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相关概念视频

Virtual Work for a System of Connected Rigid Bodies01:06

Virtual Work for a System of Connected Rigid Bodies

430
Virtual work is a powerful method used to solve problems involving several connected rigid bodies. When the system is in equilibrium, virtual work is zero. This allows the calculation of the resulting forces when a system undergoes a virtual displacement. When attempting to analyze such a system, first, use a free-body diagram, where an independent coordinate represents the configuration of the links, and mark its deflected position resulting from the positive virtual displacement.
Next,...
430
Distributed Loads: Problem Solving01:21

Distributed Loads: Problem Solving

676
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...
676
Two-Dimensional Force System: Problem Solving01:29

Two-Dimensional Force System: Problem Solving

619
Solving problems related to two-dimensional force systems is an essential aspect of mechanics and engineering. By applying the principles of vector analysis and force equilibrium, one can determine the effect of multiple forces acting on an object in a two-dimensional space.
The first step to solving a two-dimensional force system problem is to draw a free-body diagram of the object under consideration. This diagram helps identify all the external forces acting on the object, including their...
619
Transformers in Distribution System01:27

Transformers in Distribution System

127
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...
127
One-Degree-of-Freedom System01:24

One-Degree-of-Freedom System

519
In mechanical engineering, one-degree-of-freedom systems form the basis of a wide range of electrical and mechanical components. Using these models, engineers can predict the behavior of various parts in a larger system, which gives them insight into how different forces interact with each other.
A one-degree-of-freedom system is defined by an independent variable that determines its state and behavior. One example of a one-degree-of-freedom system is a simple harmonic oscillator, such as a...
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Machines: Problem Solving II01:30

Machines: Problem Solving II

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Machines are complex structures consisting of movable, pin-connected multi-force members that work together to transmit forces. Consider a lifting tong carrying a 100 kg load. It comprises movable sections DAF and CBG linked together with member AB.
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Designing and Implementing Nervous System Simulations on LEGO Robots
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网络物理系统与真实和虚拟机器人在ROS 2中的可扩展性

Francisco José Mañas-Álvarez1, María Guinaldo1, Raquel Dormido1

  • 1Department of Computer Sciences and Automatic Control, Universidad Nacional de Educación a Distancia (UNED), Juan del Rosal 16, 28040 Madrid, Spain.

Sensors (Basel, Switzerland)
|July 14, 2023
PubMed
概括
此摘要是机器生成的。

本研究评估了使用 Gazebo 和 Webots 框架进行多代理机器人形成任务的网络物理系统 (CPS) 的可扩展性. 结果显示,机器人操作系统 (ROS) 2对于使用真实和虚拟机器人的大规模系统是可行的.

关键词:
在ROS 2 2中使用.数字双胞胎数字双胞胎是什么意思形成控制的形成控制.多机器人系统多机器人系统

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科学领域:

  • 机器人技术 机器人技术 机器人技术
  • 控制系统工程 控制系统工程
  • 计算机科学 计算机科学

背景情况:

  • 网络物理系统 (CPS) 越来越复杂,拥有更多的代理,这给控制和通信带来了可扩展性挑战.
  • 评估大型多代理系统的控制策略需要高效和具有成本效益的工具.
  • 执行合作任务的多种机器人多代理系统需要强大的模拟框架.

研究的目的:

  • 为了评估网络物理系统 (CPS) 的性能和可扩展性,随着代理人数量的增加.
  • 为了比较两个开源模拟框架,Gazebo和Webots,用于大规模的多代理系统开发.
  • 分析在异质机器人系统的分布式架构中使用机器人操作系统 (ROS) 2的可行性.

主要方法:

  • 利用 Gazebo 和 Webots 开源模拟工具,为异构的机器人多代理系统创建框架.
  • 实施了基于事件的控制策略,用于刚性形成,变化剂的数量 (Crazyflie 2.1,Khepera IV).
  • 使用指标评估系统可扩展性:形成错误,CPU使用量和实时与模拟时间比率.

主要成果:

  • 证明了机器人操作系统 (ROS) 2的可行性,用于分布式多代理系统,使用真实和虚拟机器人,无论代理人数量或类型如何.
  • 鉴定了Gazebo和Webots之间的不同性能行为,因为虚拟代理的数量增加了,特别是在特定的参数中.
  • 在模拟中验证了结合实体和虚拟代理的使用,以降低成本并实现可扩展性测试.

结论:

  • Gazebo和Webots提供了可行的平台来评估多代理网络物理系统的可扩展性.
  • 机器人操作系统 (ROS) 2是一个强大的解决方案,用于大规模,异构的机器人系统的分布式控制.
  • 在选择特定多代理系统应用框架时,模拟工具性能差异需要仔细考虑.