Coupling vibration characteristics of a translating flexible robot manipulator with harmonic driving motions

Translating robot manipulators (TRMs) especially flexible translating robot manipulators (FTRMs) have been actively used in takeout robots, beam-type substrate transport robots and manufacturing machines and it remains that the end-effector on robot arms should have a good operating accuracy. Due to the coupling effect, such as motor parameters and mechanism inertias, the motions of the driving stage exhibits certain disturbances especially in high speeds. Considering the influence of the motion disturbances, this paper models the motions of the driving stage as harmonic driving motions and in this case the FTRM is similar to a parametrically excited system. The multiple scales method is applied to obtain the stability conditions for the motion disturbances. Based on the established coupling dynamic model, the influences of the motion disturbances on the vibration behaviors and the stability are investigated. Moreover, considering the actual motion characteristics of the driving stage with varied accelerations and velocities, the effect mechanism between the motion characteristics and motion disturbances are subsequently studied. According to this effect mechanism, the influence of the motion disturbances can be suppressed through motion optimizing, which is meaningful for motion optimizations and vibration controls of the FTRM. An ADAMS physical prototype is constructed to verify the dynamic model and theoretical analysis results, and the results have a good agreement

Vibration observation for a translational flexible-link manipulator based on improved Luenberger observer

The residual vibration is a very universal problem in flexible manipulators which are widely used in robot technology. This paper focuses on the soft measurement of the vibration signals for a translational flexible-link manipulator (TFLM) system. A vibration observer based on the improved Luenberger observer, which only requires the practical measurement values of the boundary positions, is designed to obtain the vibration signals of the TFLM. The main contribution of the vibration observer is its ability to simplify system structure and get the vibration signals of any point of the TFLM which is unrealistic by infinite sensors in practice. Furthermore, the improved part of the Luenberger observer is the added feedback coefficients for the tip vibration signals which can correct the observed mode and reduce the observation error markedly. And according to the stable conditions of observer, the added feedback coefficients are designed by Lyapunov technique and multiple population genetic algorithms (MPGA). Finally, the efficiency of the designed vibration observer is verified by combined-simulation

Tip position control of single flexible manipulators based on LQR with the Mamdani model

Flexible manipulators have been actively used in various fields, such as aerospace, industry and medical treatment. It remains that the tip of the flexible manipulator should accurately trail the target trajectory without vibration. This paper proposes a novel method of the tip position control of a single flexible manipulator based on LQR with the Mamdani model. Firstly, using the assumed mode method and the Lagrange equations, the dynamic model of the single flexible manipulator is established. Then, the state equations are derived by the dynamic model. Based on the Mamdani model, the fuzzy algorithm is added to the traditional LQR control, and the self-adaptive adjustment of the LQR control variable R is conducted, which improves the adaptability of the control system. Finally, numerical simulations and experiments are presented. The results demonstrate that the novel control method presented in this paper can rapidly achieve the location in the position control and effectively suppress the elastic vibration of the single flexible manipulator, which has more considerable effect compared with the traditional LQR control method

Software‐Defined Optical Networking (SDON): Principles and Applications

Featured by the advantages of high capacity, long transmission distance, and low energy consumption, optical network has been deployed widely as the most important infrastructure for backbone transport network. With the development of Internet, datacenter has become the popular infrastructure for cloud computing, which needs to be connected with high bitrate transport network to support heterogeneous applications. In this case, optical network also becomes a promising option for intra and inter‐datacenter networking. In the networking field, software‐defined networking (SDN) has gained a lot of attention from both academic and industry, and it aims to provide a flexible and programmable control plane. SDN is applicable to optical network, and the optical network integrated with SDN, namely software‐defined optical network (SDON), are expected as the future transport solutions, which can provide both high bitrate connectivity and flexible network applications. The principles and applications of SDON are introduced in this chapter

Blur the Linguistic Boundary: Interpreting Chinese Buddhist Sutra in English via Neural Machine Translation

Buddhism is an influential religion with a long-standing history and profound philosophy. Nowadays, more and more people worldwide aspire to learn the essence of Buddhism, attaching importance to Buddhism dissemination. However, Buddhist scriptures written in classical Chinese are obscure to most people and machine translation applications. For instance, general Chinese-English neural machine translation (NMT) fails in this domain. In this paper, we proposed a novel approach to building a practical NMT model for Buddhist scriptures. The performance of our translation pipeline acquired highly promising results in ablation experiments under three criteria.Comment: This paper is accepted by ICTAI 2022. The 34th IEEE International Conference on Tools with Artificial Intelligence (ICTAI

Vibration observation for a translational flexible-link manipulator based on improved Luenberger observer

The residual vibration is a very universal problem in flexible manipulators which are widely used in robot technology. This paper focuses on the soft measurement of the vibration signals for a translational flexible-link manipulator (TFLM) system. A vibration observer based on the improved Luenberger observer, which only requires the practical measurement values of the boundary positions, is designed to obtain the vibration signals of the TFLM. The main contribution of the vibration observer is its ability to simplify system structure and get the vibration signals of any point of the TFLM which is unrealistic by infinite sensors in practice. Furthermore, the improved part of the Luenberger observer is the added feedback coefficients for the tip vibration signals which can correct the observed mode and reduce the observation error markedly. And according to the stable conditions of observer, the added feedback coefficients are designed by Lyapunov technique and multiple population genetic algorithms (MPGA). Finally, the efficiency of the designed vibration observer is verified by combined-simulation

