Nowadays,using mobile robots in different applications has been very important.However,the environment in which they operate can cause the wheels to slip or the robot body to slide,causing the assigned task not to be ...Nowadays,using mobile robots in different applications has been very important.However,the environment in which they operate can cause the wheels to slip or the robot body to slide,causing the assigned task not to be performed successfully.Therefore,the need arises to mathematically determine these external perturbations to predict the behavior of the mobile robot.Based on the above mentioned facts,this work focuses on obtaining the kinematic model of an omnidirectional mobile robot considering lateral and longitudinal sliding disturbances of the body and wheel slippage.To mitigate the effect of the disturbances,a control strategy is considered based on the design of a generalized proportional integral observer(GPIO)that allows the estimation of such perturbations.Then,an active disturbance rejection control(ADRC)methodology is implemented to solve the trajectory tracking problem,and it is theoretically proved that the tracking errors converge to a vicinity near the origin.Numerical simulations and real-time experiments validate the obtained perturbed model and the control strategy performance,achieving the desired trajectory tracking despite these perturbations.展开更多
Frequency-modulated continuous-wave radar enables the non-contact and privacy-preserving recognition of human behavior.However,the accuracy of behavior recognition is directly influenced by the spatial relationship be...Frequency-modulated continuous-wave radar enables the non-contact and privacy-preserving recognition of human behavior.However,the accuracy of behavior recognition is directly influenced by the spatial relationship between human posture and the radar.To address the issue of low accuracy in behavior recognition when the human body is not directly facing the radar,a method combining local outlier factor with Doppler information is proposed for the correction of multi-classifier recognition results.Initially,the information such as distance,velocity,and micro-Doppler spectrogram of the target is obtained using the fast Fourier transform and histogram of oriented gradients-support vector machine methods,followed by preliminary recognition.Subsequently,Platt scaling is employed to transform recognition results into confidence scores,and finally,the Doppler-local outlier factor method is utilized to calibrate the confidence scores,with the highest confidence classifier result considered as the recognition outcome.Experimental results demonstrate that this approach achieves an average recognition accuracy of 96.23%for comprehensive human behavior recognition in various orientations.展开更多
Flexible top-emission organic light-emitting diodes(f-TEOLEDs)with a high aperture ratio can be used in next-generation wearable electronic applications.However,the advancement of f-TEOLEDs is being hindered by their ...Flexible top-emission organic light-emitting diodes(f-TEOLEDs)with a high aperture ratio can be used in next-generation wearable electronic applications.However,the advancement of f-TEOLEDs is being hindered by their low light extraction and poor mechanical stability.In this study,we introduce an omnidirectional reflector(ODR)consisting of an Ag/SiO_(2)/Ta_(2)O_(5)cylinder-embedded indium zinc oxide(IZO)mesh(c-mesh)structure that improves both the light extraction and mechanical flexibility of TEOLEDs using blue thermally activated delayed fluorescence emitters.The proposed ODR achieved a remarkable reflectance of over 96%,particularly in the transverse-electric mode.Furthermore,the Ta_(2)O_(5)cylinders effectively compensated for the diverse void-induced depths in the IZO mesh,significantly reducing the leakage current between the electrode and the organic layers.In addition,the ODR electrodes exhibited outstanding mechanical stability.Moreover,even after being subjected to 2000 bending cycles over a 5 mm radius,the device luminance changed by less than 20%.Notably,the proposed f-TEOLEDs with Ag/SiO_(2)/c-mesh electrodes demonstrated superior performance,achieving a low turn-on voltage(2.6 V),high current efficiency(33 cd·A^(-1)),and power efficiency of 29.6 lm·W^(-1).Finally,the devices featured a narrow full width at half maximum of27 nm under first-order microcavity effects.展开更多
This paper proposes a novel fixed-time sliding mode control approach for trajectory-tracking tasks of a mecanum-wheeled omnidirectional mobile robot.First,the idea of two-phase attractors is introduced into the domain...This paper proposes a novel fixed-time sliding mode control approach for trajectory-tracking tasks of a mecanum-wheeled omnidirectional mobile robot.First,the idea of two-phase attractors is introduced into the domain of sliding mode control,and a new fixed-time sliding surface is proposed.Then,according to this sliding surface,a new type of nonsingular fast terminal sliding mode control algorithm is designed for the omnidirectional mobile robot,which can realize a fast fixed-time convergence property.The stability of the control system is proven scrupulously,and a guideline for control-parameter tuning is expounded.Finally,experiments are implemented to test the trajectory-tracking performance of the robot.Experimental results demonstrate the superiority of the proposed sliding surface and the corresponding control scheme in comparison with benchmark controllers.展开更多
This paper presents a distributed scheme with limited communications, aiming to achieve cooperative motion control for multiple omnidirectional mobile manipulators(MOMMs).The proposed scheme extends the existing singl...This paper presents a distributed scheme with limited communications, aiming to achieve cooperative motion control for multiple omnidirectional mobile manipulators(MOMMs).The proposed scheme extends the existing single-agent motion control to cater to scenarios involving the cooperative operation of MOMMs. Specifically, squeeze-free cooperative load transportation is achieved for the end-effectors of MOMMs by incorporating cooperative repetitive motion planning(CRMP), while guiding each individual to desired poses. Then, the distributed scheme is formulated as a time-varying quadratic programming(QP) and solved online utilizing a noise-tolerant zeroing neural network(NTZNN). Theoretical analysis shows that the NTZNN model converges globally to the optimal solution of QP in the presence of noise. Finally, the effectiveness of the control design is demonstrated by numerical simulations and physical platform experiments.展开更多
