This paper studies the fully distributed formation control problem of multi-robot systems without global position measurements subject to unknown longitudinal slippage *** is difficult for robots to obtain accurate an...
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This paper studies the fully distributed formation control problem of multi-robot systems without global position measurements subject to unknown longitudinal slippage *** is difficult for robots to obtain accurate and stable global position information in many cases,such as when indoors,tunnels and any other environments where GPS(global positioning system)is denied,thus it is meaningful to overcome the dependence on global position ***,unknown slippage,which is hard to avoid for wheeled robots due to the existence of ice,sand,or muddy roads,can not only affect the control performance of wheeled robot,but also limits the application scene of wheeled mobile *** solve both problems,a fully distributed finite time state observer which does not require any global position information is proposed,such that each follower robot can estimate the leader’s states within finite *** distributed adaptive controllers are further designed for each follower robot such that the desired formation can be achieved while overcoming the effect of unknown ***,the effectiveness of the proposed observer and control laws are verified by simulation results.
Recently, anchor-based incomplete multi-view clustering (IMVC) has been widely adopted for fast clustering, but most existing approaches still encounter some issues: (1) They generally rely on the observed samples to ...
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To ensure the safety, comfort, and effectiveness of lower limb rehabilitation exoskeleton robots in the rehabilitation training process, compliance is a prerequisite for human–machine interaction safety. First, under...
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To ensure the safety, comfort, and effectiveness of lower limb rehabilitation exoskeleton robots in the rehabilitation training process, compliance is a prerequisite for human–machine interaction safety. First, under the premise of considering the mechanical structure of the lower limb rehabilitation exoskeleton robot (LLRER), when conducting the dynamic transmission of the exoskeleton knee joint, the soft axis is added to ensure that the rotation motion and torque are flexibly transmitted to any position to achieve flexible force transmission. Second, to realize the active compliance control of LLRER, the sliding mode impedance closed-loop controller is developed based on the kinematics and dynamics model of LLRER, and the stability of the designed control system is verified by Lyapunov method. Then the experiment is designed to track the collected bicycle rehabilitation motion data stably, and the algorithm and dynamic model are verified to satisfy the experimental requirements. Finally, aiming at the transmission efficiency and response performance of the soft shaft in the torque transmission process of the knee joint, the soft shaft transmission performance test is carried out to test the soft shaft transmission performance and realize the compliance of the LLRER, so as to ensure that the rehabilitation training can be carried out in a safe and comfortable interactive environment. Through the design of rehabilitation exercise training, it is verified that the LLRER of flexible transmission under sliding mode impedance control has good adaptability in the actual environment, and can achieve accurate and flexible control. During the experiment, the effectiveness of monitoring rehabilitation training is brought through the respiratory belt.
Lakes areas,which cause catastrophic damages in both commercial fishery and ecological ***,current assessment strategies may pose challenges for lake-wide abundance estimation and non-target anadromous species ***,we ...
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Lakes areas,which cause catastrophic damages in both commercial fishery and ecological ***,current assessment strategies may pose challenges for lake-wide abundance estimation and non-target anadromous species ***,we demonstrate an efficacious species-specific non-destructive sensing system based on porous ferroelectret nanogenerator for in-situ monitoring of lamprey spawning migration using their unique suction *** show that the porous structure enables a redistribution of surface charges under bidirectional deformations,which allows the detection of both positive and negative *** quasi-piezoelectric effect is further validated by quantitative analysis in a wide pressure range of−50 to 60 kPa,providing detailed insights into transduction working *** reliable lamprey detection,a 4×4-pixel sensor array is developed and integrated with a complementary metal-oxide-semiconductor(CMOS)based signal processing array thus constituting a sensing panel capable of recording oral suction patterns in an underwater environment.
Intelligent Space(IS)is widely regarded as a promising paradigm for improving quality of life through using service task *** the field matures,various state-of-the-art IS architectures have been *** of the IS architec...
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Intelligent Space(IS)is widely regarded as a promising paradigm for improving quality of life through using service task *** the field matures,various state-of-the-art IS architectures have been *** of the IS architectures designed for service robots face the problems of fixedfunction modules and low scalability when performing service *** this end,we propose a hybrid cloud service robot architecture based on a Service-Oriented Architecture(SOA).Specifically,we first use the distributed deployment of functional modules to solve the problem of high computing resource ***,the Socket communication interface layer is designed to improve the calling efficiency of the function ***,the private cloud service knowledge base and the dataset for the home environment are used to improve the robustness and success rate of the robot when performing ***,we design and deploy an interactive system based on Browser/Server(B/S)architecture,which aims to display the status of the robot in real-time as well as to expand and call the robot *** system is integrated into the private cloud framework,which provides a feasible solution for improving the quality of ***,it also fully reveals how to actively discover and provide the robot service mechanism of service tasks in the right *** results of extensive experiments show that our cloud system provides sufficient prior knowledge that can assist the robot in completing service *** is an efficient way to transmit data and reduce the computational burden on the *** using our cloud detection module,the robot system can save approximately 25% of the averageCPUusage and reduce the average detection time by 0.1 s compared to the locally deployed system,demonstrating the reliability and practicality of our proposed architecture.
