Due to the strongly environmental adaptation,quadruped robot becomes a research hot *** single leg control lays foundation for the control of quadruped *** operational space control which is used in the quadruped robo...
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ISBN:
(纸本)9781467383196
Due to the strongly environmental adaptation,quadruped robot becomes a research hot *** single leg control lays foundation for the control of quadruped *** operational space control which is used in the quadruped robot single leg control algorithms usually strongly depends on the accuracy of the *** paper applies RBF(radial basis function) neural network adaptive control on the single leg,and a kind of control parameters adjustment method which is based on reinforcement learning is *** result shows the algorithm effectively improves the control accuracy and convergence speed under the high-dynamic condition.
Distance information is useful for satellite *** the accuracy of spread spectrum receiver under finite bandwidth is still hard and few researches focus on *** this paper, we build the signal model of DSSS signal under...
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Distance information is useful for satellite *** the accuracy of spread spectrum receiver under finite bandwidth is still hard and few researches focus on *** this paper, we build the signal model of DSSS signal under finite bandwidth, and then derive the mathematic form of error ***, we propose the error factor, which is decided by bandwidth and early-to-late correlator ***, we conclude that the error factor gradually oscillates to a steady value with the bandwidth increase;the error decreases with a smaller correlator space if the bandwidth is large enough, but might increase if the bandwidth is relative *** results verify the effectiveness of our analysis.
3D mapping for unknown environments is a crucial issue for mobile service robots,which has many important applications in navigation and path *** this paper,we use Microsoft kinect sensor mounted on a mobile robot to ...
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ISBN:
(纸本)9781509009107
3D mapping for unknown environments is a crucial issue for mobile service robots,which has many important applications in navigation and path *** this paper,we use Microsoft kinect sensor mounted on a mobile robot to obtain3 D *** the process,consistent frames of RGB-D data are captured and *** Closest Point(ICP)algorithm and incremental registration method are employed to perform the fine ***,we use OctoMap to store 3D map of octree representation,an efficient data ***,our results demonstrate the practical applicability and effectiveness of the proposed approach.
Autonomous underwater vehicles(AUV) play an important role in human *** are different from of the vehicles other areas(such as air,ground).Movement,communication,target detection all involve complex hydrology and clim...
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ISBN:
(纸本)9781510835368
Autonomous underwater vehicles(AUV) play an important role in human *** are different from of the vehicles other areas(such as air,ground).Movement,communication,target detection all involve complex hydrology and climatic *** special application fields it's even more *** to the limitation of experimental conditions,simulation tests are adopted to assist with the increase in the sample *** credibility of the simulation models need to be evaluated,especially for dynamic models such as control *** paper studies the application of several common dynamic model validation methods in the AUV motion simulation model and compares the resolution of the *** helps much if cluster validation and cross-validate of the evaluation results are adopted.
A novel impact-time-control guidance law based on nonlinear kinematics is presented for an interceptor against a stationary *** closed form expression for the guidance command is derived by introducing an indirect var...
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ISBN:
(纸本)9781467383196
A novel impact-time-control guidance law based on nonlinear kinematics is presented for an interceptor against a stationary *** closed form expression for the guidance command is derived by introducing an indirect variable,and the performance index of a pseudo-control energy has been minimized to increase the robustness against disturbances appeared at the terminal *** implementation of the guidance law involves no estimation of time-to-go procedure but provides for exact time-on-target *** new guidance law called NITCG(Nonlinear Impact-Time-Control Guidance) can be used in salvo attack where multiple missiles are launched for a simultaneous hit on the *** simulation results are carried out to verify the performance of the guidance law for different engagement scenarios.
A direct sequence spread spectrum（DSSS） signal is commonly used in inter-satellite link（ISL） in navigation constellation;however, acquisition is a challenging task because of large-scale relative movement between ...
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A direct sequence spread spectrum（DSSS） signal is commonly used in inter-satellite link（ISL） in navigation constellation;however, acquisition is a challenging task because of large-scale relative movement between *** general, a signal search（carrier frequency and code phase） is implemented using two-dimensional partitioned fast Fourier transforms（FFTs）, which is limited by the memory of the ***, the carrier’s contin uity is damaged by the circular *** integration is performed to circumvent this ***, the acquisition sensitivity will be reduced because of the square *** this paper, we analyze the processing flow of traditional noncoherent integration method and the new presented coherent integration method with ***, the comparison of computation cost between the new approach and the conventional method is *** results show that the coherent method can improve the sensitivity of acquiring weak signals and save about 60% computation cost as well.
Firstly, the integration techniques of simulation systems, such as component-based, middleware-based and bridgedesign mode and so on, have been introduced in this paper. Then, based on these, a common simulation syste...
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The fast development of technology results in increasing demands on nano-precision optical surfaces in fields of lithography, synchrotron radiation, space observation and inertial confinement fusion (ICF). As the requ...
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ISBN:
(纸本)9780956679086
The fast development of technology results in increasing demands on nano-precision optical surfaces in fields of lithography, synchrotron radiation, space observation and inertial confinement fusion (ICF). As the requirements on equipments performance are continuously rising, the surface accuracy and roughness of optical components need to be further improved, which almost hit the theoretical physical limit. The highly increased demands not only bring tough challenges for optics fabrication, but make it the frontier in the nano-precision fabrication area. Through the development of conventional polishing and computer controlled small tool polishing technique, the technology of optical manufacturing has evolved to controllable compliant tools polishing, which is represented by Magnetorheological polishing (MRF) and Ion Beam Figuring (IBF). The polishing tools of these latest developed techniques could be controlled flexibly, which enhances the manufacturing adaptability to aspheric surface curvature and the long- Term stability of removal function. By utilizing the self-innovated controllable flexible polishing technology and facilities, National University of Defense Technology has realized nano-precision fabrication of typical optical surfaces and provided strong support in manufacturing technology to national science and technology projects.
Various battery chemistries have different responses to failure, but the most common failure mode of a cell under abusive conditions is the generation of heat and gas. To prevent battery thermal abuse, a battery therm...
Various battery chemistries have different responses to failure, but the most common failure mode of a cell under abusive conditions is the generation of heat and gas. To prevent battery thermal abuse, a battery thermal management system is essential. An excellent design of battery thermal management system can ensure that the battery is working at a suitable temperature and keeps the battery temperature diffenence at 2-3 °C. This paper presents a thermal-elcetric coupling model for a 37Ah lithium battery using AMESim. A liquid cooled system of hybrid electric vehicle power battery is designed to control the battery temperature.A liquid cooled model of thermal management system is built using AMESim, the simulation results showed that the temperature difference within 3°C of cell in the pack.
The quadruped robot can be decomposed into a planar seven-link closed kinematic chain in the direction of supporting line and a linear inverted pendulum in normal direction of supporting line. The ground slope can be ...
The quadruped robot can be decomposed into a planar seven-link closed kinematic chain in the direction of supporting line and a linear inverted pendulum in normal direction of supporting line. The ground slope can be estimated by using the body attitude information and supporting legs length. The slope degree is used in feedback, to achieve the point of quadruped robot adaptive control walking on slopes. The simulation results verify that the quadruped robot can achieves steady locomotion on the slope with the control strategy proposed in this passage.
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