Aiming to improve the maneuver performance of the strapdown inertial navigation attitude coning algorithm a new coning correction structure is constructed by adding a sample to the traditional compressed coning correc...Aiming to improve the maneuver performance of the strapdown inertial navigation attitude coning algorithm a new coning correction structure is constructed by adding a sample to the traditional compressed coning correction structure. According to the given definition of classical coning motion the residual coning correction error based on the new coning correction structure is derived. On the basis of the new structure the frequency Taylor series method is used for designing a coning correction structure coefficient and then a new coning algorithm is obtained.Two types of error models are defined for the coning algorithm performance evaluation under coning environments and maneuver environments respectively.Simulation results indicate that the maneuver accuracy of the new 4-sample coning algorithm is almost double that of the traditional compressed 4-sample coning algorithm. The new coning algorithm has an improved maneuver performance while maintaining coning performance compared to the traditional compressed coning algorithm.展开更多
Untethered and self-transformable miniature robots are capable of performing reconfigurable deformation and on-demand locomotion,which aid the traversal toward various lumens,and bring revolutionary changes for target...Untethered and self-transformable miniature robots are capable of performing reconfigurable deformation and on-demand locomotion,which aid the traversal toward various lumens,and bring revolutionary changes for targeted delivery in gastrointestinal(GI)tract.However,the viscous non-Newtonian liquid environment and plicae gastricae obstacles severely hamper high-precision actuation and payload delivery.Here,we developed a low-friction soft robot by assembly of densely arranged cone structures and grafting of hydrophobic monolayers.The magnetic orientation encoded robot can move in multiple modes,with a substantially reduced drag,terrain adaptability,and improved motion velocity across the non-Newtonian liquids.Notably,the robot stiffness can be reversibly controlled with magnetically induced hardening,enabling on-site scratching and destruction of antibiotic-ineradicable polymeric matrix in biofilms with a low-frequency magnetic field.Furthermore,the magnetocaloric effect can be utilized to eradicate the bacteria by magnetocaloric effect under high-frequency alternating field.To verify the potential applications inside the body,the clinical imaging-guided actuation platforms were developed for vision-based control and delivery of the robots.The developed low-friction robots and clinical imaging-guided actuation platforms show their high potential to perform bacterial infection therapy in various lumens inside the body.展开更多
基金The National Natural Science Foundation of China(No.51375087)the Specialized Research Fund for the Doctoral Program of Higher Education(No.20110092110039)+2 种基金the Public Science and Technology Research Funds Projects of Ocean(No.201205035)the Scientific Innovation Research of College Graduates in Jiangsu Province(No.CXZZ12_0097)the Scientific Research Foundation of Graduate School of Southeast University(No.YBJJ1349)
文摘Aiming to improve the maneuver performance of the strapdown inertial navigation attitude coning algorithm a new coning correction structure is constructed by adding a sample to the traditional compressed coning correction structure. According to the given definition of classical coning motion the residual coning correction error based on the new coning correction structure is derived. On the basis of the new structure the frequency Taylor series method is used for designing a coning correction structure coefficient and then a new coning algorithm is obtained.Two types of error models are defined for the coning algorithm performance evaluation under coning environments and maneuver environments respectively.Simulation results indicate that the maneuver accuracy of the new 4-sample coning algorithm is almost double that of the traditional compressed 4-sample coning algorithm. The new coning algorithm has an improved maneuver performance while maintaining coning performance compared to the traditional compressed coning algorithm.
基金Key Science Foundation Project of Henan Province(232300421146)the National Natural Science Foundation of China(NSFC,21905076)to Ju J+2 种基金the NSFC(22172045 and 21905077)to Yao X,and the NSFC(22205056)the Key Research Program of Higher Education of Henan Province(22A430003)to Luo YQsupported by CAS Key Laboratory of Bio-inspired Materials and Interfacial Science,Technical Institute of Physics and Chemistry。
基金supported by the National Natural Science Foundation of China(22102104 and U22A2064)the General Research Fund(project no.14203123)+7 种基金National Key Research and Development Project(grant no.2023YFB4705300)the Shenzhen Science and Technology Program(JCYJ20220531103409021 and JCYJ20220818101611025)the Guangdong Basic and Applied Basic Research Foundation(2021A1515010672 and 2022B1515120010)the Research Impact Fund(project no.R4015-21)Research Fellow Scheme(project no.RFS2122-4S03)the EU-Hong Kong Research and Innovation Cooperation Co-funding Mechanism(project no.E-CUHK401/20)from the Research Grants Council(RGC)of Hong Kongthe support from the SIATCUHK Joint Laboratory of Robotics and Intelligent Systems and the Multi-Scale Medical Robotics Center(MRC),InnoHK,at the Hong Kong Science ParkGuangdong University Students Science and Technology Innovation Cultivation Special Fund Project with project no.pdjh2022b0446.
文摘Untethered and self-transformable miniature robots are capable of performing reconfigurable deformation and on-demand locomotion,which aid the traversal toward various lumens,and bring revolutionary changes for targeted delivery in gastrointestinal(GI)tract.However,the viscous non-Newtonian liquid environment and plicae gastricae obstacles severely hamper high-precision actuation and payload delivery.Here,we developed a low-friction soft robot by assembly of densely arranged cone structures and grafting of hydrophobic monolayers.The magnetic orientation encoded robot can move in multiple modes,with a substantially reduced drag,terrain adaptability,and improved motion velocity across the non-Newtonian liquids.Notably,the robot stiffness can be reversibly controlled with magnetically induced hardening,enabling on-site scratching and destruction of antibiotic-ineradicable polymeric matrix in biofilms with a low-frequency magnetic field.Furthermore,the magnetocaloric effect can be utilized to eradicate the bacteria by magnetocaloric effect under high-frequency alternating field.To verify the potential applications inside the body,the clinical imaging-guided actuation platforms were developed for vision-based control and delivery of the robots.The developed low-friction robots and clinical imaging-guided actuation platforms show their high potential to perform bacterial infection therapy in various lumens inside the body.
