Underwater spherical robots are good assistants for ocean exploration,where motion control algorithms play a vital role.Conventional motion control algorithms cannot eliminate the coupling relationship between various...Underwater spherical robots are good assistants for ocean exploration,where motion control algorithms play a vital role.Conventional motion control algorithms cannot eliminate the coupling relationship between various motion directions,which will cause the motion control of various directions to interfere with one other and significantly affect the control effect.This study proposes a new decoupling motion control algorithm based on the robot attitude calculation for an underwater spherical robot designed for offshore,shallow water,and narrow terrain.The proposed method uses four fuzzy proportional-integral-derivative(PID)controllers to independently control the robot’s movement in all directions.Experiments show that the motion control algorithm proposed in this study can significantly improve the flexibility and accuracy of the movement of underwater spherical robots.展开更多
Reaction wheel or reaction thruster is employed to maintain the attitude of the base of space robot fixed in attitude control of free flying space robot. However, in this method, a large amount of fuel will be consume...Reaction wheel or reaction thruster is employed to maintain the attitude of the base of space robot fixed in attitude control of free flying space robot. However, in this method, a large amount of fuel will be consumed, and it will shorten the on orbit life span of space robot, it also vibrate the system and make the system unsteady. The restricted minimum disturbance map (RMDM) based algorithm of attitude control is presented to keep the attitude of the base fixed during the movement of the manipulator. In this method it is realized by planning motion trajectory of the end effector of manipulator without using reaction wheel or reaction thruster. In order to verify the feasibility and effectiveness of the algorithm attitude control presented in this paper, computer simulation experiments have been made and the experimental results demonstrate that this algorithm is feasible.展开更多
基于实验室设备自主开发了一套320 kV锥束工业CT成像系统。首先设计了基于运动控制卡的六轴机械扫描平台,并将其与320 kV射线机、平板探测器结合搭建了锥束CT成像系统的硬件。其次,利用平板探测器和运动控制卡的动态链接库开发锥束CT投...基于实验室设备自主开发了一套320 kV锥束工业CT成像系统。首先设计了基于运动控制卡的六轴机械扫描平台,并将其与320 kV射线机、平板探测器结合搭建了锥束CT成像系统的硬件。其次,利用平板探测器和运动控制卡的动态链接库开发锥束CT投影数据采集软件和重建软件,自主开发FDK算法并基于CUDA架构实现FDK算法的GPU加速。最后,采用阻尼器对锥束CT成像系统进行测试。结果表明,整个系统运行稳定,可以获得高质量的CT重建图像,且重建效果与VG STUDIO MAX 3.4软件的重建效果一致。展开更多
基金This work was supported by National Natural Science Foundation of China(Grant Nos.61773064,61503028).
文摘Underwater spherical robots are good assistants for ocean exploration,where motion control algorithms play a vital role.Conventional motion control algorithms cannot eliminate the coupling relationship between various motion directions,which will cause the motion control of various directions to interfere with one other and significantly affect the control effect.This study proposes a new decoupling motion control algorithm based on the robot attitude calculation for an underwater spherical robot designed for offshore,shallow water,and narrow terrain.The proposed method uses four fuzzy proportional-integral-derivative(PID)controllers to independently control the robot’s movement in all directions.Experiments show that the motion control algorithm proposed in this study can significantly improve the flexibility and accuracy of the movement of underwater spherical robots.
文摘Reaction wheel or reaction thruster is employed to maintain the attitude of the base of space robot fixed in attitude control of free flying space robot. However, in this method, a large amount of fuel will be consumed, and it will shorten the on orbit life span of space robot, it also vibrate the system and make the system unsteady. The restricted minimum disturbance map (RMDM) based algorithm of attitude control is presented to keep the attitude of the base fixed during the movement of the manipulator. In this method it is realized by planning motion trajectory of the end effector of manipulator without using reaction wheel or reaction thruster. In order to verify the feasibility and effectiveness of the algorithm attitude control presented in this paper, computer simulation experiments have been made and the experimental results demonstrate that this algorithm is feasible.
文摘基于实验室设备自主开发了一套320 kV锥束工业CT成像系统。首先设计了基于运动控制卡的六轴机械扫描平台,并将其与320 kV射线机、平板探测器结合搭建了锥束CT成像系统的硬件。其次,利用平板探测器和运动控制卡的动态链接库开发锥束CT投影数据采集软件和重建软件,自主开发FDK算法并基于CUDA架构实现FDK算法的GPU加速。最后,采用阻尼器对锥束CT成像系统进行测试。结果表明,整个系统运行稳定,可以获得高质量的CT重建图像,且重建效果与VG STUDIO MAX 3.4软件的重建效果一致。
