Inspired by eagle eye mechanisms,the structure and information processing characteristics of the eagle′s visual system are used for the target capture task of an unmanned aerial vehicle(UAV)with a mechanical *** this...
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Inspired by eagle eye mechanisms,the structure and information processing characteristics of the eagle′s visual system are used for the target capture task of an unmanned aerial vehicle(UAV)with a mechanical *** this paper,a novel eagle-eye inspired multi-camera sensor and a saliency detection method are proposed.A combined camera system is built by simulating the double fovea structure on the eagle retina.A saliency target detection method based on the eagle midbrain inhibition mechanism is proposed by measuring the static saliency information and dynamic ***,salient targets can be accurately detected through the collaborative work between different cameras of the proposed multi-camera *** results show that the eagle-eye inspired visual system is able to continuously detect targets in outdoor scenes and that the proposed algorithm has a strong inhibitory effect on moving background interference.
A hybrid bidirectional DC/DC converter(BDC)is proposed as the fundamental DC/DC module in solid-state transformers,which combines a bidirectional LLC converter and a dual-active-bridge(DAB)*** with a mutual control sc...
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A hybrid bidirectional DC/DC converter(BDC)is proposed as the fundamental DC/DC module in solid-state transformers,which combines a bidirectional LLC converter and a dual-active-bridge(DAB)*** with a mutual control scheme,both parts of this hybrid BDC can be unified into an interdependent *** this hybrid BDC,the LLC converter supports the output voltage and improves stability by working at the resonant frequency mode and the DAB converter enhances the BDC power capability by controlling the LLC output current *** BDC can achieve the full-load-range soft switching of all active switches by designing the auxiliary inductor of LLC and the minimum output current of *** comparing to the single DAB,the proposed BDC has the higher phase and gain margin which means the BDC improved the relative stability based on Nyquist *** solve the bidirectional power control problem,a dead-band voltage control logic is adopted which can determine the BDC’s power direction based on the output voltage change.A 200 V experimental system has verified the aforementioned features and functions of the BDC.
Most parallel manipulators have multiple solutions to the direct kinematic *** ability to perform assembly changing motions has received the attention of a few *** points play an important role in the kinematic *** st...
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Most parallel manipulators have multiple solutions to the direct kinematic *** ability to perform assembly changing motions has received the attention of a few *** points play an important role in the kinematic *** study investigates the cusp points and assembly changing motions in a two degrees of freedom planar parallel *** direct kinematic problem of the manipulator yields a quartic polynomial *** root in the equation determines the assembly configuration,and four solutions are obtained for a given set of actuated joint *** regarding the discriminant of the repeated roots of the quartic equation as an implicit function of two actuated joint coordinates,the direct kinematic singularity loci in the joint space are determined by the implicit *** points are then obtained by the intersection of a quadratic curve and a cubic *** assembly changing motions by encircling different cusp points are highlighted,for each pair of solutions with the same sign of the determinants of the direct Jacobian matrices.
This paper discusses the design of resilient and event-triggered control for linear aperiodic sampled-data *** stability and stabilization problem of the aperiodic sampled-data systems under a dynamic event-triggered ...
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This paper discusses the design of resilient and event-triggered control for linear aperiodic sampled-data *** stability and stabilization problem of the aperiodic sampled-data systems under a dynamic event-triggered scheme and against a stochastic deception attack is addressed in a novel looped-functional framework.A quadratic event-triggered scheme with a discrete-time dynamic variable is proposed in which the system states are only evaluated at aperiodic sampling instants so that the Zeno phenomenon can be avoided *** system is assumed to be intruded by a deception attack signal which is determined by a Bernoulli random *** objective in this paper is to derive the stability conditions firstly and then provide the resilient and event-triggered controller design for the aperiodic sampled-data *** a certain H∞attack and the control updates can be obviously reduced by the proposed dynamic event-triggered scheme,which means the system performance,the limited communication resources,and the system security can be well balanced in our ***,the validity and effectiveness of the proposed method is demonstrated by the simulations.
