检索结果-内蒙古大学图书馆

IEEE International Conference on Cyborg and Bionic systems (CBS)

作者： Bin Qi Songyuan Zhang Yili Fu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

Leg length, joint maximum torque/speed, motor model and transmission ratio are the most concerning parameters in the leg mechanism design of the legged-robot. The first two parameters are related to the locomotion performance, and the last two determine the actuator’s performance. At the beginning of the design, it is difficult to intuitively grasp the relationship between the leg length, the maximum torque of the joint and the locomotion performance of the legged-robot. When selecting the motor and determining the transmission ratio, these factors impact the control bandwidth and the locomotion performance. Considering the above-mentioned practical problems in the design, this paper proposes a systematic and two-stage sequential leg design framework for the legged-robot, which provides the design guidance in the early stage and the selection of the actuator motor and the determination of the transmission ratio in the later stage. Furthermore, the analytic solution of nonlinear constraint’s gradient was derived. Finally, a case study shows the application of the proposed framework. This work shows that finding an optimal set of design parameters among multiple objectives is not always possible. During design process, it is necessary to weigh the relationship between multiple indexes in many aspects.

关键词： Legged locomotion Actuators Torque systematics Process control Indexes Task analysis

来源：评论

学校读者我要写书评

暂无评论

Dynamic Finite Element Modeling and Simulation of Soft Robots

引用

Chinese Journal of Mechanical Engineering 2022年第2期35卷 45-55页

作者： Liang Ding Lizhou Niu Yang Su Huaiguang Yang Guangjun Liu Haibo Gao Zongquan Deng State Key Laboratory of Robotics and Systems Harbin Institute of TechnologyHarbin 150001China Department of Aerospace Engineering Ryerson UniversityTorontoON M5B 2K3Canada

Soft robots have become important members of the robot community with many potential applications owing to their unique flexibility and security embedded at the material *** increasing number of researchers are interested in their designing,manufacturing,modeling,and ***,the dynamic simulation of soft robots is difficult owing to their infinite degrees of freedom and nonlinear characteristics that are associated with soft materials and flexible geometric *** this study,a novel multi-flexible body dynamic modeling and simulation technique is introduced for soft *** actuators for soft robots are modeled in a virtual environment,including soft cable-driven,spring actuation,and pneumatic driving.A pneumatic driving simulation was demonstrated by the bending modules with different materials.A cable-driven soft robot arm prototype and a cylindrical soft module actuated by shape memory alley springs inspired by an octopus were manufactured and used to validate the simulation model,and the experimental results demonstrated adequate *** proposed technique can be widely applied for the modeling and dynamic simulation of other soft robots,including hybrid actuated robots and rigid-flexible coupling *** study also provides a fundamental framework for simulating soft mobile robots and soft manipulators in contact with the environment.

关键词： Soft robot Finite-element modeling Dynamic simulation

来源：评论

学校读者我要写书评

暂无评论

Neural Dynamics for Cooperative Motion Control of Omnidirectional Mobile Manipulators in the Presence of Noises: A Distributed Approach

引用

IEEE/CAA Journal of Automatica Sinica 2024年第7期11卷 1605-1620页

作者： Yufeng Lian Xingtian Xiao Jiliang Zhang Long Jin Junzhi Yu Zhongbo Sun the Department of Control Engineering Changchun University of TechnologyChangchun 130012China IEEE the College of Information Science and Engineering Northeastern UniversityShenyang 110819 the National Mobile Communications Research Laboratory Southeast UniversityNanjing 210096China the School of Information Science and Engineering Lanzhou UniversityLanzhou 730000China the State Key Laboratory for Turbulence and Complex Systems Department of Advanced Manufacturing and RoboticsCollege of EngineeringPeking UniversityBeijing 100871China

This paper presents a distributed scheme with limited communications, aiming to achieve cooperative motion control for multiple omnidirectional mobile manipulators(MOMMs).The proposed scheme extends the existing single-agent motion control to cater to scenarios involving the cooperative operation of MOMMs. Specifically, squeeze-free cooperative load transportation is achieved for the end-effectors of MOMMs by incorporating cooperative repetitive motion planning(CRMP), while guiding each individual to desired poses. Then, the distributed scheme is formulated as a time-varying quadratic programming(QP) and solved online utilizing a noise-tolerant zeroing neural network(NTZNN). Theoretical analysis shows that the NTZNN model converges globally to the optimal solution of QP in the presence of noise. Finally, the effectiveness of the control design is demonstrated by numerical simulations and physical platform experiments.

