In complex environments, mobile robots performing tasks with different hazard levels need to consider road factors, this paper proposes a functional model correlating task proposing an innovative Hybrid Adaptive Genetic Algorithm (HAGA). The HAGA integrates optimized two-optimization (2-opt) operator* enhanced (AGA) for efficient path planning in diverse and conditions. Firstly, pre-optimize the initial paths is performed by introducing new domain knowledge-based operator that duplicates are...

Dynamic surface grasping is applicable to landing of micro air vehicles (MAVs) and grappling objects in space. In both applications, the grasper must absorb kinetic energy a moving object provide secure attachment using, for example, gecko-inspired directional adhesives. Functional principles dynamic are presented, two prototype designs discussed. Computer simulation physical testing confirms expected relationships concerning (i) alignment at initial contact, (ii) absorption during collision...

The problem of steering multiple fixed-wing autonomous unmanned aerial vehicles (UAVs) to follow the noncooperative and high agile surface targets at a specified standoff distance in threat environment is studied. Two kinds threats missed detection bearing-only sensors are considered. average nonlinear least-square estimation method proposed acquire position using noisy measurements, then, trajectories approximated by quadratic functions time. Dummy same number as UAVs created according task...

It is important to enable micro aerial vehicles land and perch on different surfaces save energy by cutting power motors perform tasks such as persistent surveillance. In many cases, the best available may be vertical windows, walls, or inclined roof tops. this paper, we present approaches algorithms for aggressive maneuvering perching of underactuated quadrotors that are not horizontal. We show design a custom foot/gripper smooth surfaces. Then, control planning specified while satisfying...

In this paper, the key technologies to design service collaboration in cloud manufacturing are explored combining with concept and mode. The mode environment is proposed. A 5-level 8-view conceptual model a semantic-based modeling method of proposed through analysis needs features modeling. method, dynamic generation work flow model, introduced improve dynamics flexibility services combining. This can satisfy Finally, prototype system developed demonstrate method.

In this paper, an event-triggered adaptive decentralised control strategy for a class of switched interconnected nonlinear systems is presented, which considers full-state constraints and unmodeled dynamics, simultaneously. the controller design process, approximation capability radical basis function neural networks (RBF NNs) used to estimate unknown functions system. The interference caused by dynamics overcome introducing dynamic signal. addition, barrier Lyapunov (BLF) constructed each...

Fault tolerant control on quadrotors has recently gained more and attention. A proper fault strategy can improve the vehicle's performance in presence of benign faults, even save vehicle valuable payload case severe faults. This paper presents a new based Trajectory Linearization Control approach with special method transformation from quadrotor mode to tri-rotor mode, an introduction extra DOF. Meanwhile, command saturation is considered proposed strategy. The maximum capacity for nominal...

How to achieve a shared understanding among design team members is essential for the collaborative design. Design rationale (DR) explains why and artifact designed way it is. An explicit representation of DR can bring many benefits this objective. This paper argues that conventional argumentation-based has some inherent limitations. Based on argument, an evolving (EDR) model proposed capture formalize its history, in which cognitive elements participating process are organized integrated...

Surface defect detection has been spotlighted in the product quality control. There are lots of methods focused on handcrafted optical features and have worked well under specified conditions. However, effectively detecting defects products is nontrivial. Among challenge complexity surface defect, such as micro with noise, at vastly different scales. In order tackle these problems, we propose a feature fusion network using global context block for detection. A pipeline presented that...

At present, researches on design rationale focus the model representation and retrieval, which lack deeply mining in cannot support innovative design. This paper proposes a decision-making context graph based method to mine model. could get large amount of tacit rules, consensus evidences model, has great significance for first we calculate similarities among nodes models, then find similar different graphs unify graphs, edges. Second, generate frequent edge set degree, select with highest...

In order to meet the demands for dextrous robotic limbs in such fields as dangerous rescue, disabled people assistance, and industrial production line, we carry out research about a robot upper limb which is composed of 6 DOFs has ability finishing complex movements instead real limb. A virtual prototype designed analyzing system comprehensively, an optimal pneumatic balance design studied sake decreasing output torque dimensions Meanwhile, simulation experiments with without have been...

Owing to great demands for artificial robot upper limbs in industrial production lines, dangerous rescue and even the assistance disabled people, research design is carried out about a limb which composed of 6 DOFs. In order illustrate system comprehensively, forward kinematics analysis finished according mechanism. At same time, workspace designed analyzed simulated, Monte-carlo simulation results show that continuous closed space, means hand can reach anywhere workspace. Moreover, pingpong...

In the last few decades, event-triggered control received considerable attention, because of advantages in reducing resource utilization, such as communication load and processor. this paper, we propose an output-feedback controller for disturbed linear systems, order to achieve both better utilization disturbance attenuation properties at same time. Based on our prior work state-feedback <mml:math xmlns:mml="http://www.w3.org/1998/Math/MathML"...