Unmanned Aerial Vehicles (UAV), commonly known as drones, have many potential uses in real world applications. Drones require advanced planning and navigation algorithms to enable them to safely move through and inter...
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ISBN:
(纸本)9781509024100
Unmanned Aerial Vehicles (UAV), commonly known as drones, have many potential uses in real world applications. Drones require advanced planning and navigation algorithms to enable them to safely move through and interact with the world around them. This paper presents an extended potential field controller (ePFC) which enables an aerial robot, or drone, to safely track a dynamic target location while simultaneously avoiding any obstacles in its path. The ePFC outperforms a traditional potential field controller (PFC) with smoother tracking paths and shorter settling times. The proposed ePFC's stability is evaluated by Lyapunov approach, and its performance is simulated in a Matlab environment. Finally, the controller is implemented on an experimental platform in a laboratory environment which demonstrates the effectiveness of the controller.
This paper presents a novel retargeting framework for humanoid robots that allows flexible motion representation and motion synthesis with smoothing with constraints and functional principle component analysis (Functi...
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ISBN:
(纸本)9781509047192
This paper presents a novel retargeting framework for humanoid robots that allows flexible motion representation and motion synthesis with smoothing with constraints and functional principle component analysis (Functional PCA). Constrained smoothing consists in computing base functions through optimizations with constraints including mechanical limits and stability conditions. By applying Functional PCA that is a statistic method describing given motions with principal components of functions, a variety of different motions can be expressed with a small number of parameters. We apply the proposed framework to whole-body “squat” motions to reveal that those motions can practically be classified with two components. The effectiveness of the proposed method is verified by dynamic simulations and experiments with the humanoid robot HRP-4.
Joint mechanism is a key factor for a snake robot adjusting its postures adapted to clutter environments in search and rescue *** joint mechanisms in prior research simply consist of serially connected revolute joints...
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ISBN:
(纸本)9781509009107
Joint mechanism is a key factor for a snake robot adjusting its postures adapted to clutter environments in search and rescue *** joint mechanisms in prior research simply consist of serially connected revolute joints,which are lack of great load carrying *** nature snake structure,a modular bionic parallel joint mechanism(BPJM) is proposed for the rescue snake *** analysis of the BPJM is necessary for its optimal design and control,providing the force and constraint that must be resisted by joints,links and *** reduce the dynamics computation load,Newton equation and Euler equation are combined by synchronizing the inertial force and inertial moment with the aid of screw ***,the dynamics equations for moving platform and links are formulated in a simplified *** friction at the joints and external force acting on BPJM,which actually affect the motion,are both considered in the ***,the virtual prototype is provided in order to visualize the joint mechanism and the numerical results from the dynamics analysis are given.
In this paper, a nanorobotics manipulation system with 16-DOF was constructed for 3D nanomanipulation of nanometer-scale objects inside a specimen chamber of the scanning electronic microscopes (SEM). Nanorobotics man...
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In this paper, a nanorobotics manipulation system with 16-DOF was constructed for 3D nanomanipulation of nanometer-scale objects inside a specimen chamber of the scanning electronic microscopes (SEM). Nanorobotics manipulators were divided into 4 units. Each unit was comprised of a X, Y, Z stage (Sigma, TSDS-255C), 4 Picomotors and an atomic force microscope (AFM) cantilever (Olympus, OMCL-TR400PB-1). Each manipulator has 4-DOF with 3 linear motions in X, Y, Z directions and a 360-degree rotational one (X-Y-Z-θ stage, θ is along the direction rotating with X or Y axis). Manipulators were actuated with picomotors with better than 30 nm linear resolution and
Cellular mechanical properties as the main physical performance characteristics have been actively studied in the past years for the study of cytobiology and the development of medicine. In this study, by combining He...
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ISBN:
(纸本)9781509037636
Cellular mechanical properties as the main physical performance characteristics have been actively studied in the past years for the study of cytobiology and the development of medicine. In this study, by combining Hertz model, a novel strategy is proposed to simultaneously measure the cellular mechanical properties including cellular mass, elasticity and viscosity, based on the principle of forced vibration stimulated by simple harmonic force, with piezoelectric transducer (PZT) as vibrator and Atomic Force Microscope (AFM) as detector. The corresponding theoretical model was derived and the simulation was realized based on the proposed model. The experiments of indentations and vibrations with myoblasts and myotubes were implemented to calculate the three mechanical parameters of cells according to the proposed strategy. The results validated the proposed approach. This work would be useful for the development of cytology, medicine, previously diagnose, specific therapy and so on.
In situ Resource Utilization (ISRU) facilitates planetary exploration by drawing needed resources, such as water, from the local environment. However, the extreme nature of these environments require the development o...
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This paper presented a method of growing metallic nanowires by using electron beam technology under scanning electron microscopy (SEM). The metallic nanoparticles were dispersed evenly on Indium-Tin Oxide (ITO) by the...
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This paper presented a method of growing metallic nanowires by using electron beam technology under scanning electron microscopy (SEM). The metallic nanoparticles were dispersed evenly on Indium-Tin Oxide (ITO) by the spin coater. The ITO sample was experimentally prepared by the spin coating technique. The electron beam was focused on a metallic nano particle inside SEM, which were dispersed on the ITO. The growth of metallic nanowires was controlled by the movement of the electron beam. The method this paper presented can be employed for different kinds of metallic and can be used to fabricate metallic nanowires with different length.
We argue for the notion of adaptability in collective behavior, treating real fish schools as an example. For evaluation, we use the inconsistent relation between local and global perspectives. We show that this incon...
We argue for the notion of adaptability in collective behavior, treating real fish schools as an example. For evaluation, we use the inconsistent relation between local and global perspectives. We show that this inconsistency would affect whole group behaviors and lead them to use different strategies.
Gliomas are the most common primary brain malignancies, with different degrees of aggressiveness, variable prognosis and various heterogeneous histologic sub-regions, i.e., peritumoral edematous/invaded tissue, necrot...
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Motivation Here, we make available a second version of the BioTIME database, which compiles records of abundance estimates for species in sample events of ecological assemblages through time. The updated version expan...
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Motivation Here, we make available a second version of the BioTIME database, which compiles records of abundance estimates for species in sample events of ecological assemblages through time. The updated version expands version 1.0 of the database by doubling the number of studies and includes substantial additional curation to the taxonomic accuracy of the records, as well as the metadata. Moreover, we now provide an R package (BioTIMEr) to facilitate use of the database. Main Types of Variables Included The database is composed of one main data table containing the abundance records and 11 metadata tables. The data are organised in a hierarchy of scales where 11,989,233 records are nested in 1,603,067 sample events, from 553,253 sampling locations, which are nested in 708 studies. A study is defined as a sampling methodology applied to an assemblage for a minimum of 2 years. Spatial Location and Grain Sampling locations in BioTIME are distributed across the planet, including marine, terrestrial and freshwater realms. Spatial grain size and extent vary across studies depending on sampling methodology. We recommend gridding of sampling locations into areas of consistent size. Time Period and Grain The earliest time series in BioTIME start in 1874, and the most recent records are from 2023. Temporal grain and duration vary across studies. We recommend doing sample-level rarefaction to ensure consistent sampling effort through time before calculating any diversity metric. Major Taxa and Level of Measurement The database includes any eukaryotic taxa, with a combined total of 56,400 taxa. Software Format csv and. SQL.
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