Herein,a control method based on the optimal energy efficiency of a hydraulic quadruped robot was proposed,which not only realizes the optimal energy efficiency of flying trot gait but also ensures the stability of hi...
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Herein,a control method based on the optimal energy efficiency of a hydraulic quadruped robot was proposed,which not only realizes the optimal energy efficiency of flying trot gait but also ensures the stability of high-speed ***,the energy consumption per unit distance was adopted as the energy efficiency evaluation index based on the constant pressure oil supply characteristics of the hydraulic system,and the global optimization algorithm was adopted to solve the optimal ***,the gait parameters that affect the energy efficiency of quadruped were analyzed and the mapping relationship between each parameter and energy efficiency was captured,so as to select the optimum combination of energy efficiency parameters,which is significant to improve endurance ***,to ensure the stability of the high-speed flying trot gait motion of the hydraulic quadruped robot,the active compliance control strategy was ***,the proposed method was successfully verified by simulations and *** experimental results reveal that the flying trot gait of the hydraulic quadruped robot can be stably controlled at a speed of 2.2 m/s.
This paper attempts to model the electrical discharge face grinding (EDFG) process, while machining the Monel 400 superalloy, using the response surface methodology (RSM) and artificial neural network (ANN) for proces...
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To advance materials with superior performance,the construction of gradient structures has emerged as a promising *** this study,a gradient nanocrystalline-amorphous structure was induced in Zr46Cu46Al8 bulk metallic ...
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To advance materials with superior performance,the construction of gradient structures has emerged as a promising *** this study,a gradient nanocrystalline-amorphous structure was induced in Zr46Cu46Al8 bulk metallic glass(BMG)through ultrasonic vibration(UV)*** a 20 kHz ultrasonic cyclic loading in the elastic regime,controllable gradient structures with varying crystallized volume fractions can be achieved in less than 2 s by adjusting the input UV *** contrast to tradi-tional methods of inducing structural gradients in BMGs,this novel approach offers distinct advantages:it is exceptionally rapid,requires minimal stress,and allows for easy tuning of the extent of structural gradients through precise adjustment of processing *** tests reveal higher hard-ness near the struck surface,attributed to a greater degree of nanocrystal formation,which gradually di-minishes with *** a result of the gradient dispersion of nanocrystals,an increased plasticity was found after UV treatment,characterized by the formation of multiple shear *** in-vestigations suggest that UV-induced nanocrystallization originates from local atomic rearrangements in phase-separated Cu-rich regions with high diffusional *** study underscores the tunability of structural gradients and corresponding performance improvements in BMGs through ultrasonic energy modulation,offering valuable insights for designing advanced metallic materials with tailored mechanical properties.
Human-machine shared control has become a transitional solution from manual driving to autonomous driving, attracting increasing attention. In order to effectively enhance the stability of the vehicle and achieve adap...
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Human-machine shared control has become a transitional solution from manual driving to autonomous driving, attracting increasing attention. In order to effectively enhance the stability of the vehicle and achieve adaptive collaborative control between the machine and human driver with different operating behaviors, this paper proposes a novel personalized steering behavior recognition method. On this basis, an adaptive authority allocation scheme is designed to alleviate the workload of the drivers and improve vehicle stability. Firstly, to identify different driving styles accurately, the K-means algorithm is modified based on the adaptive variation of weight coefficients. Subsequently, the numerical functions, considering tracking accuracy and steering error, are utilized to individually develop the reference models for various steering behaviors. Further optimal allocation problems involving driving workload, tracking performance, authority smoothness, and stability are addressed through MPC. Simulation results indicate that the proposed driver recognition method can distinguish ambiguous driving behaviors, and the shared steering control strategy demonstrates superior performance in path tracking, stability enhancing, and driver workload alleviating. IEEE
A revolutionary technology that merges the real and virtual worlds is called a "cyber-physical system" (CPS). This article provides a comprehensive examination of CPS with an emphasis on its design principle...
