检索结果-内蒙古大学图书馆

2023 IEEE International Conference on robotics and biomimetics, ROBIO 2023

作者： Xiao, Xinyu Huang, Kanghe Zhu, Renjie Xue, Yahui Wang, Wenjin Wang, Hongqiang Dai, Jian S. Southern University of Science and Technology Shenzhen Key Laboratory of Intelligent Robotics and Flexible Manufacturing Systems Shenzhen518055 China Southern University of Science and Technology Institute of Robotics Shenzhen518055 China

ISBN: (纸本)9798350325706

In the realm of soft robotics, the pneumatic system is a crucial component that plays an essential role in achieving optimal motion performance since all motion performance is ultimately linked to precise pressure control within the air chambers. To efficiently provide programmable pressure states for driving soft robots, this paper proposes a programmable pressure pneumatic system consisting of air pumps and valves with eight independent air channels. This system can provide precise hybrid negative and positive pressure for soft pneumatic robots. Closed-loop pressure control is achieved by sensing the pressure states in each air channel through sensors. Furthermore, two types of soft robots based on single-chamber soft pneumatic actuators are designed to verify the effectiveness and practicality of the pneumatic system. The proposed pneumatic system is a universal platform that can meet the pressure control requirements of various soft robots driven by both positive and negative pressure and holds significant implications for actuation and control in soft robotics. © 2023 IEEE.

关键词：

来源：评论

学校读者我要写书评

暂无评论

The CPG gait generate method of the quadruped robot based on iterative learning control algorithm

The CPG gait generate method of the quadruped robot based on...

引用

2013 2nd International Conference on Micro Nano Devices, Structure and Computing systems, MNDSCS 2013

作者： Wang, Cheng Gao, Junyao Duan, Xingguang Liu, Yi Li, Xin Xu, Zhe Sun, Wentao Intelligent Robotics Institute China Key Laboratory of Biomimetic Robots and Systems Ministry of Education China Key Laboratory of Intelligent control and decision of complex systems School of Mechatronical Engineering Beijing Institute of Technology Nandajie Zhongguancun Haidian Beijing 100081 China

ISBN: (纸本)9783037856420

Based on the quadruped robot, this paper mainly studies the two directions of the content. The first part mainly introduces the mechanical structure design and the construction of the control system of the quadruped robot, completes the prototype design of the quadruped robot based on hydraulic power system. The second part studies the CPG gait generate method of the quadruped robot based on iterative learning control algorithm. From the principle of bionics, firstly, we use the CPG principle to generate gait, and then use the iterative learning control theory to make the control more optimization. © (2013) Trans Tech Publications, Switzerland.

关键词： Learning algorithms

来源：评论

学校读者我要写书评

暂无评论

Additive manufacturing of high-quality tritium breeding pebbles using ceramic precursors

引用

Journal of the European Ceramic Society 2024年第7期44卷 4719-4730页

作者： Su, Fang Li, Yuzeng Xing, Huanhuan Liu, Yu Liu, Zhiyuan Liu, Changyong Jiang, Cho-Pei Chen, Zhangwei Additive Manufacturing Institute Shenzhen University Shenzhen518060 China Guangdong Key Laboratory of Electromagnetic Control and Intelligent Robotics Shenzhen University Shenzhen518060 China College of Mechanical & Electrical Engineering National Taipei University of Technology Taipei10608 Taiwan State Key Laboratory for Manufacturing Systems Engineering Xi'an Jiaotong University Xi'an710049 China

In this study, the fabrication of advanced lithium orthosilicate (Li4SiO4) ceramic tritium breeding pebbles through photopolymerization using ceramic precursors (i.e., SiO2 and Li2CO3) is reported for the first time. The pebbles exhibit excellent mechanical and physical properties. Through optimization of manufacturing parameters and a geometrical correction model to compensate printing deviations, the printing accuracy of the pebbles was enhanced. The resulting pebbles had a diameter of approximately 1 mm, a sphericity of 1.01, a uniformly distributed pore structure, a phase purity > 95%, and a satisfying relative density reaching 91.39%. The average crush load 25.7 ± 0.3 N, surpassed that achieved by previously reported methods. Furthermore, the thermal conductivity was enhanced compared to that of solid-phase synthesized Li4SiO4 powder, facilitating the tritium release process for fusion applications. This study may serve as a guidance for designing appropriate ceramic breeders, providing a cost-effective approach applicable to produce other high-precision ceramic components with complex compositions. © 2024 Elsevier Ltd

关键词： Lithium compounds

来源：评论

学校读者我要写书评

暂无评论

Control system for maxillofacial surgery robot: Master-slave, motion control and safety design

Control system for maxillofacial surgery robot: Master-slave...