Dear Editor,This letter focuses on how an attacker can design suitable improved zero-dynamics (ZD) attack signal based on state estimates of target system. Improved ZD attack is to change zero dynamic gain matrix of a...
Dear Editor,This letter focuses on how an attacker can design suitable improved zero-dynamics (ZD) attack signal based on state estimates of target system. Improved ZD attack is to change zero dynamic gain matrix of attack signal to a matrix with determinant greater than 1.
The trajectory tracking method for an unmanned surface vehicle (USV) using integral terminal sliding mode integral backstepping adaptive control (ITSMIBAC) scheme is presented in this paper, which takes into account e...
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Lateral vibrations are occurring in rotating machinery and can limit operational performance and range. Such vibrations often lead to instability, decreased precision, and potential damage to the system. However, by i...
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Adding nanoparticles can significantly improve the tribological properties of ***,there is a lack of understanding regarding the influence of nanoparticle shape on lubrication *** this work,the influence of diamond na...
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Adding nanoparticles can significantly improve the tribological properties of ***,there is a lack of understanding regarding the influence of nanoparticle shape on lubrication *** this work,the influence of diamond nanoparticles(DNPs)on the tribological properties of lubricants is investigated through friction ***,the friction characteristics of lubricants regarding ellipsoidal particle shape are investigated using molecular dynamics(MD)*** results show that DNPs can drastically lower the lubricant's friction coefficientμfrom 0.21 to *** shearing process reveals that as the aspect ratio(α)of the nanoparticles approaches 1.0,the friction performance improves,and wear on the wall *** the same time,the shape of the nanoparticles tends to be *** 0.85≤α≤1.0,rolling is ellipsoidal particles'main form of motion,and the friction force changes according to a periodic sinusoidal *** the range of 0.80≤α<0.85,ellipsoidal particles primarily exhibit sliding as the dominant movement ***αdecreases within this range,the friction force progressively *** friction coefficientμcalculated through MD simulation is 0.128,which is consistent with the experimental data.
The paper addresses the decentralized optimal control and stabilization problems for interconnected systems subject to asymmetric *** with previous work,a closed-loop optimal solution to the control problem and suffic...
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The paper addresses the decentralized optimal control and stabilization problems for interconnected systems subject to asymmetric *** with previous work,a closed-loop optimal solution to the control problem and sufficient and necessary conditions for the stabilization problem of the interconnected systems are given for the first *** main challenge lies in three aspects:Firstly,the asymmetric information results in coupling between control and estimation and failure of the separation ***,two extra unknown variables are generated by asymmetric information(different information filtration)when solving forward-backward stochastic difference ***,the existence of additive noise makes the study of mean-square boundedness an *** adopted technique is proving and assuming the linear form of controllers and establishing the equivalence between the two systems with and without additive noise.A dual-motor parallel drive system is presented to demonstrate the validity of the proposed algorithm.
As an effective therapy for treating unilateral neglect,Mirror Therapy(MT)is employed in the upper limb motor function rehabilitation of hemiplegic ***,traditional MT has a serious limitation—the Impaired Limb(IL)doe...
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As an effective therapy for treating unilateral neglect,Mirror Therapy(MT)is employed in the upper limb motor function rehabilitation of hemiplegic ***,traditional MT has a serious limitation—the Impaired Limb(IL)doesn't actually *** this study,a novel performance-based assistance strategy suitable for Robotic Mirror Therapy(RMT)based on MT is proposed.A guiding assistance based on the progress difference HL and IL is constructed in trajectory guidance,and a multi-stiffness region correction force field based on trajectory tracking error is designed to constrain IL's deviation from the intended path in trajectory correction *** validate the presented strategy,a series of experiments on a RMT system based on the end-effector upper limb rehabilitation robot are *** results verify the performance and feasibility of this strategy.
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