检索结果-内蒙古大学图书馆

2021 IEEE International Conference on robotics and Automation, ICRA 2021

作者： Wu, Zicong Lou, Chuqian Jin, Zhu Huang, Shaoping Liu, Ning Zou, Yun Kovac, Mirko Gao, Anzhu Yang, Guang-Zhong The Institute of Medical Robotics Department of Bioengineering Shanghai Jiao Tong University Shanghai200240 China Imperial College London Empa-Swiss Federal Laboratories for Materials Science and Technology United Kingdom Limited 999077 Hong Kong Aerial Robotics Laboratory Imperial College London LondonSW7 2AZ United Kingdom The Institute of Medical Robotics Department of Automation Shanghai Jiao Tong University The Key Laboratory of System Control and Information Processing Ministry of Education Shanghai200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China The Institute of Medical Robotics Shanghai Jiao Tong University Shanghai200240 China

ISBN: (纸本)9781728190778

Electrospinning has exhibited excellent benefits to treat the trauma for tissue engineering due to its produced micro/nano fibrous structure. It can effectively adhere to the tissue surface for long-term continuous therapy. This paper develops a robotic electrospinning platform for endoluminal therapy. The platform consists of a continuum manipulator, the electrospinning device, and the actuation unit. The continuum manipulator has two bending sections to facilitate the steering of the tip needle for a controllable spinning direction. Non-circular joint profile is carefully designed to enable a constant length of the centreline of a continuum manipulator for stable fluid transmission inside it. Experiments are performed on a bronchus phantom, and the steering ability and bending limitation in each direction are also investigated. The endoluminal electrospinning is also fulfilled by a trajectory following and points targeting experiments. The effective adhesive area of the produced fibre is also illustrated. The proposed robotic electrospinning shows its feasibility to precisely spread more therapeutic drug to construct fibrous structure for potential endoluminal treatments. © 2021 IEEE

关键词： Electrospinning

来源：评论

学校读者我要写书评

暂无评论

Multi-Risk-RRT: An Efficient Motion Planning Algorithm for Robotic Autonomous Luggage Trolley Collection at Airports

arXiv

引用

arXiv 2023年

作者： Sun, Zhirui Lei, Boshu Xie, Peijia Liu, Fugang Gao, Junjie Zhang, Ying Wang, Jiankun Shenzhen Key Laboratory of Robotics Perception and Intelligence Department of Electronic and Electrical Engineering Southern University of Science and Technology Shenzhen China Jiaxing Research Institute Southern University of Science and Technology Jiaxing China School of Engineering and Applied Science University of Pennsylvania PhiladelphiaPA United States School of Biomedical Engineering Shanghai Jiao Tong University Shanghai China The School of Electrical Engineering The Key Laboratory of Intelligent Rehabilitation and Neuromodulation of Hebei Province Yanshan University Qinhuangdao China

Robots have become increasingly prevalent in dynamic and crowded environments such as airports and shopping malls. In these scenarios, the critical challenges for robot navigation are reliability and timely arrival at predetermined destinations. While existing risk-based motion planning algorithms effectively reduce collision risks with static and dynamic obstacles, there is still a need for significant performance improvements. Specifically, the dynamic environments demand more rapid responses and robust planning. To address this gap, we introduce a novel risk-based multi-directional sampling algorithm, Multi-directional Risk-based Rapidly-exploring Random Tree (Multi-Risk-RRT). Unlike traditional algorithms that solely rely on a rooted tree or double trees for state space exploration, our approach incorporates multiple sub-trees. Each sub-tree independently explores its surrounding environment. At the same time, the primary rooted tree collects the heuristic information from these sub-trees, facilitating rapid progress toward the goal state. Our evaluations, including simulation and real-world environmental studies, demonstrate that Multi-Risk-RRT outperforms existing unidirectional and bi-directional risk-based algorithms in planning efficiency and robustness. Copyright © 2023, The Authors. All rights reserved.

