Multimodal sensing and active continuous closed‐loop feedback for achieving reliable manipulation in the outdoor physical world

The use of field robots can greatly decrease the amount of time, effort, and associated risk compared to if human workers were to carryout certain tasks such as disaster response. However, transportability and reliability remain two main issues for most current robot systems. To address the issue of transportability, we have developed a lightweight modularizable platform named AeroArm. To address the issue of reliability, we utilize a multimodal sensing approach, combining the use of multiple sensors and sensor types, and the use of different detection algorithms, as well as active continuous closed‐loop feedback to accurately estimate the state of the robot with respect to the environment. We used Challenge 2 of the 2017 Mohammed Bin Zayed International Robotics Competition as an example outdoor manipulation task, demonstrating the capabilities of our robot system and approach in achieving reliable performance in the fields, and ranked fifth place internationally in the competition.     

有水气藏开发早期可采储量的评价方法

有水气藏是天然气藏中的一个基本气藏类型，其采收率受多种因素的影响，如地面集输压力、井筒混合气水流动的液柱压力和储层物性等，目前普遍采用经验取值、物质平衡和气藏数值模拟等方法进行研究，但由于受开发评价阶段试采资料偏少和气藏数值模拟无法模拟井筒流动等因素的影响，早期采收率计算往往偏差较大，针对这些问题，从气田开发一体化的特点出发，提出了一种全面考虑地层→井筒→地面流动条件下，有水气藏（含凝析有水气藏）发废弃压力的计算方法，发展了利用物质平衡早期预测有水气藏采收率的理论，方法可靠、适用性强，能够推广应用。     

Recent advances in isotropic conductive adhesives for electronics packaging applications

Isotropic conductive adhesives (ICAs) have recently received a lot of focus and attention from the researchers in electronics industry as a potential substitute to lead-bearing solders. Numerous studies have shown that ICAs possess many advantages over conventional soldering such as environmental friendliness, finer pitch printing, lower temperature processing and more flexible and simpler processing. However, complete replacement of soldering by ICAs is yet not possible owing to several limitations of ICAs which are mainly related to reliability aspects like limited impact resistance, unstable contact resistance, low adhesion and conductivity etc. Continued efforts for last 15 years have resulted in development of ICAs with improved properties. This review article is aimed at providing a better understanding of ICAs, their principles, performance and significant research and development work addressing the technological utility of ICAs.     

Accurate estimation of environment parameters from ultrasonic data

This paper describes a robust and accurate ultrasonic sensing system for a mobile robot. The system continuously updates a local map of the environment in which obstacles are represented by straight lines or points in a robot centered coordinate frame. The presented algorithms use a Kalman filter for the reduction of the noise in the ultrasonic data and use a systematical error correction (‘bundle correction’) to reduce the uncertainty in obstacle direction. Experiments are carried out in simulation and with a real mobile robot system. Results show that the accuracy with which line parameters can be estimated is in the order of 1 degree for the orientation and about 2 cm for the position. The effect of the bundle correction is significant and maximal when the robot approaches walls under a small angle.     

微机控制托辊管筒加工机床的设计

介绍了一种生产效率高、加工质量稳定、利用单片机控制液压传动系列带式输送机托辊管筒自动加工机床的设计过程。     

Cleanbot-Ⅰ擦窗机器人的智能化技术

本文简述了擦窗机器人智能化的主要概念．介绍了Ｃｌｅａｎｂｏｔ－Ｉ擦窗机器人系统的结构特点、主要组成部分、工作原理，操作方式，未知局部环境的模型建立，各类内、外传感器的结构、原理和信息融合技术，以及路径规划的方法．     

Real-time accurate hand path tracking and joint trajectory planning for industrial robots (I)

Previously, researchers raised the accuracy for a robot’s hand to track a specified path in Cartesian space mainly through increasing the number of knots on the path and the number of the path’s segments, which results in the heavier online computational burden for the robot controller. Aiming at overcoming this drawback, the authors propose a new kind of real-time accurate hand path tracking and joint trajectory planning method. Through selecting some extra knots on the specified hand path by a certain rule and introducing a sinusoidal function to the joint displacement equation of each segment, this method can greatly raise the path tracking accuracy of robot’s hand and does not change the number of the path’s segments. It also does not increase markedly the computational burden of robot controller. The result of simulation indicates that this method is very effective, and has important value in increasing the application of industrial robots. Foundation item: Foundation of the Robotics Laboratory, Chinese Academy of Sciences (No. RL200002) Biography of the first author: TAN Guan-zheng, Dr., professor, born in Oct. 1962, majoring in artificial intelligence, robotics and automation.     

