The actuation and control of mini-scale swimming robots have exhibit promising potential in limited and constrained environments, such as biomedical, micro-assembly and microfluidic applications. However, closed-loop ...
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It is well-known that optimizing the wheel system of lunar rovers is ***,this is a difficult task due to the complex terrain of the moon and limited resources onboard lunar *** this study,an experimental prototype was...
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It is well-known that optimizing the wheel system of lunar rovers is ***,this is a difficult task due to the complex terrain of the moon and limited resources onboard lunar *** this study,an experimental prototype was set up to analyze the existing mechanical design of a lunar rover and improve its ***,a new vane-telescopic walking wheel was proposed for the lunar rover with a positive and negative quadrangle suspension,considering the complex terrain of the ***,the performance was optimized under the limitations of preserving the slope passage and minimizing power *** was achieved via analysis of the wheel force during ***,the effectiveness of the proposed method was demonstrated by several simulation *** newly designed wheel can protrude on demand and reduce energy consumption;it can be used as a reference for lunar rover development engineering in China.
Cable-less micro-robots have exhibit great capabilities for remote applications in small and constrained environments, especially in biotechnology and healthcare. This paper presents a swimmer propelled by its undulat...
Cable-less micro-robots have exhibit great capabilities for remote applications in small and constrained environments, especially in biotechnology and healthcare. This paper presents a swimmer propelled by its undulatory deformation using magnetoelastic composite material. The robot can move freely on water surface driven through a function of magnetic field, such as forward, backward and steering with different velocity. The magnetic field is generated by 3D Helmholtz coils, and the locomotion of the micro swimming robot is controlled by different applied magnetic field. To understand the characteristics of the swimmer, the force balance equation is established, and the morphologies of swimmer with different magnetic field are analyzed and described through finite element analysis method. Furthermore, we discuss and analyze relationship between the parameters of magnetic field and the speed of the swimmer. The experimental results verified the speed model of the swimming robot, which is influenced by the frequency and strength of magnetic field.
Accurate robot dynamics model can effectively improve the motion control performance of robot, and accurate dynamics parameters are the basis for establishing dynamics model. This paper discusses the parameter identif...
ISBN:
(数字)9781728164168
ISBN:
(纸本)9781728164175
Accurate robot dynamics model can effectively improve the motion control performance of robot, and accurate dynamics parameters are the basis for establishing dynamics model. This paper discusses the parameter identification method of the tandem manipulator and the feedforward control scheme based on dynamics. First, we deduced the basic parameters of the first three joints of the UR5 manipulator, and identified the parameters through experimental sampling and calculation. Secondly, we established a feedforward control mechanism based on dynamics using the Simulink platform, and simulated and verified the feedforward control of the robot three-axis system. The experimental results show that the feedforward control scheme based on robot dynamics can effectively improve the error convergence performance, which proves the effectiveness of the method.
Surgical instrument detection and tracking is one of the core technologies of surgical robots, which can assist clinicians in completing operations. However, existing methods need further improvement in terms of real-...
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Tensor principal component analysis (TPCA) has been widely used to extract appearance features of colour objects or colour scenes presented in tensor form. Using L 1 -norm as the distance metric, the existing TPCA-L 1...
ISBN:
(数字)9781728164168
ISBN:
(纸本)9781728164175
Tensor principal component analysis (TPCA) has been widely used to extract appearance features of colour objects or colour scenes presented in tensor form. Using L 1 -norm as the distance metric, the existing TPCA-L 1 with its greedy (TPCA-L 1 -G) and non-greedy (TPCA-L 1 -NG) algorithms were proposed to reduce the sensitivity to outliers. The two algorithms, however, only derived TPCA solution in a form of two-dimensional matrix without actually extending them to the tensor subspaces and without performing experimental verification for tensor data. Simultaneously, the spatial correlations between pixels of the raw tensor data cannot be effectively preserved. To solve the problems, a robust tensor principal component analysis algorithm based on F-norm distance metric is proposed in this paper, which not only preserves the spatial structure of the raw data, but also reduces the sensitivity to outliers in tensor data. Experiments on reconstruction error and classification rate show that the proposed algorithm is effective and superior to other tensor algorithms in performances.
To meet the requirements of online feature extraction for weld defect recognition, an Incremental 2DPCA algorithm (I2DPCA) without estimating the covariance matrix of weld surface images is firstly proposed. A set of ...
ISBN:
(数字)9781728164168
ISBN:
(纸本)9781728164175
To meet the requirements of online feature extraction for weld defect recognition, an Incremental 2DPCA algorithm (I2DPCA) without estimating the covariance matrix of weld surface images is firstly proposed. A set of weld features with multiple orthogonal principal components can be obtained by a recursive estimation method, instead of the eigenvalue decomposition method or the singular value decomposition method. The computational complexity will be greatly reduced and the online feature extraction speed will be improved. To extract more structure features and reduce the dimension of weld images, an Incremental row-column Bidirectional PCA (IBDPCA) algorithm is presented based on I2DPCA, which preserves the weld features in the horizontal and vertical directions of weld images, and realizes the incremental feature extraction and data dimensionality reduction in the row and column directions. Finally, a series of comparative experiments are performed on the collected weld defect dataset. The results show that the proposed algorithm is superior to other PCA algorithms in convergence rate, classification rate, and complexity. The convergence rate is more than 99%, the classification rate can reach 96%, which can meet the online feature extraction requirements for weld defect recognition.
In this paper, a new tool path generation method is proposed for the 3D (three-dimensional) vibration-assisted 6-DOF (six degree of freedom) machine tool machining system. The tool feed path is generated by the tangen...
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Dynamics system for reconfigurable manipulator of uncertainty, based on the fuzzy adaptive algorithm is proposed to approach the systemcontrol law from adaptation to friction and external disturbance, the compensatio...
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As a connective tissue connecting teeth and alveolar bone, periodontal ligament (PDL) has the mechanical properties of nonlinearity, viscoelasticity, anisotropy. In this paper, the pig mandibular central incisors were...
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