Purpose This study aims to promote the anti-disturbance and tracking accuracy of optoelectronic stabilized platforms, which ensure that optical detectors accurately track targets and acquire high-quality images. Design/methodology/approach An improved active disturbance rejection control (ADRC) strategy based on model-assisted double extended state observers (MDESOs) is proposed in this paper. First
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Evaluation of failure risks for manual tightening operations in automotive assembly lines Robot. Intell. Autom. (IF 2.1) Pub Date : 2022-09-15 Armagan Altinisik, Utku Yildirim, Y. Ilker Topcu
Purpose The tightening operations are one of the most critical operations in automotive assembly lines because of its direct impact on customer safety. This study aims to evaluate the major complexity drivers for manual tightening operations, correlate with real tightening failure data and propose mitigations to improve the complexity. Design/methodology/approach In the first stage, the complexity
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An iterative learning control with learnable band extension for the nanopositioning stage Robot. Intell. Autom. (IF 2.1) Pub Date : 2022-09-14 Chengsi Huang, Zhichao Yang, Jiedong Li
Purpose Due to the advantages of fast response, high positioning precision and large stiffness, the piezoelectric-actuated nanopositioning stage is widely used in the micro/nanomachining fields. However, due to the inherent nonlinear hysteresis of the piezoelectric-actuator, the positioning accuracy of nanopositioning stage is greatly degraded. Besides, the nanopositioning stage is always performed
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A C2 continuous trajectory planning method for 6-DOF rotational robot manipulators Robot. Intell. Autom. (IF 2.1) Pub Date : 2022-09-01 Kang Min, Fenglei Ni, Guojun Zhang, Xin Shu, Hong Liu
Purpose The purpose of this paper is to propose a smooth double-spline interpolation method for six-degree-of-freedom rotational robot manipulators, achieving the global C2 continuity of the robot trajectory. Design/methodology/approach This paper presents a smooth double-spline interpolation method, achieving the global C2 continuity of the robot trajectory. The tool center positions and quaternion
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Developing a firewater deluge monitoring and forecasting system based on GA-ARMA model Robot. Intell. Autom. (IF 2.1) Pub Date : 2022-09-01 Feixiang Xu, Ruoyuan Qu, Chen Zhou
Purpose The firewater deluge system (FDS) can provide water automatically through a deluge valve when a fire breaks out. However, there are many fire hazards caused by the abnormal operating state of the FDS. To monitor and predict the working state of the FDS, this paper aims to propose a firewater deluge monitoring and forecasting system using the Internet of Things (IoT) technology. Design/methodology/approach
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Eye control system based on convolutional neural network: a review Robot. Intell. Autom. (IF 2.1) Pub Date : 2022-08-29 Jianbin Xiong, Jinji Nie, Jiehao Li
Purpose This paper primarily aims to focus on a review of convolutional neural network (CNN)-based eye control systems. The performance of CNNs in big data has led to the development of eye control systems. Therefore, a review of eye control systems based on CNNs is helpful for future research. Design/methodology/approach In this paper, first, it covers the fundamentals of the eye control system as
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Mixed-integer linear programming models for the type-II resource-constrained assembly line balancing problem Robot. Intell. Autom. (IF 2.1) Pub Date : 2022-08-18 Adalberto Sato Michels, Alysson M. Costa
Purpose Resource-constrained assembly lines are widely found in industries that manufacture complex products. In such lines, tasks may require specific resources to be processed. Therefore, decisions on which tasks and resources will be assigned to each station must be made. When the number of available stations is fixed, the problem’s main goal becomes the minimisation of cycle time (type-II version)
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Adaptive dynamic surface output feedback control for a class of quadrotor aircraft with actuator faults Robot. Intell. Autom. (IF 2.1) Pub Date : 2022-07-12 Guoqiang Zhu, He Li, Huan Zhang, Sen Wang, Xiuyu Zhang
