Odometry fusion is crucial for mobile robots with various types of sensors. However, traditional odometry fusion approaches often suffer from high complexity and limited robustness, particularly in complex environment...
Odometry fusion is crucial for mobile robots with various types of sensors. However, traditional odometry fusion approaches often suffer from high complexity and limited robustness, particularly in complex environments with few features. To address these challenges, a loose coupling framework based on the UKF is introduced for odometry fusion. By integrating multiple odometry sources using the UKF, the framework enhances both accuracy and robustness in localization and mapping. The experimental results in indoor and outdoor scenes verified the effectiveness of the proposed method, which can not only improve the accuracy of localization and mapping but also can handle the situation if partial sensors are not functioning.
robotics is a rapidly emerging technology in the automation industry, and small-scale robotics is becoming increasingly prevalent in automation applications. Small-scale robotics can be used to automate a variety of m...
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In this paper, we present an innovative inverse kinematics (IK) for Bionic Robot Arms using what we call Directional Tangent Matrix (DTM). We start by revisiting the concept of fixed-axis rotation, introducing the DTM...
In this paper, we present an innovative inverse kinematics (IK) for Bionic Robot Arms using what we call Directional Tangent Matrix (DTM). We start by revisiting the concept of fixed-axis rotation, introducing the DTM as an alternative to the well-known direction cosine matrix (DCM). Then, the DTM is used for creating kinematic equations of general robot arms, simplifying these equations into a more manageable form: a second-order polynomial with four unknowns. We focus on solving these equations for robot arms with roughly parallel Joint Axes#3#4#5. The solutions we find are then applied in realtime to the actual robot arms using polynomial continuation method. Our approach offers a new way to develop and control Bionic Robot Arms, which could be more efficient and flexible compared to existing methods.
The mechanism of uterine electromyographic signals and mechanical contractions is a significant research topic. In this study, we propose a novel electromechanical model that utilizes the FitzHugh-Nagumo (FHN) model t...
The mechanism of uterine electromyographic signals and mechanical contractions is a significant research topic. In this study, we propose a novel electromechanical model that utilizes the FitzHugh-Nagumo (FHN) model to simulate the enhanced excitability of uterine cells influenced by hormones, leading to the successful generation of pacemaker behavior upon the introduction of small perturbations. Furthermore, we observe that as pregnancy progresses, enhanced gap junction, anchoring junction, and electromechanical coupling activity contributes to global mechanical contraction synchronization. Our research results also demonstrate a considerable level of synchronization between electrical and mechanical signals, providing robust theoretical support for the practical application of electrical signals. These findings deepen our understanding of electromechanical coupling effects and offer new perspectives for research and applications in related fields.
Under modern conditions, the development momentum of international unmanned driving technology is booming, but the industrialization of unmanned driving cars is still limited by the current level of software and hardw...
Under modern conditions, the development momentum of international unmanned driving technology is booming, but the industrialization of unmanned driving cars is still limited by the current level of software and hardware. Reducing the complex and high standard requirements of unmanned driving and then studying unmanned vehicle navigation technology in some simple scenarios are also a hot topic in current research. This paper studies an unmanned autonomous navigation vehicle based on robot operating system (ROS) software framework on the Ubuntu operating system. It combines algorithms such as simultaneous localization and mapping (SLAM) technology, adaptive Monte Carlo localization (AMCL) technology and path planning, aiming to solve the problems of simultaneous localization, mapping and path planning in a closed environment. This case algorithm avoids the problem of large error accumulation caused by traditional odometer navigation and global positioning system (GPS) navigation technologies. The simulation results show that the algorithm has good practical application value.
In order to accelerate the convergence speed and accuracy of the artificial bee colony algorithm, a double strategy improved artificial bee colony algorithm is proposed, and validate with classical testing functions. ...
In order to accelerate the convergence speed and accuracy of the artificial bee colony algorithm, a double strategy improved artificial bee colony algorithm is proposed, and validate with classical testing functions. Firstly, using tent chaotic mapping, random numbers are generated during the search process to increase the diversity, and reverse learning is used to improve the quality of solutions, allowing the algorithm to explore more solution spaces during the search process; Then, an adaptive elite guidance strategy is introduced during the hiring bee search process, utilizing the global optimal individual and elite individual guidance algorithm to improve the accuracy and speed of the algorithm's search direction; Finally, the proposed algorithm was validated using classical testing functions and demonstrated good performance and effectiveness in solving optimization problems. It can be confirmed that the proposed algorithm has significant advantages in overcoming premature convergence, improving convergence accuracy and stability.
A car handling simulation model was built by using multibody dynamics software ADAMS/CAR. In the model , we have considered the front and rear suspension system , steering system and the tires model in detail. Designe...
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Smart hydroponics farming is a modern technique for growing plants in nutrient-rich water rather than soil. The Nutrient Film Technology is a hydroponic system that circulates a thin film of nutrient-rich water over t...
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A T91/TP347H dissimilar steel butt joint of high temperature superheater tube of a 630 MW power plant unit was found cracked after 100,000 hours of operation. The reasons of cracking were analyzed by macroscopic exami...
A T91/TP347H dissimilar steel butt joint of high temperature superheater tube of a 630 MW power plant unit was found cracked after 100,000 hours of operation. The reasons of cracking were analyzed by macroscopic examination, chemical composition analysis, metallographic examination, hardness test, scanning electron microscope (SEM) and energy dispersive spectroscopy (EDS) analysis. The results show that the misuse of welding materials is the root cause of the cracking. The excessive protrusion of the weld root and abnormal carburizing layer near the fusion line are the direct causes of the cracking. In view of the causes of cracking, it is suggested to strengthen the supervision of welding process, improve the welding quality and strictly control the heat treatment process.
This paper presents an indoor tracking algorithm model designed specifically for the unique scenario of supermarkets. Firstly, the UWB positioning technology is utilized to replace the RFID radio frequency positioning...
This paper presents an indoor tracking algorithm model designed specifically for the unique scenario of supermarkets. Firstly, the UWB positioning technology is utilized to replace the RFID radio frequency positioning due to its superior performance in all aspects. Additionally, to account for the vast area of supermarkets, the TDOA algorithm is employed to cluster and combine all UWB positioning base stations, thereby reducing non-line-of-sight errors and improving the overall positioning accuracy. Furthermore, the supermarket is abstracted into a two-dimensional plane with insurmountable obstacles, and the Q-learning algorithm and its improved version are utilized to obtain the optimal and suboptimal paths between two points in the supermarket, which can be used to determine the general direction of travel. In the event of obstacles along the travel path, the DWA algorithm is employed to perform local dynamic obstacle avoidance, ultimately achieving the goal of shopping cart tracking.
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