Shilong Jiang

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In order to improve trajectory tracking accuracy for a redundantly actuated parallel manipulator, a so-called augmented nonlinear PD (ANPD) controller based on the conventional dynamic controller is proposed in this paper. The ANPD controller is designed by replacing the linear PD in the augmented PD controller with a nonlinear PD algorithm. The stability(More)
We propose in this paper an improved geometric formulation of POE (Product Of Exponential) based kinematic calibration of serial robots, which is based on the work of [1]. We use both joint offset-free formulation and adjoint transformation errors of joint screws, and apply it to the calibration of an elbow manipulator. Our formulation explains why the(More)
—This paper investigates the synthesis of a spatial stiffness matrix using simple line springs. A new algorithm is developed , which enables the selection of constituent springs based on their positions and directions. The constraining space of the line springs is then investigated. It is shown that an isotropic stiffness matrix, in general, can be split(More)
Cartesian stiiness is usually described by a 6 6 matrix which is vital in the study of rigid body grasping by m ultiple robot ngers. In this thesis, a closed form expression is derived for evaluating the grasped object stiiness based on the contact geometry and stiiness properties of individual robot ngers. The kinematics of manipulation by elastic ngers is(More)
This study aimed to present an anaerobic-multistage anaerobic/oxic (A-MAO) process to treat municipal wastewater. The average COD, NH4+-N, TN, and TP removal efficiency were 91.81%, 96.26%, 83.73% and 94.49%, respectively. Temperature plunge and C/N decrease have a certain impact on the modified process. Characteristics of microbial community, function(More)
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