引用

6th International Conference on Complex Medical Engineering, CME 2012

作者： Liu, Tian-Bo Duan, Xing-Guang Huang, Qiang Zhao, Hong-Hua Guo, Qing-Bo Intelligent Robotics Institute Key Laboratory of Biomimetic Robots and Systems Ministry of Education State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Mechatronical Engineering Beijing Institute of Technology 5 Nandajie Zhongguancun Haidian Beijing 100081 China China

ISBN: (纸本)9781467316163

As the complex anatomical structure of the maxillofacial region, operation in this area is of high hazard and difficult to implement. Thus, a multi-arm medical robot assisting maxillofacial surgery, which can improve surgical precision and reduce surgeons' strain, was proposed. Firstly, overview of the whole robot system is introduced. Then this paper focuses on the control system which mainly consists of master-slave, motion control and safety design. Finally, the prototype was established and experiments were carried out to show the robot's smooth running and accurate positioning. © 2012 IEEE.

关键词： Motion control

来源：评论

学校读者我要写书评

暂无评论

Robotic Simulator with High-Precision Perception of Contact Dynamics

Robotic Simulator with High-Precision Perception of Contact ...

引用

IEEE International Conference on Development and Learning, ICDL

作者： Yongcan Zhou Yang Pan Tianjian Lei Junpeng Chen Shenzhen Key Laboratory of Intelligent Robotics and Flexible Manufacturing Systems Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems and Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and Technology Shenzhen China

A robotic simulator constitutes a pivotal tool in achieving accurate modeling and simulation within a virtual environment, especially concerning comprehensive robot training. This paper introduces a novel robotic simulator that employs a continuous compliant contact model, ensuring continuous and stable calculations during the contact process, with a specific focus on precise contact force computation during object collisions. The proposed physics engine captures energy transformations for diverse contact surface shapes and material properties, employing spring-dampers in collision detection. Dynamic equations are derived based on the spring stiffness system, damping coefficient, and external forces applied during the contact phase, enabling effective determination of dynamic parameters throughout the contact process, including position, velocity, and contact force during penetration. Experimental validation of the physics engine's contact solver involves investigating bouncing balls under varying coefficients of restitution. The conducted experiments successfully capture continuous variations in parameters such as contact force during the penetration process. The primary contribution of this paper lies in advancing physics engines to achieve accuracy in simulating and modeling virtual environments, particularly when applied to large-scale robot training. Beyond this context, the high-precision perception of contact dynamics within our robotic simulator bears potential implications in areas such as industrial automation, robotic manipulation, and virtual prototyping.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Accurate modulation of photoprinting under stiffness imaging feedback for engineering ECMs with high-fidelity mechanical properties

引用

Microsystems & Nanoengineering 2022年第3期8卷 291-301页

作者： Xin Li Huaping Wang Xinyi Dong Qing Shi Tao Sun Shingo Shimoda Qiang Huang Toshio Fukuda Intelligent Robotics Institute School of Mechatronical EngineeringBeijing Institute of TechnologyBeijing 100081China The Key Laboratory of Biomimetic Robots and Systems(Beijing Institute of Technology) Ministry of EducationBeijing 100081China School of Medical Technology Beijing Institute of TechnologyBeijing 100081China Intelligent Behavior Control Collaboration Unit RIKEN Center of Brain Science463-0003 NagoyaJapan

Engineered extracellular matrices(ECMs)that replicate complex in-vivo features have shown great potential in tissue *** hydrogel microstructures have been widely used to replace these native ECMs for physiologically relevant ***,accurate reproduction of the 3D hierarchical and nonuniform mechanical stffness inside one integrated microstructure to mimic the complex mechanical properties of native ECMs presents a major ***,by using digital holographic microscopy(DHM)-based stffness imaging feedback,we propose a novel closed-loop control algorithm to achieve high-accuracy control of mechanical properties for hydrogel microstructures that recapitulate the physiological properties of native ECMs with high *** photoprinting,the photocuring area of the hydrogel is divided into microscale grid areas to locally control the photocuring *** the assistance of a motorized microfluidic channel,the curing thickness is controlled with layer-by-layer *** DHM-based stiffness imaging feedback allows accurate adjustment of the photocuring degree in every grid area to change the crosslinking network density of the hydrogel,thus enabling large-span and high-resolution modulation of mechanical ***,the gelatin methacrylate was used as a typical biomaterial to construct the highfidelity biomimetic *** Young's modulus could be flexibly modulated in the 10 kPa to 50 kPa ***,the modulus gradient was accurately controlled to within 2.9 *** engineering ECM with locally different mechanical properties,cell spreading along the stff areas was observed *** believe that this method can regenerate complex biomimetic ECMs that closely recapitulate in-vivo mechanical properties for further applications in tissue engineering and biomedical research.

