检索结果-内蒙古大学图书馆

arXiv 2022年

作者： Wang, Yancong Yu, Linfeng Zhang, Fa Chen, Qiang Zhan, Yuqi Zheng, Xiong Wang, Huimin Qin, Zhenzhen Qin, Guangzhao State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body College of Mechanical and Vehicle Engineering Hunan University Changsha410082 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China Hunan Key Laboratory for Micro-Nano Energy Materials & Device School of Physics and Optoelectronics Xiangtan University Hunan Xiangtan411105 China School of Physics and Microelectronics Zhengzhou University Zhengzhou450001 China

Negative Poisson's ratio (NPR) is of great interest due to the novel applications in lots of fields. Films are the most commonly used form in practical applications, which involves multiple layers. However, the effect of interlayer interactions on the NPR is still unclear. In this study, based on first principles calculations, we systematically investigate the effect of interlayer interactions on the NPR by comparably studying single-layer graphene, few-layer graphene, h-BN, and graphene-BN heterostructure. It is found that they almost have the same geometry-strain response. Consequently, the NPR in bilayer graphene, triple-layer graphene, and graphene-BN heterostructure are consistent with that in single-layer graphene and h-BN. The fundamental mechanism lies in that the response to strain of the orbital coupling are consistent under the effect of interlayer interactions. The deep understanding of the NPR with the effect of interlayer interactions as achieved in this study is beneficial for the future design and development of micro-/nanoscale electromechanical devices with novel functions based on nanostructures. © 2022, CC BY-NC-SA.

关键词： Graphene

来源：评论

学校读者我要写书评

暂无评论

Development of a novel autonomous lower extremity exoskeleton robot for walking assistance

引用

Frontiers of Information Technology & Electronic engineering 2019年第3期20卷 318-329页

作者： Yong HE Nan LI Chao WANG Lin-qing XIA Xu YONG Xin-yu WU Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen College of Advanced Technology University of Chinese Academy of Sciences Department of Mechanical Engineering and Intelligent Systems the University of Electro-Communications

Today, exoskeletons are widely applied to provide walking assistance for patients with lower limb motor incapacity. Most existing exoskeletons are under-actuated, resulting in a series of problems, e.g., interference and unnatural gait during walking. In this study, we propose a novel intelligent autonomous lower extremity exoskeleton(Auto-LEE), aiming at improving the user experience of wearable walking aids and extending their application *** traditional exoskeletons, Auto-LEE has 10 degrees of freedom, and all the joints are actuated independently by direct current motors, which allows the robot to maintain balance in aiding walking without extra *** new exoskeleton is designed and developed with a modular structure concept and multi-modal human-robot interfaces are considered in the control system. To validate the ability of self-balancing bipedal walking, three general algorithms for generating walking patterns are researched, and a preliminary experiment is implemented.

关键词： Lower-limb Exoskeleton Self-balancing Bipedal walking Modular design

来源：评论

学校读者我要写书评

暂无评论

Urban traffic dynamic rerouting framework: a DRL-based model with fog-cloud architecture

arXiv

引用

arXiv 2021年

作者： Du, Runjia Chen, Sikai Dong, Jiqian Chen, Tiantian Fu, Xiaowen Labi, Samuel Lyles School of Civil Engineering Purdue University West LafayetteIN47907 United States Robotics Institute School of Computer Science Carnegie Mellon University PittsburghPA15213 United States Knowledge Management and Innovation Research Centre Department of Industrial and System Engineering Hong Kong Polytechnic University Hung Hom Kowloon Hong Kong