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Compliant mobile robotics is a developing bioinspired concept of propulsion for *** paper studies the modeling and analysis of a compliant tail-propelled fish-like *** biomimetic design uses a fluid-filled network of ...
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Compliant mobile robotics is a developing bioinspired concept of propulsion for *** paper studies the modeling and analysis of a compliant tail-propelled fish-like *** biomimetic design uses a fluid-filled network of channels embedded into the soft body to actuate the compliant tail and generate *** study analyzes the nonlinear dynamics of Fish Tail Fluidic Actuator(FTFA).The fluidic expansion under pressure creates a bending moment in the *** is demonstrated that the tail response follows the theoretical formulation extracted from the accurate *** this modeling,tail is assumed as a continuous Euler–Bernoulli beam considering large deflection and nonlinear ***,the implementation of Hamilton's principle and the method of calculation lead to the motion *** assumed mode method is used to achieve the mathematical model in the multi-mode system that is more similar to the soft continuous *** investigate the tendencies of the tail amplitude,swimming speed,and Strouhal number when the input driving frequency *** simulation results disclose that high swimming efficiency can be obtained at the multi-order resonances;meanwhile,the compliant fish robot is pushed at the corresponding frequency illustrating nonlinear behavior.
Rapidly responding and cost-effective sensors played a crucial role in industrial ***,the lack of versatile strategies for identifying and classifying operating states on various practical behaviors has limited the ra...
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Rapidly responding and cost-effective sensors played a crucial role in industrial ***,the lack of versatile strategies for identifying and classifying operating states on various practical behaviors has limited the rapid development of monitoring *** study developed a vector hybrid triboelectric sensor(HTS)with surface nanocrystalline containing triboelectric vibration and rotation units(triboelectric vibration unit(TVU),triboelectric rotation unit(TRU))capable of detecting the vibrational and rotary states of the *** synchronous detection of two sensing signals can be achieved due to the hierarchical structure as the basic unit of the HTS,which contributed to reducing the volume and spatial distribution of the *** on the voltage/current/charge(U-I-Q)signal amplitudes and phase features generated by the TVU,the vibration frequency and orientation of the device can be identified by using a double-layer neural network(D-LNN),in which the accuracy reaches 96.5%and 95.5%***,by combining logistic regression,D-LNN,and linear regression,the accuracy of the TRU for rotary classification exceeds 93.5%in practical *** this study,the great potential application of the HTS combined with the machine learning methods was successfully explored and exhibited and it might speed up the development of industrial detection in the near future.
The tribological behavior of graphite (glass fiber) and silicon carbide (SiC) (glass fiber) composites is the main topic of this paper’s examination of recent and significant research trends in composite materials. T...
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This research tackles a novel prosthetic foot design, simulation and FDM (Fused Deposition Modeling) 3D printing by customizing it for a human of 50 kg body mass. An initial foot model was created in SolidWorks softwa...
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Fishes have learned how to achieve outstanding swimming performance through the evolution of hundreds of millions of years,which can provide bio-inspiration for robotic fish *** premise of designing an excellent robot...
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Fishes have learned how to achieve outstanding swimming performance through the evolution of hundreds of millions of years,which can provide bio-inspiration for robotic fish *** premise of designing an excellent robotic fish include fully understanding of fish locomotion mechanism and grasp of the advanced control strategy in robot *** this paper,the research development on fish swimming is presented,aiming to offer a reference for the later ***,the research methods including experimental methods and simulation methods are *** the current research directions including fish locomotion mechanism,structure and function research and bionic robotic fish are *** locomotion mechanism is discussed from three views:macroscopic view to find a unified principle,microscopic view to include muscle activity and intermediate view to study the behaviors of single fish and fish *** and function research is mainly concentrated from three aspects:fin research,lateral line system and body *** robotic fish research focuses on actuation,materials and motion *** paper concludes with the future trend that curvature control,machine learning and multiple robotic fish system will play a more important role in this ***,the intensive and comprehensive research on fish swimming will decrease the gap between robotic fish and real fish and contribute to the broad application prospect of robotic fish.
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