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Articles 58921 - 58950 of 291692
Full-Text Articles in Physical Sciences and Mathematics
Build New Power System To Promote Carbon Neutrality, Li Kong, Wei Pei, Jianye Rao, Yingxin Xu
Build New Power System To Promote Carbon Neutrality, Li Kong, Wei Pei, Jianye Rao, Yingxin Xu
Bulletin of Chinese Academy of Sciences (Chinese Version)
Under the 'carbon peak and carbon neutrality' goal, the supply and demand of China's power system will continue to grow in the next 40 years. Firstly, this study comprehensively analyzes China's power grid system under the goal of carbon neutralization. In the future, wind power and solar power will gradually become the main power supply, which brings new tasks and challenges to the power grid to absorb the renewable energy. On this basis, the general idea and construction principles of building a new generation of power system are expounded. Then, the basic structure and form of the new generation of …
Research Progress And Development Suggestions Of Energy Storage Technology Under Background Of Carbon Peak And Carbon Neutrality, Qiong Zheng, Lixia Jiang, Yujie Xu, Song Gao, Tao Liu, Chao Qu, Haisheng Chen, Xianfeng Li
Research Progress And Development Suggestions Of Energy Storage Technology Under Background Of Carbon Peak And Carbon Neutrality, Qiong Zheng, Lixia Jiang, Yujie Xu, Song Gao, Tao Liu, Chao Qu, Haisheng Chen, Xianfeng Li
Bulletin of Chinese Academy of Sciences (Chinese Version)
Energy storage is one of the important supporting technologies to achieve the "dual carbon" goals, and it is an important means to stabilize renewable energy fluctuations and reduce the impact of large-scale new energy access on the power grid. At present, the competition of global energy resources is becoming increasingly fierce, and China is also facing significant changes in the adjustment of energy structure. To implement the energy strategy of "four revolutions and one cooperation" in the new era, and to realize the "14th Five-Year Plan" as well as the "Long-range Objectives Through the Year 2035", China needs to build …
Proposal For Establishing Wide-Area Virtual Power Plant Based On Pv-Dominated Energy And Physical Energy Storage System, Liye Xiao, Jiaofeng Pan
Proposal For Establishing Wide-Area Virtual Power Plant Based On Pv-Dominated Energy And Physical Energy Storage System, Liye Xiao, Jiaofeng Pan
Bulletin of Chinese Academy of Sciences (Chinese Version)
The key issues to achieve the "dual carbon" goals mainly involve three aspects:the structure of energy and power supply, the development of energy storage technology and the construction of new power system. Combined with the specific situation of China, this study analyzes and forecasts the power supply structure dominated by renewable energy; Considering the characteristics and development needs of renewable energy, the viewpoint and idea are put forward to develop physical energy storage, especially underground energy storage engineering, to meet the large-scale energy storage needs of power grid. On this basis, the overall idea is suggested for constructing wide area …
Simulation Optimization On Joint Production And Preventive Maintenance Scheduling For Distributed Job-Shop, Fei Ye, Ziqing Li, Yuanjun Laili
Simulation Optimization On Joint Production And Preventive Maintenance Scheduling For Distributed Job-Shop, Fei Ye, Ziqing Li, Yuanjun Laili
Journal of System Simulation
Abstract: Distributed job-shop production scheduling is the key to high efficient production. Preventive maintenance, an essential means to ensure the safety and reliability of equipment, should be the necessary content of the production decision-making. Aiming at the production delay caused by equipment maintenance, a simulation-corrected optimization method is proposed. The mathematical model and simulation model for the joint production and preventive maintenance scheduling are established. The sequence exchange-based genetic algorithm is combined with the simulation-corrected optimization method to form a fast simulation optimization scheme. Experimental results on typical cases show that the proposed simulation optimization method can improve the solution …
Multi-Modality Affective Computing Model Based On Personality And Memory Mechanism, Sijin Zhou, Dicheng Chen, Geng Tu, Dazhi Jiang
Multi-Modality Affective Computing Model Based On Personality And Memory Mechanism, Sijin Zhou, Dicheng Chen, Geng Tu, Dazhi Jiang
Journal of System Simulation
Abstract: With the development of affective computing, the correlation of memory, individuation and emotion is more and more important. Focus on the machine emotion shortcomings in the perception, understanding and expression, an emotion computing model integrating the emotion perception, understanding and expression is proposed. The model is a memory-oriented deep network perception model that accepts multiple modal inputs (visual, auditory, lexical) and applies a fuzzy emotion integration decision to realize the understanding of uncertain emotions. The simulation experiments prove that the model has a good performance in all kinds of multimodal affective computing.
