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In order to address the problems of low screening efficiency, easy blocking of screen holes, and short service life of key parts commonly used in vibrating screen equipment, the TRIZ (Theory of the Solution of Inventive Problems) was applied in the present work to design a four-degree-of-freedom (4-DOF; three translational and one rotational movements) chaotic vibrating screen with a chaotic vibration exciter as the main power source and a 3-DOF (three translational movements) parallel kinetic chain as the kinematic constraint mechanism of the outer screen frame. Based on the topological structure theory, a hybrid mechanism with structure [ 4 SOC − C i 1 ∥ R i 2 ∥ R i 3 − + R , i = 1,2,3,4 ] was constructed as the kinematic constraint mechanism of the inner screen box of the chaotic vibrating screen to solve the freedom of motion and POC (position and orientation characteristic) equations of parallel kinematic constraint mechanism of the outer screen frame and hybrid constraint mechanism of the inner screen box. The dynamic simulation of a virtual prototype of the chaotic vibrating screen was carried out in ADAMS software, and MATLAB was used to chaos recognition of the simulation results. It was found that the chaotic exciter moved aperiodically in X-, Y-, and Z-directions when the chaotic exciter motor rotated at uniform speed, and the amplitude, velocity, and acceleration of the outer screen frame of the vibrating screen had characteristics of reciprocating aperiodic and irregular changes. Through the phase trajectories of the eccentric block and inner screen box of the exciter in all directions, it was observed that the motion output of the vibrating screen was a chaotic vibration. Therefore, the present paper can provide an important reference for the design and application of chaotic vibrating screens. [ABSTRACT FROM AUTHOR]

In order to meet the requirement of continuous pouring in many varieties and small batches in casting production, a mobile heavy load pouring robot is developed based on a new 4-UPU parallel mechanism due to its strong carrying capacity. Firstly, the instantaneous motion characteristics of the novel 4-UPU parallel mechanism with four degrees of freedom (DOF) are analyzed using screw theory. By using the geometric method, both the forward and inverse kinematic solutions of the proposed robot system are given out. Secondly, based on a common pouring ladle, the volume change of pouring liquid in pouring process and the relationship between tilting angular velocity and flow rate are analyzed, and the results show that the shape of the ladle and the design of the pouring mouth have great influence on the tilting model. It is an important basis for the division of the sectional model. Finally, a numerical example is given to verify the effectiveness of the developed tilting model. The mapping relation between the tilting model and the parallel mechanism shows that the pouring flow can be adjusted by controlling the movement of parallel manipulator. The research of this paper provides an important theoretical basis for the position control of mobile heavy load pouring robot and the research of pouring speed control. [ABSTRACT FROM AUTHOR]

The positioning accuracy is a key index to measure the performance of the robot. This paper studies the positioning accuracy of the main pouring mechanism of the hybrid truss pouring robot and analyzes that the main error sources affecting the positioning accuracy are machining error, assembly error, and thermal deformation error. Error transfer matrix is constructed to describe the influence of machining errors and assembly errors on the position and pose of the terminal, and the error parameters have physical significance. The probability distribution of sensitive errors is discussed. A joint regression prediction model based on sensitive error sets is established to determine the thermal deformation error on the basis of fully considering the contribution rate of component error. The results show that the position error has a wide range of influences on the end pose, but the angle error is more sensitive, and the probability distribution of the sensitive error is concentrated. The reliable data can be obtained without reorganizing the measurement in the calibration process. The joint regression model considering the contribution rate of component error can effectively eliminate the collinearity problem in the prediction of thermal deformation from a single heat source. Compared with the single regression model, it has better prediction accuracy and effect. [ABSTRACT FROM AUTHOR]

In this article, an attitude tracking controller is designed for a quadrotor unmanned aerial vehicle (UAV) subject to lumped disturbances. Firstly, the attitude dynamical model of the quadrotor under external disturbances is established. Subsequently, an improved sliding mode control (SMC) strategy is designed based on the linear extended state observer (LESO). In this control scheme, the SMC will guarantee the sliding surface is finite time reachable and the LESO will estimate and compensate for the lumped disturbances. Then, the robustness and asymptotic stability of the proposed controller are proved by the stability analyses. Finally, three numerical simulation cases and comparative flight experiments validate the effectiveness of the developed controller. [ABSTRACT FROM AUTHOR]

As a complementary and alternative medicine in medical field, traditional Chinese medicine (TCM) has drawn great attention in the domestic field and overseas. In practice, TCM provides a quite distinct methodology to patient diagnosis and treatment compared to western medicine (WM). Syndrome (ZHENG or pattern) is differentiated by a set of symptoms and signs examined from an individual by four main diagnostic methods: inspection, auscultation and olfaction, interrogation, and palpation which reflects the pathological and physiological changes of disease occurrence and development. Patient classification is to divide patients into several classes based on different criteria. In this paper, from the machine learning perspective, a survey on patient classification issue will be summarized on three major aspects of TCM: sign classification, syndrome differentiation, and disease classification. With the consideration of different diagnostic data analyzed by different computational methods, we present the overview for four subfields of TCM diagnosis, respectively. For each subfield, we design a rectangular reference list with applications in the horizontal direction and machine learning algorithms in the longitudinal direction. According to the current development of objective TCM diagnosis for patient classification, a discussion of the research issues around machine learning techniques with applications to TCM diagnosis is given to facilitate the further research for TCM patient classification. [ABSTRACT FROM AUTHOR]