In this paper,we investigate multi-agent systems with heterogeneous constraints,which can represent the heuristic beliefs of the agents towards an issue or the physical constraints of the *** typical example is a grou...
详细信息
ISBN:
(数字)9789887581536
ISBN:
(纸本)9781665482561
In this paper,we investigate multi-agent systems with heterogeneous constraints,which can represent the heuristic beliefs of the agents towards an issue or the physical constraints of the *** typical example is a group of interacting unmanned aerial vehicles in a complex environment with multiple physical *** a result of the heterogeneity of the constraints,an equilibrium point may not exist and is presumably to be a dissensus point when it *** investigate the existence of equilibrium points from the perspective of Kakutani's fixed point theory for a set-valued *** also prove the local/global stability of certain equilibrium ***,a special case that the constraints are homogeneous is taken into *** constrains are assumed to take interval forms with nonempty *** is proved that consensus can be achieved globally and asymptotically for this *** examples are designed to illustrate our theoretical findings.
Underwater robotic operation usually requires visual perception(e.g.,object detection and tracking),but underwater scenes have poor visual quality and represent a special domain which can affect the accuracy of visual...
详细信息
Underwater robotic operation usually requires visual perception(e.g.,object detection and tracking),but underwater scenes have poor visual quality and represent a special domain which can affect the accuracy of visual *** addition,detection continuity and stability are important for robotic perception,but the commonly used static accuracy based evaluation(i.e.,average precision)is insufficient to reflect detector performance across *** response to these two problems,we present a design for a novel robotic visual perception ***,we generally investigate the relationship between a quality-diverse data domain and visual restoration in detection *** a result,although domain quality has an ignorable effect on within-domain detection accuracy,visual restoration is beneficial to detection in real sea scenarios by reducing the domain ***,non-reference assessments are proposed for detection continuity and stability based on object ***,online tracklet refinement is developed to improve the temporal performance of ***,combined with visual restoration,an accurate and stable underwater robotic visual perception framework is ***-overlap suppression is proposed to extend video object detection(VID)methods to a single-object tracking task,leading to the flexibility to switch between detection and *** experiments were conducted on the ImageNet VID dataset and real-world robotic tasks to verify the correctness of our analysis and the superiority of our proposed *** codes are available at https://***/yrqs/VisPerception.
The existing fixed gait lower limb rehabilitation robots perform a predetermined walking trajectory for patients,ignoring their residual muscle *** enhance patient participation and safety in training,this paper aims ...
详细信息
The existing fixed gait lower limb rehabilitation robots perform a predetermined walking trajectory for patients,ignoring their residual muscle *** enhance patient participation and safety in training,this paper aims to develop a lower limb rehabilitation robot with adaptive gait training capability relying on human–robot interaction force ***,a novel lower limb rehabilitation robot system with several active and passive driven joints is developed,and 2 face-to-face mounted cantilever beam force sensors are employed to measure the human–robot interaction ***,a dynamic model of the rehabilitation training robot is constructed to estimate the driven forces of the human lower leg in a completely passive ***,based on the theoretical moment from the dynamics and the actual joint interaction force collected by the sensors,an adaptive gait adjustment method is proposed to achieve the goal of adapting to the wearer’s movement ***,interactive experiments are carried out to validate the effectiveness of the developed rehabilitation training robot *** proposed rehabilitation training robot system with adaptive gaits offers great potential for future highquality rehabilitation training,e.g.,improving participation and safety.
Biomedical robotics has had a significant impact on flexible ureteroscopy (FURS) for the management of nephrolithiasis. The biomedical robots provide a suitable and safe platform for FURS. However, operating the robot...
详细信息
Achieving agile, fish-like turning remains a critical challenge in the development of robotic fish. The flexible deformation of a fish’s body significantly contributes to its turning ability. Consequently, researcher...