Past research and practice have demonstrated that dynamic rerouting framework is effective in mitigating urban traffic congestion and thereby improve urban travel efficiency. It has been suggested that dynamic rerouting could be facilitated using emerging technologies such as fog-computing which offer advantages of low-latency capabilities and information exchange between vehicles and roadway infrastructure. To address this question, this study proposes a two-stage model that combines GAQ (Graph Attention Network – Deep Q Learning) and EBkSP (Entropy Based k Shortest Path) using a fog-cloud architecture, to reroute vehicles in a dynamic urban environment and therefore to improve travel efficiency in terms of travel speed. First, GAQ analyzes the traffic conditions on each road and for each fog area, and then assigns a road index based on the information attention from both local and neighboring areas. Second, EBkSP assigns the route for each vehicle based on the vehicle priority (vehicle’s proximity to intended destination) and route popularity (route’s frequency of patronage). A case study experiment is carried out to investigate the efficacy of the proposed model. At the experiment’s model training stage, different methods are used to establish the vehicle priorities, and their impact on the results is assessed. Also, the proposed model is tested under various scenarios with different ratios of rerouting and background (non-rerouting) vehicles. The results demonstrate that vehicle rerouting using the proposed model can help attain higher speed and reduces possibility of severe congestion. This result suggests that the proposed model can be deployed by urban transportation agencies for dynamic rerouting and ultimately, to reduce urban traffic congestion. Copyright © 2021, The Authors. All rights reserved.

关键词： Multi agent systems

来源：评论

学校读者我要写书评

暂无评论

Sampling-Based Path Planning in Heterogeneous Dimensionality-Reduced Spaces*

Sampling-Based Path Planning in Heterogeneous Dimensionality...

引用

Annual Conference of Industrial Electronics Society

作者： Wenjie Lu Huan Yu Hao Xiong Honghai Liu School of Mechanical Engineering and Automation Harbin Institute of Technology (Shenzhen) Shenzhen China School of Automation Beijing Institute of Technology Beijing China Key Laboratory of Robotics and System School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen China

ISBN: (数字)9781728154145

ISBN: (纸本)9781728154152

Many sampling strategies often consider the goal and obstacle population to bias/restrict the search area, and they however become less effective when the robot has many degrees of freedom. This paper explores the nonhomogeneous restriction imposed by the obstacles and presents an improved SBP approach enhanced by heterogeneous dimensionality reduction of the full configuration space. Based on the projection residual, a new Dirichlet process (DP) mixture model is proposed to capture a number of Dimensionality-Reduced Spaces (DRSs), which offer the planning spaces with fewer dimensions than its single-DRS counterpart. Then, the sampling and planning procedures are unified with a proposed transversality condition, connecting sampled nodes across DRSs. At last, a quadratic programming is formulated and quickly solved to map the found path in DRSs to an output path in the full configuration space. Numerical simulations on path planning problems of a high-dimensional Intervention Autonomous Underwater Vehicle (I-AUV) have been conducted, showing the feasibility and efficiency of the proposed method.

关键词： Planning Mixture models Path planning Dimensionality reduction Cost function Sensitivity Indexes

来源：评论

学校读者我要写书评

暂无评论

Parameter estimation of PMSM for collaborative robot manipulator control

引用

Journal of institute of Control, robotics and systems 2020年第12期26卷 1067-1075页

作者： Lee, Ju-Chan Mok, Hyung-Soo Lee, Ju-Suk Do, Hyun Min Park, Dong Il Choi, Tea-Yong Seo, Hyeon-Uk Department of Electrical Engineering Konkuk University Korea Republic of Department of Energy System Gyeonggi University of Science and Technology Korea Republic of Department of Robotics & Mechatronics Korea Institute of Machinery Materials Korea Republic of

In this paper, a method to improve the control precision of a collaborative robot is proposed. In order to improve the control precision, a control algorithm based on the Surface mounted Permanent Magnet Synchronous Motor(SPMSM) used for joints is implemented, and an auto-tuning algorithm for measuring motor parameters is proposed. The proposed algorithm improves the control precision of SPMSM by measuring parameters in a stationary state for use in cooperative robots. The proposed algorithm is verified through simulation and experiment. © ICROS 2020.

关键词： Parameter estimation

来源：评论

学校读者我要写书评

暂无评论

Preliminary results for the multi-robot, multi-partner, multi-mission, planetary exploration analogue campaign on mount etna

Preliminary results for the multi-robot, multi-partner, mult...

