scholarly journals Consideration and analysis for attachment position of supernumerary robotic limbs

2021 ◽  
Author(s):  
ziyu liao ◽  
baichen
Keyword(s):  
Experimental Evaluation ◽  
Design Parameter ◽  
Simulation Experiment ◽  
Wearable Robot ◽  
Evaluation Indexes ◽  
Multiple Tasks ◽  
New Type ◽  
Design Factors

Abstract The supernumerary robotic limbs(SRLs) is a new type of wearable robot that assists the operator with additional robotic limbs and allows the operator to perform multiple tasks simultaneously. Due to the SRLs having various combinations of robotic limb and attachment positions, and there is an insufficient discussion on the influence of different wear positions on the SRLs. Therefore, this paper improved the evaluation indexes from previous studies and presents an experimental evaluation of the performance of indexes between humans and SRLs. This paper analyzed the 5 different positions based on the improved evaluation indexes, 2 optimal positions are found with the simulation experiment. Then the two design factors to improve the performance of evaluation indexes are discussed. The evaluation indexes can be utilized as a design parameter for evaluating human-robot interactions of SRLs.

Simulation of Cavity Extension Formation in the Early Ignition Stage Based on a Coal Block Gasification Experiment

2020 ◽  
Vol 142 (6) ◽  
Author(s):  
Lin Xin ◽  
Jian Li ◽  
Jun Xie ◽  
Chao Li ◽  
Limin Han ◽  
...  
Keyword(s):  
Coal Gasification ◽  
Simulation Experiment ◽  
Vertical Direction ◽  
Underground Coal Gasification ◽  
Ignition Point ◽  
Coal Block ◽  
New Type ◽  
High Temperature Area ◽  
Left And Right ◽  
Temperature Area

Abstract Underground coal gasification (UCG) is a highly efficient new type of coal mining technology with broad future prospects. In order to study the cavity extension formation in the early ignition stage of UCG, a block coal scale UCG simulation experiment was carried out. The results show that after the ignition, the temperature above ignition point rose fastest, and the coal combustion interface and high temperature area moved toward to the above of ignition point, while the temperature of the left and right sides of ignition point rose a little slowly. According to the results of dissected block coal, it is indicated that the extension scale in the vertical direction was significantly larger than other directions; the combustion cavity form was an irregular rectangle like a pear. The results of this experiment revealed the cavity extension process from ignition of UCG channels to the formation of cavity, which provided a foundation for the study of extension characteristics of UCG channel in the entire UCG process.

Research on Kinematic of the Wheel-Legged Robot Based on Uneven Road Surface

2013 ◽  
Vol 712-715 ◽  
pp. 2312-2319
Author(s):  
Ping Peng ◽  
Xiao Jun Zhang ◽  
Jun Zhang ◽  
Zhe Liu
Keyword(s):  
Mobile Robot ◽  
Simulation Experiment ◽  
Disaster Relief ◽  
Road Surface ◽  
Legged Robot ◽  
Kinematics Analysis ◽  
The Real ◽  
Gas Leakage ◽  
Structure Feature ◽  
New Type

A new type of wheel-legged mobile robot is presented in the paper, which is mainly used for early toxic gas leakage warning and disaster relief in the field of wild environment. The paper first presents the structure feature of the new wheel-legged mobile robot. According to the structure of the robot, the kinematics model about robot moving on the smoothing-riding surface is built. On this basis, considering the effects of the disturbance by uneven road surface the paper carries out the robots kinematics analysis. To simulate the result of robot moving on the real road surface, the paper researches on the robots kenimatics by inputing some typical ground driving to the robot. The result of the simulation experiment shows that the robot pose error is more increasing. So the influence of ground disturbance to robot should be took into account in designing the control symstem, which can decrease the pose error and make robot move more accurately.

scholarly journals Fact-Alternating Mutex Groups for Classical Planning (Extended Abstract)

2018 ◽  
Author(s):  
Daniel Fišer ◽  
Antonín Komenda
Keyword(s):  
Linear Programming ◽  
Integer Linear Programming ◽  
Experimental Evaluation ◽  
Complexity Analysis ◽  
Finite Domain ◽  
Initial State ◽  
Pruning Algorithm ◽  
Dead End ◽  
New Type ◽  
Np Complete

Mutex groups are defined in the context of STRIPS planning as sets of facts out of which, maximally, one can be true in any state reachable from the initial state. This work provides a complexity analysis showing that inference of mutex groups is as hard as planning itself (PSPACE-Complete) and it also shows a tight relationship between mutex groups and graph cliques. Furthermore, we propose a new type of mutex group called a fact-alternating mutex group (fam-group) of which inference is NP-Complete. We introduce an algorithm for the inference of fam-groups based on integer linear programming that is complete with respect to the maximal fam-groups and we demonstrate that fam-groups can be beneficial in the translation of planning tasks into finite domain representation, for the detection of dead-end state and for the pruning of spurious operators. The experimental evaluation of the pruning algorithm shows a substantial increase in a number of solved tasks in domains from the optimal deterministic track of the last two planning competitions (IPC 2011 and 2014).

