Deshan Meng

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In recent years, machine learning techniques have been widely used to solve many problems for fault diagnosis. However, in many real world fault diagnosis applications, the distribution of the source domain data (on which the model is trained) is different from the distribution of the target domain data (where the learned model is actually deployed), which(More)
Autonomous target capturing is the key for space robot to perform on-orbital servicing tasks. To meet the requirement of complex and long-term task, large flexible appendages, such as solar paddles and antenna reflectors are usually mounted on the base of a space robot. Due to the structure vibration, it is very challenging to capture a free-floating target(More)
In this article, we build dynamic models of 2D compliant links to evaluate injury level in a human-robot interaction. Safety is a premium concern for co-robotic systems. It has been studied that using compliant links in a robot can greatly reduce the injury level. Since most safety criteria are based on tolerance of acceleration of the operator's head(More)
In this paper, we study the effect of mechanical compliance on the impact force of human-robot interactions, more specifically the maximum impact force during a collision. Here we consider two methods of introducing compliance to industrial manipulators: joint compliance and link compliance. To compare their effect on the maximum impact force, we study two(More)
A grinding robot is composed of six joints, within which the second joint is a prismatic joint and the others are rotational joints. According to its configuration characteristic, the 6DOF of the inverse kinematics problem was decomposed into two 3DOF sub-problems: the position inverse kinematics and the attitude inverse kinematics. Then the two(More)
Flexible appendages, such as solar panels, communication antennas and other large structures, are mounted on the base of a space robot and target satellite. The vibration of the flexible structure is excited by operations of a space manipulator. It is very challenging to control the vibration of large flexible appendages for on-orbit operation and,(More)
For a space robot with flexible appendages, the structure flexibilities will easily cause vibration during orbit and/or attitude maneuver of the base, and the operation of the manipulators. Hence, the pose (position and attitude) of the end-effector will deviate from the desired values largely. In this paper, we derive the rigid-flexible coupling dynamics(More)
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