Autonomous Obstacle Crossing Strategies for the Hybrid Wheeled-Legged Robot Centauro

The development of autonomous legged/wheeled robots with the ability to navigate and execute tasks in unstructured environments is a well-known research challenge. In this work we introduce a methodology that permits a hybrid legged/wheeled platform to realize terrain traversing functionalities that are adaptable, extendable and can be autonomously selected and regulated based on the geometry of the perceived ground and associated obstacles. The proposed methodology makes use of a set of terrain traversing primitive behaviors that are used to perform driving, stepping on, down and over and can be adapted, based on the ground and obstacle geometry and dimensions. The terrain geometrical properties are first obtained by a perception module, which makes use of point cloud data coming from the LiDAR sensor to segment the terrain in front of the robot, identifying possible gaps or obstacles on the ground. Using these parameters the selection and adaption of the most appropriate traversing behavior is made in an autonomous manner. Traversing behaviors can be also serialized in a different order to synthesise more complex terrain crossing plans over paths of diverse geometry. Furthermore, the proposed methodology is easily extendable by incorporating additional primitive traversing behaviors into the robot mobility framework and in such a way more complex terrain negotiation capabilities can be eventually realized in an add-on fashion. The pipeline of the above methodology was initially implemented and validated on a Gazebo simulation environment. It was then ported and verified on the CENTAURO robot enabling the robot to successfully negotiate terrains of diverse geometry and size using the terrain traversing primitives.

Path Planning Method for UAVs Based on Constrained Polygonal Space and an Extremely Sparse Waypoint Graph

Finding an optimal/quasi-optimal path for Unmanned Aerial Vehicles (UAVs) utilizing full map information yields time performance degradation in large and complex three-dimensional (3D) urban environments populated by various obstacles. A major portion of the computing time is usually wasted on modeling and exploration of spaces that have a very low possibility of providing optimal/sub-optimal paths. However, computing time can be significantly reduced by searching for paths solely in the spaces that have the highest priority of providing an optimal/sub-optimal path. Many Path Planning (PP) techniques have been proposed, but a majority of the existing techniques equally evaluate many spaces of the maps, including unlikely ones, thereby creating time performance issues. Ignoring high-probability spaces and instead exploring too many spaces on maps while searching for a path yields extensive computing-time overhead. This paper presents a new PP method that finds optimal/quasi-optimal and safe (e.g., collision-free) working paths for UAVs in a 3D urban environment encompassing substantial obstacles. By using Constrained Polygonal Space (CPS) and an Extremely Sparse Waypoint Graph (ESWG) while searching for a path, the proposed PP method significantly lowers pathfinding time complexity without degrading the length of the path by much. We suggest an intelligent method exploiting obstacle geometry information to constrain the search space in a 3D polygon form from which a quasi-optimal flyable path can be found quickly. Furthermore, we perform task modeling with an ESWG using as few nodes and edges from the CPS as possible, and we find an abstract path that is subsequently improved. The results achieved from extensive experiments, and comparison with prior methods certify the efficacy of the proposed method and verify the above assertions.

Shape-induced obstacle attraction and repulsion during dynamic locomotion

Robots still struggle to dynamically traverse complex 3D terrain with many large obstacles, an ability required for many critical applications. Body–obstacle interaction is often inevitable and induces perturbation and uncertainty in motion that challenges closed-form dynamic modeling. Here, inspired by recent discovery of a terradynamic streamlined shape, we studied how two body shapes interacting with obstacles affect turning and pitching motions of an open-loop multi-legged robot and cockroaches during dynamic locomotion. With a common cuboidal body, the robot was attracted towards obstacles, resulting in pitching up and flipping-over. By contrast, with an elliptical body, the robot was repelled by obstacles and readily traversed. The animal displayed qualitatively similar turning and pitching motions induced by these two body shapes. However, unlike the cuboidal robot, the cuboidal animal was capable of escaping obstacle attraction and subsequent high pitching and flipping over, which inspired us to develop an empirical pitch-and-turn strategy for cuboidal robots. Considering the similarity of our self-propelled body–obstacle interaction with part–feeder interaction in robotic part manipulation, we developed a quasi-static potential energy landscape model to explain the dependence of dynamic locomotion on body shape. Our experimental and modeling results also demonstrated that obstacle attraction or repulsion is an inherent property of locomotor body shape and insensitive to obstacle geometry and size. Our study expands the concept and usefulness of terradynamic shapes for passive control of robot locomotion to traverse large obstacles using physical interaction. Our study is also a step in establishing an energy landscape approach to locomotor transitions.