关键词： Motion planning

来源：评论

学校读者我要写书评

暂无评论

Infinite Grassmann time-evolving matrix product operators for non-equilibrium quantum impurity problems

arXiv

引用

arXiv 2024年

作者： Sun, Zhijie Chen, Ruofan Li, Zhenyu Guo, Chu Key Laboratory of Precision and Intelligent Chemistry University of Science and Technology of China Hefei230026 China College of Physics and Electronic Engineering Center for Computational Sciences Sichuan Normal University Chengdu610068 China Key Laboratory of Low-Dimensional Quantum Structures and Quantum Control of Ministry of Education Department of Physics Synergetic Innovation Center for Quantum Effects and Applications Hunan Normal University Changsha410081 China

An emergent numerical approach to solve quantum impurity problems is to encode the impurity path integral as a matrix product state. For time-dependent problems, the cost of this approach generally scales with the evolution time. Here we consider a common non-equilibrium scenario where an impurity, initially in equilibrium with a thermal bath, is driven out of equilibrium by a time-dependent force term. Despite that there is no time-translational invariance in the problem, we show that we could still make full use of the infinite matrix product state technique, resulting in a method whose cost is essentially independent of the evolution time. We demonstrate the effectiveness of this method in the integrable case against exact diagonalization, and against existing calculations on the L-shaped Kadanoff-Baym contour in the general case. Our method could be a very competitive method for studying long-time non-equilibrium quantum dynamics, and be potentially used as an efficient impurity solver in the non-equilibrium dynamical mean field theory. Copyright © 2024, The Authors. All rights reserved.

关键词： Covariance matrix

来源：评论

学校读者我要写书评

暂无评论

Development and pattern identification of end-winding discharge under effect of relative humidity and temperature for HV motors

引用

High Voltage 2020年第4期5卷 434-443页

作者： Ailiang Kang Muqin Tian Chuanyang Li Jiancheng Song Simone Vincenzo Suraci Wei Li Lingyan Lin Zhipeng Lei Davide Fabiani Shanxi Key Laboratory of Mining Electrical Equipment and Intelligent Control College of Electrical and Power EngineeringTaiyuan University of TechnologyTaiyuan 030024People's Republic of China Department of Electrical Electronicand Information Engineering‘Guglielmo Marconi’University of BolognaViale Risorgimento 2Bologna 40136Italy

During operation of high voltage(HV)motors,different types of discharges,*** discharge,corona discharge and bar-to-bar discharge can occur at the same time,increasing the difficulty of partial discharge(PD)sources determination and PDs pattern *** this study,the end-winding of a 10 kV motor coil was artificially aged and the related PD was *** initiation and variation of different PDs under multi-factor stresses were *** localised fingerprints coexisting with multiple PDs were identified and *** results confirm that the end-winding discharge process was significantly influenced by the experiment relative humidity(RH)and *** bar-to-bar discharge was easily recognised at a lower voltage since the identification of bar-to-bar discharge pattern would be affected by the corona discharge pattern at a higher *** is shown that it is more difficult for the corona discharge to be detected when RH exceeded 80%,while the surface discharge dominated at the higher *** addition,the PDs were more easily identified with the rise of the *** study can provide a reference in PD identification test and be useful for the PD online monitoring of HV motors.

关键词： temperature difficulty effect

来源：评论

学校读者我要写书评

暂无评论

A Space Crawling Robotic Bio-Paw (Scrbp) Enabled by Triboelectric Sensors for Surface Identification

SSRN

引用

SSRN 2022年

作者： Hou, Xuyan Zhang, Li Gao, Guowei Liu, Yuhui Na, Zhonglai Xu, QingZhang Ding, Tianxiang Li, Long Chen, Tao Research Center of Aerospace Mechanism and Control School of Mechatronics Engineering Harbin Institute of Technology Harbin150080 China Department of MECHANICAL ENGINEERING FACULTY OF ENGINEERING Hong Kong Polytechnic University Hong Kong Shanghai Key Laboratory of Intelligent Manufacturing and Robotics School of Mechatronic Engineering and Automation Shanghai University Shanghai200444 China Jiangsu Provincial Key Laboratory of Advanced Robotics School of Mechanical and Electric Engineering Soochow University Suzhou215123 China

With the rapid development of space crawling robotics technology, tactile perception, a significant source for the robot to sense the external environment, has become the preferred solution to gather information in space. Sensors embedded in the robotic end-effector unit can collect and encode the large tactile data, allowing the robot to feel and perceive the real surroundings. Therefore, a space crawling robotic bio-paw (SCRBP) inspired by a cat paw, which performs as a compliant device and can flat the impulse force during the robot’s contact process to the target surface, is proposed in this paper. Meanwhile, a touch-sensing system embedded on SCRBP with self-powered sensors based on the triboelectric nanogenerator (TENG) technology is proposed which can provide the multi-dimensional sensation information in real time. By combining with machine learning (ML), the sensory system can be used for surface identification from the footfall process to the robot’s controller hub. In conclusion, SCRBP device proposed in this paper has obvious advantages in surface information acquisition, space adaptability, power consumption, cost, reliable signal and minimized data. Accordingly, SCRBP system shows fabulous potential in space robotics. © 2022, The Authors. All rights reserved.