Against the backdrop of electromagnetic space integration,the radio system of equipment platforms,such as next-generation aircraft,must possess multifunctional integration and electromagnetic stealth performance.Meanw...Against the backdrop of electromagnetic space integration,the radio system of equipment platforms,such as next-generation aircraft,must possess multifunctional integration and electromagnetic stealth performance.Meanwhile,the equipment platforms need to evolve towards flat structures.These requirements pose significant technical challenges for antenna system design.The antenna must possess ultra-wideband to facilitate multi-function integration through the use of continuous radio frequency synthetic aperture.In order to ensure good aerodynamics of the flat airborne platform,it is required to implement conformal design,while the ultra-low profile is the greatest challenge in conformal design.Against this background,this work proposes a novel airborne tightly coupled antenna with ultra-low profile,ultra-wideband,and vertical-polarized omnidirectional radiation.The antenna unit utilizes a long slot structure and implements circular conformal design,where the resistive frequency selection surface is used to expand the operating bandwidth.This antenna has a profile height of only 0.047 times the low-frequency wavelength.Simulation and measurement results show that it achieves an impedance bandwidth of nearly 12∶1 with omnidirectional beam coverage,which meets the requirements of multifunctional future airborne antennas.展开更多
In this paper, a fuzzy behavior-based approach for a three wheeled omnidirectional mobile robot(TWOMR) navigation has been proposed. The robot has to track either static or dynamic target while avoiding either static ...In this paper, a fuzzy behavior-based approach for a three wheeled omnidirectional mobile robot(TWOMR) navigation has been proposed. The robot has to track either static or dynamic target while avoiding either static or dynamic obstacles along its path. A simple controller design is adopted, and to do so, two fuzzy behaviors "Track the Target" and "Avoid Obstacles and Wall Following" are considered based on reduced rule bases(six and five rules respectively). This strategy employs a system of five ultrasonic sensors which provide the necessary information about obstacles in the environment. Simulation platform was designed to demonstrate the effectiveness of the proposed approach.展开更多
In this article,an omnidirectional dual-polarized antenna with synergetic electromagnetic and aerodynamic properties is propounded for high-speed diversity systems.The propounded antenna comprises a probe-fed cavity f...In this article,an omnidirectional dual-polarized antenna with synergetic electromagnetic and aerodynamic properties is propounded for high-speed diversity systems.The propounded antenna comprises a probe-fed cavity for horizontally polarized radiation and a microstrip-fed slot for vertical polarization.Double-layer metasurfaces are properly designed as artificial magnetic conductor boundaries with direct metal-mountable onboard installation and compact sizes.An attached wedge-shaped block is utilized for windage reduction in hydrodynamics.The propounded antenna is fabricated for design verification,and the experimental results agree well with the simulated ones.For vertical polarization,the operating bandwidth is in the range of 2.37–2.55 GHz,and the realized gain variation in the azimuthal radiation pattern is 3.67 decibels(dB).While an impedance bandwidth in the range of 2.45–2.47 GHz and a gain variation of 3.71 dB are also achieved for horizontal polarization.A port isolation more than 33 dB is obtained in a compact volume of 0.247λ_(0)×0.345λ_(0)×0.074λ_(0),whereλ_(0)represents the wavelength in vacuum at the center frequency,wherein the wedge-shaped block is included.The propounded diversity antenna has electromagnetic and aerodynamic merits,and exhibits an excellent potential for high-speed onboard communication.展开更多
The omnidirectional legged vehicle with steering-rails has a specific mechanism feature, and it can be controlled flexibly and accurately in omnidirectional motion. Currently there lacks further research in this area....The omnidirectional legged vehicle with steering-rails has a specific mechanism feature, and it can be controlled flexibly and accurately in omnidirectional motion. Currently there lacks further research in this area. In this paper, the mechanical characteristics of independent walking control and steering control and its kinematics principle are introduced, and a vehicle has a composite motion mode of parallel link mechanism and steering mechanism is presented. The motion direction control of the proposed vehicle is only dependant on its steering rails, so its motion is simple and effective to control. When the relative motion between the walking and steering is controlled cooperatively, the vehicle can walk perfectly. By controlling the steering rails, the vehicle can walk along arbitrary trajectory on the ground. To achieve a good result of motion control, an equivalent manipulator model needs to be built. In terms of the mechanism feature and the kinematic principle, the simplified manipulator model consists of a rail in stance phase, a rail in swing phase, and an equivalent leg. Considering the ground surface slope during walking, a parameter of inclination angle is added. Based on such a RPP manipulator model, the equations of motion are derived by means of Lagrangian dynamic approach. To verify the dynamic equations, the motion of the manipulator model is simulated based on linear and nonlinear motion planning. With the same model and motion parameters, the dynamic equations can be solved by Matlab and the calculation data can be gained. Compared with the simulation data, the result confirms the manipulator dynamic equations are correct. As a result of such special characteristics of the legged mechanism with steering rails, it has a potential broad application prospects. The derivation of dynamics equation could benefit the motion control of the mechanism.展开更多
Bionic-based robotic legs enable the legged robots with elegant and agile mobility in multi-terrain environment,just like natural living beings.And the smart design could efficiently improve the performance of a robot...Bionic-based robotic legs enable the legged robots with elegant and agile mobility in multi-terrain environment,just like natural living beings.And the smart design could efficiently improve the performance of a robotic leg.Inspired by the simplified human leg structure,we present a 3-DOF robotic leg—OmniLeg,that is capable of making omnidirectional legged locomotion while keeping constant posture of the foot.Additionally,the concentrated drive mode,in which all the motor actuators are installed in the torso and do not move with the leg,minimizes the inertia of the robotic leg.In this paper,the modular design,the kinematics model,the structural analysis,the workspace,and the performance evaluation of the OmniLeg are discussed.Furthermore,we build a prototype based on the proposed design,and the precision of it is verified by the error calibration experiment which is conducted by tracking the trajectory of the prototype’s endpoint.Then,we present an OmniLeg-based single legged mobile robot.The capability of omnidirectional legged locomotion of the OmniLeg is demonstrated by the experiments.展开更多
