A robust unified controller was proposed for wheeled mobile robots that do not satisfy the ideal rolling without slipping constraint.Practical trajectory tracking and posture stabilization were achieved in a unified f...A robust unified controller was proposed for wheeled mobile robots that do not satisfy the ideal rolling without slipping constraint.Practical trajectory tracking and posture stabilization were achieved in a unified framework.The design procedure was based on the transverse function method and Lyapunov redesign technique.The Lie group was also introduced in the design.The left-invariance property of the nominal model was firstly explored with respect to the standard group operation of the Lie group SE(2).Then,a bounded transverse function was constructed,by which a corresponding smooth embedded submanifold was defined.With the aid of the group operation,a smooth control law was designed,which fulfills practical tracking/stabilization of the nominal system.An additional component was finally constructed to robustify the nominal control law with respect to the slipping disturbance by using the Lyapunov redesign technique.The design procedure can be easily extended to the robot system suffered from general unknown but bounded disturbances.Simulations were provided to demonstrate the effectiveness of the robust unified controller.展开更多
With the continuous development of human civilization, modem design has also made great progress. The design thinking tends more to adapting to human self-demand, in order to achieve the purpose of serving for people...With the continuous development of human civilization, modem design has also made great progress. The design thinking tends more to adapting to human self-demand, in order to achieve the purpose of serving for people＇ s daily life. Therefore, the humanized design concept of modem society is proposed, and in many fields, the humanized design thinking has become mature. This paper mainly takes systematic and overall analysis of the application of humanized design thinking in ceramic modeling, in order to provide relevant reference for the majority of peers.展开更多
With the development of mechanization popularity in rural area, agricultural machinery product not only needs to meet the production goals, and also requires the simple operation and human-centered. Human-centered des...With the development of mechanization popularity in rural area, agricultural machinery product not only needs to meet the production goals, and also requires the simple operation and human-centered. Human-centered design is always, on the basis of the user＇ s requirement and usage, to think over the issues by regarding operator as the center, and to design the products by emphasizing the ease of use and understandability during design and manufacture. In this study, Stubble-Mulch Rotocultivator for Boat Tractor （SMRBT） is chosen as the design object. The coordination approach of the user, machine and environment is discussed by deeply investigating their relationship, which is an empirical study of the human-centered technology of agricultural machinery.展开更多
A large sample size is required for Monte Carlo localization （MCL） in multi-robot dynamic environ- ment, because of the ＂kidnapped robot＂ phenomenon, which will locate most of the samples in the regions with small...A large sample size is required for Monte Carlo localization （MCL） in multi-robot dynamic environ- ment, because of the ＂kidnapped robot＂ phenomenon, which will locate most of the samples in the regions with small value of desired posterior density. For this problem the crossover and mutation operators in evolutionary computation are introduced into MCL to make samples move towards the regions where the desired posterior density is large, so that the sample set can represent the density better. The proposed method is termed genetic Monte Carlo localization （GMCL）. Application in robot soccer system shows that GMCL can considerably reduce the required number of samples, and is more precise and robust in dynamic environment.展开更多
There are an estimated 1.19 million wheelchair users in Spain. People use wheelchairs for a variety of reasons, the most common one is paralysis from spinal cord injuries. Current estimates indicate there are around 5...There are an estimated 1.19 million wheelchair users in Spain. People use wheelchairs for a variety of reasons, the most common one is paralysis from spinal cord injuries. Current estimates indicate there are around 504,000 people alive in Spain with spinal cord injuries. Among other reasons for using wheelchairs are： fatigue from multiple sclerosis, muscle weakness from muscular dystrophy, lower limb spasticity from cerebral palsy, and missing limbs due to amputation. People who use wheelchairs may encounter a variety of obstacles at their workstations depending on their limitations. Some possible accommodations could be adjustable height desk or table for a person who cannot work comfortably at an existing desk, accessible filing system or office supplies, and frequently used materials on most accessible shelves or drawers for a person who cannot reach upper and lower shelves and drawers. This paper presents the graphical design of a workstation for wheelchair users, in this case, technical, anthropometric, ergonomic, aesthetics and scientists aspects have been analyzed. The design of composite structure conduct to explicit safety constraints applied to office furniture requirements kept continuously current and updated as part of innovation. Finally, results are showed in a three-dimensional model.展开更多
