Flexible Bio-tensegrity Manipulator with Multi-degree of Freedom and Variable Structure

Conventional manipulators with rigid structures and sti ness actuators have poor flexibility,limited obstacle avoidance capability,and constrained workspace.Some developed flexible or soft manipulators in recent years have the characteristics of infinite degrees of freedom,high flexibility,environmental adaptability,and extended manipulation capability.However,these existing manipulators still cannot achieve the shrinking motion and independent control of specified segments like the animals,which hinders their applications.In this paper,a flexible bio-tensegrity manipulator,inspired by the longitudinal and transversal muscles of octopus tentacles,was proposed to mimic the shrinking behavior and achieve the variable motion patterns of each segment.Such proposed manipulator uses the elastic spring as the backbone,which is driven by four cables and has one variable structure mechanism in each segment to achieve the independent control of each segment.The variable structure mechanism innovatively contains seven lock-release states to independently control the bending and shrinking motion of each segment.After the kinematic modeling and analysis,one prototype of such bionic flexible manipulator was built and the open-loop control method was proposed.Some proof-of-concept experiments,including the shrinking motion,bending motion,and variable structure motion,were carried out by controlling the length of four cables and changing the lock-release states of the variable structure mechanism,which validate the feasibility and validity of our proposed prototype.Meanwhile,the experimental results show the flexible manipulator can accomplish the bending and shrinking motion with the relative error less than 6.8%through the simple independent control of each segment using the variable structure mechanism.This proposed manipulator has the features of controllable degree-of-freedom in each segment,which extend their environmental adaptability,and manipulation capability.

Modal identification of multi-degree-of-freedom structures based on intrinsic chirp component decomposition method

Modal parameter identification is a mature technology.However,there are some challenges in its practical applications such as the identification of vibration systems involving closely spaced modes and intensive noise contamination.This paper proposes a new time-frequency method based on intrinsic chirp component decomposition(ICCD)to address these issues.In this method,a redundant Fourier model is used to ameliorate border distortions and improve the accuracy of signal reconstruction.The effectiveness and accuracy of the proposed method are illustrated using three examples:a cantilever beam structure with intensive noise contamination or environmental interference,a four-degree-of-freedom structure with two closely spaced modes,and an impact test on a cantilever rectangular plate.By comparison with the identification method based on the empirical wavelet transform(EWT),it is shown that the presented method is effective,even in a high-noise environment,and the dynamic characteristics of closely spaced modes are accurately determined.

Constrained multi-degree reduction of rational Bézier curves using reparameterization

Applying homogeneous coordinates, we extend a newly appeared algorithm of best constrained multi-degree reduction for polynomial Bezier curves to the algorithms of constrained multi-degree reduction for rational Bezier curves. The idea is introducing two criteria, variance criterion and ratio criterion, for reparameterization of rational Bezier curves, which are used to make uniform the weights of the rational Bezier curves as accordant as possible, and then do multi-degree reduction for each component in homogeneous coordinates. Compared with the two traditional algorithms of ＂cancelling the best linear common divisor＂ and ＂shifted Chebyshev polynomial＂, the two new algorithms presented here using reparameterization have advantages of simplicity and fast computing, being able to preserve high degrees continuity at the end points of the curves, do multi-degree reduction at one time, and have good approximating effect.

A NEW METHOD FOR SOLUTING TRANSIENT RESPONSE OF GENERALLY VISCOUS DAMPING MULTI-DEGREE SYSTEM

By means of the theory of composite-modality,the superposition principle of the vibra-tion mode of the linear system,and the analytical method of the original coordinate,a mathematical model of transient response to any stimulus for generally viscous damping multi-degree system was established.This method not only solves the problem of the transient response of displacement,but also calculates the transient response of the elastic force or the elastic couple of the system.

