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G. A. Garcia Ricardez N. Koganti P.-C. Yang S. Okada P. M. Uriguen Eljuri A. Yasuda 《Advanced Robotics》2020,34(3-4):189-201
Recent demographic trends in super aging societies, such as Japan, is leading to severe worker shortage. Service robots can play a promising role to augment human workers for performing various household and assistive tasks. Toilet cleanup is one such challenging task that involves performing complaint motion planning in a constrained toilet setting. In this study, we propose an end-to-end robotic framework to perform various tasks related to toilet cleanup. Our key contributions include the design of a complaint and multipurpose end-effector, an adaptive motion generation algorithm, and an autonomous mobile manipulator capable of garbage detection, garbage disposal and liquid removal. We evaluate the performance of our framework with the competition setting used for toilet cleanup in the Future Convenience Store Challenge at the World Robot Summit 2018. We demonstrate that our proposed framework is capable of successfully completing all the tasks of the competition within the time limit. 相似文献
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为了解决马桶盖的翘曲变形和表面质量问题,提出一种气体反压注射的方法,通过Moldex3D软件分析预测气体反压工艺塑件存在的可能问题并加以改善。设计了一套气体反压马桶盖模具,利用热流道+冷流道的方式解决了材料浪费和模具偏心问题,采用斜顶+直顶块的联合顶出机构减少了产品变形,同时制定型腔气体反压(GCP)辅助注塑工艺的流程,研发适用于GCP辅助注塑工艺的专用模具型腔气体压力控制系统及控制设备。通过工程实践表明:翘曲变形量减少12.5μm,表面粗糙度减小1.1μm。解决了马桶盖双面高光的问题,具有一定应用价值。 相似文献
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利用Fluent软件对某高校教学楼公共卫生间室内污染物浓度进行研究。通过改变门窗相对位置,隔板距地面高度,风压大小等方式,对比了不同模拟工况下呼吸区NH3和H2S的浓度分布。得出门窗相对位置侧对,隔板距地面高度0.15 m,且卫生间位处风压较大位置时,卫生间污染物浓度最低,为提高卫生间空气质量提供了方法和理论依据。 相似文献
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分析了住宅卫生间局部等电位联结系统及装置施工不理想的原因.阐述了现代住宅卫生间局部等电位联结的作用和重要性。通过对国家建筑标准设计图集《等电位联结安装》(02D501-2)和新疆工程建设标准设计图集《住宅建筑电气安装》(新05D802)中住宅卫生间局部等电位联结做法的比较、分析。认为后者的做法更符合当前住宅卫生间局部等电位联结的实际情况。 相似文献
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Improving the toilet environment holds promises for increasing the quality of life for elderly and disabled persons. This is one of the goals of the Friendly Rest Room (FRR) project. The study described in this article explored the preference and use of supports in the toilet environment during the entire toilet ritual. An adjustable test frame was built with a toilet and three types of supports. Fourteen subjects were asked which positions they favoured for each support. After using all three supports, they were asked which support they found most comfortable. In general, the preferred positions depended on personal preferences more than on dimensions of the body. It was concluded that there is a preference for vertical supports for sitting down and standing up. During toilet use the side supports were equally appreciated. 相似文献
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等电位连接技术是建筑物内防止雷电感应和电气安全保护的重要措施,它分为总等电位连接、楼层等电位连接和局部等电位连接。本文从电气施工图的设计审核入手,针对新建建筑物中浴室内的局部等电位连接端子板的接地设计,提出"浴室内局部等电位联接示例"图的改进思路。 相似文献
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AbstractThe non-isothermal drying behavior and kinetics of human feces (HF) were investigated by means of thermogravimetric analysis to provide data for designing a drying unit operation. The effect of heating rate and blending with woody biomass were also evaluated on drying pattern and kinetics. At low heating rate (1?K/min), there is effective transport of moisture, but a higher heating rate would be necessary at low moisture levels to reduce drying time. Blending with wood biomass improves drying characteristics of HF. The results presented in this study are relevant for designing non-sewered sanitary systems with in-situ thermal treatment. 相似文献
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文章从平面、剖面、环境、结构、材料五个方面,对坐落在上海嘉定新城远香湖公园中的一座公共厕所进行了分析,并对建筑设计中多方面概念相互牵扯、相互推进的设计方式进行了讨论。 相似文献