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1

A calibration-based method for interval reliability analysis of the multi-manipulator system

Wang Wei, Liu Shuangyao, Wang Jin, Lu Guodong

Eksploatacja i Niezawodność

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2022

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Vol. 24, no. 1

42--52

EN

The multiple manipulators can construct a special multi-agent system with the distinction that the type can be serial or parallel according to their cooperative way. We proposed a comprehensive method to handle the problem of reliability estimation. The wide and narrow bound method are applied to calculate the interval reliability respectively when multiple manipulators work as the series system. Aims to decrease the system complexity and enhance the dynamic adjustment capability, the base frame calibration technique is presented to convert the series system to a parallel one, naturally the reliability can be improved significantly. A system composed by three manipulators is utilized as an example to illustrate the feasibility of the proposed method.

2

Characterization and identification of flavonoids from Bambusa chungii leaves extract by UPLC-ESI-Q-TOF-MS/MS

Yuan Ting, Guo Xue-Feng, Shao Si-Yue, An Rong-Miao, Wang Jin, Sun Jia

Acta Chromatographica

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2021

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Vol. 33, no. 3

281--294

EN

Bamboo leaves extract (BLE) has a variety of physiological functions such as antitumour, anti-inflammatory, antioxidant and blood fat reduction activities and the flavonoids of bamboo leaves are the major active constituents. To profile the flavonoids in the complex BLE, a rapid and sensitive analytical method based on ultra-high-performance liquid chromatography coupled with electrospray ionization quadrupole time-of-flight tandem mass spectrometry (UPLC-ESI-Q-TOF-MS/MS) was developed for the structural identification of the flavonoids in Bambusa chungii leaves extract using accurate mass measurements and characteristic fragmentation patterns. After separation on an Agilent SB-C18 Rapid Resolution High Definition (RRHD) column (2.1 mm × 150 mm, 1.8 μm) by gradient elution with 0.1% formic acid aqueous solution and acetonitrile as the mobile phase, the sample was analysed by ESI-QTOF-MS/MS in the negative mode. A total of 22 flavonoids were detected, and eight of these were identified by comparison with reference standards, while the other fourteen were tentatively identified according to their MS/MS data. The main fragmentation pathways of flavonoid C-glycosides (compounds 1, 5 and 10), flavonoid di-C,O-glycosides (compound 4), flavonoid di-C-glycosides (compound 7) and flavonoid C,O-di-glycosides (compounds 2 and 14) are shown in this article. This is the first report on the analysis of the flavonoids in the extract of B. chungii leaves. The present work demonstrates that UPLC-ESI-Q-TOF-MS/MS is an efficient technique for identifying multiple flavonoids of BLE.

3

A moment-matching based method for the analysis of manipulator’s repeatability of positioning with arbitrarily distributed joint clearances

Wang Wei, Wang Jin, Fu Jian-Hui, Lu Guo-Dong

Eksploatacja i Niezawodność

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2019

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Vol. 21, no. 1

10--20

EN

The joint clearance can be the mainly concern factor in the analysis of repeatability of positioning for a manipulator. Traditionally, the joint clearance is empirically assumed to be uniform or normal variables. This hasty treatment may be not accurate enough when the precise statistic information of variables cannot be obtained. To handle the reliability evaluation problem with arbitrarily distributed joint clearances, a moment-matching based method is proposed. The highly nonlinear performance function is firstly established by the forward kinematics and then a second order Taylor expansion is performed on this function for the order reduction. Based on the maximum entropy principle, the Lagrange multipliers method is employed to derive a best-fit probability density function (PDF) with consideration of the first four moments-matching restrictions. This study shows that the prosed method can acquire a better accuracy and efficiency compared with the first order second moment method (FOSM), first order reliability method (FORM) and Monte Carlo simulation (MCS). A serial manipulator is applied as an example to demonstrate the new method.

PL

Luzy na przegubie manipulatora mogą stanowić główny czynnik wpływający na analizę powtarzalności pozycjonowania manipulatora. Tradycyjnie przyjmuje się empirycznie podbudowane założenie, że luz na przegubie jest zmienną jednorodną lub normalną. Takie ujęcie może jednak nie być wystarczająco dokładne w przypadku, gdy nie można uzyskać precyzyjnych informacji statystycznych na temat zmiennych. Aby rozwiązać problem oceny niezawodności przy dowolnie rozłożonych luzach na przegubie, zaproponowano metodę opartą na dopasowywaniu momentów. W pierwszej kolejności, obliczono za pomocą kinematyki prostej, wysoce nieliniową funkcję stanu granicznego, a następnie wyznaczono szereg Taylora drugiego rzędu dla tej funkcji w celu obniżenia rzędu. Opierając się na zasadzie maksymalnej entropii, zastosowano metodę mnożników Lagrange'a w celu wyprowadzenia najlepiej dopasowanej funkcji gęstości prawdopodobieństwa (PDF) z uwzględnieniem pierwszych czterech ograniczeń dopasowania momentów. Badanie to pokazuje, że przedstawiona metoda pozwala uzyskać wyższą trafność i skuteczność niż metoda pierwszego rzędu drugiego momentu (FOSM), metoda analizy niezawodności pierwszego rzędu (FORM) czy symulacja Monte Carlo (MCS). Zastosowanie nowej metody zilustrowano na przykładzie manipulatora szeregowego.