Object-Aware Impedance Control for Human-Robot Collaborative Task with Online Object Parameter Estimation

Physical human-robot interactions (pHRIs) can improve robot autonomy and reduce physical demands on humans. In this paper, we consider a collaborative task with a considerably long object and no prior knowledge of the object's parameters. An integrated control framework with an online object parameter estimator and a Cartesian object-aware impedance controller is proposed to realize complicated scenarios. During the transportation task, the object parameters are estimated online while a robot and human lift an object. The perturbation motion is incorporated into the null space of the desired trajectory to enhance the estimator accuracy. An object-aware impedance controller is designed using the real-time estimation results to effectively transmit the intended human motion to the robot through the object. Experimental demonstrations of collaborative tasks, including object transportation and assembly tasks, are implemented to show the effectiveness of our proposed method.Comment: 11 pages, 5 figures, for associated video, see https://youtu.be/bGH6GAFlRgA?si=wXj_SRzEE8BYoV2

Tsunami Flooding Probability determined by Probability Distribution Type

Source: ICHE Conference Archive - https://mdi-de.baw.de/icheArchiv

Chaotic universe in the z=2 Hovava-Lifshitz gravity

The deformed z=2 Horava-Lifshitz gravity with coupling constant w leads to a nonrelativistic "mixmaster" cosmological model. The potential of theory is given by the sum of IR and UV potentials in the ADM Hamiltonian formalism. It turns out that adding the UV-potential cannot suppress chaotic behaviors existing in the IR-potential.Comment: 7 pages, 5 figures, version to appear in PR

The feasibility analysis for the concept of low temperature district heating network with cascade utilization of heat between networks

Recently, low temperature district heating networks (LTDH) have received attention in district heating and cooling market due to their benefits in terms of efficiency, greenhouse gas reduction, flexibility to use renewable energy sources and economic benefits. In this work, physical and techno-economical aspects of the new concept of cascade types with high temperature district heating (HTDH) return is utilized to supply heat at low temperature networks. The HTDH return water temperature is around 45oC and supply of LTDH can be set around 60oC. The return water temperature of HTDH return line at 45oC can be raised to 60oC with the help of heat pump. A detailed study of major components, network design, pressure drop, heat loss and power consumption was performed to formulate an annual, hourly, based energy simulation to assess the techno-economic feasibility of the systems for different types of customers (residential & commercial) The economics were also analysed in terms of internal rate of return (IRR) and the results show that IRR for residential buildings varies from 14 ~ 17%. In order for the successful realization of the proposed system in the market new sustainable systems encouragement in government level is desired to be provided in the form of renewable energy target/certificates or CO2 reduction incentives especially at the initial stage of the commercialization of the model

Simulation of Flood Propagation Due to Levee Break Using the Cartesian Cut Cell Method

Source: ICHE Conference Archive - https://mdi-de.baw.de/icheArchiv

Shear Current Effects on Monochromatic Water Waves Crossing Trenches

The reflection coefficients of monochromatic water waves over trenches with shear current are estimated analytically. The diffraction of waves by an abrupt depth change and shear current is formulated by the matched eigenfunction expansion method. The proper number of steps and evanescent modes are proposed by a series of convergence tests. The accuracy of the predicted reflection coefficients is checked by estimating the wave energy. Reflection and transmission characteristics are studied for various shear current conditions. The different combinations of strength, width of shear current, and incident wave angle with constant water depth topography are examined. The optimal figure of the trench with shear current is obtained by estimating the reflection coefficients for various sloped transitions. The resonant reflection of the water waves is found by multiarrayed optimal trenches and the interaction of sinusoidally varying topography with shear current