scholarly journals Study of Obstacle-Crossing and Pitch Control Characteristic of a Novel Jumping Robot

Sensors ◽  
2021 ◽  
Vol 21 (7) ◽  
pp. 2432
Author(s):  
Jixue Mo ◽  
Ze Yan ◽  
Bing Li ◽  
Fengfeng Xi ◽  
Yao Li
Keyword(s):  
Control Experiment ◽  
The Novel ◽  
Dynamics Model ◽  
Crossing Experiments ◽  
Obstacle Crossing ◽  
Pitch Control ◽  
Good Ability ◽  
Intelligent Optimization Algorithms ◽  
Whale Optimization ◽  
Jumping Robot

In this study, we demonstrated a novel jumping robot that has the ability of accurate obstacle-crossing jumping and aerial pitch control. The novel robot can quickly leap high into the air with a powerful water jet thruster. The robot was designed to overcome multiple general obstacles via accurate jumping. Then a modified whale optimization algorithm (MWOA) was proposed to determine an optimized jumping trajectory according to the form of obstacles. By comparing with classical intelligent optimization algorithms, the MWOA revealed superiority in convergence rate and precision. Besides, the dynamics model of aerial pitch control was built and its effect was verified by the pitch control experiment. Lastly, the robot’s obstacle-crossing experiments were performed and the results validated the robot’s good ability of obstacle-crossing and aerial body righting. We believe the optimization of trajectory and the pitch control are of great help for the jumping robot’s complex jumping and obstacle-crossing performance.

scholarly journals A New “Good and Bad Groups-Based Optimizer” for Solving Various Optimization Problems

2021 ◽  
Vol 11 (10) ◽  
pp. 4382
Author(s):  
Ali Sadeghi ◽  
Sajjad Amiri Doumari ◽  
Mohammad Dehghani ◽  
Zeinab Montazeri ◽  
Pavel Trojovský ◽  
...  
Keyword(s):  
Optimization Algorithm ◽  
Optimization Problems ◽  
Search Algorithm ◽  
Fitness Function ◽  
Optimization Algorithms ◽  
Gravitational Search Algorithm ◽  
Gray Wolf ◽  
Good Group ◽  
Good Ability ◽  
Whale Optimization

Optimization is the science that presents a solution among the available solutions considering an optimization problem’s limitations. Optimization algorithms have been introduced as efficient tools for solving optimization problems. These algorithms are designed based on various natural phenomena, behavior, the lifestyle of living beings, physical laws, rules of games, etc. In this paper, a new optimization algorithm called the good and bad groups-based optimizer (GBGBO) is introduced to solve various optimization problems. In GBGBO, population members update under the influence of two groups named the good group and the bad group. The good group consists of a certain number of the population members with better fitness function than other members and the bad group consists of a number of the population members with worse fitness function than other members of the population. GBGBO is mathematically modeled and its performance in solving optimization problems was tested on a set of twenty-three different objective functions. In addition, for further analysis, the results obtained from the proposed algorithm were compared with eight optimization algorithms: genetic algorithm (GA), particle swarm optimization (PSO), gravitational search algorithm (GSA), teaching–learning-based optimization (TLBO), gray wolf optimizer (GWO), and the whale optimization algorithm (WOA), tunicate swarm algorithm (TSA), and marine predators algorithm (MPA). The results show that the proposed GBGBO algorithm has a good ability to solve various optimization problems and is more competitive than other similar algorithms.

scholarly journals A New Fluorescence Probe for Rapid Detection of Amyloid

2018 ◽  
Author(s):  
Nidhi Gour ◽  
Vivek Shinh Kshtriya ◽  
Bharti Koshti ◽  
Shradhey Gupta ◽  
khashti Ballabh Joshi ◽  
...  
Keyword(s):  
Rapid Detection ◽  
Control Experiment ◽  
Fluorescence Probe ◽  
Photophysical Properties ◽  
Cost Effective ◽  
The Novel ◽  
High Quantum Yield ◽  
Turn On ◽  
Heat Treated ◽  
Amyloidogenic Peptides

