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Turbidity-adaptive underwater image enhancement method using image fusion
《机械工程前沿(英文)》 2022年 第17卷 第3期 doi: 10.1007/s11465-021-0669-8
关键词: turbidity underwater image enhancement image fusion underwater robots visibility
Comprehensive kinetostatic modeling and morphology characterization of cable-driven continuum robots
《机械工程前沿(英文)》 2023年 第18卷 第3期 doi: 10.1007/s11465-023-0756-0
关键词: kinetostatic modeling morphology characterization variable friction continuum robots in-situ maintenance
Vibration suppression of speed-controlled robots with nonlinear control
Paolo BOSCARIOL,Alessandro GASPARETTO
《机械工程前沿(英文)》 2016年 第11卷 第2期 页码 204-212 doi: 10.1007/s11465-016-0380-3
In this paper, a simple nonlinear control strategy for the simultaneous position tracking and vibration damping of robots is presented. The control is developed for devices actuated by speed-controlled servo drives. The conditions for the asymptotic stability of the closed-loop system are derived by ensuring its passivity. The capability of achieving improved trajectory tracking and vibration suppression is shown through experimental tests conducted on a three-axis Cartesian robot. The control is aimed to be compatible with most industrial applications given the simplicity of implementation, the reduced computational requirements, and the use of joint position as the only measured signal.
关键词: industrial robot nonlinear control vibration damping model-free control motion control
王梦恕
《中国工程科学》 2009年 第11卷 第7期 页码 4-10
综合论述了水下隧道在穿越江河湖海时所有的优势,介绍了水下交通隧道的设计与施工概况,讨论了水下隧道勘察设计、施工的几项关键技术,详细介绍了水下隧道施工的常用方法。
Footholds optimization for legged robots walking on complex terrain
《机械工程前沿(英文)》 2023年 第18卷 第2期 doi: 10.1007/s11465-022-0742-y
关键词: footholds optimization legged robot complex terrain adapting hexapod robot locomotion control
Zhijie HUANG, Xiaodan REN, Zuyu CHEN, Daosheng LING
《结构与土木工程前沿(英文)》 2019年 第13卷 第6期 页码 1350-1362 doi: 10.1007/s11709-019-0559-x
关键词: underwater explosion centrifuge experiment shock load dynamic response accumulated shock impulse
Effects of thermocline on performance of underwater glider’s power system propelled by ocean thermal
Hai YANG, Jie MA,
《能源前沿(英文)》 2009年 第3卷 第4期 页码 472-479 doi: 10.1007/s11708-009-0052-7
关键词: mathematical underwater glider system working certain corresponding threshold
Wenxuan CAO; Junjie LI
《结构与土木工程前沿(英文)》 2022年 第16卷 第11期 页码 1378-1396 doi: 10.1007/s11709-022-0855-8
关键词: underwater cracks remote operated vehicle image stitching image segmentation graph convolutional neural network
Modular crawling robots using soft pneumatic actuators
Nianfeng WANG, Bicheng CHEN, Xiandong GE, Xianmin ZHANG, Wenbin WANG
《机械工程前沿(英文)》 2021年 第16卷 第1期 页码 163-175 doi: 10.1007/s11465-020-0605-3
关键词: soft robot soft pneumatic actuator kinematic model crawling robot modular design
Fabrizio SERGI, Dino ACCOTO, Nevio L. TAGLIAMONTE, Giorgio CARPINO, Eugenio GUGLIELMELLI
《机械工程前沿(英文)》 2011年 第6卷 第1期 页码 61-70 doi: 10.1007/s11465-011-0206-2
The choice of non-anthropomorphic kinematic solutions for wearable robots is motivated both by the necessity of improving the ergonomics of physical Human-Robot Interaction and by the chance of exploiting the intrinsic dynamical properties of the robotic structure so to improve its performances. Under these aspects, this new class of robotic solutions is potentially advantageous over the one of anthropomorphic robotic orthoses. However, the process of kinematic synthesis of non-anthropomorphic wearable robots can be too complex to be solved uniquely by relying on conventional synthesis methods, due to the large number of open design parameters. A systematic approach can be useful for this purpose, since it allows to obtain the complete list of independent kinematic solutions with desired properties. In this perspective, this paper presents a method, which allows to generalize the problem of kinematic synthesis of a non-anthropomorphic wearable robot for the assistance of a specified set of contiguous body segments. The methodology also includes two novel tests, specifically devised to solve the problem of enumeration of kinematic structures of wearable robots: the HR-isomorphism and the HR-degeneracy tests. This method has been implemented to derive the atlas of independent kinematic solutions suitable to be used for the kinematic design of a planar wearable robot for the lower limbs.