详细信息
ISBN:
(数字)9798350388039
ISBN:
(纸本)9798350388046
Achieving agile, fish-like turning remains a critical challenge in the development of robotic fish. The flexible deformation of a fish’s body significantly contributes to its turning ability. Consequently, researchers have devoted substantial efforts to enhancing the compliance and agility of robotic fish. This paper presents a novel flexible fishtail, inspired by the musculoskeletal structure of real fish, which can control the deformation of its flexible components during turns, improving the turning performance of robotic fish. The fishtail primarily consists of a carbon fiber plate with attached artificial muscles. These muscles can contract and stretch, causing the carbon fiber tail to bend and deform. To enable precise deformation control, a dynamic model of the fishtail is established based on Hamilton’s principle. Subsequently, deep reinforcement learning methods such as deep deterministic policy gradient and soft actor-critic are employed to develop a deformation controller under joint deflection. Cross-validation ensures the controller’s accuracy and robustness. The experimental results demonstrate that this controller facilitates the deformation control of the flexible tail across various turning amplitudes and speeds, allowing the fishtail to exhibit adjustable compliance or resistance to fluids during turning motion. Consequently, this enhances the agility of the robotic fish.
Switched reluctance motors (SRMs) are capable of operating at high speeds and high loads. The large back EMF results in the excitation winding current being demagnetized more slowly, which, in turn, reduces the effici...
详细信息
Harvesting energy from the human body to replenish existing energy sources is receiving substantial attention. Recently scientists have been focusing on harvesting biomechanical energy from human feet during walking. ...
详细信息
The rational design of weighting factors in the cost function for finite control set model predictive torque control (FCS-MPTC) has been a matter of great interest in power electronics and electrical drives. In order ...
The rational design of weighting factors in the cost function for finite control set model predictive torque control (FCS-MPTC) has been a matter of great interest in power electronics and electrical drives. In order to solve this problem, a weighting factors autotuning strategy for FCS-MPTC of permanent magnet synchronous motor (PMSM) based on the adaptive multi-objective black hole algorithm (AMOBH) is proposed. In this paper, the design process of the FCS-MPTC algorithm is first analyzed in detail. Then, an AMOBH algorithm that can take into account both population convergence and population diversity is introduced, and based on this algorithm, the design problem of the weighting factors is successfully transformed into a multi-objective optimization problem by means of reconstructing the cost function and designing the motor operation information collected in real time as the objective functions of the multi-objective optimization algorithm. Simulation results show that the proposed method can find a set of weighting factor combinations suitable for different working condition requirements, and these weighting factors can effectively improve the operation performance of the PMSM system.
High temperature rise of permanent magnet linear synchronous motor can lead to irreversible demagnetization of the motor permanent magnet, which can negatively affect the motor performance. To address this problem, a ...
High temperature rise of permanent magnet linear synchronous motor can lead to irreversible demagnetization of the motor permanent magnet, which can negatively affect the motor performance. To address this problem, a thermal modeling analysis method based on Transfer learning-Deep neural network (TL-DNN) was proposed in this paper. Its specific implementation steps include (1) corresponding to different heat source inputs, the equivalent thermal circuit method and the finite element analysis was adopted based on the structure and main parameters of PMLSM including overall average temperature rise, coil temperature rise and permanent magnet temperature rise from the data sets of the motor; (2) TL-DNN was used to fit the functional relationship between the input source features and the output targets based on the characteristics of the sample data sets. In order to verify the accuracy of the prediction model with small sample data sets, this paper divided the proportion of the data set and compared the results with other classic nonparametric models (random forest, support vector machine, and deep neural network). The results show that the TL-DNN model outperforms other machine learning models and has better robustness and generalization ability when the training datasets are insufficient, and achieves an organic combination of physical field path model and data-driven model, which provides a feasible solution for PMLSM modeling in the case of small samples.
In this work, we propose a new image feature extraction network for 6D pose estimation tasks. The majority of existing 6D pose estimation networks are based on the RGBD input, which is the fusion of images and point c...
详细信息
暂无评论