关键词： microstructure ECM curing

来源：评论

学校读者我要写书评

暂无评论

Boosting the Efficiency and Mechanical Stability of Organic Solar Cells Through a Polymer Acceptor by Reducing the Elastic Modulus

引用

Advanced Energy Materials 2025年

作者： Wang, Yan Yu, Han Zhao, Dan Liu, Wei Liu, Baoze Wu, Xin Gao, Danpeng Zhang, Dong Zhang, Shoufeng Sun, Xianglang Zhang, Chunlei Zhao, Chaoyue Fu, Yuchen Song, Wei Gong, Shaokuan Fu, Yuang Kwok, Chung Hang Ge, Ziyi Lu, Xinhui Chen, Xihan Xiao, Shuang Wong, Wai-Yeung Chai, Yu Yan, He Zhu, Zonglong Department of Chemistry City University of Hong Kong Kowloon999077 Hong Kong Department of Chemistry Guangdong-Hong Kong-Macao Joint Laboratory of Optoelectronic and Magnetic Functional Materials Energy Institute and Hong Kong Branch of Chinese National Engineering Research Center for Tissue Restoration & Reconstruction Hong Kong University of Science and Technology Clear Water Bay Kowloon999077 Hong Kong Department of Applied Biology and Chemical Technology and Research Institute for Smart Energy The Hong Kong Polytechnic University Hung Hom 999077 Hong Kong Hong Kong University of Science and Technology-Shenzhen Research Institute No. 9 Yuexing 1st RD Hi-tech Park Nanshan Guangdong Shenzhen518057 China School of Automation Engineering University of Electronic Science and Technology of China Sichuan Chengdu611731 China Department of Physics City University of Hong Kong Kowloon999077 Hong Kong Zhejiang Engineering Research Center for Energy Optoelectronic Materials and Devices Ningbo Institute of Materials Technology & Engineering Chinese Academy of Sciences Ningbo315201 China Shenzhen Key Laboratory of Intelligent Robotics and Flexible Manufacturing Systems SUSTech Energy Institute for Carbon Neutrality Department of Mechanical and Energy Engineering Southern University of Science and Technology Guangdong Shenzhen518055 China Department of Physics The Chinese University of Hong Kong Shatin999077 Hong Kong Center for Advanced Material Diagnostic Technology and College of Engineering Physics Shenzhen Technology University Guangdong Shenzhen518118 China Shenzhen Research Institute City University of Hong Kong Shenzhen518057 China

Organic solar cells (OSCs) are regarded as one of the most promising flexible power sources due to their lightweight and flexible properties, with the improvement of photovoltaic and mechanical performance. To improve the current density and power conversion efficiency (PCE), mPh4F-TS (TS) and PYSe2F-T (PA) are introduced into the binary host, PM6/mPh4F-TT (PM6/TT) as third components. It is demonstrated that the corresponding ternary devices, in both rigid and flexible devices, achieved superior efficiencies (19.6%/17.7% for PM6/TT+TS, and 19.2%/17.4% for PM6/TT+PA) outperform the binary counterparts (18.3%/16.4%). However, distinct differences in mechanical performance are observed between the polymer acceptor (PA) and small-molecular acceptor (TS). The PM6/TT+PA significantly improved the mechanical stability of flexible devices with a lower elastic modulus of 3.6 GPa, while the PM6/TT+TS resulted in the opposite effect with a higher elastic modulus of 5.5 GPa. Through in-depth investigation, a clear correlation between the elastic modulus, crack density, and mechanical stability of the active layer blends is successfully established, revealing the key role of reducing the elastic modulus in enhancing the mechanical stability of flexible OSCs. This study provides important guidance for the development of flexible photovoltaic devices with both high efficiency and mechanical robustness. © 2025 The Author(s). Advanced Energy Materials published by Wiley-VCH GmbH.

关键词： Organic solar cells

来源：评论

学校读者我要写书评

暂无评论

Learning Rat-Like Behavioral Interaction Using a Small-Scale Robotic Rat 12

Learning Rat-Like Behavioral Interaction Using a Small-Scale...

