This paper presents normalizing flows for incremental smoothing and mapping (NF-iSAM), a novel algorithm for inferring the full posterior distribution in SLAM problems with nonlinear measurement models and non-Gaussia...
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Immersion, interaction, and imagination are three features of virtual reality (VR). Existing VR systems possess fairly realistic visual and auditory feedbacks, and however, are poor with haptic feedback, by means of w...
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Immersion, interaction, and imagination are three features of virtual reality (VR). Existing VR systems possess fairly realistic visual and auditory feedbacks, and however, are poor with haptic feedback, by means of which human can perceive the physical world via abundant haptic properties. Haptic display is an interface aiming to enable bilateral signal communications between human and computer, and thus to greatly enhance the immersion and interaction of VR systems. This paper surveys the paradigm shift of haptic display occurred in the past 30 years, which is classified into three stages, including desktop haptics, surface haptics, and wearable haptics. The driving forces, key technologies and typical applications in each stage are critically reviewed. Toward the future high-fidelity VR interaction, research challenges are highlighted concerning handheld haptic device, multimodal haptic device, and high fidelity haptic rendering. In the end, the importance of understanding human haptic perception for designing effective haptic devices is addressed.
Robot networks are susceptible to fail under the presence of malicious or defective robots. Resilient networks in the literature require high connectivity and large communication ranges, leading to high energy consump...
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ISBN:
(数字)9781728173955
ISBN:
(纸本)9781728173962
Robot networks are susceptible to fail under the presence of malicious or defective robots. Resilient networks in the literature require high connectivity and large communication ranges, leading to high energy consumption in the communication network. This paper presents robot formations with guaranteed resiliency that use smaller communication ranges than previous results in the literature. The formations can be built on triangular and square lattices in the plane, and cubic lattices in the three-dimensional space. We support our theoretical framework with simulations.
Multicolor super-resolution imaging remains an intractable challenge for both far-field and near-field based super-resolution techniques. Planar super-oscillatory lens (SOL), a far-field subwavelength-focusing diffrac...
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Variable impedance control is advantageous for physical human-robot interaction to improve safety, adaptability and many other aspects. This paper presents a gain-scheduled variable stiffness control approach under st...
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Surgical instrument segmentation in robot-assisted surgery (RAS) - especially that using learning-based models - relies on the assumption that training and testing videos are sampled from the same domain. However, it ...
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In this paper, we study graphical conditions for structural controllability and accessibility of drifted bilinear systems over Lie groups. We consider a bilinear control system with drift and controlled terms that evo...
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ISBN:
(纸本)9781665436601
In this paper, we study graphical conditions for structural controllability and accessibility of drifted bilinear systems over Lie groups. We consider a bilinear control system with drift and controlled terms that evolves over the special orthogonal group and the special unitary group. Zero patterns are prescribed for the drift and controlled dynamics with respect to a set of base elements in the corresponding Lie algebra. The drift dynamics must respect a rigid zero- pattern in the sense that the drift takes values as a linear combination of base elements with strictly non-zero coefficients; the controlled dynamics are allowed to follow a free zero pattern with potentially zero coefficients in the configuration of the controlled term by linear combination of the controlled base elements. First of all, for such bilinear systems over the special orthogonal group, the zero patterns are shown to be associated with two undirected graphs whose connectivity and connected components ensure structural controllability. Next, for bilinear systems over the special unitary group, we introduce two edge- colored graphs associated with the drift and controlled zero patterns, and prove structural controllability conditions related to connectivity and the number of edges of a particular color.
In order to solve the vibration problem of mining equipment, a Simulink simulation model of current loop, speed loop and position loop of permanent magnet synchronous motor was established to track the input position ...
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ISBN:
(纸本)9781665437585
In order to solve the vibration problem of mining equipment, a Simulink simulation model of current loop, speed loop and position loop of permanent magnet synchronous motor was established to track the input position signal of the motor system.[1] At the same time, the input shaper is introduced into the motor three loop control model to study the vibration suppression effect of the input shaper.[2] The essence of the input shaper is to filter the input signal. Usually, the parameters of the input shaper need to be accurately identified and the detailed parameters of the system need to be identified. However, the problem that the identification accuracy of the system is not enough often makes the parameters of the shaper uncertain. In view of the problem that the system identification is not accurate, a method of adjusting and setting input shaper parameters is designed, which is not very dependent on the system. The results show that the optimal parameters of the shaper can be selected by the method. Compared with the parameters of the shaper selected according to the identification model, the vibration suppression effect is better.
In this paper, a highly reliable SRAM cell, namely SESRS cell, is proposed. Since the cell has a special feedback mechanism among its internal nodes and has more access transistors compared to a standard SRAM cell, th...
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ISBN:
(数字)9781728189444
ISBN:
(纸本)9781728189451
In this paper, a highly reliable SRAM cell, namely SESRS cell, is proposed. Since the cell has a special feedback mechanism among its internal nodes and has more access transistors compared to a standard SRAM cell, the SESRS cell provides the following advantages: (1) it can self-recover from single node upsets (SNUs) and double-node upsets (DNUs); (2) it can reduce power consumption by 49.78% and silicon area by 7.92%, compared with the only existing SRAM cell which can self-recover from all possible DNUs. Simulation results validate the robustness of the proposed SESRS cell. Moreover, compared with the state-of-the-art hardened SRAM cells, the proposed SESRS cell can reduce read access time by 61.93% on average.
Permanent magnet synchronous motors(PMSM) are popular in AC motor applications due to their small size, high efficiency. They have appeared widely in various areas of life. Due to the high-frequency chattering problem...
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ISBN:
(纸本)9781665426480
Permanent magnet synchronous motors(PMSM) are popular in AC motor applications due to their small size, high efficiency. They have appeared widely in various areas of life. Due to the high-frequency chattering problem caused by sliding mode observer sensorless control of PMSM, an SMO with piecewise control function is designed in this paper. At the same time, based on the back EMF output of the SMO, the gain of the SMO is adapted to reduce the system bucket vibration problem caused by the conventional SMO. Finally, a simulation experiment was carried out in MATLAB/SIMULINK and compared with the conventional SMO. The results show that the improved SMO has achieved a better control effect.
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