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Distributed Loads: Problem Solving01:21

Distributed Loads: Problem Solving

590
Beams are structural elements commonly employed in engineering applications requiring different load-carrying capacities. The first step in analyzing a beam under a distributed load is to simplify the problem by dividing the load into smaller regions, which allows one to consider each region separately and calculate the magnitude of the equivalent resultant load acting on each portion of the beam. The magnitude of the equivalent resultant load for each region can be determined by calculating...
590
Transformers in Distribution System01:27

Transformers in Distribution System

95
Transformers in distribution systems can be broadly categorized into distribution substation transformers and other distribution transformers. They are crucial for stepping down high transmission voltages to levels suitable for distribution and end-user applications.
Distribution substation transformers come in various ratings and typically use mineral oil for insulation and cooling. To prevent moisture and air from entering the oil, some transformers use an inert gas like nitrogen to fill the...
95
Transformers with Off-Nominal Turns Ratios01:25

Transformers with Off-Nominal Turns Ratios

122
In scenarios involving parallel transformers with disparate ratings, developing per-unit models requires accommodating off-nominal turns ratios. This situation arises when the selected base voltages are not proportional to the transformer’s voltage ratings. Consider a transformer where the rated voltages are related by the term a. If the chosen voltage bases satisfy a relationship involving term b, term c is defined as the ratio of these bases. This ratio is then substituted into the...
122
Fast Decoupled and DC Powerflow01:24

Fast Decoupled and DC Powerflow

125
The fast decoupled power flow method addresses contingencies in power system operations, such as generator outages or transmission line failures. This method provides quick power flow solutions, essential for real-time system adjustments. Fast decoupled power flow algorithms simplify the Jacobian matrix by neglecting certain elements, leading to two sets of decoupled equations:
125
Rolling Resistance: Problem Solving01:17

Rolling Resistance: Problem Solving

267
Rolling resistance, also known as rolling friction, is the force that resists the motion of a rolling object, such as a wheel, tire, or ball, when it moves over a surface. It is caused by the deformation of the object and the surface in contact with each other, as well as other factors like internal friction, hysteresis, and energy losses within the materials. Rolling resistance opposes the object's motion, requiring additional energy to overcome it and maintain movement. In practical...
267
Energy Losses in Transformers01:21

Energy Losses in Transformers

800
In an ideal transformer, it is assumed that there are no energy losses, and, hence, all the power at the primary winding is transferred to the secondary winding. However, in reality,  the transformers always have some energy losses, and, hence, the output power obtained at the secondary winding is less than the input power at the primary winding due to energy losses.
There are four main reasons for energy losses in transformers.
The first cause can be  the high resistance of the...
800

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Related Experiment Video

Updated: May 10, 2025

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy
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The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy

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An Adaptive Obstacle Avoidance Model for Autonomous Robots Based on Dual-Coupling Grouped Aggregation and Transformer

Yuhu Tang1, Ying Bai1, Qiang Chen2

  • 1School of Artificial Intelligence and Big Data, Hefei University, Hefei 230601, China.

Sensors (Basel, Switzerland)
|April 28, 2025
PubMed
Summary

This study introduces GAS-H-Trans, an enhanced Transformer model for autonomous robots, improving obstacle recognition and avoidance in complex environments. The model achieves high accuracy in image segmentation and successful obstacle avoidance, enhancing robot safety and efficiency.

Keywords:
Harris hawk optimizationautonomous robotsdynamic environment recognitiongrouped aggregation strategytransformer architecture

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Area of Science:

  • Robotics
  • Artificial Intelligence
  • Computer Vision

Background:

  • Autonomous robots require robust obstacle recognition and avoidance for safe operation in dynamic environments.
  • Current deep learning methods face challenges in adapting to complex, real-world scenarios.

Purpose of the Study:

  • To propose an improved Transformer-based architecture, GAS-H-Trans, for enhanced semantic understanding and obstacle avoidance in autonomous robots.
  • To improve the accuracy and adaptability of obstacle avoidance strategies in dynamic environments.

Main Methods:

  • Employed a Transformer-based dual-coupling grouped aggregation strategy for optimized feature extraction and global representation.
  • Integrated Harris Hawk Optimization (HHO) for hyperparameter tuning and Particle Swarm Optimization (PSO) for Artificial Potential Field (APF) coefficient optimization.
  • Implemented a secondary precise image segmentation strategy with observation points near critical obstacles.

Main Results:

  • GAS-H-Trans achieved a mean Intersection over Union (mIoU) of 85.2% in image segmentation tasks, outperforming baseline models.
  • The GAS-H-Trans + PSO-optimized APF framework demonstrated a 93.6% obstacle avoidance success rate in virtual environments.
  • The proposed methods significantly improved performance in dynamic motion planning and segmentation accuracy.

Conclusions:

  • The GAS-H-Trans model offers a significant advancement in obstacle recognition and avoidance for autonomous robots.
  • The integrated optimization techniques enhance the model's adaptability and success rate in complex navigation tasks.
  • This approach presents a promising solution for real-world autonomous navigation applications.