Dielectric elastomer sensor (DES) is a flexible sensor that can perform free bending deformation, thus it has broad application prospects in the fields of medical electronics, wearable devices, soft robots, etc. Previ...
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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.
In this paper, the distributed state and fault fusion filtering problem is discussed for a class of multi-sensor networked systems (MSNSs) with randomly occurring quantized measurements (ROQMs). A series of random var...
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This paper discusses the design problem of recursive filtering method for time-varying nonlinear delayed systems (NDSs) with stochastic parameter matrices (SPMs) and censored measurements. In particular, the Tobit Typ...
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This paper presents a FPGA-based hardware architecture for capturing real-time panoramic images and the parallel implementation of an image stitching algorithm based on the scale-invariant feature transform (SIFT) fea...
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This paper presents a FPGA-based hardware architecture for capturing real-time panoramic images and the parallel implementation of an image stitching algorithm based on the scale-invariant feature transform (SIFT) features. First, the system transfers the images captured by five CMOS sensors to the designed FPGA board through the FMC adapter plate. Then, the system employs the FPGA-based parallel computing to extract the SIFT features and detect the best matching region and points for image registration. Finally, in order to obtain the panoramic image with smooth changes at the junctions, images of the adjacent images are fused. Using the designed FPGA platform makes it possible to extract the SIFT and stitch the images in real-time, which is not realized in most panoramic imaging systems. The panoramic system, developed using the Xilinx Zynq®-7000 all programmable SOC, can capture video of 5*640*480 images at the speed of 60 fps. To enable high-speed image transfer from the imaging system to the host computer, the USB3.0 interface with the transmission speed of 359MB/s has been developed. The real-time efficiency of the parallel system will be demonstrated by the simulations and experiments. IEEE
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 the context of electrical power operation sites, the automated and accurate detection of whether workers are properly equipped with safety gear, such as safety clothing, helmets, and safety ropes for high-altitude ...
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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.
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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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.
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