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- 저자 : Huapeng Wu (검색결과 3 건)
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Non-contact Palmprint Attendance System on PC Platform
Wu, Yuxin,Leng, Lu,Mao, Huapeng Korea Multimedia Society 2018 The journal of multimedia information system Vol.5 No.3
In order to overcome the problems of contact palmprint recognition, a non-contact palmprint recognition system is developed on personal computer (PC) platform. Three methods, namely "double-line-single-point" (DLSP), "double-assistant-crosshair" (DAC) and "none-assistant-graphic" (NAG), are implemented for the palmprint localization to solve the severe technical challenges, including the complex background, variant illuminations, uncontrollable locations and gestures of hands. In NAG, hand segmentation and the cropping of region of interest are performed without any assistant graphics. The convex hull contour of hand helps detect the outside contour of little finger as well as the valley bottom between thumb and index finger. The three methods of palmprint localization have good operating efficiency and can meet the performance requirements of real-time system. Furthermore, an attendance system on PC platform is designed and developed based on non-contact palmprint recognition.
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Error compensation for snake arm maintainer under variable loads
Guodong Qin,Huapeng Wu,Aihong Ji,Huan Shen,Qian Li,Qingfei Han,Zhikang Yang,Shikun Wen 대한기계학회 2023 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.37 No.2
The cable-driven snake arm maintainer (SAM) simplifies the electronics of the entire snake arm and is well suited for operation in narrow and high-risk environments. However, the structural features of the SAM, the large slenderness ratio and the effects of variable loads and rigid-flexible coupling deformation lead to large end position error. In order to improve the positional accuracy, a joint space error compensation model of a SAM is constructed using the matrix differentiation method. The error parameters under different loads and different poses are identified based on the principles of variable parameter error compensation and a linearized variable-load variable-parameter model. Parameter errors are then calculated by the Levenberg-Marquardt nonlinear damped least-squares algorithm. Finally, we verify the effectiveness of the proposed algorithm by simulation and error compensation experiments. The results of the study provide a theoretical basis for further accuracy improvement and application expansion of the SAM.
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Fuzzy-PID controller for motion control of CFETR multi-functional maintenance platform
Li, Dongyi,Lu, Kun,Cheng, Yong,Zhao, Wenlong,Yang, Songzhu,Zhang, Yu,Li, Junwei,Wu, Huapeng Korean Nuclear Society 2021 Nuclear Engineering and Technology Vol.53 No.7
The motion control of the divertor maintenance system of the China Fusion Engineering Test Reactor (CFETR) was studied in this paper, in which CFETR Multi-Functional Maintenance Platform (MFMP) was simplified as a parallel robot for the convenience of theoretical analysis. In order to design the motion controller of parallel robot, the kinematics analysis of parallel robot was carried out. After that, the dynamic modeling of the hydraulic system was built. As the large variation of heavy payload on MFMP and highly nonlinearity of the system, A Fuzzy-PID controller was built for self-tuning PID controller parameters by using Fuzzy system to achieve better performance. In order to test the feasibility of the Fuzzy-PID controller, the simulation model of the system was built in Simulink. The results have showed that Fuzzy-PID controller can significantly reduce the angular error of the moving platform and provide the stable motion for transferring the divertor.
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