Since distributed control strategies can effectively reduce the operating load of the central processor, they have become a prominent research direction in the field of controlling multiple manipulators. However, exis...
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Dear Editor,In this letter, a constrained networked predictive control strategy is proposed for the optimal control problem of complex nonlinear highorder fully actuated (HOFA) systems with noises. The method can effe...
Dear Editor,In this letter, a constrained networked predictive control strategy is proposed for the optimal control problem of complex nonlinear highorder fully actuated (HOFA) systems with noises. The method can effectively deal with nonlinearities, constraints, and noises in the system, optimize the performance metric, and present an upper bound on the stable output of the system.
The interception probability of a single missile is the basis for combat plan design and weapon performance evaluation,while its influencing factors are complex and mutually *** calculation methods have very limited a...
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The interception probability of a single missile is the basis for combat plan design and weapon performance evaluation,while its influencing factors are complex and mutually *** calculation methods have very limited analysis of the influence mechanism of influencing factors,and none of them has analyzed the influence of the guidance *** paper considers the influencing factors of both the interceptor and the target more *** parameters include speed,guidance law,guidance error,fuze error,and fragment killing ability,while target performance includes speed,maneuverability,and *** this paper,an interception model is established,Monte Carlo simulation is carried out,and the influence mechanism of each factor is analyzed based on the model and simulation ***,this paper proposes a classification-regression neural network to quickly estimate the interception probability based on the value of influencing *** proposed method reduces the interference of invalid interception data to valid data,so its prediction accuracy is significantly better than that of pure regression neural networks.
Semantic segmentation plays a pivotal role in environmental perception for autonomous driving. Video semantic segmentation (VSS) further takes temporal information into consideration for better scene parsing and tempo...
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Semantic segmentation plays a pivotal role in environmental perception for autonomous driving. Video semantic segmentation (VSS) further takes temporal information into consideration for better scene parsing and temporal consistency. Previous research on VSS is mostly dedicated to developing new techniques (e.g. optical flows, attention) to better mine temporal information. In this work, we contribute from a different angle by efficiently incorporating multi-scale temporal information. The dual spatial-temporal feature pyramid is proposed to enable the direct enhancement of multi-scale features for target frames and unlash the design of temporal information mining modules. It contains a spatial feature pyramid from a target frame and a spatial-temporal feature pyramid from multiple reference frames. Building on the dual feature pyramid, we further propose to decouple motional contexts and static contexts to fully leverage temporal information. Specifically, multi-scale motional contexts are mined with the introduced dedicated module and static contexts are enhanced by making temporally fused category-level representations interact with the target frame feature. The final segmentation maps are obtained by regarding the enhanced category-level representations as powerful feature classifiers to classify the target frame feature of rich motional contexts. Experimental results on two popular VSS benchmarks demonstrate that the proposed method with decent parameter and inference efficiency clearly outperforms previous advanced methods. IEEE
In the land warfare Target-Attacker-Defender (TAD) game, the Attacker vehicle seeks to capture the Target vehicle, while the Defender vehicle aims to intercept the Attacker vehicle and assist the Target vehicle in esc...
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In the land warfare Target-Attacker-Defender (TAD) game, the Attacker vehicle seeks to capture the Target vehicle, while the Defender vehicle aims to intercept the Attacker vehicle and assist the Target vehicle in escaping capture before the Attacker succeeds. In practice, the Attacker usually has a non-zero capture radius and only need to explode in a specific area around the Target to hit it. However, at present, for TAD game where the speed of the Attacker with a non-zero capture radius is equal to the speed of the Defender, there is no design method for the barrier function for dividing the Attacker's winning zone and the Target-Defender's winning zone and the optimal feedback strategy on the Attacker's winning zone. Therefore, this paper delves into the TAD game with non-zero capture radius, and obtains the optimal feedback strategy and barrier function by studying its Game of Degree and Game of Kind, respectively. Firstly, we solved the optimal strategy using a two-point boundary value problem, and then proved that the designed value function satisfies the HJI equation, which the obtained optimal strategy is a state feedback Nash equilibrium. Then, based on the initial positions of the Defender and Attacker, and the Attacker's capture radius, the Attacker's ultimate interception curve is given. Using geometric methods, this paper presents a barrier function by determining whether there is an intersection between the Attacker's ultimate interception curve and the Apollonius oval formed by the Attacker-Target. Finally, the effectiveness of this paper was verified through simulation. IEEE
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