Kinematic design and motion planning of fault tolerant robots with locked joint failures

2019 Summer.Includes bibliographical references.The problem of kinematic design and motion planning of fault tolerant robots with locked joint failure is studied in this work. In kinematic design, the problem of designing optimally fault tolerant robots for equal joint failure probabilities is first explored. A measure of local fault tolerance for equal joint failure probabilities has previously been defined based on the properties of the singular values of the Jacobian matrix. Based on this measure, one can determine a Jacobian that is optimal. Because these measures are solely based on the singular values of the Jacobian, permutation of the columns does not affect the optimality. Therefore, when one generates a kinematic robot design from this optimal Jacobian, there will be 7! robot designs with the same locally optimal fault tolerant property. This work shows how to analyze and organize the kinematic structure of these 7! designs in terms of their Denavit and Hartenberg (DH) parameters. Furthermore, global fault tolerant measures are defined in order to evaluate the different designs. It is shown that robot designs that are very similar in terms of DH parameters, e.g., robots generated from Jacobians where the columns are in reverse order, can have very different global properties. Finally, a computationally efficient approach to calculate the global pre- and post-failure dexterity measures is presented and used to identify two Pareto optimal robot designs. The workspaces for these optimal designs are also shown. Then, the problem of designing optimally fault tolerant robots for different joint failure probabilities is considered. A measure of fault tolerance for different joint failure probabilities is defined based on the properties of the singular values of the Jacobian after failures. Using this measure, methods to design optimally fault tolerant robots for an arbitrary set of joint failure probabilities and multiple cases of joint failure probabilities are introduced separately. Given an arbitrary set of joint failure probabilities, the optimal null space that optimizes the fault tolerant measure is derived, and the associated isotropic Jacobians are constructed. The kinematic parameters of the optimally fault tolerant robots are then generated from these Jacobians. One special case, i.e., how to construct the optimal Jacobian of spatial 7R robots for both positioning and orienting is further discussed. For multiple cases of joint failure probabilities, the optimal robot is designed through optimizing the sum of the fault tolerant measures for all the possible joint failure probabilities. This technique is illustrated on planar 3R robots, and it is shown that there exists a family of optimal robots. After the optimally fault tolerant robots are designed, the problem of planning the optimal trajectory with minimum probability of task failure for a set of point-to-point tasks, after experiencing locked joint failures, is studied. The proposed approach first develops a method to calculate the probability of task failure for an arbitrary trajectory, where the trajectory is divided into small segments, and the probability of task failure of each segment is calculated based on its failure scenarios. Then, a motion planning algorithm is proposed to find the optimal trajectory with minimum probability of task failure. There are two cases. The trajectory in the first case is the optimal trajectory from the start configuration to the intersection of the bounding boxes of all the task points. In the other case, all the configurations along the self-motion manifold of task point 1 need to be checked, and the optimal trajectory is the trajectory with minimum probability of task failure among them. The proposed approach is demonstrated on planar 2R redundant robots, illustrating the effectiveness of the algorithm

Human Motion Detection Based on Dual-Graph and Weighted Nuclear Norm Regularizations

Motion detection has been widely used in many applications, such as surveillance and robotics. Due to the presence of the static background, a motion video can be decomposed into a low-rank background and a sparse foreground. Many regularization techniques that preserve low-rankness of matrices can therefore be imposed on the background. In the meanwhile, geometry-based regularizations, such as graph regularizations, can be imposed on the foreground. Recently, weighted regularization techniques including the weighted nuclear norm regularization have been proposed in the image processing community to promote adaptive sparsity while achieving efficient performance. In this paper, we propose a robust dual graph regularized moving object detection model based on a novel weighted nuclear norm regularization and spatiotemporal graph Laplacians. Numerical experiments on realistic human motion data sets have demonstrated the effectiveness and robustness of this approach in separating moving objects from background, and the enormous potential in robotic applications.Comment: arXiv admin note: substantial text overlap with arXiv:2204.1193

Cuproptosis-related risk score predicts prognosis and characterizes the tumor microenvironment in colon adenocarcinoma

