If a concatenated Friedkin-Johnsen model is used to describe the evolution of the opinions of stubborn agents in a sequence of discussion events, then the social power achieved by the agents at the end of the discussi...
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ISBN:
(数字)9781665467612
ISBN:
(纸本)9781665467629
If a concatenated Friedkin-Johnsen model is used to describe the evolution of the opinions of stubborn agents in a sequence of discussion events, then the social power achieved by the agents at the end of the discussions depends from the stubbornness coefficients adopted by the agents through the sequence of events. In this paper we assume that the agents are free to choose their stubbornness profiles, and ask ourselves what strategy should an agent follow in order to maximize its social power. Formulating the problem as a strategic game, we show that choosing the highest possible values of stubbornness in the early discussions leads to the highest possible social power.
Complete compliance of soft robots is a trending research topic. One significant aspect is the control element. In the current work, a flexible electro-rheological (ER) valve development is chosen due to the advantage...
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Bio-inspired robots, e.g., soft continuum robots, have broad application prospects due to their structural dexterity and interaction safety. But these features also bring great challenges to the precise control of sof...
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ISBN:
(纸本)9781665442084
Bio-inspired robots, e.g., soft continuum robots, have broad application prospects due to their structural dexterity and interaction safety. But these features also bring great challenges to the precise control of soft continuum robots. In this work, we investigate how to achieve the kinematic control of soft continuum robots without knowing model parameters of the robots. To this end, a model-free scheme based on varying-parameter recurrent neural networks (VP-RNN) is proposed. The scheme involves two components, one of which solves the inverse kinematics problem based on a VP-RNN model, and the other employs another VP-RNN model to estimate the pseudo-inverse of Jacobian matrix of continuum robots. Finally, the feasibility and robustness of the proposed control strategy are validated by simulations, including comparisons with other methods and case study with jammed actuation.
The size of the tracking error is one of the important indicators to measure the control system of the X-Y Precision Planar Motion Platform. Iterative learning control (ILC) can obtain higher tracking accuracy through...
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Autonomous motion planning is challenging in multi-obstacle environments due to nonconvex collision avoidance constraints. Directly applying numerical solvers to these nonconvex formulations fails to exploit the const...
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Precise calibration is the basis for the vision-guided robot system to achieve high-precision operations. systems with multiple eyes (cameras) and multiple hands (robots) are particularly sensitive to calibration erro...
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The prosthetic socket serves as an interface between the body and the machine. If the socket is not well-fitted to the residual limb, pain can occur. The shape of the residual limb changes over time as surgical scars ...
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ISBN:
(数字)9798350388039
ISBN:
(纸本)9798350388046
The prosthetic socket serves as an interface between the body and the machine. If the socket is not well-fitted to the residual limb, pain can occur. The shape of the residual limb changes over time as surgical scars stabilize or the patient’s body weight fluctuates. A socket with a cutout on the side can be tightened from the outside to adjust its circumference and accommodate these changes. However, when the circumference of the rigid socket is adjusted to fit, soft skin can become trapped due to friction between the skin and the socket. This phenomenon causes pain due to pinching. Consequently, this mechanism cannot be used for myoelectric prosthetic hands, where direct contact between the socket and the skin is necessary. In this study, we developed a socket with a variable circumference that suppresses skin pinching. We applied it to participants with different residual limb shapes. A Box and Block Test (BBT) was performed using two types of sockets. The first used a conventional socket designed to fit their residual limb shape. The second used the proposed socket, which was designed to fit the residual limb’s shape of one out of two participants and adapted to the residual limb’s changing shape. The results of the BBT showed not much difference in the number of blocks moved between the conventional socket and the proposed socket. Therefore, the performance of the proposed socket was comparable to that of conventional sockets and could be applied to different residual limbs. In other words, the proposed socket was shown to adapt to changes in the residual limb without causing pain. Sockets with the proposed functionality could be used in a variety of bio-interfaces, allowing for flexible connections between the body and machines.
In the past two decades, with growing focus of lower limb exoskeleton, large variety of rigid exoskeletons were designed for medical rehabilitation and the other purposes. Compared with the rigid exoskeletons, which a...
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Multiple microphone arrays have many applications in robot audition, including sound source localization, audio scene perception and analysis, etc. However, accurate calibration of multiple microphone arrays remains a...
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Due to the vulnerability of the voice coil motor(VCM) servo system to uncertain elements such as external disturbance,nonlinear friction,and inherent end impact,a dynamic model of the linear servo motor motion system ...
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ISBN:
(纸本)9781665478977
Due to the vulnerability of the voice coil motor(VCM) servo system to uncertain elements such as external disturbance,nonlinear friction,and inherent end impact,a dynamic model of the linear servo motor motion system with uncertainty is *** complementary sliding mode variable structure controller(CSMC) is built on the basis of the standard sliding mode control by merging the generalized sliding mode surface with the complimentary sliding mode *** study demonstrates that this controller can ensure the system's tracking error converges,suppresses uncertain factors,increases the system's transient reaction speed,and successfully reduces tracking ***,the saturation function is chosen as the switching function,which mitigates the sliding mode control chattering *** total interference is defined as the unmeasured and unknown interference in the mathematical model of the *** system's position and total disturbance are estimated using the nonlinear extended state observer(ESO).The estimated total disturbance is then feed-forward corrected to the control *** a result,a nonlinear extended state observer-based closed-loop complementary sliding mode position control technique is ***,the system experiment demonstrates the effectiveness and feasibility of the suggested control *** complimentary sliding mode control system with state observer offers a high degree of tracking accuracy and robustness,which considerably minimizes the system's tracking error.
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