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Complementing Haptic Shared Control With Visual Feedback for Obstacle Avoidance

IFAC-PapersOnLine 2019年第19期52卷 371-376页

作者： Wilco Vreugdenhil Sarah Barendswaard David A. Abbink Clark Borst Sebastiaan M. Petermeijer Department of Cognitive Robotics Faculty of Mechanical Maritime and Materials Engineering Department of Control & Operations Faculty of Aerospace Engineering Delft University of Technology Delft the Netherlands

For automated vehicles (SAE Level 2-3) part of the challenge lies in communicating to the driver what control actions the automation is taking and will take, and what its capabilities are. A promising approach is haptic shared control (HSC), which uses continuous torques on the steering wheel to communicate the automation’s current control actions. However, torques on the steering wheel cannot communicate future spatiotemporal constraints, that might be required to judge appropriate overtaking or obstacle avoidance. A visualisation of predicted vehicle trajectory, along with velocity-dependent constraints with respect to achievable trajectories is proposed. The goal of this paper is to experimentally compare obstacle avoidance behaviour while driving with the designed visualisation against driving with a previously designed HSC, as well as the two support systems combined. It is expected that adding visual feedback improves obstacle avoidance and user acceptance, and reduces control effort with respect to HSC only. In a driving simulator experiment, 26 participants drove three trials with each feedback condition (visual, HSC, and combination) and had to avoid obstacles that appeared with a Time to collision of either 1.85 s (critical) or 4.7 s (non-criticall). Results showed that, compared to HSC only, the HSC and visual combination yielded slightly smaller safety margins to the obstacle, a significant reduction of control activity on straights, and increased subjective acceptance rating. Visual and HSC offered a beneficial synergy, as it seemed the visual feedback allowed drivers to anticipate the effect of their steering actions on the car’s trajectory more accurately, and the HSC reduced the intra-subject variability. Future research should investigate the effects of added visual feedback in more detail, specifically in terms of the effectiveness to communicate automation capabilities and driver gaze behavior.

关键词： Haptic Shared Control Visual Feedback Ecological Interface Design Obstacle avoidance

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Testing specificity and sensitivity of wastewater-based epidemiology for detecting SARS-CoV-2 in four communities on Vancouver Island, Canada

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Environmental Advances 2022年 9卷 100310页

作者： Masri, Nadia Zeina Card, Kiffer George Caws, Emmanuelle A. Babcock, Alana Powell, Ryan Lowe, Christopher J. Donovan, Shelley Norum, Shelley Lyons, Shirley De Pol, Sean Kostenchuk, Lareina Dorea, Caetano Lachowsky, Nathan J. Willerth, Stephanie M. Fyles, Thomas M. Buckley, Heather L. Division of Medical Sciences University of Victoria Victoria V8W 2Y2 BC Canada Faculty of Health Sciences Simon Fraser University Canada Department of Civil Engineering and Centre for Advanced Materials and Related Technologies (CAMTEC) University of Victoria Canada Environmental Monitoring Program Capital Regional District Canada Regional District of Nanaimo Canada Pani Energy Inc. Canada Department of Civil Engineering Department of Chemistry and Centre for Advanced Materials and Related Technologies (CAMTEC) University of Victoria Canada School of Public Health and Social Policy University of Victoria Canada Department of Mechanical Engineering and Division of Medical Sciences University of Victoria Centre for Advanced Materials and Related Technologies (CAMTEC) University of Victoria Canada School of Biomedical Engineering University of British Columbia Canada

We report wastewater surveillance of the spread of SARS-CoV-2 based upon 24-h composite influent samples taken weekly from four wastewater treatment plants (WWTP) on Vancouver Island, BC, Canada between January 3, 2021 and July 10, 2021. Samples were analyzed by reverse transcription quantitative polymerase chain reaction targeting the N1 and N2 gene fragments of SARS-CoV-2 and a region of the replication associate protein of the pepper mottle mosaic virus (PMMoV) serving as endemic control. Only a small proportion of samples had quantifiable levels of N1 or N2. Overall case rates are weakly correlated with the concentration (gene copies/L) and with the flux of viral material influent to the WWTP (gene copies/day);the latter accounts for influent flow variations. Poisson multimodal rank correlation accounts for differences between the four WWTP and shows a significant correlation with a significant positive intercept. Receiver operator characteristics (ROC) analysis confirms a cut-off of cases based on amplified/not-amplified experimental data. At the optimal cut point of 19 (N1) or 17 (N2) cases/week/100,000 the sensitivity and specificity is about 75% for N1 and 67% for N2. © 2022 The Authors

