This paper presents a novel remote controlled dexterous robot arm with 6 degrees of freedom （DOF）. As a highly integrated mechatronics system, sensors and their signal processing system are integrated inside each jo...This paper presents a novel remote controlled dexterous robot arm with 6 degrees of freedom （DOF）. As a highly integrated mechatronics system, sensors and their signal processing system are integrated inside each joint. To lighten the weight, almost all mechanical parts are made of aluminum and the robot control system is placed outside. The modular concept is adopted during the robot design process for time and cost saving. Considering the much greater torque acted on the two shoulder joints, the joint shells are strengthened in the design to increase joint stiffness and suppress system vibration. Meanwhile, to simplify the maintenance, a new spring pins electronic connector is designed to disassemble every joint, connector and link independently without cutting any cables. The teleoperation technology enables the robot to offer more convenient service definitely for people＇ s daily life. Virtual reality technology is used to solve the time delay problem during teleoperation. Finally, two typical daily chore experiments are implemented to prove the manipulation ability of the dexterous robot arm.展开更多
Programmable metasurface enables controlling electromagnetic (EM) waves in real time. By programming the states of active device embedded in metasurface element, the EM properties of the digital metasurface can be cha...Programmable metasurface enables controlling electromagnetic (EM) waves in real time. By programming the states of active device embedded in metasurface element, the EM properties of the digital metasurface can be changed quickly without redesigning their structures. However, large numbers of long-distance wires are required to connect the programmable metasurface to provide the coded signals from field programmable gate array (FPGA) when controlling the metasurface at a long distance, which is complicated and inconvenient. Here, we propose an infrared-controlled programmable metasurface that can be programmed remotely. The infrared transceiver is able to switch the coding sequences stored in the FPGA controller, thus controlling the voltage on the varactors integrated in the metasurface. Experiment is performed at microwave frequencies, and the measured results verify that the scattering beams of the metasurface sample can be changed remotely by using infrared ray. The proposed infrared-controlled programmable metasurface opens up avenues for constructing a new class of remotely-tuning dynamic metasurfaces.展开更多
文摘This paper presents a novel remote controlled dexterous robot arm with 6 degrees of freedom （DOF）. As a highly integrated mechatronics system, sensors and their signal processing system are integrated inside each joint. To lighten the weight, almost all mechanical parts are made of aluminum and the robot control system is placed outside. The modular concept is adopted during the robot design process for time and cost saving. Considering the much greater torque acted on the two shoulder joints, the joint shells are strengthened in the design to increase joint stiffness and suppress system vibration. Meanwhile, to simplify the maintenance, a new spring pins electronic connector is designed to disassemble every joint, connector and link independently without cutting any cables. The teleoperation technology enables the robot to offer more convenient service definitely for people＇ s daily life. Virtual reality technology is used to solve the time delay problem during teleoperation. Finally, two typical daily chore experiments are implemented to prove the manipulation ability of the dexterous robot arm.
基金This work was supported by the National Key Research and Development Program of China(2017YFA0700201,2017YFA0700203 and 2016YFC0800401)National Natural Science Foundation of China(61890544,61522106,61631007,61571117,61731010,61735010,61722106,61701107,and 61701108)+3 种基金Postgraduate Research&Practice Innovation Program of Jiangsu Province(KYCX19_0081)Scientific Research Foundation of Graduate School of Southeast University(YBPY1938)Foundation of National Excellent Doctoral Dissertation of China(201444)the 111 Project(111-2-05).
文摘Programmable metasurface enables controlling electromagnetic (EM) waves in real time. By programming the states of active device embedded in metasurface element, the EM properties of the digital metasurface can be changed quickly without redesigning their structures. However, large numbers of long-distance wires are required to connect the programmable metasurface to provide the coded signals from field programmable gate array (FPGA) when controlling the metasurface at a long distance, which is complicated and inconvenient. Here, we propose an infrared-controlled programmable metasurface that can be programmed remotely. The infrared transceiver is able to switch the coding sequences stored in the FPGA controller, thus controlling the voltage on the varactors integrated in the metasurface. Experiment is performed at microwave frequencies, and the measured results verify that the scattering beams of the metasurface sample can be changed remotely by using infrared ray. The proposed infrared-controlled programmable metasurface opens up avenues for constructing a new class of remotely-tuning dynamic metasurfaces.