scholarly journals Algorithm for Base Action Set Generation Focusing on Undiscovered Sensor Values

2019 ◽  
Vol 9 (1) ◽  
pp. 161 ◽  
Author(s):  
Sho Yamauchi ◽  
Keiji Suzuki
Keyword(s):  
Machine Learning ◽  
Simulation Experiment ◽  
External Environment ◽  
Machine Learning Algorithms ◽  
Trial And Error ◽  
Reward Function ◽  
Machine Learning Methods ◽  
Wheeled Robot ◽  
Multiple Tasks ◽  
Complicated Task

Previous machine learning algorithms use a given base action set designed by hand or enable locomotion for a complicated task through trial and error processes with a sophisticated reward function. These generated actions are designed for a specific task, which makes it difficult to apply them to other tasks. This paper proposes an algorithm to obtain a base action set that does not depend on specific tasks and that is usable universally. The proposed algorithm enables as much interoperability among multiple tasks and machine learning methods as possible. A base action set that effectively changes the external environment was chosen as a candidate. The algorithm obtains this base action set on the basis of the hypothesis that an action to effectively change the external environment can be found by observing events to find undiscovered sensor values. The process of obtaining a base action set was validated through a simulation experiment with a differential wheeled robot.

A Model on Supplier Selection in Green Supply Chain Based on BP Neural Network

2011 ◽  
Vol 143-144 ◽  
pp. 312-316 ◽  
Author(s):  
Dao Guo Li ◽  
Zhong Yuan Zhou ◽  
Chen Yang
Keyword(s):  
Neural Network ◽  
Supply Chain ◽  
Bp Neural Network ◽  
Supplier Selection ◽  
Simulation Experiment ◽  
Evaluation Index System ◽  
Evaluation Index ◽  
Green Supply Chain ◽  
Evaluation Indexes ◽  
Bp Neural Network Model

Based on the complexity of the evaluation index for supplier selection in green supply chain, this paper puts forward the evaluation index system in green supply chain and presents BP neural network model to select supplier with evaluation indexes as BP neural network's input and the outcome of DEA/AHP model as BP neural network's expected output. It can be proved that the model can effectively select suppliers in green supply chain by simulation experiment with LIINGO 9.0 and MATLAB7.0.

Preprocessing in Propositional Satisfiability Using Bounded (2, k)-Consistency on Regions with a Locally Difficult Constraint Setup

2014 ◽  
Vol 23 (01) ◽  
pp. 1350029
Author(s):  
Pavel Surynek
Keyword(s):  
Building Block ◽  
Experimental Evaluation ◽  
Propositional Satisfiability ◽  
Special Mechanism ◽  
New Concepts ◽  
Global Consistency ◽  
New Type

A new type of partially global consistency derived from (2, k)-consistency called bounded (2, k)- consistency (B2C-consistency) is presented in this paper. It is designed for application in propositional satisfiability (SAT) as a building block for a preprocessing tool. Together with the new B2C-consistency a special mechanism for selecting regions of the input SAT instance with difficult constraint setup was also proposed. This mechanism is used to select suitable difficult sub-problems whose simplification through consistency can lead to a significant reduction in the effort needed to solve the instance. A new prototype preprocessing tool preprocessSIGMA which is based on the proposed techniques was implemented. As a proof of new concepts a competitive experimental evaluation on a set of relatively difficult SAT instances was conducted. It showed that our prototype preprocessor is competitive with respect to the existent preprocessing tools LiVer, NiVer, HyPre, blocked clause elimination (BCE), and Shatter with saucy 3.0.

Simulation Analysis of a New Type of Engine Fluid Hydraulic Mount’s Characteristic in Isolating Vibration

2013 ◽  
Vol 721 ◽  
pp. 475-478
Author(s):  
Hang Xu Yang ◽  
Dong Mei Liu
Keyword(s):  
Mathematical Model ◽  
Design Parameter ◽  
Simulation Analysis ◽  
Matlab Simulink ◽  
New Type ◽  
Er Fluid

Based on analyzing the vibration isolating characteristic and existence problems of the traditional ER-Fluid mount, this paper designed a new ER-Fluid mount with ring orifice and then built its mechanics and mathematical model. Carried on the simulation computation to it by Matlab/Simulink and studied the vibration isolating characteristic of ER-Fluid mount in changing design parameter of the ring orifice, finally provide a theory basis for optimizing structures of ER-Fluid mount in future.

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