Freely shuttling in complex terrain is a basic skill of multi-legged animals.To make the hexapod robot have omnidirectional motion ability by controlling only one parameter,this paper uses the motion control method ba...Freely shuttling in complex terrain is a basic skill of multi-legged animals.To make the hexapod robot have omnidirectional motion ability by controlling only one parameter,this paper uses the motion control method based on Central Pattern Generator(CPG),maps the output signal of CPG to the foot end trajectory space of the hexapod robot,and proposes an omnidirectional gait controller strategy.In addition,to enable the hexapod robot to adapt to unstructured terrain,an adaptive method based on Dynamic Threshold(DT)is proposed to enable the hexapod robot move in all directions without changing the heading angle in unstructured terrain.Finally,the feasibility of the proposed method is verified by virtual simulation and hexapod robot prototype experiment.Results show that the hexapod robot can omnidirectional motion without changing the heading angle and has good stability in unstructured terrain.展开更多
Omnidirectional imaging sensors have been used in more and more applications when a very large field of view is required.In this paper,we investigate the unwrapping,epipolar geometry and stereo rectification issues fo...Omnidirectional imaging sensors have been used in more and more applications when a very large field of view is required.In this paper,we investigate the unwrapping,epipolar geometry and stereo rectification issues for omnidirectional vision when the particular mirror model and the camera parameters are unknown in priori.First,the omnidirectional camera is calibrated under the Taylor model,and the parameters related to this model are obtained.In order to make the classical computer vision algorithms of conventional perspective cameras applicable,the ring omnidirectional image is unwrapped into two kinds of panoramas:cylinder and cuboid.Then the epipolar geometry of arbitrary camera configuration is analyzed and the essential matrix is deduced with its properties being indicated for ring images.After that,a simple stereo rectification method based on the essential matrix and the conformal mapping is proposed.Simulations and real data experimental results illustrate that our methods are effective for the omnidirectional camera under the constraint of a single view point.展开更多
This paper presents a novel observer-based controller for a class of nonlinear multi-agent robot models using the high order sliding mode consensus protocol. In many applications, demand for autonomous vehicles is gro...This paper presents a novel observer-based controller for a class of nonlinear multi-agent robot models using the high order sliding mode consensus protocol. In many applications, demand for autonomous vehicles is growing;omnidirectional wheeled robots are suggested to meet this demand. They are flexible, fast, and autonomous, able to find the best direction and can move on an optional path at any time. Multi-agent omnidirectional wheeled robot(MOWR) systems consist of several similar or different robots and there are multiple different interactions between their agents, thus the MOWR systems have complex dynamics. Hence, designing a robust reliable controller for the nonlinear MOWR operations is considered an important obstacles in the science of the control design. A high order sliding mode is selected in this work that is a suitable technique for implementing a robust controller for nonlinear complex dynamics models. Furthermore, the proposed method ensures all signals involved in the multi-agent system(MAS) are uniformly ultimately bounded and the system is robust against the external disturbances and uncertainties. Theoretical analysis of candidate Lyapunov functions has been presented to depict the stability of the overall MAS, the convergence of observer and tracking error to zero, and the reduction of the chattering phenomena. In order to illustrate the promising performance of the methodology, the observer is applied to two nonlinear dynamic omnidirectional wheeled robots. The results display the meritorious performance of the scheme.展开更多
A method was presented to implement the detecting and tracking of moving targets through omnidirec-tional vision. The method combined optical flow with particle filter arithmetic, in which optical flow field was used ...A method was presented to implement the detecting and tracking of moving targets through omnidirec-tional vision. The method combined optical flow with particle filter arithmetic, in which optical flow field was used to detect and locate moving targets and particle filter was used to track the detected moving objects. According to the circular image character of omnidirectional vision, the calculation equation of optical flow field and the tracking arithmetic of particle filter were improved based on the polar coordinates at the omnidirectional center. The edge of a randomly moving object could be detected by optical flow field and was surrounded by a reference region in the particle filter. A dynamic motion model was established to predict particle state. Histograms were used as the fea-tures in the reference region and candidate regions. The mutual information (MI) and Gaussian function were com-bined to calculate particle weights. Finally, the state of tracked object was computed by the total particle states with weights. Experiment results show that the proposed method could detect and track moving objects with better real-time performance and accuracy.展开更多
Virtual reality(VR) environment can provide immersive experience to viewers.Under the VR environment, providing a good quality of experience is extremely important.Therefore, in this paper, we present an image quality...Virtual reality(VR) environment can provide immersive experience to viewers.Under the VR environment, providing a good quality of experience is extremely important.Therefore, in this paper, we present an image quality assessment(IQA) study on omnidirectional images. We first build an omnidirectional IQA(OIQA) database, including 16 source images with their corresponding 320 distorted images. We add four commonly encountered distortions. These distortions are JPEG compression, JPEG2000 compression, Gaussian blur, and Gaussian noise. Then we conduct a subjective quality evaluation study in the VR environment based on the OIQA database. Considering that visual attention is more important in VR environment, head and eye movement data are also tracked and collected during the quality rating experiments. The 16 raw and their corresponding distorted images,subjective quality assessment scores, and the head-orientation data and eye-gaze data together constitute the OIQA database. Based on the OIQA database, we test some state-of-the-art full-reference IQA(FR-IQA) measures on equirectangular format or cubic formatomnidirectional images. The results show that applying FR-IQA metrics on cubic format omnidirectional images could improve their performance. The performance of some FR-IQA metrics combining the saliency weight of three different types are also tested based on our database. Some new phenomena different from traditional IQA are observed.展开更多
