Artificial intelligence is currently achieving impressive success in all ***,autonomous navigation remains a major challenge for *** learning is used for target navigation to simulate the interaction between the brain...
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Artificial intelligence is currently achieving impressive success in all ***,autonomous navigation remains a major challenge for *** learning is used for target navigation to simulate the interaction between the brain and the environment at the behavioral level,but the Artificial Neural Network trained by reinforcement learning cannot match the autonomous mobility of humans and *** hippocampus–striatum circuits are considered as key circuits for target navigation planning and *** paper aims to construct a bionic navigation model of reinforcement learning corresponding to the nervous system to improve the autonomous navigation performance of the *** ventral striatum is considered to be the behavioral evaluation region,and the hippocampal–striatum circuit constitutes the position–reward *** this paper,a set of episode cognition and reinforcement learning system simulating the mechanism of hippocampus and ventral striatum is constructed,which is used to provide target guidance for the robot to perform autonomous *** with traditional methods,this system reflects the high efficiency of learning and better Environmental *** research is an exploration of the intersection and fusion of artificial intelligence and neuroscience,which is conducive to the development of artificial intelligence and the understanding of the nervous system.
In traditional human-machine interface research, a single sensing mode is often adopted, focusing on individual human motion classification experiments. However, the performance often declines when applied across indi...
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This paper proposes a constrained visual servoing method for the safe and reliable capture of noncooperative, tumbling satellites using a free-floating space robot. The adapter ring serves as both the capture interfac...
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This paper investigates the prescribed-time tracking control problem for a class of multi-input multi-output(MIMO)nonlinear strict-feedback systems subject to non-vanishing uncertainties. The inherent unmatched and no...
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This paper investigates the prescribed-time tracking control problem for a class of multi-input multi-output(MIMO)nonlinear strict-feedback systems subject to non-vanishing uncertainties. The inherent unmatched and non-vanishing uncertainties make the prescribed-time control problem become much more nontrivial. The solution to address the challenges mentioned above involves incorporating a prescribed-time filter, as opposed to a finite-time filter, and formulating a prescribed-time Lyapunov stability lemma(Lemma 5). The prescribed-time Lyapunov stability lemma is based on time axis shifting time-varying yet bounded gain, which establishes a novel link between the fixed-time and prescribed-time control method. This allows the restriction condition that the time-varying gain function must satisfy as imposed in most exist prescribed-time control works to be removed. Under the proposed control method, the desire trajectory is ensured to closely track the output of the system in prescribed time. The effectiveness of the theoretical results are verified through numerical simulation.
Multi-motor configuration of multi-DOF(degree of freedom)optical system is a major source of redundant structure,putting a limitation on the simple and miniaturized ***,a novel two-DOF ultrasonic motor(USM)is proposed...
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Multi-motor configuration of multi-DOF(degree of freedom)optical system is a major source of redundant structure,putting a limitation on the simple and miniaturized ***,a novel two-DOF ultrasonic motor(USM)is proposed to provide a feasible method of application in the lens autofocus of the optical *** proposed USM operates by one longitudinal mode and two orthogonal bending modes,which is inspired by the bionic motion principle of the *** frequency degeneration among the three working modes is per-formed,and the working principle of the USM is verified via the FEM simulation.A prototype of the two-DOF USM is fabricated,and its mechanical output characteristics are *** experimental results indicate that the prototype achieves the maximum rotary and linear speeds of 3319.6 rpm and 57.6 mm/s,***,we demonstrate the result of a simple focusing experiment using the prototype and obtain a series of clear pictures,which verifies the feasibility of application in the optical focusing system.
CO2 laser polishing process can significantly improve the surface quality and the laser-induced damage threshold (LIDT) of fused silica optics. However, due to the thermal history of the laser polishing process, the i...
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Autonomous aerial refueling technology is gaining increasing attention to enhance aircraft combat *** research on autonomous refueling focuses mainly on flight control laws,with little attention to the automation of r...
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Autonomous aerial refueling technology is gaining increasing attention to enhance aircraft combat *** research on autonomous refueling focuses mainly on flight control laws,with little attention to the automation of refueling *** leads to high demands on control law performance and navigation accuracy,making it difficult to ensure *** address this,we propose a robotic arm system capable of automatic docking during the flexible aerial refueling *** system uses a conical kinematic space configuration,offering enhanced stability and impact *** frame-type structure achieves a lightweight ***,we establish a single-objective optimization model for the connecting rod dimensions and apply a genetic algorithm(GA)for their *** also propose a trajectory-fitting calibration theory based on the robotic arm's special configuration and complete its movement accuracy calibration using a laser *** calibration method reduces the robotic arm's motion error by 71%,achieving an absolute positioning accuracy better than 3.5 mm,which meets the requirements for autonomous aerial *** summary,this research presents a hybrid robotic arm that meets automatic docking requirements,offering a new approach to autonomous aerial refueling.