<p>We report efficient synthesis and photophysical properties of a novel fluorescent pyridothiazole based construct by a facile methodology and its application as a sensor for rapid, selective as well as sensitive detection of amyloid fibres. The novel compound has exceptionally high quantum yield and sensitivity. The fluorescence of pyridothiazole construct is completely quenched (Turn-OFF) upon addition of cupric ions and the fluorescence is recovered on addition of amyloidogenic peptides like A<i>β</i><sub>42 </sub>(Turn-ON). The control experiment with native and heat treated BSA suggest that the new probe binds to beeta/<i>β</i> sheets present in amyloid. The new probe offers direct visualization of fluorescence ‘Turn-OFF’ ‘Turn-ON’ under long UV without the use of sophisticated instrumentation. Hence, a very simple, facile and cost-effective methodology for the rapid detection of amyloid is presented and it may in all possibility pave the way for the design of a better probe for sensing amyloids than conventional ThT.</p>

A multi-unit serial inspection robot for power transmission lines

2019 ◽  
Vol 46 (2) ◽  
pp. 223-234 ◽  
Author(s):  
Guanghong Tao ◽  
Lijin Fang
Keyword(s):  
Transmission Line ◽  
Transmission Lines ◽  
Power Transmission ◽  
Power Transmission Line ◽  
The Novel ◽  
Power Transmission Lines ◽  
Obstacle Crossing ◽  
Content Type ◽  
Inspection Robot ◽  
Serial Robot

Purpose The purpose of this paper is to introduce a robot mechanism designed for power transmission line inspection. The focus for this design is on obstacle-crossing ability with a goal to create a robot moving and crossing obstacle on not only the straight line but also the steering line. Design/methodology/approach A novel four-unit tri-arm serial robot mechanism is proposed. Every novel unit designed for pitching motion is based on parallelogram structure, which is driven by cables and only one motor. There is gripper-wheel compounding mechanism mounted on the arm. The prototype and obstacle environments are established, and the obstacle-crossing experiments are conducted. Findings The novel unit mechanism and robot prototype have been tested in the lab. The prototype has demonstrated the obstacle-crossing ability when moving and crossing fundamental obstacles on the line. The experimental results show that the robot mechanism meets the obstacle-crossing requirements. Practical implications The novel robot technology can be used for defect inspection of power transmission line by power companies. Social implications It stands to lower the intense and risk of inspection works and reduce the costs related to inspection. Originality/value Innovative features include its architecture, mobility and driving method.

scholarly journals Sound Symbolism Facilitates Long-Term Retention of the Semantic Representation of Novel Verbs in Three-Year-Olds

Languages ◽  
2019 ◽  
Vol 4 (2) ◽  
pp. 21 ◽  
Author(s):  
Katerina Kantartzis ◽  
Mutsumi Imai ◽  
Danielle Evans ◽  
Sotaro Kita
Keyword(s):  
Control Experiment ◽  
Semantic Representation ◽  
Test Session ◽  
Sound Symbolism ◽  
The Novel ◽  
Verb Learning ◽  
New Words ◽  
Training Video ◽  
Long Term Retention

Previous research has shown that sound symbolism facilitates action label learning when the test trial used to assess learning immediately followed the training trial in which the (novel) verb was taught. The current study investigated whether sound symbolism benefits verb learning in the long term. Forty-nine children were taught either sound-symbolically matching or mismatching pairs made up of a novel verb and an action video. The following day, the children were asked whether a verb can be used for a scene shown in a video. They were tested with four videos for each word they had been taught. The four videos differed as to whether they contained the same or different actions and actors as in the training video: (1) same-action, same-actor; (2) same-action, different-actor; (3) different-action, same-actor; and (4) different-action, different-actor. The results showed that sound symbolism significantly improved the childrens’ ability to encode the semantic representation of the novel verb and correctly generalise it to a new event the following day. A control experiment ruled out the possibility that children were generalising to the “same-action, different-actor” video because they did not recognize the actor change due to the memory decay. Nineteen children were presented with the stimulus videos that had also been shown to children in the sound symbolic match condition in Experiment 1, but this time the videos were not labeled. In the test session the following day, the experimenter tested the children’s recognition memory for the videos. The results indicated that the children could detect the actor change from the original training video a day later. The results of the main experiment and the control experiment support the idea that a motivated (iconic) link between form and meaning facilitates the symbolic development in children. The current study, along with recent related studies, provided further evidence for an iconic advantage in symbol development in the domain of verb learning. A motivated form-meaning relationship can help children learn new words and store them long term in the mental lexicon.

