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The purpose of this paper is to present a dual manipulator system for aloft hot-line assembly tasks of connection fittings in 110-kv intelligent substation, which is significant to the research on hot-line working robots.

This paper addresses the challenges of the task and presents a dual manipulator system which can overcome these challenges to realize the robotic assembly of connection fittings in narrow space without impacting the safe distance of both phase to phase and phase to ground. Two manipulators share a same global reference coordinate. The mission of Manipulator 1 is to position the fixed part of connection fittings and screw the bolts on it. Visual computing provides the approximately position for the end-effector of Manipulator 2, after which The Manipulator 2 carries the removable part of connection fittings to this position. Then, the assembly task could be completed with the posture of the Manipulator 2 adjusted following the guidance by force-position control.

The dual manipulator system can position the target under different illumination conditions and complete fast assembly of connect fittings in 110-kV substation. No strong arc discharge or surface erosion phenomenon has been observed.

This dual manipulator system will be particularly useful for the hot-line assembly of connection fittings in 110-kv intelligent substation, as well as some assembly tasks where uncertain target position and complex contact surface such as cylindrical hole is involved.

This study presents a dual manipulator system used by a field robot working in 110-kv intelligent substation. The system is able to achieve the connection fittings assembly task under energized simulation experimental system. Unlike other peg-in-hole assembly strategy, it does not require high stability of manipulator or plane contact surface around the hole.

In the cold rolling process, friction coefficient, oil film thickness and other factors vary dramatically with the change in the rolling speed, which seriously affects the strip thickness deviation. This paper aims to improve the strip control precision with the forecast roll gap model based on CF-PSO-SVM approach in the rolling process.

In this paper, a novel forecasting model of the roll gap based on support vector machine (SVM) optimized by particle swarm optimization with compression factor (CF-PSO) is proposed. Based on lots of online data, the roll gap models regressed by PSO-SVM, genetic algorithm (GA)-SVM and CF-PSO-SVM are obtained and verified through evaluating the performances with the decision coefficient (R²), mean absolute error and root mean square error. In addition, with the good forecasting performances of CF-PSO-SVM, a roll gap compensation model is studied.

The results indicate that the proposed CF-PSO-SVM has excellent learning regression ability compared with other optimization algorithms. Meanwhile, a roll gap compensation model based on the rolling speed and plastic coefficient is obtained, which has been proved validated in product.

In this paper, the SVM algorithm is combined with traditional rolling technology to solve the problems in actual production, which has great supporting significance for the improvement of production efficiency.

Plantar force is the interface pressure existing between the foot plantar surface and the shoe sole during static or dynamic gait. Plantar force derived from gait and posture plays a critical role for rehabilitation, footwear design, clinical diagnostics and sports activities, and so on. This paper aims to review plantar force measurement technologies based on piezoelectric materials, which can make the reader understand preliminary works systematically and provide convenience for researchers to further study.

The review introduces working principle of piezoelectric sensor, structures and hardware design of plantar force measurement systems based on piezoelectric materials. The structures of sensors in plantar force measurement systems can be divided into four kinds, including monolayered sensor, multilayered sensor, tri-axial sensor and other sensor. The previous studies about plantar force measurement system based on piezoelectric technology are reviewed in detail, and their characteristics and performances are compared.

A good deal of measurement technologies have been studied by researchers to detect and analyze the plantar force. Among these measurement technologies, taking advantage of easy fabrication and high sensitivity, piezoelectric sensor is an ideal candidate sensing element. However, the number and arrangement of the sensors will influence the characteristics and performances of plantar force measurement systems. Therefore, it is necessary to further study plantar force measurement system for better performances.

So far, many plantar force measurement systems have been proposed, and several reviews already introduced plantar force measurement systems in the aspect of types of pressure sensors, experimental setups for foot pressure measurement analysis and the technologies used in plantar shear stress measurements. However, this paper reviews plantar force measurement systems based on piezoelectric materials. The structures of piezoelectric sensors in the measurement systems are discussed. Hardware design applied to measurement system is summarized. Moreover, the main point of further study is presented in this paper.

The purpose of this paper is to construct a digital collection and database of traditional clothing that is convenient for the digital dissemination and application of traditional clothing and provide resources for research on clothing fashion, traditional clothing techniques, clothing culture, history and clothing teaching.

A real object analysis method was used in this paper, based on 15 core elements of the internationally common DC metadata standard, and with consideration to the characteristics of clothing products and clothing industry application specifications, the core elements of DC are expanded to facilitate the detailed record of the characteristic information of clothing, especially the implicit clothing culture. A code symbol compilation method was developed to give each piece of clothing a unique number, facilitating identification, classification and recording. At last, a metadata construction scheme for traditional clothing was developed. A traditional embroidered children's hat and Mamianqunt serve as examples to demonstrate the metadata elements.

The clothing meta-database provides a main body of traditional clothing while also paying attention to the collection of cultural elements. It is composed of five layers of classified data, source data, characteristic data, connotation data and management data, as well as 28 data elements, providing ease of sharing and interoperation.

This paper expands the subset of fashion metadata by describing traditional clothing metadata, especially the excavation of clothing cultural elements, and developing code compilation methods so that each clothing product can obtain a unique identification number, thereby building a traditional clothing metadata construction scheme consisting of five data layers and containing 28 data elements. This scheme records the information about each layer of traditional clothing in detail and provides shared data for discipline research and industry applications.

Tactile sensation is an important sensory function for robots in contact with the external environment. To better acquire tactile information about objects, this paper aims to propose a three-layer structure of the interdigital flexible tactile sensor.

The sensor consists of a bottom electrode layer, a middle pressure-sensitive layer and a top indenter layer. First, the pressure sensitive material, structure design, fabrication process and circuit design of the sensor are introduced. Then, the calibration and performance test of the designed sensor is carried out. Four functions are used to fit and calibrate the relationship between the output voltage of the sensor and the contact force. Finally, the contact force sensing test of different weight objects and the flexible test of the sensor are carried out.

The performance test results show that the sensitivity of the sensor is 0.93 V/N when it is loaded with 0–3 N and 0.23 V/N when it is loaded with 3–5 N. It shows good repeatability, and the cross-interference between the sensing units is generally low. The contact force sensing test results of different weight objects show that the proposed sensor performs well in contact force. Each part of the sensor is a flexible material, allowing the sensor to achieve bending deformation, so that the sensor can better perceive the contact signs of the grasped object.

The sensor can paste the surface of the paper robot’s gripper to measure the contact force of the grasping object and estimate the contour of the object.

In this paper, a three-layer interdigital flexible tactile sensor is proposed, and the structural parameters of the interdigital electrode are designed to improve the sensitivity and response speed of the sensor. The indenter with three shapes of the prism, square cylinder and hemisphere is preliminarily designed and the prism indenter with better conduction force is selected through finite element analysis, which can concentrate the external force in the sensing area to improve the sensitivity. The sensor designed in this paper can realize the measurement of contact force, which provides a certain reference for the field of robot tactile.