Trajectory planning for biped robot walking on uneven terrain – Taking stepping as an example

Abstract According to the features of movements of humanoid robot, a control system for humanoid robot walking on uneven terrain is present. Constraints of stepping over stairs are analyzed and the trajectories of feet are calculated by intelligent computing methods. To overcome the shortcomings resulted from directly controlling the robot by neural network (NN) and fuzzy logic controller (FLC), a revised particle swarm optimization (PSO) algorithm is proposed to train the weights of NN and rules of FLC. Simulations and experiments on different control methods are achieved for a detailed comparison. The results show that using the proposed methods can obtain better control effect

A generalized public goods game with coupling of individual ability and project benefit

Facing a heavy task, any single person can only make a limited contribution and team cooperation is needed. As one enjoys the benefit of the public goods, the potential benefits of the project are not always maximized and may be partly wasted. By incorporating individual ability and project benefit into the original public goods game, we study the coupling effect of the four parameters, the upper limit of individual contribution, the upper limit of individual benefit, the needed project cost and the upper limit of project benefit on the evolution of cooperation. Coevolving with the individual-level group size preferences, an increase in the upper limit of individual benefit promotes cooperation while an increase in the upper limit of individual contribution inhibits cooperation. The coupling of the upper limit of individual contribution and the needed project cost determines the critical point of the upper limit of project benefit, where the equilibrium frequency of cooperators reaches its highest level. Above the critical point, an increase in the upper limit of project benefit inhibits cooperation. The evolution of cooperation is closely related to the preferred group-size distribution. A functional relation between the frequency of cooperators and the dominant group size is found

Behaviour of a FRP anchor for seismic strengthening of clay brick masonry walls

Fibre reinforced polymer (FRP) anchors made from rolled or folded fibres have been shown to be an effective technology for delaying or even preventing premature debonding failure in concrete structures strengthened with externally bonded FRP. It would naturally be expected that the use of FRP anchors can improve the earthquakeresistance of FRP strengthened structures by increasing its loading capacity and ductility especially the latter. This study explores the application of FRP anchors in seismic strengthening of clay brick walls. One unique feature of such a system is that the brick unit has smaller dimensions compared to common concrete specimens. This paper reports an experimental pull out study of these FRP anchors. Test parameters included anchor construction, the diameter of the anchor, and the size of predrilled holes in clay brick. The experimental results indicate that FRP anchors can be designed to achieve high loading capacities and hence can be effectively used to prevent or delay FRP debonding failure. The results also indicate that the geometry of the anchor system has a significant effect on its loading capacity

hand gesture modeling and recognition for human and robot interactive assembly using hidden markov models

Gesture recognition is essential for human and robot collaboration. Within an industrial hybrid assembly cell, the performance of such a system significantly affects the safety of human workers. This work presents an approach to recognizing hand gestures accurately during an assembly task while in collaboration with a robot co-worker. We have designed and developed a sensor system for measuring natural human-robot interactions. The position and rotation information of a human worker's hands and fingertips are tracked in 3D space while completing a task. A modified chain-code method is proposed to describe the motion trajectory of the measured hands and fingertips. The Hidden Markov Model (HMM) method is adopted to recognize patterns via data streams and identify workers' gesture patterns and assembly intentions. The effectiveness of the proposed system is verified by experimental results. The outcome demonstrates that the proposed system is able to automatically segment the data streams and recognize the gesture patterns thus represented with a reasonable accuracy ratio

Transplantation of Porcine Hepatocytes Cultured with Polylactic Acid-O-Carboxymethylated Chitosan Nanoparticles Promotes Liver Regeneration in Acute Liver Failure Rats

In this study, free porcine hepatocytes suspension (Group A), porcine hepatocytes embedded in collagen gel (Group B), porcine hepatocytes cultured with PLA-O-CMC nanoparticles and embedded in collagen gel (Group C), and PLA-O-CMC nanoparticles alone (Group D) were transplanted into peritoneal cavity of ALF rats, respectively. The result showed that plasma HGF levels were elevated post-transplantation with a peak at 12 hr. The rats in Group C showed highest plasma HGF levels at 2, 6, 12, 24 and 36 hr post-transplantation and lowest HGF level at 48 hr. Plasma VEGF levels were elevated at 48 hr post-transplantation with a peak at 72 hr. The rats in Group C showed highest plasma HGF levels at 48, 72, and 96 hr post-transplantation. The liver functions in Group C were recovered most rapidly. Compared with Group B, Group C had significant high liver Kiel 67 antigen labeling index (Ki-67 LI) at day 1 post-HTx (P < .05). Ki-67 LI in groups B and C was higher than that in groups A and D at days 5 and 7 post-HTx. In conclusion, intraperitoneal transplantation of porcine hepatocytes cultured with PLA-O-CMC nanoparticles and embedded in collagen gel can promote significantly liver regeneration in ALF rats

N-(3-Chloro-4-eth­oxy­benzo­yl)-N′-(2-meth­oxy­phen­yl)thio­urea

In the title compound, C17H17ClN2O3S, the central carbonyl­thio­urea unit is nearly planar [maximum atomic deviation = 0.019 (3) Å] and makes dihedral angles of 2.47 (7) and 17.76 (6)° with the terminal benzene rings. An intra­molecular N—H⋯O hydrogen bond occurs. Weak inter­molecular C—H⋯S and C—H⋯Cl hydrogen bonding is observed in the crystal structure

Spatial Re-parameterization for N:M Sparsity

This paper presents a Spatial Re-parameterization (SpRe) method for the N:M sparsity in CNNs. SpRe is stemmed from an observation regarding the restricted variety in spatial sparsity present in N:M sparsity compared with unstructured sparsity. Particularly, N:M sparsity exhibits a fixed sparsity rate within the spatial domains due to its distinctive pattern that mandates N non-zero components among M successive weights in the input channel dimension of convolution filters. On the contrary, we observe that unstructured sparsity displays a substantial divergence in sparsity across the spatial domains, which we experimentally verified to be very crucial for its robust performance retention compared with N:M sparsity. Therefore, SpRe employs the spatial-sparsity distribution of unstructured sparsity to assign an extra branch in conjunction with the original N:M branch at training time, which allows the N:M sparse network to sustain a similar distribution of spatial sparsity with unstructured sparsity. During inference, the extra branch can be further re-parameterized into the main N:M branch, without exerting any distortion on the sparse pattern or additional computation costs. SpRe has achieved a commendable feat by matching the performance of N:M sparsity methods with state-of-the-art unstructured sparsity methods across various benchmarks. Code and models are anonymously available at \url{https://github.com/zyxxmu/SpRe}.Comment: 11 pages, 4 figure