Shared human–robot path following control of an unmanned ground vehicle

This paper considers the shared path following control of an unmanned ground vehicle by a single person. A passive measure of human intent is used to blend the human and machine inputs in a mixed initiative approach. The blending law is combined with saturated super-twisting sliding mode speed and heading controllers, so that exogenous disturbances can be counteracted via equivalent control. It is proven that when the proposed blending law is used, the combined control signals from both the human and automatic controller respect the actuator magnitude constraints of the machine. To demonstrate the approach, shared control experiments are performed using an unmanned ground vehicle, which follows a lawn mower pattern shaped path.     

深孔爆破成井技术在三道庄钼矿的试验与应用研究

洛钼集团矿山公司三道庄矿区由于历史原因,露天开采境界地下内存在的采空区已危及矿山公司的正常安全生产,阻碍了洛钼集团可持续发展。为解决这一重大问题,经过充分调研和多方论证,认为深孔一次爆破成井技术是解决此类采空区难题唯一的经济上合理、技术可行、安全可靠的手段与途径。深孔爆破成井实现与采空区顶板的贯通,使采空区边岩稳定,顶岩暴露面积缩小,确保了采空区的稳定;保证了台阶正常推进。     

Optimal design of nonlinear model predictive controller based on new modified multitracker optimization algorithm

The controller design for the robotic manipulator faces different challenges such as the system's nonlinearities and the uncertainties of the parameters. Furthermore, the tracking of different linear and nonlinear trajectories represents a vital role by the manipulator. This paper suggests an optimal design for the nonlinear model predictive control (NLMPC) based on a new improved intelligent technique and it is named modified multitracker optimization algorithm (MMTOA). The proposed modification of the MTOA is carried out based on opposition-based learning (OBL) and quasi OBL approaches. This modification improves the exploration behavior of the MTOA to prevent it from becoming trapped in a local optimum. The proposed method is applied on the robotic manipulator to track different linear and nonlinear trajectories. The NLMPC parameters are tuned by the MMTOA rather than the trial and error method of the designer. The proposed NLMPC based on MMTOA is compared with the original MTOA, genetic algorithm, and cuckoo search algorithm in literature. The superiority and effectiveness of the proposed controller are confirmed to track different linear and nonlinear trajectories. Furthermore, the robustness of the proposed method is emphasized against the uncertainties of the parameters.     

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.     

Parallel chaos optimization algorithm with migration and merging operation

Chaos optimization algorithm (COA) utilizes the chaotic maps to generate the pseudo-random sequences mapped as the decision variables for global optimization applications. A kind of parallel chaos optimization algorithm (PCOA) has been proposed in our former studies to improve COA. The salient feature of PCOA lies in its pseudo-parallel mechanism. However, all individuals in the PCOA search independently without utilizing the fitness and diversity information of the population. In view of the limitation of PCOA, a novel PCOA with migration and merging operation (denoted as MMO-PCOA) is proposed in this paper. Specifically, parallel individuals are randomly selected to be conducted migration and merging operation with the so far parallel solutions. Both migration and merging operation exchange information within population and produce new candidate individuals, which are different from those generated by stochastic chaotic sequences. Consequently, a good balance between exploration and exploitation can be achieved in the MMO-PCOA. The impacts of different one-dimensional maps and parallel numbers on the MMO-PCOA are also discussed. Benchmark functions and parameter identification problems are used to test the performance of the MMO-PCOA. Simulation results, compared with other optimization algorithms, show the superiority of the proposed MMO-PCOA algorithm.     

