检索结果-内蒙古大学图书馆

IEEE International Conference on robotics and Biomimetics

作者： Xu Li Yili Fu State Key Laboratory of Robotics and System Harbin Institute of Technology and State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang University Intelligent Robot Research Center Zhejiang Laboratory and State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

This paper introduces the design and experimental evaluation of WLR-III, which stands for the third-generation hydraulic wheel-legged robot. WLR-III is expected to be applied to disaster scenarios where the mobility, adaptability and manipulation capability are required. Based on the development of the previous two generations of wheel-legged robots, this work continuously optimizes the design to achieve higher mobility and stronger adaptability by reducing weight & inertia. The hydraulic power transmission system adopts a hose-less design method to ensure the robustness of the system. What's more prominent is that the successful development of hydraulic power unit (HPU) enables WLR-III to realize hydraulic power autonomy. In addition, to accomplish all kinds of operational tasks in the rescue scene, the electro-hydraulic hybrid drives anthropomorphic arms with heavy load grippers were developed. Finally, the effectiveness and reliability of design optimization have been evaluated through a series of experiments, including grassland movement, load bearing, obstacle-stepping and tool-operating. To the authors' best knowledge, this is the first time that a hydraulic powered autonomous wheel-legged humanoid robot with the ability to operate simple tools has been developed.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Robot learning from demonstration for path planning: A review

引用

Science China(Technological Sciences) 2020年第8期63卷 1325-1334页

作者： XIE ZongWu ZHANG Qi JIANG ZaiNan LIU Hong State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

Learning from demonstration(LfD)is an appealing method of helping robots learn new *** papers have presented methods of LfD with good performance in ***,complicated robot tasks that need to carefully regulate path planning strategies remain *** or non-contact constraints in specific robot tasks make the path planning problem more difficult,as the interaction between the robot and the environment is *** this paper,we focus on the path planning of complex robot tasks in the domain of LfD and give a novel perspective for classifying imitation learning and inverse reinforcement *** classification is based on constraints and obstacle ***,we summarize these methods and present promising directions for robot application and LfD theory.

关键词： learning from demonstration path planning imitation learning inverse reinforcement learning obstacle avoidance

来源：评论

学校读者我要写书评

暂无评论

Modeling of High-frequency Electromagnetic Oscillation for DC Fault in MMC-HVDC systems

引用

CSEE Journal of Power and Energy systems 2023年第3期9卷 1151-1160页

作者： Hong Shen Zhonghao Dongye Lei Qi Muxue Wang Xiangyu Zhang Peng Qiu Xiaoguang Wei State Key Laboratory of Alternate Electrical Power System with Renewable Energy Sources North China Electric Power UniversityBeijing 102206China Electric Power Research Institute State Grid Zhejiang Electric Power CompanyHangzhou 310014China State Key Laboratory of Advanced Power Transmission Technology Global Energy Interconnection Research Institute Co.Ltd.Beijing 102209China

DC short-circuit faults pose a hazard to the operation of a modular multilevel converter(MMC)-based high voltage direct current(HVDC)system,necessitating reliable fault clearing solutions with rapid ***,because the parasitic capacitances of the main equipment oscillate with the lumped inductances of the HVDC system,strong electromagnetic oscillations with multiple frequencies occur during clearance *** oscillations will disturb the HVDC system’s protection and control ***,this paper focuses on the modeling of these ***,an equivalent circuit for the MMC-based HVDC system is proposed,taking into account the parasitic capacitances of the system’s major components,such as DC reactors,connecting cables,and DC circuit breakers(DCCBs).Second,four distinct oscillation stages are postulated based on action coordination of MMCs and DCCBs,and the associated analytical equations for the oscillation frequencies are ***,a 200 kV MMC-based DC converter station is subjected to an 6ms/6kA pole-to-pole(PTP)short-circuit *** oscillations have a frequency range of several kHz to several hundreds of *** measured waveforms correspond well with simulated results,including the parasitic ***,the relative errors between the simulated and measured frequencies are less than 5%.

