Humanoid Robot Cooperative Motion Control Based on Optimal Parameterization

The implementation of low-energy cooperative movements is one of the key technologies for the complex control of the movements of humanoid robots. A control method based on optimal parameters is adopted to optimize the energy consumption of the cooperative movements of two humanoid robots. A dynamic model that satisfies the cooperative movements is established, and the motion trajectory of two humanoid robots in the process of cooperative manipulation of objects is planned. By adopting the control method with optimal parameters, the parameters optimization of the energy consumption index function is performed and the stability judgment index of the robot in the movement process is satisfied. Finally, the effectiveness of the method is verified by simulations and experimentations

Sensing and modelling mechanical response in large deformation indentation of adherent cell using atomic force microscopy

The mechanical behaviour of adherent cells when subjected to the local indentation can be modelled via various approaches. Specifically, the tensegrity structure has been widely used in describing the organization of discrete intracellular cytoskeletal components, including microtubules (MTs) and microfilaments. The establishment of a tensegrity model for adherent cells has generally been done empirically, without a mathematically demonstrated methodology. In this study, a rotationally symmetric prism-shaped tensegrity structure is introduced, and it forms the basis of the proposed multi-level tensegrity model. The modelling approach utilizes the force density method to mathematically assure self-equilibrium. The proposed multi-level tensegrity model was developed by densely distributing the fundamental tensegrity structure in the intracellular space. In order to characterize the mechanical behaviour of the adherent cell during the atomic force microscopy (AFM) indentation with large deformation, an integrated model coupling the multi-level tensegrity model with a hyperelastic model was also established and applied. The coefficient of determination between the computational force-distance (F-D) curve and the experimental F-D curve was found to be at 0.977 in the integrated model on average. In the simulation range, along with the increase in the overall deformation, the local stiffness contributed by the cytoskeletal components decreased from 75% to 45%, while the contribution from the hyperelastic components increased correspondingly

Enhancing Solid State LiDAR mapping with a 2d spinning LiDAR in urban scenario slam on ground vehicles

Solid-State LiDAR (SSL) takes an increasing share of the LiDAR market. Compared with traditional spinning LiDAR, SSLs are more compact, energy-efficient and cost-effective. Generally, the current study of SSL mapping is limited to adapting existing SLAM algorithms to an SSL sensor. However, compared with spinning LiDARs, SSLs are different in terms of their irregular scan patterns and limited FOV. Directly applying existing SLAM approaches on them often increase the instability of a mapping process. This study proposes a systematic design, which consists of a dual-LiDAR mapping system and a three DOF interpolated six DOF odometry. For dual-LiDAR mapping, this work uses a 2D LiDAR to enhance a 3D SSL performance on a ground vehicle platform. The proposed system takes a 2D LiDAR to preprocess the scanning field into a number of feature sections according to the curvatures on the 2D fraction. Subsequently, this section information is passed to 3D SSL for direction feature selection. Additionally, this work proposes an odometry interpolation method which uses both LiDARs to generate two separated odometries. The proposed odometry interpolation method selectively determines the appropriate odometry information to update the system state under challenging conditions. Experiments are conducted in different scenarios. The results proves that the proposed approach is able to utilise 12 times more corner features from the environment than the comparied method, thus results in a demonstrable improvement in its absolute position error

Designing Cu0−Cu+ dual sites for improved C−H bond fracture towards methanol steam reforming

Abstract Copper-based catalysts serve as the predominant methanol steam reforming material although several fundamental issues remain ambiguous such as the identity of active center and the aspects of reaction mechanism. Herein, we prepare Cu/Cu(Al)O x catalysts with amorphous alumina-stabilized Cu2O adjoining Cu nanoparticle to provide Cu0−Cu+ sites. The optimized catalyst exhibits 99.5% CH3OH conversion with a corresponding H2 production rate of 110.8 μmol s−1 gcat −1 with stability over 300 h at 240 °C. A binary function correlation between the CH3OH reaction rate and surface concentrations of Cu0 and Cu+ is established based on kinetic studies. Intrinsic active sites in the catalyst are investigated with in situ spectroscopy characterization and theoretical calculations. Namely, we find that important oxygen-containing intermediates (CH3O* and HCOO*) adsorb at Cu0−Cu+ sites with a moderate adsorption strength, which promotes electron transfer from the catalyst to surface species and significantly reduces the reaction barrier of the C−H bond cleavage in CH3O* and HCOO* intermediates

A strong bimetal-support interaction in ethanol steam reforming

Abstract The metal-support interaction (MSI) in heterogeneous catalysts plays a crucial role in reforming reaction to produce renewable hydrogen, but conventional objects are limited to single metal and support. Herein, we report a type of RhNi/TiO2 catalysts with tunable RhNi-TiO2 strong bimetal-support interaction (SBMSI) derived from structure topological transformation of RhNiTi-layered double hydroxides (RhNiTi-LDHs) precursors. The resulting 0.5RhNi/TiO2 catalyst (with 0.5 wt.% Rh) exhibits extraordinary catalytic performance toward ethanol steam reforming (ESR) reaction with a H2 yield of 61.7%, a H2 production rate of 12.2 L h−1 gcat −1 and a high operational stability (300 h), which is preponderant to the state-of-the-art catalysts. By virtue of synergistic catalysis of multifunctional interface structure (Rh-Ni δ−-O v -Ti3+; O v denotes oxygen vacancy), the generation of formate intermediate (the rate-determining step in ESR reaction) from steam reforming of CO and CH x is significantly promoted on 0.5RhNi/TiO2 catalyst, accounting for its ultra-high H2 production