Mechatronic Design of Mobile Robots for Stable Obstacle Crossing at Low and High Speeds

2015 ◽  
pp. 567-630
Author(s):  
Jean-Christophe Fauroux ◽  
Frédéric Chapelle ◽  
Belhassen-Chedli Bouzgarrou ◽  
Philippe Vaslin ◽  
Mohamed Krid ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
High Speed ◽  
Legged Locomotion ◽  
Improve Performance ◽  
Obstacle Crossing ◽  
Low Speed ◽  
Pitch Control ◽  
High Speeds ◽  
Hybrid Locomotion

This chapter presents recent mechatronics developments to create original terrestrial mobile robots capable of crossing obstacles and maintaining their stability on irregular grounds. Obstacle crossing is both considered at low and high speeds. The developed robots use wheeled propulsion, efficient on smooth grounds, and improve performance on irregular grounds with additional mobilities, bringing them closer to legged locomotion (hybrid locomotion). Two sections are dedicated to low speed obstacle crossing. Section two presents an original mobile robot combining four actuated wheels with an articulated frame to improve obstacle climbing. Section three extends this work to a new concept of modular poly-robot for agile transport of long payloads. The last two sections deal with high-speed motion. Section four describes new suspensions with four mobilities that maintain pitch stability of vehicles crossing obstacles at high speed. After the shock, section five demonstrates stable pitch control during ballistic phase by accelerating-braking the wheels in flight.

Study of a new water jet thruster for robotic returnable jumping

2020 ◽  
pp. 095440622097543
Author(s):  
Jixue Mo ◽  
Jingcheng Xiao ◽  
Feng Lin ◽  
Yao Li ◽  
Zhendong Song
Keyword(s):  
Structural Design ◽  
Cfd Simulation ◽  
Water Jet ◽  
The Novel ◽  
Propulsive Force ◽  
Terrestrial Environment ◽  
Emission Process ◽  
Thrust Measurement ◽  
Terrestrial Environments ◽  
Jumping Robot

A novel water jet thruster which is capable of conducting two sequential jumps is proposed for the amphibious jumping robot. The proposed water jet thruster adopted a unique structural design with a double-layered tank. Liquid nitrogen was injected to the tank to pressure the propellant water and generate propulsive force, which is safe and effective for both aquatic and terrestrial environment. Then a theoretical jumping model was built to evaluate the performances of two jumping actions. According to the tethered thrust measurement and free jumping experiments, the estimation from the model met well with their experimental verifications. Moreover, CFD simulation was conducted to compare the emission process of inner and outer chambers in detail. We believe the demonstration of the novel thruster would drive the innovation of future amphibious robots that capable of leaping from both aquatic and terrestrial environments.

Modeling and control of an unmanned underwater vehicle using a mass moving system

2015 ◽  
Vol 29 (06n07) ◽  
pp. 1540014 ◽  
Author(s):  
Seung-Woo Byun ◽  
Donghee Kim ◽  
Hyeung-Sik Choi ◽  
Joon-Young Kim
Keyword(s):  
Degrees Of Freedom ◽  
Underwater Vehicle ◽  
Control Algorithms ◽  
Dynamics Model ◽  
Modeling And Control ◽  
Pitch Control ◽  
Unmanned Underwater Vehicle ◽  
Point Tracking ◽  
Heading Control ◽  
And Control