关键词： DC short-circuit fault electromagnetic oscillation MMC-HVDC parasitic parameter wide-band model

来源：评论

学校读者我要写书评

暂无评论

DFT study on ORR catalyzed by bimetallic Pt-skin metals over substrates of Ir,Pd and Au

引用

Nano Materials Science 2023年第3期5卷 287-292页

作者： Xueqiang Qi Tingting Yang Pingbo Li Zidong Wei College of Chemistry and Chemical Engineering Chongqing University of TechnologyChongqing400054China The State Key Laboratory of Power Transmission Equipment&System Security and New Technology College of Chemistry and Chemical EngineeringChongqing UniversityChongqing400044China

Bimetallic Pt-skin catalyst is a class of near-surface alloy(NSA)that owns a high degree of control over ***,density functional theory(DFT)is used to calculate the energetics of oxygen reduction reaction(ORR)on Pt-skin over Ir,Pd and Au substrates.A Brønsted-Evans-Polanyi(BEP)relationship can be determined for the oxygen molecule *** binding energy of both atomic oxygen and hydroxyl radical is found to correlate well with the d band center of Pt-skin *** catalytic activities show the volcano relationship as the positions of each substrate in the periodic *** effect of surface strain,band structure and charge transfer on the d band center is well studied,and it can be found that the surface strain effect plays a dominant role for all Pt-skin *** substrate makes the d band center of Pt-skin go far away from the Fermi level,while Au substrate makes it move towards the Fermi *** different from both Ir and Au,Pd substrate makes the d band center of Pt-skin comparable with the monometallic Pt.

关键词： ORR DFT Pt-skin Catalysts

来源：评论

学校读者我要写书评

暂无评论

Design and Control of Continuous Jumping Gaits for Humanoid Robots Based on Motion Function and Reinforcement Learning

引用

Procedia Computer Science 2024年 250卷 51-57页

作者： Zida Zhao Shilong Sun Haodong Huang Qingbin Gao Wenfu Xu State Key Laboratory of Robotics and System (HIT) Harbin Institute of Technology Harbin Heilongjiang China School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen 518055 China

Continuous jumping of humanoid robots is a challenging problem that requires appropriate gait and force control for the robot to achieve. Reinforcement learning (RL) has been applied to the motion control of humanoid robots and has achieved significant progress. However, traditional RL control methods primarily rely on designing reward signals to generate human-like movements, and it requires developing complex reward signals for continuous jumping, resulting in limited actions and suboptimal jumping performance. To address this issue, we have designed motion functions for humanoid continuous jumping and incorporated them into the RL framework to obtain desired human-like continuous jumping actions. Furthermore, two different jumping gaits are designed to investigate the jumping effects produced by different jumping functions: bent-knee jumping (BJ) and straight-knee jumping (SJ). BJ is a typical jumping style where the legs flex during the jumping process to accumulate energy, enabling higher explosive power. SJ is more suitable for tasks requiring quick responses, as the legs remain upright during the jump, providing faster reaction speed. The performance in continuous jumping tasks has been evaluated by comparing the effects of training with different jumping functions. This research has particular guidance for improving the jumping ability of robots and enhancing the stability and efficiency of humanoid continuous jumping.

关键词： Continuous jumping gaits Humanoid robots Motion function Reinforcement learning

来源：评论

学校读者我要写书评

暂无评论

Bio-inspired design of alternate rigid-flexible segments to improve the stiffness of a continuum manipulator

引用

Science China(Technological Sciences) 2020年第8期63卷 1549-1559页

作者： LIU Hong WANG HaiRong FAN ShaoWei YANG DaPeng State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

Intrinsic flexible structures enable a continuum manipulator to exhibit attractive dexterity and intrinsic compliance over traditional hyper-redundant ***,its insufficient stiffness makes the performance of continuum manipulators unsatisfactory and thus limits the applications in many fields.A significant challenge is how to make a trade-off among dexterity,compliance and *** an evolutionary perspective,this paper compares several biological structures that enable the continuum manipulator function,and intends to reveal the mechanism on how the biological structures can improve the *** notochord and the vertebral column with acoelous centra are abstracted and physically implemented.A fundamental roddriven continuum manipulator is also introduced as a *** stiffness models of these three continuum manipulators are proposed,and comparative experiments are conducted to verify their stiffness *** results demonstrate that the rigid-flexible segmental structure can improve the stiffness properties of a continuum manipulator.

