To solve the path planning problem of mobile robots in complex and dynamic environment, a method is proposed this paper. The composed improved A* algorithm adaptive Dynamic Window Approach (DWA). By expanding number neighborhoods that can be explored, introducing safety cost factor evaluation function, optimizing point sequence, efficiency are improved. Based on DWA algorithm, weight function adaptively adjusted to avoid being trapped local optimal solution. further improve smoothness...

Recently, modelling, simulation and control of coordination behavior has become an important subject in the field complex system science. For seamless transition between simulation, semi-physical full hardware experimentation behavior, efficient simulator based on Robot Operating System(ROS) Qt are provided this paper. ROS both powerful tools which can be used robotics Graphical User Interface (GUI) development. The ROS-based to verify protocols multi-robot system(MRS). runs under framework...

In this article, we use the Alexnet network in deep learning to determine whether lung CT images are infected with covid-19.First of all, data preprocessing stage, original image is scaled and normalized reduce noise interference. The batch operation training set test can increase speed;Secondly, build an eight-layer model, reasonable hyperparameters for each layer network, define loss function optimizer, processed train weight parameters model.Finally, three indicators accuracy, accuracy...

In this paper, an overview of stereo vision, image processing is introduced as well a method navigation based on vision for mobile robot provided. Making use 3-d reconstruction, the recognition visible terrain in front solved successive obstacle avoidance. The area-based reconstruction algorithm which combines pyramidal data structure and dynamic programming technique has been used local environment. system can thus be to identify, locate approach mechanical objects autonomously.

Abstract In this paper, the relationship between morphology of cathode crater and plasma ionization thrusters is studied by adjusting input energy micro-cathode arc thruster ( μ CAT). We monitor CAT using scanning electron microscopy explore internal loss crater. This relationship, combined with numerical simulation results, used to electrodes an enhanced intensified charge coupled device spectrum detector. The effect on propellant during operation determined. results show that a change in...

This paper designs a novel electric gripper with parallel fingers and each finger has set of an independent drive motor integrates force sensor. The the flexibility mechanical structure control is mounted in end industrial robot, flexible grip test platform constructed based on embedded controller. Prarllel position-force algorithm proposed to be used for gripper, dual can individually position-controlled or force-controlled. force, position speed so that clamping centre strokes programmed...

To further decrease the grasping damages with robot hand, active gripping impedance force control algorithm dual fingers hand was developed based on dynamic coordination of and position Active PID strategy were adopted in scheme. The change between actual acquired from sensors setting one as input command to filters, its signal output used revise finger controllers. Simulation results show that, can be pre-planned according requirements, which make fast track real time revised trajectory...

In order to improve the sorting efficiency of logistics and reduce fault tolerance rate, a three-wheel driven omnidirectional reconfigurable conveyor belt is designed in this paper. The we proposed composed number hexagonal modules, which each module has three wheels installed different directions. By adjusting speed omni-wheel, it possible move goods at given speed, adjust attitude angle process movement so as arbitrarily change shipping pose. Furthermore, algorithm optimal path planning...

In this paper, an overview of stereo vision, image processing is introduced as well a method obstacle avoidance and navigation based on vision for mobile robot provided. Making use 3-d reconstruction, the recognition visible terrain in front solved successive avoidance. The area-based reconstruction algorithm which combines pyramidal data structure dynamic programming technique has been used local environment. system can thus be to identify, locate approach mechanical objects autonomously.

Parallel PI force controllers based on grey prediction models are proposed to predict contact for robotic manipulation of deformable objects. The built by the signal acquired from sensors, and gripper will use these behaviors force. controller enforces a relationship between position each finger manipulated objects, weights current future contract errors automatic adjusted in integrated error according model precision. can employ information past, present calculate an appropriate control...

A rescue robot motion control system is designed and implemented with integrated hardware design based on ARM platform STM32F103 as the core processor. By making full use of high-speed operation processing capability microprocessor, could move smoothly. The motor speed controlled by adjusting PWM duty cycle generated microprocessor. incremental PID algorithm used to realize closed-loop motor, which improves accuracy enhances controllability robot. experimental results show that can run...

