In recent years, aerial robots have been widely used and developed in high-altitude defect detection in academia and business. To solve the detection problem of beams at quayside cranes, reduce the cost of staffing in...
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To reduce phase errors caused by nonlinear responses in the measurement system, we propose a non-calibration correction method for nonlinear errors in phase-shifting patterns. First, the captured grating fringes are t...
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ISBN:
(数字)9798350368604
ISBN:
(纸本)9798350368611
To reduce phase errors caused by nonlinear responses in the measurement system, we propose a non-calibration correction method for nonlinear errors in phase-shifting patterns. First, the captured grating fringes are transformed using a Fourier transform to convert the images from the gray scale to the frequency domain. The first harmonic frequency is then determined using an appropriate method. Second, the appropriate filter cutoff frequency is calculated by combining the phase-shift algorithm's sensitivity to different harmonics with frequency response curves. Low-pass filtering is then performed on the phase-shift patterns to suppress high frequencies caused by nonlinear responses, thus reducing phase errors in the actual measurement process. Finally, the standard plane and other irregularly shaped objects were reconstructed using the proposed method and other techniques. Measurement errors under different conditions were then compared. Experimental results show that the proposed method significantly suppresses gamma nonlinear responses and achieves high measurement accuracy and efficiency.
Continuous jumping of humanoid robots is a challenging problem that requires appropriate gait and force control for the robot to achieve. Reinforcement learning (RL) has been applied to the motion control of humanoid ...
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Continuous jumping of humanoid robots is a challenging problem that requires appropriate gait and force control for the robot to achieve. Reinforcement learning (RL) has been applied to the motion control of humanoid robots and has achieved significant progress. However, traditional RL control methods primarily rely on designing reward signals to generate human-like movements, and it requires developing complex reward signals for continuous jumping, resulting in limited actions and suboptimal jumping performance. To address this issue, we have designed motion functions for humanoid continuous jumping and incorporated them into the RL framework to obtain desired human-like continuous jumping actions. Furthermore, two different jumping gaits are designed to investigate the jumping effects produced by different jumping functions: bent-knee jumping (BJ) and straight-knee jumping (SJ). BJ is a typical jumping style where the legs flex during the jumping process to accumulate energy, enabling higher explosive power. SJ is more suitable for tasks requiring quick responses, as the legs remain upright during the jump, providing faster reaction speed. The performance in continuous jumping tasks has been evaluated by comparing the effects of training with different jumping functions. This research has particular guidance for improving the jumping ability of robots and enhancing the stability and efficiency of humanoid continuous jumping.
Mobile robots represented by smart wheelchairs can assist elderly people with mobility *** paper proposes a multi-mode semi-autonomous navigation system based on a local semantic map for mobile robots,which can assist...
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Mobile robots represented by smart wheelchairs can assist elderly people with mobility *** paper proposes a multi-mode semi-autonomous navigation system based on a local semantic map for mobile robots,which can assist users to implement accurate navigation(e.g.,docking)in the environment without prior *** order to overcome the problem of repeated oscillations during the docking of traditional local path planning algorithms,this paper adopts a mode-switching method and uses feedback control to perform docking when approaching semantic *** last,comparative experiments were carried out in the real *** show that our method is superior in terms of safety,comfort and docking accuracy.
Force measurement is important in the robotic manipulation tasks, and it is an essential property of specific tactile sensor. An increasing number of studies demonstrated the capacity of tactile sensor in force measur...
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The increasing frequency of natural disasters has led to situations where small towns and critical infrastructure, become isolated from the main utility grid. The microgrids’ ability to work autonomously from the uti...
The increasing frequency of natural disasters has led to situations where small towns and critical infrastructure, become isolated from the main utility grid. The microgrids’ ability to work autonomously from the utility grid presents a viable solution to this problem. Microgrid resiliency is the characteristic related to the capacity of a microgrid to minimize the impact of disruptive events and ensure that the power supply is maintained under a variety of adverse conditions. This is specially important for critical infrastructures such as hospitals, communications and military bases. The objective of this paper is to simulate strategies and propose an algorithm for the design and management of electric microgrids with a focus on resiliency towards critical and disaster situations. The proposed solutions will be simulated, using a building microgrid implemented in the University of Coimbra as a pilot. As a result of the work, the study presents an algorithm that efficiently manages loads of a microgrid in order to increase its resilience when the microgrid is isolated from the utility grid.
Human-machine interfaces (HMIs) require minimal size and less interference to the users. Wireless and battery-free design of HMI devices can be promoted by wireless power transfer (WPT) technology. However, researcher...
Since microdosing of chemical, biological, radiological, and nuclear (CBRN) contaminants is enough to cause great damage to humans, operating robots are widely used to handle CBRN-related tasks. However, how to improv...
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Although various advanced anthropomorphic hands have been proposed, the design and fabrication of thumb joints to achieve dexterity function in a limited space is still a great challenge. To promote the dexterity of t...
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Jumping motion is enlarging the robotic toolbox by providing agile and rapid locomotion functions that can overcome the limitations of environment and size. Although these jumping robots powered by novel mechanisms an...
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