The objective of this study is to compare the interfaces of two FURS (Flexible Ureterorenoscopy) robotic operation consoles across generations. Analyzing functional requirements during surgery, the first-generation in...
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In this paper,we investigate multi-agent systems with heterogeneous constraints,which can represent the heuristic beliefs of the agents towards an issue or the physical constraints of the *** typical example is a grou...
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ISBN:
(数字)9789887581536
ISBN:
(纸本)9781665482561
In this paper,we investigate multi-agent systems with heterogeneous constraints,which can represent the heuristic beliefs of the agents towards an issue or the physical constraints of the *** typical example is a group of interacting unmanned aerial vehicles in a complex environment with multiple physical *** a result of the heterogeneity of the constraints,an equilibrium point may not exist and is presumably to be a dissensus point when it *** investigate the existence of equilibrium points from the perspective of Kakutani's fixed point theory for a set-valued *** also prove the local/global stability of certain equilibrium ***,a special case that the constraints are homogeneous is taken into *** constrains are assumed to take interval forms with nonempty *** is proved that consensus can be achieved globally and asymptotically for this *** examples are designed to illustrate our theoretical findings.
In this paper, a visual servo stabilization approach consisting in a dynamic switching control law for a nonholonomic mobile robot is presented, which applies the epipolar geometry and the 1D trifocal tensor to drive ...
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In this paper, a visual servo stabilization approach consisting in a dynamic switching control law for a nonholonomic mobile robot is presented, which applies the epipolar geometry and the 1D trifocal tensor to drive the robot to a desired configuration. The whole motion process is divided into three steps. Firstly, an epipole-based control law is designed to make the robot rotate in place until the camera points to the desired position. The 1D trifocal tensor is then used in the second translation step to reach the desired place. Finally, the desired configuration is reached through a pure rotation using the epipolar geometry. The stability of the proposed control system is proved based on linear system control theory and Lyapunov theory. Simulation results are given to illustrate the effectiveness of the proposed controller.
In this paper, a modified and hybrid flower pollination algorithms (MHFPA) is proposed for dealing with the multi-objective optimal power flow (MOOPF) problem with conflictive objectives. The algorithm combines the mu...
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Since the application of target detection in convolutional neural networks is becoming more and more widespread, and the computational volume is increasing, the complexity of the network hierarchy and the memory requi...
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The control of multi-robot systems, particularly in the pursuit-evasion (PE) with multiple robots, has gained significant attention in both academic and non-academic settings. However, the collaborative operation of m...
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At present, most CT scanning systems adopt the traditional horizontal O-frame, suspension or C-arm structures, which can not balance the flexibility and functionality. With the development of robot technology, CT scan...
At present, most CT scanning systems adopt the traditional horizontal O-frame, suspension or C-arm structures, which can not balance the flexibility and functionality. With the development of robot technology, CT scanning systems based on manipulators have gradually emerged. However, limited by the motion accuracy of the manipulator, most researchers sacrifice the flexibility or increase the mass to improve the accuracy. To overcome this limitation, a new master-slave teaching-based scanning method is proposed to improve the scanning accuracy of the dual-manipulator Robot-CT system with the auxiliary function of rigid links. First, a rigid link is employed to connect the end effectors of the two manipulators. Next, the sampled trajectory of each joint of the slave-manipulator is recorded while the master-manipulator pulls the slave-manipulator to perform a circular motion. Finally, when carrying out the scanning, the dual-manilupator system reproduces the recorded joint trajectory without the rigid element, thereby improving the accuracy of the dual-manipulator CT scanning system to achieve a high-accuracy spatiotemporal synchronization and alignment of pose. To this end, a fifth-order spline interpolation is used to interpolate the sampled trajectory of each joint of the slave-manipulator, which allows it to perfectly reproduce the joint trajectory recorded during the teaching process and ensures the smoothness of the angular velocity and acceleration curves. Simulations are investigated and the corresponding results confirm the effectiveness of the trajectory planning method of the slave-manipulator.
At present, various target detection algorithms are used in detection and classification. It is a problem to improve the accuracy and speed of target detection by using deep learning and neural network model to train ...
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Considering the high energy consumption problem in the wastewater treatment process, this paper proposes a multi-objective optimization control scheme based on NSGA-II algorithm. The proposed scheme can not only ensur...
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In motor drive systems, voltage source inverter (VSI) nonlinearity will produce voltage error, cause current harmonics, and affect the control performance. Among the VSI nonlinearity factors, the parasitic capacitance...
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ISBN:
(数字)9798350394085
ISBN:
(纸本)9798350394092
In motor drive systems, voltage source inverter (VSI) nonlinearity will produce voltage error, cause current harmonics, and affect the control performance. Among the VSI nonlinearity factors, the parasitic capacitance is the fundamental cause of the nonlinear relationship between voltage error and phase current. If the parameter inconsistency of the upper and lower bridge arm is not considered, the voltage error is an odd function. However, in practical applications, the parameters of the upper and lower bridge arms are usually slightly different, and the voltage error will no longer be an odd function. Considering the influence of parameter inconsistency, this article proposes an accurate look-up table (LUT) based method for VSI nonlinearity compensation. By injecting positive staircase current and negative staircase current separately in self-commissioning process, an accurate voltage error LUT is obtained through numerical fitting methods. The proposed method does not require any parameter of power devices. Experimental results verify the effectiveness of the proposed method.
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