Collision Avoidance Using Contact Information with Multiple Objects by Multi-Leg Robot

2016 ◽  
Vol 28 (1) ◽  
pp. 17-30 ◽  
Author(s):  
Tomohito Takubo ◽  
◽  
Keishi Kominami ◽  
Kenichi Ohara ◽  
Yasushi Mae ◽  
...  
Keyword(s):  
Repulsive Force ◽  
Working Environment ◽  
Hexapod Robot ◽  
Multiple Objects ◽  
Optimal Motion ◽  
Contact Points ◽  
Contact Information ◽  
Walking Motion ◽  
Dynamic Simulator ◽  
Virtual Impedance

[abstFig src='/00280001/02.jpg' width=""300"" text='Optimized multi-point contacting walking' ]In robotics, a walking through motion is complex because of the presence of multipoint contact objects in the working environment of a robot. To simplify the walking through motion of a robot, a virtual impedance field is implemented to the contact points of the robot and an object so that the robot avoids the object passively. The traveling direction of the robot is altered by a virtual repulsive force obtained from the position of the estimated obstacle and the virtual impedance field. The resulting action depends on the parameter of virtual impedance coefficients. Because a combination of parameters includes many things, reinforcement learning is employed to obtain an optimal motion. The optimization of the multipoint contact walking through motion of a robot is finally achieved by evaluating the walking motion while encountering complex obstacles in a dynamic simulator. The motion is implemented on a hexapod robot, and the results demonstrate the effectiveness of the proposed method.

scholarly journals Practical application using the hexapod robot for interior inspection of a Boeing 737-300 aircraft fuel tank

2021 ◽  
Vol 13 (2) ◽  
pp. 59-66
Author(s):  
Maria-Giorgiana GAINA
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Human Factor ◽  
Fuel Tank ◽  
Working Environment ◽  
Hexapod Robot ◽  
Practical Application ◽  
Safe Environment ◽  
Aircraft Fuel ◽  
Harmful Substances

This paper focuses on the dangers assoicated with the entry into aircraft fuel tank. The analysis will help to demonstrate that in the future a mobil robot will make this work easier for the human factor. There are number of advantages from this automation to make the job of the human factor easier and to work in a safe environment. The risk of contamination with harmful substances is reduced because we can put the robot to work. After detailed analysis of the working environment to which a mechanic is exposed in the aviation world, it has come to light that the introduction of a robot makes it minimal. I tried to analyze several types of mobile robots, and after this analysis I decided that the most suitable mobile robot is the hexapod.

Active Tactile Exploration Based on Cost-Aware Information Gain Maximization

2018 ◽  
Vol 15 (01) ◽  
pp. 1850015 ◽  
Author(s):  
Simon Ottenhaus ◽  
Lukas Kaul ◽  
Nikolaus Vahrenkamp ◽  
Tamim Asfour
Keyword(s):  
Information Gain ◽  
Shape Reconstruction ◽  
Object Knowledge ◽  
Object Shape ◽  
Contact Points ◽  
Contact Information ◽  
Efficiency Cost ◽  
Estimation Function ◽  
The Cost ◽  
Object Models

Active tactile perception is a powerful mechanism to collect contact information by touching an unknown object with a robot finger in order to enable further interaction with the object or grasping of the object. The acquired object knowledge can be used to build object shape models based on such usually sparse tactile contact information. In this paper, we address the problem of object shape reconstruction from sparse tactile data gained from a robot finger that yields contact information and surface orientation at the contact points. To this end, we present an exploration algorithm which determines the next best touch target in order to maximize the estimated information gain and to minimize the expected costs of exploration actions. We introduce the Information Gain Estimation Function (IGEF), which combines different goals as measure for the quantification of the cost-aware information gain during exploration. The IGEF-based exploration strategy is validated in simulation using 48 publicly available object models and compared to state-of-the-art Gaussian processes-based exploration approaches. The results show the performance of the approach regarding exploration efficiency, cost-awareness and suitability for application in real tactile sensing scenarios.

scholarly journals On a linear fire detection using coaxial cables

2014 ◽  
Vol 18 (2) ◽  
pp. 603-614 ◽  
Author(s):  
Radoje Jevtic ◽  
Milan Blagojevic
Keyword(s):  
Fire Detection ◽  
Working Environment ◽  
Alarm Systems ◽  
Modern Engineering ◽  
Nikola Tesla ◽  
Different Types ◽  
Dynamic Simulator ◽  
Fire Detector ◽  
Fire Dynamic Simulator ◽  
Made In

Alarm systems represent a combination of the various modern engineering solutions (electrical, mechanical, hydraulic, etc.) with the primary goal to protect human lives, living and working environment and material properties. Detectors are basic and common components of these systems. There are many different kinds of detectors which usage depends on system solutions, prices and other technical properties of system application. Different types of non-typical lines can be used as detectors in alarm systems, such as coaxial cables or special constructed electrical lines. The change of some parameters of cables, such as capacity, impedance, resistance or similar, according to temperature, pressure, torsion or other disturbances, can be used for detection of intruder or fire. This work presents experimental results obtained on three different types of coaxial cables: RF 75-3-1, RF 75-4-5 and RF 75-7-9 in order to show changes of capacity as a consequence of heating due to growth of surrounding temperature, and consequently, possible application of cables as fire detector. Before an experiment, a simulation of fire in laboratory 113 in Electrotechnical school Nikola Tesla in Nis was made in FDS (Fire dynamic simulator) software to show the possible spreading of fire, and consequently, to find optimal location for coaxial cables as fire detectors.