关键词： Pepper mild mottle virus qPCR SARS-CoV-2 Sensitivity Specificity Wastewater surveillance Wastewater-based epidemiology

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Data-Driven Predictive Control Towards Multi-Agent Motion Planning With Non-Parametric Closed-Loop Behavior Learning

arXiv

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arXiv 2020年

作者： Ma, Jun Cheng, Zilong Wang, Wenxin Al Mamun, Abdullah de Silva, Clarence W. Heng Lee, Tong Robotics and Autonomous Systems Thrust The Department of Electronic and Computer Engineering The Hong Kong University of Science and Technology China Department of Electrical and Computer Engineering National University of Singapore Singapore117583 Singapore Department of Mechanical Engineering University of British Columbia VancouverBCV6T 1Z4 Canada

In many specific scenarios, accurate and effective system identification is a commonly encountered challenge in the model predictive control (MPC) formulation. As a consequence, the overall system performance could be significantly weakened in outcome when the traditional MPC algorithm is adopted under those circumstances when such accuracy is lacking. This paper investigates a non-parametric closed-loop behavior learning method for multi-agent motion planning, which underpins a data-driven predictive control framework. Utilizing an innovative methodology with closed-loop input/output measurements of the unknown system, the behavior of the system is learned based on the collected dataset, and thus the constructed non-parametric predictive model can be used to determine the optimal control actions. This non-parametric predictive control framework alleviates the heavy computational burden commonly encountered in the optimization procedures typically in alternate methodologies requiring open-loop input/output measurement data collection and parametric system identification. The proposed data-driven approach is also shown to preserve good robustness properties. Finally, a multi-UAV system is used to demonstrate the highly effective outcome of this promising development. Copyright © 2020, The Authors. All rights reserved.

关键词： Model predictive control

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Manufacturing analysis of the extrusion machine for the filament of 3D printing

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AIP Conference Proceedings 2024年第1期2838卷

作者： Heny Pasandang Nari Mahadir Sirman Syah Risal Rusdi Nur Mechanical Engineering Study Program Politeknik Ilmu Pelayaran Makassar Jalan Salodong Biringkanaya Makassar 90552 South Sulawesi Indonesia Mechanical Engineering Department Politeknik Negeri Ujung Pandang Jalan Perintis Kemerdekaan Km. 10 Makassar 90245 South Sulawesi Indonesia Center for Materials and Manufacturing Politeknik Negeri Ujung Pandang Jalan Perintis Kemerdekaan Km. 10 Makassar 90245 South Sulawesi Indonesia

Plastic is one type of material that is quite widely used today, ranging from industrial, and educational to household purposes. Nowadays, plastic can be found in many ways in its utilization and processing technology, one of which is as a material or material in the use of 3D printer machines, plastic in this case is known as filament. In the process, this filament can be made either by using an extrusion method or using an extruder machine. Plastic extrusion machines are used to carry out the extrusion or shaping process by utilizing shredded plastic by using high temperatures for the melting process and being reshaped with a mold into a certain shape. This study aims to analyze the manufacturing process of extrusion machines for filament including the manufacturing cost to obtain a low production cost. The design of the extrusion machine is made with the principle of a horizontal shape and uses a screw conveyor as a material driver in the extrusion process. Filament Making Extrusion Machine uses HDPE plastic ore test material to print filament with a rotation specification of 31.81 rpm and power of 915watt on the heating element band heater. The extrusion machine design process uses a screw conveyor system with standard flight or standard knives. The size of the screw conveyor is 500mm long, 50mm screw diameter, and 25mm pitch distance followed by the total dimensions. The extrusion machine has dimensions of 800 x 400 x 600mm. In terms of manufacturing cost analysis, the extrusion machine can be made at a low cost of 9,284,279.53. IDR. Based on the results of the analysis, it is concluded that the extrusion machine that is designed and made can function to print plastic in the form of filaments and has a low cost in the manufacturing process.

