8 research outputs found
Optimal design and experimental verification of a spherical-wheel composite robot with automatic transformation system
This paper presents a design for a dual-mode prototype robot with the advantages of both a spherical robot and wheeled robot. A spherical robot has flexible movement capabilities, and the spherical shell can protect the mechanism and electronic devices. A wheeled mobile robot operates at high speed on a flat road. Its simple structure and control system has made it a popular choice in the field of robotics. Our objective was to develop a new concept robot capable of combining two different locomotion mechanisms to increase the locomotion stability and efficiency. The proposed mobile robot prototype was found to be capable and suitable in different situations. The exchange of modes between the spherical and the wheeled robot was realized by a structural change of the robot. The spherical-wheel mobile robot prototype is composed of a deformable spherical shell system, the propulsion system for the sphere and a wheeled mobile unit module. The exchange of locomotion modes was implemented by changing the geometric structure of spherical shell. The mechanical structure of the composite robot is presented in detail as well as the control system including hardware components and the software. The control system allowed for the automatic transformation of the composite robot between either of the locomotion modes. Based on analysis and simulation, the mechanism was optimized in its configuration and dimension to guarantee that robot had a compact structure and high efficiency. Finally, the experimental results of the transformation and motion processes provided dynamic motion parameters and verified the feasibility of the robot prototype
Development, analysis and control of a spherical aerial vehicle
With the ability to provide close surveillance in narrow space or urban areas, unmanned aerial vehicles (UAVs) have been of great interest to many scholars and researchers. The spherical aerial vehicle offers substantial design advantages over the conventional small aerial vehicles. As a new kind of small aerial vehicles, spherical aerial vehicle is presented in this paper. Firstly, the unique structure of spherical aerial vehicle is presented in detail. And then the dynamics theory based on this vehicle’s structure is analyzed, and the equations of force and moment acting on the aircraft were deduced. Based on the above, the dynamics model of spherical aerial vehicle is derived and the nonlinear state equation is established. The control system of the spherical aerial vehicle’s flight motion, including the hardware and software parts, is presented concretely. The backstepping control method is used in the state equation to get the stability of the spherical aerial vehicle’s motion. At last, the experimental results and simulation analysis are provided to confirm the feasibility of the spherical aerial vehicle’s flight movement in the air
Optimal design and experimental verification of a spherical-wheel composite robot with automatic transformation system
This paper presents a design for a dual-mode prototype robot with the advantages of both a spherical robot and wheeled robot. A spherical robot has flexible movement capabilities, and the spherical shell can protect the mechanism and electronic devices. A wheeled mobile robot operates at high speed on a flat road. Its simple structure and control system has made it a popular choice in the field of robotics. Our objective was to develop a new concept robot capable of combining two different locomotion mechanisms to increase the locomotion stability and efficiency. The proposed mobile robot prototype was found to be capable and suitable in different situations. The exchange of modes between the spherical and the wheeled robot was realized by a structural change of the robot. The spherical-wheel mobile robot prototype is composed of a deformable spherical shell system, the propulsion system for the sphere and a wheeled mobile unit module. The exchange of locomotion modes was implemented by changing the geometric structure of spherical shell. The mechanical structure of the composite robot is presented in detail as well as the control system including hardware components and the software. The control system allowed for the automatic transformation of the composite robot between either of the locomotion modes. Based on analysis and simulation, the mechanism was optimized in its configuration and dimension to guarantee that robot had a compact structure and high efficiency. Finally, the experimental results of the transformation and motion processes provided dynamic motion parameters and verified the feasibility of the robot prototype
Pac-Sim: Simulation of Multi-threaded Workloads using Intelligent, Live Sampling
High-performance, multi-core processors are the key to accelerating workloads
in several application domains. To continue to scale performance at the limit
of Moore's Law and Dennard scaling, software and hardware designers have turned
to dynamic solutions that adapt to the needs of applications in a transparent,
automatic way. For example, modern hardware improves its performance and power
efficiency by changing the hardware configuration, like the frequency and
voltage of cores, according to a number of parameters such as the technology
used, the workload running, etc. With this level of dynamism, it is essential
to simulate next-generation multi-core processors in a way that can both
respond to system changes and accurately determine system performance metrics.
Currently, no sampled simulation platform can achieve these goals of dynamic,
fast, and accurate simulation of multi-threaded workloads.
In this work, we propose a solution that allows for fast, accurate simulation
in the presence of both hardware and software dynamism. To accomplish this
goal, we present Pac-Sim, a novel sampled simulation methodology for fast,
accurate sampled simulation that requires no upfront analysis of the workload.
With our proposed methodology, it is now possible to simulate long-running
dynamically scheduled multi-threaded programs with significant simulation
speedups even in the presence of dynamic hardware events. We evaluate Pac-Sim
using the multi-threaded SPEC CPU2017, NPB, and PARSEC benchmarks with both
static and dynamic thread scheduling. The experimental results show that
Pac-Sim achieves a very low sampling error of 1.63% and 3.81% on average for
statically and dynamically scheduled benchmarks, respectively. Pac-Sim also
demonstrates significant simulation speedups as high as 523.5
(210.3 on average) for the train input set of SPEC CPU2017.Comment: 14 pages, 14 figure