Time-Domain Analysis of Body Freedom Flutter Based on 6DOF Equation

The reduced weight and improved efficiency of modern aeronautical structures result in a decreasing separation of frequency ranges of rigid and elastic modes.Particularly,a high-aspect-ratio flexible flying wing is prone to body freedomflutter(BFF),which is a result of coupling of the rigid body short-periodmodewith 1st wing bendingmode.Accurate prediction of the BFF characteristics is helpful to reflect the attitude changes of the vehicle intuitively and design the active flutter suppression control law.Instead of using the rigid body mode,this work simulates the rigid bodymotion of the model by using the six-degree-of-freedom(6DOF)equation.A dynamicmesh generation strategy particularly suitable for BFF simulation of free flying aircraft is developed.An accurate Computational Fluid Dynamics/Computational Structural Dynamics/six-degree-of-freedom equation(CFD/CSD/6DOF)-based BFF prediction method is proposed.Firstly,the time-domain CFD/CSD method is used to calculate the static equilibrium state of the model.Based on this state,the CFD/CSD/6DOF equation is solved in time domain to evaluate the structural response of themodel.Then combinedwith the variable stiffnessmethod,the critical flutter point of the model is obtained.This method is applied to the BFF calculation of a flyingwing model.The calculation results of the BFF characteristics of the model agree well with those fromthe modalmethod andNastran software.Finally,the method is used to analyze the influence factors of BFF.The analysis results show that the flutter speed can be improved by either releasing plunge constraint or moving the center ofmass forward or increasing the pitch inertia.

Triad-displaced ULAs configuration for non-circular sources with larger continuous virtual aperture and enhanced degrees of freedom

Non-uniform linear array(NULA)configurations are well renowned due to their structural ability for providing increased degrees of freedom(DOF)and wider array aperture than uniform linear arrays(ULAs).These characteristics play a significant role in improving the direction-of-arrival(DOA)estimation accuracy.However,most of the existing NULA geometries are primarily applicable to circular sources(CSs),while they limitedly improve the DOF and continuous virtual aperture for noncircular sources(NCSs).Toward this purpose,we present a triaddisplaced ULAs(Tdis-ULAs)configuration for NCS.The TdisULAs structure generally consists of three ULAs,which are appropriately placed.The proposed antenna array approach fully exploits the non-circular characteristics of the sources.Given the same number of elements,the Tdis-ULAs design achieves more DOF and larger hole-free co-array aperture than its sparse array competitors.Advantageously,the number of uniform DOF,optimal distribution of elements among the ULAs,and precise element positions are uniquely determined by the closed-form expressions.Moreover,the proposed array also produces a filled resulting co-array.Numerical simulations are conducted to show the performance advantages of the proposed Tdis-ULAs configuration over its counterpart designs.

Degree of Freedom Analysis for Holographic MIMO Based on a Mutual-Coupling-Compliant Channel Model

Degree of freedom(DOF)is a key indicator for spatial multiplexing layers of a wireless channel.Traditionally,the channel of a multiple-input multiple-output(MIMO)half-wavelength dipole array has a DOF that equals the antenna number.However,recent studies suggest that the DOF could be less than the antenna number when strong mutual coupling is considered.We utilize a mutual-coupling-compliant channel model to investigate the DOF of the holographic MIMO(HMIMO)channel and give a upper bound of the DOF with strong mutual coupling.Our numerical simulations demonstrate that a dense array can support more DOF per unit aperture as compared with a half-wavelength MIMO system.