The omnidirectional mobile platform has three degrees of freedom that make it widely applicable to all areas of industry, while the Mecanum wheel has the disadvantages wheel omnidirectional mobile platform is always d...The omnidirectional mobile platform has three degrees of freedom that make it widely applicable to all areas of industry, while the Mecanum wheel has the disadvantages wheel omnidirectional mobile platform is always difficult in of large vibration, the trajectory precision of Mecanum the omnidirectional mobile platform. To control the trajectory of the omnidirectional mobile platform better, this paper proposes a fuzzy self-tuning PID control model, through establishing the motion model of omnidirectional mobile platform in Adams software, then combined with Simulink simulation, analysis of fuzzy PID controller to improve the accuracy of the speed control of omnidirectional mobile platform, improve the control method of a precise trajectory of the omnidirectional mobile platform motion.展开更多
Omnidirectional dynamic space parameters of high-speed rotating helicopter blades are precise 3 D vector description of the blades. In particular, the elevation difference is directly related to the aerodynamic perfor...Omnidirectional dynamic space parameters of high-speed rotating helicopter blades are precise 3 D vector description of the blades. In particular, the elevation difference is directly related to the aerodynamic performance and maneuverability of the helicopter. The state of the art detection techniques based on optics and common vision have several drawbacks, such as high demands on devices but poor extensibility, limited measurement range and fixed measurement position. In this paper, a novel approach of helicopter blades running elevation measurement is proposed based on omnidirectional vision. With the advantages of panoramic visual imaging integration, 360° field of view and rotation in-variance, high-resolution images of all rotating blades positions are obtained at one time. By studying the non-linear calibration and calculation model of omnidirectional vision system, aiming at solving the problem of inaccurate visual space mapping model,the omnidirectional and full-scale measurement of the elevation difference are finalized. Experiments are carried out on our multifunctional simulation blades test system and the practical blades test tower, respectively. The experimental results demonstrate the effectiveness of the proposed method and show that the proposed method can considerably reduce the complexity of measurement.展开更多
We present an omnidirectional vision system we have implemented to provide our mobile robot with a fast tracking and robust localization capability. An algorithm is proposed to do reconstruction of the environment fro...We present an omnidirectional vision system we have implemented to provide our mobile robot with a fast tracking and robust localization capability. An algorithm is proposed to do reconstruction of the environment from the omnidirectional image and global localization of the robot in the context of the Middle Size League RoboCup field. This is accomplished by learning a set of visual landmarks such as the goals and the corner posts. Due to the dynamic changing environment and the partially observable landmarks, four localization cases are discussed in order to get robust localization performance. Localization is performed using a method that matches the observed landmarks, i.e. color blobs, which are extracted from the environment. The advantages of the cylindrical projection are discussed giving special consideration to the characteristics of the visual landmark and the meaning of the blob extraction. The analysis is established based on real time experiments with our omnidirectional vision system and the actual mobile robot. The comparative studies are presented and the feasibility of the method is shown.展开更多
Omnidirectional photodetectors attract enormous attention due to their prominent roles in optical tracking systems and omnidirectional cameras.However,it is still a challenge for the construction of high-performance o...Omnidirectional photodetectors attract enormous attention due to their prominent roles in optical tracking systems and omnidirectional cameras.However,it is still a challenge for the construction of high-performance omnidirectional photodetectors where the incident light can be effectively absorbed in multiple directions and the photo-generated carriers can be effectively collected.Here,a high-performance omnidirectional self-powered photodetector based on the CsSnBr_(3)/indium tin oxide(ITO)heterostructure film was designed and demonstrated.The as-fabricated photodetector exhibited an excellent self-powered photodetection performance,showing responsivity and detectivity up to 35.1 mA/W and 1.82×10^(10) Jones,respectively,along with the smart rise/decay response time of 4 ms/9 ms.Benefitting from the excellent photoelectric properties of the CsSnBr_(3) film as well as the ability of the CsSnBr_(3)/ITO heterostructure to efficiently separate and collect photo-generated carriers,the as-fabricated photodetector also exhibited an excellent omnidirectional self-powered photodetection performance.All the results have certified that this work finds an efficient way to realize high-performance omnidirectional self-powered photodetectors.展开更多
Attitude adjustment is a key link in the installation process of underwater facilities in deep water.To solve this problem,an omnidirectional spirit level for deep water was developed.The sealing principle of the spir...Attitude adjustment is a key link in the installation process of underwater facilities in deep water.To solve this problem,an omnidirectional spirit level for deep water was developed.The sealing principle of the spirit level and the principle of deep-water pressure resistance are analyzed,and the threaded connection strength is checked.The mechanical simulation verifies that the spirit level can withstand the pressure of 2000 m water depth,and the water pressure test is carried out for 30 min in a 20 MPa hyperbaric chamber.After the experiment is completed,the appearance of the spirit level is intact and there is no leakage.The experiment results show that the deep-water omnidirectional spirit level can be used in the deep sea within 2000 m.展开更多
基金supported by Instituto Politécnico Nacional-Secretaría de Investigación y Posgrado under grant 20253806in part by project UNAM PAPIME PE104125.
