Haptic teleoperation of a multirotor aerial robot using path planning with human intention estimation

Classical haptic teleoperation systems heavily rely on operators’ intelligence and efforts in aerial robot navigation tasks, thereby posing significantly users’ workloads. In this paper, a novel shared control scheme is presented facilitating a multirotor aerial robot haptic teleoperation system that exhibits autonomous navigation capability. A hidden Markov model filter is proposed to identify the intention state of operator based on human inputs from haptic master device, which is subsequently adopted to derive goal position for a heuristic sampling based local path planner. The human inputs are considered as commanded velocity for a trajectory servo controller to drive the robot along the planned path. In addition, vehicle velocity is perceived by the user via haptic feedback on master device to enhance situation awareness and navigation safety of the user. An experimental study was conducted in a simulated and a physical environment, and the results verify the effectiveness of the novel scheme in safe navigation of aerial robots. A user study was carried out between a classical haptic teleoperation system and the proposed approach in the identical simulated complex environment. The flight data and task load index (TLX) are acquired and analyzed. Compared with the conventional haptic teleoperation scheme, the proposed scheme exhibits superior performance in safe and fast navigation of the multirotor vehicle, and is also of low task and cognitive loads.

     

Electrochemical investigation of La0.4Sr0.6TiO3 synthesized in air for SOFC application

Journal of Applied Electrochemistry - La-doped titanate materials have been widely investigated as alternative Ni-free anodes for solid oxide fuel cells (SOFCs). In this study, La0.4Sr0.6TiO3 (LST)...     

A setup for panoramic stereo imaging

In this paper, based on the proposed basic implementation of circular projection, a multi-camera setup which can be used for panoramic stereo imaging is presented. Firstly, we get multiple stereo pairs instantly by fixing multiple cameras on the proposed setup, which is an approximate implementation of circular projection. We then prove that the influence on the resultant stereo pairs generated by this approximate setup is slight based on similar triangles and structural similarity (SSIM). With these stereo pairs, the automatic panoramic image stitching algorithm is applied to generate panoramas for both eyes. In addition, with reasonable distance between cameras and the scene, physical dimensions of this setup are given. Finally, experimental results demonstrate that our scheme can be used to generate cylindrical stereo panoramic image with proper scene depth, which can provide viewers with distinguishing stereoscopic experience. The device can be installed on the mobile equipment and captures panoramic stereo image in a moment without stopping. In the future, the proposed setup can be used in the field of network navigation, video monitor and virtual reality.     

Trust-based group services selection in web-based service-oriented environments

Multi-agent technologies have been widely employed for the development of web-based systems, including web-based e-markets, web-based grid computing, e-governments and service-oriented software systems. In these service-oriented systems, service provider agents and service consumer agents are autonomous and rational entities, which can enter and leave the environments freely. For simplicity, we use terms ‘provider’ and ‘consumer’ to represent this two types of agents. How to select the most suitable service providers according to a service request from a consumer in such an open environment is a very challenging issue. In this paper, we propose an innovative trust model, called the GTrust model, for service group selection in general service-oriented environments. In the GTrust model, the trust evaluation for a service group is based on the functionality coverage of the group, the dependency relationships among individual services in the group, the ratings of individual services on the attributes of the service request and a similarity measurement of the extent to which reference reports can reflect the service request in terms of the priority distribution of attributes. The experimental results and analysis demonstrate the good performance of the GTrust model on the service group selection in service-oriented environments.     

从设计软件中获取明细表信息技术研究

机械机电行业中大量使用设计软件制作的工程图纸,如何从这些图纸中有效和快速的获取其中的明细表信息是一个关键环节.本文针对目前明细表信息提取过程繁琐、效率不高的问题,通过对明细表信息提取方法的阐述,实现了从设计软件图纸中简洁、快速的读取信息的目标.在此基础上还可以把这些信息集成到一个软件中,以便实现和其他软件系统的集成.     

New insights on survivability in multi-domain optical networks

With the development of intelligent optical networks and the general multi-protocol label switching (GMPLS) technique, the seamless convergence between IP network and optical network is no longer be a dream but a practical reality. Similar to the Internet, current optical networks have been divided into multiple domains each of which has its own network provider and management policy. Therefore, the development of multi-domain optical networks will be the trend of new-generation intelligent optical networks, and GMPLS-based survivability for multi-domain optical networks will become a hot topic of research in the future. This paper provides a comprehensive review of the existing survivable schemes in multi-domain optical networks and analyzes the shortcomings of current research. Based on previous studies, we present possible challenges and propose new ideas to design efficient survivable schemes to guide the future work of researchers in multi-domain optical networks.     