开源片上系统Freedom E310调试过程原理分析

Freedom E310是第一款基于RISC-V指令集架构的开源商业片上系统,可以依据具体应用场景对其进行深度定制,在介绍Freedom E310中与调试有关的模块、地址空间、控制状态寄存器之后,从原理上分析了halt、resume、step、断点设置等调试指令的实现过程。

开源片上系统Freedom E310调试方法研究

Freedom E310是第一款基于RISC—V指令集架构的开源商业片上系统，可以依据具体应用场景对其进行深度定制，在对Freedom E310及其Debug单元简单介绍的基础上，设计通过OpenOCD、J—Link建立Freedom E310调试环境，并进行了实际测试。

新闻自由还是出版自由,这是个问题——兼论Freedom of the Press的翻译问题

在新闻学上,Freedom of the press是个非常重要的术语,其基本内涵是新闻自由,然而对它的翻译却存在很大的差异。原因主要有二,一是Freedom of the press的内涵随媒介形态的变化而变化,二是Press本身具有多重的词义。本文从社会变迁和语言学角度进行分析,认为把Freedom of the press译为新闻自由是适宜的。

“four freedoms”到底是几大自由

英语中有大量的一词多义现象,同一个词在上下句之间出现语义偏差也很常见。翻译时一定要紧扣上下文,仔细考证,弄清确切含义。罗斯福在二战期间所提出的所谓"Four Freedoms"国内媒体、学界都译作"四大自由"。然而,freedom一词前后意义并不一样,笼统地译作"四大自由"有名不副实之嫌。鉴于"Four Freedom s"原本是一个有机整体,如果分而译之会使译文显得支离破碎。但在翻译其具体内涵时,个中语义偏差应该得到体现。

Paradoxes in Isabel Archer's View of Freedom in The Portrait of a Lady

In The Portrait of a Lady, Isabel Archer values her liberty higher than a sense of security that might be guaranteed by possessing great fortune. But there are some paradoxes in Isabel Archer's view of freedom, which have caused her failure in the fulfillment of her view of freedom.

The Core Value of American Culture——Freedom

Any understanding of America must come to terms with its central value and ideal.Freedom is such an influential val ue as well as one of the core values of American culture.It remains the sole basis for American society as we know.Without free dom the great nation of America would never have been founded.This paper tries to explore freedom as a value and its manifesta tion in USA from four aspects:politics,religion,speech and academics.

The Predetermined Failure of Murphy＇s Quest for Freedom in Closed Systems--Narritivity Temporality in Murphy

This essay aims at an analysis of Murphy's failure of his quest for freedom from the aspect of narrative temporality whichwill focus on order, duration and frequency. From the perspective of temporal order, the essay will endeavor to probe into the pro-lepsis in the novel to analyse predetermined narrative and its function. Considering with temporal duration, this essay will penetratethe deceleration of narrative—scene and pause in Murphy to explore its thematic meaning. To investigate the temporal frequency,iterative narrative within text will be exemplified to discuss closed systems in the novel. Based on the analysis of the narrativity tem-porality in Murphy, the essay will focuses on that how its narrative strategy well embodies its theme—the predetermined failure ofMurphy's quest for freedom in closed systems.

解读单元考点,牵手高频考题——Unit 14 Freedom fighters(英文)

1. Often blacks were not allowed intohotels, schools or libraries at all. (Page 28)【考点】allow的用法【归纳】allow 意为"允许, 准许"。用法有:allow sth. doing sth.allow sb. to do sth.allow sb. sth.allow for +n. (考虑, 顾及) / doing / obj.+

Experimental Study on Interaction Between Degrees of Freedom in a Wave Buoy

Increasing degrees of freedom(DOFs)is a useful way to raise the power capture efficiency of oscillating wave energy converters.Thus,this study proposes a buoy with three DOFs,which are surge,heave,and pitch.The hydrodynamic performance and power capture efficiency of the buoy is physically modeled.Amplitudes of unidirectional and coupled motions are compared to analyze the interaction effect between freedoms under conditions with and without power take-off damping.The capture width ratio and corresponding growth rates are also calculated.Results show that the buoy makes a periodic sinusoidal(or approximate)movement in every DOF.Coupling effect can cause an increase in the amplitude in one DOF and a decrease in the amplitudes of the others.This phenomenon shows that the kinematic energy of the buoy redistributes to all DOFs compared with the unidirectional conditions.Adding DOFs can improve the power absorption of the buoy in most cases,but the number of DOFs is not the more the better.

