Remote-center-of-motion (RCM) constraint is widely used in all kinds of ophthalmic surgery. The RCM system based on mechanical structure is too large and complex. While the way based on robot control solves these prob...
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The present work correlates the printing accuracy of two major 3D-printing techniques applied for the production of spur gears by calculating the ISO tolerance class that defines the accuracy level of gears in all ind...
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Lean manufacturing in small and medium enterprises (SMEs) and ultimately success from implementation is marginal as compared to large enterprises. Poor lean implementation technique and understanding is cited as one o...
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SLAM plays a crucial role in automation tasks, such as warehouse logistics, healthcare robotics, and restaurant delivery. These scenes come with various challenges, including navigating around crowds of people, dealin...
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SLAM plays a crucial role in automation tasks, such as warehouse logistics, healthcare robotics, and restaurant delivery. These scenes come with various challenges, including navigating around crowds of people, dealing with flying plastic bags that can temporarily blind sensors, and addressing reduced LiDAR density caused by cooking smoke. Such scenarios can result in over-degeneracy, causing the map to drift. To address this issue, this paper presents a multi-map LiDAR-inertial system (MM-LINS) for the first time. The front-end employs an iterated error state Kalman filter for state estimation and introduces a reliable evaluation strategy for degeneracy detection. If over-degeneracy is detected, the active map will be stored into sleeping maps. Subsequently, the system continuously attempts to construct new maps using a dynamic initialization method to ensure successful initialization upon leaving the over-degeneracy. Regarding the back-end, the Scan Context descriptor is utilized to detect inter-map similarity. Upon successful recognition of a sleeping map that shares a common region with the active map, the overlapping trajectory region is utilized to constrain the positional transformation near the edge of the prior map. In response to this, a constraint-enhanced map fusion strategy is proposed to achieve high-precision positional and mapping results. Experiments have been conducted separately on both public datasets that exhibited over-degenerate conditions and in real-world environments. These tests demonstrated the effectiveness of MM-LINS in over-degeneracy environment. Our codes are open-sourced on Github. IEEE
This paper evaluates the insulation performance change of acid anhydride epoxy resins when subjected to annealing and annealing with DC stress. In this increasingly electrified society, the evolution of power conversi...
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This paper investigates the resilient annular finite-time synchronization and boundedness problems for master-slave systems under dynamic event-triggered scheme (ETS), actuator faults, and scaling attacks. A comprehen...
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The efficient dynamic modeling and vibration transfer analysis of a fluid-delivering branch pipeline(FDBP)are essential for analyzing vibration coupling effects and implementing vibration reduction ***,this study prop...
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The efficient dynamic modeling and vibration transfer analysis of a fluid-delivering branch pipeline(FDBP)are essential for analyzing vibration coupling effects and implementing vibration reduction ***,this study proposes a reduced-order dynamic modeling method suitable for FDBPs and then analyzes the vibration transfer *** the modeling method,the finite element method and absorbing transfer matrix method(ATMM)are integrated,considering the fluid–structure coupling effect and fluid *** dual-domain dynamic substructure method is developed to perform the reduced-order modeling of FDBP,and ATMM is adopted to reduce the matrix order when solving fluid ***,the modeling method is validated by experiments on an H-shaped branch ***,transient and steady-state vibration transfer analyses of FDBP are performed,and the effects of branch locations on natural characteristics and vibration transfer behavior are *** show that transient vibration transfer represents the transfer and conversion of the kinematic,strain,and damping energies,while steady-state vibration transfer characteristics are related to the vibration *** addition,multiple-order mode exchanges are triggered when branch locations vary in frequency-shift regions,and the mode-exchange regions are also the transformation ones for vibration transfer patterns.
This paper evaluates the leakage current properties of polyimide and polyamide-imide with two different pretreatments. Recently, with the spread of electric vehicles, there has been a demand to maintain the performanc...
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This study investigated space charge accumulation properties in polyamide-imide, which is used as a coating material for motor windings in electric vehicles when subjected to square-wave voltage. The material was fabr...
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Recently, carbon fiber reinforced plastics (CFRPs) have been used as high-pressure container materials for fuel cell vehicles and other applications. When used as structural components, carbon fibers in a CFRP are sub...
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