文摘Nowadays,using mobile robots in different applications has been very important.However,the environment in which they operate can cause the wheels to slip or the robot body to slide,causing the assigned task not to be performed successfully.Therefore,the need arises to mathematically determine these external perturbations to predict the behavior of the mobile robot.Based on the above mentioned facts,this work focuses on obtaining the kinematic model of an omnidirectional mobile robot considering lateral and longitudinal sliding disturbances of the body and wheel slippage.To mitigate the effect of the disturbances,a control strategy is considered based on the design of a generalized proportional integral observer(GPIO)that allows the estimation of such perturbations.Then,an active disturbance rejection control(ADRC)methodology is implemented to solve the trajectory tracking problem,and it is theoretically proved that the tracking errors converge to a vicinity near the origin.Numerical simulations and real-time experiments validate the obtained perturbed model and the control strategy performance,achieving the desired trajectory tracking despite these perturbations.
基金the National Key Research and Development Program of China(No.2022YFC3601400)。
文摘Frequency-modulated continuous-wave radar enables the non-contact and privacy-preserving recognition of human behavior.However,the accuracy of behavior recognition is directly influenced by the spatial relationship between human posture and the radar.To address the issue of low accuracy in behavior recognition when the human body is not directly facing the radar,a method combining local outlier factor with Doppler information is proposed for the correction of multi-classifier recognition results.Initially,the information such as distance,velocity,and micro-Doppler spectrogram of the target is obtained using the fast Fourier transform and histogram of oriented gradients-support vector machine methods,followed by preliminary recognition.Subsequently,Platt scaling is employed to transform recognition results into confidence scores,and finally,the Doppler-local outlier factor method is utilized to calibrate the confidence scores,with the highest confidence classifier result considered as the recognition outcome.Experimental results demonstrate that this approach achieves an average recognition accuracy of 96.23%for comprehensive human behavior recognition in various orientations.
基金supported by the National Research Foundation of Korea,which was funded by the Korean Government(No.2016R1A3B1908249)。
文摘Flexible top-emission organic light-emitting diodes(f-TEOLEDs)with a high aperture ratio can be used in next-generation wearable electronic applications.However,the advancement of f-TEOLEDs is being hindered by their low light extraction and poor mechanical stability.In this study,we introduce an omnidirectional reflector(ODR)consisting of an Ag/SiO_(2)/Ta_(2)O_(5)cylinder-embedded indium zinc oxide(IZO)mesh(c-mesh)structure that improves both the light extraction and mechanical flexibility of TEOLEDs using blue thermally activated delayed fluorescence emitters.The proposed ODR achieved a remarkable reflectance of over 96%,particularly in the transverse-electric mode.Furthermore,the Ta_(2)O_(5)cylinders effectively compensated for the diverse void-induced depths in the IZO mesh,significantly reducing the leakage current between the electrode and the organic layers.In addition,the ODR electrodes exhibited outstanding mechanical stability.Moreover,even after being subjected to 2000 bending cycles over a 5 mm radius,the device luminance changed by less than 20%.Notably,the proposed f-TEOLEDs with Ag/SiO_(2)/c-mesh electrodes demonstrated superior performance,achieving a low turn-on voltage(2.6 V),high current efficiency(33 cd·A^(-1)),and power efficiency of 29.6 lm·W^(-1).Finally,the devices featured a narrow full width at half maximum of27 nm under first-order microcavity effects.
基金supported by the National Natural Science Foundation of China(62003305)the Natural Science Foundation of Zhejiang Province(LQ21F030015)+1 种基金the Key Research and Development Program of Zhejiang Province(2022C03029)the Public Welfare Application Research Project of Huzhou City(2022GZ15).
文摘This paper proposes a novel fixed-time sliding mode control approach for trajectory-tracking tasks of a mecanum-wheeled omnidirectional mobile robot.First,the idea of two-phase attractors is introduced into the domain of sliding mode control,and a new fixed-time sliding surface is proposed.Then,according to this sliding surface,a new type of nonsingular fast terminal sliding mode control algorithm is designed for the omnidirectional mobile robot,which can realize a fast fixed-time convergence property.The stability of the control system is proven scrupulously,and a guideline for control-parameter tuning is expounded.Finally,experiments are implemented to test the trajectory-tracking performance of the robot.Experimental results demonstrate the superiority of the proposed sliding surface and the corresponding control scheme in comparison with benchmark controllers.
基金supported in part by the National Natural Science Foundation of China (62373065,61873304,62173048,62106023)the Innovation and Entrepreneurship Talent funding Project of Jilin Province(2022QN04)+1 种基金the Changchun Science and Technology Project (21ZY41)the Open Research Fund of National Mobile Communications Research Laboratory,Southeast University (2024D09)。
文摘This paper presents a distributed scheme with limited communications, aiming to achieve cooperative motion control for multiple omnidirectional mobile manipulators(MOMMs).The proposed scheme extends the existing single-agent motion control to cater to scenarios involving the cooperative operation of MOMMs. Specifically, squeeze-free cooperative load transportation is achieved for the end-effectors of MOMMs by incorporating cooperative repetitive motion planning(CRMP), while guiding each individual to desired poses. Then, the distributed scheme is formulated as a time-varying quadratic programming(QP) and solved online utilizing a noise-tolerant zeroing neural network(NTZNN). Theoretical analysis shows that the NTZNN model converges globally to the optimal solution of QP in the presence of noise. Finally, the effectiveness of the control design is demonstrated by numerical simulations and physical platform experiments.