Modified Two-Degrees-of-Freedom Internal Model Control for Non-Square Systems with Multiple Time Delays

A modified two-degrees-of-freedom( M-TDOF) internal model control( IMC) method is proposed for non-square systems with multiple time delays and right-half-plane( RHP) zeros. In this method,pseudo-inverse is introduced to design the internal model controller,and a desired closed-loop transfer function is designed to eliminate the unrealizable factors of the derived controller. In addition,set-point tracking and load-disturbance rejection of each process are separately controlled by two controllers. The simulation results show that in addition to high decoupling performance and robustness,the proposed control method also effectively improves loaddisturbance rejection and simultaneously optimizes the input tracking performance and disturbance rejection performance by selecting the parameters of controllers. Furthermore,the higher tolerance of model mismatch is achieved in this paper.

System Identification Modeling of Ship Manoeuvring Motion in 4 Degrees of Freedom Based on Support Vector Machines

Based on support vector machines, three modeling methods, i.e., white-box modeling, grey-box modeling and black-box modeling of ship manoeuvring motion in 4 degrees of freedom are investigated. With the whole-ship mathematical model for ship manoeuvring motion, in which the hydrodynamic coefficients are obtained from roll planar motion mechanism test, some zigzag tests and turning circle manoeuvres are simulated. In the white-box modeling and grey-box modeling, the training data taken every 5 s from the simulated 20°/20° zigzag test are used, while in the black-box modeling, the training data taken every 5 s from the simulated 15°/15°, 20°/20° zigzag tests and 15°, 25° turning manoeuvres are used; and the trained support vector machines are used to predict the whole 20°/20° zigzag test. Comparisons between the simulated and predicted 20°/20° zigzag tests show good predictive ability of the proposed methods. Besides, all mathematical models obtained by the proposed modeling methods are used to predict the 10°/10° zigzag test and 35° turning circle manoeuvre, and the predicted results are compared with those of simulation tests to demonstrate the good generalization performance of the mathematical models. Finally, the proposed modeling methods are analyzed and compared with each other in aspects of application conditions, prediction accuracy and computation speed. The appropriate modeling method can be chosen according to the intended use of the mathematical models and the available data needed for system identification.

Bionic Quadruped Robot Dynamic Gait Control Strategy Based on Twenty Degrees of Freedom

Quadruped robot dynamic gaits have much more advantages than static gaits on speed and efficiency, however high speed and efficiency calls for more complex mechanical structure and complicated control algorithm. It becomes even more challenging when the robot has more degrees of freedom.As a result, most of the present researches focused on simple robot, while the researches on dynamic gaits for complex robot with more degrees of freedom are relatively limited. The paper is focusing on the dynamic gaits control for complex robot with twenty degrees of freedom for the first time. Firstly, we build a relatively complete 3 D model for quadruped robot based on spring loaded inverted pendulum(SLIP) model, analyze the inverse kinematics of the model, plan the trajectory of the swing foot and analyze the hydraulic drive. Secondly, we promote the control algorithm of one-legged to the quadruped robot based on the virtual leg and plan the state variables of pace gait and bound gait. Lastly, we realize the above two kinds of dynamic gaits in ADAMS-MATLAB joint simulation platform which testify the validity of above method.

The number of least degrees of freedom required for a polarization controller to transform any state of polarization to any other output covering the entire Poincar sphere

Using two typical types of polarization controller, this paper analyses theoretically and experimentally the fact that it is necessary to adjust at least three instead of two waveplates in order to transform any state of polarization to any other output covering the entire Poincar6 sphere. The experimental results are exactly in accordance with the theory discussed in this paper. It has corrected the conventional and inaccurate point of view that two waveplates of a polarization controller are adequate to complete the transformation of state of polarization.