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相关概念视频

Rolling Resistance: Problem Solving01:17

Rolling Resistance: Problem Solving

310
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...
310
Rolling Resistance01:21

Rolling Resistance

286
When a solid cylinder rolls steadily on a rigid surface, the normal force applied by the surface on the cylinder is perpendicular to the tangent at the contact point. However, since no materials are entirely rigid, the surface's reaction to the cylinder involves a range of normal pressures.
For instance, imagine a hard cylinder rolling on a comparatively soft surface. The cylinder's weight compresses the surface beneath it. As the cylinder moves, the material in front of it slows down...
286
Relative Motion Analysis using Rotating Axes-Problem Solving01:29

Relative Motion Analysis using Rotating Axes-Problem Solving

394
Consider a crane whose telescopic boom rotates with an angular velocity of 0.04 rad/s and angular acceleration of 0.02 rad/s2. Along with the rotation, the boom also extends linearly with a uniform speed of 5 m/s. The extension of the boom is measured at point D, which is measured with respect to the fixed point C on the other end of the boom. For the given instant, the distance between points C and D is 60 meters.
Here, in order to determine the magnitude of velocity and acceleration for point...
394

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相关实验视频

Updated: Jun 17, 2025

Insect-controlled Robot: A Mobile Robot Platform to Evaluate the Odor-tracking Capability of an Insect
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学习用于滚动机器人的追踪控制器

Logan E Beaver1, Max Sokolich2, Suhail Alsalehi1

  • 1Division of Systems Engineering, Boston University, Boston, MA 02215, USA.

IEEE robotics and automation letters
|August 12, 2024
PubMed
概括
此摘要是机器生成的。

本研究引入了微米级机器人 (μbots) 的新控制方法,以提高轨迹跟踪精度. 该方法使用机器学习来弥补环境干扰和模型不确定性,增强医疗应用中的μbot导航.

关键词:
机器学习用于机器人控制控制微型/纳米机器人 微型/纳米机器人最佳控制控制的最佳方式优化优化 优化优化

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相关实验视频

Last Updated: Jun 17, 2025

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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 控制系统
  • 生物医学工程 生物医学工程

背景情况:

  • 微米级机器人 (μbots) 显示出医疗应用的潜力.
  • 精确控制微机器人是必不可少的,但由于环境干扰和模型不确定性而具有挑战性.

研究的目的:

  • 为微机器人制定一个强大的控制策略,以准确跟踪参考轨迹.
  • 为了弥补诸如布朗运动和模型参数不确定性的干扰.

主要方法:

  • 模拟了μbot作为一个不确定的单轮车,由磁场控制.
  • 开发了一个非线性不匹配控制器来处理干扰和不确定性.
  • 采用高斯过程来学习模型不匹配错误和最小正方形最小化来控制动作选择.

主要成果:

  • 联合学习和控制算法在模拟中展示了模型不匹配的准确在线学习.
  • 在模拟中观察到改善的轨迹跟踪性能.
  • 实验验证显示,某些错误指标的减少高达40%.

结论:

  • 拟议的非线性不匹配控制器有效地弥补了μbot模型的不确定性和环境干扰.
  • 整合高斯过程和最小正方形最小化可以提高μbot导航准确度.
  • 这种方法为医疗应用中精确的μbot控制提供了有希望的解决方案.