Archive access robot for smart archive repositories

Purpose Managing archives using robots rather than people can considerably enhance efficiency, while need to modify the structure of archive shelves or installation tracks. This paper aims to develop a fully automated archive access robot without modification. Design/methodology/approach First, a mobile navigation chassis and a motion algorithm based on laser ranging and map matching are created for autonomous movement to any of the archives’ locations. Second, because the existing archives are stacked vertically, the bionic manipulator is made to mimic the movement of manual access to the archives, and it is attached to the robot arm’s end to access different layers of archives. In addition, an industrial camera is used to complete barcode identification of the archives and acquire data on their location and thickness. Finally, the archive bin is created to store archives. Findings The robot can move, identify and access multiple archival copies placed on floors 1–6 and 2–5 cm thick autonomously without modifying the archival repository or using auxiliary devices. Research limitations/implications The robot is currently able to navigate, identify and access files placed on different levels. In the future, the speed of the robot’s navigation and the movement of the robot arm could be even faster, while the level of visualization of the robot could be further improved and made more intelligent. Practical implications The archive access robot developed by the authors makes it possible for robots to manage archives instead of human, while being cheaper and easier to deploy than existing robots, and has already been tested in the archive storage room of the State Grid maintenance branch in Jiangsu, China, with better results. Social implications The all-in-one archive access robot can replace existing robotic access solutions, promote intelligent management of the archive industry and the construction of unmanned archive repositories and provide ideas for the development of robots for accessing book-like materials. Originality/value This study explores the use of robots to identify and access archives without changing archive shelves or installing auxiliary devices. In this way, the robot can be quickly applied to the storage room to improve the efficiency of archive management.

Dialogue Control of Collaborative Robots Based on Artifi cial Neural Networks

Collaborative robotics progress is based on the possibility to apply robots to the wide range activity of peoples. Now the user can control the robot without any special knowledge in robotics and safe. The price of such possibilities is complication of control system of robot which now has to aquire an opportunity of autonomous behavior under human’s control, using the necessary sensors and elements of artificial intelligence. In our research we suppose the collaborative robot as mobile robotic device possible to fulfil some work under the human’s speech demands not only in the same space with the human. We also suppose the necessity of bilateral dialogue human-robot to make it clear the task, the current situation, the state as robot as human. The complex task of control, or may be the collaboration of human with his artificial partner need new means of control, situation recognition, speech dialogue management. As a mean to solve the whole complex of problems we propose the combination of different artificial neural networks. Such as convolution networks for image recognition, deep networks for speech recognition, LSTM networks for autonomous movement of robot control in current situation. Investigations in the field of mobile and manipulation robots including the human-robot control have been proceeded for some years in the department "Robotic systems and mechatronics" BMSTU celebrating now it 70th years Jubilee. The reader may find some of the works in the bibliography. In result of all these investigations we obtain the service robot model which may find a wide application.

Development of the algorithm for selecting a rational regular urban route for electric bus operation

Introduction. The article presents an analysis of researches on the operation of public transport vehicles with an electric drive. Electric buses have been tested in megacities, and despite the advantages, problems were identi- fied both in the selection of the charging type, technological features and with the availability and operation of the charging infrastructure. The operation process is associated with a number of technical restrictions, which in prac- tice make it difficult to select routes for the electric bus operation. The aim of the study is to develop an algorithm for selecting a rational regular urban route for the electric bus operation and to test it on the example of the route network of Tyumen.Materials and methods. A structural diagram of the factors influencing the selection of the route for the electric bus operation has been formed. As a result of processing expert assessments, the most significant factors were identified. The diagram of the interconnections of these factors is identified and limitations for the algorithm are for- mulated based on the theory of systems analysis. The algorithm for selecting the rational regular urban route for the electric bus operation has been developed. It enables creating the simulation model for selecting a rational regular urban route for the operation of an electric bus.Results. The diagram of factors influencing the selection of a rational regular urban route for the operation of an electric bus, taking into account their mutual relations, has been formed. The algorithm and simulation model for se- lecting a rational regular urban route for the operation of an electric bus has been developed. Several urban routes in Tyumen were assessed for the rationality of the introduction of electric buses.Discussion and conclusions. Evaluation of five regular urban routes in Tyumen using the developed algorithm and the simulation model revealed three rational routes, and also showed the inefficiency of the other two. It due to the discrepancy between the duration of the charging session and breaks in operation, as well as the insufficient charge level of the traction battery to ensure the required autonomous movement of the vehicle. In the course of the continuation of these studies, the developed algorithm will be supplemented with the stage of economic assess- ment of routes for the operation of electric buses.

