Science fiction reduces the eeriness of android robots: A field experiment

As suggested by the uncanny valley hypothesis, robots that resemble humans likely elicit feelings of eeriness. Based on the psychological model of meaning maintenance, we expected that the uncanny valley experience could be mitigated through a fictional story, due to the meaning-generating function of narratives. A field experiment was conducted, in which 75 participants interacted with the humanlike robot Telenoid. Prior to the interaction, they either read a short story, a non-narrative leaflet about the robot, or they received no preliminary information. Eeriness ratings were significantly lower in the science fiction condition than in both other conditions. This effect was mediated by higher perceived human-likeness of the robot. Our findings suggest that science fiction may provide meaning for otherwise unsettling future technologies.     

汽车总装线上远程激光焊接能量评估

通过分析激光源的类型和结构,建立参数数据库,并结合机器人运动的动力学分析,本研究提出了汽车总装线上远程激光焊接(RLW)的能量评估模型。通过对简单焊件进行焊接实验,将传统激光焊接和远程激光焊接进行了对比,结果发现,焊接过程中机器人运动能量逐渐减少,而激光能量逐渐增加。处理时间和激光功率是影响远程焊接能源效率的主要因素。     

碳化钒析出对X80管线钢焊接热影响区韧性的影响

通过Gleeble-3500热模拟机对钒(V)含量分别为0.06%和0.02%的X80管线钢进行了峰值温度为1350℃和750℃的焊接热模拟试验,利用硬度计和光学显微镜(OM)分别分析了焊接热模拟试样硬度和试样中马氏体-奥氏体岛状组织(M-A)的数量、尺寸和形貌。利用透射电镜(TEM)对母材、粗晶区和部分相变区中粒子析出进行了表征。结果表明,与0.02%含V量X80管线钢相比,0.06%含V量的X80管线钢由于V含量较高,在受到多道次焊接热循环影响时,部分相变区有较大量碳化钒(VC)粒子析出,明显阻碍位错运动,使其强度明显提高的同时脆性增大、塑性变形难以进行,导致其焊接热影响区韧性下降。     

Robust Mapping for Mobile Robot Based on Immobile Area Grid Map Considering Potential Moving Objects

Mobile robots need Simultaneous Localization and Mapping (SLAM) for autonomous movement in human living environments. The occupancy grid map used in SLAM is a conventional method which makes a map by an occupancy probability in each grid. This method renews a map based on whether an object is observed or not. In order to remove moving objects from a map, an additional method is required. However, conventional methods deal only with actually moving objects, and potential moving objects (e.g., standing humans) are mapped as static objects. Furthermore, only binary states, used or not used, are given to each object in map updating. This paper proposes the immobility area grid map to represent a map by an immobility probability in each grid. The proposed method renews a map based on the identification of observed objects by a robot's sensors, in addition to whether an object is observed or not. We introduce the map update parameter, which is set adaptively from the certainty of identification result of the object. Observed objects can take continuous states, truly static—unknown—truly moving, according to the parameter value. Potential moving objects are not mapped if the parameter takes values corresponding to moving objects. The experimental results show robust mapping in dynamic environments including potential moving objects.     

Maneuverability modeling and trajectory tracking for fish robot

This study develops a 6-DOF mathematical model for a robotic fish that considers surge, sway, heave, roll, pitch, and yaw. The model considers the conditions of a fish swimming in ocean current perturbations similar to the ocean current perturbations of the slender-body autonomous underwater vehicles. For swimming and turning behaviors, a nonlinear, dynamic, carangiform locomotion model is derived by using a planar four-link model. A 2-DOF barycenter mechanism is proposed to provide body stabilization and to serve as an actuating device for active control design. A barycenter control scheme is developed to change the center of gravity of the robot fish body by moving balancing masses along two axes. The projected torque on x and y axes propel pitch and roll angles to the desired settings. A Stabilizing controller, fish-tail mechanism, rigid body dynamics, and kinematics are incorporated to enable the fish robot to move in three dimensional space. Simulation results have demonstrated maneuverability and control system performance of the developed controller which is proposed to conduct path tracking of the robot fish as it swims under current perturbations.     

施工中电焊机的安全使用简述

从电焊机自身电气特点及建筑工地工作环境入手,探讨电焊机安全技术的实施方法。分析电焊机安全隐患及事故的分类以及电焊机在使用过程中产生危险的原因。介绍电焊机在安装以及作业过程中的安全措施。     

非径向管板焊接接头的超声检测

对AP1000压水堆核电站安全壳贯穿件的非径向管板焊接接头结构特点进行了介绍,并分析其超声检测工艺的重点和难点。通过建立统一的缺陷定位坐标系并结合被检构件的几何特点进行综合分析,推导得出了h值(缺陷回波最高点距套管外壁的距离)的计算方法。为超声检测对这类焊接接头缺陷的准确识别和定位提供了行之有效的方法,为解决这类焊接接头的超声检测技术受限区提供了行之有效的措施。     

基于响应曲面法的涡轮增压器废气阀门激光焊接工艺优化研究

激光焊接技术凭借其高效、高精度的特点已广泛应用在汽车制造产业,在涡轮增压器的生产中,激光焊接也逐步被应用于实现废气阀门与阀杆的连接。虽然当前对于激光焊接的工艺研究很多,但对工艺参数的优化也一直缺少一个科学有效的方法。本文以熔接深度、熔接宽度和内部缺陷作为响应变量,选取焊接功率、焊接速度作为因子,运用响应曲面法(RSM)设计实验方案,通过对响应结果进行分析,研究焊接参数对焊接质量的影响,拟合能够预测最优参数的数学模型,最终将获得的最优参数运用到生产中进行验证。     

Extended-state-observer-based dynamic surface control of flexible-joint robot systems with input saturation

This article presents an extended-state-observer-based dynamic surface control approach for flexible-joint robot systems with asymmetric input saturation and large unknown dynamic knowledge. Traditional controllers for flexible-joint robot systems usually use approximation technology to deal with unknown dynamics knowledge. Unlike the traditional control algorithm, this article utilizes an extended state observer to estimate the unknown dynamics. For the closed-loop system, the delay strategy handles the time-scale separation issue, the filtering system overcomes the “explosion of differentiation” caused by the repeated differentiation of auxiliary control signals, and the mean-value-theorem solves the input saturation problem of the actuator. The stability analysis implies that estimation errors of extended state observers (ESOs) and other state variables are semiglobally uniformly ultimately bounded. Compared with fuzzy control algorithms, the novel ESO-based dynamic surface control approach not only omits online learning time but also uses only a few control parameters to obtain satisfactory tracking performance. Finally, a comparison simulation experiment is provided to illustrate the effectiveness of the gained conclusions.