A5103219247- Soil Mechanics and Vehicle Dynamics
- Robotic Locomotion and Control
- Robotics and Sensor-Based Localization
- Fatigue and fracture mechanics
- Sensorless Control of Electric Motors
- Hand Gesture Recognition Systems
- Electric Motor Design and Analysis
- Antenna Design and Optimization
- Agriculture and Farm Safety
- Robotic Path Planning Algorithms
- Gait Recognition and Analysis
- Iterative Learning Control Systems
- Video Surveillance and Tracking Methods
- Inertial Sensor and Navigation
- Sports Dynamics and Biomechanics
- Metallurgy and Material Forming
- Metal Forming Simulation Techniques
- Civil and Geotechnical Engineering Research
- Hydrogen embrittlement and corrosion behaviors in metals
- Transportation Safety and Impact Analysis
- Robot Manipulation and Learning
- Modular Robots and Swarm Intelligence
- Semiconductor materials and devices
- Advanced Image and Video Retrieval Techniques
- Advanced Optical Imaging Technologies
Southern University of Science and Technology
2022-2023
Northwestern Polytechnical University
2011-2019
Anhui Sanlian University
2014
The off-road locomotion of wheeled mobile robots (WMRs) over soft terrains can be quite challenging due to the complicated wheel-terrain interaction (WTI). To avoid unforeseen non-geometric hazards such as excessive sinkage or slippage, it is crucial oversee these terrain-related uncertainties. However, determining appropriate sensing principle for WTI and hazard prediction remains an open problem. This letter showcases onboard sensorized transparent wheel concept (STW) aiming explicitly...
Robot mobility is critical for mission success, especially in soft or deformable terrains, where the complex wheel-soil interaction mechanics often leads to excessive wheel slip and sinkage, causing eventual failure. To improve success rate, online prediction using vision, infrared imaging, model-based stochastic methods have been used literature. This paper proposes an on-board approach articulated wheeled bevameter that consists of a force-controlled arm instrumented (with force vision...
Wheeled mobile robots (WMRs) have been proven to be quite competitive and useful in outdoor missions. However, they may face serious sinkage or slippage on deformable terrains, even get stuck damaged, thereby causing mission failure. To mitigate these risks, it is essential closely monitor the robot's states its interactions with soft terrains. In this letter, we propose an integrated wheel-terrain interaction detecting algorithm which can measure sinkage, contact angles, slip ratio...
Robot traversability is critical for its mission success, especially in unstructured environments, where the rough terrain can often lead to collision and tip-over. It crucial autonomous robots analyze their accurately quickly. Most of past studies tend use semantic or geometrical information alone, whose results are not accurate enough since misclassify neglect other modal information. Some scholars have tried fuse geometry information, but they require expensive sensors such as Lidar...
It is shown that the discreteness of chemical compositions 0Cr12Mn5Ni4Mo3Al steel large and range Cr/Ni equivalent ratio wide, which has big impact on content morphology ferrite easy to occur cracking phenomenon when bearing, based analysis pipe sleeve aircraft flare-less joints. can be found cracked are almost meeting requirements, but high side. So it concluded fracture failure closely related content, shape distribution δ-ferrite. Thus, available solution in stainless reduce within...
The Doppler frequency shift can make a mismatch in band between the linear modulation (LFM) signal and its matched filter. amplitude delay of output pulse are based on degree mismatch. An algorithm estimation is proposed basing pulse. sets group filters whose middle frequencies increase an established pattern. When echo goes through them, outputs will appear different amplitudes delays. calculated by two pulses biggest. be compensated estimated frequency, which may achieve target's precise...
The mobile robot will move continually with the ground in various unstructured environments, and it inevitably be affected by terrain geometry type (physical property). As a result, detection classification skills are critical demand extra attention order to assure reliability of control navigation. For analysis specific tasks, previous work has always used vision-based non-contact sensors or proprioceptive contact-based (e.g., IMU force sensors), even though vision is not robust against...
P212 sensor will increase the cost of motor control system, reduce reliability and performance it's difficult to implement in some bad conditions. This paper presents a rotor position real-time estimation method for permanent magnet synchronous motor. The is corrected by characteristic points obtained back electromotive force. It improve accuracy estimation. Experimental results show that proposed this can estimate information real time achieve vector without sensor. easy implement,...
The forming process of aircraft hydraulic pipe joints is investigated through experiments and analyses to solve the cracking problem sleeve on extrusion flare-less joints. It can be concluded that internal cause fracture failure connected with content, shape distribution δ-ferrite in 0Cr12Mn5Ni4Mo3Al high strength stainless steel, external associated bearing behavior extrusion-bulging sleeve. crack formed criss-crossing section function shear stress concentration position, which belongs...
Convolutional neural networks (CNNs) are representative models of artificial (ANNs), that form the backbone modern computer vision. However, considerable power consumption and limited computing speed electrical platforms restrict further development CNNs. Optical considered next-generation physical implementations ANNs to break bottleneck. This study proposes a spectral convolutional network (SCNN) with function matter meta-imaging, namely identifying composition mapping its distribution in...
This paper proposes a two-dimensional boundary value problem for high-k gate dielectric MOSFET and its sidewall spacer oxide. We have calculated the electrical potential distribution charge distribution. A model of parasitic capacitance between source/drain has been given. In this paper, we also analyze relationship these capacitances geometry dimension parameters with semi-analytical method. The results show that there is smallest by changing magnitude constant. accuracy method tested...
In order to discuss on highly weathered metamorphic fillers as soft stone fillers，firstly the CBR tests for analysis viability embankment filler are conducted three different fillers. Secondly rock strength and particle broken processed study how degree structure have an effect them. Based above conclusions, evaluation criteria proposed that certain guidance reference mountainous highway construction.
The technology of human detection is evolving rapidly and it has been applied in various fields. Histograms oriented gradients (HOG) are proven to be able significantly outperform existing feature sets for detection. This paper presents a foreground-based scalloped (FSR)-HOG features with rotation invariance Firstly, extracting the FSRHOG on foreground image, then training positive negative samples by SVM linear classifier. Experimental results show that vector can retain accuracy HOG as...
The wheeled rover is widely used in off-road planetary exploration tasks nowadays. However, complex operating environment like soft deformable terrains on the planet surface demands high performance of rover. In order to reduce danger, environmental perception technologies need be Terrain classification a critical method perception. this research, wheel-vision-based terrain proposed. This uses wheel-terrain interaction parameters obtained from inside-wheel cameras which are strongly related...
The scientific applications over a decade have demonstrated the robust practicality of wheeled rovers, which are capable undertaking exploration tasks in various unstructured terrains. However, sinkage and slippage extremely common on sandy Fortunately, these risks can be mitigated timely manner through perception terrain types. Thus, classification technology has become key solution to addressing issues. In this paper, we propose new pipeline for rover It exploits aside-wheel sensor suite...
Abstract In spacecraft assembly integration and test, zero gravity unloading of antenna is necessary during deployment/closure test. To meet the requirement condition in EMC test stage, a convenient cantilever type universal bracket designed. The system consists main body device, first-stage arm, second-stage arm pulley system. Through analysis calculation, can space requirement, friction resistance strength deformation limitation process. It provide technical reference basis for deploy...