Visuomotor control of leaping over a raised obstacle is sensitive to small baseline displacements

The limb kinematics used for stepping or leaping over an obstacle are determined primarily by visual sensing of obstacle position and geometry. In this study, we demonstrate that changes are induced in limb kinematics even when obstacle geometry is manipulated in a way that does not introduce a mechanical requirement for a change of limb trajectory nor increase risk of collision. Human participants performed a running leap over a single raised obstacle bar. Kinematic changes were measured when an identical second bar was introduced at a ground level underneath the obstacle and displaced by a functionally insignificant distance along the axis of travel. The presence or absence of a baseline directly beneath the highest extremity had no significant effect on limb kinematics. However, displacing the baseline horizontally induced a horizontal translation of limb trajectory in the direction of the displacement. These results show that systematic changes to limb trajectories can occur in the absence of a change in sensed mechanical constraints or optimization. The nature of visuomotor control of human leaping may involve a continuous mapping of sensory input to kinematic output rather than one responsive only to information perceived to be mechanically relevant.

Identification of flow states around three staggered square cylinders at two symmetrical arrangements by a numerical investigation

The fluid flow over three staggered square cylinders at two symmetrical arrangements has been numerically investigated in this study. The numerical calculations are carried out for several values of the Reynolds number (Re) ranging from 1 to 180. The results are presented in the form of vorticity contours and temporal histories of drag and lift coefficients. Furthermore, the physical parameters, namely, the average drag and lift coefficients and Strouhal number are presented as a function of Re. Two different states of flow are found in this work by systematically varying Re: steady and unsteady states. The transition to unsteady state regime is exhibited via Hopf bifurcation first in the second configuration followed consequently by the first one with critical Reynolds number of Re[Formula: see text] and Re[Formula: see text], respectively. It is observed that the bifurcation point of the steady regime to the unsteady one is very much influenced by the change in the geometry of the obstacle. The unsteady periodic wake is characterized by the Strouhal number, which varies with the Reynolds number and the obstacle geometry. Hence, the values of vortex shedding frequencies are estimated for both the considered configurations. Computations obtained also reveal that the spacing in the wake leads to reducing the pressure and enhancing the fluid flow velocity for both arrangements by monotonically strengthening the Reynolds number value. Furthermore, the drag and lift coefficients are determined, which allowed determining; the best configuration in terms of both lift and drag. It is observed that the drag force is dependent on the obstacle geometry and strengthens while lowering the Reynolds number. On the other hand, an opposite trend of the lift drag evolutions is observed for both configurations and considerably affected by the arrangements shape.

How obstacle geometry and snow properties influence avalanche impact pressure

<p>In order to estimate avalanche loads on buildings and structures of various sizes and geometries,  practitioners are interested in recommendations or experimental data for a wide variety of obstacle geometries and sizes. Full-scale avalanche measurements are performed across the world since the late 1970s to increase knowledge about avalanche flow behaviour, including impact on structures. These structures are usually equipped with sensors to measure impact pressure, avalanche velocity and/or snow density. Modifying the structure profile is hardly possible because of high construction costs. To date, it has thus been possible to test and calibrate empirical relationships used in engineering only on a limited number of structures for which experimental data exist. We therefore aim to calibrate the drag coefficient and amplification factor for a broader range of obstacle shapes and sizes. In this context the drag coefficient generalizes the drag coefficient used in Newtonian fluid mechanics when computing the flow past an obstacle. The amplification factor reflects the snow load’s deviation from a hydrostatic-like pressure. To estimate these two parameters, we simulate how an avalanche interacts with differently sized and shaped obstacles using the Discrete Element Method (DEM). First, we test the DEM model’s capacity to reproduce full-scale pressure measurements performed on two different obstacles at the Vallée de la Sionne test site by comparing simulated and measured impact pressures. Second, we run new simulations involving other geometries and dimensions, for which no experimental data exist. Our results show that the pressure distribution depends not only on the obstacle geometry, but also on avalanche flow regime and snow properties. We eventually examine the pressure distribution for different generic geometries and avalanche scenarios. This analysis should ultimately help to improve extant engineering guidelines.</p>

Numerical study of obstacle geometry effect on the vortex shedding suppression and aerodynamic characteristics