Purpose The purpose of this study is to propose an adaptive fault-tolerant control approach based on output feedback for a class of quadrotor unmanned aerial vehicles system. In the event of a controlled actuator failure, a stable flying of the aircraft can be achieved by selecting an appropriate sliding mode surface. Design/methodology/approach Aiming at the actuator failure of quadrotor aircraft
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A transfer alignment algorithm based on combined double-time observation of velocity and attitude Robot. Intell. Autom. (IF 2.1) Pub Date : 2022-07-13 Guangrun Sheng, Xixiang Liu, Zixuan Wang, Wenhao Pu, Xiaoqiang Wu, Xiaoshuang Ma
Purpose This paper aims to present a novel transfer alignment method based on combined double-time observations with velocity and attitude for ships’ poor maneuverability to address the system errors introduced by flexural deformation and installing which are difficult to calibrate. Design/methodology/approach Based on velocity and attitude matching, redesigning and deducing Kalman filter model by
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The snake-inspired robots: a review Robot. Intell. Autom. (IF 2.1) Pub Date : 2022-07-08 Xiaolong Yang, Long Zheng, Da Lü, Jinhao Wang, Shukun Wang, Hang Su, Zhixin Wang, Luquan Ren
Purpose Snake-inspired robots are of great significance in many fields because of their great adaptability to the environment. This paper aims to systematically illustrate the research progress of snake-inspired robots according to their application environments. It classifies snake-inspired robots according to the numbers of degrees of freedom in each joint and briefly describes the modeling and control
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Improved feature point extraction method of ORB-SLAM2 dense map Robot. Intell. Autom. (IF 2.1) Pub Date : 2022-07-08 Lin Zhang, Yingjie Zhang
Purpose This paper aims to quickly obtain an accurate and complete dense three-dimensional map of indoor environment with lower cost, which can be directly used in navigation. Design/methodology/approach This paper proposes an improved ORB-SLAM2 dense map optimization algorithm. This algorithm consists of three parts: ORB feature extraction based on improved FAST-12, feature point extraction with progressive
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Assembly line-Seru conversion in the C2M enterprise: an empirical study in China Robot. Intell. Autom. (IF 2.1) Pub Date : 2022-06-29 Hongying Shan
Purpose To respond to customer needs and achieve customized manufacturing, the manufacturing industry, as represented by electronics assembly companies, has embarked on a path of business model transformation (customer to manufacturer [C2M]). The purpose of this paper is to examine the practical application of assembly line-Seru conversion in a Chinese electronics assembly company during the C2M transition
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Chance-constrained programming with robustness for lot-sizing and scheduling problems under complex uncertainty Robot. Intell. Autom. (IF 2.1) Pub Date : 2022-06-28 Jizhuang Hui, Shuai Wang, Zhu Bin, Guangwei Xiong, Jingxiang Lv
Purpose The purpose of this paper deals with a capacitated multi-item dynamic lot-sizing problem with the simultaneous sequence-dependent setup scheduling of the parallel resource under complex uncertainty. Design/methodology/approach An improved chance-constrained method is developed, in which confidence level of uncertain parameters is used to process uncertainty, and based on this, the reliability
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FAOF: a feature aggregation method based on optical flow for gangue detection on production environment Robot. Intell. Autom. (IF 2.1) Pub Date : 2022-06-28 Miao Yanzi, Wang Xiaolin, Zhang Yuanhao, Ji Liang, Wang Yizhou, Xu Zhiyang
Purpose The purpose of this paper is to improve the precision of gangue detection. In the real production environment, some gangue features are not obvious, and it is difficult to distinguish between coal and gangue. The color of the conveyor belt is similar to the gangue, the background noise also brings challenge to gangue detection. To address the above problems, we propose a feature aggregation
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MTN-based recursive d-step-ahead predictive control of MIMO nonlinear systems with unknown input time-delay in industrial process Robot. Intell. Autom. (IF 2.1) Pub Date : 2022-06-21 Hong-Sen Yan, Chen-Long Li
Purpose This paper aims to provide a precise tracking control scheme for multi-input multi-output “MIMO” nonlinear systems with unknown input time-delay in industrial process. Design/methodology/approach The predictive control scheme based on multi-dimensional Taylor network (MTN) model is proposed. First, for the unknown input time-delay, the cross-correlation function is used to identify the input
