Variable camber wings have great potential to enhance the flight efficiency of aircraft due to their smooth and seamless surfaces. Nevertheless, how to address the precise deformation of the skin and the coordinated m...
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The electrically driven large-load-ratio six-legged robot with engineering capability can be widely used in outdoor and planetary ***,due to the particularity of its parallel structure,the effective utilization rate o...
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The electrically driven large-load-ratio six-legged robot with engineering capability can be widely used in outdoor and planetary ***,due to the particularity of its parallel structure,the effective utilization rate of energy is not high,which has become an important obstacle to its practical *** research the power consumption characteristics of robot mobile system is beneficial to speed up it toward *** on the configuration and walking modes of robot,the mathematical model of the power consumption of mobile system is set *** view of the tripod gait is often selected for the six-legged robots,the simplified power consumption model of mobile system under the tripod gait is established by means of reducing the dimension of the robot’s statically indeterminate problem and constructing the equal force ***,the power consumption of robot mobile system is solved under different working *** variable tendencies of the power consumption of robot mobile system are respectively obtained with changes in the rotational angles of hip joint and knee joint,body height,and *** articulated rotational zones and the ranges of body height and span are determined under the lowest power *** to the walking experiments of prototype,the variable tendencies of the average power consumption of robot mobile system are respectively acquired with changes in duty ratio,body height,and ***,the feasibility and correctness of theory analysis are verified in the power consumption of robot mobile *** proposed analysis method in this paper can provide a reference on the lower power research of the large-load-ratio multi-legged robots.
Magnetic microrobots,given their unique characteristics,hold great potential in biomedical applications such as targeted therapy and microscale operations and are receiving widespread *** on the autonomous navigation ...
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Magnetic microrobots,given their unique characteristics,hold great potential in biomedical applications such as targeted therapy and microscale operations and are receiving widespread *** on the autonomous navigation of magnetic microrobots is highly focused,as it is an essential prerequisite for achieving functions such as targeted delivery in medical *** success of autonomous navigation determines the level of intelligence and precision in the motion of magnetic ***,uncertainties stemming from environmental changes and time-varying disturbances in electromagnetic systems adversely affect the control accuracy of magnetic ***,the random appearance of dynamic obstacles along expected trajectories challenges their autonomous *** this study,we demonstrate a method for the exact autonomous navigation of magnetic microrobots in fluid environments,successfully avoiding dynamic obstacles that suddenly appear in predefined *** versions of the A^(*) algorithm and dynamic window approach are integrated as path planners,that can generate smooth and collision-free trajectories that adhere to kinematic constraints in fluid environments with dynamic obstacles.A learning-based model predictive control strategy is employed,where radial basis function neural networks are used to effectively predict and compensate for fluid disturbances and inevitable errors introduced by electromagnetic system coupling,thereby ensuring the control accuracy of the magnetic microrobot in a flowing *** in a constructed microfluidic environment validate the effectiveness of our navigation approach in motion control,autonomous navigation,and replanning,with an average error of less than 8%of the body length of the microrobot.
Model-guided design of dielectric elastomer actuators(DEAs) is essential for enabling their application in soft robotics. However, current modeling methods primarily rely on the finite element method(FEM), which s...
Model-guided design of dielectric elastomer actuators(DEAs) is essential for enabling their application in soft robotics. However, current modeling methods primarily rely on the finite element method(FEM), which suffers from low computational efficiency. Additionally, the simulation-to-reality(Sim2Real) gap, mainly arising from variations in material properties and manufacturing processes, poses a significant challenge. In this work, we propose a data-driven modeling framework aimed at accurately and rapidly predicting voltage-induced displacements while minimizing the Sim2Real gap. The framework integrates a multi-layer perceptron(MLP) model, which serves as a computationally efficient surrogate for the FEM model, and a cycle-generative adversarial network(CycleGAN) model, which mitigates the Sim2Real gap by leveraging adversarial learning to process both simulation and experimental data. Dimensional analysis is performed to extend the framework's applicability across different DEA scales. The surrogate model delivers global predictions in just 0.8 s, achieving linear coefficients of determination(R2) of 0.99106 for release distance prediction and 0.99375 for actuation distance prediction compared to experimental results. Our model can quickly identify the feasible range of biaxial prestretch ratios required for generating the desired deformation, thereby streamlining the design process. Finally, a soft robotic gripper is designed and fabricated, demonstrating versatile object-grasping capabilities.
