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A fuzzy-based impedance control for force tracking in unknown environment
Yichao Shen,Yan Lu,Chungang Zhuang 대한기계학회 2022 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.36 No.10
Industrial manufacturing operations, such as grinding and polishing, are characterized by relatively constant contact force. In this article, a fuzzy-based adaptive impedance is proposed, which can grind or polish workpieces of different materials with constant contact force. The environmental parameters are estimated by iterative calculation with recursive least squares (RLS). The impedance parameters, such as damping and stiffness, are taken as the outputs of the fuzzy controller. The proposed force controller can track the desired force without the prior knowledge of the environment information. Experiments are conducted in finishing tasks using the self-developed industrial robot to verify the adaptive impedance control. The environmental parameters are instantly estimated for the following adjustment of the impedance parameters, and the real time contact force shows that the adaptive fuzzy logic impedance controller can achieve better performance with the oscillation below 2 N as the machining surface of the workpiece is not predefined.
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A Scalable Live Streaming Media Distribution Service for Peer-to-Peer Network
Jiujun Cheng,Chungang Yan,Kuifei Yu,Jian Ma 보안공학연구지원센터 2008 International Journal of Hybrid Information Techno Vol.1 No.4
Live streaming media distribution in a large scale P2P network and the impact on the real-time caused by the dynamicity of peers are still not well resolved. In order to address this problem, a scalable live streaming media distribution service in P2P network is presented. Our approach is that the P2P network combining tree with clusters is designed, and some super-peers are reserved in all clusters. In addition, we adopt the maximum accepted connection number of each super-peer and its average disposing delay to select the optimal father peer, and the limitation of packet discard between super-peers is given. The experiment results show that the distribution service assures the improvement of real-time and scalability in the large-scale P2P network.
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