In order to overcome the shortcomings of the previous obstacle avoidance algorithms,an obstacle avoidance algorithm applicable to multiple mobile obstacles was proposed.The minimum prediction distance between obstacle...In order to overcome the shortcomings of the previous obstacle avoidance algorithms,an obstacle avoidance algorithm applicable to multiple mobile obstacles was proposed.The minimum prediction distance between obstacles and a manipulator was obtained according to the states of obstacles and transformed to escape velocity of the corresponding link of the manipulator.The escape velocity was introduced to the gradient projection method to obtain the joint velocity of the manipulator so as to complete the obstacle avoidance trajectory planning.A7-DOF manipulator was used in the simulation,and the results verified the effectiveness of the algorithm.展开更多
We present a general theoretical framework for the formulation of the nonlinear electromechanics of polymeric and biological active media.The approach developed here is based on the additive decomposition of the Helmh...We present a general theoretical framework for the formulation of the nonlinear electromechanics of polymeric and biological active media.The approach developed here is based on the additive decomposition of the Helmholtz free energy in elastic and inelastic parts and on the multiplicative decomposition of the deformation gradient in passive and active parts.We describe a thermodynamically sound scenario that accounts for geometric and material nonlinearities.In view of numerical applications,we specialize the general approach to a particular material model accounting for the behavior of fiber reinforced tissues.Specifically,we use the model to solve via finite elements a uniaxial electromechanical problem dynamically activated by an electrophysiological stimulus.Implications for nonlinear solid mechanics and computational electrophysiology are finally discussed.展开更多
基金Supported by Ministeral Level Advanced Research Foundation(65822576)Beijing Municipal Education Commission(KM201310858004,KM201310858001)
文摘In order to overcome the shortcomings of the previous obstacle avoidance algorithms,an obstacle avoidance algorithm applicable to multiple mobile obstacles was proposed.The minimum prediction distance between obstacles and a manipulator was obtained according to the states of obstacles and transformed to escape velocity of the corresponding link of the manipulator.The escape velocity was introduced to the gradient projection method to obtain the joint velocity of the manipulator so as to complete the obstacle avoidance trajectory planning.A7-DOF manipulator was used in the simulation,and the results verified the effectiveness of the algorithm.
文摘We present a general theoretical framework for the formulation of the nonlinear electromechanics of polymeric and biological active media.The approach developed here is based on the additive decomposition of the Helmholtz free energy in elastic and inelastic parts and on the multiplicative decomposition of the deformation gradient in passive and active parts.We describe a thermodynamically sound scenario that accounts for geometric and material nonlinearities.In view of numerical applications,we specialize the general approach to a particular material model accounting for the behavior of fiber reinforced tissues.Specifically,we use the model to solve via finite elements a uniaxial electromechanical problem dynamically activated by an electrophysiological stimulus.Implications for nonlinear solid mechanics and computational electrophysiology are finally discussed.
