Wireless Sensor Network(WSN)is a cornerstone of Internet of Things(IoT)and has rich application scenarios.In this work,we consider a heterogeneous WSN whose sensor nodes have a diversity in their Residual Energy(RE).I...Wireless Sensor Network(WSN)is a cornerstone of Internet of Things(IoT)and has rich application scenarios.In this work,we consider a heterogeneous WSN whose sensor nodes have a diversity in their Residual Energy(RE).In this work,to protect the sensor nodes with low RE,we investigate dynamic working modes for sensor nodes which are determined by their RE and an introduced energy threshold.Besides,we employ an Unmanned Aerial Vehicle(UAV)to collect the stored data from the heterogeneous WSN.We aim to jointly optimize the cluster head selection,energy threshold and sensor nodes’working mode to minimize the weighted sum of energy con-sumption from the WSN and UAV,subject to the data collection rate constraint.To this end,we propose an efficient search method to search for an optimal energy threshold,and develop a penalty-based successive convex approximation algorithm to select the cluster heads.Then we present a low-complexity iterative approach to solve the joint optimization problem and discuss the implementation procedure.Numerical results justify that our proposed approach is able to reduce the energy consumption of the sensor nodes with low RE significantly and also saves energy for the whole WSN.展开更多
The hydraulic exoskeleton is one research hotspot in the field of robotics,which can take heavy load due to the high power density of the hydraulic system.However,the traditional hydraulic system is normally centraliz...The hydraulic exoskeleton is one research hotspot in the field of robotics,which can take heavy load due to the high power density of the hydraulic system.However,the traditional hydraulic system is normally centralized,inefficient,and bulky during application,which limits its development in the exoskeleton.For improving the robot's performance,its hydraulic actuating system should be optimized further.In this paper a novel hydraulic actuating system(HAS)based on electric-hydrostatic actuator is proposed,which is applied to hip and knee joints.Each HAS integrates an electric servo motor,a high-speed micro pump,a specific tank,and other components into a module.The specific parameters are obtained through relevant simulation according to human motion data and load requirements.The dynamic models of the HAS are built,and validated by the system identification.Experiments of trajectory tracking and human-exoskeleton interaction are carried out,which demonstrate the proposed HAS has the ability to be applied to the exoskeleton.Compared with the previous prototype,the total weight of the HAS in the robot is reduced by about 40%,and the power density is increased by almost 1.6 times.展开更多
From electric circuit theory view, a system model of series hybrid electric vehicle was built which uses engine-generator and battery pack as its on-board energy source in this paper. Based on the analysis for the con...From electric circuit theory view, a system model of series hybrid electric vehicle was built which uses engine-generator and battery pack as its on-board energy source in this paper. Based on the analysis for the constant power work mode and constant bus voltage work mode of engine-generator, a third work mode was put forward which combined the advantages of constant power and constant bus voltage work modes. The new work mode is reasonable to keep the battery in good working conditions and to extend its life. Also the working conditions of engine can be bettered to get low pollution and high efficiency.展开更多
Academic circles at home and abroad pay little attention to Rabbit’s work in Mrs. Smith’s garden in Rabbit, Run.Why does Rabbit “has it pretty good” when working in the garden? From the background of economicdemoc...Academic circles at home and abroad pay little attention to Rabbit’s work in Mrs. Smith’s garden in Rabbit, Run.Why does Rabbit “has it pretty good” when working in the garden? From the background of economicdemocratization in Western countries, it can be seen that labor relations in the garden have changed, and Rabbit hastaken control of the garden. This article starts with a Chinese translation of Rabbit, Run and explores the changes inRabbit’s working status in the garden due to economic democratization. It also reveals that in the case of gainingcontrol of the garden, Rabbit’s work has been changed in some aspects.展开更多
基金supported in part by the National Nature Science Foundation of China under Grant 62001168in part by the Foundation and Application Research Grant of Guangzhou under Grant 202102020515.
文摘Wireless Sensor Network(WSN)is a cornerstone of Internet of Things(IoT)and has rich application scenarios.In this work,we consider a heterogeneous WSN whose sensor nodes have a diversity in their Residual Energy(RE).In this work,to protect the sensor nodes with low RE,we investigate dynamic working modes for sensor nodes which are determined by their RE and an introduced energy threshold.Besides,we employ an Unmanned Aerial Vehicle(UAV)to collect the stored data from the heterogeneous WSN.We aim to jointly optimize the cluster head selection,energy threshold and sensor nodes’working mode to minimize the weighted sum of energy con-sumption from the WSN and UAV,subject to the data collection rate constraint.To this end,we propose an efficient search method to search for an optimal energy threshold,and develop a penalty-based successive convex approximation algorithm to select the cluster heads.Then we present a low-complexity iterative approach to solve the joint optimization problem and discuss the implementation procedure.Numerical results justify that our proposed approach is able to reduce the energy consumption of the sensor nodes with low RE significantly and also saves energy for the whole WSN.
基金Supported by Nati onal Key R&D Program of China(Grant No.2018YFB1305400,2018YFB1305402)National Natural Science Foundation of China(Grant No.518902883)Fun dame ntal Resea rch Funds for the Central Universities(Grant No.2018XZZX001-04).
文摘The hydraulic exoskeleton is one research hotspot in the field of robotics,which can take heavy load due to the high power density of the hydraulic system.However,the traditional hydraulic system is normally centralized,inefficient,and bulky during application,which limits its development in the exoskeleton.For improving the robot's performance,its hydraulic actuating system should be optimized further.In this paper a novel hydraulic actuating system(HAS)based on electric-hydrostatic actuator is proposed,which is applied to hip and knee joints.Each HAS integrates an electric servo motor,a high-speed micro pump,a specific tank,and other components into a module.The specific parameters are obtained through relevant simulation according to human motion data and load requirements.The dynamic models of the HAS are built,and validated by the system identification.Experiments of trajectory tracking and human-exoskeleton interaction are carried out,which demonstrate the proposed HAS has the ability to be applied to the exoskeleton.Compared with the previous prototype,the total weight of the HAS in the robot is reduced by about 40%,and the power density is increased by almost 1.6 times.
文摘From electric circuit theory view, a system model of series hybrid electric vehicle was built which uses engine-generator and battery pack as its on-board energy source in this paper. Based on the analysis for the constant power work mode and constant bus voltage work mode of engine-generator, a third work mode was put forward which combined the advantages of constant power and constant bus voltage work modes. The new work mode is reasonable to keep the battery in good working conditions and to extend its life. Also the working conditions of engine can be bettered to get low pollution and high efficiency.
文摘Academic circles at home and abroad pay little attention to Rabbit’s work in Mrs. Smith’s garden in Rabbit, Run.Why does Rabbit “has it pretty good” when working in the garden? From the background of economicdemocratization in Western countries, it can be seen that labor relations in the garden have changed, and Rabbit hastaken control of the garden. This article starts with a Chinese translation of Rabbit, Run and explores the changes inRabbit’s working status in the garden due to economic democratization. It also reveals that in the case of gainingcontrol of the garden, Rabbit’s work has been changed in some aspects.