Responses of photosynthetic characteristics of oat flag leaf and spike to drought stress

Raising crops production via improving photosynthesis has always been focused. Recently excavating and increasing the photosynthetic capacity of non-leaf organs becomes an important approach to crops yield increase. Here we studied the photosynthetic characteristics of the flag leaf and the non-leaf organs including the sheath, the glume and the lemma under greenhouse. The relative water content (RWC), the stomatal characteristics, the photosynthetic pigment contents, the enzyme activities in C3 and C4 pathway and the malate content of the flag leaf and the non-leaf organs on 7, 14, 21, and 28 days after anthesis (denoted by 7DAA, 14DAA, 21DAA, and 28DAA) were determined under well-watered (CK) and water-stressed (D) treatments. Drought stress significantly reduced the RWC of the flag leaf and the non-leaf organs, while the variation of RWC in the glume and the lemma was lower than in the flag leaf. The chlorophyll a content, the chlorophyll b content, the total chlorophyll content and the xanthophyll content in the flag leaf were significantly decreased under D. However, drought stress significantly increased the photosynthetic pigment contents in the glume at the late stage (21DAA and 28DAA). In addition, the induced activities of PEPC, NADP-MDH, NADP-ME, NAD-ME, and PPDK in non-leaf organs under drought stress suggested that the C4 photosynthetic pathway in non-leaf organs compensated the limited C3 photosynthesis in the flag leaf. Non-leaf organs, in particular the glume, showed the crucial function in maintaining the stable photosynthetic performance of oat

piR-hsa-211106 Inhibits the Progression of Lung Adenocarcinoma Through Pyruvate Carboxylase and Enhances Chemotherapy Sensitivity

Although the importance of PIWI-interacting RNAs (piRNAs) in cancer has recently been recognized, studies on the role and functional mechanism of piRNAs in lung adenocarcinoma (LUAD) development and progression are limited. In this study, we identified 10 differently expressed piRNAs in LUAD tissues compared to normal tissues, among which, piR-hsa-211106 expression levels were downregulated in LUAD tissues and cell lines. Furthermore, the effects of piR-hsa-211106 on the malignant phenotypes and chemosensitivity of LUAD cells were detected by gain- and loss-of-function analyses in vitro and in vivo, which showed that piR-hsa-211106 inhibited LUAD cell proliferation, tumor growth, and migration, but promoted apoptosis. Moreover, our finding indicated that piR-hsa-211106 is a potential therapeutic target that synergistically imparts anticancer effects with a chemotherapeutic agent for LUAD-cisplatin. Further mechanistic investigation indicated that piR-hsa-211106 could bind to pyruvate carboxylase (PC) by RNA pull down and RNA immunoprecipitation assays and inhibited PC mRNA and protein expression. Our study demonstrates that piR-hsa-211106 inhibits LUAD progression by hindering the expression and function of PC and enhances chemotherapy sensitivity, suggesting that piR-hsa-211106 is a novel diagnostic and therapeutic target for LUAD

[18F]AlF-NOTA-ADH-1: A new PET molecular radiotracer for imaging of N-cadherin-positive tumors

BackgroundThe cell adhesion molecule (CAM) N-cadherin has become an important target for tumor therapy. The N-cadherin antagonist, ADH-1, exerts significant antitumor activity against N-cadherin-expressing cancers.MethodsIn this study, [18F]AlF-NOTA-ADH-1 was radiosynthesized. An in vitro cell binding test was performed, and the biodistribution and micro-PET imaging of the probe targeting N-cadherin were also studied in vivo.ResultsRadiolabeling of ADH-1 with [18F]AlF achieved a yield of up to 30% (not decay-corrected) with a radiochemical purity of >97%. The cell uptake study showed that Cy3-ADH-1 binds to SW480 cells but weakly binds to BXPC3 cells in the same concentration range. The biodistribution results demonstrated that [18F]AlF-NOTA-ADH-1 had a good tumor/muscle ratio (8.70±2.68) in patient-derived xenograft (PDX) tumor xenografts but a lower tumor/muscle ratio (1.91±0.69) in SW480 tumor xenografts and lowest tumor/muscle ratio (0.96±0.32) in BXPC3 tumor xenografts at 1 h post-injection (p.i.) These findings were in accordance with the immunohistochemistry results. The micro PET imaging results revealed good [18F]AlF-NOTA-ADH-1 tumor uptake in pancreatic cancer PDX xenografts with strong positive N-calcium expression, while lower tumor uptake in SW480 xenografts with positive expression of N-cadherin, and significantly lower tumor uptake in BXPC3 xenografts with low expression of N-cadherin, which was consistent with the biodistribution and immunohistochemistry results. The N-cadherin-specific binding of [18F]AlF-NOTA-ADH-1 was further verified by a blocking experiment involving coinjection of a non radiolabeled ADH-1 peptide, resulting in a significant reduction in tumor uptake in PDX xenografts and SW480 tumor.Conclusion[18F]AlF-NOTA-ADH-1 was successfully radiosynthesized, and Cy3-ADH-1 showed favorable N-cadherin-specific targeting ability by in vitro data. The biodistribution and microPET imaging of the probe further showed that [18F]AlF-NOTA-ADH-1 could discern different expressions of N-cadherin in tumors. Collectively, the findings demonstrated the potential of [18F]AlF-NOTA-ADH-1 as a PET imaging probe for non-invasive evaluation of the N-cadherin expression in tumors