关键词： Cooperative motion control noise-tolerant zeroing neural network(NTZNN) omnidirectional mobile manipulator(OMM) repetitive motion planning

来源：评论

学校读者我要写书评

暂无评论

Integrated Distributed Acoustic Sensing Interrogator Based on Silicon Photonics 3

Integrated Distributed Acoustic Sensing Interrogator Based o...

引用

3rd EAGE Workshop on Fiber Optic Sensing for Energy Applications

作者： Chen, J. Chang, Y. Liu, Q. He, Z. State Key Laboratory of Advanced Optical Communication System and Networks Department of Electronic Engineering Shanghai Jiao Tong University China

ISBN: (纸本)9789462824836

Distributed acoustic sensing (DAS) is an important branch of fiber optic sensing, but there have been problems of size, weight, and cost that hinder its practical application. In order to solve these problems, photonic integration technology is an effective means. In this work, we have demonstrated a highly integrated DAS interrogator based on the silicon-on-insulator (SOI) platform. The DAS interrogator contains two parts, a transmitter based on a Mach-Zehnder modulator and a coherent receiver. In the demo experiment, with time-gated digital optical frequency domain reflectometry (TGD-OFDR) chosen as the testing DAS scheme, the strain resolution is about 77.0 pΕ/√Hz with the spatial resolution of 0.819 m along the total 12.2 km sensing fiber, which is comparable to the discrete system. To the best of our knowledge, this is the first integrated DAS interrogator, and achieves a high level of integration and excellent performance. The implementation of the integrated DAS system also demonstrates the integration possibilities of fiber optic sensing systems of other architectures, and that these integrated systems may achieve good performance. The integrated DAS heralds the possibility of making the application scenarios of DAS expand. With the development of silicon photonics technology, devices that are not integrated at this stage, such as lasers, can also be integrated, truly realizing the full integration of the system. © 2023 3rd EAGE Workshop on Fiber Optic Sensing for Energy Applications. All rights reserved.

关键词： Silicon photonics

来源：评论

学校读者我要写书评

暂无评论

Tool geometry design and microstructure fabrication by micro flat-end milling on soft-brittle LiF surface

引用

Journal of Manufacturing Processes 2025年 149卷 868-877页

作者： Lei, Hongqin Zhang, Zixiao Chen, Liang Guo, Yanqiu Cheng, Jian Zhao, Linjie Chen, Mingjun Yang, Dinghuai Chen, Guang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China School of Mechatronics Engineering Harbin Institute of Technology Harbin 150001 China

The LiF crystal with the three-layer step microstructure is vital in the laser-driven quasi-isentropic compression experiment. However, due to the high chemical activity and easy deliquescence of soft-brittle LiF crystals, brittle fracture can easily occur during the microstructure preparation achieved by the micro-milling technology. Therefore, it is essential to determine the optimal tool geometry and preferred processing parameters to achieve an ultra-smooth surface. A finite element (FE) model of the tool geometry optimization for LiF crystals is constructed based on dimensional analysis and the stress-strain curve obtained by nanoindentation tests. Micro-slot and microstructure preparation experiments are conducted to verify the cutting performance of the manufactured cutters with optimal geometry. It is found that the optimal negative rake/relief angles of side- and bottom edges are determined to be −35°/9° and − 25°/20° for tool I from the perspectives of the tensile stress, cutting force, and tool surface stress (σ1), respectively. For tool II, optimal negative rake/relief angles of the side- and bottom edges are −60°/15° and − 55°/20°, respectively. The σ1 of tool II is 110.3 MPa, which is 0.74 times and 0.95 times that of tool I (149 MPa) and the CBN tool (116.1 MPa), respectively, indicating that tool II has the most substantial wear resistance under the same processing parameters. Besides, compared with other tool structures, the cutting force and tensile stress are the smallest when using the tool II. The small stress can make the milling process stable, and the vibration and impact generated by the tool are smaller, which helps to make the micro-milled surface smooth. Therefore, the average surface roughness processed by tool II is 0.70 times and 0.47 times that of the CBN tool and tool I, respectively, further illustrating the best cutting performance of tool II. Furthermore, for tool II, the optimal spindle speed and feed per tooth are 40,000 r/min a