To examine the environmental characteristics of the microgravity force and the weathered layer on an asteroid surface,a symmetric wheel brush asteroid sampler is proposed for the collection of particles on the asteroi...
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To examine the environmental characteristics of the microgravity force and the weathered layer on an asteroid surface,a symmetric wheel brush asteroid sampler is proposed for the collection of particles on the asteroid *** study the influence of the wheel brush rotation speed on the sampling efficiency and the driving torque required for the wheel brush,the contact dynamics model between particles and sampling wheel brushes is established and a simulation and experimental verification of the sampling process are *** parameter calibration of the sampled particles is studied first,and the calibrated particle parameters are used in the numerical simulation of the sampling *** sampling results and the particle stream curves are obtained for the working conditions of different rotation speeds,and the effects of different parameter settings on the sampling efficiency are *** addition,a set of rotating symmetrical sampling wheel brush devices is built for the ground test,and the dynamic torque sensor is used to test the torque change of the wheel brush during the sampling *** relationship between the speed of the wheel brush and the driving torque of the wheel brush motor is determined by comparing the simulation results with the test *** indicate that when the rotating speed of the wheel brush is faster,the sampling efficiency is higher,and the driving torque required for the sampling wheel brush is ***,a numerical simulation analysis of the sampling process of the wheel brush sampler in a microgravity environment is conducted to determine the optimal speed condition,and the brushing test of the wheel brush sampler in the microgravity environment is verified with the drop tower *** research proposes the structural optimization design and motor selection of a wheel brush asteroid sampler,which provides important reference value and engineering significance.
作者:
方虹斌师瑞徐鉴Institute of AI and Robotics
State Key Laboratory of Medical NeurobiologyMOE Engineering Research Center of AI&RoboticsFudan UniversityShanghai200433China
In this work, we introduce a soft-to-hard network (S2H-GNN) for precise local feature matching between image pairs. The core of S2H-GNN is a weighted context aggregation algorithm that enables nodes to receive informa...
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In this paper, for the requirements of image recognition and localization of the obstacles existing on the moving path in the inspection task of FAST cable inspection robot, the deep learning method is used to realize...
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With the rapid development of machine learning, more and more vision-based scene classification methods are being applied to mobile robots to help them perform complex tasks such as their self-localization and navigat...
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Microscale metallic structures enhanced by additive manufacturing technology have attracted extensive attention especially in microelectronics and electromechanical ***-confined electrodeposition(MCED)advances microsc...
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Microscale metallic structures enhanced by additive manufacturing technology have attracted extensive attention especially in microelectronics and electromechanical ***-confined electrodeposition(MCED)advances microscale 3D metal printing,enabling simpler fabrication of superior metallic microstructures in air without complex equipment or ***,accurately predicting growth rates with current MCED techniques remain challenging,which is essential for precise structure fabrication and preventing nozzle *** this work,we present a novel approach to electrochemical 3D printing that utilizes a self-adjusting,voxelated method for fabricating metallic *** from conventional voxelated printing which focuses on monitoring voxel thickness for structure control,this technique adopts a holistic *** ensures each voxel’s position is in alignment with the final structure by synchronizing the micropipette’s trajectory during deposition with the intended design,thus facilitating self-regulation of voxel position and reducing errors associated with environmental fluctuations in deposition *** method’s ability to print micropillars with various tilt angles,high density,and helical arrays demonstrates its refined control over the deposition *** electron microscopy analysis reveals that the deposited structures,which are fabricated through layer-by-layer(voxel)printing,contain nanotwins that are widely known to enhance the material’s mechanical and electrical ***,in situ scanning electron microscopy(SEM)microcompression tests confirm this enhancement,showing these structures exhibit a compressive yield strength exceeding 1 *** indentation tests provided an average hardness of 3.71 GPa,which is the highest value reported in previous work using *** resistivity measured by the four-point probe method was(1.95±0.01)×10^(−7)Ω·m,nearly 11 times that of bulk ***
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