检索结果-内蒙古大学图书馆

2nd International Conference on Modeling in Mechanics and Materials

作者： Wang, Yicong Shan, Xiaobiao Feng, Ju Xie, Tao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

This paper presents a novel piezoelectric energy harvester based on wake galloping in water. This harvester consists of a bluff cylinder and a fin connected with a macro fiber composite (MFC) piezoelectric plate. The fluid flows through the upstream bluff cylinder and produces alternating shedding vortices behind it. Vortex shedding produces periodic crosswise vortex-induced force to drive the fin and piezoelectric plate vibrating to generate electricity. An experimental platform was established and several prototypes of energy harvesters were fabricated. The experimental results show that, under different flow velocity domains, the harvesting effect of the bluff cylinder with a diameter of 30 mm is the most ideal for the energy harvester with a fin length of 20, 30 and 40 mm. When the fin length is 20 mm, the output voltage changes most smoothly. To obtain stable open circuit output voltage, the spacing distance between the bluff cylinder with a diameter of 25 mm and the fin should be controlled within 3D, while, the spacing distance between the bluff cylinder with a diameter of 30 mm and the fin should be controlled within 2D. When the bluff cylinder with a diameter of 30 mm, a spacing distance of 100 mm, and a flow velocity of 0.427 m/s, the maximum open circuit output voltage of 7.289 V can be obtained. The present work provides an effective experimental foundation for the research of underwater fin-shaped vehicle's dynamic endurance. © Published under licence by IOP Publishing Ltd.

关键词： Flow velocity

来源：评论

学校读者我要写书评

暂无评论

Sound Source Reconstruction with Gibbs Sampler from Non-Synchronous Wind Tunnel Measurements

Sound Source Reconstruction with Gibbs Sampler from Non-Sync...

引用

IEEE International Conference on Information Communication and Signal Processing (ICICSP)

作者： Fanchang Zeng Lingji Xu Liang Yu Anyu Bao Bao Chen Xinzhe Chen School of Ocean Engineering and Technology Sun Yat-sen University Guangdong China State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University Shanghai China Aerodynamic Research Institute Aviation Industry Corporation of China Harbin China

In conventional array signal processing, the resolution of acoustic imaging and the working frequency of the array are directly limited by the aperture and density of the microphone array due to Rayleigh limit. One solution is to sequentially scan the object through a prototype array to synthesize a large aperture or higher-density array, which is referred to as non-synchronous measurements (NSM). A fundamental problem in the NSM is the recovery of the missing phase relations between consecutive measurements compared to synchronous measurements (SM), and this problem is deemed as the matrix completion problem of a block diagonal spectral matrix. In this work, acoustic source reconstruction from NSM is considered as the problem of solving a system of equations (inverse acoustical problem). Bayesian inference based on Gibbs sampling is proposed to solve the ill-posed inverse problem. Sources strength distribution and noise are modeled as a Bayesian hierarchical framework solved by sampling in the posterior probability density functions (PDF). The proposed method is validated effectively by numerical simulations and wind tunnel test experiments.

关键词：

来源：评论

学校读者我要写书评

暂无评论

2-DOF simultaneous control of dexterous prosthesis based on constrained NMF and hadamard product

2-DOF simultaneous control of dexterous prosthesis based on ...

引用

2019 IEEE International Conference on robotics and Biomimetics, ROBIO 2019

作者： Wang, Zixin Yang, Dapeng Li, Jiaming Liu, Hong Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin150081 China School of Foreign Language State Key Laboratory of Robotics and System Harbin150081 China Artificial Intelligence Laboratory State Key Laboratory of Robotics and System Harbin150081 China

ISBN: (纸本)9781728163215

- It is a question of great import for the dexterous prosthesis to realize its continuous, simultaneous and proportional control of multi-DOFs so that its rehabilitation function can be well achieved and its user acceptance rate can be improved. In this paper, we propose a new method, CNMF-HP, which integrates the constrained non-negative matrix factorization (NMF) and the Hadamard product, for estimating 2-DOF wrist movements (DOF-1, flexion/extension;DOF-2, adduction/abduction) from myoelectric signals. Based on this method, the simultaneous control of a multi-fingered prosthesis is verified in this paper. Through establishing the mapping relationship between the wrist movements and the finger movements of the dexterous prosthesis, two grasp control strategies (synchronous and asynchronous) are proposed and successfully applied in operating the dexterous prosthesis to grasp four kinds of objects of different grasping patterns (cylindrical, spherical, tripod and lateral). Then, the performance of different strategies (synchronous/asynchronous control) in the grasping process is compared in terms of the completion time and completion rate of the tasks, in this way the superiority of EMG control proposed in this paper is further verified. © 2019 IEEE.