Single-Atom Metal Sites Anchored Hydrogen-Bonded Organic Frameworks for Superior “Two-In-One” Photocatalytic Reaction

Photoredox catalysis is a green solution for organics transformation and CO₂ conversion into valuable fuels, meeting the challenges of sustainable energy and environmental concerns. However, the regulation of single-atomic active sites in organic framework not only influences the photoredox performance, but also limits the understanding of the relationship for photocatalytic selective organic conversion with CO₂ valorization into one reaction system. As a prototype, different single-atomic metal (M) sites (M²⁺ = Fe²⁺, Co²⁺, Ni²⁺, Cu²⁺, and Zn²⁺) in hydrogen-bonded organic frameworks (M-HOF) backbone with bridging structure of metal-nitrogen are constructed by a typical “two-in-one” strategy for superior photocatalytic C N coupling reactions integrated with CO₂ valorization. Remarkably, Zn-HOF achieves 100% conversion of benzylamine oxidative coupling reactions, 91% selectivity of N-benzylidenebenzylamine and CO₂ conversion in one photoredox cycle. From X-ray absorption fine structure analysis and density functional theory calculations, the superior photocatalytic performance is attributed to synergic effect of atomically dispersed metal sites and HOF host, decreasing the reaction energy barriers, enhancing CO₂ adsorption and forming benzylcarbamic acid intermediate to promote the redox recycle. This work not only affords the rational design strategy of single-atom active sites in functional HOF, but also facilitates the fundamental insights upon the mechanism of versatile photoredox coupling reaction systems.     

In Situ Polymerizing Internal Encapsulation Strategy Enables Stable Perovskite Solar Cells toward Lead Leakage Suppression

Despite the outstanding power conversion efficiency (PCE) of perovskite solar cells (PSCs) achieved over the years, unsatisfactory stability and lead toxicity remain obstacles that limit their competitiveness and large-scale practical deployment. In this study, in situ polymerizing internal encapsulation (IPIE) is developed as a holistic approach to overcome these challenges. The uniform polymer internal package layer constructed by thermally triggered cross-linkable monomers not only solidifies the ionic perovskite crystalline by strong electron-withdrawing/donating chemical sites, but also acts as a water penetration and ion migration barrier to prolong shelf life under harsh environments. The optimized MAPbI₃ and FAPbI₃ devices with IPIE treatment yield impressive efficiencies of 22.29% and 24.12%, respectively, accompanied by remarkably enhanced environmental and mechanical stabilities. In addition, toxic water-soluble lead leakage is minimized by the synergetic effect of the physical encapsulation wall and chemical chelation conferred by the IPIE. Hence, this strategy provides a feasible route for preparing efficient, stable, and eco-friendly PSCs.     

Thermally Responsive Fibers for Versatile Thermoactivated Protective Fabrics

Smart textiles with good mechanical adaptability play an important role in personal protection, health monitoring, and aerospace applications. However, most of the reported thermally responsive polymers has long response time and poor processability, comfort, and wearability. Skin-core structures of thermally responsive fibers with multiple commercial fiber cores and temperature-responsive hydrogel skins are designed and fabricated, which exhibit rapid mechanical adaptability, good thermohardening, and thermal insulation. This universal method enables tight bonding between various commercial fiber cores and hydrogel skins via specific covalently anchored networks. At room temperature, prepared fibers show softness, flexibility, and skin compatibility similar to those of ordinary fibers. As temperature rises, smart fibers become hard, rigid, and self-supporting. The modulus of hydrogel skin increases from 304% to 30883%, showing good mechanoadaptability and impact resistance owing to the synergy between hydrophobic interactions and ionic bonding. Moreover, this synergistic effect leads to an increase in heat absorption, and fibers exhibit good thermal insulation, which reduces the contact temperature of the body surface by ≈25 °C under the external temperature of 95 °C, effectively preventing thermal burns. Notably, the active mechanoadaptability of these smart fibers using conductive fibers as cores is demonstrated. This study provides feasibility for fabricating environmentally adaptive intelligent textiles.     

Stabilization of uncertain networked control systems with actuator saturation and probabilistic cyberattacks

This paper investigates the stabilization of uncertain networked control systems (NCSs) with actuator saturation and cyberattacks. The cyberattacks are governed by a set of independent random variables satisfying Bernoulli distribution. To relieve the network bandwidth load effectively, an event-triggered communication strategy is proposed. By employing Lyapunov stability theory and stochastic analysis techniques, a stability criterion is obtained for the system with actuator saturation and cyberattacks. Moreover, the desired controller gain is derived by solving some matrix inequalities. Finally, the validity and applicability of the criteria are verified through numerical examples.