公开(公告)号：US20210255592A1

公开(公告)日：2021-08-19

申请号：US17308110

申请日：2021-05-05

申请人： Jiangnan University

发明人： Wenzhou LU ,  Haiying CHEN ,  Wei WANG

IPC分类号： G05B13/04

摘要： The disclosure discloses a customized harmonic repetitive controller and a control method, and belongs to the field of repetitive controllers for industrial control. In the repetitive controller, a periodic signal generator formed by three time-delay modules and a positive feedforward gain module is taken as a whole to form a forward path, and an internal model of a periodic signal is constructed in the form of outputting positive feedback. Therefore, the structure of the repetitive controller conforms to a standard internal model construction method, the repetitive controller has an order expanding capability, the flexibility of the controller is greatly improved, the disturbance canceling speed of the controller is increased, and the repetitive controller is simple in structure and convenient to design. An h-order nk±m-order-harmonic repetitive controller (h≥2) obtained by further expansion covers various existing high-order repetitive controllers, and a unified form is provided to make the repetitive controller universal.

公开(公告)号：US20230068690A1

公开(公告)日：2023-03-02

申请号：US17973687

申请日：2022-10-26

申请人： Jiangnan University

发明人： Shanhua QIAN ,  Longfei GONG ,  Wei WANG ,  Zifeng NI ,  Juan TANG

IPC分类号： C10M169/04 ,  C10M101/04 ,  C10M129/40 ,  C10M129/50 ,  C10M139/00 ,  C10M141/12 ,  C10M147/00 ,  C10M161/00 ,  C10M177/00

摘要： Disclosed is food-grade lubricating grease and a method for preparing the same, belonging to the technical field of lubricating grease. The food-grade lubricating grease is prepared from the following components in percentage by mass: 75% to 85% of food-grade white oil, 6% to 16% of stearic acid, 2.0% to 3.0% of benzoic acid, 4.7% to 8.7% of aluminum isopropoxide, 1.0% to 1.5% of water and 1.0% to 7.0% of nano-PTFE, and has good extreme-pressure, abrasion-resistant and friction-reduction properties, a last non-seizure load (PB) reaching 411.6 N, a sintering load (PD) reaching 1,960 N, and a friction coefficient reduced by 18.5%. The lubricating grease can be used for a food production industry and in household food appliances, the service life of a device and the service life of the food-grade lubricating grease are effectively prolonged, and meanwhile, food security is guaranteed to a certain degree.

公开(公告)号：US20230286163A1

公开(公告)日：2023-09-14

申请号：US18083507

申请日：2022-12-17

申请人： JIANGNAN UNIVERSITY

发明人： Shunyi ZHAO ,  Wei WANG ,  Xiaoli LUAN ,  Fei LIU

IPC分类号： B25J9/16

CPC分类号： B25J9/1697

摘要： The invention provides a motion capture method of a robotic arm, including: fastening a visual sensor on a robotic arm to acquire data as a source domain, fastening an inertial sensor on a corresponding human arm to acquire data as a target domain, and establishing a state space expression of a system; setting an optimal unknown state observed joint distribution by using a total probability theory and an observed prediction distribution of the source domain as a condition, decomposing a conditional joint observed distribution model, and solving an optimal distribution using KL divergence; and transferring knowledge of the source domain measured by the visual sensor into the target domain measured by the inertial sensor based on a Kalman filter and the total probability theory, performing data fusion based on Kalman filtering, and predicting a state of the system at a next moment to implement motion capture of the robotic arm.