Purpose Two-dimensional incompressible fluid flows around a rectangular shape placed over a larger rectangular shape at low Reynolds numbers (Re) have been numerically analyzed in the present work. The vortex shedding is investigated at different arrangements of the two shapes allowing the investigation of three possible configurations. The calculations are carried out for several values of Re ranging from 1 to 200. The effect of the obstacle geometry on the vortex shedding is analyzed for crawling, steady and unsteady regimes. The analysis of the flow evolution shows that with increasing Re beyond a certain critical value, the flow becomes unstable and undergoes a bifurcation. This paper aims to observe that the transition of the unsteady regime is performed by a Hopf bifurcation. The critical Re beyond which the flow becomes unsteady is determined for each configuration. A special attention is paid to compute the drag and lift forces acting on the rectangular shapes, which allowed determining; the best configuration in terms of both drag and lift. The unsteady periodic wake is characterized by the Strouhal number, which varies with the Re and the obstacle geometry. Hence, the values of vortex shedding frequencies are calculated in this work. Design/methodology/approach The dimensionless Navier–Stokes equations were numerically solved using the following numerical technique based on the finite volume method. The temporal discretization of the time derivative is performed by an Euler backward second-order implicit scheme. Non-linear terms are evaluated explicitly; while, viscous terms are treated implicitly. The strong velocity–pressure coupling present in the continuity and the momentum equations are handled by implementing the projection method. Findings The present paper aims to numerically study the effect of the obstacle geometry on the vortex shedding and on the drag and lift forces to analyze the flow structure around three configurations at crawling, steady and unsteady regimes. Originality/value A special attention is paid to compute the drag and lift forces acting on the rectangular shapes, which allowed determining; the best shapes configuration in terms of both drag and lift.

Prediction of wake structure and aerodynamic characteristics of flow around square cylinders at different arrangements

Two-dimensional incompressible fluid flows around square cylinders at different arrangements have been numerically analyzed in the present work. The calculations are carried out for several values of Reynolds number (Re) ranging from 20 to 180. The results are presented in the form of vorticity contours and temporal histories of drag and lift coefficients. Besides, the physical parameters, namely, the average drag and lift coefficients and Strouhal number, are evaluated as a function of Re. Two different states of flow are predicted in the current investigation by systematically varying Re for steady and unsteady regimes. Vortex shedding is studied at different arrangements of the square cylinders allowing the investigation of three possible configurations. Special attention is paid to compute the drag and lift forces acting on the different obstacles, which allowed determining the optimal configuration in terms of both drags and lifts. The unsteady periodic wake is characterized by the Strouhal number, which varies with the Reynolds number and the obstacle geometry. The values of vortex shedding frequencies are consequently calculated in this study.

A Fast Global Flight Path Planning Algorithm Based on Space Circumscription and Sparse Visibility Graph for Unmanned Aerial Vehicle

This paper proposes a new flight path planning algorithm that finds collision-free, optimal/near-optimal and flyable paths for unmanned aerial vehicles (UAVs) in three-dimensional (3D) environments with fixed obstacles. The proposed algorithm significantly reduces pathfinding computing time without significantly degrading path lengths by using space circumscription and a sparse visibility graph in the pathfinding process. We devise a novel method by exploiting the information about obstacle geometry to circumscribe the search space in the form of a half cylinder from which a working path for UAV can be computed without sacrificing the guarantees on near-optimality and speed. Furthermore, we generate a sparse visibility graph from the circumscribed space and find the initial path, which is subsequently optimized. The proposed algorithm effectively resolves the efficiency and optimality trade-off by searching the path only from the high priority circumscribed space of a map. The simulation results obtained from various maps, and comparison with the existing methods show the effectiveness of the proposed algorithm and verify the aforementioned claims.

Design and Analysis of Passive Y-Type Micromixers for Enhanced Mixing Performance for Biomedical and Microreactor Application

In this paper, endeavor has been made to design and analyze different Y-type micromixers by characterizing the mixing and flow behavior in ultra-low Reynolds number region. The effects of different geometric and flow parameters on the mixing and pressure drop are studied through computational fluid dynamics (CFD) simulations using COMSOL Multiphysics software. The parameters investigated are obstacle geometry, obstacle arrangement, obstacle depth, aspect ratio (AR), entrance angle ([Formula: see text], Reynolds number (Re) and obstacle packing factor (OPF). The simulation results reveal that rectangular shaped obstacles in staggered arrangement gives the best mixing. Increasing obstacle depth and OPF increases both mixing and pressure drop whereas increasing entrance angle enhances mixing but has negligible effect on pressure drop. Also both the mixing and pressure drop performance enhances with decreasing AR and lower Reynolds number gives better mixing in the lower laminar flow region.