For safety reasons,in the automated dispensing medicines process,robots and humans cooperate to accomplish the task of drug sorting and distribution.In this dynamic unstructured environment,such as a humanrobot collab...For safety reasons,in the automated dispensing medicines process,robots and humans cooperate to accomplish the task of drug sorting and distribution.In this dynamic unstructured environment,such as a humanrobot collaboration scenario,the safety of human,robot,and equipment in the environment is paramount.In this work,a practical and effective robot motion planning method is proposed for dynamic unstructured environments.To figure out the problems of blind zones of single depth sensor and dynamic obstacle avoidance,we first propose a method for establishing offline mapping and online fusion of multi-sensor depth images and 3D grids of the robot workspace,which is used to determine the occupation states of the 3D grids occluded by robots and obstacles and to conduct real-time estimation of the minimum distance between the robot and obstacles.Then,based on the reactive control method,the attractive and repulsive forces are calculated and transformed into robot joint velocities to avoid obstacles in real time.Finally,the robot’s dynamic obstacle avoidance ability is evaluated on an experimental platform with a UR5 robot and two KinectV2 RGB-D sensors,and the effectiveness of the proposed method is verified.展开更多
Currently,there are a limited number of dynamic models available for braided composite plates with large overall motions,despite the incorporation of three-dimensional(3D)braided composites into rotating blade compone...Currently,there are a limited number of dynamic models available for braided composite plates with large overall motions,despite the incorporation of three-dimensional(3D)braided composites into rotating blade components.In this paper,a dynamic model of 3D 4-directional braided composite thin plates considering braiding directions is established.Based on Kirchhoff's plate assumptions,the displacement variables of the plate are expressed.By incorporating the braiding directions into the constitutive equation of the braided composites,the dynamic model of the plate considering braiding directions is obtained.The effects of the speeds,braiding directions,and braided angles on the responses of the plate with fixed-axis rotation and translational motion,respectively,are investigated.This paper presents a dynamic theory for calculating the deformation of 3D braided composite structures undergoing both translational and rotational motions.It also provides a simulation method for investigating the dynamic behavior of non-isotropic material plates in various applications.展开更多
We theoretically investigate the extended Bose-Hubbard model using a three-dimensional cubic lattice.In the framework of the dynamical Gutzwiller mean-field theory,we identify a checkerboard supersolid phase.By consid...We theoretically investigate the extended Bose-Hubbard model using a three-dimensional cubic lattice.In the framework of the dynamical Gutzwiller mean-field theory,we identify a checkerboard supersolid phase.By considering the repulsive interactions between next-nearest-neighbor lattice sites,we further discover an exotic type of supersolid state,whose site occupancies show a stereoscopically arrayed and staggered distribution rather than checkerboard ordering.Intriguingly,if the physical observations of two neighboring layers were superimposed,they would give rise to a checkerboard configuration.This novel structure is convincingly induced by the simultaneous existence of nearest-neighbor and nextnearest-neighbor interactions.We also identify arrayed stripes in the ground state,as well as arrayed holes in the pattern of occupancies.展开更多
With the development of computer graphics,the three-dimensional(3D)visualization brings new technological revolution to the traditional cartography.Therefore,the topographic 3D-map emerges to adapt to this technologic...With the development of computer graphics,the three-dimensional(3D)visualization brings new technological revolution to the traditional cartography.Therefore,the topographic 3D-map emerges to adapt to this technological revolution,and the applications of topographic 3D-map are spread rapidly to other relevant fields due to its incomparable advantage.The researches on digital map and the construction of map database offer strong technical support and abundant data source for this new technology,so the research and development of topographic 3D-map will receive greater concern.The basic data of the topographic 3D-map are rooted mainly in digital map and its basic model is derived from digital elevation model(DEM)and 3D-models of other DEM-based geographic features.In view of the potential enormous data and the complexity of geographic features,the dynamic representation of geographic information becomes the focus of the research of topographic 3D-map and also the prerequisite condition of 3D query and analysis.In addition to the equipment of hardware that