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A novel event-triggered adaptive tracking control framework for a manipulator with aperiodic neural network estimation Robot. Intell. Autom. (IF 2.1) Pub Date : 2022-06-07 Jie Gao
Purpose The purpose of this study is developing the minimum parameter learning law for the weight updating, which reduces the updating of neural network (NN) weight only at triggering instants and makes a trade-off between the estimation accuracy and triggering frequency such that the computing complexity can be decreased. Besides that, a novel “soft” method is first constructed for the control updating
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A novel robotic 6DOF pose measurement strategy for large-size casts based on stereo vision Robot. Intell. Autom. (IF 2.1) Pub Date : 2022-06-06 Guoyang Wan, Fudong Li, Bingyou Liu, Shoujun Bai, Guofeng Wang, Kaisheng Xing
Purpose This paper aims to study six degrees-of-freedom (6DOF) pose measurement of reflective metal casts by machine vision, analyze the problems existing in the positioning of metal casts by stereo vision sensor in unstructured environment and put forward the visual positioning and grasping strategy that can be used in industrial robot cell. Design/methodology/approach A multikeypoints detection network
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An enhanced sensorless control based on active disturbance rejection controller for a PMSM system: design and hardware implementation Robot. Intell. Autom. (IF 2.1) Pub Date : 2022-05-26 Hao Lu, Shengquan Li, Bo Feng, Juan Li
Purpose This paper mainly aims to deal with the problems of uncertainties including modelling errors, unknown dynamics and disturbances caused by load mutation in control of permanent magnet synchronous motor (PMSM). Design/methodology/approach This paper proposes an enhanced speed sensorless vector control method based on an active disturbance rejection controller (ADRC) for a PMSM. First, a state
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Parameter tuning of auto disturbance rejection controller based on improved glowworm swarm optimization algorithm Robot. Intell. Autom. (IF 2.1) Pub Date : 2022-05-25 Bingwei Gao, Wei Shen, Ye Dai, Yong Tai Ye
Purpose This paper aims to study a parameter tuning method for the active disturbance rejection control (ADRC) to improve the anti-interference ability and position tracking of the performance of the servo system, and to ensure the stability and accuracy of practical applications. Design/methodology/approach This study proposes a parameter self-tuning method for ADRC based on an improved glowworm swarm
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Contact-consistent visual object pose estimation for contact-rich robotic manipulation tasks Robot. Intell. Autom. (IF 2.1) Pub Date : 2022-05-20 Zhonglai Tian, Hongtai Cheng, Zhenjun Du, Zongbei Jiang, Yeping Wang
Purpose The purpose of this paper is to estimate the contact-consistent object poses during contact-rich manipulation tasks based only on visual sensors. Design/methodology/approach The method follows a four-step procedure. Initially, the raw object poses are retrieved using the available object pose estimation method and filtered using Kalman filter with nominal model; second, a group of particles
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Remaining useful life prediction of rolling bearings based on convolutional recurrent attention network Robot. Intell. Autom. (IF 2.1) Pub Date : 2022-05-13 Qiang Zhang, Zijian Ye, Siyu Shao, Tianlin Niu, Yuwei Zhao
Purpose The current studies on remaining useful life (RUL) prediction mainly rely on convolutional neural networks (CNNs) and long short-term memories (LSTMs) and do not take full advantage of the attention mechanism, resulting in lack of prediction accuracy. To further improve the performance of the above models, this study aims to propose a novel end-to-end RUL prediction framework, called convolutional
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A human activity-aware shared control solution for medical human–robot interaction Robot. Intell. Autom. (IF 2.1) Pub Date : 2022-05-11 Hang Su, Wen Qi, Yunus Schmirander, Salih Ertug Ovur, Shuting Cai, Xiaoming Xiong
Purpose The purpose of this paper is to develop a human activity-aware adaptive shared control solution for human–robot interaction in surgical operation. Hands-on control and teleoperation are two main procedures switched frequently in teleoperated minimally invasive surgery (MIS). The detailed human activity in the procedures can be defined and recognized using the sensor information. In this paper