关键词： continuum robots biologically inspired robot flexible arm stiffness kinematics

来源：评论

学校读者我要写书评

暂无评论

Pricing Binary Variables of system-wide Constraints for Power system Optimization

引用

CSEE Journal of Power and Energy systems 2024年第3期10卷 1131-1144页

作者： Jiaxun Li Wei Lin Zhifang Yang Mikhail Davidson State Key Laboratory of Power Transmission Equipment and System Security and New Technology College of Electrical EngineeringChongqing UniversityChongqing 400030China Department of Electrical Engineering The Hong Kong Polytechnic UniversityHong Kong SAR 999077China Faculty of Computational Mathematics and Cybernetics Moscow State UniversityMoscow 119991Russia IEEE

With the trend of multiple energies or flexible demand in power systems,binary variables appear in systemwide constraints,which are the foundation of marginal pricing currently in *** appropriate pricing method incentivizes compliance of market participants;otherwise,compliance can be incentivized by paying discriminatory uplift payments which jeopardize transparency of *** paper proposes two theorems to examine whether the binary variables brought by multiple energies and flexible demand will impact compliance under marginal *** first theorem shows sufficient conditions with which marginal pricing with fixed binary variables incentivizes compliance,while the second theorem shows sufficient conditions to require uplift *** improve transparency by reducing uplift payments under cases which fall into the second theorem,this paper further proposes a pricing method by combining 1)designed constraints to price binary variables in system-wide constraints,and 2)convex hull pricing to price binary variables in private *** of the proposed theorems and pricing method is verified in an electricity-gas case(consisting of the IEEE 30-bus system and the NGS 10-node system)and the IEEE 118-bus test system.

关键词： Binary variables impact analysis pricing under non-convexities

来源：评论

学校读者我要写书评

暂无评论

A grid-assisted 3D printing method for magnetically driven micro soft robot 9

A grid-assisted 3D printing method for magnetically driven m...

引用

9th International Conference on Advanced Manufacturing technology and Materials Science, AMTMS 2021

作者： Gao, Jian Gao, Peng Rong, Weibin Li, Dongjie Wang, Lefeng State Key Laboratory of Robotics and System Harbin Institute of Technology Heilongjiang Harbin150001 China Key Laboratory of Advanced Manufacturing and Intelligent Technology Ministry of Education Harbin University of Science and Technology Heilongjiang Harbin150080 China

The magnetically driven micro soft robot is one of the research hotspots in the field of micro robots. A 3D printing method for manufacturing micro soft robots with the help of auxiliary grids is proposed. The shape flexibility of the micro soft robots manufactured by the micro 3D printing method can be improved, and internal structures composed of different materials inside the micro robots can be printed using this method. The technical details of the grid-assisted 3D printing process are introduced in this article. Micro soft robots with specific patterns were 3D printed, and the deformation and movement capabilities of the robots were verified in magnetically driven motion experiments. The experimental results prove that the grid-assisted 3D printing technology can not only manufacture magnetically driven micro soft robots, but also adjust the internal structure and motion performance of the robots. © 2022 Institute of Physics Publishing. All rights reserved.

关键词： 3D printers

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

Analysis of AC and DC Demagnetization of a Rare Earth Free Permanent Magnet Assisted Synchronous Reluctance Motor 26

Analysis of AC and DC Demagnetization of a Rare Earth Free P...

引用

26th International Conference on Electrical Machines and systems, ICEMS 2023

作者： Chen, Bin Yang, Xiangyu Hu, Yusheng Jia, Jinxin Wang, Hanxin Yang, Xiaojuan South China University of Technology Academy of Electric Power Guangzhou China Guangdong Provincial Key Laboratory of High-speed and Energy Conservation Motor System Zhuhai China State Key Laboratory of Airconditioning Equipment and System Energy Conservation Guangdong Provincial Key Laboratory of High-speed and Energy Conservation Motor System Zhuhai China State Key Laboratory of Airconditioning Equipment and System Energy Conservation Zhuhai China

ISBN: (纸本)9798350317589

During the operation of a rare earth free permanent magnet assisted synchronous reluctance motor(PMaSynRM) in vehicles, under harsh operating conditions, a large instantaneous current will be generated, and a reverse magnetic field will be applied to the permanent magnet, resulting in irreversible demagnetization of the permanent magnet [1-3]. To avoid the above issues, this article takes a permanent magnet synchronous reluctance main drive motor as an example and establishes an AC/DC demagnetization simulation model based on finite element technology. The motor is analyzed and optimized for demagnetization simulation. And establish corresponding demagnetization test methods to verify the simulation results through experiments. The experimental results show that the transient field dynamic demagnetization simulation method can effectively reflect the AC/DC demagnetization ability of the motor, and AC demagnetization is more severe than DC demagnetization. This summarizes the demagnetization standards for PMaSynRM used in vehicles. This provides a reference for the optimization and testing of demagnetization simulation of permanent magnet assisted synchronous reluctance motors for vehicles. © 2023 IEEE.

关键词： Demagnetization

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：