面向草莓抓取的气动四叶片软体抓手研制

农林业中果蔬的自动化采摘需求日趋强烈,末端抓手是实现无损采摘的关键。传统的末端抓手以刚性结构居多,现有的各种柔性抓手也存在抓取力不足、包覆性不佳等缺点。本文以草莓的无损采摘为研究对象,提出将草莓外部轮廓曲线作为设计曲线,设计了一种新型气动四叶片软体抓手。首先,对软体抓手的结构做仿真优化,提出一种安全地附着在目标物表面的设想。然后,在进行草莓表面的最小破坏应力试验的基础上,测试了软体抓手的末端力,验证了其实现无损抓取的可行性。再次,利用动态捕捉技术,研究了软体抓手叶面的弯曲变形规律。最后,选择使用弧线型气体通道的软体抓手进行了草莓抓取测试,结果证明了气动四叶片软体抓手可以实现草莓的无损抓取,抓取成功率达90%,破损率为2%,表明所研制的四叶片软体抓手用于草莓抓取时具有良好的稳定性和实用性,可用于草莓采摘的末端执行器。本研究也可为其他易损果蔬的采摘技术提供理论基础和技术支撑。     

Comments on “Study and application of discharge calibration for submerged radial gates” by Guo X., Guo Y., Wang T., Fu H., Li J. Flow Meas. Instrum. 78 (2021) 101912, https://doi.org/10.1016/j.flowmeasinst.2021.101912

This paper discusses the capability of Guo et al.'s (2021) equations to determine the discharge of radial gates under submerged flow conditions. It was concluded that Guo et al.'s (2021) equations are associated with error reduction compared to the Incomplete Self-Similarity (ISS) theory and the calibration method. However, it does not have a significant advantage over Energy-Momentum (E-M) approach. Employing E-M principles, new equations were proposed to determine the discharge of radial gates, which has some advantages compared to Guo et al. (2021), such as (1) error reduction under partially and fully submerged flow conditions, (2) least dependence on the empirical constants, (3) uniformity of form over the entire submerged condition, and (4) no need to classify the submerged flow. Field calibration showed that the proposed equations in the present study for a single gate predict the discharge of parallel radial gates with a mean absolute error of less than 4.5% subject to the submerged operation of all open gates.     

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.     

The World robot summit disaster robotics category – achievements of the 2018 preliminary competition

The World Robot Summit is a robot Olympics and aims to be held in a different country every four years from 2020. The concept of the Plant Disaster Prevention challenge is daily inspections, checks, and emergency response in industrial plants, and in this competition, robots must carry out these types of missions in a mock-up plant. The concept of the Tunnel Disaster Response and Recovery challenge is emergency response to tunnel disasters, and is a simulation competition whereby teams compete to show their ability to deal with disasters, by collecting information and removing debris. The Standard Disaster Robotics challenge assesses, in the form of a contest, the standard performance levels of a robot that are necessary for disaster prevention and emergency response. The World Robot Summit Preliminary Competition was held at Tokyo Big Sight in October 2018, and 36 teams participated in the Disaster Robotics Category. UGVs and UAVs contended the merits of new technology for solving complex problems, using core technologies such as mobility, sensing, recognition, performing operations, human interface, autonomous intelligence etc., as well as system integration and implementation of strategies for completing missions, gaining high-level results.     

A high performance crashworthiness simulation system based on GPU

Crashworthiness simulation system is one of the key computer-aided engineering (CAE) tools for the automobile industry and implies two potential conflicting requirements: accuracy and efficiency. A parallel crashworthiness simulation system based on graphics processing unit (GPU) architecture and the explicit finite element (FE) method is developed in this work. Implementation details with compute unified device architecture (CUDA) are considered. The entire parallel simulation system involves a parallel hierarchy-territory contact-searching algorithm (HITA) and a parallel penalty contact force calculation algorithm. Three basic GPU-based parallel strategies are suggested to meet the natural parallelism of the explicit FE algorithm. Two free GPU-based numerical calculation libraries, cuBLAS and Thrust, are introduced to decrease the difficulty of programming. Furthermore, a mixed array and a thread map to element strategy are proposed to improve the performance of the test pairs searching. The outer loop of the nested loop through the mixed array is unrolled to realize parallel searching. An efficient storage strategy based on data sorting is presented to realize data transfer between different hierarchies with coalesced access during the contact pairs searching. A thread map to element pattern is implemented to calculate the penetrations and the penetration forces; a double float atomic operation is used to scatter contact forces. The simulation results of the three different models based on the Intel Core i7-930 and the NVIDIA GeForce GTX 580 demonstrate the precision and efficiency of this developed parallel crashworthiness simulation system.