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Towards extreme learning machine framework for lane detection on unmanned mobile robot Robot. Intell. Autom. (IF 2.1) Pub Date : 2022-04-29 Yingpeng Dai, Jiehao Li, Junzheng Wang, Jing Li, Xu Liu
Purpose This paper aims to focus on lane detection of unmanned mobile robots. For the mobile robot, it is undesirable to spend lots of time detecting the lane. So quickly detecting the lane in a complex environment such as poor illumination and shadows becomes a challenge. Design/methodology/approach A new learning framework based on an integration of extreme learning machine (ELM) and an inception
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An optimized cosine jerk motion profile with higher efficiency and flexibility Robot. Intell. Autom. (IF 2.1) Pub Date : 2022-04-27 Qixin Zhu, Yusheng Jin, Yonghong Zhu
Purpose The purpose of this paper is to propose a new acceleration/deceleration (acc/dec) algorithm for motion profiles. The motion efficiency, flexibility of the motion profiles and the residual vibration of the movement are discussed in this paper. Design/methodology/approach A dynamics model is developed to assess the residual vibration of these two kinds of motion profile. And a Simulink model
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Press-fit process fault diagnosis using 1DCNN-LSTM method Robot. Intell. Autom. (IF 2.1) Pub Date : 2022-04-26 Xialiang Ye, Minbo Li
Purpose Press-fit with force and displacement monitoring is commonly adopted in automotive mechatronic system assembling. However, suitable methods for the press-fit study are still at initial investigation phase. The sequential data physical meaning, small data sets from different resources and computing efficiency should be considered. Therefore, this paper aims to better identify press-fit fault
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Optimization method for spatial route adjustment of multi-bends pipes considering assembly demands Robot. Intell. Autom. (IF 2.1) Pub Date : 2022-04-21 Kunyong Chen, Yong Zhao, Yuming Liu, Haidong Yu, Shunzhou Huang
Purpose This paper aims to propose an optimization method to automatically adjust the spatial route of multibend pipes to meet the assembly demands in constrained space. Design/methodology/approach The compact geometric parameters that uniquely determine the pipe route are analyzed. Besides, the relationship between these parameters and the end pose is revealed based on the exponential product formula
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Smart handheld medical device with patient-specific force regulation mechanism Robot. Intell. Autom. (IF 2.1) Pub Date : 2022-04-12 Zhuoqi Cheng, Jiale He, Pengjie Lin, Min He, Jing Guo, Xinwei Chen, Shuting Cai, Xiaoming Xiong
Purpose The purpose of this paper is to design a smart handheld device with force regulating function, which demonstrates the concept of patient-specialized tools. Design/methodology/approach This handheld device integrates an electrical bioimpedance (EBI) sensor for tissue measurement and a constant force regulation mechanism for ensuring stable tool–tissue contact. Particular focuses in this study
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A combined hole position error correction method for automated drilling of large-span aerospace assembly structures Robot. Intell. Autom. (IF 2.1) Pub Date : 2022-04-11 Junshan Hu, Xinyue Sun, Wei Tian, Shanyong Xuan, Yang Yan, Wang Changrui, Wenhe Liao
Purpose Aerospace assembly demands high drilling position accuracy for fastener holes. Hole position error correction is a key issue to meet the required hole position accuracy. This paper aims to propose a combined hole position error correction method to achieve high positioning accuracy. Design/methodology/approach The bilinear interpolation surface function based on the shape of the aerospace structure
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A novel industrial AGV control strategy based on dual-wheel chassis model Robot. Intell. Autom. (IF 2.1) Pub Date : 2022-04-07 Hua Ding, Yanhong Huang, Jianqi Shi, Qi Shi, Yang Yang
Purpose Automatic guided vehicles (AGVs) are widely used in industrial fields. But most control strategies merely take the lateral force into consideration. This will reduce the accuracy, stability and robustness and will pay additional costs. Therefore, this paper aims to design a control strategy that initially considers lateral force. Thereby, it will improve the accuracy, stability and robustness
