Linux-based Platform for Open Architecture Controller ( POAC ), a new open architecture controller and its modular developing method are discussed. POAC divides the application software of controller into the developi...Linux-based Platform for Open Architecture Controller ( POAC ), a new open architecture controller and its modular developing method are discussed. POAC divides the application software of controller into the developing system and the application system. In the developing system, PAOC abstracts a series of function modules with unified data interface and function interface. In the application system, POAC defines the model of the architecture module, realizing the interoperability and interchangeability between the architecture modules. The modular developing method entities the users to make up an application system with some architecture modules, which consist of a set of function modules. The modular developing method decreases the developing time from the standard of controller architecture to the product.展开更多
1 Introduction Object Goal Navigation is a fundamental task for embodied agents to accomplish complex tasks in real-world environments.In this task,the agent is required to navigate to a specific target in unseen envi...1 Introduction Object Goal Navigation is a fundamental task for embodied agents to accomplish complex tasks in real-world environments.In this task,the agent is required to navigate to a specific target in unseen environments where prior maps are unavailable.Due to the target being invisible from the initial position,the agent needs to have the human-like ability to reason about the location of the target and conduct efficient exploration.To obtain this reasoning ability,reinforcement learning(RL)methods[1]adopted an end-to-end approach in the navigation process and modular-based methods[2]built an explicit map based on geometric and semantic observations.展开更多
Metadevices have emerged as a new element or system in recent years,from optics to mechanical science,showing superior performance and powerful application potential.In this study,a mechanical metadevice that capable ...Metadevices have emerged as a new element or system in recent years,from optics to mechanical science,showing superior performance and powerful application potential.In this study,a mechanical metadevice that capable of low-frequency vibration isolation,which is called metamaterial springs or metasprings,is proposed.Meanwhile,a modular design method is reported to obtain the customizable quasi-zero stiffness characteristic of the designed metaspring.As proof-of-concept,we demonstrate,both in simulations and experiments,the quasi-zero stiffness characteristics of the proposed metasprings using 3D-printed experimental specimens.Moreover,the low-frequency vibration isolation properties of the proposed metasprings is demonstrated both in vibration tests and automotive vibration tests.This work provides a new mechanical metadevice,that is,metasprings for low-frequency vibration isolation,as well as a modular design method for designing metasprings,which may revolutionize vibration isolation devices in the field of low-frequency vibration isolation.展开更多
基金Shanghai Science and Technology Development Foundation (995107017)
文摘Linux-based Platform for Open Architecture Controller ( POAC ), a new open architecture controller and its modular developing method are discussed. POAC divides the application software of controller into the developing system and the application system. In the developing system, PAOC abstracts a series of function modules with unified data interface and function interface. In the application system, POAC defines the model of the architecture module, realizing the interoperability and interchangeability between the architecture modules. The modular developing method entities the users to make up an application system with some architecture modules, which consist of a set of function modules. The modular developing method decreases the developing time from the standard of controller architecture to the product.
基金National Natural Science Foundation of China(Grant No.62306247)the China Postdoctoral Science Foundation(2022M722630)the Sichuan Science and Technology Program(2024NSFSC1474,2024ZH CG0166).
文摘1 Introduction Object Goal Navigation is a fundamental task for embodied agents to accomplish complex tasks in real-world environments.In this task,the agent is required to navigate to a specific target in unseen environments where prior maps are unavailable.Due to the target being invisible from the initial position,the agent needs to have the human-like ability to reason about the location of the target and conduct efficient exploration.To obtain this reasoning ability,reinforcement learning(RL)methods[1]adopted an end-to-end approach in the navigation process and modular-based methods[2]built an explicit map based on geometric and semantic observations.
基金supported by the Basic Science Center Project of NSFC under grant No.51788104the China Postdoctoral Science Foundation under Grant No.2022M721850+1 种基金the NSFC under grant No.11974203the Scientific Research Foundation for Talented Scholars of CSUFT University(2024YJ002).
文摘Metadevices have emerged as a new element or system in recent years,from optics to mechanical science,showing superior performance and powerful application potential.In this study,a mechanical metadevice that capable of low-frequency vibration isolation,which is called metamaterial springs or metasprings,is proposed.Meanwhile,a modular design method is reported to obtain the customizable quasi-zero stiffness characteristic of the designed metaspring.As proof-of-concept,we demonstrate,both in simulations and experiments,the quasi-zero stiffness characteristics of the proposed metasprings using 3D-printed experimental specimens.Moreover,the low-frequency vibration isolation properties of the proposed metasprings is demonstrated both in vibration tests and automotive vibration tests.This work provides a new mechanical metadevice,that is,metasprings for low-frequency vibration isolation,as well as a modular design method for designing metasprings,which may revolutionize vibration isolation devices in the field of low-frequency vibration isolation.
