Morphological Adaptation for Speed Control of Pipeline Inspection Gauges MC-PIG

Passive and active hybrid pipeline inspection gauges (PIGs) have been used for in-pipe inspection. While a passive PIG cannot control its speed, the hybrid version can achieve this by using an integrated valve specifically designed and embedded in the PIG. This study proposes a generic new method for speed adaptation in PIGs (called MC-PIG) by introducing a generic, modular, controllable, external valve unit add-on for attaching to existing conventional (passive) PIGs with minimal change. The MC-PIG method is based on the principle of morphological computation with closed-loop control. It is achieved by regulating/computing the PIG's morphology (i.e., a modular rotary valve unit add-on) to control bypass flow. Adjustment of the valve angle can affect the flow rate passing through the PIG, resulting in speed regulation ability. We use numerical simulation with computational fluid dynamics (CFD) to investigate and analyze the speed of a simulated PIG with the valve unit adjusted by proportional-integral (PI) control under various in-pipe pressure conditions. Our simulation experiments are performed under different operating conditions in three pipe sizes (16″, 18″, and 22″ in diameter) to manifest the speed adaptation of the PIG with the modular valve unit add-on and PI control. Our results show that the PIG can effectively perform real-time adaptation (i.e., adjusting its valve angle) to maintain the desired speed. The valve design can be adjusted from 5 degrees (closed valve, resulting in high moving speed) to a maximum of 45 degrees (fully open valve, resulting in low moving speed). The speed of the PIG can be regulated from 0.59 m/s to 3.88 m/s in a 16″ pipe at 4.38 m/s (in-pipe fluid velocity), 2500 kPa (operating pressure), and 62 °C (operating temperature). Finally, the MC-PIG method is validated using a 3D-printed prototype in a 6″ pipe. Through the investigation, we observed that two factors influence speed adaptation; the pressure drop coefficient and friction of the PIG and pipeline. In conclusion, the results from the simulation and prototype show close characteristics with an acceptable error.

Standard for the Quantification of a Sterilization Effect Using an Artificial Intelligence Disinfection Robot

Recent outbreaks and the worldwide spread of COVID-19 have challenged mankind with unprecedented difficulties. The introduction of autonomous disinfection robots appears to be indispensable as consistent sterilization is in desperate demand under limited manpower. In this study, we developed an autonomous navigation robot capable of recognizing objects and locations with a high probability of contamination and capable of providing quantified sterilization effects. In order to quantify the 99.9% sterilization effect of various bacterial strains, as representative contaminants with robots operated under different modules, the operating parameters of the moving speed, distance between the sample and the robot, and the radiation angle were determined. We anticipate that the sterilization effect data we obtained with our disinfection robot, to the best of our knowledge, for the first time, will serve as a type of stepping stone, leading to practical applications at various sites requiring disinfection.

Gradient Cleaning Method of Potato Based on Multi-Step Operation of Dry-Cleaning and Wet Cleaning

In view of the poor effectiveness of existing potato cleaning methods in China and reflecting the findings of a research analysis of basic sizes and types of impurities on potato tubers, a gradient cleaning method for potato based on a multi-step dry-cleaning and wet cleaning operation was proposed. The method mainly consists of dry-cleaning and wet cleaning. The dry-cleaning stage, which combines vibration and brushing, could effectively remove impurities such as residual rhizomes, peeled potato skin, and large pieces of soil and crushed stone from the surface of potato tubers. The wet cleaning stage adopts the gradient cleaning method of pre-cleaning, rough cleaning and fine cleaning, which could further remove soil and crushed stone attached to the surface and hidden in the sprout eyes of potato tubers. The optimal parameter combination for the gradient cleaning method was determined as follows. The potato feeding amount was 3 t/h, the speed of the rubber chain rod mechanism was 25 r/min, the speed of the first and third brush roller was 40 r/min, the speed of the second and fourth brush roller was 56 r/min, the moving speed of the immersion mechanism conveying net chain was 0.04 m/s, the speed of the brush roller in the high pressure spray and brush roller combination mechanism was 40 r/min, the ultrasonic power was 1200 W, the ultrasonic frequency was 33 kHz, the bubble intensity was 300 L/min, and the moving speed of the conveying net chain in the ultrasonic and bubble combination mechanism was 0.05 m/s. Taking the impurity removal rate and damage rate of potato tuber as the test indexes, a potato cleaning performance test was carried out under the optimal parameters combination. The results showed that the average impurity removal rate and damage rate of potato tubers were 99.05% and 2.48%, respectively. Additionally, the operational performance fully met the requirements for potato cleaning. This study provides a new method for potato cleaning in China and can also provide a reference for cleaning other root and tuber crops.

Determination of Moving Speed of School Age Children

School age children (pedestrians) can move at different speeds, which are conditioned by certain parameters. Not all parameters have the same effect on the pedestrian speed. According to the literature, gender and age are the most researched parameters that have an impact on the speed of pedestrians. However, a small number of authors have dealt with the influence of movement regimes (slow, normal, fast, run, and rush) on pedestrian speed, while at the same time taking into account age and gender. For that reason, this article measured the speed of movement of school age children by movement regimes, taking into account age and gender. Within the same movement regime, the influence of age, sex, height, and weight on the speed of movement was investigated. Experimental measurements of the speed of movement of pedestrians aged 7 to 20 years were performed. Based on the results of measurements and statistical analyzes, recommendations on the average speed of movement regimes, age, and gender are given.