基金supported by the National Natural Science Foundation of China under Grant No.62101103.
文摘Against the backdrop of electromagnetic space integration,the radio system of equipment platforms,such as next-generation aircraft,must possess multifunctional integration and electromagnetic stealth performance.Meanwhile,the equipment platforms need to evolve towards flat structures.These requirements pose significant technical challenges for antenna system design.The antenna must possess ultra-wideband to facilitate multi-function integration through the use of continuous radio frequency synthetic aperture.In order to ensure good aerodynamics of the flat airborne platform,it is required to implement conformal design,while the ultra-low profile is the greatest challenge in conformal design.Against this background,this work proposes a novel airborne tightly coupled antenna with ultra-low profile,ultra-wideband,and vertical-polarized omnidirectional radiation.The antenna unit utilizes a long slot structure and implements circular conformal design,where the resistive frequency selection surface is used to expand the operating bandwidth.This antenna has a profile height of only 0.047 times the low-frequency wavelength.Simulation and measurement results show that it achieves an impedance bandwidth of nearly 12∶1 with omnidirectional beam coverage,which meets the requirements of multifunctional future airborne antennas.
文摘In this paper, a fuzzy behavior-based approach for a three wheeled omnidirectional mobile robot(TWOMR) navigation has been proposed. The robot has to track either static or dynamic target while avoiding either static or dynamic obstacles along its path. A simple controller design is adopted, and to do so, two fuzzy behaviors "Track the Target" and "Avoid Obstacles and Wall Following" are considered based on reduced rule bases(six and five rules respectively). This strategy employs a system of five ultrasonic sensors which provide the necessary information about obstacles in the environment. Simulation platform was designed to demonstrate the effectiveness of the proposed approach.
基金support from the Natural Science Foundation of Beijing Manipulate (4182029)the Youth Top Program of Beijing Outstanding Talent Funding Projectthe National Key Research and Development Program of China (2018YFB1801603)
文摘In this article,an omnidirectional dual-polarized antenna with synergetic electromagnetic and aerodynamic properties is propounded for high-speed diversity systems.The propounded antenna comprises a probe-fed cavity for horizontally polarized radiation and a microstrip-fed slot for vertical polarization.Double-layer metasurfaces are properly designed as artificial magnetic conductor boundaries with direct metal-mountable onboard installation and compact sizes.An attached wedge-shaped block is utilized for windage reduction in hydrodynamics.The propounded antenna is fabricated for design verification,and the experimental results agree well with the simulated ones.For vertical polarization,the operating bandwidth is in the range of 2.37–2.55 GHz,and the realized gain variation in the azimuthal radiation pattern is 3.67 decibels(dB).While an impedance bandwidth in the range of 2.45–2.47 GHz and a gain variation of 3.71 dB are also achieved for horizontal polarization.A port isolation more than 33 dB is obtained in a compact volume of 0.247λ_(0)×0.345λ_(0)×0.074λ_(0),whereλ_(0)represents the wavelength in vacuum at the center frequency,wherein the wedge-shaped block is included.The propounded diversity antenna has electromagnetic and aerodynamic merits,and exhibits an excellent potential for high-speed onboard communication.
基金supported by National Hi-tech Research and Development Program of China (863 Program, Grant No. 2007AA11Z244)
文摘The omnidirectional legged vehicle with steering-rails has a specific mechanism feature, and it can be controlled flexibly and accurately in omnidirectional motion. Currently there lacks further research in this area. In this paper, the mechanical characteristics of independent walking control and steering control and its kinematics principle are introduced, and a vehicle has a composite motion mode of parallel link mechanism and steering mechanism is presented. The motion direction control of the proposed vehicle is only dependant on its steering rails, so its motion is simple and effective to control. When the relative motion between the walking and steering is controlled cooperatively, the vehicle can walk perfectly. By controlling the steering rails, the vehicle can walk along arbitrary trajectory on the ground. To achieve a good result of motion control, an equivalent manipulator model needs to be built. In terms of the mechanism feature and the kinematic principle, the simplified manipulator model consists of a rail in stance phase, a rail in swing phase, and an equivalent leg. Considering the ground surface slope during walking, a parameter of inclination angle is added. Based on such a RPP manipulator model, the equations of motion are derived by means of Lagrangian dynamic approach. To verify the dynamic equations, the motion of the manipulator model is simulated based on linear and nonlinear motion planning. With the same model and motion parameters, the dynamic equations can be solved by Matlab and the calculation data can be gained. Compared with the simulation data, the result confirms the manipulator dynamic equations are correct. As a result of such special characteristics of the legged mechanism with steering rails, it has a potential broad application prospects. The derivation of dynamics equation could benefit the motion control of the mechanism.
基金This work was supported by the National Natural Science Foundation of China(NO.52175069).