Directed Information Flow Analysis Reveals Muscle Fatigue-Related Changes in Muscle Networks and Corticomuscular Coupling

As a common neurophysiological phenomenon, voluntary muscle fatigue is accompanied by changes in both the central nervous system and peripheral muscles. Considering the effectiveness of the muscle network and the functional corticomuscular coupling (FCMC) in analyzing motor function, muscle fatigue can be analyzed by quantitating the intermuscular coupling and corticomuscular coupling. However, existing coherence-based research on muscle fatigue are limited by the inability of the coherence algorithm to identify the coupling direction, which cannot further reveal the underlying neural mechanism of muscle fatigue. To address this problem, we applied the time-delayed maximal information coefficient (TDMIC) method to quantitate the directional informational interaction in the muscle network and FCMC during a right-hand stabilized grip task. Eight healthy subjects were recruited to the present study. For the muscle networks, the beta-band information flow increased significantly due to muscle fatigue, and the information flow between the synergist muscles were stronger than that between the synergist and antagonist muscles. The information flow in the muscle network mainly flows to flexor digitorum superficialis (FDS), flexor carpi ulnar (FCU), and brachioradialis (BR). For the FCMC, muscle fatigue caused a significant decrease in the beta- and gamma-band bidirectional information flow. Further analysis revealed that the beta-band information flow was significantly stronger in the descending direction [electroencephalogram (EEG) to surface electromyography (sEMG)] than that in the ascending direction (sEMG to EEG) during pre-fatigue tasks. After muscle fatigue, the beta-band information flow in the ascending direction was significantly stronger than that in the descending direction. The present study demonstrates the influence of muscle fatigue on information flow in muscle networks and FCMC. We proposes that beta-band intermuscular and corticomuscular informational interaction plays an adjusting role in autonomous movement completion under muscle fatigue. Directed information flow analysis can be used as an effective method to explore the neural mechanism of muscle fatigue on the macroscopic scale.

Autonomous land vehicle path planning algorithm based on improved heuristic function of A-Star

The path planning of autonomous land vehicle has become a research hotspot in recent years. In this article, we present a novel path planning algorithm for an autonomous land vehicle. According to the characteristics of autonomous movement towards the autonomous land vehicle, an improved A-Star path planning algorithm is designed. The disadvantages of using the A-Star algorithm for path planning are that the path planned by the A-Star algorithm contains many unnecessary turning points and is not smooth enough. Autonomous land vehicle needs to adjust its posture at each turning point, which will greatly waste time and also will not be conducive to the motion control of autonomous land vehicle. In view of these shortcomings, this article proposes a new heuristic function combined with the artificial potential field method, which contains both distance information and obstacle information. Our proposed algorithm shows excellent performance in improving the execution efficiency and reducing the number of turning points. The simulation results show that the proposed algorithm, compared with the traditional A-Star algorithm, makes the path smoother and makes the autonomous land vehicle easier to control.

The Role of Functional Electrical Stimulation in Brachial Plexus Injury Repair

Brachial plexus injury (BPI) is a type of peripheral nerve injury, which is mainly manifested as upper limb sensory and motor dysfunction. Although the injury will not endanger life, it can cause serious functional loss and high disability rate, and eventually lead to patients unable to live normally. At present, the treatment methods for BPI mainly include conservative treatment, such as limb massage, exercise, drug therapy, autonomous movement and strength training; In clinic, nerve repair, nerve transplantation and muscle transfer can also be used. Although surgical treatment can better restore the function of injured brachial plexus, there is a certain risk, so it is not the first choice of treatment. As a mature electrical stimulation method, functional electrical stimulation (FES) can play a good role in promoting injured nerve regeneration and preventing skeletal muscle denervation atrophy, so it can be widely used in the treatment and functional recovery of BPI. This article will review the research progress of FES in the treatment of BPI.