引用

IAF Space Exploration Symposium 2021 at the 72nd International Astronautical Congress, IAC 2021

作者： Wedler, Armin Möller, Marcus G Schuster, Martin J Durner, Maximilian Brunner, Sebastian G Lehner, Peter Lehner, Hannah Dömel, Andreas Vayugundla, Mallikarjuna Steidle, Florian Sakagami, Ryo Meyer, Lukas Smisek, Michal Störzl, Wolfgang Schmitz, Nicole Vodermayer, Bernhard Prince, Andre F Staudinger, Emanuel Hellerer, Matthias Lichtenheldt, Roy Dietz, Enrico Braun, Christian Rebele, Bernhard Boerdijk, Wout Giubilato, Riccardo Reill, Josef Kuhne, Moritz Lee, Jongseok Vilacampa, Alejandro F Bargen, Info V Schröder, Susanne Frohmann, Sven Seel, Fabian Triebel, Rudolph Lii, Neal Y Bischoff, Esther Kille, Sean Wormnes, Kjetil Pereira, Aaron Carey, William Rossi, Angelo P Thomsen, Laurenz Graber, Thorsten Kruger, Thomas Kyr, Peter Börner, Anko Bussmann, Kristin Paar, Gerhard Bauer, Arnold Völk, Stefan Kimpe, Andreas Rauer, Heike Höbers, Heinz-Wilhelm Bals, Johann Hohmann, Sören Asfour, Tamim Foing, Bernhard Albu-Schäffer, Alin Olimpiu Institute of Robotics and Mechatronics Mönchener Str. 20 Webling82234 Germany Institute of Optical Sensor Systems Rutherfordstr. 2 Berlin12489 Germany Institute of System Dynamics and Control Mönchener Str. 20 Weßling82234 Germany Institute of Planetary Research Rutherfordstr. 2 Berlin12489 Germany Mobile Rocket Base MönchenerStr. 20Webl 82234 Germany Joanneum Research Steyrergasse 17 GrazA-8010 Austria Solenix Engineering GmbH Spreestr. 3 Darmstadt64295 Germany ESTEC Noordwijk Netherlands University of Leiden Netherlands Institute of Control Systems Kaiserstr. 12 Karlsruhe76131 Germany Kaiserstr. 12 Karlsruhe76131 Germany Jacobs University Bremen Planetary Science Campus Ring 1 Bremen28759 Germany

ISBN: (纸本)9781713842965

This paper was initially intended to report on the outcome of the twice postponed demonstration mission of the ARCHES project. Due to the global COVID pandemic, it has been postponed from 2020, then 2021, to 2022. Nevertheless, the development of our concepts and integration has progressed rapidly, and some of the preliminary results are worthwhile to share with the community to drive the dialog on robotics planetary exploration strategies. This paper includes an overview of the planned 4-week campaign, as well as the vision and relevance of the mission towards the planned official space missions. Furthermore, the cooperative aspect of the robotic teams, the scientific motivation, the sub task achievements are summarised. © 2021 International Astronautical Federation, IAF. All rights reserved.

关键词： robotics

来源：评论

学校读者我要写书评

暂无评论

Mechanical design of a 4-DOF minimally invasive surgical instrument

Mechanical design of a 4-DOF minimally invasive surgical ins...

引用

2019 IEEE International Conference on robotics and Biomimetics, ROBIO 2019

作者： Li, Kun Li, Jihua Li, Lei Ji, Shuai Meng, Xianju Fu, Yili Shandong Jianzhu University School of Mechanical and Electronic Engineering Jinan250101 China Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin150080 China

ISBN: (纸本)9781728163215

In order to meet design requirements in minimally invasive surgery (MIS), it is necessary to conduct basic operations in the narrow working space. Taking a grasper for example, a 4DOF MIS instrument driven by servo motors and transmitted by cables is designed. The design of the end of surgical instrument driven by cables is suitable for long-distance transmission, which improves dexterity of the surgical instrument working in narrow space. The mechanism principle including the wrist, graspers and shaft rolling are described. Kinematic coupling between the wrist and grasper are analyzed. Prototype of the surgical instrument is presented. This instrument prototype can be applied in most MIS operations. © 2019 IEEE.

关键词： Cables

来源：评论

学校读者我要写书评

暂无评论

Design and safety control of a high-payload nursing robotic arm with tactile skin

Design and safety control of a high-payload nursing robotic ...

