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新型四足机器人能耗分析与弹簧属性参数优选
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作者 王晓磊 刘祥 +1 位作者 李晓丹 肖印增 《机械设计与制造》 北大核心 2023年第6期277-280,284,共5页
为提高四足器人的能源利用率,以一种新型的四足机器人为研究对象,建立了在小腿部位加装弹簧减震系统前后的四足机器人虚拟样机模型,建立了四足机器人的移动能耗指标,对比研究加装弹簧减震系统前后步态参数对移动能耗指标的影响效果,证... 为提高四足器人的能源利用率,以一种新型的四足机器人为研究对象,建立了在小腿部位加装弹簧减震系统前后的四足机器人虚拟样机模型,建立了四足机器人的移动能耗指标,对比研究加装弹簧减震系统前后步态参数对移动能耗指标的影响效果,证明加装减震系统对提高移动能耗指标的可行性。最后,采用单变量法研究了弹簧属性参数对机器人能耗的影响规律,优选具体弹簧属性参数为弹簧刚度10000N/m,阻尼为2N·s/mm,弹簧预压力为65N,弹簧长度为0.34m,并与未优选前的装置进行对比,结果表明优选弹簧属性参数具有显著节能的效果,为样机减震系统的设计奠定基础。 展开更多
关键词 四足机器人 虚拟样机技术 弹簧属性参数 移动能耗指标
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基于对角步态下的液压4足机器人能耗研究 被引量:2
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作者 汪首坤 宗晓艳 陈光荣 《北京理工大学学报》 EI CAS CSCD 北大核心 2016年第4期399-404,416,共7页
移动能耗是液压4足机器人的一项重要性能指标,因此,对不同步态参数下液压4足机器人的移动能耗分析研究具有重要意义.文中对液压4足机器人进行运动学和动力学建模,利用运动学和动力学模型,根据机构的几何关系得到液压缸运动状态.规划了... 移动能耗是液压4足机器人的一项重要性能指标,因此,对不同步态参数下液压4足机器人的移动能耗分析研究具有重要意义.文中对液压4足机器人进行运动学和动力学建模,利用运动学和动力学模型,根据机构的几何关系得到液压缸运动状态.规划了摆线函数和三次曲线函数在对角步态下的足端轨迹,对比分析了两种足端轨迹的能量消耗,着重研究了不同步幅、步高、入地角度、周期大小、约束角度以及斜坡角度对移动能耗的影响.研究结果表明,综合考虑系统的稳定性、冲击力以及速度要求,应选择相对较大的步幅、较大的周期以及较小的入地角度,在满足跨越障碍的情况下,应选择低步高,对整个周期能耗进行考虑,应选择约束入地角度. 展开更多
关键词 液压4足机器人 运动学 动力学 对角步态 移动能耗
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一种用于WLAN的自适应发射功率控制方案 被引量:3
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作者 方明科 李蕾 《计算机工程》 CAS CSCD 2012年第13期86-88,共3页
为降低无线网络中工作站的能量消耗、延长工作时间,在分析IEEE802.11协议的基础上,提出一种用于WLAN的自适应发射功率控制方案。利用IEEE802.11协议中规定的ACK信息,引入效率因子和加权因子,使移动终端根据信道环境自适应地调整发射功率... 为降低无线网络中工作站的能量消耗、延长工作时间,在分析IEEE802.11协议的基础上,提出一种用于WLAN的自适应发射功率控制方案。利用IEEE802.11协议中规定的ACK信息,引入效率因子和加权因子,使移动终端根据信道环境自适应地调整发射功率,从而降低能耗。仿真结果验证了该方案的有效性。 展开更多
关键词 移动终端能耗 发射功率 功率控制 自适应控制 效率因子 加权因子
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A sink moving scheme based on local residual energy of nodes in wireless sensor networks 被引量:4
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作者 谭长庚 许可 +1 位作者 王建新 陈松乔 《Journal of Central South University》 SCIE EI CAS 2009年第2期265-268,共4页
In the application of periodic data-gathering in sensor networks,sensor nodes located near the sink have to forward the data received from all other nodes to the sink,which depletes their energy very quickly.A moving ... In the application of periodic data-gathering in sensor networks,sensor nodes located near the sink have to forward the data received from all other nodes to the sink,which depletes their energy very quickly.A moving scheme for the sink based on local residual energy was proposed.In the scheme,the sink periodically moves to a new location with the highest stay-value defined by the average residual energy and the number of neighbors.The scheme can balance energy consumption and prevent nodes around sink from draining their energy very quickly in the networks.The simulation results show that the scheme can prolong the network lifetime by 26%-65%compared with the earlier schemes where the sink is static or moves randomly. 展开更多
关键词 wireless sensor network network lifetime moving scheme residual energy
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基于贝叶斯网络的MEC随机任务迁移算法
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作者 薛宁 霍如 刘江 《信息通信技术》 2018年第5期9-15,共7页
文章提出一种基于贝叶斯网络的MEC随机任务迁移算法,通过将应用转换为包含多个子任务的有向图,利用子任务间的关联关系及贝叶斯网的联合概率来生成一组最小化移动设备能耗的策略。仿真结果表明,该算法相比移动设备本地执行算法在处理计... 文章提出一种基于贝叶斯网络的MEC随机任务迁移算法,通过将应用转换为包含多个子任务的有向图,利用子任务间的关联关系及贝叶斯网的联合概率来生成一组最小化移动设备能耗的策略。仿真结果表明,该算法相比移动设备本地执行算法在处理计算任务时节省能耗达28.7%。 展开更多
关键词 移动边缘计算 随机任务迁移 贝叶斯网络 移动设备能耗
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POWER-AWARE ROUTING BASED ON DSR FOR MOBILE AD HOC NETWORKS 被引量:2
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作者 Huang Jingbo Hong Peilin Li Jinsheng 《Journal of Electronics(China)》 2007年第2期167-173,共7页
