With increasingly challenging applications for quadrotors, higher requirements are emerging for tracking accuracy and safety. While high accuracy is a prerequisite for complex tasks, safety is ensured through toleranc...
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Multi-axis robotic arms are extensively utilized in intelligent manufacturing scenarios, with trajectory control in flexible scenarios constituting a primary challenge. Physics-Informed Neural Networks (PINNs) represe...
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ISBN:
(数字)9798350368604
ISBN:
(纸本)9798350368611
Multi-axis robotic arms are extensively utilized in intelligent manufacturing scenarios, with trajectory control in flexible scenarios constituting a primary challenge. Physics-Informed Neural Networks (PINNs) represent advanced methods that integrate physical laws with data-driven approaches. Despite their outstanding performance in integrating theory and data, research on their application for controlling robotic arms in complex scenarios remains limited. This paper establishes a nonlinear dynamic model based on the physical relationships between the axes of robotic arms. In the absence of prior data, Sobol sequence random sampling is employed to generate data, which are subsequently trained using PINNs. Considering system noise, the Extended Kalman Filter (EKF) is utilized to predict the next state in noisy environments, and Nonlinear Model Predictive control (NMPC) is implemented to control the robotic arm for trajectory tracking, achieving real-time control. Simulation results demonstrate that the proposed Discrete Physics-Informed Predictive control (DPIPC) method exhibits smaller position and velocity errors with less fluctuation compared to the method in the reference, indicating superior control capabilities.
Microrobots can work in small, enclosed spaces and complete complex tasks. It has potential applications in the field of biomedical and life sciences. This paper focuses on investigating robust dynamic tracking for el...
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In this paper we extend our previous research on coherent observer-based pole placement approach to study the synthesis of robust decoherence-free (DF) modes for linear quantum passive systems, which is aimed at prese...
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Dynamic subarrays (DSs) is an energy-efficient and cost-effective hybrid beamforming structure for millimeter wave (mmWave) multiple-input multiple-output (MIMO) communications. In this paper, we investigate the nonco...
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This paper presents a novel magnetic-field-assisted LCD stereolithography technique for fabricating centipede-inspired magnetic soft robots. Unlike previous DLP-based methods, our approach leverages Liquid Crystal Dis...
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ISBN:
(数字)9798331509644
ISBN:
(纸本)9798331509651
This paper presents a novel magnetic-field-assisted LCD stereolithography technique for fabricating centipede-inspired magnetic soft robots. Unlike previous DLP-based methods, our approach leverages Liquid Crystal Display (LCD) technology, offering a simpler optical path, comparable resolution, and cost-effectiveness. The method integrates LCD photo-polymerization with a permanent magnet orienting system possessing 5-DOF in motion, enabling precise control over the direction of magnetization patterns during manufacturing. We demonstrate the technique by designing and fabricating a biomimetic centipede robot with programmable deformation capabilities. Finite element analysis was used to simulate the robot's deformation behavior, which was subsequently validated through experimental locomotion tests. The fabricated robot exhibited complex deformation and efficient locomotion in response to external magnetic fields. This approach advances the creation of intricate magnetic arrangements for planar soft robots, potentially expanding their application in fields such as biomedicine and microfluidics. The proposed method provides a new pathway for manufacturing biologically inspired magnetic soft robots with complex programmable behaviors.
Inchworm-like robots have shown promise in achieving multimodal movements, yet the integration of un-tethered locomotion and manipulation capabilities remains a persistent challenge in soft robotics. This paper presen...
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ISBN:
(数字)9798331509644
ISBN:
(纸本)9798331509651
Inchworm-like robots have shown promise in achieving multimodal movements, yet the integration of un-tethered locomotion and manipulation capabilities remains a persistent challenge in soft robotics. This paper presents a novel soft robot that addresses this challenge through an anisotropic magnetization distribution, achieved via 3D printing, enabling precise control over its three-dimensional structure and magnetic properties. This unique design allows for magnetic field-controlled locomotion with asymmetric time-varying postures, achieving a maximum stride length of 9.2 mm under an 80 mT field. The robot employs active friction manipulation between its feet, enabling an inchworm-like gait with alternating forefoot and rearfoot fixation. Additionally, the specific magnetization design permits independent control of grippers under the same magnetic field, facilitating complex manipulation tasks. The robot's potential in biomedical applications is demonstrated through a multi-region targeted drug delivery experiment. This integrated locomotion and manipulation platform shows promise for applications in confined spaces and represents a step forward in expanding the capabilities of soft robots for potential medical and industrial tasks.
Research has indicated that exoskeletons can assist human movement, but due to the influence of additional weight and challenges in control strategy design, only a few exoskeletons effectively reduce the wearers’ met...
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ISBN:
(数字)9798350377705
ISBN:
(纸本)9798350377712
Research has indicated that exoskeletons can assist human movement, but due to the influence of additional weight and challenges in control strategy design, only a few exoskeletons effectively reduce the wearers’ metabolic costs during running. This paper proposes an innovative and efficient hip-assisted running exoskeleton (HARE) designed to facilitate the flexion and extension movements of the joint along the sagittal plane. In the field of structural engineering, we propose implementing an active-passive combination constant force suspension system, hereinafter referred to as CFS, to effectively mitigate the impact of inertial forces during running. The decoupled transmission mechanism allows the CFS and assist mechanisms to operate independently, ensuring the tension of the cables. The flexible structural design can reduce the locomotion limitation on human bodies and reduce the additional energy burden on the body. In control strategy designing, the joint torque-generating strategy provides personalized assistance strategies for wearers to actively optimize the control parameters. Meanwhile, the safety control strategy based on abnormal gait recognition can ensure human safety. Experiments have shown that compared to not wearing exoskeletons, this device can reduce the energy consumption of the human body by 5.33 % at a speed of 9 km/h. This demonstrates its potential in human motion assistance processes.
Preference-based optimizing methods have shown their advantages and potential in exploring individual, comfortable, and effective control strategies and assistance parameters of exoskeletons during locomotion. Researc...
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ISBN:
(数字)9798350384574
ISBN:
(纸本)9798350384581
Preference-based optimizing methods have shown their advantages and potential in exploring individual, comfortable, and effective control strategies and assistance parameters of exoskeletons during locomotion. Research indicates that compared with naive wearers, knowledgeable wearers with abundant exoskeleton assistance experience have obvious advantages in speeding up the parameters exploration process and improving the assistant performance. However, there is no existing method that could utilize the human-exoskeleton locomotion interaction experience (HELIE) to assist naive wearers during the exploration process. In this work, we propose a novel preference-based human-exoskeleton locomotion interaction experience transfer (LIET) framework, which could speed up the exploration of human-preferred parameters and acquire more satisfying results for naive wearers via the HELIE acquired from knowledgeable wearers. In addition, based on the proposed LIET framework, we establish the mathematical expression of the HELIE transfer during exoskeleton assistance. This will promote the research that concerns utilizing HELIE for exoskeleton control parameters optimizations in the future. Finally, experiments demonstrate the proposed LIET framework could speed up the exploration process and acquire more satisfying optimized results for naive wearers.
The protocol Powerlink which is one of real-time Ethernet protocols included in the Standard IEC FDIS61784-2, has been widely used for the communication of both IO devices in industrial fields and drives for motor con...
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