The exponential growth of big data has led to the widespread adoption of Hadoop clusters for storing and processing large volumes of data. Efficient management of resources within these clusters is crucial for achievi...
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In the domain of autonomous industrial manipulators,precise positioning and appropriate posture selection in path planning are pivotal for tasks involving obstacle avoidance,such as handling,heat sealing,and *** Multi...
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In the domain of autonomous industrial manipulators,precise positioning and appropriate posture selection in path planning are pivotal for tasks involving obstacle avoidance,such as handling,heat sealing,and *** Multi-Degree-of-Freedom(MDOF)manipulators offer kinematic redundancy,aiding in the derivation of optimal inverse kinematic solutions to meet position and posture requisites,their path planning entails intricate multiobjective optimization,encompassing path,posture,and joint motion *** satisfactory results in practical scenarios remains *** response,this study introduces a novel Reverse Path Planning(RPP)methodology tailored for industrial *** approach commences by conceptualizing the manipulator’s end-effector as an agent within a reinforcement learning(RL)framework,wherein the state space,action set,and reward function are precisely defined to expedite the search for an initial collision-free *** enhance convergence speed,the Q-learning algorithm in RL is augmented with ***,we formulate the cylindrical bounding box of the manipulator based on its Denavit-Hartenberg(DH)parameters and propose a swift collision detection ***,the motion performance of the end-effector is refined through a bidirectional search,and joint weighting coefficients are introduced to mitigate motion in high-power *** efficacy of the proposed RPP methodology is rigorously examined through extensive simulations conducted on a six-degree-of-freedom(6-DOF)manipulator encountering two distinct obstacle configurations and target *** results substantiate that the RPP method adeptly orchestrates the computation of the shortest collision-free path while adhering to specific posture constraints at the target ***,itminimizes both posture angle deviations and joint motion,showcasing its prowess in enhancing the operational performance of MDOF industrial manipulators.
作者:
Zhang, XiZhu, QixuanTexas A&m University
Networking and Information Systems Laboratory Department of Electrical and Computer Engineering College StationTX77843 United States
The massive ultra-reliable and low-latency communications (mURLLC) services are emerging as a new traffic type to support communications among massive numbers of mobile users (MUs) demanding the stringent delay and er...
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Air pollution is a global issue with profound implications to human health and environmental sustainability. Especially, PM2.5, which refers to particulate matter with a size of 2.5 microns or smaller, poses significa...
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The COVID-19 pandemic has led to significant outbreaks in more than 220 countries worldwide, profoundly impacting the public health and lives. As of February 2024, over 774 million cases have been reported, with more ...
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The increasing prevalence of integrated on-chip optoelectronic devices has identified serious issues regarding inter-device transmission and coupling losses, highlighting an urgent need for on-chip waveguide amplifier...
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The increasing prevalence of integrated on-chip optoelectronic devices has identified serious issues regarding inter-device transmission and coupling losses, highlighting an urgent need for on-chip waveguide amplifiers to compensate for these losses. Compared with other Er-based optical materials, erbium silicate is ideally suited to high-efficiency on-chip amplifiers and lasers because of its extremely high Er3+concentration(1022cm-3). Nevertheless, erbium silicate must be annealed above 1000℃ to crystallize and activate the Er3+, which damages other on-chip optoelectronic components and is not conducive to device ***, we report a low-fabrication-temperature, high-luminescence-efficiency gain material by adding Bi2O3to an erbium-ytterbium silicate mixed film. Our experiments demonstrate that the proposed film crystallizes at 600℃ while the activation of Er3+is also achieved, which is the lowest activation temperature of on-chip waveguide amplifier to our knowledge. This material forms the basis for a new chip-scale waveguide amplifier design, with a theoretical multi-energy-level model of Bi-Er-Yb in the mixed thin films used to analyze its signal enhancement properties. We achieve a peak on-chip gain of 23 dB in a 3.3-mm-long waveguide under the pump and signal powers of 300 mW and 1 μW, respectively. These results highlight the potential of the proposed material for realizing on-chip amplifiers and lasers for large-scale nanophotonic integrated circuits.
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