引用

2019 IEEE International Conference on robotics and Biomimetics, ROBIO 2019

作者： Wu, Jiahao Song, Yanshu Huang, Hailin Liu, Fei Chen, Junan Li, Bing Harbin Institute of Technology School of Mechanical Engineering and Technology Shenzhen518055 China Harbin Institute of Technology School of Electronic and Information Engineering Shenzhen518055 China Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin150001 China

ISBN: (纸本)9781728163215

Service robots are being increasingly used to replace human beings in carrying out various sophisticated, heavy and even dangerous tasks. In order to solve the problem of labor shortage in the medical and nursing industry, this paper proposes a novel high-payload robotic arm for nursing tasks, which can help caregivers to lift and transfer patients. Firstly, we simulate and analyze the specific nursing tasks and application scenarios, and determine its kinematics configuration and load capacity parameters of each joint. Then we design and fabricate the modular and low flexibility robotic joints for the prototype. To avoid the occurrence of safety accidents while lifting patients, we design a new kind of tactile skin based on the resistance characteristic of varistor materials, using which a safety control algorithm is proposed. Experiments show that it can meet the requirements of load capacity and position control accuracy, and the proposed safety control method can effectively avoid many dangerous situations. © 2019 IEEE.

关键词： Nursing

来源：评论

学校读者我要写书评

暂无评论

Repeatability measurement and kinematic identification of LBR iiwa 7 R800 using monocular camera 2019

Repeatability measurement and kinematic identification of LB...

引用

Proceedings of the Advances in robotics 2019

作者： Aditya Jain Hardeep Singh Riby Abraham Boby Subir Kumar Saha Swagat Kumar Sumantra Dutta Roy Department of Mechanical Engineering Indian Institute of Technology Delhi New Delhi India TCS Innovation Lab Robotics and Embedded System Group Bangalore India Department of Electrical Engineering Indian Institute of Technology Delhi New Delhi India

ISBN: (纸本)9781450366502

In this paper, we have performed the kinematic identification and repeatability analysis of LBR iiwa 7 R800 (7 axis serial link robot) using monocular camera mounted at the end-effector of the robot. We started the process with the camera calibration process to identify intrinsic and extrinsic parameters of the camera used. In order to determine the pose of the end-effector using camera for repeatability analysis, we have used a 9x6 checkerboard for the repeatability experiment and for kinematic identification we have used ArUco markers. For repeatability analysis, we have used poses from ISO 9283 standards. Also we have used dispersion as a statistical means for quantifying the repeatability analysis. Subsequently, we have compared the results of kinematic identification with those from laser sensors and the theoretical CAD data sheet provided for the robot. Also in this paper, the algorithm has been introduced for measuring repeatability under force control mode and consequently, a single point repeatabilty has been evaluated.

关键词： Industrial robot Camera Repeatability Kinematic Identification

来源：评论

学校读者我要写书评

暂无评论

Application of light diffraction theory to qualify the downstream light field modulation property of mitigated KDP crystals

arXiv

引用

arXiv 2020年

作者： Yang, Hao Cheng, Jian Liu, Zhichao Liu, Qi Zhao, Linjie Tan, Chao Wang, Jian Chen, Mingjun State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China Research Center of Laser Fusion China Academy of Engineering Physics Mianyang621900 China

Micro-milling can effectively remove laser damage sites on a KDP (potassium dihydrogen phosphate) surface and then improve the laser damage resistance of the components. However, the repaired KDP surface could cause light propagating turbulence and downstream light intensification with the potential risk to damage downstream optics. In order to analyze the downstream light field modulation caused by Gaussian mitigation pits on KDP crystals, a computational model of the downstream light diffraction based on the angular spectrum theory and the Gaussian repair contour is established. The results show that the phase offset caused by the repaired surface produces a large light field modulation near the rear KDP surface. The modulation generated in the whole downstream light field is greater than that caused by the amplitude change. Therefore, the phase characteristics of the outgoing light could be suggested as a vital research topic for future research on the downstream light field modulation caused by mitigation contours. Significantly, the experimental results on the downstream light intensity distribution have good agreement with the simulation ones, which proves the validity of the established downstream light diffraction model. The phase characterization of the outgoing light is proposed as an evaluation tool in the repair of KDP crystals. The developed analytical method and numerical discrete algorithm could be also applicable in qualifying the repair quality of other optical components applied in high-power laser systems. Copyright © 2020, The Authors. All rights reserved.

关键词： Diffraction

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：