关键词： Cutting performance Flat-end milling LiF crystals Microstructure fabrication Tool geometry

来源：评论

学校读者我要写书评

暂无评论

A kinetic study and factor analysis of solar thermochemical membrane reactors for syngas production

引用

Science China(Technological Sciences) 2025年第1期68卷 203-217页

作者： Jiaxin XING Chao XU Xiangyu SUN Xin XIA Fei JIN Qiongqiong JIANG Jiale GAO Key Laboratory of Power Station Energy Transfer Conversion and System of MOE School of Energy Power and Mechanical EngineeringNorth China Electric Power UniversityBeijing 102206China Department of Chemistry University College LondonLondon WC1H 0AJUK School of Chemistry and Chemical Engineering Ningxia Key Laboratory of Solar Chemical Conversion TechnologyState Ethnic Affairs CommissionNorth Minzu UniversityYinchuan 750021China

Solar thermochemical conversion technologies are promising for effectively utilizing solar energy by capturing the full spectrum of solar *** overcome the challenges of low energy conversion efficiency and intermittency faced by solar thermochemical conversion,these technologies can be effectively integrated with membrane reactor *** the performance of solar thermochemical membrane reactors has been experimentally tested,the chemical reactions and oxygen transport mechanisms during the energy conversion process remain poorly *** study introduces a resistance network model to elucidate the interactions between interfacial reactions and bulk diffusion during simultaneous oxidationreduction reactions on both sides of the *** analyzed the oxygen flux of the membrane reactor under various operating conditions using this model to identify the reaction/transport-limiting side of the overall *** most effective solar membrane reactor configuration utilizes natural gas and CO_(2),facilitating clean conversion of fossil fuels with significant advantages in fuel production and energy *** CH_4 lowers the overall reaction temperature,maintains low oxygen partial pressure on the sweep side,and produces a synthesis gas with a 2:1 H_2/CO molar ***,a sensitivity analysis was used to explore the relationship between overall fuel production performance and operational parameters,highlighting the critical role of this research in enhancing the reaction and transport performance of membrane reactors and advancing the development of solar-driven thermochemical fuel production technologies.

关键词： thermochemistry oxygen-permeable membrane membrane reactor chemical kinetics

来源：评论

学校读者我要写书评

暂无评论

GCA-Net: A Global Context Aggregation Network for Effective Optical Flow

GCA-Net: A Global Context Aggregation Network for Effective ...

引用

Annual Conference of Industrial Electronics Society

作者： Tao Xie Jinghan Gao Ke Wang Ruifeng Li State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

Optical flow seeks to estimate the per-pixel 2D motion between two frames by identifying corresponding pixels. Current flow estimators typically involve per-pixel feature extraction, multi-scale 4D correlation volume construction, and iterative flow field updates through a Conv-GRU module. However, the locality of convolutional features in these methods renders the calculated correlations vulnerable to different noises. In addition, the Conv-GRU module of these methods is only executed with a convolution layer, which is incapable of exploiting context clues from larger window sizes even inside the image being queried itself, thus raising it more difficult for the model to process images with challenging regions, e.g., textureless areas. To this end, we introduce GCA-Net, a global context aggregation network for credible yet effective optical flow estimation. More specifically, we propose a highly efficient multi-scale transformer (MSFormer) layer which enables the per-pixel feature to aggregate long-range information from other features, hence building more accurate 4D correlation volumes. Besides, we develop an attention-enhanced Conv-GRU block (AttGRU) that can incorporate information alongside a larger context window even within itself empowering our network to estimate optical flow in even the most challenging regions. Experimentally, we demonstrate that GCA-Net outperforms previous state-of-the-art methods by large margins on Sintel (Final) and KITTI 2015 (background and foreground) benchmarks.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Poly-MOT: A Polyhedral Framework For 3D Multi-Object Tracking

Poly-MOT: A Polyhedral Framework For 3D Multi-Object Trackin...

