Soft robotics has significantly impacted many fields in the last decades. However, their current fabrication methodologies are limited by the assemble complexity, limited materials, or long duration. A monolithic ther...
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In the era of artificial intelligence generated content (AIGC), conditional multimodal synthesis technologies (e.g., text-to-image) are dynamically reshaping the natural content. Brain signals, serving as potential re...
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Various training-based spatial filtering methods have been proposed to classify steady-state visual evoked potential (SSVEP)-based brain-computer interfaces (BCIs). However, many overlook the temporal instability of S...
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Laplacian dynamics on signed digraphs have a richer behavior than those on nonnegative digraphs. In particular, for the so-called 'repelling' signed Laplacians, the marginal stability property (needed to achie...
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Disturbances can significantly impact the dynamic performance and stability of a system, making them a key focus in stability analysis. However, direct measurement of disturbances is often challenging due to technolog...
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Disturbances can significantly impact the dynamic performance and stability of a system, making them a key focus in stability analysis. However, direct measurement of disturbances is often challenging due to technological and cost limitations. These disturbances introduce uncertainties that complicate multi-agent coordination, particularly in formation control tasks. Consequently, designing effective control strategies for multi-agent systems becomes both challenging and crucial. This paper addresses the affine transformation formation control problem of multi-agent systems in the presence of unknown disturbances. We begin by using a state-space model to describe agent dynamics and employing an unknown input observer to estimate both the state and the unknown disturbances. Based on these estimates, we redesign the control law to ensure that tracking errors converge to an adjustable residual set. This distributed control approach allows agents to operate without global information, thereby reducing communication requirements. Finally, a simulation example demonstrates the feasibility and effectiveness of the proposed control law.
Improving the energy efficiency of heating systems is of great significance in building energy saving. This paper investigates a time-average total cost minimization problem of heat pump systems. Firstly, heat pump sy...
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Water-air trans-media navigators have multi-media motion modes, breaking through the limitation that traditional robots can only operate in a single medium. Autonomous navigation is an indispensable component of the p...
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Pneumatic soft robots have garnered widespread attention for their flexibility and adaptability in various applications. However, existing soft robots generally struggle to effectively navigate diverse terrains, espec...
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ISBN:
(数字)9798331509644
ISBN:
(纸本)9798331509651
Pneumatic soft robots have garnered widespread attention for their flexibility and adaptability in various applications. However, existing soft robots generally struggle to effectively navigate diverse terrains, especially when it comes to climbing obstacles. This paper introduces an adaptive pneumatic soft robot designed based on snake-like locomotion, which effectively addresses this issue. The robot utilizes four corrugated tubes as its soft actuators, complemented by silicone-made feet with bidirectional friction anisotropy, enabling it to adapt to various terrains and exhibit climbing capabilities. Experiments demonstrate that the robot can traverse different surfaces such as sand, gravel, and slopes, and can climb obstacles up to 20 centimeters high. Additionally, it features a self-regulation mechanism that allows it to recover from accidental overturns. This study presents a soft robot design with multi-terrain adaptability and self-recovery capabilities.
Low probability of detection underwater acoustic communications are required for command and control of mobile underwater platforms performing covert missions. To deal with multipath and increase the signal-to-noise r...
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ISBN:
(数字)9781665474610
ISBN:
(纸本)9781665474627
Low probability of detection underwater acoustic communications are required for command and control of mobile underwater platforms performing covert missions. To deal with multipath and increase the signal-to-noise ratio (SNR) at the receiver, this paper presents a study on the low probability of detection communications using a single vector sensor. Compact in size, vector sensors (VS) are suitable for autonomous underwater vehicles, measuring both acoustic pressure and particle velocity, and therefore providing diversity gain. As part of the multidisciplinary EMSO-PT project, an experiment took place off the coast of Algarve/Portugal on Nov 24th, 2021. A single 2D VS was posed on the bottom. Broadband signals were transmitted from several positions, varying both the source-receiver range and the direction of arrival. Recorded noise was added to the signals to reduce the SNR from 0 to -10dB. A superimposed training passive time-reversal approach was employed for equalization. Coherent communication performance was evaluated. Results show that VS multichannel combining may provide an average SNR and mean squared-error gain of up to 9.4 and 3.1 dB, respectively, compared to the pressure channel.
This study shows the underwater communication performance using an acoustic pressure-gradient vector sensor. Combining the estimated particle velocity channels with the acoustic pressure results in a cardioid-like bea...
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ISBN:
(数字)9781665474610
ISBN:
(纸本)9781665474627
This study shows the underwater communication performance using an acoustic pressure-gradient vector sensor. Combining the estimated particle velocity channels with the acoustic pressure results in a cardioid-like beam steered output, which is used to improve the signal-to-noise ratio. A shallow-water field experiment was carried out using a single vector sensor as a receiver and a ship-suspended sound source, transmitting the frequency-hopped JANUS modulated signal at several ranges and directions. Bit error rate analysis demonstrates how performance can be enhanced through vector sensor channel combining. Firstly, by relating the error with beam pattern varying the azimuth steering angle. Second, by relating the error with transmitting stations, where individual channels of the vector sensor can be compared. Besides such findings, this study also presents tools for better understanding the directional characteristic, such as the design factor to combine the particle velocity to the pressure sensor and azigrams. Finally, results show that the JANUS bit error rate can be reduced up to five percent by combining the vector sensor components compared to the pressure sensor.
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