Stability is a prerequisite for legged robots to execute tasks and traverse rough terrains. To guarantee the stability of quadruped locomotion and improve the terrain adaptability of quadruped robots, a stability-guaranteed and high terrain adaptability static gait for quadruped robots is addressed. Firstly, three chosen stability-guaranteed static gaits: intermittent gait 1&2 and coordinated gait are investigated. In addition, then the static gait: intermittent gait 1, which is with the biggest stability margin, is chosen to do a further research about quadruped robots walking on rough terrains. Secondly, a position/force based impedance control is employed to achieve a compliant behavior of quadruped robots on rough terrains. Thirdly, an exploratory gait planning method on uneven terrains with touch sensing and an attitude-position adjustment strategy with terrain estimation are proposed to improve the terrain adaptability of quadruped robots. Finally, the proposed methods are validated by simulations.

We demonstrate a novel, to the best of our knowledge, micro-opto-electro-mechanical system (MOEMS) gyroscope based on the Talbot effect of a single-layer near-field diffraction grating. The Talbot effect of an optical grating is studied both theoretically and experimentally. A structure of grating–mirror combination, fabricated by the micro–nano processing method, is used for out-of-plane structure detection. The detection of a weak Coriolis force is realized by using the highly sensitive displacement characteristic of Talbot imaging of near-field diffraction with a mirror mass block and single-layer grating. The experimental results show that, the micro-displacement detection sensitivity can reach up to 0.09%/nm, and the MOEMS gyroscope can be moved in the driven direction, with a resonant frequency of 7048 Hz and a quality factor of 700, which indicates great potential of the Talbot effect in developing novel high-performance micro-gyroscopes.

In this work, a new type of high temperature fiber grating diaphragm pressure sensor is described, including the physical design structure, in-depth analysis of optical response to changes in pressure, and a discussion of the temperature compensation method. Mathematical model of high-temperature compressive shape change and normal-temperature compressive shape change is built, and effective temperature compensation method is proposed, which can both contribute to solve temperature interference of pressure sensor at high temperature. In addition, the simulation computation is conducted for the external encapsulation of the sensor under the high-temperature and pressure according to the design model. Through analysis and comparison of data affecting the changing position of grating signal, the correctness of the simulation result is verified by the development of the prototype. The temperature compensation method is proposed to realize pressure measurement of sensor with a relative error below 4.6%F.S. and range to 50 MPa in the environment of 300, which meets with the safety research requirement of the cartridge system.

Continuous terahertz detection imaging technology is widely used in polymer detection. However, it is very difficult to quantitatively analyze defects due to the characteristics of focusing lenses. On the one hand, a lens with a short focal length means the achievement of a better spatial resolution and a poor depth resolution. On the other hand, a lens with a long focal length results in a better depth resolution and a worse spatial resolution. In addition, in order to ensure the positioning accuracy, the upper surface of a sample is often used as the focal plane for detection, which causes the energy outside the range of the focal depth to drastically decrease and seriously affect the imaging quality. In this paper, a method is proposed for debond detection and quantitative analysis in layered structures. Firstly, by using multi-directional structural elements for measuring the difference between the debonding region and local surroundings, we extract defective edges and suppress clutters by extracting a multi-directional morphological filter. Then, the improved Otsu method is used for threshold segmentation. The superiority of the proposed method is confirmed on synthetic datasets with low SNR image and real terahertz images. Moreover, the detection error in the terahertz images of layered structures is controlled within 10.17%-11.27%. It provides a new method and idea for quantitative analysis of terahertz detection in layered structures.

Edge caching and adaptive bitrate video streaming are two promising techniques to ensure a good video viewing experience. Edge caching can bring contents closer to users to alleviate redundant content transmissions, reduce user-perceived delay and improve transmission capability. Adaptive bitrate video streaming is able to adaptively adjust video quality based on time-varying network conditions and different users’ preference. Due to the strong coupled relationship between caching and user association, in this article, we focus on the issue of joint caching and user association optimization for adaptive bitrate video streaming in UAV-assisted cellular networks. First, we formulate the optimization problem as a non-linear integer programming (NLIP) to minimize the content delivery delay. To solve this challenging NP-hard problem, a heuristic algorithm based on quantum-inspired evolutionary algorithm (QEA) is proposed to obtain the best caching and user association solutions iteratively. Finally, simulations are conducted to demonstrate that compared with three benchmark algorithms without joint optimization of caching and user association, the proposed algorithm can greatly improve users’ video viewing experience and achieve better system performance in terms of reducing the total content delivery delay.

In order to meet the increasing demand of non-destructive testing (NDT) in engineering practice, a continuous terahertz NDT platform based on linear scanning has been developed, with a center frequency of 154 GHz and a bandwidth of 56 GHz. This system combines frequency modulation continuous wave (FMCW) radar technology with a continuous scanning structure, as well as a data acquisition platform to provide a non-contact detection method; this is highly efficient and compensates for the shortcomings of traditional methods such as microwave, X-ray, ultrasonic, and others in safety inspection and special detection. In addition, a signal processing method of spectral refinement and correction is proposed in this paper for accurate thickness measurement. The results show that the method has a high accuracy for ABS, PVC, and ceramic matrix composites. By extracting the characteristic parameters, the detection and imaging of prefabricated defects, such as debonding and bubbles in composite materials, have been successfully achieved. This helps to evaluate the internal state of the inspected object more intuitively and further meets the requirements of industrial NDT.