Autonomous Mobile Robot Navigation in Sparse LiDAR Feature Environments

In the industrial environment, Autonomous Guided Vehicles (AGVs) generally run on a planned route. Among trajectory-tracking algorithms for unmanned vehicles, the Pure Pursuit (PP) algorithm is prevalent in many real-world applications because of its simple and easy implementation. However, it is challenging to decelerate the AGV’s moving speed when turning on a large curve path. Moreover, this paper addresses the kidnapped-robot problem occurring in spare LiDAR environments. This paper proposes an improved Pure Pursuit algorithm so that the AGV can predict the trajectory and decelerate for turning, thus increasing the accuracy of the path tracking. To solve the kidnapped-robot problem, we use a learning-based classifier to detect the repetitive pattern scenario (e.g., long corridor) regarding 2D LiDAR features for switching the localization system between Simultaneous Localization And Mapping (SLAM) method and Odometer method. As experimental results in practice, the improved Pure Pursuit algorithm can reduce the tracking error while performing more efficiently. Moreover, the learning-based localization selection strategy helps the robot navigation task achieve stable performance, with 36.25% in completion rate more than only using SLAM. The results demonstrate that the proposed method is feasible and reliable in actual conditions.

CMPC: An Innovative Lidar-Based Method to Estimate Tree Canopy Meshing-Profile Volumes for Orchard Target-Oriented Spray

Canopy characterization detection is essential for target-oriented spray, which minimizes pesticide residues in fruits, pesticide wastage, and pollution. In this study, a novel canopy meshing-profile characterization (CMPC) method based on light detection and ranging (LiDAR)point-cloud data was designed for high-precision canopy volume calculations. First, the accuracy and viability of this method were tested using a simulated canopy. The results show that the CMPC method can accurately characterize the 3D profiles of the simulated canopy. These simulated canopy profiles were similar to those obtained from manual measurements, and the measured canopy volume achieved an accuracy of 93.3%. Second, the feasibility of the method was verified by a field experiment where the canopy 3D stereogram and cross-sectional profiles were obtained via CMPC. The results show that the 3D stereogram exhibited a high degree of similarity with the tree canopy, although there were some differences at the edges, where the canopy was sparse. The CMPC-derived cross-sectional profiles matched the manually measured results well. The CMPC method achieved an accuracy of 96.3% when the tree canopy was detected by LiDAR at a moving speed of 1.2 m/s. The accuracy of the LiDAR system was virtually unchanged when the moving speeds was reduced to 1 m/s. No detection lag was observed when comparing the start and end positions of the cross-section. Different CMPC grid sizes were also evaluated. Small grid sizes (0.01 m × 0.01 m and 0.025 m × 0.025 m) were suitable for characterizing the finer details of a canopy, whereas grid sizes of 0.1 m × 0.1 m or larger can be used for characterizing its overall profile and volume. The results of this study can be used as a technical reference for the development of a LiDAR-based target-oriented spray system.

Active Gaits Generation of Quadruped Robot Using Pulse-Type Hardware Neuron Models

In this chapter, the authors will propose the active gait generation of a quadruped robot. We developed the quadruped robot system using self-inhibited pulse-type hardware neuron models (P-HNMs) as a solution to elucidate the gait generation method. We feedbacked pressures at the robot system’s each foot to P-HNM and varied the joints’ angular velocity individually. We experimented with making the robot walk from an upright position on a flat floor. As a result of the experiment, we confirmed that the robot system spontaneously generates walk gait and trot gait according to the moving speed. Also, we clarified the process by which the robot actively generates gaits from the upright state. These results suggest that animals may generate gait using a similarly simple method because P-HNM mimics biological neurons’ function. Furthermore, it shows that our robot system can generate gaits adaptively and quite easily.

Coaxial Electrohydrodynamic Bioprinting of Pre-vascularized Cell-laden Constructs for Tissue Engineering

Recapitulating the vascular networks that maintain the delivery of nutrition, oxygen, and byproducts for the living cells within the three-dimensional (3D) tissue constructs is a challenging issue in the tissue-engineering area. Here, a novel coaxial electrohydrodynamic (EHD) bioprinting strategy is presented to fabricate thick pre-vascularized cell-laden constructs. The alginate and collagen/calcium chloride solution were utilized as the outer-layer and inner-layer bioink, respectively, in the coaxial printing nozzle to produce the core-sheath hydrogel filaments. The effect of process parameters (the feeding rate of alginate and collagen and the moving speed of the printing stage) on the size of core and sheath lines within the printed filaments was investigated. The core-sheath filaments were printed in the predefined pattern to fabricate lattice hydrogel with perfusable lumen structures. Endothelialized lumen structures were fabricated by culturing the core-sheath filaments with endothelial cells laden in the core collagen hydrogel. Multilayer core-sheath filaments were successfully printed into 3D porous hydrogel constructs with a thickness of more than 3 mm. Finally, 3D pre-vascularized cardiac constructs were successfully generated, indicating the efficacy of our strategy to engineer living tissues with complex vascular structures.