引用

12th International Conference on CYBER Technology in Automation, Control, and intelligent systems, CYBER 2022

作者： Gao, Zihang Jia, Guanglu Xie, Hongzhao Guo, Xiaowen Fukuda, Toshio Shi, Qing Beijing Institute of Technology Ministry of Education Intelligent Robotics Institute School of Mechatronical Engineering Beijing Institute of Technology Key Laboratory of Biomimetic Robots and Systems Beijing100081 China

ISBN: (数字)9781665472678

ISBN: (纸本)9781665472678

In the existing robot-rat interaction, robots usually exert influence as stimuli to observe the response of target rats. However, the above single-stimulation model from robot to rat lacks a two-way communication. Therefore, we proposed a method to learn the rat-like behavioral interaction. First, we constructed two behavior patterns in the interaction process between the two rats: the individual pattern and the interaction pattern. We divided the roles of the two rats into active stimulator and passive receiver. The stimulator executes the individual pattern, and the receiver switches between the two patterns. Which pattern the receiver executes depends on the probability of interaction. Secondly, we proposed a hypothesis concerning the behavioral interaction between two rats and controlled the interaction process between two robots. Information entropy was used to measure the similarity between two robots and two rats. The results proved that the probability of interaction between rats depends on the distance of centroid and average relative velocity, and we obtained the optimal solution to express the relationship between them. In the future, the improvement of robots' interaction ability with rats will highly benefit from this study. © 2022 IEEE.

关键词： Rats

来源：评论

学校读者我要写书评

暂无评论

Multimodal surface material classification based on ensemble learning with optimized features 22

Multimodal surface material classification based on ensemble...

引用

22nd IEEE International Conference on E-Health Networking, Application and Services, HEALTHCOM 2020

作者： Liu, Xiang Wu, Hancheng Fang, Senlin Yi, Zhengkun Wu, Xinyu CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institutes of Advanced Technology Shenzhen518055 China Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China Shenzhen Key Laboratory of Smart Sensing and Intelligent Systems Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China SIAT Branch Shenzhen Institute of Artificial Intelligence and Robotics for Society Shenzhen518055 China

ISBN: (纸本)9781728162676

In this paper, we propose a novel method for multimodal material classification based on ensemble learning and optimized features. The proposed method consists of three key steps. Firstly, we extract a set of features for each modality. Compared to existing methods, the extracted features are relatively simple but more effective when they are incorporated into the classifiers. Then, the feature selection algorithms, including Multi-Cluster Feature Selection (MCFS) and Laplacian Score (LS) are employed to reduce the feature dimension due to the curse of dimensionality. Finally, an ensemble learning method is proposed to integrate the merits of different feature selection methods. The effectiveness of the proposed method is demonstrated on the LMT-108 surface material dataset which includes multiple modalities such as sound, acceleration, and image. The experimental results have shown that our approach performs better than the competing methods. © 2021 IEEE.

关键词： Learning systems

来源：评论

学校读者我要写书评

暂无评论

PTRL: Prior Transfer Deep Reinforcement Learning for Legged Robots Locomotion

arXiv

引用

arXiv 2025年

作者： Huang, Haodong Sun, Shilong Zhao, Zida Huang, Hailin Shen, Changqing Xu, Wenfu School of Robotics and Advanced Manufacturing Harbin Institute of Technology Shenzhen518055 China School of Rail Transportation Soochow University Suzhou215006 China Suzhou Boyata Industrial Internet Company Ltd. Suzhou215100 China Key University Laboratory of Mechanism and Machine Theory and Intelligent Unmanned Systems of Guangdong Guangdong Shenzhen518055 China

In the field of legged robot motion control, reinforcement learning (RL) holds great promise but faces two major challenges: high computational cost for training individual robots and poor generalization of trained models. To address these problems, this paper proposes a novel framework called Prior Transfer Reinforcement Learning (PTRL), which improves both training efficiency and model transferability across different robots. Drawing inspiration from model transfer techniques in deep learning, PTRL introduces a fine-tuning mechanism that selectively freezes layers of the policy network during transfer, making it the first to apply such a method in RL. The framework consists of three stages: pre-training on a source robot using the Proximal Policy Optimization (PPO) algorithm, transferring the learned policy to a target robot, and fine-tuning with partial network freezing. Extensive experiments on various robot platforms confirm that this approach significantly reduces training time while maintaining or even improving performance. Moreover, the study quantitatively analyzes how the ratio of frozen layers affects transfer results, providing valuable insights into optimizing the process. The experimental outcomes show that PTRL achieves better walking control performance and demonstrates strong generalization and adaptability, offering a promising solution for efficient and scalable RL-based control of legged robots. Copyright © 2025, The Authors. All rights reserved.

关键词： Deep reinforcement learning

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：