Currently,the multi-legged robots have to confront the problem of low energy utilization that restricts the moving radius of *** at the problem of energy consumption for mobile robots,this paper provides the analysis ...
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ISBN:
(纸本)9781509009107
Currently,the multi-legged robots have to confront the problem of low energy utilization that restricts the moving radius of *** at the problem of energy consumption for mobile robots,this paper provides the analysis in terms of the gait ***,two kinds of gait curves respectively,cycloid curve and Bezier curve are introduced and the main difference of two gait patterns is that the Bezier curve can achieve the swing leg retraction(SLR).The length of step(S),the height of step(H) and the duty ratio of gait cycle(P) are set as the primary research points about the gait of mobile *** this work,we formulate two indexes to quantitatively describe the performance of the quadruped robot and related simulations are carried out for gait ***,the results provide some recommendations for the gait planning of the quadruped robot,that is,the changes of gait parameters influence the index of energy consumption and SLR can effectively reduce energy consumption.
In one-stage methods for video moment retrieval,the common representations indirectly supervised by boundary prediction fail to fully preserve the inherent characteristic of the video and query,which limits the retrie...
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ISBN:
(数字)9789887581536
ISBN:
(纸本)9781665482561
In one-stage methods for video moment retrieval,the common representations indirectly supervised by boundary prediction fail to fully preserve the inherent characteristic of the video and query,which limits the retrieval *** solve this problem,an Adversarial Video Moment Retrieval(AVMR) algorithm is proposed to learn the common representations with modality invariance and cross-modal *** is implemented through the process of adversarial learning between a feature projector and a modality *** feature projector tries to generate a modality-invariant common representation and to confuse the modality *** modality classifier tries to discriminate between different modalities based on the generated representation by the feature *** triplet constraints are further imposed on the feature projector to preserve the underlying cross-modal semantic structure of *** experimental results show that AVMR surpasses the baseline Attentive Cross-modal Relevance Matching(ACRM) by 1.10% and 1.73% in the "mIoU" metric on two public datasets Charades-STA and TACoS,respectively.
This paper presents a method of fault detection for a 6-degree-of-freedom hydraulic platform based on the equivalent-input-disturbance(EID) ***,a model of the platform is derived based on the Lagrange ***,the types of...
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ISBN:
(纸本)9781509046584
This paper presents a method of fault detection for a 6-degree-of-freedom hydraulic platform based on the equivalent-input-disturbance(EID) ***,a model of the platform is derived based on the Lagrange ***,the types of actuator faults are ***,an optimal feedback controller is designed and the EID approach is incorporated to detect and suppress actuator *** results demonstrate the effectiveness of the method.
Dear editor,Recently, we made some new attempts at predicting coke quality. Coke quality prediction provides important guidance for coal blending, improving the quality of coke, and reducing the cost. Prediction usual...
Dear editor,Recently, we made some new attempts at predicting coke quality. Coke quality prediction provides important guidance for coal blending, improving the quality of coke, and reducing the cost. Prediction usually involves selection of the coal blending parameters and selection of the modeling methods. In recent years, traditional coal quality indicators such as coal impurity(ash Ad, sulfur St.d),
This paper discusses the problem of posture control for a parallel *** parallel robot features multiple variables and large *** control accuracy is strongly affected by the parameters which are coupled with each other...
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ISBN:
(纸本)9781509046584
This paper discusses the problem of posture control for a parallel *** parallel robot features multiple variables and large *** control accuracy is strongly affected by the parameters which are coupled with each other,and by exogenous disturbances.A decoupling control strategy is presented based on the equivalent-inputdisturbance(EID) approach to improve control ***,decoupling control is used to eliminate the main coupling effect between multiple ***,the EID method is used to further improve decoupling effect and suppress the external *** results show that the control strategy is effective for the decoupling control of parallel robot.
Cyber-physical systems (CPSs) are integrations of computation, communication, control and physical processes. Typical examples where CPSs are deployed include smart grids, civil infrastructure, medical devices and m...