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Industrial process data visualization based on a deep enhanced t-distributed stochastic neighbor embedding neural network Robot. Intell. Autom. (IF 2.1) Pub Date : 2022-03-18 Weipeng Lu, Xuefeng Yan
Purpose The purpose of this paper is to propose a approach for data visualization and industrial process monitoring. Design/methodology/approach A deep enhanced t-distributed stochastic neighbor embedding (DESNE) neural network is proposed for data visualization and process monitoring. The DESNE is composed of two deep neural networks: stacked variant auto-encoder (SVAE) and a deep label-guided t-stochastic
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Structure design and optimization of ground moving and pole climbing inspection robot Robot. Intell. Autom. (IF 2.1) Pub Date : 2022-03-10 Changlong Ye, Yunfei Zang, Suyang Yu, Chunying Jiang
Purpose The purpose of this paper is to demonstrate a multipurpose inspection robot that can both walk on the ground and climb on poles. The structure design, size optimization, kinematics analysis, experiment and arithmetic of the robot are discussed in the paper. Design/methodology/approach The robot consists of three adjustable modules and a two-degree-of-freedom parallel mechanism in tandem, and
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Intelligent assembly assistance for hull structure construction based on optical projection Robot. Intell. Autom. (IF 2.1) Pub Date : 2022-02-15 Yu Zhu, Jun Yang, Hongwei Zhang, Wenmin Zhu, Jie Wang, Zelin Zhou
Purpose Marking and inspecting are key steps in hull structure construction. However, currently most marking and inspecting operations are still carried out manually, which leads to low assembly efficiency and quality. This paper aims to solve these problems through the application of digital technology: the optical projection and machine vision. Design/methodology/approach First, the assembly process
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Vibration and position tracking control for a flexible Timoshenko robot arm with disturbance rejection mechanism Robot. Intell. Autom. (IF 2.1) Pub Date : 2022-01-28 Yan Yang, Jun Shi, Zhijie Liu, Shuangyin Liu
Purpose This paper aims to study the boundary disturbance rejection control design for a flexible Timoshenko robot arm to diminish external disturbances and achieve desired angle tracking, with system vibration and elastic deformation considered. Design/methodology/approach This study introduces disturbance observer and disturbance rejection mechanism into the boundary control design for flexible Timoshenko
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Integrated fault detection for industrial process monitoring based on multi-dimensional Taylor network Robot. Intell. Autom. (IF 2.1) Pub Date : 2022-01-27 Chen-Long Li, Chang-Shun Yuan, Xiao-Shuang Ma, Wen-Liang Chen, Jun Wang
Purpose This paper aims to provide a novel integrated fault detection method for industrial process monitoring. Design/methodology/approach A novel integrated fault detection method based on the combination of Mallat (MA) algorithm, weight-elimination (WE) algorithm, conjugate gradient (CG) algorithm and multi-dimensional Taylor network (MTN) dynamic model, namely, MA-WE-CG-MTN, is proposed in this
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COWO: towards real-time spatiotemporal action localization in videos Robot. Intell. Autom. (IF 2.1) Pub Date : 2022-01-18 Yang Yi, Yang Sun, Saimei Yuan, Yiji Zhu, Mengyi Zhang, Wenjun Zhu
Purpose The purpose of this paper is to provide a fast and accurate network for spatiotemporal action localization in videos. It detects human actions both in time and space simultaneously in real-time, which is applicable in real-world scenarios such as safety monitoring and collaborative assembly. Design/methodology/approach This paper design an end-to-end deep learning network called collaborator
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An industrial intelligent grasping system based on convolutional neural network Robot. Intell. Autom. (IF 2.1) Pub Date : 2022-01-13 Jiang Daqi, Wang Hong, Zhou Bin, Wei Chunfeng
Purpose This paper aims to save time spent on manufacturing the data set and make the intelligent grasping system easy to deploy into a practical industrial environment. Due to the accuracy and robustness of the convolutional neural network, the success rate of the gripping operation reached a high level. Design/Methodology/Approach The proposed system comprises two diverse kinds of convolutional neuron