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Hybrid Electrolyte engineering Enables Safe and Wide-Temperature Redox Flow Batteries

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Angewandte Chemie 2021年第27期133卷

作者： Leyuan Zhang Prof. Guihua Yu Materials Science and Engineering Program and Department of Mechanical Engineering The University of Texas at Austin Austin TX 78712 USA

Electrolyte is an important component in redox flow batteries (RFBs) that determines the current capability, potential window, and safety, but both aqueous and nonaqueous electrolytes have their intrinsic limits. Here, we develop the proof-of-concept hybrid electrolyte chemistry to enable the design of safe and wide-temperature RFBs. In addition to the non-flammable characteristics, the hybrid electrolyte also inherits the high electrochemical stability and wide operational temperature range. It can show a potential window of 2.5 V and maintain high ion conductivities at low temperatures. It also enables LiI to achieve high Coulombic efficiencies of >99.9 %, showing long cycling stability over 800 cycles. Moreover, it enables the successful operation of Zn/LiI RFBs at −20 °C for 150 cycles with nearly no capacity loss. This study highlights the great potential of hybrid electrolyte chemistry for the approach of safe and high-performance large-scale energy storage systems in wide temperature ranges.

关键词： electrolyte chemistry energy storage hybrid electrolyte redox flow batteries wide temperature range

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Correction to “A Sigmoid-Colon-Straightening Soft Actuator With Peristaltic Motion for Colonoscopy Insertion Assistance: Easycolon”

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IEEE robotics and Automation Letters 2021年第3期6卷 5736-5736页

作者： Hansoul Kim Joonhwan Kim Jae Min You Seung Woo Lee Ki-Uk Kyung Dong-Soo Kwon Division of Mechanical Engineering School of Mechanical Aerospace and Systems Engineering KAIST Daejeon South Korea Robotics Program KAIST Daejeon South Korea Division of Gastroenterology Department of Internal Medicine College of Medicine The Catholic University of Korea Seoul South Korea

There are two corresponding authors who have contributed to this letter, yet only one of them has been mentioned as the corresponding author in the original letter. As a result, “Ki-Uk Kyung” was added to footnote a... 详细信息

关键词： Actuators Colonoscopy

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21-Cation Compositionally Complex Ceramics: Discovery of Ultrahigh-Entropy Weberite and Fergusonite Phases and a Pyrochlore-Weberite Transition

arXiv

引用

arXiv 2021年

作者： Mingde, Qin Heidy, Vega Dawei, Zhang Sarath, Adapa Andrew, J. Wright Renkun, Chen Jian, Luo Department of NanoEngineering University of California La Jolla San DiegoCA92093 United States Department of Chemistry and Biochemistry University of California La Jolla San DiegoCA92093 United States Program of Materials Science and Engineering University of California La Jolla San DiegoCA92093 United States Department of Mechanical and Aerospace Engineering University of California La Jolla San DiegoCA92093 United States

Two new high-entropy ceramics (HECs) in the weberite and fergusonite structures, along with unexpected formation of ordered pyrochlore phases with ultrahigh-entropy compositions and an abrupt pyrochlore-weberite transition, are discovered in a 21-cation oxide system. While the Gibbs phase rule allows 21 equilibrium phases, nine out of the 13 compositions examined possess single HEC phases (with ultrahigh ideal configurational entropies: ~2.7kB per cation on one sublattice and >2kB per cation on average in most cases). Notably, (15RE1/15)(Nb1/2Ta1/2)O4 possess a single monoclinic fergusonite (C2/c) phase and (15RE1/15)3(Nb1/2Ta1/2)1O7 form a single orthorhombic (C2221) weberite phase, where 15RE1/15 represents Sc1/15Y1/15La1/15Pr1/15Nd1/15Sm1/15Eu1/15Gd1/15Tb1/15Dy1/15Ho1/15Er1/15Tm1/15Yb1/15Lu1/15. Moreover, a series of eight (15RE1/15)2+x(Ti1/4Zr1/4Ce1/4Hf1/4)2-2x(Nb1/2Ta1/2)xO7 specimens all exhibit single phases, where a pyrochlore-weberite transition occurs within 0.75 © 2021, CC BY.

关键词： Entropy

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Whole-body control on non-holonomic mobile manipulation for grapevine winter pruning automation

arXiv

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arXiv 2021年

作者： Teng, Tao Fernandes, Miguel Gatti, Matteo Poni, Stefano Semini, Claudio Caldwell, Darwin Cheny, Fei Lab Istituto Italiano di Tecnologia Via S. Quirico 19D Genoa16163 Italy Department of Advanced Robotics Istituto Italiano di Tecnologia Via S. Quirico 19D Genoa16163 Italy Department of Sustainable Crop Production Università Cattolica del Sacro Cuore Via Emilia Parmense 84 Piacenza29122 Italy Department of Mechanical and Automation Engineering T-Stone Robotics Institute Chinese University of Hong Kong Hong Kong

