The advancement of terahertz (THz) communication technology drives the evolution of wireless communication systems,offering novel pathways and technical means for the development of future 6G communication *** wireles...
The advancement of terahertz (THz) communication technology drives the evolution of wireless communication systems,offering novel pathways and technical means for the development of future 6G communication *** wireless communication systems are often constrained by bandwidth limitations of electronic devices in high frequency ***,THz communication technology leverages the characteristics of electromagnetic waves to transcend these limitations,enabling communication athigher frequencies and wider bandwidths.
Low-frequency structural vibrations caused by poor rigidity are one of the main obstacles limiting the machining efficiency of robotic *** vibration suppression strategies primarily focus on passive vibration absorpti...
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Low-frequency structural vibrations caused by poor rigidity are one of the main obstacles limiting the machining efficiency of robotic *** vibration suppression strategies primarily focus on passive vibration absorption at the robotic end and feedback control at the joint *** these strategies have a certain vibration suppression effect,the limitations of robotic flexibility and the extremely limited applicable speed range remain to be *** this study,a Magnetorheological Joint Damper(MRJD)is *** joint-mounted feature ensures machining flexibility of the robot,and the millisecond response time of the Magnetorheological Fluid(MRF)ensures a large effective spindle speed *** importantly,the evolution law of the damping performance of MRJD was revealed based on a low-frequency chatter mechanism,which guarantees the application of MRJD in robotic milling *** analyze the influence of the robotic joint angle on the suppression effect of the MRJD,the joint braking coefficient and end braking coefficient were *** coordinate plots were used to visualize the joint range with the optimal vibration suppression ***,a combination of different postures and cutting parameters was used to verify the vibration suppression effect and feasibility of the joint angle *** experimental results show that the MRJD,which directly improves the joint vibration resistance,can effectively suppress the low-frequency vibration of robotic milling under a variety of cutting conditions.
Maintaining contact stability is crucial when the aerial manipulator interacts with the surrounding environment. In this paper, a novel output feedback framework based on a characteristic model is proposed to improve ...
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Maintaining contact stability is crucial when the aerial manipulator interacts with the surrounding environment. In this paper, a novel output feedback framework based on a characteristic model is proposed to improve the contact stability of the aerial manipulator. First, only position measurements of the aerial manipulator are introduced to design the practical finite-time command filter-based force observer. Second, an attitude control architecture including characteristic modeling and controller design is presented. In the modeling part, input-output data is utilized to build the characteristic model with fewer parameters and a simpler structure than the traditional dynamic model. Different from conventional control methods, fewer feedback values,namely only angle information, are required for designing the controller in the controller part. In addition, the convergence of force estimation and the stability of the attitude control system are proved by the Lyapunov analysis. Numerical simulation comparisons are conducted to validate the effectiveness of the attitude controller and force observer. The comparative results demonstrate that the tracking error of x and θ channels decreases at least 10.62% and 10.53% under disturbances and the force estimation precision increases at least 45.19% in the different environmental stiffness. Finally, physical flight experiments are conducted to validate the effectiveness of the proposed framework by a self-built aerial manipulator platform.
Two-dimensional(2D)direct numerical simulations on the dynamics of three identical ferrofluid droplets suspended in a non-magnetic ambient fluid under a rotating uniform magnetic field are conducted,and the motion and...
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Two-dimensional(2D)direct numerical simulations on the dynamics of three identical ferrofluid droplets suspended in a non-magnetic ambient fluid under a rotating uniform magnetic field are conducted,and the motion and deformation of the three ferrofluid droplets are studied in this *** show that there are four modes(i.e.,the three droplets'direct coalescence(TC),the coalescence of two droplets and the subsequent planetary motion with the third droplet(CAP),the three droplets'planetary motion(TP),and the independent spin(IS))for the three ferrofluid droplets,dependent on the magnetic Bond number(Bom)and the initial distance(d0)between two of the *** is found that the decrease in d0and the increase in Bomcan make the droplets'mode change from the IS to the planetary motion,and then turn to the ***,reducing Bomor d0is helpful for the droplets to become merged.
This paper introduces D-Fusion SLAM, an advanced VSLAM system based on ORB-SLAM2. D-Fusion SLAM integrates depth information to enhance feature selection, aiming to improve accuracy and speed in visual SLAM applicatio...