Research On Discrete Workshop Task Assignment Based On Improved Water Filling Algorithm, Kaituan Feng, Jie Yuan
Research On Discrete Workshop Task Assignment Based On Improved Water Filling Algorithm, Kaituan Feng, Jie Yuan
Journal of System Simulation
Abstract: Aiming at the unsatisfactory the results of the real-time dynamic task allocation in discrete workshops are not ideal, an improved water filling algorithm is proposed. Compared with the equal cost allocation of the water injection algorithm, the processing rate and cost factors are added to the improved water injection algorithm to coordinate the processing rate, the cost and the workpieces. The allocation of the different cost workpieces is realized and the result is adjusted, which can meet the requirements of discrete distribution. The improved water injection algorithm can dynamically allocate the newly added workpieces in real time. The proposed …
Virtual Scene Stereoscopic Panorama Generation And Viewport Rendering Algorithm, Haoxiang Li, Chunyi Chen, Xiaojuan Hu, Yunbiao Liu, Qiwei Xing
Virtual Scene Stereoscopic Panorama Generation And Viewport Rendering Algorithm, Haoxiang Li, Chunyi Chen, Xiaojuan Hu, Yunbiao Liu, Qiwei Xing
Journal of System Simulation
Abstract: Aiming at the nonuniform sampling in map projection and the redundancy in aspheric projection, spherical Fibonacci lattices is used to sample the visible spherical area to generate spherical Fibonacci lattice panorama with low-redundancy and high-quality. On the basis of panoramic stereo imaging model, the binocular ray direction generation algorithm for spherical stereo panorama is proposed. With Fibonacci grid, an adaptive filtering method of light-visibility map for panorama is designed to generate spherical panorama with approximate soft shadow. The nearest neighbor interpolation is used to render the viewport of panorama. Extensive experiments show that the frame frequency of the viewport …
Simulation On Cold Chain Distribution Path Of Fresh Agricultural Products Under Low-Carbon Constraints, Tao Ning, Tao Gou, Xiangdong Liu
Simulation On Cold Chain Distribution Path Of Fresh Agricultural Products Under Low-Carbon Constraints, Tao Ning, Tao Gou, Xiangdong Liu
Journal of System Simulation
Abstract: The freshness distribution requirements of fresh agricultural products may increase the carbon emissions of the cold chain distribution process. A cold chain distribution scheduling strategy and simulation method for the fresh agricultural products under low-carbon constraints is proposed. Based on the quantitative analysis of the carbon tax mechanism, a mathematical model of minimizing the carbon emissions and minimizing the overall cost of distribution is established. Comprehensively analyzing the conventional factors such as the product delivery volume, delivery time and loading and unloading time in logistics distribution, an improved quantum ant colony algorithm based on adaptive rotation angle …
Mathematical Musings On The External Anatomy Of The Novel Coronavirus. Part 1: The Overall Shape Of The N-Cov, Jyotirmoy Sarkar, Mamunur Rashid
Mathematical Musings On The External Anatomy Of The Novel Coronavirus. Part 1: The Overall Shape Of The N-Cov, Jyotirmoy Sarkar, Mamunur Rashid
Mathematics Faculty Publications
What is the shape of the novel coronavirus which has turned our world upside down? Even though under a microscope it looks dull, unattractive, and even disgusting, creative artists have attributed to it bright colors, made it look pretty, and depicted it as a thing of beauty. What can a mathematician contribute to this effort? We take a purist’s point of view by imposing on it a quasi-symmetry and then deriving some consequences. In an idealistic world, far removed from reality but still obeying the rules of mathematics, anyone can enjoy this ethereal beauty of the mind’s creation, beckoning others …
Stability Analysis Of Delay-Driven Coupled Cantilevers Using The Lambert W-Function, Daniel Siebel-Cortopassi
Stability Analysis Of Delay-Driven Coupled Cantilevers Using The Lambert W-Function, Daniel Siebel-Cortopassi
USF Tampa Graduate Theses and Dissertations
A coupled delay-feedback system of two cantilevers can yield greater sensitivity than that of asingle cantilever system, with potential applications in atomic force microscopy. The Lambert W-function analysis concept for delay differential equations is used to more accurately model the behavior of specific configurations of these cantilever systems. We also use this analysis concept to find parameters which yield stability for greater parameter ranges, of the delay differential equations. The Q factor, or quality factor, is the ratio of energy stored in the system, to the energy lost per fixed oscillation/movement cycle. Having stability of the cantilevers corresponds to the …
X-Ray Crystallographic Analysis Of Quinoline N-Oxide And Isoquinoline N-Oxide With Zinc Halides, Nitrates, Perchlorates., Erin N. Groneck
X-Ray Crystallographic Analysis Of Quinoline N-Oxide And Isoquinoline N-Oxide With Zinc Halides, Nitrates, Perchlorates., Erin N. Groneck
GS4 Student Scholars Symposium
We have worked to analyze the chemistry between aromatic N-oxides, Quinoline N-oxide and Isoquinoline N-oxide, with zinc halides, nitrates, and perchlorates by X-ray crystallography. These structures were formed by reaction of the aromatic N-oxides with an equivalent of the zinc halide, nitrate, or perchlorate. These N-oxides had been chosen due to being the focus of this study. We will present the crystallographic X-ray structures of the synthesized novel complexes of the N-oxides with either a zinc halide, zinc nitrate, and zinc perchlorate.
