260 research outputs found
Prototype Design and Efficiency Analysis of a Novel Robot Drive Based on 3K-H-V Topology
Robot actuators directly affect the performance of robots, and robot drives
directly affect the performance of robot actuators. With the development of
robotics, robots have put higher requirements on robot drives, such as high
stiffness, high accuracy, high loading, high efficiency, low backlash, compact
size, and hollow structure. In order to meet the demand development of robot
actuators, this research base proposes a new robot drive based on 3K-H-V
topology using involute and cycloidal gear shapes, planetary cycloidal drive,
from the perspective of drive topology and through the design idea of
decoupling. In this study, the reduction ratio and the efficiency model of the
3K-H-V topology were analyzed, and a prototype planetary cycloidal actuator was
designed. The feasibility of the drive is initially verified by experimentally
concluding that the PCA has a hollow structure, compact size, and high torque
density (69 kg/Nm)
QoE-Driven Video Transmission: Energy-Efficient Multi-UAV Network Optimization
This paper is concerned with the issue of improving video subscribers'
quality of experience (QoE) by deploying a multi-unmanned aerial vehicle (UAV)
network. Different from existing works, we characterize subscribers' QoE by
video bitrates, latency, and frame freezing and propose to improve their QoE by
energy-efficiently and dynamically optimizing the multi-UAV network in terms of
serving UAV selection, UAV trajectory, and UAV transmit power. The dynamic
multi-UAV network optimization problem is formulated as a challenging
sequential-decision problem with the goal of maximizing subscribers' QoE while
minimizing the total network power consumption, subject to some physical
resource constraints. We propose a novel network optimization algorithm to
solve this challenging problem, in which a Lyapunov technique is first explored
to decompose the sequential-decision problem into several repeatedly optimized
sub-problems to avoid the curse of dimensionality. To solve the sub-problems,
iterative and approximate optimization mechanisms with provable performance
guarantees are then developed. Finally, we design extensive simulations to
verify the effectiveness of the proposed algorithm. Simulation results show
that the proposed algorithm can effectively improve the QoE of subscribers and
is 66.75\% more energy-efficient than benchmarks
Crustal plumbing system of post-rift magmatism in the northern margin of South China Sea: New insights from integrated seismology
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