Paths will be re-planed timely according the change of obstacles and target position for Human Following Robots (HFRs) so that they can run safely rapidly. Traditional path planning algorithms are generally focused on how to avoid or connect with new effectively, however there rarely studies elimination robot heading fluctuation which is caused by re-planning. Concerning this issue, we introduce a novel dynamic re-planning algorithm AT* based A* walkable area thinning. When robots difference...

Abstract In this investigation, to monitor the cathodic ionization process of microcathodic arc thruster, electrical detection was combined with enhanced ICCD spectroscopic diagnose characteristics microcathode thrusters 1 μ s time resolution for examining microsecond-level discharge process. After we used titanium ion spectroscopy model calculate density distribution during cathode found that thruster showed a double peak ions in one cycle. This phenomenon may be related effect heat...

Based on the rapid development of modern ecommerce industry, this paper designs a kinematic base library for autonomous guided vehicles to replace manual handling in current e-commerce market, which can be used variety warehouses and significantly reduce time chassis AGV applications. In paper, we firstly analyze configurations AGVs commonly warehouses, model kinematics two types chassis, verify accuracy models through simulation, finally encapsulate these into common library, directly...

Nuclear power is one of the most important ways to achieve industrial applications and large-scale alternative fossil fuels, also means sustainable energy development. It's non polluting, high density low cost have attracted world's favor. However, damage human body by nuclear radiation fatal, it necessary use a robot instead deal with material waste. The safe, reliable real-time control remotely has become basic requirements for pollution disposal robot. In this paper, design implementation...

In order to reduce radiation hazards, a mobile robot for detecting and grasping radioactive sources is designed. The based on the ROS platform, uses source detector locate moves source, mechanical gripper carried by body grab corresponding source. improve its stability adaptability, remote real-time control method used realize motion capture of detection robot. operates reducing environmental pollution open-air at same time avoiding damage staff.

This paper presents a robust control method for multi-input multi-output (MIMO) non-linear systems with uncertain hysteresis using operator-based right coprime factorisation approach. In details, new system design is proposed MIMO plants preceded by and some sufficient conditions are proposed. By the obtained conditions, controlled robustly stable desired output tracking performance can be realised. Finally, simulation done to validate effectiveness of method.

In order to evaluate the kinematic performance and determine proper design parameters, characteristics of human upper-limb are modelled analyzed in this paper. Based on model, two different mechanical configurations wearable exoskeleton robots proposed singularity orientation upper limb workspace is analyzed. The optimal configuration shoulder mechanism without limiting spherical-joint motion determined avoid control procedure. According configuration, workspaces simulated by Matlab...

Actual high saline wastewater containing concentrated organics and sodium chloride is a bioenergy renewable resource. This study compared two different bipolar membrane electrodialysis membranes from companies' stacks to recover HCl NaOH solution actual chemical wastewater. The results demonstrated that the electrolysis rates were around 1.5 kg/m2h, production about 0.9 energy consumption was in range of 1.05-1.27 kWh/kg, economic benefits above 1 yuan/h BMED systems. From analyzing...

To further decrease the grasping damages of robot hand with two fingers, parallel gripping explicit force control strategy dual fingers was proposed and analyzed while deformable objects. It can quickly convert error between desired actual one acquired form sensors into revised input command position system. Both fast reach controller which supplied necessary correction to original planned position, it reduce excessive overshoots position. Simulation results show that, independently adaptive...

In order to solve the problem that object detector is difficult identify pedestrians at different scales, this paper introduces MSBlock module into Backbone layer by improving YOLOv5 algorithm, enhancing ability of real-time extract multi-scale features and missed detection false caused large difference in size character target, while maintaining fast inference speed, adding PConv Head reduce redundant computing memory access, so as spatial more effectively. At same time, path aggregation...