Mobile manipulators that combine mobility and manipulability, are increasingly being used for various unstructured application scenarios in the field, e.g. vineyards. Therefore, the coordinated motion of the mobile base and manipulator is an essential feature of the overall performance. In this paper, we explore a whole-body motion controller of a robot which is composed of a 2-DoFs non-holonomic wheeled mobile base with a 7-DoFs manipulator (non-holonomic wheeled mobile manipulator, NWMM) This robotic platform is designed to efficiently undertake complex grapevine pruning tasks. In the control framework, a task priority coordinated motion of the NWMM is guaranteed. Lower-priority tasks are projected into the null space of the top-priority tasks so that higher-priority tasks are completed without interruption from lower-priority tasks. The proposed controller was evaluated in a grapevine spur pruning experiment scenario. © 2021, CC BY.

关键词： Manipulators

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Rats: A robotic arm training system designed for rats

Rats: A robotic arm training system designed for rats

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ASME 2020 International Design engineering Technical Conferences and Computers and Information in engineering Conference, IDETC-CIE 2020

作者： Zhang, Haohan Luna, Tatiana Yang, Lillian Martin, John Agrawal, Sunil Robotics and Rehabilitation Laboratory Dept. of Mechanical Engineering Columbia University New YorkNY10027 United States CUNY School of Medicine City College of New York New YorkNY10031 United States Dept. of Molecular Cellular and Biomedical Sciences Center for Discovery and Innovation CUNY School of Medicine Neuroscience Program CUNY Graduate Center New YorkNY10031 United States

ISBN: (纸本)9780791883990

This paper presents a novel robotic system to characterize and retrain reaching in rats. This robot is intended to be a research platform for rehabilitation of forelimb movements in rats. In this paper, we focus on the design of this robotic system. We present the design requirements, mathematical models, and details of the physical device. A parallel mechanism with a special alignment of the component chains is used to accommodate observed reaching motions of a rat’s forelimb. Additionally, we demonstrate the use of this robot to record forelimb trajectories. Three healthy rats were used to record repeated reaching motions while the robot applied nearly zero force. We believe that this robotic system can be used in future training studies with rats who have impaired arm motions due to a neurological insult. Copyright © 2020 ASME

关键词： Rats

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Risk Assessment for the Prevention of Managed Aquifer Recharge (MAR) Facility Failure During the Operation and the Expansion Phases

SSRN

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SSRN 2022年

作者： Sitek, Slawomir Janik, Krzysztof Dąbrowska, Dominika Różkowski, Jacek Wojtal, Grzegorz Mukawa, Jakub Witkowski, Andrzej Jaroslaw Jakóbczyk-Karpierz, Sabina Institute of Earth Sciences Faculty of Natural Sciences University of Silesia in Katowice Będzińska Str. 60 Sosnowiec41-200 Poland Tarnów Waterworks Ltd. Narutowicza Str. 37 Tarnów 33-100 Poland Department of Power Systems and Environmental Protection Facilities The Faculty of Mechanical Engineering and Robotics AGH University of Science And Technology al. Mickiewicza 30 Kraków30-059 Poland

This comprehensive risk assessment, done for a MAR facility, covers two MAR techniques: induced bank filtration and infiltration ditches during the operation and planned potential expansion phases. For this purpose, the semi-quantitative risk assessment matrix and the probabilistic risk assessment – fault tree analysis (PRA-FTA) – methods were used, and their advantages and limitations are analysed. Both methods examine various technical and non-technical risks that may pose a threat to the efficient functioning of the MAR facility in Tarnów, which supplies about 25% of the city’s population with drinking water. This study indicates that the predominant risks potentially reducing MAR efficiency or leading to MAR failure are technical ones. According to the PRA-FTA method, if no preventive measures are taken, there is a 99 and 98% probability of the MAR system's failure during the operational and expansion phases, respectively. The results indicate that the most serious basic risk is associated with the insufficient initial removal from the recharge river water of suspended solids, which clog infiltration ditches. In the future, the negative impacts on the MAR facility may increase as a result of climate change risks – the more frequent occurrence of drought periods and intense short-term rainfall events, and risks associated with the specificity of the study area, i.e. the immediate vicinity of a large industrial zone, where groundwater contamination has been recorded. On the basis of the present results, a detailed risk management plan is to be developed in the next stages of this research. © 2022, The Authors. All rights reserved.

关键词： Infiltration

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