Student-Developed Laboratory Activities Using Rolling Object On An Inclined Plane To Improve Student Learning, Qing Shao, Joseph Ametepe
Student-Developed Laboratory Activities Using Rolling Object On An Inclined Plane To Improve Student Learning, Qing Shao, Joseph Ametepe
Georgia Journal of Science
This work presents an alternative method of teaching undergraduate introductory physics laboratory. Students are presented with an experimental scenario “Rolling object on an inclined plane” and guided to develop their own laboratory activities in a studio-style setting. The overall goal of this alternative approach is to shift part of the learning responsibility to students. Through guided self-developed activities, students establish the connections between different physics concepts. Such a shift makes students active participants in the classroom, allows them to explore ideas independently, and discover through doing the exploring. Furthermore, the pedagogy is aimed at (i) motivating and actively engaging students …
Learning Enriched Features For Fast Image Restoration And Enhancement, Syed Waqas Zamir, Aditya Arora, Salman Khan, Munawar Hayat, Fahad Shahbaz Khan, Ming-Hsuan Yang, Ling Shao
Learning Enriched Features For Fast Image Restoration And Enhancement, Syed Waqas Zamir, Aditya Arora, Salman Khan, Munawar Hayat, Fahad Shahbaz Khan, Ming-Hsuan Yang, Ling Shao
Computer Vision Faculty Publications
Given a degraded input image, image restoration aims to recover the missing high-quality image content. Numerous applications demand effective image restoration, e.g., computational photography, surveillance, autonomous vehicles, and remote sensing. Significant advances in image restoration have been made in recent years, dominated by convolutional neural networks (CNNs). The widely-used CNN-based methods typically operate either on full-resolution or on progressively low-resolution representations. In the former case, spatial details are preserved but the contextual information cannot be precisely encoded. In the latter case, generated outputs are semantically reliable but spatially less accurate. This paper presents a new architecture with a holistic goal …
Annual Faculty Research Symposium 2022, Oakwood University
Annual Faculty Research Symposium 2022, Oakwood University
Proceedings
No abstract provided.
