This paper presents the concept of a spherical-motor-based motion platform (SMP) for providing high-performance nozzle-substrate negotiation in conformal printing curved electronics. Unlike conventional systems using serial/parallel mechanisms multi-DOF rotations, ball-joint-like spherical motor continuous 3-DOF rotations one joint is designed to meet special needs process. Both kinematic and dynamic models SMP are presented fitting into Specifically, performance has been evaluated, which...

3D object detection is one of the fundamental perception tasks for autonomous vehicles. Fulfilling such a task with 4D millimeter-wave radar very attractive since sensor able to acquire point clouds similar Lidar while maintaining robust measurements under adverse weather. However, due high sparsity and noise associated clouds, performance existing methods still much lower than expected. In this paper, we propose novel Semi-supervised Cross-modality Knowledge Distillation (SCKD) method...

A solar tracker significantly increases the amount of energy harvested by a floating photovoltaic system adjusting pose its (PV) panels to optimize their exposure rays. Conventional trackers perform such an adjustment using actuators, which is energy-consuming and involves complex structures. In this paper, novel dual-axis wave-driven proposed where panel adjusted inertia force gravity. Actuators are replaced brakes fix PV panel. The kinematics dynamics investigated, further used for state...

The docking mechanism is critical for unmanned surface vehicle (USV) applications, such as traction, dragging, charging, data transmission, building pontoons, etc. These applications are significant observation, exploration, acquisition, patrol, rescuing, etc., in aquatic environments. In this paper, a novel autonomous USVs proposed. It capable of (1) the USV subject to disturbance efficiently, (2) latching without power consumption after completed, and (3) guiding head three specific angles...

This paper presents a methodology to design and control permanent magnet (PM) motor capable of 6-D force/torque actuation for real-time compensation external loads achieve minimum bearing reaction (MBR). Unlike conventional multiphase designs, the current inputs stator-electromagnets (EMs) can be flexibly configured enable force and/or torque in one motor; two common structures (radial axial types) are illustrated. Both forward inverse models presented terms coordinate-independent kernel...

With advances in the ocean exploration, Floating Photovoltaic (FPV) system becomes appealing with advantages of less valuable land use and higher efficiency. In current development, PV module is either fixed at an angle or actuated by motor to adjust for solar tracking. this paper, a novel Tracking-type FPV (TFPV) proposed analysed. Rather than using as actuation method, utilized natural wave energy tracking.With design, floating plant can be built reduced total cost increased harvesting The...

In this paper, a new capture system for UAV precision landing in disturbed environment is proposed. Compared with the traditional visual guided methods, perching mechanism based and tethered proposed takes into account stability during process retains high accessibility of UAV. The consists winch subsystem magnetic catcher device. They establish an automatic tethered-UAV before touchdown. We analyzed design principle as well feasibility catcher. An optimization problem formulated to obtain...

3D object detection is one of the fundamental perception tasks for autonomous vehicles. Fulfilling such a task with 4D millimeter-wave radar very attractive since sensor able to acquire point clouds similar Lidar while maintaining robust measurements under adverse weather. However, due high sparsity and noise associated clouds, performance existing methods still much lower than expected. In this paper, we propose novel Semi-supervised Cross-modality Knowledge Distillation (SCKD) method...

Traditional solar trackers often adopt motors to automatically adjust the attitude of panels towards sun for maximum power efficiency. In this paper, a novel design tracker ocean environment is introduced. Utilizing fluctuations due waves, electromagnetic brakes are utilized instead panels. Compared with traditional trackers, proposed one simpler in hardware while harvesting efficiency similar. The desired calculated out local location and time. Then based on dynamic model system, angular...

In the process of landing unmanned aerial vehicles (UAVs) on an surface vehicle (USV), a manipulator can be applied to help UAV land safely and accurately. However, it is challenge control disturbed USV due joint velocity constraints bandwidth limitations. To solve this problem, predictive framework proposed in paper. We leverage first-order delay system describe kinematics each joint, velocities by model controller (MPC). generate references for MPC, motion floating base needs predicted....

Automatic latching for charging in a disturbed environment Unmanned Surface Vehicle (USVs) is always challenging problem. In this paper, we propose two-stage automatic system USVs berth. Stage I, vision-guided algorithm developed to calculate an optimal position charging. II, novel mechanism designed compensate the movement misalignments from water disturbance. A set of experiments have been conducted real-world environments. The results show success rate has improved 40% 73.3% best cases...

Real-time UAV pose estimation at low altitudes is a necessary but challenging task for auto-landing, especially onto fluctuated aquatic surface platforms. To reduce the power and payload requirement UAVs, by platform an alternative. This paper presents multi-camera system with compensation algorithms that scenario. An accurate extrinsic calibration enables collaboration to extend system's field of view improve its stability, which inherently resistant issue target-out-of-sight, motion blur...