Corrosion Condition Evaluation at Muddy Creek Bridge

Corrosion rates were measured at the exposed spots of rebars near three corners of Muddy Creek Bridge located in northern West Virginia using a 3LP device. Also, chloride contents of the concrete samples taken from the vicinity of the spots were analyzed using a wet chemical method that had been developed in this study. The average corrosion rate over the three spots was 4.66 mA/m2, which is in the range of corrosion damage possible in 10–15 years. The average chloride content of the concrete over the three spots was 703 parts per million (ppm), which is well above the threshold limit value of 260 ppm. Although the corrosion rate measurement method using a 3LP device is by manual operation, it is found to be reliable and effective, and, thus, recommended for future studies of this kind of research. The wet chemical method developed in this study is found to be effective.     

机械臂的动态混合控制

本文研究当机械臂的终端受有约束时的控制问题,其中心内容是给出“任务规范投影算子”的概念,利用它首先将机械臂的动态方程解耦为两组方程,它们分别描述了运动与约束力,在此基础上给出了机械臂的控制律,使闭环系统跟踪期望的速度与约束力。     

Repair of Cracked Aluminum Overhead Sign Structures with Glass Fiber Reinforced Polymer Composites

Transportation departments have been using aluminum overhead sign structures since the 1950s. It is well documented that cracks develop in the welds between diagonal and chord members due to fatigue stresses from wind-induced vibration of the slender members. The cracks propagate to complete failure of the members, which can cause collapse of the truss and inflict injuries. The original design of overhead sign structures did not consider fatigue as a limit state. In addition, field welding of aluminum structures for any possible repairs is prohibited. A repair method for the cracked aluminum welded connections between diagonals and chord members using glass fiber reinforced polymer composites (GFRPs) is proposed. The static load carrying capacity of the welded connection, and the cracked connection repaired with GFRP composites are established. The paper describes the surface preparation of the aluminum tubular members, and the architecture and application sequence of the GFRP composite to retrofit the connection. Experimental results are presented from static tests of welded aluminum connections, welded aluminum connections retrofitted with GFRP composites, and new aluminum connections that depend only on GFRP composite elements for their strength. The results from monotonic static tests carried out on cracked welded specimens from actual sign structures show that the retrofitted connection with GFRP reinforcement achieved 1.17 to 1.25 times the capacity of the welded aluminum connection without any visible cracks. This result, and the minimal traffic disruption anticipated in the actual field application, makes this retrofit method a good candidate for implementation.     

Robot Pose Estimation in Unknown Environments by Matching 2D Range Scans

A mobile robot exploring an unknown environment has no absolute frame of reference for its position, other than features it detects through its sensors. Using distinguishable landmarks is one possible approach, but it requires solving the object recognition problem. In particular, when the robot uses two-dimensional laser range scans for localization, it is difficult to accurately detect and localize landmarks in the environment (such as corners and occlusions) from the range scans.In this paper, we develop two new iterative algorithms to register a range scan to a previous scan so as to compute relative robot positions in an unknown environment, that avoid the above problems. The first algorithm is based on matching data points with tangent directions in two scans and minimizing a distance function in order to solve the displacement between the scans. The second algorithm establishes correspondences between points in the two scans and then solves the point-to-point least-squares problem to compute the relative pose of the two scans. Our methods work in curved environments and can handle partial occlusions by rejecting outliers.     

一种新的位置数据融合方法的研究

给出了一新的基于团队一致法的多传感器位置数据融合方法，该方法按传感器队中的每个成员的测量不确定性，构造团队期望效用函数（或密度），并基于该期望效用函数求得位置参数估计，其优点是可消除失效传感器和测量值为野值的传感器的影响，本文给出了仿真结果。     

Generation of adaptive gait patterns for quadruped robot with CPG network including motor dynamic model

This paper describes the generation of adaptive gait patterns using new Central Pattern Generators (CPGs) including motor dynamic models for a quadruped robot under various environments. The CPGs act as the flexible oscillators of the joints and adjust joint angles to required values. The CPGs are interconnected with each other and sets of their coupling parameters are adjusted by a genetic algorithm so that the quadruped robot can realize stable and adequate gait patterns. Generation of gait patterns results in the formation of the CPG networks suitable for the formation of not only a straight walking pattern but also of rotating gait patterns. Experimental results demonstrate that the proposed CPG networks are effective for the automatic adjustment of the adaptive gait patterns for the tested quadruped robot under various environments. Furthermore, the target tracking control based on image processing is achieved by combining the general gait patterns. © 2006 Wiley Periodicals, Inc. Electr Eng Jpn, 155(1): 35–43, 2006; Published online in Wiley InterScience ( www.interscience.wiley.com ). DOI 10.1002/eej.20225     

The Influence of Gravity on Trajectory Planning for Climbing Robots with Non-Rigid Legs

In this paper questions related to the occurrence of departures of a legged climbing robot from the given trajectory are considered. The basic idea of the paper is to show that, if there are slackness and non-rigidities, the legged climbing robot moving upon an inclined or vertical plane, departs systematically from the planned trajectory. It is demonstrated that these departures result from the gravity and are of systematic character. It is also shown how the inclusion of torsion effect changes substantially the nature of systematic errors arising from robot's movement along the inclined surface.     

步行机攀登横杆的受力模型及分析

针对４足步行机器人的横杆攀登过程，在考虑弹性变形的基础上利用刚度矩阵建立其受力模型，并通过计算机仿真对攀登过程的不同情况进行了分析，其结果为具有攀登功能的步行机构结构设计及控制算法确定提供了理论依据。     

Manipulating Deformable Linear Objects: Fuzzy-Based Active Vibration Damping Skill

Human can handle a deformable object and damp its vibration with recognized skill. However, for an industrial robot, handling a deformable object with acute vibration is often a difficult task. This paper addresses the problem of active damping skill for handling deformable linear objects (DLOs) by using a strategy inspired from human manipulation skills. The strategy is illustrated by several rules, which are explained by a fuzzy and a P controller. A proportional-integral-derivative (PID) controller is also employed to explain the rules as a comparison. The interpretations from controllers are translated into high level commands in a robotic language V+. A standard industrial robot with a force/torque sensor mounted on the wrist was employed to demonstrate the skill. Experimental results showed the fuzzy based damping skill is quite effective and stable even without any previous acknowledge of the deformable linear objects.Category (5)