Cross-Temporal Snapshot Alignment For Dynamic Multi-Relational Networks, Lvjia Chen, Shangsong Liang
Cross-Temporal Snapshot Alignment For Dynamic Multi-Relational Networks, Lvjia Chen, Shangsong Liang
Machine Learning Faculty Publications
A dynamic network is often represented as a sequence of snapshots evolving over time. In certain real-world scenarios, the identities of nodes in snapshots of a dynamic network are unknown and need to be figured out. To deal with such a challenge, recently, the task of cross-temporal snapshot alignment for dynamic networks is proposed, which aims to match equivalent nodes across temporal snapshots of a dynamic network given a small set of identified nodes. However, in many dynamic multi-relational networks like temporal knowledge graphs, the relation type information of edges, which can be useful for the alignment task, is neglected …
Retrospective Comparisons Of Competing Demographic Models Give Clarity From “Messy” Management On A Scottish Grouse Moor, Larkin A. Powell, Nicholas J. Aebischer, Sonja C. Ludwig, David Baines
Retrospective Comparisons Of Competing Demographic Models Give Clarity From “Messy” Management On A Scottish Grouse Moor, Larkin A. Powell, Nicholas J. Aebischer, Sonja C. Ludwig, David Baines
School of Natural Resources: Faculty Publications
Retrospective comparison of predictive models that describe competing hypotheses regarding system function can shed light on regulatory mechanisms within the framework of adaptive resource management. We applied this approach to a 28-year study of red grouse (Lagopus lagopus scotica) in Scotland, with the aims of reducing uncertainty regarding important drivers of grouse population dynamics, and of evaluating the efficacy of using seasonal versus annual model assessments. We developed three sets of models that predicted pre-breeding and post-breeding grouse density, matching the timing of grouse counts on the ground. We updated conditions and management through time in the spirit …
Baseline Health And Nutritional Parameters Of Wild Sand Tigers Carcharias Taurus Sampled In Delaware Bay, Lisa A. Hoopes, Tonya M. Clauss, Bradley M. Wetherbee, Dewayne A. Fox
Baseline Health And Nutritional Parameters Of Wild Sand Tigers Carcharias Taurus Sampled In Delaware Bay, Lisa A. Hoopes, Tonya M. Clauss, Bradley M. Wetherbee, Dewayne A. Fox
Marine & Environmental Sciences Faculty Articles
Species-specific hematological reference values are essential for diagnosis and treatment of disease and maintaining overall health of animals. This information is lacking for many species of elasmobranchs maintained in zoos and aquaria, thus reducing the effectiveness of care for these animals. Descriptive statistics and reference intervals were calculated for hematocrit and complete blood cell counts, biochemistry and protein electrophoresis parameters, trace minerals, vitamins, heavy metals, reproductive hormones, and fatty acids in the blood of 153 wild Sand Tigers Carcharias taurus of both sexes and a range of sizes caught in Delaware Bay (Delaware, USA). Mean hematocrit, total white blood cell …
Raman Spectroscopic And Quantum Chemical Investigation Of The Pyridine-Borane Complex And The Effects Of Dative Bonding On The Normal Modes Of Pyridine, Ethan C. Lambert, Benjamin W. Stratton, Nathan I. Hammer
Raman Spectroscopic And Quantum Chemical Investigation Of The Pyridine-Borane Complex And The Effects Of Dative Bonding On The Normal Modes Of Pyridine, Ethan C. Lambert, Benjamin W. Stratton, Nathan I. Hammer
Faculty and Student Publications
The pyridine-borane (PyBH3) complex was analyzed by Raman vibrational spectroscopy and density functional theory to elucidate its structural and vibrational properties and to compare these with those for neat pyridine (Py). The borane-nitrogen (BN) bond length, the BN dative bond stretching frequency, and the effects of dative-bonded complex formation on Py are presented. Rather than having a single isolated stretching motion, the complex exhibits multiple BN dative bond stretches that are coupled to Py's vibrations. These modes exhibit large shifts that are higher in energy relative to neat Py, similar to previous observations of Py/water mixtures. However, significantly higher charge …
Coil-To-Bridge Transitions Of Self-Assembled Water Chains Observed In A Nanoscopic Meniscus, Byung I. Kim, Ryan D. Boehm, Harrison Agrusa
Coil-To-Bridge Transitions Of Self-Assembled Water Chains Observed In A Nanoscopic Meniscus, Byung I. Kim, Ryan D. Boehm, Harrison Agrusa
Physics Faculty Publications and Presentations
Ten downward portions in the large oscillatory force–distance curve reported earlier are analyzed to understand a nanoscale water meniscus confined between a sharp probe and a flat substrate in air. The sigmoidal shape of each portion leads to the assumption that the meniscus is made up of n independent transitions of two states: one for a coil state and the other for a bridge state. The analysis reveals that each downward portion occurs due to a coil-to-bridge transition of n self-assembled water chains whose length ranges between 197 and 383 chain units. The transition provides novel insights into water’s unique …