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With the development of imaging and measurement technologies,scanning near-field optical microscopy(SNOM)has achieved high signal-to-noise *** resolution of a fibre probe-based SNOM system is capable of reaching 10 **...
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With the development of imaging and measurement technologies,scanning near-field optical microscopy(SNOM)has achieved high signal-to-noise *** resolution of a fibre probe-based SNOM system is capable of reaching 10 ***,SNOM applications are presently constrained to the measurement of near-field optical information to relatively straightforward structures,including quantum dots,carbon nanotubes,graphene,and so *** geometry of conventional fibre probes,with tips at an angle of 30°-60°,presents a challenge for accurately imaging complex surface *** paper proposes a carbon nanotube composite fibre probe(CNT-FP)with a large aspect *** key point is that a carbon nanotube bundle is composited at the tip of conventional surface plasmon polaritons fibre probes(SPPs-FP),which are the fibre probes coated with gold film to excite the *** coupling,propagation,and focusing effects of SPPs on the carbon nanotube bundle are ***-FPs have been fabricated and applied to measure a grating with the depth of 400 nm and the width of 400 *** experimental results show that the measurement accuracy and imaging quality of CNT-FP are nearly one order of magnitude higher than that of conventional SPPs-FP,as evidenced by evaluation criteria such as line roughness and volatility ***,it achieves an optical resolution of 72.1 nm in the measurements of a nano structure with large aspect *** provides an effective solution of measuring structures with larger aspect ratios.
Three-dimensional navigation of legged robots is crucial for field exploration and post-disaster rescue. Existing optimization-based local trajectory planners predominantly focus on obstacle avoidance, neglecting nega...
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Enzymatic biocatalysis harnesses the efficiency, specificity,and environmental friendliness of enzymes to drive innovations in green synthesis, drug development, environmental remediation, and industrial production, m...
Enzymatic biocatalysis harnesses the efficiency, specificity,and environmental friendliness of enzymes to drive innovations in green synthesis, drug development, environmental remediation, and industrial production, making it highly significant in both fundamental research and practical applications.
Alumina dispersion-strengthened copper (ADSC), as a representative particle-reinforced metal matrix composite (PRMMC), exhibits superior wear resistance and high strength. However, challenges arise in their processabi...
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Alumina dispersion-strengthened copper (ADSC), as a representative particle-reinforced metal matrix composite (PRMMC), exhibits superior wear resistance and high strength. However, challenges arise in their processability because of the non-uniform material properties of biphasic materials. In particular, limited research has been conducted on the reinforcement mechanism and behavior of particles during material cutting deformation of PRMMC with nanoscale particles. In this study, a cutting simulation model for ADSC was established, separating the nanoscale reinforcement particles from the matrix. This model was utilized to analyze the interactions among particles, matrix, and tool during the cutting process, providing insights into chip formation and fracture. Particles with high strength and hardness are more prone to storing stress concentrations, anchoring themselves at grain boundaries to resist grain fibration, thereby influencing the stress distribution in the cutting deformation zone. Stress concentration around the particles leads to the formation of discontinuous chips, indicating that ADSC with high-volume fractions of particle (VFP) exhibits low cutting continuity, which is consistent with the results of cutting experiments. The tool tip that is in contact with particles experiences stress concentration, thereby accelerating tool wear. Cutting ADSC with 1.1% VFP results in tool blunting, which increases the radius of cutting edge from 0.5 to 1.9 μm, accompanied with remarkable coating delamination and wear. Simulation results indicate that the minimum uncut chip thickness increases from 0.04 to 0.07 μm as VFP increases from 0.3% to 1.1%. In conjunction with scratch experiments, MUCT increases with the augmentation of VFP. Computational analysis of the specific cutting force indicates that particles contribute to the material’s size effect. The results of this study provide theoretical guidance for practical engineering machining of ADSC, indicating its g
作者:
Sun, Hao-RanShi, Bao-JunHu, Yun-LongHebei University of Technology
State Key Laboratory of Reliability and Intelligence of Electrical Equipment Key Laboratory of Advanced Intelligent Protective Equipment Technology Ministry of Education School of Mechanical Engineering Tianjin300401 China
Detecting small objects within extensive remote sensing images (RSIs) captured by autonomous aerial vehicle (AAV) optical sensors is crucial for a variety of military and civilian purposes, but it poses considerable c...
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