are restraining,to a certain extent,the 3D representation,the data organization structure of geographic information will be the core problem of research on 3D-map.Level of detail(LOD),space partitioning,dynamic object loading(DOL)and object culling are core technologies of the dynamic 3D representation.The object-selection,attribute-query and model-editing are important functions and interaction tools for users with 3D-maps provided by topographic 3D-map system,all of which are based on the data structure of the 3D-model.This paper discusses the basic theories,concepts and cardinal principles of topographic 3D-map,expounds the basic way to organize the scene hierarchy of topographic 3D-map based on the node mechanism and studies the dynamic representation technologies of topographic 3D-map based on LOD,space partitioning,DOL and object culling.Moreover,such interactive operation functions are explored,in this paper,as spatial query,scene editing and management of topographic 3D-map.Finally,this paper describes briefly the applications of topographic 3D-map in its related fields.展开更多
An dynamic system for real-time obstacle avoidance path planning of redundant robots is constructed in this paper. Firstly, the inter-frame difference method is used to identify the moving target and to calculate the ...An dynamic system for real-time obstacle avoidance path planning of redundant robots is constructed in this paper. Firstly, the inter-frame difference method is used to identify the moving target and to calculate the target area, then on the basis of color features and gradient features extracted from the target area, the feature fusion Cam-Shift mean shift algorithm is used to track target, improving the robustness of the tracking algorithm. Secondly, a parallel two-channel target identification and location method based on binocular vision is proposed, updating the target＇s three-dimensional information in real time. Then, a dynamic collision-free path planning method is implemented： the safety rods are removed through the intersection test, and the minimum distance is derived directly by using the coordinate values of the target in the local coordinate system of the rod. On this basis, the obstacle avoidance gain and escape velocity related to the minimum distance is established, and obstacle avoidance path planning is implemented by using the zero space mapping matrix of redundant robot. Experiments are performed to Study the efficiency of the proposed system.展开更多
基金the Interdisciplinary Program of Shanghai Jiao Tong University(No.YG2019QNA25)。
文摘For safety reasons,in the automated dispensing medicines process,robots and humans cooperate to accomplish the task of drug sorting and distribution.In this dynamic unstructured environment,such as a humanrobot collaboration scenario,the safety of human,robot,and equipment in the environment is paramount.In this work,a practical and effective robot motion planning method is proposed for dynamic unstructured environments.To figure out the problems of blind zones of single depth sensor and dynamic obstacle avoidance,we first propose a method for establishing offline mapping and online fusion of multi-sensor depth images and 3D grids of the robot workspace,which is used to determine the occupation states of the 3D grids occluded by robots and obstacles and to conduct real-time estimation of the minimum distance between the robot and obstacles.Then,based on the reactive control method,the attractive and repulsive forces are calculated and transformed into robot joint velocities to avoid obstacles in real time.Finally,the robot’s dynamic obstacle avoidance ability is evaluated on an experimental platform with a UR5 robot and two KinectV2 RGB-D sensors,and the effectiveness of the proposed method is verified.
基金Project supported by the National Natural Science Foundation of China(Nos.12372071 and 12372070)the Aeronautical Science Fund of China(No.2022Z055052001)the Foundation of China Scholarship Council(No.202306830079)。
文摘Currently,there are a limited number of dynamic models available for braided composite plates with large overall motions,despite the incorporation of three-dimensional(3D)braided composites into rotating blade components.In this paper,a dynamic model of 3D 4-directional braided composite thin plates considering braiding directions is established.Based on Kirchhoff's plate assumptions,the displacement variables of the plate are expressed.By incorporating the braiding directions into the constitutive equation of the braided composites,the dynamic model of the plate considering braiding directions is obtained.The effects of the speeds,braiding directions,and braided angles on the responses of the plate with fixed-axis rotation and translational motion,respectively,are investigated.This paper presents a dynamic theory for calculating the deformation of 3D braided composite structures undergoing both translational and rotational motions.It also provides a simulation method for investigating the dynamic behavior of non-isotropic material plates in various applications.