Research On Credibility Assessment Of Cloud Simulation System, Wei Li, Huan Zhang, Ping Ma, Ming Yang
Research On Credibility Assessment Of Cloud Simulation System, Wei Li, Huan Zhang, Ping Ma, Ming Yang
Journal of System Simulation
Abstract: The cloud simulation platform supports the "cloud simulation" mode, which can automatically find simulation resources and dynamically build the cloud simulation system. Because the cloud simulation platform has the characteristics of simulation services establishment on demand and multi-granularity resources sharing, the credibility evaluation of the cloud simulation system faces new challenges in the credibility of the simulation resources, the credibility of the simulation subsystems and the reliability of the simulation environment, etc. From the whole life cycle perspective of the cloud simulation system, the credibility evaluation process model and the credibility evaluation index system of the cloud simulation system …
Image Reconstruction Of Electrical Capacitance Tomography Based On Convolutional Neural Network And Finite Element Simulation, Lifeng Zhang, Huiren Wang
Image Reconstruction Of Electrical Capacitance Tomography Based On Convolutional Neural Network And Finite Element Simulation, Lifeng Zhang, Huiren Wang
Journal of System Simulation
Abstract: To address the issues related to the mixed hybrid telemetry, track and command(TT&C) resource, including multiple attributes, large differences in preferences and scheduling conflicts when resources are limited in joint scheduling, on the basis of the description method in the single system TT&C network scheduling research, the characteristics of the hybrid TT&C task requirements are analyzed and the standardized description of the hybrid TT&C resource scheduling task requirements is provided. With the goal of maximizing the return value of TT&C scheduling, a hybrid resource joint scheduling model is established. A solution strategy based on an improved genetic …
Nano-Fabricated Atomic Waveguides For Inertial Measurements, Adrian S. Orozco
Nano-Fabricated Atomic Waveguides For Inertial Measurements, Adrian S. Orozco
Physics & Astronomy ETDs
Atom-based inertial measurement systems can measure acceleration and rotation very precisely in the laboratory. The central element of these systems is atom interferometry where the phase shifts are sensitive to inertial forces experienced by the atom. This phenomenon has been used to make atom-based gravimeters, gradiometers, and gyroscopes. Recent effort has been made to make these systems more compact which require small size, light weight, and low power (SWaP). Nano-fabricated waveguides, such as photonic waveguides or optical nanofibers, offer a promising avenue to meet these goals. They have dimensions comparable to the guided light’s wavelength producing a mode that not …
Research On Physical Layer Security Of Full-Duplex Uav Relaying, Shu Ye, Xiaodong Ji, Wenhua Li
Research On Physical Layer Security Of Full-Duplex Uav Relaying, Shu Ye, Xiaodong Ji, Wenhua Li
Journal of System Simulation
Abstract: Aiming at the physical layer security of a full-duplex UAV relaying system, a novel scheme based on the joint optimization of the transmit power and UAV flight trajectory is proposed. Under the condition of limited transmit power and flight trajectory, a joint optimization that maximizing the average secrecy rate of the system is constructed. The non-concave problem that cannot be solved directly is resolved into two sub-problems of transmit power and flight trajectory optimization, which can be transformed into the concave problem by the successive convex approximation method. An iterative algorithm is proposed to obtain the numerical solution of …
An Examination Of Olympic Sport Climbing Competition Format And Scoring System, Quang Nguyen, Hannah Butler, Gregory J. Matthews
An Examination Of Olympic Sport Climbing Competition Format And Scoring System, Quang Nguyen, Hannah Butler, Gregory J. Matthews
Mathematics and Statistics: Faculty Publications and Other Works
Sport climbing, which made its Olympic debut at the 2020 Summer Games, generally consists of three separate disciplines: speed climbing, bouldering, and lead climbing. However, the International Olympic Committee (IOC) only allowed one set of medals each for men and women in sport climbing. As a result, the governing body of sport climbing, rather than choosing only one of the three disciplines to include in the Olympics, decided to create a competition combining all three disciplines. In order to determine a winner, a combined scoring system was created using the product of the ranks across the three disciplines to determine …
Approval Letter For The Butte Priority Soils Operable Unit (Bpsou) Draft Residential Metals Abatement Program (Rmap) Field Sampling Plan (Fsp) – Indoor Dust – Group 1 (Aware Early Head Start, Lincoln Head Start, Highland View Christian School, Silver Bow Montessori, And Small World Day Care) (Dated March 23, 2022), Nikia Greene
Silver Bow Creek/Butte Area Superfund Site
No abstract provided.