Energy consumption is a crucial design concern in Mobile Ad hoc NETworks (MANETs) since nodes are powered by batteries with limited energy, whereas Dynamic Source Routing (DSR) protocol does not take the energy limita... Energy consumption is a crucial design concern in Mobile Ad hoc NETworks (MANETs) since nodes are powered by batteries with limited energy, whereas Dynamic Source Routing (DSR) protocol does not take the energy limitation of MANET nodes into account. This paper proposes an energy-saving routing algorithm based on DSR: Power Aware Routing protocol based on DSR (PAR-DSR). The design objective of PAR-DSR is to select energy-efficient paths. The main features of PAR-DSR are: (1) Nodes use the Signal Attenuation Rate (SAR) to conduct power control operations; (2) Minimum path cost as metric to balance the traffic and energy consumption of wireless nodes. The simulation results show that PAR-DSR can greatly reduce the energy consumption of MANET nodes. The average node lifetime of PAR-DSR is 50%-77% longer than that of DSR. 展开更多
关键词 Ad hoc Energy consumption Cost function Signal Attenuation Rate (SAR) PowerAware Routing based on Dynamic Source Routing (PAR-DSR)
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Athens in Crisis, Sustainable Mobility and Climate Change
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作者 Efthimios Bakogiannis Maria Siti 《Journal of Earth Science and Engineering》 2014年第6期352-360,共9页
Athens, a metropolis characterized by agglutination and compactness, but at the same time facing numerous urban and transport issues, saw its population swell during the 20th century which led to extensive urbanizatio... Athens, a metropolis characterized by agglutination and compactness, but at the same time facing numerous urban and transport issues, saw its population swell during the 20th century which led to extensive urbanization phenomena. This continued urbanization increases profoundly all urban activities with transportation being the key driver in energy consumption. Theories for sustainable cities prerequisite are the integration of a number of acts in order to reduce energy consumption, with mobility being the first consideration among others. The aim of this paper is to critically explore implemented policies and plans as well as forthcoming strategic plans in terms of sustainable mobility as imposed in large scale regeneration plans in contemporary Athens. Research focuses on strategic interventions since the 1980s, such as the Athenian Daktylios (ring road for circulation management) and its later adjustments, the upcoming pedestrianization and unification of the commercial triangle and its subsequent tram line extension as well as the notable implementation of the metropolitan cycling network. Moreover, the discussion takes into consideration the implications of the Greek economic crisis in mobility choices, as aimless travels have been reduced to a minimum, several cars have been abandoned and cyclists seem to tentatively claim some space in the urban environment. What will likely be the next day in the Athenian historic centre? Considering the transformations that are expected in the immediate future, this research paper explores their potential to enhance urban environment, reduce climate change impacts and amplify resilience. 展开更多
关键词 URBANIZATION ATHENS economic crisis sustainable mobility.
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基于机器学习的MEC随机任务迁移算法 被引量:10
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作者 孟浩 霍如 +2 位作者 郭倩影 黄韬 刘韵洁 《北京邮电大学学报》 EI CAS CSCD 北大核心 2019年第2期25-30,共6页
针对移动边缘计算(MEC),提出了一种基于机器学习的随机任务迁移算法,通过将任务划分为可迁移组件和不可迁移组件,结合改进的Q学习和深度学习算法生成随机任务最优迁移策略,以最小化移动设备能耗与时延的加权和.仿真结果表明,该算法的时... 针对移动边缘计算(MEC),提出了一种基于机器学习的随机任务迁移算法,通过将任务划分为可迁移组件和不可迁移组件,结合改进的Q学习和深度学习算法生成随机任务最优迁移策略,以最小化移动设备能耗与时延的加权和.仿真结果表明,该算法的时延与能耗加权和与移动设备本地执行算法相比节约了38. 1%. 展开更多
关键词 移动边缘计算 随机任务迁移 机器学习 时延 移动设备能耗
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