Bipedal Robot Gait Generation Using Bessel Interpolation.

This paper introduces a novel approach to bipedal robot gait generation by proposing a higher-order form through the parameter equation of first-order Bessel interpolation. The trajectory planning for the bipedal robot, specifically for stepping up or down stairs, is established based on a three-dimensional interpolation equation. The experimental prototype, Roban, is utilized for the study, and the structural sketch of a single leg is presented. The inverse kinematics expression for the leg is derived using kinematic methods. Employing a position control method, the angle information is transmitted to the robot's joints, enabling the completion of both downstairs simulation experiments and physical experiments with the Roban prototype. The analysis of the experimental process reveals a noticeable phenomenon of hip and ankle joint tilting in the robot. This observation suggests that low-cost bipedal robots driven by servo motors exhibit low stiffness characteristics in their joints.

Ultra-Short-Term Offshore Wind Power Prediction Based on PCA-SSA-VMD and BiLSTM.

In order to realize the economic dispatch and safety stability of offshore wind farms, and to address the problems of strong randomness and strong time correlation in offshore wind power forecasting, this paper proposes a combined model of principal component analysis (PCA), sparrow algorithm (SSA), variational modal decomposition (VMD), and bidirectional long- and short-term memory neural network (BiLSTM). Firstly, the multivariate time series data were screened using the principal component analysis algorithm (PCA) to reduce the data dimensionality. Secondly, the variable modal decomposition (VMD) optimized by the SSA algorithm was applied to adaptively decompose the wind power time series data into a collection of different frequency components to eliminate the noise signals in the original data; on this basis, the hyperparameters of the BiLSTM model were optimized by integrating SSA algorithm, and the final power prediction value was obtained. Ultimately, the verification was conducted through simulation experiments; the results show that the model proposed in this paper effectively improves the prediction accuracy and verifies the effectiveness of the prediction model.

A Novel Underwater Image Enhancement Using Optimal Composite Backbone Network.

Continuous exploration of the ocean has made underwater image processing an important research field, and plenty of CNN (convolutional neural network)-based underwater image enhancement methods have emerged over time. However, the feature-learning ability of existing CNN-based underwater image enhancement is limited. The networks were designed to be complicated or embed other algorithms for better results, which cannot simultaneously meet the requirements of suitable underwater image enhancement effects and real-time performance. Although the composite backbone network (CBNet) was introduced in underwater image enhancement, we proposed OECBNet (optimal underwater image-enhancing composite backbone network) to obtain a better enhancement effect and shorten the running time. Herein, a comprehensive study of different composite architectures in an underwater image enhancement network was carried out by comparing the number of backbones, connection strategies, pruning strategies for composite backbones, and auxiliary losses. Then, a CBNet with optimal performance was obtained. Finally, cross-sectional research of the obtained network with the state-of-the-art underwater enhancement network was performed. The experiments showed that our optimized composite backbone network achieved better-enhanced images than those of existing CNN-based methods.

An AAM-Based Identification Method for Ear Acupoint Area.

Ear image segmentation and identification is for the "observation" of TCM (traditional Chinese medicine), because disease diagnoses and treatment are achieved through the massaging of or pressing on some corresponding ear acupoints. With the image processing of ear image positioning and regional segmentation, the diagnosis and treatment of intelligent traditional Chinese medicine ear acupoints is improved. In order to popularize ear acupoint therapy, image processing technology has been adopted to detect the ear acupoint areas and help to gradually replace well-trained, experienced doctors. Due to the small area of the ear and the numerous ear acupoints, it is difficult to locate these acupoints based on traditional image recognition methods. An AAM (active appearance model)-based method for ear acupoint segmentation was proposed. The segmentation was illustrated as 91 feature points of a human ear image. In this process, the recognition effects of the ear acupoints, including the helix, antihelix, cymba conchae, cavum conchae, fossae helicis, fossae triangularis auriculae, tragus, antitragus, and earlobe, were divided precisely. Besides these, specially appointed acupoints or acupoint areas could be prominent in ear images. This method made it possible to partition and recognize the ear's acupoints through computer image processing, and maybe own the same abilities as experienced doctors for observation. The method was proved to be effective and accurate in experiments and can be used for the intelligent diagnosis of diseases.

A Spring Compensation Method for a Low-Cost Biped Robot Based on Whole Body Control.

At present, the research and application of biped robots is more and more popular. The popularity of biped robots can be better promoted by improving the motion performance of low-cost biped robots. In this paper, the method of the Linear Quadratic Regulator (LQR) is used to track a robot's center of mass (COM). At the same time, the whole-body-control method and value function generated in the process of tracking COM are used to construct the quadratic programming (QP) model of a biped robot. Through the above method, the torque feedforward of the robot is obtained in the Drake simulation platform. The torque feedforward information of the robot is transformed into position feedforward information by spring compensation. In this paper, open loop control and spring compensation are used, respectively, to make the robot perform simple actions. Generally, after the compensation method of spring compensation is adopted, the roll angle and pitch angle of the upper body of the robot are closer to 0 after the robot performs an action. However, as the selected motion can introduce more forward and lateral motions, the robot needs more spring clearance compensation to improve performance. For improving the motion performance of a low-cost biped robot, the experimental results show that the spring compensation method is both reasonable and effective.

Review on Monitoring, Operation and Maintenance of Smart Offshore Wind Farms.

In recent years, with the development of wind energy, the number and scale of wind farms have been developing rapidly. Since offshore wind farms have the advantages of stable wind speed, being clean, renewable, non-polluting, and the non-occupation of cultivated land, they have gradually become a new trend in the wind power industry all over the world. The operation and maintenance of offshore wind power has been developing in the direction of digitization and intelligence. It is of great significance to carry out research on the monitoring, operation, and maintenance of offshore wind farms, which will be of benefit for the reduction of the operation and maintenance costs, the improvement of the power generation efficiency, improvement of the stability of offshore wind farm systems, and the building of smart offshore wind farms. This paper will mainly summarize the monitoring, operation, and maintenance of offshore wind farms, with particular focus on the following points: monitoring of "offshore wind power engineering and biological and environment", the monitoring of power equipment, and the operation and maintenance of smart offshore wind farms. Finally, the future research challenges in relation to the monitoring, operation, and maintenance of smart offshore wind farms are proposed, and the future research directions in this field are explored, especially in marine environment monitoring, weather and climate prediction, intelligent monitoring of power equipment, and digital platforms.