IntroductionCuproptosis is a novel copper-dependent regulatory cell death (RCD), which is closely related to the occurrence and development of multiple cancers. However, the potential role of cuproptosis-related genes (CRGs) in the tumor microenvironment (TME) of colon adenocarcinoma (COAD) remains unclear.MethodsTranscriptome, somatic mutation, somatic copy number alteration and the corresponding clinicopathological data of COAD were downloaded from The Cancer Genome Atlas (TCGA) and Gene Expression Omnibus database (GEO). Difference, survival and correlation analyses were conducted to evaluate the characteristics of CRGs in COAD patients. Consensus unsupervised clustering analysis of CRGs expression profile was used to classify patients into different cuproptosis molecular and gene subtypes. TME characteristics of different molecular subtypes were investigated by using Gene set variation analysis (GSVA) and single sample gene set enrichment analysis (ssGSEA). Next, CRG Risk scoring system was constructed by applying logistic least absolute shrinkage and selection operator (LASSO) cox regression analysis and multivariate cox analysis. Real-time quantitative polymerase chain reaction (RT-qPCR) and immunohistochemistry (IHC) were used to exam the expression of key Risk scoring genes.ResultsOur study indicated that CRGs had relatively common genetic and transcriptional variations in COAD tissues. We identified three cuproptosis molecular subtypes and three gene subtypes based on CRGs expression profile and prognostic differentially expressed genes (DEGs) expression profile, and found that changes in multilayer CRGs were closely related to the clinical characteristics, overall survival (OS), different signaling pathways, and immune cell infiltration of TME. CRG Risk scoring system was constructed according to the expression of 7 key cuproptosis-related risk genes (GLS, NOX1, HOXC6, TNNT1, GLS, HOXC6 and PLA2G12B). RT-qPCR and IHC indicated that the expression of GLS, NOX1, HOXC6, TNNT1 and PLA2G12B were up-regulated in tumor tissues, compared with those in normal tissues, and all of GLS, HOXC6, NOX1 and PLA2G12B were closely related with patient survival. In addition, high CRG risk scores were significantly associated with high microsatellite instability (MSI-H), tumor mutation burden (TMB), cancer stem cell (CSC) indices, stromal and immune scores in TME, drug susceptibility, as well as patient survival. Finally, a highly accurate nomogram was constructed to promote the clinical application of the CRG Risk scoring system.DiscussionOur comprehensive analysis showed that CRGs were greatly associated with TME, clinicopathological characteristics, and prognosis of patient with COAD. These findings may promote our understanding of CRGs in COAD, providing new insights for physicians to predict prognosis and develop more precise and individualized therapy strategies

The Impact of China’s Grain for Green Program on Rural Economy and Precipitation: A Case Study of Yan River Basin in the Loess Plateau

Large-scale deforestation and abandoned planting will bring about the destruction of the ecological environment and the deterioration of the climate. In 1999, China initiated its “Grain for Green” Program (GGP) to improve the ecological environment, control soil erosion, and adjust the agricultural industrial structure to promote the sustainable development of the rural economy. In this paper, economic statistics, rainfall, and remote sensing data are used to analyze the impact of the GGP on agricultural and rural economic development and regional precipitation in the hilly and gully regions of the Loess Plateau. The results show that since the implementation of the program, the employment structure of the labor force has changed and the regional economic growth and farmers’ income have increased. From 2000 to 2016, the total gross domestic product (GDP) and per capita GDP of the Yan River Basin increased. The conversion of large-scale sloping farmland to forestry and grassland resulted in the decrease of farmland area and the increase of forestry area. The maximum, minimum, and mean value of vegetation coverage increased year by year. With the increase of vegetation coverage, the surface roughness, soil water content, and evapotranspiration improved and annual average precipitation grew significantly after the implementation of the program (2000 to 2018). From 1970 to the implementation of the project (1999), the annual average rainfall decreased at the trough from 1988 to 1999, and there was an overall upward trend from 1970 to 2018. The GGP has an important impact on the economy and people’s income in the Yan River Basin, and the vegetation change caused by the variation of land use types has a certain impact on regional rainfall. Under the background of global and regional climate change, it is of great significance to fully understand the impacts of vegetation conversion on climate and its mechanism for objective assessment of driving factors in regional and global climate, as well as for scientific planning of future land use