期刊文献+
共找到2篇文章
< 1 >
每页显示 20 50 100
柔性救援机器人的开发和混合力/位置控制
1
作者 Q.C.Wu X.S.Wang +6 位作者 B.Chen H.T.Wu Z.Y.Shao 张孟怡(译) 王萍(译) 李悦(译) 李万金(校) 《世界地震译丛》 2020年第3期297-314,共18页
灾难发生后,在废墟中执行搜救任务需要具有细长和柔韧结构的救援机器人,以适应废墟下的复杂结构。本文介绍了一种具有细长和灵活体型的新型腱鞘驱动的柔性救援机器人的结构设计和系统组成。本文提出的机器人可以钻入救援人员和传统的刚... 灾难发生后,在废墟中执行搜救任务需要具有细长和柔韧结构的救援机器人,以适应废墟下的复杂结构。本文介绍了一种具有细长和灵活体型的新型腱鞘驱动的柔性救援机器人的结构设计和系统组成。本文提出的机器人可以钻入救援人员和传统的刚性机器人无法进入的狭窄空间或有毒环境。本文分析讨论了带有集成定位和施力监视能力的柔性夹持器的自传感校准、动态建模和混合力/位置控制轨迹。为了在运行过程中调节夹持器的位移和夹紧力,本文提出了一种基于级联比例—积分—微分(PID)控制器和模糊滑模控制器(FSMC)的混合力/位置控制策略。建立了主要由伺服电机、腱鞘传动部件、柔性夹持器和实时控制系统组成的实验装置,用于校准应变式传感器并识别动态模型参数。开展了涉及力跟踪实验、位置跟踪实验和目标抓取实验的进一步实验研究。实验结果证明了所开发的自传感方法和控制策略在救援行动中的有效性。 展开更多
关键词 救援机器人 柔性夹持器 自传感校准 模式识别 混合力/位置控制
下载PDF
A long-term in situ calibration system for chemistry analysis of seawater
2
作者 Chun-yang TAN Bo JIN +2 位作者 Kang DING William E. SEYFRIED Jr. Ying CHEN 《Journal of Zhejiang University-Science A(Applied Physics & Engineering)》 SCIE EI CAS CSCD 2010年第9期701-708,共8页
An in situ calibration system is a versatile exploration instrument for electrochemical sensors investigating the biochemical properties of the marine environment. The purpose of this paper is to describe the design o... An in situ calibration system is a versatile exploration instrument for electrochemical sensors investigating the biochemical properties of the marine environment. The purpose of this paper is to describe the design of an auto-calibrating system for electrochemical (pH) sensors, which permits two-point in situ calibration, suitable for long-term measurement in deep sea aqueous environments. Holding multiple sensors, the instrument is designed to perform long-term measurements and in situ calibrations at abyssal depth (up to 4000 m). The instrument is composed of a compact fluid control system which is pressure-equilibrated and designed for deep-sea operation. In situ calibration capability plays a key role in the quality and reproducibility of the data. This paper focuses on methods for extending the lifetime of the instrument, considering the fluidics design, mechanical design, and low-power consumption of the electronics controller. The instrument can last 46 d under normal operating conditions, fulfilling the need for long-term operation. Data concerning pH measured during the KNOX18RR cruise (Mid-Atlantic Ridge, July-August, 2008) illustrate the desirable properties of the instrument. Combined with different electrodes (pH, H2, H2S, etc.), it should be of great utility for the study of deep ocean environments, including water column and diffuse-flow hydrothermal fluids. 展开更多
关键词 PH LONG-TERM In situ calibration Flow control Low power
原文传递
上一页 1 下一页 到第
使用帮助 返回顶部