文摘Bionic-based robotic legs enable the legged robots with elegant and agile mobility in multi-terrain environment,just like natural living beings.And the smart design could efficiently improve the performance of a robotic leg.Inspired by the simplified human leg structure,we present a 3-DOF robotic leg—OmniLeg,that is capable of making omnidirectional legged locomotion while keeping constant posture of the foot.Additionally,the concentrated drive mode,in which all the motor actuators are installed in the torso and do not move with the leg,minimizes the inertia of the robotic leg.In this paper,the modular design,the kinematics model,the structural analysis,the workspace,and the performance evaluation of the OmniLeg are discussed.Furthermore,we build a prototype based on the proposed design,and the precision of it is verified by the error calibration experiment which is conducted by tracking the trajectory of the prototype’s endpoint.Then,we present an OmniLeg-based single legged mobile robot.The capability of omnidirectional legged locomotion of the OmniLeg is demonstrated by the experiments.
基金the National Natural Science Foundation of China No.E1102/52071108National Defense Science and Industry Bureau Stability Support Project No.JCKYS2020SXJQR-04Natural Science Foundation of Heilongjiang Province No.JJ2021JQ0075.
文摘Freely shuttling in complex terrain is a basic skill of multi-legged animals.To make the hexapod robot have omnidirectional motion ability by controlling only one parameter,this paper uses the motion control method based on Central Pattern Generator(CPG),maps the output signal of CPG to the foot end trajectory space of the hexapod robot,and proposes an omnidirectional gait controller strategy.In addition,to enable the hexapod robot to adapt to unstructured terrain,an adaptive method based on Dynamic Threshold(DT)is proposed to enable the hexapod robot move in all directions without changing the heading angle in unstructured terrain.Finally,the feasibility of the proposed method is verified by virtual simulation and hexapod robot prototype experiment.Results show that the hexapod robot can omnidirectional motion without changing the heading angle and has good stability in unstructured terrain.
基金supported by the National Natural Science Foundation of China (Nos.60502006,60534070 and 90820306)the Science and Technology Plan of Zhejiang Province,China (No.2007C21007)
文摘Omnidirectional imaging sensors have been used in more and more applications when a very large field of view is required.In this paper,we investigate the unwrapping,epipolar geometry and stereo rectification issues for omnidirectional vision when the particular mirror model and the camera parameters are unknown in priori.First,the omnidirectional camera is calibrated under the Taylor model,and the parameters related to this model are obtained.In order to make the classical computer vision algorithms of conventional perspective cameras applicable,the ring omnidirectional image is unwrapped into two kinds of panoramas:cylinder and cuboid.Then the epipolar geometry of arbitrary camera configuration is analyzed and the essential matrix is deduced with its properties being indicated for ring images.After that,a simple stereo rectification method based on the essential matrix and the conformal mapping is proposed.Simulations and real data experimental results illustrate that our methods are effective for the omnidirectional camera under the constraint of a single view point.
文摘This paper presents a novel observer-based controller for a class of nonlinear multi-agent robot models using the high order sliding mode consensus protocol. In many applications, demand for autonomous vehicles is growing;omnidirectional wheeled robots are suggested to meet this demand. They are flexible, fast, and autonomous, able to find the best direction and can move on an optional path at any time. Multi-agent omnidirectional wheeled robot(MOWR) systems consist of several similar or different robots and there are multiple different interactions between their agents, thus the MOWR systems have complex dynamics. Hence, designing a robust reliable controller for the nonlinear MOWR operations is considered an important obstacles in the science of the control design. A high order sliding mode is selected in this work that is a suitable technique for implementing a robust controller for nonlinear complex dynamics models. Furthermore, the proposed method ensures all signals involved in the multi-agent system(MAS) are uniformly ultimately bounded and the system is robust against the external disturbances and uncertainties. Theoretical analysis of candidate Lyapunov functions has been presented to depict the stability of the overall MAS, the convergence of observer and tracking error to zero, and the reduction of the chattering phenomena. In order to illustrate the promising performance of the methodology, the observer is applied to two nonlinear dynamic omnidirectional wheeled robots. The results display the meritorious performance of the scheme.
基金Supported by Tianjin Higher Education Technology Development Foundation (No.20071308)Tianjin Natural Science Foundation (06YFJMJC03600)National Natural Science Foundation of China (No.60773073).
文摘A method was presented to implement the detecting and tracking of moving targets through omnidirec-tional vision. The method combined optical flow with particle filter arithmetic, in which optical flow field was used to detect and locate moving targets and particle filter was used to track the detected moving objects. According to the circular image character of omnidirectional vision, the calculation equation of optical flow field and the tracking arithmetic of particle filter were improved based on the polar coordinates at the omnidirectional center. The edge of a randomly moving object could be detected by optical flow field and was surrounded by a reference region in the particle filter. A dynamic motion model was established to predict particle state. Histograms were used as the fea-tures in the reference region and candidate regions. The mutual information (MI) and Gaussian function were com-bined to calculate particle weights. Finally, the state of tracked object was computed by the total particle states with weights. Experiment results show that the proposed method could detect and track moving objects with better real-time performance and accuracy.
文摘Virtual reality(VR) environment can provide immersive experience to viewers.Under the VR environment, providing a good quality of experience is extremely important.Therefore, in this paper, we present an image quality assessment(IQA) study on omnidirectional images. We first build an omnidirectional IQA(OIQA) database, including 16 source images with their corresponding 320 distorted images. We add four commonly encountered distortions. These distortions are JPEG compression, JPEG2000 compression, Gaussian blur, and Gaussian noise. Then we conduct a subjective quality evaluation study in the VR environment based on the OIQA database. Considering that visual attention is more important in VR environment, head and eye movement data are also tracked and collected during the quality rating experiments. The 16 raw and their corresponding distorted images,subjective quality assessment scores, and the head-orientation data and eye-gaze data together constitute the OIQA database. Based on the OIQA database, we test some state-of-the-art full-reference IQA(FR-IQA) measures on equirectangular format or cubic formatomnidirectional images. The results show that applying FR-IQA metrics on cubic format omnidirectional images could improve their performance. The performance of some FR-IQA metrics combining the saliency weight of three different types are also tested based on our database. Some new phenomena different from traditional IQA are observed.