Concurrent Contact Planning and Trajectory Optimization in One Step Walking Motion

2015 ◽  
Author(s):  
Carlotta Mummolo ◽  
Luigi Mangialardi ◽  
Joo H. Kim
Keyword(s):  
Motion Planning ◽  
Trajectory Optimization ◽  
Simulation Design ◽  
Optimal Motion ◽  
Step Motion ◽  
Walking Motion ◽  
Predictive Methods ◽  
Optimal Motion Planning ◽  
Contact Response ◽  
And Control

Bipeds’ trajectories and control during walking are closely coupled with the contact force distribution in time and space as an indeterminate problem. Therefore, generating the motion of redundant bipeds in presence of unilateral contact is usually formulated as a nonlinear constrained optimization problem. The optimal walking motion must be solved in terms of trajectories, control, contact status (i.e., when, where, and whether a foot is in contact), and contact response (i.e., ground reaction forces). The solution for this problem requires predictive methods within the general optimal motion planning framework. However, there is a lack of fully predictive methods that can concurrently solve for all the above mentioned unknowns. This represents an important challenge in the simulation, design, analysis, and control of general robotic systems. A novel approach for the optimal motion planning of multibody systems with contacts is developed, based on a Sequential Quadratic Programming (SQP) algorithm for Nonlinear Programming (NLP). The complete formulation is presented and demonstrated with numerical experiments on a simple planar biped with the assigned task of one complete step motion in forward progression.

Collaborative application of the Adaptive Mentorship© model

2014 ◽  
Vol 3 (2) ◽  
pp. 125-140 ◽  
Author(s):  
Lorraine Godden ◽  
Leigha Tregunna ◽  
Benjamin Kutsyuruba
Keyword(s):  
Professional Growth ◽  
Large Scale ◽  
Working Environment ◽  
Direct Result ◽  
Research Project ◽  
Content Type ◽  
Skill Sets ◽  
Contact Points ◽  
University Professor ◽  
Collaborative Mentoring

Purpose – The purpose of this paper is to describe a qualitative action research study into the collective experiences of establishing a mentoring culture within a research triad consisting of a university professor together with a doctoral student and a master's level student who served as research assistants (RAs). This paper documents a process of ongoing reflection, which was used to gain insight about the personal selves, the professional selves, the role of being a RA, and concepts, ideas, and frameworks that might be useful in fulfilling the work inside and outside of the collaborative research project. Design/methodology/approach – A Faculty of Education within a Canadian university provided the context for the study. A large-scale, pan-Canadian document analysis research project served as the context for mentorship activities. The Adaptive Mentorship© model (Ralph and Walker, 2010) was the tool used to document and analyze experiences of working on the research project. Completion of individual mentoring session reflections, as recommended by the Adaptive Mentorship© model, provided a means for documenting the process and experiences within the triad. Findings – Findings indicated that the enhancement of working environment and the professional growth of all three members of the research triad were primarily achieved as a result of the commitment to collaborative mentoring for the duration of this project rather than as a direct result of application of the model. Nonetheless, the application of the Adaptive Mentorship© model within the research project triad proved to be a valuable tool for supporting the social competence-based and experiential needs. Originality/value – In the context of this study, collaborative mentoring led to professional growth and an enhancement of the working environment due to multiple contact-points and exposures to specific tasks or skill-sets. The establishment of the mentoring culture and continued identification of individual needs within the triad allowed for adaptive support, appropriate skills development, and an increase in confidence necessary for both students to be successful in their RA positions and in turn, successfully support the university professor to complete the project. The experience suggests that the Adaptive Mentorship© model, if further refined, could be applied to graduate RAships with multiple participants, increasing the potential to enhance research experiences through its focus on one or several specific tasks or skill-sets around which the work is organized.

scholarly journals A Case Study of Adopting European Experience of Office Hours to Improve Off-class Instructor-student Interaction in Private Universities in China

2021 ◽  
Vol 99 ◽  
pp. 01002
Author(s):  
Shaoying Wu
Keyword(s):  
Student Interaction ◽  
International Standards ◽  
Working Environment ◽  
Personal Contact ◽  
Business Majors ◽  
Contact Information ◽  
European Experience ◽  
Teachers Attitudes ◽  
The University

To integrate with international standards, the University of Sanya explores European experiences in teaching and management. In 2016, the university promoted a campus-wide office-hour policy to improve student-teacher communication after class. However, after four years of implementation, most teachers believe such a policy failed to achieve the goal. Therefore, the author delivers questionnaires and interviews to students and teachers from selected business majors. This paper finds that office hour was an inferior way to communicate as in China students are allowed to have teachers' personal contact information. And students learning behavior is key to off-class communication. Moreover, the working environment affects teachers attitudes towards office hour. Office hour is a small case but can be inspiring to the future adoption of foreign experience in education as pre-investigation and localization do matter.

Stereo modeling of HVEM specimens by serial tilting and computer graphics

1986 ◽  
Vol 44 ◽  
pp. 34-35
Author(s):  
J.R. McIntosh ◽  
D.L. Stemple ◽  
William Bishop ◽  
G.W. Hannaway
Keyword(s):  
Computer Graphics ◽  
Analytical Methods ◽  
Photographic Film ◽  
Complex Structures ◽  
Multiple Objects ◽  
Multiple Images ◽  
3 Dimensional

EM specimens often contain 3-dimensional information that is lost during micrography on a single photographic film. Two images of one specimen at appropriate orientations give a stereo view, but complex structures composed of multiple objects of graded density that superimpose in each projection are often difficult to decipher in stereo. Several analytical methods for 3-D reconstruction from multiple images of a serially tilted specimen are available, but they are all time-consuming and computationally intense.

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