引用

IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Xiaoyu Li Tao Xie Dedong Liu Jinghan Gao Kun Dai Zhiqiang Jiang Lijun Zhao Ke Wang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

3D Multi-object tracking (MOT) empowers mobile robots to accomplish well-informed motion planning and navigation tasks by providing motion trajectories of surrounding objects. However, existing 3D MOT methods typically employ a single similarity metric and physical model to perform data association and state estimation for all objects. With large-scale modern datasets and real scenes, there are a variety of object categories that commonly exhibit distinctive geometric properties and motion patterns. In this way, such distinctions would enable various object categories to behave differently under the same standard, resulting in erroneous matches between trajectories and detections, and jeopardizing the reliability of downstream tasks (navigation, etc.). Towards this end, we propose Poly-MOT, an efficient 3D MOT method based on the Tracking-By-Detection framework that enables the tracker to choose the most appropriate tracking criteria for each object category. Specifically, Poly-MOT leverages different motion models for various object categories to characterize distinct types of motion accurately. We also introduce the constraint of the rigid structure of objects into a specific motion model to accurately describe the highly nonlinear motion of the object. Additionally, we introduce a two-stage data association strategy to ensure that objects can find the optimal similarity metric from three custom metrics for their categories and reduce missing matches. On the NuScenes dataset, our proposed method achieves state-of-the-art performance with 75.4% AMOTA. The code is available at https://***/lixiaoyu20001P0Iy-MOT.

关键词：

来源：评论

学校读者我要写书评

暂无评论

The Occluded Prosthetic Hand can be Perceived based on Augmented Reality Technology

The Occluded Prosthetic Hand can be Perceived based on Augme...

引用

2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Shi, Chunyuan Wang, Zixin Yang, Dapeng Zhao, Jingdong Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin150081 China Harbin Institute of Technology Artificial Intelligence Laboratory Harbin150081 China

ISBN: (纸本)9781665481090

In this paper, an augmented reality-based perceptual feedback method of dexterous prosthesis has been proposed, which can establish an intuitive and convenient feedback pathway and reduce the use load of prosthetic hands. The proprioception and force feedback strategy was proposed and established based on augmented reality technology. Finally, the effectiveness and feasibility of the above strategies are verified by experiments. First, the feasibility of the proprioception feedback strategy is tested, and then the force feedback strategy is tested. The experimental results show that the proposed method establishes an effective perceptual feedback closed-loop control, improving patients' cognition of the prosthesis, including force, grasping gestures and other information, and improving users' perception ability. © 2022 IEEE.

关键词： Augmented reality

来源：评论

学校读者我要写书评

暂无评论

A justice and innovative way ahead of consumption-based emission accounting approach

引用

Science China Earth Sciences 2024年第9期67卷 2999-3010页

作者： Qun SHEN Hongbo DUAN Yun TANG Linbing TANG Li SHANG Xinyu DOU Wei WEI Weiqiang CHEN Zhu LIU State Key Laboratory of Low Carbon Catalysis and Carbon Dioxide Utilization CAS Key Laboratory of Low-Carbon Conversion Science&EngineeringShanghai Advanced Research InstituteChinese Academy of SciencesShanghai 201210China School of Economics&Management University of Chinese Academy of SciencesBeijing 100190China Key Lab of Urban Environment and Health Institute of Urban EnvironmentChinese Academy of SciencesXiamen 361021China Department of Earth System Science Tsinghua UnivesityBeijing 100084China

Carbon emission accounting is an important basis for global climate *** on the consumption-based accounting(CBA)method,the characteristics of carbon flow between national,regional,and product processes could be more clearly ***,CBA is more conducive to clarifying the attribution of responsibilities between producers and consumers,with the principles of fairness and *** accounting for carbon emissions in typical countries from 1990 to 2019,we found that the CBA emissions are higher than the production-based accounting(PBA)emissions in major developed countries,while the results are reversed for developing *** the past 30 years,the CBA emissions in targeted developed countries generally have shown a downward trend,while in developing countries,they have shown an upward *** emissions in China have shown a continuous growth trend from 1990 to 2019,but the pace has slowed down significantly over the last ***,the embodied carbon intensity of China’s exports continues to decline,indicating that China is providing more green and low-carbon products to the *** the PV industry as an example,this study further reveals the contribution of specific product industries to the country’s carbon transfer through product carbon footprint *** order to provide a scientific basis for global mitigation and climate governance,it is urgent to innovate a scientific,practical,and standardized CBA technology system.

关键词： Consumption-based accounting Production-based accounting Carbon transfer Carbon footprint

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：