作者：
Veeresha, R.K.Bhat, KrishnaMuralidhara
Department of Robotics and Artificial Intelligence Udupi574110 India
Department of Mechanical Engineering Udupi574110 India
The paper aims to develop a novel piezoelectric motor and its controller;here the motor shaft needs to be rotated fully by 360° using two sets of Parallelly Prestressed Actuators (PPA) and one set of lock release...
详细信息
We analyze the low-Reynolds-number translation of a sphere towards or away from a rigid plane in an Oldroyd-B fluid under two scenarios: prescribing the sphere's translational velocity, and prescribing the force o...
详细信息
We analyze the low-Reynolds-number translation of a sphere towards or away from a rigid plane in an Oldroyd-B fluid under two scenarios: prescribing the sphere's translational velocity, and prescribing the force on the sphere. Leveraging the lubrication approximation and a perturbation expansion in powers of the Deborah number, we develop a comprehensive theoretical analysis that yields analytical approximations for velocity fields, pressures, and forces acting on the sphere. Our framework aids in understanding temporal microstructural changes as the particle-wall gap evolves over time. In particular, we show that alterations in the polymer conformation tensor in response to geometric changes induce additional forces on the sphere. For cases with prescribed velocity, we present a theoretical approach for calculating resistive forces at any order in the Deborah number and utilize a reciprocal theorem to obtain higher-order corrections based on velocity fields in the previous orders. When the sphere translates with a constant velocity, the fluid viscoelasticity decreases the resistive force at the first order. However, at the second-order correction, the direction of the sphere's movement determines whether viscoelasticity increases or decreases the resistive force. For cases with prescribed force, we show that understanding the influence of viscoelasticity on the sphere's translational velocity necessitates a more intricate analysis even at low Deborah numbers. Specifically, we introduce an ansatz for constant force scenarios, and we derive solution forms for general prescribed forces using the method of multiple scales. We find that when a sphere undergoes sedimentation due to its own weight, the fluid viscoelasticity results in a slower settling process, reducing the leading-order sedimentation rate.
With increasingly challenging applications for quadrotors, higher requirements are emerging for tracking accuracy and safety. While high accuracy is a prerequisite for complex tasks, safety is ensured through toleranc...
详细信息
With the development of machine learning, numerical analysis using neural networks has been devised. Remarkably, physics-informed neural networks (PINNs) enable physically consistent numerical analysis by introducing ...
详细信息
Quadrotors have been vital for automating warehouse processes. However, a significant gap in recent studies is that they use a single quadrotor with limited battery life, considering that their objective involves navi...
详细信息
In this study, composite materials with Al6061 alloy matrix and B4C particles reinforcement were produced by hot extrusion process. Fabricated composites were examined for the mechanical and machinability attributes. ...
详细信息
Kinematic calibration is essential for improving the accuracy of parallel robots by compensating for geometric errors. This paper presents a calibration method for spherical parallel robots using relative pose measure...
详细信息
The phenomenon of amplitude modulation has been subject of numerous scientific studies [1-4]. However, the problem remains of determining the depth of AM's impact on the increase in annoyance of wind turbine noise...
详细信息
In this paper, we study the problem of control design for physical human–robot interactions. By exploring the general topology of the given control problem, we propose a generic control architecture (TDA) based on 2D...
详细信息
The positional information of objects is crucial to enable robots to perform grasping and pushing manipulations in *** effectively perform grasping and pushing manipu-lations,robots need to perceive the position infor...
详细信息
The positional information of objects is crucial to enable robots to perform grasping and pushing manipulations in *** effectively perform grasping and pushing manipu-lations,robots need to perceive the position information of objects,including the co-ordinates and spatial relationship between objects(e.g.,proximity,adjacency).The authors propose an end-to-end position-aware deep Q-learning framework to achieve efficient collaborative pushing and grasping in ***,a pair of conjugate pushing and grasping attention modules are proposed to capture the position information of objects and generate high-quality affordance maps of operating positions with features of pushing and grasping *** addition,the authors propose an object isolation metric and clutter metric based on instance segmentation to measure the spatial re-lationships between objects in cluttered *** further enhance the perception capacity of position information of the objects,the authors associate the change in the object isolation metric and clutter metric in cluttered environment before and after performing the action with reward function.A series of experiments are carried out in simulation and real-world which indicate that the method improves sample efficiency,task completion rate,grasping success rate and action efficiency compared to state-of-the-art end-to-end *** that the authors’system can be robustly applied to real-world use and extended to novel *** material is available at https://***/NhG\_k5v3NnM}{https://***/NhG\_k5v3NnM.
暂无评论