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Li Y.,Shandong Agricultural University | Yuan J.,Shandong Provincial Key Laboratory of Horticultural Machinery and Equipment
Advanced Materials Research | Year: 2014

In this paper, we discuss consensus problems for a network of dynamic agents with fixed topologies. A consensus algorithm for multi-agent systems with time-varying delay is presented. With the consideration of the effects of network conditions, such as network-induced delays, packet dropouts, mis-sequence, etc., a communication buffer is introduced for avoiding agents’ communication error, and a method for choosing buffer length is proposed. Using this buffer design, received data is rearranged and transferred in the original order. With the presented consensus algorithm, agents’ consensus is well-performance, and all the agents match the average speed finally. Simulation oriented results verify the effectiveness of the proposed algorithm. © (2014) Trans Tech Publications, Switzerland.


Zuo W.L.,Shandong Agricultural University | Liu X.M.,Shandong Agricultural University | Yuan J.,Shandong Provincial Key Laboratory of Horticultural Machinery and Equipment
Advanced Materials Research | Year: 2014

Natural wind, relative position between the nozzle and the outlet of the ram in the air-assistant spray have a great influence on performance. Air-assisted boom sprayer model is developed based on CFD. According to the data of the related parameters of the spray machine, variables of 3-D model were defined. With velocity of natural wind and inlet of the ram, the spraying flow keeping constant, the relative position between the nozzle and the outlet being a research variable, this article calculates the drift rate of the droplets respectively, then analyzes the results scientifically and gets the corresponding conclusion. At the same time, in order to confirm the reliability of the simulation results, this paper makes an experiment, which is done in Shandong agricultural university spray performance laboratory. Studies have shown that drift rate is significantly lower when the nozzles located under outlet position than on the downwind or the upwind. © (2014) Trans Tech Publications, Switzerland.


Fu G.H.,Shandong Agricultural University | Liu X.M.,Shandong Agricultural University | Yuan J.,Shandong Provincial Key Laboratory of Horticultural Machinery and Equipment
Advanced Materials Research | Year: 2014

Tree-pruning robot can appear tilt problem in the climbing process because of the trunk shape and mechanical mechanism of its climbing legs. According to the robot's tilt problem, this paper guarantees the level of tree-pruning robot using the method of controlling the motor speed at different locations. This paper establishes a three-dimensional virtual prototype model about tree-pruning robot in ADAMS software, design controller in Matlab software, and conduct ADAMS-Matlab co-simulation. The simulation results and experimental prototypes show that the designed control method can effectively overcome the tilt problem in the crawling process. © (2014) Trans Tech Publications, Switzerland.


Yuan J.,Shandong University | Yuan J.,Shanghai JiaoTong University | Liu X.,Shandong University | Liu X.,Shandong Provincial Key Laboratory of Horticultural Machinery and Equipment
Mechanical Systems and Signal Processing | Year: 2013

Supervised learning has been developed to collect condition monitoring (CM) data for fault diagnosis and prognosis. However, labeling the condition monitoring data is expensive due to the use of field knowledge while unlabeled CM data contain significant information of normal conditions or faults, which cannot be explored by supervised learning. Manifold regularization (MR) based semi-supervised learning (SSL) is first introduced to fault detection by utilizing both labeled and unlabeled CM data, and then a new single-conditions labeled mode based on MR is proposed for SSL learning. This approach, leveraged by effectively exploiting the embedded intrinsic geometric manifolds, outperforms supervised learning in both single-conditions labeled and all-conditions labeled modes within the application of two real-life fault detection datasets. The experimental results also suggest that most effective classifier in practical application could be trained by the SSL approach and fault type representation with medium load condition. The improved predictive performance implies that the manifold assumption of MR has its inherent fundamentals. Finally, the manifold fundamental of single-conditions labeled mode is analyzed with dimensionality reduction. © 2013 Elsevier Ltd.


Fu G.-H.,Shandong Agricultural University | Liu X.-M.,Shandong Provincial Key Laboratory of Horticultural Machinery and Equipment | Chen Y.-F.,Shandong Agricultural University | Yuan J.,Shandong Provincial Key Laboratory of Horticultural Machinery and Equipment
Advances in Manufacturing | Year: 2015

According to the requirement of fast-growing forest pruning operation, the pruning robotwas developed.The structure and control system of pruning robot were described, the work flow of pruning robot was expounded. The type and structure of the drivingmotor and the compression springwere decided with force-balance analysis. The tilt problem of pruning robot was resolved by ADAMS and Matlab co-simulation, and the control scheme of climbing mechanism was determined. The experiment results of the prototype indicate that pruning robot can climb tree trunk smoothly at a speed of 20 mm/s and cross the raised trunk. The pruning saw which is driven by the adjustable speed motor can cut the branches of 30 mm. And the residual amount of branches is less than 5 mm. Pruning robot can meet the practical requirements of the fast-growing forest pruning work. © 2015, Shanghai University and Springer-Verlag Berlin Heidelberg.

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