To the problems of real-time obstacle avoidance path planning for apple harvesting robot manipulator in dynamic and unstructured environment, a method based on improved ant colony algorithm is presented. Firstly, Vect...
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The thermal residual stresses (TRS) induced in ceramic matrix composites (CMCs) with multi-layered interphases when cooling down from the processing temperature, have a significant influence on the mechanical behavior...
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In this paper, we develop data-based methods to analyze the characteristics of linear discrete-time systems, which have unknown parameter matrices. These characteristics include output controllability, asymptotic stab...
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In this paper, we develop data-based methods to analyze the characteristics of linear discrete-time systems, which have unknown parameter matrices. These characteristics include output controllability, asymptotic stability of the equilibrium point, bounded-input bounded- state stability, and bounded-input bounded-output stability. Our methods only use measured state and output data to verify the system properties. They are direct analysis methods and do not need to identify the unknown parameter matrices. These data-based methods not only can avoid identification errors, but also have lower computational complexity than traditional model-based analysis approaches.
This paper is devoted to the exploration of three-dimensional (3-D) maneuvers using a free-swimming fishlike robot. For the sake of a better maneuverability, an Esox lucius robotic fish consisting of a yawing head, tw...
This paper is devoted to the exploration of three-dimensional (3-D) maneuvers using a free-swimming fishlike robot. For the sake of a better maneuverability, an Esox lucius robotic fish consisting of a yawing head, two degrees of freedom pectoral mechanism and multilink body joints together with a caudal fin is developed. With full consideration of both mechanical configuration and propulsive principles of the robotic fish, detailed analysis and viable approaches to perform serval high maneuvers involving rotational maneuvers and translational maneuvers are presented. Based on the feedback of turning angles measured by an onboard six-axis gyroscope, the robotic fish achieves various agile and swift motions. Specifically, according to the C-start of Esox lucius , a flexible and wide-range yaw turn up to 360° is attained. Under the propulsive forces and moments from pectoral fins with symmetric or asymmetric pitching and heaving attack angles, the robotic fish can agilely flip in a pitch style and roll a 360° rotation around the swimming direction. Moreover, two types of backward swimming separately employing pectoral fins and body undulation are also accomplished. The experimental results verify the remarkable maneuverability of the developed robotic fish and the effectiveness of approaches presented for the maneuver control.
Nanomanipulation under scanning electron microscopy(SEM)enables direct interactions of a tool with a *** recently developed a nanomanipulation technique for the extraction and identification of DNA contained within su...
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Nanomanipulation under scanning electron microscopy(SEM)enables direct interactions of a tool with a *** recently developed a nanomanipulation technique for the extraction and identification of DNA contained within sub-nuclear locations of a single cell *** nanomanipulation of sub-cellular structures,a key step is to identify targets of interest through correlating fluorescence and SEM *** DNA extraction task must be conducted with low accelerating voltages resulting in low imaging *** is imposed by the necessity of preserving the biochemical integrity of the *** poor imaging conditions make the identification of nanometer-sized fiducial marks *** paper presents an affine scale-invariant feature transform(ASIFT)based method for correlating SEM images and fluorescence microscopy *** performance of the image correlation approach under different noise levels and imaging magnifications was quantitatively *** optimal mean absolute error(MAE)of correlation results is 68634 nm under standard *** with manual correlation by skilled operators,the automated correlation approach demonstrates a speed that is higher by an order of *** the SEM-fluorescence image correlation approach,targeted DNA was successfully extracted via nanomanipulation under SEM conditions.
This paper studies distributed estimation of linear dynamical target in homogeneous sensor networks. Just some sensors can get observations of the target. A distributed estimator composing of Luenberger observers and ...
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This paper studies distributed estimation of linear dynamical target in homogeneous sensor networks. Just some sensors can get observations of the target. A distributed estimator composing of Luenberger observers and consensus strategy is applied. Based on spectral radius analysis and algebraic graph theory, necessary conditions of distributed detectability are given for time-invariant and randomly switching networks, respectively. By applying Lyapunov functional analysis and solving a special LQR problem, sufficient detectability conditions are proposed for both networks. The sufficient conditions are composed of an explicit inequality concerning weights, topology switching probabilities and the eigenvalues of the target's system matrix. Simulation examples are given to illustrate the results.
In this paper, short periodic solutions of a discretized second-order sliding-mode control system are investigated. Specifically, the existence and stability of short periodic solutions are analyzed. Moreover, the exp...
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In this paper, short periodic solutions of a discretized second-order sliding-mode control system are investigated. Specifically, the existence and stability of short periodic solutions are analyzed. Moreover, the explicit descriptions of short periodic solutions are also presented.
In order to get a better dynamic response for actuator in condition of low-speed, a permanent magnet synchronous motor (PMSM) in direct-drive application with the characteristics of high-bandwidth, low-speed and high-...
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Probing nanostructures (e.g., nanoelectronics) requires accurate and precise nanopositioning. Furthermore, since measuring I-V data from DC to GHz typically takes more than a minute, little drift is tolerated during t...
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