The low manufacturing cost and fast response speed of pneumatic actuators have attracted widespread attention from researchers in the field of soft robotics. Biomimetic design, as one of the mainstream design concepts...
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ISBN:
(数字)9798331544577
ISBN:
(纸本)9798331544584
The low manufacturing cost and fast response speed of pneumatic actuators have attracted widespread attention from researchers in the field of soft robotics. Biomimetic design, as one of the mainstream design concepts of pneumatic actuators, has provided researchers with a source of inspiration. Most existing actuators are based on biomimetic design. In this paper, a pneumatic soft actuator with a biomimetic worm-like design for crawling robots is proposed. This actuator is composed of multiple mesh-like air chambers, and its main parameters are optimized through finite element analysis, enabling it to perform various complex movements. Moreover, in most existing pneumatic actuators, the air source is supplied by air pumps, while the designed actuator in this paper is powered by chemical reactions. By controlling the types and ratios of raw materials, different chemical reactions occur, leading to periodic inhalation and exhalation, allowing the actuator to perform repetitive movements as intended. This driving method can effectively combine with the mechanical motion of the crawling robot, enhancing the autonomy and environmental adaptability of soft robots.
Lidar and cameras serve as essential sensors for automated vehicles and intelligent robots, and they are frequently fused in complicated tasks. Precise extrinsic calibration is the prerequisite of Lidar-camera fusion....
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In sequential recommender systems,the main problems are the long-tailed distribution of data and noise interference.A Contrastive Framework for Sequential Recommendation(CFSeRec) is proposed to solve these two problem...
In sequential recommender systems,the main problems are the long-tailed distribution of data and noise interference.A Contrastive Framework for Sequential Recommendation(CFSeRec) is proposed to solve these two problems *** shuffling and adversarial attack data augmentation methods are used in the framework to improve the quality and quantity of training data,so that the long-tailed problem is *** the application of projection head method,the sequence representation becomes more general and robust,rather than just adapted to the task of contrastive ***,the impact of noise on sequence recommender systems is effectively *** on four public datasets show that CFSeRec achieves state-of-the-art performance in the metrics of hit ratio and normalized discounted cumulative gain,when comparing to the seven previous frameworks.
Autonomous driving heavily relies on LiDAR and camera sensors, which can significantly improve the performance of perception and navigation tasks when fused together. The success of this cross-modality fusion hinges o...
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With the aim of 2-AMT electric vehicles,a comprehensive shift schedule that considers both power and economy is ***,the objective function of the comprehensive shift schedule is constructed,which is the weighted sum o...
With the aim of 2-AMT electric vehicles,a comprehensive shift schedule that considers both power and economy is ***,the objective function of the comprehensive shift schedule is constructed,which is the weighted sum of vehicle acceleration time and vehicle power consumption per unit ***,Sparrow Search Algorithm is used to solve the objective function and obtain the comprehensive shift ***,AVL Cruise simulation software is used to simulate vehicle dynamics and economy under an *** results show that the comprehensive shift schedule is similar to the optimal power shift schedule in terms of dynamic performance,and the economy is optimized by 3%.The feasibility of the comprehensive shift schedule is verified.
A high-reliability constant current to constant voltage power supply system has the advantages of small volume of switching power supply, high power density, high efficiency was proposed. This paper use two controller...
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In this paper, a nonsmooth observer considering friction compensation is proposed for the sensorless permanent magnet synchronous motor (PMSM) to estimate the rotor position and speed. Friction is one of the main fact...
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This paper is concerned with the controller design and the theoretical analysis for time-delay systems,a two degree of freedom(feedforward and feedback) control method is proposed,which combines advantages of the Smit...
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This paper is concerned with the controller design and the theoretical analysis for time-delay systems,a two degree of freedom(feedforward and feedback) control method is proposed,which combines advantages of the Smith predictor and the active disturbance rejection control(ADRC).The feedforward part of controller is used to track the set point,the feedback part of controller(ADRC) is used to suppress interferences and the Smith predictor is used to correct time *** proposed control design is easy to tune parameters and has been proved to effectively controlsystems with large time *** bounded input bounded output(BIBO) stability of closed-loop system is ***,numerical simulations show the effectiveness and practicality of the proposed design.
Small object detection in the cigarette detection field is a recent popular task. As cigarette targets in surveillance are tiny, the object scale leads to a great challenge of object detection. To solve the issue ment...
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Intelligent vehicles can effectively improve traffic congestion and road traffic *** cruise followingcontrol(ACFC)is a vital part of intelligent *** this paper,a new hierarchical vehicle-following control strategy is ...
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Intelligent vehicles can effectively improve traffic congestion and road traffic *** cruise followingcontrol(ACFC)is a vital part of intelligent *** this paper,a new hierarchical vehicle-following control strategy is presented by synthesizing the variable time headway model,type-2 fuzzy control,feedforward+fuzzy proportion integration(PI)feedback(F+FPIF)control,and inverse longitudinal dynamics model of ***,a traditional variable time headway model is improved considering the acceleration of the lead ***,an interval type-2 fuzzy logic controller(IT2 FLC)is designed for the upper structure of the ACFC system to simulate the driver's operating *** reduce the nonlinear influence and improve the tracking accuracy for the desired acceleration,the control strategy of F+FPIF is given for the lower control ***,the lower control method proposed in this paper is compared with the fuzzy PI control and the traditional method(no lower controller for tracking desired acceleration)***,the proportion integration differentiation(PID),linear quadratic regulator(LQR),subsection function control(SFC)and type-1 fuzzy logic control(T1 FLC)are respectively compared with the IT2 FLC in control performance under different ***,the simulation results show the effectiveness of IT2 FLC for the upper structure and F+FPIF control for the lower structure.
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