Modeling and Control of Hybrid-driven Gliding Motion for an Underwater Gliding Snake-like Robot

International Journal of Control, Automation and Systems - An underwater gliding snake-like robot (UGSR) combines the advantages of an underwater glider (UG) and an underwater snake-like robot...     

Design of a Sliding Mode Controller with Fuzzy Rules for a 4-DoF Service Robot

In this study, a novel control strategy that combines a fuzzy system and the sliding mode controller is proposed for improving stability and achieving high-accuracy control in service robots. Based on the kinematic and dynamic models of a 4-degrees of freedom manipulator, and the observed tracking error using a low-cost inertial sensor, the proposed fuzzy sliding mode controller (FSMC(IMU)) is designed to generate appropriate torques at robot joints. The FSMC(IMU) controller parameters are adjusted through a fuzzy rule that determines the state of the system. The error in trajectory tracking is reduced through this. The gain value K can be finely adjusted by fuzzy control by observing the degree of vibration after entering the sliding mode surface. The larger the observed vibration value, the faster the fuzzy controller follows the given input trajectory by selecting a smaller gain value K and reducing jitter due to the sliding mode control’s discontinuous switch characteristics. When the degree of error is small, it achieves faster and more accurate control performance than when the observer is not used. The stability of the FSMC(IMU) system is verified via disturbance experiments. The experimental data are compared with the conventional sliding mode controller and proportional-derivative control. The experimental results demonstrate that the proposed FSMC(IMU) controller is stable, fast, and highly accurate in controlling service robots.

     

Inclusion of third-person perspective in CAVE-like immersive 3D virtual reality role-playing games for social reciprocity training of children with an autism spectrum disorder

Universal Access in the Information Society - The present study aimed to improve the ability of children with autism to recognize emotions correctly. We used our third-person perspective...     

Visiting pebbles on rectangular grids: coordinating multiple robots in mobile fulfilment systems

Intelligent Service Robotics - Multi-robot path finding and coordination is one of the key performance-affecting subsystems of the overall robotic order fulfilment process for use in warehouse...     

Companion robots for older adults: Rodgers’ evolutionary concept analysis approach

Intelligent Service Robotics - This study aims to analyze the concept of companion robots for older adults from the perspective of nursing. This study employed a concept analysis. The literature...     

Reaction mechanism and microstructure evolution of reaction sintered <Emphasis Type="Italic">h</Emphasis>-BN

Hexagonal boron nitride ceramic (h-BN) based on the nitridation of B powders was obtained by reaction sintering method. The effects of sintering temperature on the mechanical properties and microstructure of the resultant products were investigated and the reaction mechanism was discussed. Results showed that the reaction between B and N₂ occurred vigorously at temperatures ranging from 1 000 °C to 1 300 °C, which resulted in the generation of t-BN. When the temperature exceeded 1 450 °C, transformation from t-BN to h-BN began to occur. As the sintering temperature increased, the spherical particles of t-BN gradually transformed into fine sheet particles of h-BN. These particles subsequently displayed a compact arrangement to achieve a more uniform microstructure, thereby increasing the strength.     

Optimization of uncertain acoustic metamaterial with Helmholtz resonators based on interval model

Uncertainties existing in the acoustic metamaterial may strongly affect its unusual properties. Aiming at this actuality, the interval model is introduced to treat with uncertainties existing in the acoustic metamaterial with Helmholtz resonators. Frequency intervals in which the sound intensity transmission coefficients are certainly less than the required value and the effective bulk moduli are certainly negative are defined as conservative approximations. Frequency intervals in which the sound intensity transmission coefficients may be less than the required value and the effective bulk moduli may be negative are defined as unsafe approximations. The proportion of the conservative approximation and the unsafe approximation is defined as an approximate precision. Based on the quantification of uncertainties of the sound intensity transmission coefficients and the negative effective bulk moduli, an optimization model for the interval acoustic metamaterial with Helmholtz resonators is constructed. Numerical results showed that even suffering from effects of interval parameters, unusual properties of the optimized acoustic metamaterial (such as the bandgap of the sound transmission and the negative effective bulk modulus) could be improved.     

Performance evaluation of anti-radiation based on the gamma degradation process

In the environment of space radiation, the high-energy charged particles or high-energy photons acting on a spacecraft can cause either temporary device degradation or permanent failure. The traditional probability model is difficult to obtain reliable estimation of unit radiation resistance performance with small samples. Considering that different products will change differently after high-energy particle radiation, we construct a model based on the gamma degradation process. This model can efficiently describe the law of unit radiation resistance variation with the total radiation dose levels under the effect of the total dose and displacement damage. Finally, the proposed model is used to assess the anti-radiation performance of the N-channel power MOSFET device STRH60N20FSY3 produced by STM to obtain average unit radiation resistance, survival probability, survival function, etc.     

Theoretical Investigation of the Viscous Damping Coefficient of Hydraulic Actuators

The viscous damping coefficient(VDC) of hydraulic actuators is crucial for system modeling,control and dynamic characteristic analysis.Currently,the researches on hydraulic actuators focus on behavior assessment,promotion of control performance and efficiency.However,the estimation of the VDC is difficult due to a lack of study.Firstly,using two types of hydraulic cylinders,behaviors of the VDC are experimentally examined with velocities and pressure variations.For the tested plunger type hydraulic cylinder,the exponential model B=αυ~(-β),(α0,β0)or B=α_1e~(-β_1υ)+α_2e~(-β_2υ)(α_1,α_20,β_1,β_20),fits the relation between the VDC and velocities for a given pressure of chamber with high precision.The magnitude of the VDC decreases almost linearly under certain velocities when increasing the chamber pressure from 0.6 MPa to 6.0 MPa.Furthermore,the effects of the chamber pressures on the VDC of piston and plunge type hydraulic cylinders are different due to different sealing types.In order to investigate the VDC of a plunger type hydraulic actuator drastically,a steady-state numerical model has been developed to describe the mechanism incorporating tandem seal lubrication,back-up ring related friction behaviors and shear stress of fluid.It is shown that the simulated results of VDC agree with the measured results with a good accuracy.The proposed method provides an instruction to predict the VDC in system modeling and analysis.     

„Leben machen,sterben lassen“: Palliative Care und Biomacht

Definition of the problem This article takes a critical look at the current theory and practice of palliative care (PC), how it deals with death and dying, and the underlying guiding principle of a good death. Thereby, Foucault’s concept of biopower is utilized. Argument Because PC aims to facilitate a good death, manifold criteria and measures have been developed that help plan interventions and determine their success. In light of the concept of biopower, certain problematic aspects of this development become manifest that usually remain hidden in the bioethical discourse. Conclusion A goal of PC is to improve the quality of life of the dying and therefore not only treats physical symptoms but also psychological, social, and spiritual suffering; thus, it commits itself to maximizing life in a way that can become overdemanding for the individual and possibly does not satisfy the patient’s real needs.