This paper presents the effectiveness of a fractional order PID (FOPID) controller in stabilizing a sensor mounted on a two-axis gimbal system used for tracking a target. The study focuses on isolating the sensor from...
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Dear editor,Robots are often conceived as human-like machines that can interact with humans naturally and safely. Human-robot interaction means that robots can communicate with people,understand their needs, and act a...
Dear editor,Robots are often conceived as human-like machines that can interact with humans naturally and safely. Human-robot interaction means that robots can communicate with people,understand their needs, and act accordingly [1]. This interaction is critical when two people are needed to finish a task cooperatively.
Navigating cluttered indoor environments presents a significant challenge for aerial robots, requiring agility, speed, and a high level of reliability to avoid collisions. This project aims to address this challenge b...
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As a cross-cutting field between ocean development and multi-robot system(MRS),the underwater multi-robot system(UMRS)has gained increasing attention from researchers and engineers in recent *** this paper,we present ...
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As a cross-cutting field between ocean development and multi-robot system(MRS),the underwater multi-robot system(UMRS)has gained increasing attention from researchers and engineers in recent *** this paper,we present a comprehensive survey of cooperation issues,one of the key components of UMRS,from the perspective of the emergence of new *** specifically,we categorize the cooperation in terms of task-space,motion-space,measurement-space,as well as their ***,we analyze the architecture of UMRS from three aspects,i.e.,the performance of the individual underwater robot,the new functions of underwater robots,and the technical approaches of *** conclude,we have discussed related promising directions for future *** survey provides valuable insight into the reasonable utilization of UMRS to attain diverse underwater tasks in complex ocean application scenarios.
In this paper, for the prediction of sound field distribution, a spherical piezoelectric transducer is designed for focused acoustic field according to piezoelectricity equation and vibration analysis. Based on the pr...
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Continuum robots actuated by flexible rods have large potential applications,such as detection and operation tasks in confined environments,since the push and pull actuation of flexible rods withstand tension and comp...
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Continuum robots actuated by flexible rods have large potential applications,such as detection and operation tasks in confined environments,since the push and pull actuation of flexible rods withstand tension and compressive force,and increase the structure's *** this paper,a generalized kinetostatics model for multi-module and multi-segment continuum robots considering the effect of friction based on the Cosserat rod theory is ***,the model is applied to a two-module rod-driven continuum robot with winding ropes to analyze its deformation and load *** different in-plane configurations under the external load term as S1,S2,C1,and C2 are *** a bending plane as an example,the tip deformation along thex-axis of these shapes is simulated and compared,which shows that the load capacity of C1 and C2 is generally larger than that of S1 and ***,the deformation experiments and simulations show that the maximum error ratio without external loads relative to the total length is no more than 3%,and it is no more than 4.7%under the external *** established kinetostatics model is proven sufficient to accurately analyze the rod-driven continuum robot with the consideration of internal friction.
Despite decades-long studies of how isotope-disorder scattering affects heat conduction, the effect of isotope-induced frequency shift on phonon-phonon interactions and lattice thermal transport remains largely unexpl...
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Despite decades-long studies of how isotope-disorder scattering affects heat conduction, the effect of isotope-induced frequency shift on phonon-phonon interactions and lattice thermal transport remains largely unexplored and less understood. In this work, by using the phonon Boltzmann transport equation and machine-learning-assisted classical and path-integral molecular-dynamics simulations, we theoretically investigate the interplay between the intrinsic phonon-phonon scatterings and the isotopic compositions in lithium hydride (LiH). We reveal that the hydrogen isotopes notably impact thermal transport primarily via three-phonon interaction, while four-phonon scattering is less sensitive. Due to the stronger temperature dependence of higher-order processes, the isotope effect on thermal conductivity is increasingly suppressed by four-phonon scattering as temperature rises (from 73% to 35% at 700 K). In addition, we observe a more pronounced isotope effect on thermal diffusivity, which is attributed to the variation of heat capacity. Our work provides a promising avenue for manipulating thermal transport via isotope engineering, and it highlights the crucial role of four-phonon interaction.
This paper presents a vision of creating a more seamless sim-to-real robotic grasping and manipulation platform, bridging the gap between simulated environments and real-world applications. In recent years, the emerge...
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Individuals with Transfemoral Amputation (TFA) usually exhibit hip hiking walking with passive prostheses due to insufficient knee flexion. Powered knee prostheses can provide net-positive energy in the knee joint wit...
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This paper presents the Design and Development of IoT Based Weather and Air Quality Monitoring stations that provide weather-related information for agriculture, and aviation climate forecasting purposes. The prototyp...
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