Curriculum system construction is the core of talent training plan and the key to school operations.This article carried on a more in-depth study and discussion to biological curriculum system construction project,des...Curriculum system construction is the core of talent training plan and the key to school operations.This article carried on a more in-depth study and discussion to biological curriculum system construction project,described the four aspects characteristics of the curriculum,and discussed in the course of system integration, comprehensive and updated curriculum, bilingual education and the strengthening of the four areas to carry out comprehensive, innovative experiments.展开更多
基金Project (60234030) supported by the National Natural Science Foundation of ChinaProject supported by the TRAPOYT of Ministry of Education of China
文摘A robust unified controller was proposed for wheeled mobile robots that do not satisfy the ideal rolling without slipping constraint.Practical trajectory tracking and posture stabilization were achieved in a unified framework.The design procedure was based on the transverse function method and Lyapunov redesign technique.The Lie group was also introduced in the design.The left-invariance property of the nominal model was firstly explored with respect to the standard group operation of the Lie group SE(2).Then,a bounded transverse function was constructed,by which a corresponding smooth embedded submanifold was defined.With the aid of the group operation,a smooth control law was designed,which fulfills practical tracking/stabilization of the nominal system.An additional component was finally constructed to robustify the nominal control law with respect to the slipping disturbance by using the Lyapunov redesign technique.The design procedure can be easily extended to the robot system suffered from general unknown but bounded disturbances.Simulations were provided to demonstrate the effectiveness of the robust unified controller.
文摘With the continuous development of human civilization, modem design has also made great progress. The design thinking tends more to adapting to human self-demand, in order to achieve the purpose of serving for people＇ s daily life. Therefore, the humanized design concept of modem society is proposed, and in many fields, the humanized design thinking has become mature. This paper mainly takes systematic and overall analysis of the application of humanized design thinking in ceramic modeling, in order to provide relevant reference for the majority of peers.
文摘With the development of mechanization popularity in rural area, agricultural machinery product not only needs to meet the production goals, and also requires the simple operation and human-centered. Human-centered design is always, on the basis of the user＇ s requirement and usage, to think over the issues by regarding operator as the center, and to design the products by emphasizing the ease of use and understandability during design and manufacture. In this study, Stubble-Mulch Rotocultivator for Boat Tractor （SMRBT） is chosen as the design object. The coordination approach of the user, machine and environment is discussed by deeply investigating their relationship, which is an empirical study of the human-centered technology of agricultural machinery.
文摘A large sample size is required for Monte Carlo localization （MCL） in multi-robot dynamic environ- ment, because of the ＂kidnapped robot＂ phenomenon, which will locate most of the samples in the regions with small value of desired posterior density. For this problem the crossover and mutation operators in evolutionary computation are introduced into MCL to make samples move towards the regions where the desired posterior density is large, so that the sample set can represent the density better. The proposed method is termed genetic Monte Carlo localization （GMCL）. Application in robot soccer system shows that GMCL can considerably reduce the required number of samples, and is more precise and robust in dynamic environment.
文摘There are an estimated 1.19 million wheelchair users in Spain. People use wheelchairs for a variety of reasons, the most common one is paralysis from spinal cord injuries. Current estimates indicate there are around 504,000 people alive in Spain with spinal cord injuries. Among other reasons for using wheelchairs are： fatigue from multiple sclerosis, muscle weakness from muscular dystrophy, lower limb spasticity from cerebral palsy, and missing limbs due to amputation. People who use wheelchairs may encounter a variety of obstacles at their workstations depending on their limitations. Some possible accommodations could be adjustable height desk or table for a person who cannot work comfortably at an existing desk, accessible filing system or office supplies, and frequently used materials on most accessible shelves or drawers for a person who cannot reach upper and lower shelves and drawers. This paper presents the graphical design of a workstation for wheelchair users, in this case, technical, anthropometric, ergonomic, aesthetics and scientists aspects have been analyzed. The design of composite structure conduct to explicit safety constraints applied to office furniture requirements kept continuously current and updated as part of innovation. Finally, results are showed in a three-dimensional model.
文摘Curriculum system construction is the core of talent training plan and the key to school operations.This article carried on a more in-depth study and discussion to biological curriculum system construction project,described the four aspects characteristics of the curriculum,and discussed in the course of system integration, comprehensive and updated curriculum, bilingual education and the strengthening of the four areas to carry out comprehensive, innovative experiments.
