针对自动气象站数据采集器温度通道容易受到环境温度影响限制测量精度的问题,对数据采集器进行了温度漂移检测实验并对实验数据进行了误差分析,提出了基于改进自适应遗传算法优化的最小二乘支持向量机(improved adaptive geneticalgorit...针对自动气象站数据采集器温度通道容易受到环境温度影响限制测量精度的问题,对数据采集器进行了温度漂移检测实验并对实验数据进行了误差分析,提出了基于改进自适应遗传算法优化的最小二乘支持向量机(improved adaptive geneticalgorithm least squares support vector machine,IAGA-LSSVM)的温度补偿方法。改进的自适应遗传算法能够对最小二乘支持向量机拟合过程中的关键参数进行调整从而建立最优模型。与传统LS-SVM相比,IAGA-LSSVM对温度数据的建模均方根误差减小了0.007,有效提高了建模的精度。根据建立的最优函数模型对该数据采集器温度通道进行温度补偿结果表明,经该方法补偿后的数据采集器在任何温度环境下的温度测量误差均小于0.03℃,具有更高的测量精度和稳定性,有效提高了自动气象站的温度观测质量。同时,设计开发了温度补偿界面,为自动气象站观测数据校验和实际业务应用奠定了基础。展开更多
Based on flexible pneumatic actuator(FPA),bending joint and side-sway joint,a new kind of pneumatic dexterous robot finger was developed.The finger is equipped with one five-component force sensor and four contactless...Based on flexible pneumatic actuator(FPA),bending joint and side-sway joint,a new kind of pneumatic dexterous robot finger was developed.The finger is equipped with one five-component force sensor and four contactless magnetic rotary encoders.Mechanical parts and FPAs are integrated,which reduces the overall size of the finger.Driven by FPA directly,the joint output torque is more accurate and the friction and vibration can be effectively reduced.An improved adaptive genetic algorithm(IAGA) was adopted to solve the inverse kinematics problem of the redundant finger.The statics of the finger was analyzed and the relation between fingertip force and joint torque was built.Finally,the finger force/position control principle was introduced.Tracking experiments of fingertip force/position were carried out.The experimental results show that the fingertip position tracking error is within ±1 mm and the fingertip force tracking error is within ±0.4 N.It is also concluded from the theoretical and experimental results that the finger can be controlled and it has a good application prospect.展开更多
文摘针对自动气象站数据采集器温度通道容易受到环境温度影响限制测量精度的问题,对数据采集器进行了温度漂移检测实验并对实验数据进行了误差分析,提出了基于改进自适应遗传算法优化的最小二乘支持向量机(improved adaptive geneticalgorithm least squares support vector machine,IAGA-LSSVM)的温度补偿方法。改进的自适应遗传算法能够对最小二乘支持向量机拟合过程中的关键参数进行调整从而建立最优模型。与传统LS-SVM相比,IAGA-LSSVM对温度数据的建模均方根误差减小了0.007,有效提高了建模的精度。根据建立的最优函数模型对该数据采集器温度通道进行温度补偿结果表明,经该方法补偿后的数据采集器在任何温度环境下的温度测量误差均小于0.03℃,具有更高的测量精度和稳定性,有效提高了自动气象站的温度观测质量。同时,设计开发了温度补偿界面,为自动气象站观测数据校验和实际业务应用奠定了基础。
基金Project(2009AA04Z209) supported by the National High Technology Research and Development Program of ChinaProject(R1090674) supported by the Natural Science Foundation of Zhejiang Province,ChinaProject(51075363) supported by the National Natural Science Foundation of China
文摘Based on flexible pneumatic actuator(FPA),bending joint and side-sway joint,a new kind of pneumatic dexterous robot finger was developed.The finger is equipped with one five-component force sensor and four contactless magnetic rotary encoders.Mechanical parts and FPAs are integrated,which reduces the overall size of the finger.Driven by FPA directly,the joint output torque is more accurate and the friction and vibration can be effectively reduced.An improved adaptive genetic algorithm(IAGA) was adopted to solve the inverse kinematics problem of the redundant finger.The statics of the finger was analyzed and the relation between fingertip force and joint torque was built.Finally,the finger force/position control principle was introduced.Tracking experiments of fingertip force/position were carried out.The experimental results show that the fingertip position tracking error is within ±1 mm and the fingertip force tracking error is within ±0.4 N.It is also concluded from the theoretical and experimental results that the finger can be controlled and it has a good application prospect.