文摘The omnidirectional mobile platform has three degrees of freedom that make it widely applicable to all areas of industry, while the Mecanum wheel has the disadvantages wheel omnidirectional mobile platform is always difficult in of large vibration, the trajectory precision of Mecanum the omnidirectional mobile platform. To control the trajectory of the omnidirectional mobile platform better, this paper proposes a fuzzy self-tuning PID control model, through establishing the motion model of omnidirectional mobile platform in Adams software, then combined with Simulink simulation, analysis of fuzzy PID controller to improve the accuracy of the speed control of omnidirectional mobile platform, improve the control method of a precise trajectory of the omnidirectional mobile platform motion.
基金supported in part by the National Natural Science Foundation of China(Nos.61673129,51674109)Natural Science Foundation of Heilongjiang Province of China(No.F201414)+2 种基金Harbin Application Research Funds(No.2016RQQXJ096)Fundamental Research Funds for the Central Universities(No.HEUCF041703)State Key Laboratory of Air Traffic Management System and Technology(No.SKLATM201708)
文摘Omnidirectional dynamic space parameters of high-speed rotating helicopter blades are precise 3 D vector description of the blades. In particular, the elevation difference is directly related to the aerodynamic performance and maneuverability of the helicopter. The state of the art detection techniques based on optics and common vision have several drawbacks, such as high demands on devices but poor extensibility, limited measurement range and fixed measurement position. In this paper, a novel approach of helicopter blades running elevation measurement is proposed based on omnidirectional vision. With the advantages of panoramic visual imaging integration, 360° field of view and rotation in-variance, high-resolution images of all rotating blades positions are obtained at one time. By studying the non-linear calibration and calculation model of omnidirectional vision system, aiming at solving the problem of inaccurate visual space mapping model,the omnidirectional and full-scale measurement of the elevation difference are finalized. Experiments are carried out on our multifunctional simulation blades test system and the practical blades test tower, respectively. The experimental results demonstrate the effectiveness of the proposed method and show that the proposed method can considerably reduce the complexity of measurement.
文摘We present an omnidirectional vision system we have implemented to provide our mobile robot with a fast tracking and robust localization capability. An algorithm is proposed to do reconstruction of the environment from the omnidirectional image and global localization of the robot in the context of the Middle Size League RoboCup field. This is accomplished by learning a set of visual landmarks such as the goals and the corner posts. Due to the dynamic changing environment and the partially observable landmarks, four localization cases are discussed in order to get robust localization performance. Localization is performed using a method that matches the observed landmarks, i.e. color blobs, which are extracted from the environment. The advantages of the cylindrical projection are discussed giving special consideration to the characteristics of the visual landmark and the meaning of the blob extraction. The analysis is established based on real time experiments with our omnidirectional vision system and the actual mobile robot. The comparative studies are presented and the feasibility of the method is shown.
基金supported by the National Key R&D Program of China under Grant No.2017YFA0305500National Natural Science Foundation of China under Grant No.61904096,Taishan Scholars Program of Shandong Province under Grant No.tsqn201812006+2 种基金Natural Science Foundation of Shandong Province under Grants No.ZR2022JQ05 and No.ZR2022QF025Shandong University Multidisciplinary Research and Innovation Team of Young Scholars under Grant No.2020QNQT015“Outstanding Youth Scholar and Qilu Young Scholar”Programs of Shandong University.
文摘Omnidirectional photodetectors attract enormous attention due to their prominent roles in optical tracking systems and omnidirectional cameras.However,it is still a challenge for the construction of high-performance omnidirectional photodetectors where the incident light can be effectively absorbed in multiple directions and the photo-generated carriers can be effectively collected.Here,a high-performance omnidirectional self-powered photodetector based on the CsSnBr_(3)/indium tin oxide(ITO)heterostructure film was designed and demonstrated.The as-fabricated photodetector exhibited an excellent self-powered photodetection performance,showing responsivity and detectivity up to 35.1 mA/W and 1.82×10^(10) Jones,respectively,along with the smart rise/decay response time of 4 ms/9 ms.Benefitting from the excellent photoelectric properties of the CsSnBr_(3) film as well as the ability of the CsSnBr_(3)/ITO heterostructure to efficiently separate and collect photo-generated carriers,the as-fabricated photodetector also exhibited an excellent omnidirectional self-powered photodetection performance.All the results have certified that this work finds an efficient way to realize high-performance omnidirectional self-powered photodetectors.
基金National key R&D Program of China(No.2017YFF0108104)Tianjin key R&D Program(No.20YFZCGX00550)。
文摘Attitude adjustment is a key link in the installation process of underwater facilities in deep water.To solve this problem,an omnidirectional spirit level for deep water was developed.The sealing principle of the spirit level and the principle of deep-water pressure resistance are analyzed,and the threaded connection strength is checked.The mechanical simulation verifies that the spirit level can withstand the pressure of 2000 m water depth,and the water pressure test is carried out for 30 min in a 20 MPa hyperbaric chamber.After the experiment is completed,the appearance of the spirit level is intact and there is no leakage.The experiment results show that the deep-water omnidirectional spirit level can be used in the deep sea within 2000 m.