The summary of researches on ADS in China

The conceptual study on the accelerator driven system (ADS) that lasted for about five years ended in 1999 in China. As one project of the National Basic Research Program of China (973 Program) in the energy domain, which is sponsored by the China Ministry of Science and Technology (MOST), a five-year-program of fundamental research of ADS physics and related technology was launched in 2000 and passed national review at the end of 2005. The China Institute of Atomic Energy (CIAE), the Institute of High Energy Physics (IHEP), the Institute of Heavy Ion Physics in Peking University (PKU-IHIP) and other institutions jointly carried out the research. The research activities were focused on HPPA physics and technology, reactor physics of external source driven sub-critical assembly, nuclear data base and material study. For HPPA, a high current injector consisting of an ECR ion source, LEBT and an RFQ accelerating structure of 3.5 MeV was built. In reactor physics study, a series of neutron multiplication experimental study has been carried out and still being done. The VENUS facility has been constructed as the basic experimental platform for neutronics study in ADS blanket. It’s a zero power sub-critical neutron multiplying assembly driven by external neutron produced by a pulsed neutron generator. The theoretical, experimental and simulation study on nuclear data, material properties and nuclear fuel circulation related to ADS is carrying on to provide the database for ADS system analysis. The main results on ADS related researches will be reported.     

Planetary exploration by robotic aerovehicles

Planetary aerobots are a new type of telerobotic science platform that can fly and navigate in a dynamic 3-dimensional atmospheric environment, thus enabling the global in situ exploration of planetary atmospheres and surfaces. Aerobots are enabled by a new concept in planetary balloon altitude control, developed at JPL, which employs reversible-fluid changes to permit repeated excursions in altitude. The essential physics and thermodynamics ofreversible-fluid altitude control have been demonstrated in a series of altitude-control experiments conducted in the Earth's atmosphere, which are described. Aerobot altitude-control technology will be important in the exploration of seven planets and satellites in our solar system. Three of these objects—Venus, Mars, and the Saturnian satellite Titan—have accessible solid surfaces and atmospheres dominated by the dense gases nitrogen or carbon dioxide. They will be explored with aerobots using helium or hydrogen as their primary means of buoyancy. The other four planets—Jupiter, Saturn, Uranus, and Neptune—have deep atmospheres that are predominantly hydrogen. It may be possible to explore these atmospheres with aerobots inflated with atmospheric gas that is then radiatively heated from the hotter gaseous depths below. To fulfill their potential, aerobots to explore the planets will need autonomous state estimators to guide their observations and provide information to the altitude-control systems. The techniques of acquiring these data remotely are outlined. Aerobots will also use on board altitude control and navigation systems to execute complex flight paths including descent to the surface and exploiting differential wind velocities to access different latitude belts. Approaches to control of these systems are examined. The application of aerobots to Venus exploration is explored in some detail: The most ambitious mission described, the Venus Flyer Robot (VFR), would have the capability to make repeated short excursions to the high-temperature surface environment of Venus to acquire data and then return to the Earth-like upper atmosphere to communicate and recool its electronic systems. Finally a Planetary Aerobot Testbed is discussed which will conduct Earth atmospheric flights to validate autonomous-state-estimator techniques and flight-path-control techniques needed for future planetary missions.     

A real-time planning algorithm for obstacle avoidance of redundant robots

A computationally efficient, obstacle avoidance algorithm for redundant robots is presented in this paper. This algorithm incorporates the neural networks and pseudodistance function D _p in the framework of resolved motion rate control. Thus, it is well suited for real-time implementation. Robot arm kinematic control is carried out by the Hopfield network. The connection weights of the network can be determined from the current value of Jacobian matrix at each sampling time, and joint velocity commands can be generated from the outputs of the network. The obstacle avoidance task is achieved by formulating the performance criterion as D _p>d _min (d _min represents the minimal distance between the redundant robot and obstacles). Its calculation is only related to some vertices which are used to model the robot and obstacles, and the computational times are nearly linear in the total number of vertices. Several simulation cases for a four-link planar manipulator are given to prove that the proposed collision-free trajectory planning scheme is efficient and practical.