Expansion Rod Capturing Nozzle Device is developed to achieve the function of capturing the non-cooperative satellite by locking the main engine nozzle. Nozzle structure is captured by the device through its throat, s...
详细信息
ISBN:
(纸本)9781479927456
Expansion Rod Capturing Nozzle Device is developed to achieve the function of capturing the non-cooperative satellite by locking the main engine nozzle. Nozzle structure is captured by the device through its throat, so the size and mass are small. The overall structure design of the device and the operating principle of the Expansion Rod mechanism are described. A method of Meshing Profile Modeling is proposed and introduced in particular. The method is used to design the key component of Expansion Rod. The Expansion Rod designed by the modeling method and the not designed one are compared in virtual simulation software. Verify the correctness and necessity of the modeling method by the simulations. In order to study the working process of the device, the virtual simulation and the related experiments are carried out, and the experimental results were analyzed. The simulation and experiments results show that the designed Expansion Rod using the modeling method has the ability to capture and lock the satellite nozzle.
In this paper a stereo-vision based framework is presented to track the motion of a table-tennis ball in motion-blurred images. In the proposed approach, first the motion direction is identified by minimizing L2 norm ...
详细信息
ISBN:
(纸本)9781479927456
In this paper a stereo-vision based framework is presented to track the motion of a table-tennis ball in motion-blurred images. In the proposed approach, first the motion direction is identified by minimizing L2 norm of directional derivatives of the blurred image and the motion width is estimated using the bounding rectangle of the foreground object. Then more accurate motion parameters of the ball are obtained based on circle fitting. Finally 3D location and velocity of the ball are reconstructed from a single image pair and weighted least-square method is utilized to estimate the flying trajectory of the ball. The proposed method is implemented in an actual robot table tennis system. GPU-based image processing and multi-thread technique are used to reduce the latency of the vision system. The obtained results verifies the effectiveness of the proposed method.
Legged systems theoretically offer the potential to better traverse rugged terrains than traditional wheeled and tracked designs due to no need for paths of continuous contact with the ground, and therefore have been ...
详细信息
ISBN:
(纸本)9781479927456
Legged systems theoretically offer the potential to better traverse rugged terrains than traditional wheeled and tracked designs due to no need for paths of continuous contact with the ground, and therefore have been given great concern. In this paper, a geometric feature-based footholds identification system for a small six-legged robot HITCR-II was presented. For this algorithm, a novel local terrain feature extraction method was introduced, taking account of the shape and size of the robot foot. A ranking function used to quantify the risk of a candidate location for foothold by the robot was designed and trained using support vector machine (SVM). Experimental results showed that the proposed footholds identification system was able to successfully rank the usefulness of the ground points.
For a ducted fan unmanned aerial vehicle (DF-UAV), the aerodynamic forces comprising the aerodynamic lift and drag as well as their induced angular moments are the real physical inputs dominating the flight state. The...
详细信息
ISBN:
(纸本)9781479925667
For a ducted fan unmanned aerial vehicle (DF-UAV), the aerodynamic forces comprising the aerodynamic lift and drag as well as their induced angular moments are the real physical inputs dominating the flight state. These forces originate from the motions of the duct, propeller and control surfaces. Therefore, this study considered an integrated modeling of DF-UAV and proposed a layered design method for the hybrid position-attitude controller based on the reference feedback and dynamic decoupling.
Exoskeleton robot has become a research hotspot recently, and human lower extremity exoskeleton can be worn on human body, providing protection, assistance or help the recovery of people with lower limbs paralysis. Th...
详细信息
Exoskeleton robot has become a research hotspot recently, and human lower extremity exoskeleton can be worn on human body, providing protection, assistance or help the recovery of people with lower limbs paralysis. The human lower extremity exoskeleton designed in this paper includes mechanic structure, gait characteristics parameters acquisition system. This paper does some experiment research on exoskeleton robot, designs a wearable mechanic structure that appears similar to and compatible with human. Pressure sensors are set on feet and encoders are set on hip and knee joints, which can detect feet pressure and joint angle translation. The mechanic structure is proven feasible and gait characteristic parameters are collected, which provides a foundation for further research of exoskeleton.
To tackle with mobile robot path planning problem, we developed a novel path planning method utilized 3D grid map. Firstly we construct point cloud map using mobile robot equipped with 3D-LRF, then we transform point ...
详细信息
Surface EMG signal is a quite useful tool for both the clinical application and human-machine interface. This paper proposes a multi-channel sEMG acquisition system with a novel sEMG electrodes array using improved bi...
详细信息
Considering wireless sensor network characteristics,this paper uses network simulator,version2(NS-2)algorithm to improve Ad hoc on-demand distance vector(AODV)routing algorithm,so that it can be applied to wireless se...
详细信息
Considering wireless sensor network characteristics,this paper uses network simulator,version2(NS-2)algorithm to improve Ad hoc on-demand distance vector(AODV)routing algorithm,so that it can be applied to wireless sensor *** studying AODV routing protocol,a new algorithm called Must is brought *** paper introduces the background and algorithm theory of Must,and discusses the details about how to implement Must *** last,using network simulator(NS-2),the performance of Must is evaluated and compared with that of *** results show that the network using Must algorithm has perfect performance.
Behaviors of multi-robot system based on task-oriented architecture are intuitional according to the flow of task processing that is obvious to plan and monitor. This paper tables a novel task-oriented architecture fo...
详细信息
This paper is concerned with the diagnosis problem of actuator faults for a class of nonlinear systems. It is assumed that the upper bound of the Lipschtiz constant of the nonlinearity in the faulty system is unknown....
详细信息
ISBN:
(纸本)9781479945511
This paper is concerned with the diagnosis problem of actuator faults for a class of nonlinear systems. It is assumed that the upper bound of the Lipschtiz constant of the nonlinearity in the faulty system is unknown. Then, a new nonlinear observer for fault diagnosis based on an adaptive estimator is proposed. Moreover, by making use of the designed adaptive observer with on-line update control law without σ-modification condition to approximate the faulty system, it is proved that the estimate error of the adaptive control parameter, the output observation error and the error between the system fault and the corresponding estimate value are uniformly ultimately bounded via Lyapunov stability analysis. Finally, simulation examples are provided to illustrate the efficiency of the proposed fault identification approach.
暂无评论