Aiming to address the issues of moving speed and overall machining efficiency of a robot arm in path planning for laser flying welding, a method is proposed. This method involves using the non-central point of the tra...
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ISBN:
(数字)9798350360868
ISBN:
(纸本)9798350360875
Aiming to address the issues of moving speed and overall machining efficiency of a robot arm in path planning for laser flying welding, a method is proposed. This method involves using the non-central point of the trajectory to be welded as the welding position point and is further extended to the generalized traveling salesman problem. Through the analysis of the optimization model, the two-chromosome genetic algorithm is utilized to solve the path planning. Based on this, path intersection elimination and neighbor node replacement are carried out for every iteration in order to enhance the quality of the best solution. Finally, the path planning based on the general genetic algorithm for central welding position points, and the path planning based on the two-chromosome genetic algorithm and the improved two-chromosome genetic algorithm for non-central welding position points are simulated. The results show that the improved two-chromosome genetic algorithm can calculate the optimal solution of higher quality and a more reasonable machining path for non-central point welding positions.
To meet the requirements of lower limb exoskeleton robots for lightweight equipment and accurate gait phase detection under different speeds, the kinematics and dynamics information are investigated. In this paper, we...
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Tactile sensors can be used for motion detection and object perception in robot manipulation. The contact detection within the camera's visual inspection area has been well-developed, but perception outside the fi...
Tactile sensors can be used for motion detection and object perception in robot manipulation. The contact detection within the camera's visual inspection area has been well-developed, but perception outside the field of view of the camera is overlooked. In this paper, we present a new tendon-linked tactile sensor, MechTac, to achieve perceptions inside and outside the field of view. The MechTac is an evolution of the typical TacTip sensor with the following two advantages. 1) The ability to provide perception outside the field of view. This is achieved by using a network of braided tendons to transfer deformation from the blind perception regions (TacSide) to the visual areas (TacTip). 2) The tactility of the TacSide and TacTip is reflected by the movements of multiple papillae pins and visible markers on the pin tips on the inner surface of the TacTip. The pins and markers are differentially sensitive to various touch features, which is similar to the differentiated perceptual ability of humans. TacTip is more sensitive to small touches, corresponding to the fingertip, while the TacSide is less sensitive but has a larger perceptual area, corresponding to the middle part of the finger. Moreover, we propose a new deep learning method to decompose the mixed information affected by the TacSide and the TacTip. A modified DenseNet121 was specifically designed for object perception at the TacTip and localization at the TacSide. The experimental results show that prediction accuracy reaches about 98% for object perception or localization and over 99% for the case requiring two functions.
Remote Photoplethysmography (rPPG) is a non-contact method that uses facial video to predict changes in blood volume, enabling physiological metrics measurement. Traditional rPPG models often struggle with poor genera...
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This work provides a design of a deep-sea soft robotic fish propelled by the body and/or caudal fin (BCF) mode. The robotic fish consists of a bionic fish head and a BCF propulsion body. To enhance the swimming perfor...
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In nature, legged animals have developed the ability to adapt to challenging terrains through perception, allowing them to plan safe body and foot trajectories in advance, which leads to safe and energy-efficient loco...
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Dexterous manipulation of objects through fine control of physical contacts is essential for many important tasks of daily living. A fundamental ability underlying fine contact control is compliant control, i.e., cont...
Dexterous manipulation of objects through fine control of physical contacts is essential for many important tasks of daily living. A fundamental ability underlying fine contact control is compliant control, i.e., controlling the contact forces while moving. For robots, the most widely explored approaches heavily depend on models of manipulated objects and expensive sensors to gather contact location and force information needed for real-time control. The models are difficult to obtain, and the sensors are costly, hindering personal robots' adoption in our homes and businesses. This study performs model-free reinforcement learning of a normal contact force controller on a robotic manipulation system built with a low-cost, information-poor tactile sensor. Despite the limited sensing capability, our force controller can be combined with a motion controller to enable fine contact interactions during object manipulation. Promising results are demonstrated in non-prehensile, dexterous manipulation experiments.
The joint interpretation of hyperspectral images(HSIs)and light detection and ranging(LiDAR)data has developed rapidly in recent years due to continuously evolving image processing ***,most feature extraction methods ...
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The joint interpretation of hyperspectral images(HSIs)and light detection and ranging(LiDAR)data has developed rapidly in recent years due to continuously evolving image processing ***,most feature extraction methods are carried out by convolving the raw data with fixed-size filters,whereas the structural and texture information of objects in multiple scales cannot be sufficiently *** this article,a shearlet-based structure-aware filtering approach,abbreviated as ShearSAF,is proposed for HSI and LiDAR feature extraction and ***,superpixel-guided kernel principal component analysis(KPCA)is firstly adopted on raw HSIs to reduce the ***,the KPCA-reduced HSI and LiDAR data are converted to the shearlet domain for texture and area feature *** contrast,superpixel segmentation algorithm utilizes the raw HSI data to obtain the initial oversegmentation ***,by utilizing a well-designed minimum merging cost that fully considers spectral(HSI and LiDAR data),texture,and area features,a region merging procedure is gradually conducted to produce a final merging ***,a scale map that locally indicates the filter size is achieved by calculating the edge ***,the KPCA-reduced HSI and LiDAR data are convolved with the locally adaptive filters for feature extraction,and a random forest(RF)classifier is thus adopted for *** effectiveness of our ShearSAF approach is verified on three real-world datasets,and the results show that the performance of ShearSAF can achieve an accuracy higher than that of comparison methods when exploiting small-size training sample *** codes of this work will be available at http://***/papers/for the sake of reproducibility.
Natural joints have excellent low-friction properties that positively inspire the frictional wear properties of artificial joints. Replacing damaged biological joints with artificial ones can restore bio-function and ...
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The Circular Economy Action Plan is the main building block of the European Green Deal, Europe's new agenda for sustainable growth. Businesses need new technologies, new methods and new industrial organization eit...
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The Circular Economy Action Plan is the main building block of the European Green Deal, Europe's new agenda for sustainable growth. Businesses need new technologies, new methods and new industrial organization either to create new businesses or to transform their products, processes and business models. They also need new talents to innovate, create businesses and new jobs, and transform society into a more sustainable one. Circular economy has grown significantly in recent years as a topic taught in engineering curricula. The purpose of this paper is to present the design, implementation and evaluation of a summer school program dedicated to the development, transformation and implementation of circular economy systems and new business models in manufacturing. The program was designed in collaboration with three university partners during a European project and relied on contributions from industrial companies, including start-ups and innovative companies. At the end, some lessons are drawn in order to show the main added value based on the evaluation of this summer school and to identify recommendations for the design and implementation of similar summer schools.
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