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Trajectory optimization of an electrohydraulic robot
Xueju Peng,Guangzhu Chen,Yingjie Tang,Changwei Miao,Yang Li 대한기계학회 2020 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.34 No.10
The electro-hydraulic robot has great driving torque and plays an irreplaceable role in manufacturing. In this paper, a trajectory planning method for a 6-DOF electro-hydraulic robot based on time-energy-jerk is proposed and realized. A multi-objective function of the electro-hydraulic robot about working efficiency, impact, stability and energy consumption factors was built, at the same time, the kinematic and dynamic constraint functions were also built. The multi-objective trajectory function of the robot was optimized by using the nondominated neighborhood immune genetic algorithm, and the optimal position, velocity, acceleration and jerk planning curves of each joint were obtained. In the experiment, the flow output curves of the hydraulic system of joint 6 based on fuzzy-PID control strategy under noload, 1.5 kg load, 4 kg load were obtained, and show that the velocity and position trajectory of the joint can be well controlled using the presented fuzzy PID control strategy.
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A Joint Transform Correlator Encryption System Based on Binary Encoding for Grayscale Images
Kaifei Peng,Xueju Shen,Fuyu Huang,Xuan He 한국광학회 2019 Current Optics and Photonics Vol.3 No.6
A binary encoding method for grayscale images is proposed to address their unsatisfactory decryption results from joint transform correlator (JTC) encryption systems. The method converts the encryption and decryption of grayscale images into that of binary images, and effectively improves decrypted-image quality. In the simulation, we replaced unencoded grayscale images with their binary encoded counterparts in the JTC encryption and decryption processes, then adopted a median filter to suppress saturation noise while keeping other settings unchanged. Accordingly, decrypted-image quality was clearly enhanced as the correlation coefficient (CC) between a decrypted image and its original rose from 0.8237 to 0.9473 initially, and then further to 0.9937, following the above two steps respectively. Finally, optical experimental results confirmed that the proposed encryption system works correctly.
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