As for industrial robots’ point-to-point joint motion planning with constrained velocity, cubic polynomial planning has the problem of discontinuous acceleration; quintic polynomial planning requires acceleration to be specified in advance, which will likely cause velocity to fluctuate largely because appropriate acceleration assigned in advance is hardly acquired. Aiming at these problems, a modified cubic Hermite interpolation for joint motion planning was proposed. In the proposed methodology, knots of cubic Hermite interpolation need to be reconfigured according to the initial knots. The formulas for how to build new knots were put forward after derivation. Using the newly-built knots instead of initial knots for cubic Hermite interpolation, joint motion planning was carried out. The purpose was that the joint planning not only satisfied the displacement and velocity constraints at the initial knots but also guaranteed C² continuity and less velocity fluctuation. A study case was given to verify the rationality and effectiveness of the methodology. Compared with the other two planning methods, it proved that the raised problems can be solved effectively via the proposed methodology, which is beneficial to the working performance and service life of industrial robots.

The current convolutional neural network (CNN) deep learning algorithm for wind power gearbox fault diagnosis requires a substantial amount of high-quality tagged data from testbeds to achieve accurate results. However, it may not perform well in practical engineering scenarios where there is limited fault tag data and incomplete fault information. To overcome this challenge, a novel approach utilizing cross-device target transfer for intelligent diagnosis of wind turbine gearbox faults is proposed. This method transforms the fault diagnosis of wind turbine gearboxes into an image recognition and classification task. Initially, the source domain gearbox testbed data is subjected to dimension transformation using the Gramian angular difference field technique, resulting in the generation of small sample two-dimensional images. This transformation simulates the limited fault tag data scenario encountered in practical engineering. Once the fault features have been augmented, the small sample source domain gearbox testbed data is fed into the IConvNeXt deep CNNs. These CNNs are interconnected and specifically designed for the field. They aim to extract and recognize fault features, thereby creating a pre-training model. The pre-training model is then transferred to the target domain wind power gearbox data for fault diagnosis experiments. The results of these experiments demonstrate the significant effectiveness of the proposed method in recognizing faults in small sample wind power gearboxes within the target domain. Overall, this method successfully achieves the goal of intelligent fault diagnosis through target transfer. It addresses the challenge of limited fault tag data and incomplete fault information, thereby enhancing the performance of CNNs in practical engineering scenarios.

To address the issues of insufficient rigor in existing methods for quantifying apple watercore severity and the complexity and low accuracy of traditional classification models, this study proposes a method for watercore quantification and a classification model based on a deep convolutional neural network. Initially, visible/near-infrared transmission spectral data of apple samples were collected. The apples were then sliced into 4.5 mm thick sections using a specialized tool, and image data of each slice were captured. Using BiSeNet and RIFE algorithms, a three-dimensional model of the watercore regions was constructed from the apple slices to calculate the watercore severity, which was subsequently categorized into five distinct levels. Next, methods such as the Gramian Angular Summation Field (GASF), Gram Angular Difference Field (GADF), and Markov Transition Field (MTF) were applied to transform the one-dimensional spectral data into two-dimensional images. These images served as input for training and prediction using the ConvNeXt deep convolutional neural network. The results indicated that the GADF method yielded the best performance, achieving a test set accuracy of 98.73%. Furthermore, the study contrasted the classification and prediction of watercore apples using traditional methods with the existing quantification approaches for watercore levels. The comparative results demonstrated that the proposed GADF-ConvNeXt model is more straightforward and efficient, achieving superior performance in classifying watercore grades. Furthermore, the newly proposed quantification method for watercore levels proved to be more effective.