Adaptive control is widely used in nonlinear systems, and is under active research. Although the conventional adaptive control guarantees the asymptotic stability, it may yield limited performance in real experiments ...
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In this paper, we propose an autonomous navigation framework(TMPU) for ground mobile robots in uneven and unstructured environments. The novelty of this framework is twofold: 1) The terrain traversability mapping modu...
In this paper, we propose an autonomous navigation framework(TMPU) for ground mobile robots in uneven and unstructured environments. The novelty of this framework is twofold: 1) The terrain traversability mapping module is proposed to build a low-resolution 2D(Two-Dimensional) occupancy map by plane analysis based on plane slope and terrain roughness. 2)A multi-resolution motion planning framework is proposed to obtain a high-resolution traversable corridor by A* low-resolution search. Then an improved global planning H-lattice planning is performed on the traversable corridor. Furthermore, extensive experiments are conducted to demonstrate the feasibility and safety of the proposed autonomous navigation framework. All test results show that the computing time consumption is reduced by up to 97.1%, compared with an advanced 3D navigation framework.(Supplemented video link: https://***/rvYoyR3imEk)
This paper presents an ultra-low-frequency and high-power wave energy harvester (WEH). It utilizes a vertical pendulum structure to achieve motion response to ultra-low-frequency wave excitation and then converts the ...
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ISBN:
(数字)9798350380200
ISBN:
(纸本)9798350380217
This paper presents an ultra-low-frequency and high-power wave energy harvester (WEH). It utilizes a vertical pendulum structure to achieve motion response to ultra-low-frequency wave excitation and then converts the mechanical energy of the pendulum into high-frequency and high-power electrical energy output through the MagBoost Mechanism. The design of WEH ensures stable output even under excitation conditions below 1 Hz. At the excitation frequency of 1.4 Hz and resistance load of $20 \Omega$, the maximum power output can reach 1.16 W with a power density of $0.54 \mathrm{~mW} / \mathrm{cm}^{3}$. The high energy density allows stable power supplementation for ocean observation buoy within a limited volume, thereby enabling long-term, unattended operation of the buoy in remote offshore areas.
The system's modal frequency parameters are determined by using a technique known as predictor-based subspace identification (PBSID), which is based on the dynamic properties of space solar power stations' hug...
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In recent years, aerial robots have been widely used and developed in high-altitude defect detection in academia and business. To solve the detection problem of beams at quayside cranes, reduce the cost of staffing in...
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Microinjection of adherent cells is a technique of inserting glass pipette into adherent cells and injecting few exogenous substances into adherent cells, which is widely used in the field of cell biology. Researchers...
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In order to realize the erection of large structural bodies in space for on-orbit construction, we are looking for the mechanical property parameters in line with the large structural unit body in space. Now based on ...
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In recent years, deep learning has been applied to the classification of motor imagery EEG, which can decode and classify EEG signals end-to-end. However, compared with picture datasets, EEG datasets are relative smal...
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In the last decades, significant progress has been made in the field of active vSLAM (visual simultaneous localization and mapping). However, the majority of active vSLAM methods suffer from the problem of coupling th...
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Rehabilitation using exoskeleton robots can effectively remediate dysfunction and restore post-stroke survivors’ physical ability. However, low kinematic compatibility and poor self-participation of post-stroke patie...
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Rehabilitation using exoskeleton robots can effectively remediate dysfunction and restore post-stroke survivors’ physical ability. However, low kinematic compatibility and poor self-participation of post-stroke patients in rehabilitation restrict the outcomes of exoskeleton-based therapy. The study presents an Unpowered Shoulder Complex Exoskeleton (USCE), consisting of Shoulder Girdle Mechanism (SGM), Ball-and-Socket Joint Mechanism (BSM), Gravity Compensating Mechanism (GCM) and Adjustable Alignment Design (AAD), to achieve self-rehabilitation of shoulder via energy transfer from the healthy upper limb to the affected counterpart of post-stroke hemiplegic patients. The SGM and AAD are designed to improve the kinematic compatibility by compensating for displacements of the glenohumeral joint with the adaptable size of USCE for different wearers. The BSM and GCM can transfer the body movement and energy from the healthy half of the body to the affected side without external energy input and enhance the self-participation with sick posture correction. The experimental results show that the USCE can provide high kinematic compatibility with 90.9% movement similarity between human and exoskeleton. Meanwhile, the motion ability of a post-stroke patient’s affected limb can be increased through energy transfer. It is expected that USCE can improve outcomes of home-based self-rehabilitation.
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