Given the growing complexity of underwater operation tasks, particularly in confined spaces, turbulent environments, and dynamic object manipulation, limitations traditional rigid robotic arms are becoming ever more evident. To tackle these challenges, this paper proposes development a soft arm modeled after octopus tentacles, incorporating biomimetic suckers. By imitating functional structure suction cups an arm, with dual-segment continuous eight-wire drive control is designed, integrating...

In order to increase the compatibility between underwater robots and environment inspired by coconut octopus's bipedal walking, a method was proposed for walking an soft robot based on spring-loaded inverted pendulum (SLIP) model. Using characteristics of octopus tentacles rolling ground, wrist arm designed using cable-driven method, SLIP model established, which makes more suitable moving uneven ground. An then designed, machine vision algorithm used extract motion information analysis....

When the PMSM motor rotates at high speed, winding current contains a lot of harmonics, and harmonic will increase heat motor, thereby reducing operating efficiency service life motor. In view above problems, in EV control, rotor speed observer based on model reference adaptation was designed. This method taken stator equation containing position parameters as adjustable model, itself model. The designed adaptive rate Popov superstability theory; same time, feed-forward compensation sliding...

Load balancing technology and Web cache have high priory to solve the problem of network congestion server overload ensure supply uninterrupted, quality services. As a rising star software, Nginx is famous for its concurrent processing capability, while performance scalability are excellent. The load web solution in some typical cases were studied this paper, focus on how design solutions combined with modules. A virtual Discuz BBS application cluster environment designed according topology...

The cable-driven soft arm is mostly made of material; it difficult to control because the material characteristics, so traditional robot modeling and methods cannot be directly applied arm. In this paper, we combine data-driven method with reinforcement learning realize position task robotic arm, strategy based on deep Q learning. order solve slow convergence unstable effect in process simulation migration when actual task, a designed, which experimental data, establish environment for...

The emergence of photovoltaic/thermal (PV/T) technology has effectively solved the problem high temperature and low electrical efficiency photovoltaic cells, significantly improved utilization rate solar energy. At present, improving thermoelectric performance PV/T systems is a research hotspot. effects operating parameters such as inlet temperature, radiation, ambient coolant mass flow rate, are investigated through numerical simulations. An experimental platform built to verify...

Residential energy consumption has increased rapidly with the improvement of living standards Chinese households, in particular, heating demand North China a direct impact on haze. The integration renewable combined heat and power (CHP) technology provides an effective method to solve household environmental impacts, but construction, capacity, cost system seriously affect economy system, protection, operational reliability. Therefore, family-oriented small-scale was designed based wind,...

The soft organisms in nature have always been a source of inspiration for the design arms and this paper draws from octopus’s tentacle, aiming at robot moving flexibly three-dimensional space. In paper, combined with characteristics an cable-driven arm is designed fabricated, which can motion Based on TensorFlow framework, data-driven model established, trained using deep reinforcement learning strategy to realize posture control single arm. Finally, two are assembled into octopus-inspired...

Due to the unknown motion model and complexity of environment, problem target tracking for autonomous underwater vehicles (AUVs) became one major difficulties in model-based controllers. Therefore, task AUV is modeled as a Markov decision process (MDP) with state transition probabilities. Based on actor–critic framework experience replay technique, model-free reinforcement learning algorithm proposed realize dynamic AUVs. In order improve performance algorithm, an adaptive scheme further...

A Sliding Mode Controller of Permanent Magnet Synchronous Motor (PMSM) is analyzed and designed in this paper. Because non-linearity, strong couple disturb sensitivity PMSM, it difficult for linear control technology to get perfect performance PMSM. Control (SMC) an efficient robust method, which can self-adjust controller structure online, non-sensitive parameter variety outside disturb. dq Coordinate based rotor reference model PMSM built up. Principles characters SMC are theory. Model...

Abstract In developing and exploring extreme harsh underwater environments, robots can effectively replace humans to complete tasks. To meet the requirements of flexible motion comprehensive subsea operation, a novel octopus-inspired robot with eight soft limbs was designed developed. This possesses capabilities bipedal walking, multi-arm swimming, grasping objects. closely interact seabed environment minimize disturbance, employs cable-driven arm for its walking in floor through mode. The...

In this paper, a gait classification method based on the deep belief network (DBN) optimized by sparrow search algorithm (SSA) is proposed. The multiple features obtained surface electromyography (sEMG) are fused. These functions used to train model. First, sample features, such as time domain and frequency of denoised sEMG extracted then fused feature combination. Second, SSA utilized optimize architecture DBN its weight parameters. Finally, classifier trained for recognition. results...

Simultaneous Localization and Mapping (SLAM) is the core technology of intelligent substation inspection robot. Because lightweight computation, Rao-Blackwellized Particle Filter (RBPF) widely used in two-dimensional SLAM. However, it suffers from poor positioning accuracy, low robustness rapid cumulative errors despite recent improvement. This paper presents a lidar SLAM system based on RBPF graph optimization that can adapt to unstructured operating environment substation. Firstly,...

Abstract Unsupported CoMo sulfide catalysts prepared by the homogeneous precipitation method were submitted to 3 MPa 4% H 2 S‐H at 573K, and 0.1 573 723K. The samples characterized MES, XPS, XRD temperature‐programmed sulfur extraction. Their activity was measured in HDS of thiophene hydrogenation cyclohexene. MES reveals presence Co 9 S 8 , CoS 1+x Co‐Mo‐S two unidentified species. Treatment under 573K caused an increase which correlated with concentration expense all other 723K a further...

Traditional fishery water assessment and prediction rely on collecting samples sending them to inspection in different time periods, then carrying out physical chemical analysis testing, it requires a long period consumes more human resources, which is not only cumbersome but also inefficient. Aiming at the above problems, method for assessing predicting quality using electrochemical sensor array such as pH, dissolved oxygen ammonia nitrogen carried by unmanned aerial vehicle (UAV) proposed....

Inspired by the 'fine-to-coarse' way-finding strategy that human utilized in process of navigation, paper proposed a fast on-line global path planning algorithm based on regionalized roadmap. First, roadmap(RRM) has multi-layered structure is for representing environments. Then, RRM FTC-A* designed to plan an FTC-route('fine-to-coarse' route) with being fine vicinity yet coarse at distance. This can be applied navigation system mobile robots or vehicles. Finally, simulation and physical...

Comparative studies on several direct torque control (DTC) strategies of interior permanent magnet synchronous motor (IPMSM) for electric vehicles (EVs) are discussed in details, namely basic DTC, DTC combined with space vector modulation (DTC-SVM), and deadbeat (DB-DTC). These reviewed, meanwhile dynamics steady-state performance analyzed compared. Simulations a 20kW IPMSM EVs carried out comparison including: ripple stator flux, sensitivity to machine's parameter, computational complexity,...

A wheel-track hybrid mobile robot with multi-motion modes is designed. It composed of a central body, four driving mechanisms, independent track arms, two differential wheels, guide wheels and so on. According to different environments, it can switch between the pure wheel mode mode. stability pyramid defined by using quasi-static model. The process climbing slope analyzed method. Experimental results show that this could fully possess advantages both mechanism, achieving good capability.

In this paper, we focus on the objective function of economic cost and environment wind/solar/diesel/storage micro-grids, use method linear-weighting to establish optimal scheduling mode union objective. On basis making full renewable energy, genetic algorithm is used solve problem objective, created operation plan power grid, energy storage battery diesel generator. The numerical examples show that under condition Island micro-grid system, unrestricted grid connection limited connection,...