New Synthetic Reactions Enabled By Protected Oxyallyl And Amidoallyl Cations, Binod Nepal
New Synthetic Reactions Enabled By Protected Oxyallyl And Amidoallyl Cations, Binod Nepal
LSU Doctoral Dissertations
This dissertation entails design and development of two new synthetic methodologies made possible through the generation of cationic species, namely oxyallyl and amidoallyl cations. Chapter 1 involves literature survey on generation and trapping of oxyallyl cations. Mostly known for cycloaddition reactions with these elusive species, the most recent approach of direct nucleophilic capture of oxyallyl cations are discussed. Apt design of substrates and reaction conditions by Kartika Group to access a-electrophilic carbon towards the synthesis of a variety of value-added compounds, i.e., 1,4- and 1,6-dicarbonyls, carbazoles, densely substituted pyrroles and furans are elaborated.
Chapter 2 focuses on our discovery of …
Microscopic Nuclei Classification, Segmentation, And Detection With Improved Deep Convolutional Neural Networks (Dcnn), Md Zahangir Alom, Vijayan K. Asari, Anil Parwani, Tarek M. Taha
Microscopic Nuclei Classification, Segmentation, And Detection With Improved Deep Convolutional Neural Networks (Dcnn), Md Zahangir Alom, Vijayan K. Asari, Anil Parwani, Tarek M. Taha
Electrical and Computer Engineering Faculty Publications
Background Nuclei classification, segmentation, and detection from pathological images are challenging tasks due to cellular heterogeneity in the Whole Slide Images (WSI). Methods In this work, we propose advanced DCNN models for nuclei classification, segmentation, and detection tasks. The Densely Connected Neural Network (DCNN) and Densely Connected Recurrent Convolutional Network (DCRN) models are applied for the nuclei classification tasks. The Recurrent Residual U-Net (R2U-Net) and the R2UNet-based regression model named the University of Dayton Net (UD-Net) are applied for nuclei segmentation and detection tasks respectively. The experiments are conducted on publicly available datasets, including Routine Colon Cancer (RCC) classification and …
Optimization Of Dynamic Post-Disaster Emergency Distribution Network Under Perspective Of Rescue Efficiency, Xinyu Gao, Jing Ni
Optimization Of Dynamic Post-Disaster Emergency Distribution Network Under Perspective Of Rescue Efficiency, Xinyu Gao, Jing Ni
Journal of System Simulation
Abstract: Aiming at the emergency rescue, a dynamic directed rescue network is established with the dynamic changes of the location, demand, and affected population of disaster site, and a mathematical model is constructed with the maximum rescue efficiency. A data envelope analysis model is applied to evaluate the efficiency of each rescue route segment. An efficiency-based dynamic routing model is established to transform the dynamic routes into the multi-stage static routes through the time slice division. An improved hybrid greedy-ant colony optimization algorithm is designed to solve the model, and the proposed algorithm is compared with the genetic algorithm, particle …
Optimal Operation For Park Integrated Energy System Considering Interruptible Loads, Lixin Ma, Ying Cheng
Optimal Operation For Park Integrated Energy System Considering Interruptible Loads, Lixin Ma, Ying Cheng
Journal of System Simulation
Abstract: The operating mode of thermal power generation units has certain limitations in peak shaving capacity. Interruptible load (IL), as a power resource to be tapped, can be applied to the park integrated energy management and microgrid systems to guide users to reduce peak electricity consumption. The IL function is introduced into the park integrated energy system with combined heat and power units to improve the system's peak shaving ability, and the corresponding model is established with the optimization goal of economy. Taking an ecological park of northern region as the example, the adaptive chaotic particle swarm algorithm is used …
Idea Of Infinitesimal Method-Introduced Hybrid Tt&C Resources Joint Scheduling, Naiyang Xue, Dan Ding, Hongmin Wang, Yile Fan, Zhongqian Liu
Idea Of Infinitesimal Method-Introduced Hybrid Tt&C Resources Joint Scheduling, Naiyang Xue, Dan Ding, Hongmin Wang, Yile Fan, Zhongqian Liu
Journal of System Simulation
Abstract: Aiming at the study on the motion performance of a two-dimensional variable stiffness snake-robot, a Simulink/Adams co-simulation model is established, and the effects of the damping coefficient, the stiffness parameters and the angular frequency of the variable stiffness actuator on the motion energy consumption are analyzed. To realize the synchronous control of joint trajectory and stiffness, a motion controller based on two-layer CPG is proposed. The results show that the damping coefficient can effectively reduce the proportion of starting energy consumption of the variable stiffness snake-like robot, and the ratio of starting energy consumption increases with the stiffness parameter …