关键词： Non-negative matrix factorization

来源：评论

学校读者我要写书评

暂无评论

Corretions to “An Automatic Navigation Framework for Magnetic Fish-Like Millirobot in Uncertain Dynamic Environments”

引用

IEEE robotics and Automation Letters 2025年第4期10卷 3875-3875页

作者： Chenyao Tian Xinjian Fan Jingzhi Jia Zhan Yang Hui Xie State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China School of Mechanical and Electrical Engineering Soochow University Suzhou China

The first author's name was misspelled as “Chengyao Tian” in [1], containing an extraneous “g”. The correct spelling is “Chenyao Tian”.

关键词： Navigation

来源：评论

学校读者我要写书评

暂无评论

Simulation Platform for Autonomous Aerial Manipulation in Dynamic Environments

Simulation Platform for Autonomous Aerial Manipulation in Dy...

引用

IEEE International Conference on robotics and Biomimetics

作者： Fengyu Quan Huisheng Huang Hongjie Zeng Haoyao Chen Yunhui Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Shenzhen China Chinese University of Hong Kong Hong Kong P. R. China

ISBN: (纸本)9781665405362

The aerial manipulator (AM) is a systematic operational robotic platform in high standard on algorithm robustness. Directly deploying the algorithms to the practical system will take numerous trial and error costs and even cause destructive results. In this paper, a new modular simulation platform is designed to evaluate aerial manipulation related algorithms before deploying. In addition, to realize a fully autonomous aerial grasping, a series of algorithm modules consisting a complete workflow are designed and integrated in the simulation platform, including perception, planning and control modules. This framework empowers the AM to autonomously grasp remote targets without colliding with surrounding obstacles relying only on on-board sensors. Benefiting from its modular design, this software architecture can be easily extended with additional algorithms. Finally, several simulations are performed to verify the effectiveness of the proposed system.

关键词： systematics Software architecture Heuristic algorithms Biological system modeling Software algorithms Grasping Sensors

来源：评论

学校读者我要写书评

暂无评论

Weighted Block L1 Norm Regularized Two-dimensional Off-grid Compressive Beamforming for Acoustic Source Identification 5

Weighted Block L1 Norm Regularized Two-dimensional Off-grid ...

引用

5th International Conference on Information Communication and Signal Processing, ICICSP 2022

作者： Zhang, Chenyu Yu, Liang Bai, Baohong Xu, Chen Wang, Ran Xiao, Youhong College of Power and Energy Engineering Harbin Engineering University Harbin China Shanghai Jiao Tong University State Key Laboratory of Mechanical System and Vibration Shanghai China Beijing Aircraft Technology Research Institute of Commercial Aircraft Corporation of China Ltd. Department of Aerodynamics and Acoustics Beijing China Research Insitute of Aero-Engine Beihang University Beijing China College of Logestics Engineering Shanghai Maritime University Shanghai China

ISBN: (纸本)9781665485890

High spatial resolution and high accuracy acoustic source identification is valuable in the field of aircraft. Compressive beamforming is a potential method to achieve a high-quality acoustic map. However, the off-grid problem and convex relaxation loss will reduce the performance of compressive beamforming. The weighted block L1 norm regularized two-dimensional (2D) off-grid beamforming method is proposed in this paper. In the proposed method, the solution containing the source amplitudes and off-grid differences is constrained by the weighted block L1 norm. The weighted block L1 norm can induce a more sparse solution to enhance the spatial resolution of the obtained acoustic map. Moreover, it can also recover the source amplitudes more accurately due to the fair penalty value. The performance of the proposed method is also validated by a numerical simulation. It turns out that the proposed method can identify the acoustic sources with higher spatial resolution and higher accuracy compared with conventional compressive beamforming methods. © 2022 IEEE.

关键词： Beamforming

来源：评论

学校读者我要写书评

暂无评论

High spatial resolution collinear chiral sum-frequency generation microscopy

引用

Advanced Photonics Nexus 2024年第2期3卷 42-48页

作者： Ziheng Ji Wentao Yu Dashan Dong Hong Yang Kaihui Liu Yun-Feng Xiao Qihuang Gong Qinghai Song Kebin Shi Harbin Institute of Technology(Shenzhen) School of ScienceMinistry of Industry and Information Technology Key Lab of Micro-Nano Optoelectronic Information SystemShenzhenChina Peking University School of PhysicsState Key Laboratory for Mesoscopic Physics and Frontiers Science Center for Nano-OptoelectronicsBeijingChina Nanjing University of Science and Technology Institute of Interdisciplinary Physical SciencesSchool of ScienceNanjingChina Shanxi University Collaborative Innovation Center of Extreme OpticsTaiyuanChina Peking University Yangtze Delta Institute of Optoelectronics NantongChina