Legged locomotion poses significant challenges due to its nonlinear,underactuated and hybrid dynamic *** challenges are exacerbated by the high-speed motion and presence of aerial phases in dynamic legged locomotion,w...
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Legged locomotion poses significant challenges due to its nonlinear,underactuated and hybrid dynamic *** challenges are exacerbated by the high-speed motion and presence of aerial phases in dynamic legged locomotion,which highlights the requirement for online planning based on current states to cope with uncertainty and *** article proposes a real-time planning and control framework integrating motion planning and whole-body *** the framework,the designed motion planner allows a wider body rotation range and fast reactive behaviors based on the 3-D single rigid body *** addition,the combination of a Bézier curve based trajectory interpolator and a heuristic-based foothold planner helps generate continuous and smooth foot *** developed whole-body controller uses hierarchical quadratic optimization coupled with the full system dynamics,which ensures tasks are prioritized based on importance and joint commands are physically *** performance of the framework is successfully validated in experiments with a torque-controlled quadrupedal robot for generating dynamic motions.
Neural networks(NNs), owing to their impressive performance, have gradually begun to dominate multimedia processing. For resource-constrained and energy-sensitive mobile devices, an efficient NN accelerator is necessa...
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Neural networks(NNs), owing to their impressive performance, have gradually begun to dominate multimedia processing. For resource-constrained and energy-sensitive mobile devices, an efficient NN accelerator is necessary. Style transfer is an important multimedia application. However, existing arbitrary style transfer networks are complex and not well supported by current NN accelerators, limiting their application on mobile devices. Moreover, the quality of style transfer needs improvement. Thus, we design the Fast Style system(FSS), where a novel algorithm and an NN accelerator are proposed for style transfer. In FSS, we first propose a novel arbitrary style transfer algorithm, Fast Style. We propose a light network that contributes to high quality and low computational complexity and a prior mechanism to avoid retraining when the style changes. Then, we redesign an NN accelerator for Fast Style by applying two improvements to the basic NVIDIA deep learning accelerator(NVDLA) architecture. First, a flexible dat FSM and wt FSM are redesigned to enable the original data path to perform other operations(including the GRAM operation)by software programming. Moreover, statistics and judgment logic are designed to utilize the continuity of a video stream and remove the data dependency in the instance normalization, which improves the accelerator performance by 18.6%. The experimental results demonstrate that the proposed Fast Style can achieve higher quality with a lower computational cost, making it more suitable for mobile devices. The proposed NN accelerator is implemented on the Xilinx VCU118 FPGA under a 180-MHz clock. Experimental results show that the accelerator can stylize 512×512-pixel video with 20 FPS, and the measured performance reaches up to 306.07 GOPS. The ASIC implementation in TSMC 28 nm achieves about 22 FPS in the case of a 720-p video.
To mill fine and well-defined micro-dimpled structures,a machining manner of spiral trajectory tool reciprocating motion,where the tool repeats the process of‘feed milling–retract–cutting feed–feed milling again’...
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To mill fine and well-defined micro-dimpled structures,a machining manner of spiral trajectory tool reciprocating motion,where the tool repeats the process of‘feed milling–retract–cutting feed–feed milling again’along the spiral trajectory,was *** the kinematics analysis,it is found that the machining quality of micro-dimpled structures is highly dependent on the machining trajectory using spiral trajectory tool reciprocating *** reveal this causation,simulation modelling and experimental studies were carried out.A simulation model was developed to quantitatively and qualitatively investigate the influence of the trajectory discretization strategies(constant-angle and constant-arc length)and parameters(discrete angle,discrete arc length,and pitch)on surface texture and residual height of micro-dimpled ***,micro-dimpled structures were milled under different trajectory discretization strategies and parameters with spiral trajectory tool reciprocating motion.A comprehensive comparison between the milled results and simulation analysis was made based on geometry accuracy,surface morphology and surface roughness of milled ***,the errors and factors affecting the above three aspects were *** results demonstrate both the feasibility of the established simulation model and the machining capability of this machining way in milling high-quality micro-dimpled *** trajectory tool reciprocating motion provides a new machining way for milling micro-dimpled structures and micro-dimpled functional *** an appropriate machining trajectory can be generated based on the optimized trajectory parameters,thus contributing to the improvement of machining quality and efficiency.
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