Depth Estimation for Monocular Image Based on Convolutional Neural Networks

Perceiving the three-dimensional structure of the surrounding environment and analyzing it for autonomous movement is an indispensable element for robots to operate in scenes. Recovering depth information and the three-dimensional spatial structure from monocular images is a basic mission of computer vision. For the objects in the image, there are many scenes that may produce it. This paper proposes to use a supervised end-to-end network to perform depth estimation without relying on any subsequent processing operations, such as probabilistic graphic models and other extra fine steps. This paper uses an encoder-decoder structure with feature pyramid to complete the prediction of dense depth maps. The encoder adopts ResNeXt-50 network to achieve main features from the original image. The feature pyramid structure can merge high and low level information with each other, and the feature information is not lost. The decoder utilizes the transposed convolutional and the convolutional layer to connect as an up-sampling structure to expand the resolution of the output. The structure adopted in this paper is applied to the indoor dataset NYU Depth v2 to obtain better prediction results than other methods. The experimental results show that on the NYU Depth v2 dataset, our method achieves the best results on 5 indicators and the sub-optimal results on 1 indicator.

Meninas Desamparadas? A Pastoral da Mulher Marginalizada e o nascimento do movimento brasileiro de prostitutas | Helpless Girls? The Pastoral da Mulher Marginalizada and the birth of the Brazilian prostitutes’ movement

ResumoEste artigo aborda o nascimento do movimento de prostitutas no Brasil partindo de uma análise da Pastoral da Mulher Marginalizada, uma iniciativa da Igreja Católica que realizou um trabalho assistencialista e de conscientização política com mulheres prostitutas no Brasil a partir da década de 1970. Minha pesquisa examina as tensões entre as participantes e os agentes da Pastoral que deram origem a um movimento autônomo de profissionais do sexo em meados da década de 1980. Eu argumento que a Rede Brasileira de Prostitutas (RBP) foi influenciada não só pelo clima político da democratização, mas também pelo discurso de autoestima e do valor intrínseco do indivíduo pregado pela Pastoral. Finalmente, eu considero o Primeiro Encontro Nacional de Prostitutas, realizado em 1987, destacando como a RBP acabou rejeitando o tropo da prostituta-como-vítima e as crenças abolicionistas do ramo progressista da Igreja.Palavras-chave: Prostituição. Igreja Católica. Movimentos sociais. Abertura política. AbstractThis article examines the birth of the Brazilian sex-worker movement by foregrounding an analysis of the Pastoral da Mulher Marginalizada, a ministry of the Catholic Church that conducted outreach and political consciousness-raising among prostitutes in Brazil starting in the 1970s. My research explores the tensions between ministry participants and agents that eventually led to the founding of an autonomous movement of sex workers in the mid-1980s. I argue that the Rede Brasileira de Prostitutas (RBP) was influenced not only by the political climate of Brazil’s democratization process, but also by the discourse of self-esteem and the intrinsic value of the individual espoused by the Pastoral. Finally, I consider the Primeiro Encontro Nacional de Prostitutas, held in 1987, highlighting how the RBP came to the trope of the prostitute-as-victim and the abolitionist beliefs of the progressive branch of the Catholic Church.Keywords: Prostitution. Catholic Church. Social Movements. Political opening.

Parties, Movements, Brokers

This article is a study of the consequences of brokerage for movements, and particularly for the role of political parties within social movements. My findings indicate that brokerage creates opportunities for minor groups to play a crucial role in mobilization, something that comes at a cost to a movement’s structure. I make my case with a study of brokerage in action, based on activist interviews, events data, and network data collected from the Scottish independence movement. Results demonstrate that the likelihood of the governing Scottish National Party participating in movement events only increases with the number of participating movement organizations. As the movement organizations transitioned from a referendum campaign to an autonomous movement, under-resourced peripheral groups took the lead in brokering the Nationalist movement.