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Model predictive control of direct-driven surface-mounted permanent magnet synchronous generator based on active disturbance rejection controller Robot. Intell. Autom. (IF 2.1) Pub Date : 2021-11-03 Hongjun Shi, Lei Xiong, Xuchen Nie, Qixin Zhu
Purpose This paper aims to mainly discuss how to suppress the disturbances accurately and effectively in the wind energy conversion system (WECS) of the direct drive surface mount permanent magnet synchronous generator (SPMSG). Design/methodology/approach The disturbances in wind energy conversion system have seriously negative influence on the maximum power tracking performance. Therefore, a model
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Assembly variation analysis of the non-rigid assembly with a deformation gradient model Robot. Intell. Autom. (IF 2.1) Pub Date : 2021-11-18 Ibrahim Ajani, Cong Lu
Purpose This paper aims to develop a mathematical method to analyze the assembly variation of the non-rigid assembly, considering the manufacturing variations and the deformation variations of the non-rigid parts during the assembly process. Design/methodology/approach First, this paper proposes a deformation gradient model, which represents the deformation variations during the assembly process by
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Discovery of key function module in complex mechanical 3D CAD assembly model for design reuse Robot. Intell. Autom. (IF 2.1) Pub Date : 2021-11-17 Zhoupeng Han, Chenkai Tian, Zihan Zhou, Qilong Yuan
Purpose Complex mechanical 3D computer-aided design (CAD) model embodies rich implicit design knowledge. Through discovering the key function parts and key function module in 3D CAD assembly model in advance, it can promote the designers’ understanding and reuse efficiency of 3D assembly model in design reuse. Design/methodology/approach An approach for discovering key function module in complex mechanical
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A peg-in-hole controller for cable-driven serial robots with compliant wrist based on cable tensions and joint positions Robot. Intell. Autom. (IF 2.1) Pub Date : 2021-12-21 Ya'nan Lou, Pengkun Quan, Haoyu Lin, Zhuo Liang, Dongbo Wei, Shichun Di
Purpose This purpose of this paper is to design a peg-in-hole controller for a cable-driven serial robot with compliant wrist (CDSR-CW) using cable tensions and joint positions. The peg is connected to the robot link through a CW. It is required that the controller does not rely on any external sensors such as 6-axis wrist force/torque (F/T) sensor, and only the compliance matrix’s estimated value
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Assembly process case matching based on a multilevel assembly ontology method Robot. Intell. Autom. (IF 2.1) Pub Date : 2021-11-23 Hanqing Gong, Lingling Shi, Xiang Zhai, Yimin Du, Zhijing Zhang
Purpose The purpose of this study is to achieve accurate matching of new process cases to historical process cases and then complete the reuse of process knowledge and assembly experience. Design/methodology/approach By integrating case-based reasoning (CBR) and ontology technology, a multilevel assembly ontology is proposed. Under the general framework, the knowledge of the assembly domain is described
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Multi-sensor optimal deployment based efficient and synchronous data acquisition in large three-dimensional physical similarity simulation Robot. Intell. Autom. (IF 2.1) Pub Date : 2022-01-05 Yuyu Hao, Shugang Li, Tianjun Zhang
Purpose This paper aims to propose a deployment optimization and efficient synchronous acquisition method for compressive stress sensors used by stress distribution law research based on the genetic algorithm and numerical simulations. The authors established a new method of collecting the mining compressive stress-strain distribution data to address the problem of the number of sensors and to optimize
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Full-state modeling and nonlinear control of balloon supported unmanned aerial vehicle Robot. Intell. Autom. (IF 2.1) Pub Date : 2021-11-18 Naveed Mazhar, Fahad Mumtaz Malik, Raja Amer Azim, Abid Raza, Rameez Khan, Qasim Umar Khan
Purpose The purpose of this study is to provide the full-state mathematical model and devise a nonlinear controller for a balloon-supported unmanned aerial vehicle (BUAV). Design/methodology/approach Newtonian mechanics is used to establish the nonlinear mathematical model of the proposed vehicle assembly which incorporates the dynamics of both balloon and quadrotor UAV. A controllable form of the