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Cyber-physical systems (CPSs) are integrations of computation, communication, control and physical processes. Typical examples where CPSs are deployed include smart grids, civil infrastructure, medical devices and manufacturing. Security is one of the most important issues that should be investigated in CPSs and hence has received much attention in recent years. This paper surveys recent results in this area and mainly focusses on three important categories: attack detection, attack design and secure estimation and control. We also discuss several future research directions including risk assessment, modeling of attacks and attacks design, counter-attack strategy and testbed and validation.
The optimization of the energy consumption is one of the most important problems that face the designers of mobile robots. This implies that it is significant to analyze the energy consumption of hydraulic quadruped r...
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ISBN:
(纸本)9781467374439
The optimization of the energy consumption is one of the most important problems that face the designers of mobile robots. This implies that it is significant to analyze the energy consumption of hydraulic quadruped robot under different gait parameters. In this paper, the kinematics and dynamics models of a hydraulic quadruped robot are established firstly. Then, the length of step, the height of step, the height of center of mass, and the duty ratio of gait cycle are set as the primary research points about the energy consumption of mobile robot. In addition, the energy consumptions of the feet with and without mechanical springs are compared and analyzed. In order to get the visual observation of energy cost in the hydraulic quadruped robot during a waking cycle and the best set of locomotion variables that achieve the energy optimization, related simulations are done for gait parameters. Finally, the results provide a recommendation for the gait planning of the hydraulic quadruped robot, that is, the quadruped robot should walk with a relatively long step length, a relatively low height of step, a relatively high height of center of mass, and a relatively small duty ratio of gait cycle.
Unmanned systems are increasingly adopted in various fields,becoming an indispensable technology in daily *** systems are the lifeblood of unmanned systems,and affect the working time and task ***,traditional power sy...
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Unmanned systems are increasingly adopted in various fields,becoming an indispensable technology in daily *** systems are the lifeblood of unmanned systems,and affect the working time and task ***,traditional power systems,such as batteries and fuels have a fixed ***,once the power supply is exhausted and cannot be replenished in time,the unmanned systems will stop ***,researchers have increasingly begun paying attention to renewable energy generation *** principles,advantages,and limitations of renewable energy generation technologies are different,and their application effects in different unmanned systems are also *** paper presents a comprehensive study of the application and development status of photovoltaic,thermoelectric,and magnetoelectric generation technologies in four kinds of unmanned systems,including space,aviation,ground,and water,and then summarizes the adaptability and limitations of the three technologies to different ***,future development directions are predicted to enhance the reliability of renewable energy generation technologies in unmanned *** is the first study to conduct a comprehensive and detailed study of renewable energy generation technologies applied in unmanned *** present work is critical for the development of renewable energy generation technologies and power systems for unmanned systems.
Recently,biased quantum weak measurement has shown higher precision than both conventional measurement and standard quantum weak measurement in optical *** this work,a scheme of detecting the ultrasmall rotation veloc...
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ISBN:
(数字)9789887581536
ISBN:
(纸本)9781665482561
Recently,biased quantum weak measurement has shown higher precision than both conventional measurement and standard quantum weak measurement in optical *** this work,a scheme of detecting the ultrasmall rotation velocity in Sagnac's interferometer with biased quantum weak measurement is *** biased quantum weak measurement,additional progress of pre-coupling is introduced in standard quantum weak measurement to enhance the sensitivity for the estimated parameter,and the cost of the reduction of photons in the post-selection by pre-coupling may not impact the measurement because eliminating the saturation effect of the detector *** addition,our numerical results show that the scheme with biased quantum weak measurement can obtain a higher sensitivity for rotation velocity measurement than the scheme with standard quantum weak measurement.
The evaluation of regional geological hazard susceptibility is of great significance to the prevention and control of geological hazard. In this paper, the "4-20"Lushan earthquake disaster area as the resear...
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