This paper describes the mathematical modeling and control algorithms of an unmanned underwater vehicle (UUV) named Minekiller. This UUV has two longitudinal thrusters, one vertical thruster, and an internal mass moving system, which can control the pitch rate. The UUV is equipped with a movable mass for pitch control. It is different from other common UUVs, in that it can maintain a static pitch angle. The UUV's 6-DOF (Degrees of Freedom) dynamics model is derived from the hydrodynamic forces and moments acting on it. We applied these hydrodynamic coefficients to dynamic modeling for numerical simulations by MATLAB/SIMULINK©. To compare the performance in various cases, we used a PID controller for depth and heading control. Also, the navigation controller can analyze the way-point tracking performance. These simulation results show the performance of the control algorithms and maneuvering performance of the underwater vehicle.

scholarly journals Measuring recognition memory in zebrafish larvae: issues and limitations

PeerJ ◽  
2020 ◽  
Vol 8 ◽  
pp. e8890
Author(s):  
Matteo Bruzzone ◽  
Elia Gatto ◽  
Tyrone Lucon Xiccato ◽  
Luisa Dalla Valle ◽  
Camilla Maria Fontana ◽  
...  
Keyword(s):  
Recognition Memory ◽  
Control Experiment ◽  
Developmental Stages ◽  
Poor Performance ◽  
The Novel ◽  
Object Recognition Test ◽  
Larval Zebrafish ◽  
Zebrafish Larvae ◽  
Novel Objects ◽  
Early Developmental

Recognition memory is the capacity to recognize previously encountered objects, events or places. This ability is crucial for many fitness-related activities, and it appears very early in the development of several species. In the laboratory, recognition memory is most often investigated using the novel object recognition test (NORt), which exploits the tendency of most vertebrates to explore novel objects over familiar ones. Despite that the use of larval zebrafish is rapidly increasing in research on brain, cognition and neuropathologies, it is unknown whether larvae possess recognition memory and whether the NORt can be used to assess it. Here, we tested a NOR procedure in zebrafish larvae of 7-, 14- and 21-days post-fertilization (dpf) to investigate when recognition memory first appears during ontogeny. Overall, we found that larvae explored a novel stimulus longer than a familiar one. This response was fully significant only for 14-dpf larvae. A control experiment evidenced that larvae become neophobic at 21-dpf, which may explain the poor performance at this age. The preference for the novel stimulus was also affected by the type of stimulus, being significant with tri-dimensional objects varying in shape and bi-dimensional geometrical figures but not with objects differing in colour. Further analyses suggest that lack of effect for objects with different colours was due to spontaneous preference for one colour. This study highlights the presence of recognition memory in zebrafish larvae but also revealed non-cognitive factors that may hinder the application of NORt paradigms in the early developmental stages of zebrafish.

scholarly journals A Network Dynamics Model for the Transmission of COVID-19 in Diamond Princess and a Response to Reopen Large-Scale Public Facilities

Healthcare ◽  
2022 ◽  
Vol 10 (1) ◽  
pp. 139
Author(s):  
Yuchen Zhu ◽  
Ying Wang ◽  
Chunyu Li ◽  
Lili Liu ◽  
Chang Qi ◽  
...  
Keyword(s):  
Public Transportation ◽  
Large Scale ◽  
Transmission Rate ◽  
Contact Network ◽  
The Novel ◽  
Dynamics Model ◽  
Modeling Framework ◽  
Transportation Services ◽  
Public Facilities ◽  
Novel Coronavirus

Background: The current epidemic of COVID-19 has become the new normal. However, the novel coronavirus is constantly mutating. In public transportation or large entertainment venues, it can spread more quickly once an infected person is introduced. This study aims to discuss whether large public facilities can be opened and operated under the current epidemic situation. Methods: The dual Barabási–Albert (DBA) model was used to build a contact network. A dynamics compartmental modeling framework was used to simulate the COVID-19 epidemic with different interventions on the Diamond Princess. Results: The effect of isolation only was minor. Regardless of the transmission rate of the virus, joint interventions can prevent 96.95% (95% CI: 96.70–97.15%) of infections. Compared with evacuating only passengers, evacuating the crew and passengers can avoid about 11.90% (95% CI: 11.83–12.06%) of infections; Conclusions: It is feasible to restore public transportation services and reopen large-scale public facilities if monitoring and testing can be in place. Evacuating all people as soon as possible is the most effective way to contain the outbreak in large-scale public facilities.

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