Chiral sum-frequency generation(SFG)has proven to be a versatile spectroscopic and imaging tool for probing ***,due to polarization restriction,the conventional chiral SFG microscopes have mostly adopted noncollinear beam configurations,which only partially cover the aperture of microscope and strongly spoil the spatial *** this study,we report the first experimental demonstration of collinear chiral SFG microscopy,which fundamentally supports diffraction-limited *** advancement is attributed to the collinear focus of a radially polarized vectorial beam and a linearly polarized(LP)*** tightly focused vectorial beam has a very strong longitudinal component,which interacts with the LP beam and produces the chiral *** collinear configuration can utilize the full aperture and thus push the spatial resolution close to the diffraction *** technique can potentially boost the understanding of chiral systems.

关键词： chiral sum-frequency generation radially polarized beam nonlinear optical microscopy

来源：评论

学校读者我要写书评

暂无评论

Special issue on meta-lenses

引用

Opto-Electronic Science 2024年第9期3卷 1-2页

作者： Din Ping Tsai Shumin Xiao Department of Electrical Engineering City University of Hong KongKowloonHong Kong SAR 999077China Centre for Biosystems Neuroscienceand NanotechnologyCity University of Hong KongKowloonHong Kong SAR 999077China The State Key Laboratory of Terahertz and Millimeter Waves City University of Hong KongKowloonHong Kong SAR 999077China State Key Laboratory on Tunable Laser Technology Ministry of Industry and Information Technology Key Lab of Micro-Nano Optoelectronic Information SystemShenzhen Graduate SchoolHarbin Institute of TechnologyShenzhen 518055China

About a decade ago,the unveiling of generalized Snell’s laws heralded a significant advancement in nanophotonics,leading to the emergence of metasurfaces1−*** revolutionary milestone has set the stage for the development of advanced optical devices,particularly metalens7−*** are already well-versed in the fundamental principles and functions of meta-lenses,which exemplify the concept of phase discontinuities with ***,the exploration of meta-lenses is far from over.

关键词： principles phase surfaces

来源：评论

学校读者我要写书评

暂无评论

Wheel's Slip Ratio and Sinkage Estimation for Planetary Rovers Moving on Deformable Terrain

引用

Journal of Physics: Conference Series 2022年第1期2203卷

作者： Huaiguang Yang Liang Ding Haibo Gao Zongquan Deng State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 Heilongjiang China

Planetary rover plays a significant role in the lunar and Mars exploration missions and wheel's move status such as sinkage and slip ratio are the critical Factor to estimate the moving ability of the Mars rover. A method is proposed to estimate wheel's sinkage and skid angle based on terramechanic model and estimate slip ratio based on rover's dynamic model using Extended Kalman Filter algorithm. The proposed method can avoid the errors caused by Visual Odometry and improves the estimation accuracy of rover state through the fusion with other sensors' data. The effectiveness of the estimation method for planetary rovers is verified by comparing with the results obtained from dynamic simulation of Mars rovers.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Design of a Novel Autonomous Docking system With a Supporting Robotic Fish

Design of a Novel Autonomous Docking System With a Supportin...

引用

IEEE International Conference on Real-time Computing and robotics (RCAR)

作者： Huijie Dong Chunyang Zhao Tiezhu Qiao Jian Wang Di Chen Yan Meng Junzhi Yu Ministry of Education Key Laboratory of Advanced Transducers and Intelligent Control System Taiyuan University of Technology Taiyuan China Institute of Automation Laboratory of Cognitive and Decision Intelligence for Complex System Chinese Academy of Sciences Beijing China Department of Advanced Manufacturing and Robotics College of Engineering State Key Laboratory for Turbulence and Complex Systems Peking University Beijing China College of Electronics and Information Engineering Guangdong Ocean University Zhanjiang China

Underwater supporting robots serving as a relay of energy supplements and communication for other underwater equipment are promising for ocean exploration, development, and protection. This paper proposes a novel autonomous docking system centered on a designed supporting robotic fish named ‘CourierFish’. Specifically, CourierFish is capable of docking with a surface dock station for supplying itself and docking with a seafloor platform for supporting equipment in the platform. A visual navigation scheme integrating LED and ArUco markers is presented for accurate localization. The control approach for docking motion is also illustrated. Simulations and aquatic experiments are performed to verify the feasibility of the proposed docking system. The obtained results lay a solid foundation for the construction of various underwater equipment and robot networks.

关键词：

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：