Zoomorphic Mobile Robot Development for Vertical Movement Based on the Geometrical Family Caterpillar

Research in robotics is one of the promising areas in mobile robot development, which is planned to be implemented in extreme dangerous conditions of areas explored by humans. This article aims at developing and improving a prototype of zoomorphic mobile robots that are designed to repeat the existing biological objects in nature. The authors performed a detailed analysis on the structure and dynamics of the geometrical family caterpillar movement, which is passed on a practical design implemented to perform the dynamic movement on uneven vertical surfaces. Based on the obtained analysis, the design and kinematic scheme of the movement is developed. Also, the structural control scheme via the Internet technologies that allow carrying out remote control is presented in this paper, considering the dangerous mobile robot work zones. To test the recommended solutions, the authors developed detailed 3D printed models of the mobile robot constructions for the implemented hardware. The model of the mobile robot is constructed, and the control system with examples of the user program code implementations is performed. Several experiments were performed, which showed the efficiency of the achieved mobile robot for solving problems of vertical movement on uneven metal surfaces. Moreover, the obtained slow motion of the designed robot proves that the simulated robot behaves similarly to the natural behavior of caterpillar movement.

Task scheduling for transport and pick robots in logistics: a comparative study on constructive heuristics

We study the Transport and Pick Robots Task Scheduling (TPS) problem, in which two teams of specialized robots, transport robots and pick robots, collaborate to execute multi-station order fulfillment tasks in logistic environments. The objective is to plan a collective time-extended task schedule with the minimization of makespan. However, for this recently formulated problem, it is still unclear how to obtain satisfying results efficiently. In this research, we design several constructive heuristics to solve this problem based on the introduced sequence models. Theoretically, we give time complexity analysis or feasibility guarantees of these heuristics; empirically, we evaluate the makespan performance criteria and computation time on designed dataset. Computational results demonstrate that coupled append heuristic works better for the most cases within reasonable computation time. Coupled heuristics work better than decoupled heuristics prominently on instances with relative few pick robot numbers and large work zones. The law of diminishing marginal utility is also observed concerning the overall system performance and different transport-pick robot numbers.

Defining work-zones for resource allocation in Hong Kong public housing project construction using heuristic rules and operations simulation

In Hong Kong, 6-day construction cycle always being used for constructing one typical floor of concrete building superstructure in a week. Work-zones are defined in the working platform for better allocation of limited resources. Once the work-zones are defined, the resources (labour, plant, materials) will be allocated to a specific zone to deliver the works on a particular day of the 6-day construction cycle. In practice, the definition of work-zone is dependent on the experience of project manager. Yet, there is no past research studied the evaluation of work-zone definition schemes. As such, in this research study, three heuristic rules are proposed for choosing better scheme of work-zone. The heuristic rules are based on (i) lengths of work-zone dividing line, (ii) fluctuations of daily duration, and (iii) utilisation rates of resource. To illustrate the steps of evaluating the scheme, an illustrative example is given. To illustrate the method application of the rules, a practical case study of constructing a 40-storey housing is given. The proposed rules were verified based on sensitivity analysis and expert validation. Conclusions are drawn by expressing the contributions and limitations of the proposed rules, followed by suggesting future research works.