基金supported by the Hainan Provincial Natural Science Foundation of China(Grant No.525QN342)the Scientific Research Foundation of Hainan Tropical Ocean University(Grant No.RHDRC202301).
文摘We theoretically investigate the extended Bose-Hubbard model using a three-dimensional cubic lattice.In the framework of the dynamical Gutzwiller mean-field theory,we identify a checkerboard supersolid phase.By considering the repulsive interactions between next-nearest-neighbor lattice sites,we further discover an exotic type of supersolid state,whose site occupancies show a stereoscopically arrayed and staggered distribution rather than checkerboard ordering.Intriguingly,if the physical observations of two neighboring layers were superimposed,they would give rise to a checkerboard configuration.This novel structure is convincingly induced by the simultaneous existence of nearest-neighbor and nextnearest-neighbor interactions.We also identify arrayed stripes in the ground state,as well as arrayed holes in the pattern of occupancies.
文摘With the development of computer graphics,the three-dimensional(3D)visualization brings new technological revolution to the traditional cartography.Therefore,the topographic 3D-map emerges to adapt to this technological revolution,and the applications of topographic 3D-map are spread rapidly to other relevant fields due to its incomparable advantage.The researches on digital map and the construction of map database offer strong technical support and abundant data source for this new technology,so the research and development of topographic 3D-map will receive greater concern.The basic data of the topographic 3D-map are rooted mainly in digital map and its basic model is derived from digital elevation model(DEM)and 3D-models of other DEM-based geographic features.In view of the potential enormous data and the complexity of geographic features,the dynamic representation of geographic information becomes the focus of the research of topographic 3D-map and also the prerequisite condition of 3D query and analysis.In addition to the equipment of hardware that are restraining,to a certain extent,the 3D representation,the data organization structure of geographic information will be the core problem of research on 3D-map.Level of detail(LOD),space partitioning,dynamic object loading(DOL)and object culling are core technologies of the dynamic 3D representation.The object-selection,attribute-query and model-editing are important functions and interaction tools for users with 3D-maps provided by topographic 3D-map system,all of which are based on the data structure of the 3D-model.This paper discusses the basic theories,concepts and cardinal principles of topographic 3D-map,expounds the basic way to organize the scene hierarchy of topographic 3D-map based on the node mechanism and studies the dynamic representation technologies of topographic 3D-map based on LOD,space partitioning,DOL and object culling.Moreover,such interactive operation functions are explored,in this paper,as spatial query,scene editing and management of topographic 3D-map.Finally,this paper describes briefly the applications of topographic 3D-map in its related fields.
基金supported in part by the Key Project of Chinese National Programs for Fundamental Research and Development(973program)(2013CB73300)National Natural Science Foundation of China(61573066)
文摘An dynamic system for real-time obstacle avoidance path planning of redundant robots is constructed in this paper. Firstly, the inter-frame difference method is used to identify the moving target and to calculate the target area, then on the basis of color features and gradient features extracted from the target area, the feature fusion Cam-Shift mean shift algorithm is used to track target, improving the robustness of the tracking algorithm. Secondly, a parallel two-channel target identification and location method based on binocular vision is proposed, updating the target＇s three-dimensional information in real time. Then, a dynamic collision-free path planning method is implemented： the safety rods are removed through the intersection test, and the minimum distance is derived directly by using the coordinate values of the target in the local coordinate system of the rod. On this basis, the obstacle avoidance gain and escape velocity related to the minimum distance is established, and obstacle avoidance path planning is implemented by using the zero space mapping matrix of redundant robot. Experiments are performed to Study the efficiency of the proposed system.
