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Fault-Diagnosis Method Based on Support Vector Machine and Artificial Immune for Batch Process 总被引:1,自引:1,他引:0
A new fault-diagnosis method to be used in batch processes based on multi-phase regression is presented to overcome the difficulty arising in the processes due to non-uniform sample data in each phase. Support vector machine is first used for phase identification, and for each phase, improved artificial immune network is developed to analyze and recognize fault patterns. A new cell elimination role is proposed to enhance the incremental clustering capability of the immune network. The proposed method has been applied to glutamic acid fermentation, comparison results have indicated that the proposed approach can better classify fault samples and yield higher diagnosis precision. 相似文献
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In order to solve kinematic redundancy problems of a hydraulic quadruped walking robot, which include leg dragging, sliding, impingement against the ground, an improved gait planning algorithm for this robot is proposed in this paper. First, the foot trajectory is designated as the improved composite cycloid foot trajectory. Second, the landing angle of each leg of the robot is controlled to satisfy friction cone to improve the stability performance of the robot. Then with the controllable landing angle of quadruped robot and a geometry method, the kinematic equation is derived in this paper. Finally, a gait planning method of quadruped robot is proposed, a dynamic co-simulation is done with ADAMS and MATLAB, and practical experiments are conducted. The validity of the proposed algorithm is confirmed through the co-simulation and experimentation. The results show that the robot can avoid sliding, reduce impingement, and trot stably in trot gait. 相似文献
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Most existing legged robots are developed under laboratory environments and,correspondingly,have good performance of locomotion.The robots‘ability of walking on rough terrain is of great importance but is seldom achieved.Being compliant to external unperceived impacts is crucial since it is unavoidable that the slip,modeling errors and imprecise information of terrain will make planned trajectories to be followed with errors and unpredictable contacts.The impedance control gives an inspiration to realize an active compliance which allows the legged robots to follow reference trajectories and overcome external disturbances.In this paper,a novel impedance force/position control scheme is presented,which is based on Cartesian force measurement of leg's end effector for our hydraulic quadruped robot The simulation verifies the efficiency of the impedance model,and the experimental results at the end demonstrate the feasibility of the proposed control scheme. 相似文献
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