关键词: assistive robotics non-anthropomorphic wearable robots topology kinematic synthesis HR-isomorphism test HR-degeneracy test
Aslotted floor acquisitionmultiple access based MACprotocol for underwater acoustic networks withRTS
Liang-fang QIAN,Sen-lin ZHANG,Mei-qin LIU
《信息与电子工程前沿(英文)》 2015年 第16卷 第3期 页码 217-226 doi: 10.1631/FITEE.1400187
关键词: Underwater acoustic networks Medium access control (MAC) Request-to-send (RTS) competition Throughput Energy consumption
马蕊,赵修涛,柳存根
《中国工程科学》 2020年 第22卷 第6期 页码 19-25 doi: 10.15302/J-SSCAE-2020.06.003
建立水下立体观测网来获得科学、实时、全面的数据,是未来认识、开发、利用海洋的重要方向。本文分析了发展海洋水下立体观测技术装备的需求和必要性,对比了国内外相关装备的发展现状,进一步剖析我国领域发展面临的问题,研判作为海洋水下观测关键环节的传感器技术进展点。研究认为,我国海洋观测平台技术有了很大进步,但在海洋关键传感器、高精度传感器方面依然落后于世界先进水平;海洋观测的大数据与实际需求之间有所脱节,海洋传感器缺乏改进平台支撑。研究提出了支持海洋关键传感器研究成果高效转化、统筹管理国家海洋水下立体观测技术装备、建立海上仪器装备国家公共试验平台等对策建议,以期为相关领域中长期发展提供方向参照。
《机械工程前沿(英文)》 2023年 第18卷 第2期 doi: 10.1007/s11465-022-0741-z
关键词: steam generator transfer tubes mobile robot dexterous structure task planning efficient inspection
《化学科学与工程前沿(英文)》 2023年 第17卷 第1期 页码 46-55 doi: 10.1007/s11705-022-2170-2
关键词: oil/water separation N-isopropylacrylamide stainless steel mesh ultrahigh flux
标题 作者 时间 类型 操作
Comprehensive kinetostatic modeling and morphology characterization of cable-driven continuum robots
期刊论文
Vibration suppression of speed-controlled robots with nonlinear control
Paolo BOSCARIOL,Alessandro GASPARETTO
期刊论文
Centrifuge experiment and numerical analysis of an air-backed plate subjected to underwater shock loading
Zhijie HUANG, Xiaodan REN, Zuyu CHEN, Daosheng LING
期刊论文
Effects of thermocline on performance of underwater glider’s power system propelled by ocean thermal
Hai YANG, Jie MA,
期刊论文
Detecting large-scale underwater cracks based on remote operated vehicle and graph convolutional neural
Wenxuan CAO; Junjie LI
期刊论文
Modular crawling robots using soft pneumatic actuators
Nianfeng WANG, Bicheng CHEN, Xiandong GE, Xianmin ZHANG, Wenbin WANG
期刊论文
A systematic graph-based method for the kinematic synthesis of non-anthropomorphic wearable robots for
Fabrizio SERGI, Dino ACCOTO, Nevio L. TAGLIAMONTE, Giorgio CARPINO, Eugenio GUGLIELMELLI
期刊论文
Aslotted floor acquisitionmultiple access based MACprotocol for underwater acoustic networks withRTS
Liang-fang QIAN,Sen-lin ZHANG,Mei-qin LIU
期刊论文
High-efficiency inspecting method for mobile robots based on task planning for heat transfer tubes in
期刊论文
Fabrication of a superhydrophilic/underwater superoleophobic stainless steel mesh for oil/water separation
期刊论文