关键词： End effectors

来源：评论

学校读者我要写书评

暂无评论

Augmented System Observer-based Robust Fault-estimation Scheme for Nonlinear Systems

Augmented System Observer-based Robust Fault-estimation Sche...

引用

第40届中国控制会议

作者： Sheng Gao Guangfu Ma Yanning Guo Wei Zhang Department of Control Science and Engineering Harbin Institute of Technology State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences

For the problem of previous fault-estimation studies that the so-called observer-matching condition should be satisfied,as well as the difficulty to estimate actuator and sensor faults simultaneously,an augmented system fault-estimation observer is proposed for a sort of nonlinear systems subject to process and sensor *** essential idea is to construct an augmented system using a filter and to further create an augmented state vector by considering the system states and simultaneous actuator and sensor *** nonlinearity,process,and sensor disturbances and multiple-fault problem of the actuator and sensor are all taken into ***,an augmented observer is designed for the augmented system by attenuating the disturbances and simultaneously estimating the system states and actuator and sensor *** asymptotic stability is confirmed via the Lyapunov stability theory,and the linear matrix inequality optimization technique is further utilized to solve the designed *** simulations of a single-link flexible-joint robot are performed to illustrate the effectiveness of the proposed robust fault-estimation scheme.

关键词： Augmented observer Fault diagnosis Fault estimation Nonlinear system Linear matrix inequality(LMI)

来源：评论

学校读者我要写书评

暂无评论

Global solution to sensor network localization: A non-convex potential game approach and its distributed implementation

arXiv

引用

arXiv 2024年

作者： Xu, Gehui Chen, Guanpu Hong, Yiguang Fidan, Baris Parisini, Thomas Johansson, Karl H. Key Laboratory of Systems and Control Academy of Mathematics and Systems Science Beijing100190 China The Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Sweden Digital Futures StockholmSE-10044 Sweden Department of Control Science and Engineering Tongji University Shanghai201804 China Shanghai Research Institute for Intelligent Autonomous Systems Shanghai201210 China The Department of Mechanical and Mechatronics Engineering University of Waterloo WaterlooONN2L 3G1 Canada The Department of Electrical and Electronic Engineering Imperial College London LondonSW7 2AZ United Kingdom The Department of Engineering and Architecture University of Trieste Trieste34127 Italy

Consider a sensor network consisting of both anchor and non-anchor nodes. We address the following sensor network localization (SNL) problem: given the physical locations of anchor nodes and relative measurements among all nodes, determine the locations of all non-anchor nodes. The solution to the SNL problem is challenging due to its inherent non-convexity. In this paper, the problem takes on the form of a multi-player nonconvex potential game in which canonical duality theory is used to define a complementary dual potential function. After showing the Nash equilibrium (NE) correspondent to the SNL solution, we provide a necessary and sufficient condition for a stationary point to coincide with the NE. An algorithm is proposed_ to reach the NE and shown to have convergence rate O(1/√k). With the aim of reducing the information exchange within a network, a distributed algorithm for NE seeking is implemented and its global convergence analysis is provided. Extensive simulations show the validity and effectiveness of the proposed approach to solve the SNL problem. Copyright © 2024, The Authors. All rights reserved.

关键词： Game theory

来源：评论

学校读者我要写书评

暂无评论

Geometric Parameterized Macromodel of Uniaxial Capacitance Accelerometer Based on Modal Superposition

Geometric Parameterized Macromodel of Uniaxial Capacitance A...

引用

International Conference on Actual Problems of electronic Instrument engineering (APEIE)

作者： Aleksandr V. Gridchin Aleksei N. Koleda Evgenii S. Barbin Tamara G. Nesterenko Vladimir A. Kolchuzhin Department of Semiconductor Devices and Microelectronics Novosibirsk State Technical University Novosibirsk Russia Department of Electronic Engineering National Research Tomsk Polytechnic University Tomsk Russia Laboratory of Intelligent Computer Systems Tomsk State University of Control Systems and Radioelectronics Tomsk Russia Advanced Cellular Group Qorvo Munich GmbH Munich Germany

The paper presents a piecewise geometric parameterization method and a parametric analysis of uniaxial capacitance accelerometer using a reduced model formulated on the modal superposition method. The extraction of parameters for the macromodel such as modal frequencies, modal masses, modal stiffnesses, strain energy, and capacitances are described. The reduced model consists of the two modes: torsion mode, and transversal mode, three electrodes in the electrostatic domain, and eight master nodes in the geometrical domain located at the edges of the plate. The generation of the discrete macromodels is executed using commercial software. The thickness of the plate has been selected as a design parameter. Linear piecewise interpolation is used for macromodel parameterization which have been done inside VHDL-AMS code. The accelerometer’s dynamic response simulated using of parametrized macromodel considering the mechanical contact phenomena and the nonlinear electrostatic interaction are presented and discussed. The developed approach can be applied for fast system level simulations in view of the variation of the geometric parameters.

