Search results

The purpose of this study is to propose a path-planning strategy based on the velocity-virtual spring method to realize collision-free tasks in dynamic environments and further improve the effect.

By considering factors such as the relative velocity and direction of dynamic obstacles, the repulsive force of the robot is improved, thereby enhancing the adaptability of the strategy and achieving flexible and effective avoidance against dynamic obstacles. The attraction formula has been designed to allow the robot to have better smooth changes and higher gradients near the target, helping robots better reach the target and follow formations. Moreover, to meet the demands of the various stages during the driving process, the null space behavioral control is used to solve multi-task conflict problems and strengthen formation coordination and control.

Comparison of the planning path and formation effects through simulation and physical experiments, the results of this study show that the algorithm proposed can successfully maintain formation stability and plan smooth and safe paths in static or dynamic environments.

This paper proposes a path-planning strategy based on the velocity-virtual spring method to plan collision-free paths for formation in dynamic environments.

The purpose of this paper is to propose a new velocity prediction navigation algorithm to develop a conflict-free path for robots in dynamic crowded environments. The algorithm BP-prediction and reciprocal velocity obstacle (PRVO) combines the BP neural network for velocity PRVO to accomplish dynamic collision avoidance.

This presented method exhibits innovation by anticipating ahead velocities using BP neural networks to reconstruct the velocity obstacle region; determining the optimized velocity corresponding to the robot’s scalable radius range from the error generated by the non-holonomic robot tracking the desired trajectory; and considering acceleration constraints, determining the set of multi-step reachable velocities of non-holonomic robot in the space of velocity variations.

The method is validated using three commonly used metrics of collision rate, travel time and average distance in a comparison between simulation experiments including multiple differential drive robots and physical experiments using the Turtkebot3 robot. The experimental results show that our method outperforms other RVO extension methods on the three metrics.

In this paper, the authors propose navigation algorithms capable of adaptively selecting the optimal speed for a multi-robot system to avoid robot collisions during dynamic crowded interactions.

An investigation was conducted into the impact of various process parameters on the surface and subsurface quality of glass-ceramic materials, as well as the mechanism of material removal and crack formation, through the use of ultrasonic-assisted grinding.

A mathematical model of crack propagation in ultrasonic-assisted grinding was established, and the mechanism of crack formation was described through the model. A series of simulations and experiments were conducted to investigate the impact of process parameters on crack depth, surface roughness, and surface topography during ultrasonic-assisted surface and axial grinding. Additionally, the mechanism of crack formation was explored.

During ultrasonic-assisted grinding, the average grinding forces are between 0.4–1.0 N, which is much smaller than that of ordinary grinding (1.0–3.5 N). In surface grinding, the maximum surface stresses between the workpiece and the tool gradually decrease with the tool speed. The surface stresses of the workpiece increase with the grinding depth, and the depth of subsurface cracks increases with the grinding depth. With the increase of the axial grinding speed, the subsurface damage depth increases. The roughness increases from 0.780um/1.433um.

A mathematical model of crack propagation in ultrasonic-assisted grinding was established, and the mechanism of crack formation was described through the model. The deformation involved in the grinding process is large, and the FEM-SPH modeling method is used to solve the problem that the results of the traditional finite element method are not convergent and the calculation efficiency is low.

The purpose of this paper is to study the insulation structure optimization method of multiwinding high-frequency transformer (HFT).

This paper takes 100 kW, 10 kHz multiwinding HFT as the research object. First, the distribution of electric field strength within the core window of multiwinding HFT with different winding configurations is simulated by the electrostatic field finite element method. The symmetrical hybrid winding structure with minimum electric field strength is selected as the insulation design. To reduce the electric field strength at the end region of the winding, the electrostatic ring and angle ring are designed based on the response surface method.

The optimal results show that the maximum electric field strength can be reduced by 15.4%, and the low voltage stress can be achieved.

The above research provides guidance and basis for the optimal design of insulation structure of multiwinding HFT.