The nanoscale manipulation of 1D soft and flexible 'DNA origami nanotubes' (DONs) that are 6 nm in diameter and 400 nm in length, and placed on a mica substrate in a TE/Mg2+ buffer solution, was executed by an...
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The direction of the snake robot was controlled by the torque compensation which was added to the passive creeping control method based on the energy balance in this paper. The kernel of the method was composed of the...
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The direction of the snake robot was controlled by the torque compensation which was added to the passive creeping control method based on the energy balance in this paper. The kernel of the method was composed of the following three aspects: according to the passive creeping method, the direction controller satisfies the principle that the head of the snake robot leads the locomotion direction and the body follows the direction of the head, a torque is added to the original torque of the head joint to adjust the locomotion direction, and the torque of the body joints keep unchanged, the torque compensation utilizes the decay performance of the exponential function to adjust the locomotion direction of the snake robot. After adjusting, the snake robot can reach the target point. The results of the simulation and the experiment show the validity of the proposed direction control method.
In this paper, we design and develop a robust vision system for space teleoperation ground verification platform. It consists four subsystems to achieve the following functions: image acquisition and monitor, image tr...
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In this paper, we design and develop a robust vision system for space teleoperation ground verification platform. It consists four subsystems to achieve the following functions: image acquisition and monitor, image transmission, cooperative object detection and track, pose estimation for robot. In order to complete visual guidance tasks, we design an novel cooperative object and propose the corresponding object detection and track algorithm. The algorithm is efficient and effective, it can locate the cooperative object accurately. Based on the precise location of the cooperative object, we also propose a pose measurement method by the stereo vision system. The effectiveness of the proposed method is demonstrated with different experiments. The results show that the values of the pose parameters are very close to the ground truth. The translation error is 0.8mm, and the rotation error is 2 degree.
Deployable structures, as an important kind of structure, have been widely used in a variety of satellite antennas and space *** research of deployable structures usually faces a series of theoretical and technical ch...
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Deployable structures, as an important kind of structure, have been widely used in a variety of satellite antennas and space *** research of deployable structures usually faces a series of theoretical and technical challenges because the size and mass are not only the limitations of deployable structure but also the key issues in the design ***, the appearance of bionic provides a new concept to develop the deployable *** by the eclosion and development
This paper considers the distributed robust consensus problem of multi-agent systems with nominal linear dynamics but subject to different matching uncertainties. Due to the existence of nonidentical uncertainties, th...
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ISBN:
(纸本)9781479900305
This paper considers the distributed robust consensus problem of multi-agent systems with nominal linear dynamics but subject to different matching uncertainties. Due to the existence of nonidentical uncertainties, the multi-agent systems discussed in this paper are essentially heterogeneous. A distributed continuous static consensus protocol based on the relative state information is first designed, under which the consensus error is uniformly ultimately bounded and exponentially converges to a small adjustable residual set. A fully distributed adaptive consensus protocol is then designed, which, contrary to the static protocol, relies on neither the eigenvalues of the Laplacian matrix nor the upper bounds of the uncertainties. A sufficient condition for the existence of the proposed protocols is that each agent is stabilizable.
Considering the characteristics of two component forces on component synthesis vibration suppression （CSVS） method, two theorems on two component forces suppressing fractional multiple design frequency are given res...
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Considering the characteristics of two component forces on component synthesis vibration suppression （CSVS） method, two theorems on two component forces suppressing fractional multiple design frequency are given respectively. Meanwhile, the control force, which is composed by two arbitrary component forces with different initial time, can suppress certain frequencies for second-order undamped vibration system. Using the above theorems, control moment of jet attitude maneuver on flexible spacecraft is designed on the basis principle of CSVS method. The simulations validate the correctness and effectiveness of the orooosed method.
This paper discusses the design of the mechanical structure of a quadruped robot and a three-dimensional simulation model is built under Adams simulating the mechanism's motion to capture the dynamic characteristi...
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ISBN:
(纸本)9781467329705
This paper discusses the design of the mechanical structure of a quadruped robot and a three-dimensional simulation model is built under Adams simulating the mechanism's motion to capture the dynamic characteristics of the quadruped *** paper analyses the effect of the length of legs on the walking structure from different aspects: its movement speed,capability of climbing obstacles and the workspace of its foot *** addition,to achieve the optimization target of balancing the output force of each hydraulic cylinder,the paper establishes a mathematical model under required constraints working out the lever members that accommodated with the *** all these factors,the most satisfied structural parameters of the autonomous quadruped robot are selected.
The cross roller guide way used in high-acceleration and high-precision motion platform of chip packaging equipment has an important effect on the dynamic performance of the platform. In this paper, the cross roller g...
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Rotating angle of joint is an important factor in control field of robot arm. In the paper, a new sensor to test the absolute rotating angle of robot arm joints is designed. Firstly, structure of the magnetic field em...
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ISBN:
(纸本)9781849195379
Rotating angle of joint is an important factor in control field of robot arm. In the paper, a new sensor to test the absolute rotating angle of robot arm joints is designed. Firstly, structure of the magnetic field emitter is presented. Secondly, the generating process of signals sine and cosine is introduced. Then, working principle of the senor is described. At last, a new encoder is designed. The emitter working together with the encoder can test the absolute rotating angle and the calculation process is given in the paper. At the end of the paper, advantages of the sensor are listed.
In order to raise position accuracy and stability in wafer transmission process, a tactile sensing system which can measure both deviation of wafer to manipulator and friction acting on wafer simultaneously is introdu...
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