The Design of Control System for Multi Joint Robot based on PC+DSP

A multi joint robot control system was designed based on the universal processor PC+DSP in order to overcome the short- comings of the control system in terms of flexibility, cost performance, and software transplantation, which use Industrial Personal Computer for the upper monitor and MAC Motion control card for the lower computer. The design of multi joint robot control system is accomplished through hardware circuit design, VC++ programming and so on. Finally, six joint robot platform is used to test the control performance,The results show that the designed control system has the advantages of flexible fimction,easy expansion and easy porting of software.

Path planning for agricultural robots in wild livestock farm environments

Path planning for field agricultural robots must satisfy several criteria:establishing feeding routes,maintaining gentle slopes,approaching multiple livestock observation points,ensuring timely environmental monitoring,and achieving high efficiency.The complex terrain of outdoor farming areas poses a challenge.Traditional A*algorithms,which generate only the shortest path,fail to meet these requirements and often produce paths that lack smoothness.Therefore,identifying the most suitable path,rather than merely the shortest one,is essential.This study introduced a path-planning algorithm tailored to field-based livestock farming environments,building upon the traditional A*algorithm.It constructed a digital elevation model,integrated an artificial potential field for evaluating multiple target points,calculated terrain slope,optimized the search neighborhood based on robot traversability,and employed Bézier curve segmentation for path optimization.This method segmented the path into multiple curves by evaluating the slopes of the lines connecting adjacent nodes,ensuring a smoother and more efficient route.The experimental results demonstrate its superiority to traditional A^(*),ensuring paths near multiple target points,significantly reducing the search space,and resulting in over 69.4%faster search speeds.Bézier curve segmentation delivers smoother paths conforming to robot trajectories.

Metal−Organic Frameworks:A Robust Platform for Creating Nanoarchitectured Carbon Materials

CONSPECTUS:Nanoporous carbon(NPC)materials with various architectures have attracted considerable attention because of their distinctive properties and great application potential in environmental remediation,energy conversion and storage,advanced sensors,and other applications.Traditional methods for the synthesis of NPCs,for example,the pyrolysis of natural products or polymers,template-assisted synthesis,and using deep-eutectic solvents,always involve toxic precursors and complex procedures,which greatly hinder further applications.Therefore,it is highly desirable to explore simple and feasible ways to prepare NPCs.Furthermore,to improve the performance and extend the application fields of NPCs,efficient strategies should be developed to regulate the components at the atomic level and construct multidimensional architectures.