关键词：

来源：评论

学校读者我要写书评

暂无评论

A Haptic Exploration and Surface Classification of Objects with Four Typical Surface Properties

A Haptic Exploration and Surface Classification of Objects w...

引用

International Conference on Advanced robotics and Mechatronics (ICARM)

作者： Peng Qi Yunfeng Wu Tianliang Yao Bo Lu Yi Sun Jian S. Dai Department of Control Science and Engineering College of Electronics and Information Engineering Tongji University Shanghai P. R. China Robotics and Microsystems Center School of Mechanical and Electric Engineering Soochow University Suzhou Jiangsu China Laboratory of Intelligent Systems Ecole Polytechnique Federale de Lausanne Lausanne Switzerland Department of Mechanical and Energy Engineering College of Engineering Southern University of Science and Technology Shenzhen P. R. China School of Natural Mathematical and Engineering Sciences King's College London

To effectively interact with the physical world, an intelligent robot is required to have the ability to obtain the detailed features of an unknown object. Visual devices are commonly used to detect the global geometry of an object; however, detailed information such as surface properties cannot be identified using these devices. The current study proposes an efficient haptic exploration method to recognize the physical properties of surfaces using an intelligent fingertip. Our surface-following algorithm utilizes the normal force vector and the tangential force vector at the contact point between the fingertip and the target object to predict the moving direction and implement the surface exploration. And a correction index $K$ is introduced to adjust the sliding velocity. The algorithm is proved to be robust and high performance both in simulation and lab experiments. Finally, we propose and explore a haptic prediction neural network, which enables our robot to have an accurate feel through physical interaction. In the classification experiment of four types of objects with different surface properties, the average accuracy of the proposed model is 90.2%.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Resource-Efficient Direct Characterization of General Density Matrix

引用

Physical Review Letters 2024年第3期132卷 030201-030201页

作者： Liang Xu Mingti Zhou Runxia Tao Zhipeng Zhong Ben Wang Zhiyong Cao Hongkuan Xia Qianyi Wang Hao Zhan Aonan Zhang Shang Yu Nanyang Xu Ying Dong Changliang Ren Lijian Zhang College of Metrology & Measurement Engineering China Jiliang University Hangzhou 310018 China National Laboratory of Solid State Microstructures Key Laboratory of Intelligent Optical Sensing and Manipulation College of Engineering and Applied Sciences and Collaborative Innovation Center of Advanced Microstructures Nanjing University Nanjing 210093 China Research Center for Quantum Sensing Zhejiang Lab Hangzhou 310000 China School of Electronic Control Chang’an University Xi’an 710064 China Quantum Optics and Laser Science Blackett Laboratory Imperial College London Prince Consort Road London SW7 2AZ United Kingdom Key Laboratory of Low-Dimensional Quantum Structures and Quantum Control of Ministry of Education Key Laboratory for Matter Microstructure and Function of Hunan Province Department of Physics and Synergetic Innovation Center for Quantum Effects and Applications Hunan Normal University Changsha 410081 China

Sequential weak measurements allow for the direct extraction of individual density-matrix elements, rather than relying on global reconstruction of the entire density matrix, which opens a new avenue for the characterization of quantum systems. Nevertheless, extending the sequential scheme to multiqudit quantum systems is challenging due to the requirement of multiple coupling processes for each qudit and the lack of appropriate precision evaluation. To address these issues, we propose a resource-efficient scheme (RES) that directly characterizes the density matrix of general multiqudit systems while optimizing measurements and establishing a feasible estimation analysis. In the RES, an efficient observable of the quantum system is constructed such that a single meter state coupled to each qudit is sufficient to extract the corresponding density-matrix element. An appropriate model based on the statistical distribution of errors is utilized to evaluate the precision and feasibility of the scheme. We have experimentally applied the RES to the direct characterization of general single-photon qutrit states and two-photon entangled states. The results show that the RES outperforms sequential schemes in terms of efficiency and precision in both weak- and strong-coupling scenarios. This Letter sheds new light on the practical characterization of large-scale quantum systems and the investigation of their nonclassical properties.

关键词： Optical quantum information processing Quantum foundations Quantum measurements Quantum tomography Weak values & weak measurements Weak measurements

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：