Hardware-in-the-Loop Simulation for Evaluating Communication Impacts on the Wireless-Network-Controlled Robots

More and more robot automation applications have changed to wireless communication, and network performance has a growing impact on robotic systems. This study proposes a hardware-in-the-loop (HiL) simulation methodology for connecting the simulated robot platform to real network devices. This project seeks to provide robotic engineers and researchers with the capability to experiment without heavily modifying the original controller and get more realistic test results that correlate with actual network conditions. We deployed this HiL simulation system in two common cases for wireless-network-controlled robotic applications: (1) safe multi-robot coordination for mobile robots, and (2) human-motion-based teleoperation for manipulators. The HiL simulation system is deployed and tested under various network conditions in all circumstances. The experiment results are analyzed and compared with the previous simulation methods, demonstrating that the proposed HiL simulation methodology can identify a more reliable communication impact on robot systems.Comment: 6 pages, 11 figures, to appear in 48th Annual Conference of the Industrial Electronics Society IECON 2022 Conferenc

Fluid‐driven soft CoboSkin for safer human–robot collaboration: fabrication and adaptation

In human–robot collaboration, the wrapping material on robots is not only required to have the sensing ability to adapt to the external environment but also need to have the function of cushioning the collision between human and robot. Herein, a fluid‐driven soft robot skin with sensing and actuating function is successfully applied to a collaborative robot and working well with the host robot. The skin is an integration of sponge force sensors and pneumatic actuators. By altering the internal air pressure in pneumatic actuators, the developed robot skin can provide more than ten times tunable stiffness and sensitivity. In addition, the skin can reduce the peak force of the collision and achieve the actuating function. Using three‐dimensional printing and computer‐aided design, the skin is fabricated and attached to a collaborative robot conformally. Drawing upon the data acquisition and control system, the experiment for illustrating the applications of the CoboSkin is successfully performed. The skin provides the robot with multi‐functions, which are similar to the human muscle and skin attached to human bones. By mimicking human skin and muscle with tactile sensing function and stiffness tuning function, CoboSkin can enhance the adaptability of the robot to human daily life

Genetic analysis and QTL mapping of traits related to head shape in cabbage (Brassica oleracea var. capitata L.)

AbstractTraits related to head shape, including Hvd (head vertical diameter), Htd (head transverse diameter), and Hsi (head shape index, the ratio of Hvd/Htd), are very important agronomic traits associated with both yield and quality in cabbage (Brassica oleracea var. capitata L.). However, reports of inheritance analysis and quantitative trait locus (QTL) mapping of these traits remain rare. In this study, a double haploid (DH) population with 130 lines constructed from a cross between 24-5 (inbred line, oblate head)×01-88 (inbred line, round head) was used to analyze inheritance and to detect QTLs related to Htd and Hsi using major gene plus polygene mixed inheritance analysis and inclusive composite interval mapping (ICIM). The results indicated that Htd was controlled by two independent major genes and polygenes with recessive-epistatic effects. Hsi was controlled by two linkage major genes and polygenes with cumulative effects. A genetic linkage map with 48 insertions or deletions (InDel) and 149 simple sequence repeat (SSR) markers was constructed based on the DH population, with a total length of 866.2cM and an average interval length of 4.40cM. Fourteen QTLs for Htd and Hsi were identified on six chromosomes based on two years of phenotypic data with ICIM. Ten of the QTLs explained greater than 10.0% of the phenotypic variance, and five QTLs could be repeatedly detected in two years. For Htd, two major QTLs, Htd 3.1 and Htd 8.1, explained 19.16–24.56% and 11.25–21.55% of the phenotypic variation in the two years, respectively. For Hsi, two major QTLs, Hsi 7.1 and Hsi 7.2, explained 22.30–24.93% and 14.85–16.79% of phenotypic variation in the two years, respectively. The results from QTL mapping and genetic analysis in both years were partially consistent and complemented each other. Our results provide a foundation for further research on genetic regulation, gene cloning and molecular marker-assisted selection (MAS) for head shape in cabbage

Unveiling the Siren's Song: Towards Reliable Fact-Conflicting Hallucination Detection

Large Language Models (LLMs), such as ChatGPT/GPT-4, have garnered widespread attention owing to their myriad of practical applications, yet their adoption has been constrained by issues of fact-conflicting hallucinations across web platforms. The assessment of factuality in text, produced by LLMs, remains inadequately explored, extending not only to the judgment of vanilla facts but also encompassing the evaluation of factual errors emerging in complex inferential tasks like multi-hop, and etc. In response, we introduce FactCHD, a fact-conflicting hallucination detection benchmark meticulously designed for LLMs. Functioning as a pivotal tool in evaluating factuality within "Query-Respons" contexts, our benchmark assimilates a large-scale dataset, encapsulating a broad spectrum of factuality patterns, such as vanilla, multi-hops, comparison, and set-operation patterns. A distinctive feature of our benchmark is its incorporation of fact-based chains of evidence, thereby facilitating comprehensive and conducive factual reasoning throughout the assessment process. We evaluate multiple LLMs, demonstrating the effectiveness of the benchmark and current methods fall short of faithfully detecting factual errors. Furthermore, we present TRUTH-TRIANGULATOR that synthesizes reflective considerations by tool-enhanced ChatGPT and LoRA-tuning based on Llama2, aiming to yield more credible detection through the amalgamation of predictive results and evidence. The benchmark dataset and source code will be made available in https://github.com/zjunlp/FactCHD.Comment: Work in progres

Optimal Computing Budget Allocation for Ordinal Optimization in Solving Stochastic Job Shop Scheduling Problems

We focus on solving Stochastic Job Shop Scheduling Problem (SJSSP) with random processing time to minimize the expected sum of earliness and tardiness costs of all jobs. To further enhance the efficiency of the simulation optimization technique of embedding Evolutionary Strategy in Ordinal Optimization (ESOO) which is based on Monte Carlo simulation, we embed Optimal Computing Budget Allocation (OCBA) technique into the exploration stage of ESOO to optimize the performance evaluation process by controlling the allocation of simulation times. However, while pursuing a good set of schedules, “super individuals,” which can absorb most of the given computation while others hardly get any simulation budget, may emerge according to the allocating equation of OCBA. Consequently, the schedules cannot be evaluated exactly, and thus the probability of correct selection (PCS) tends to be low. Therefore, we modify OCBA to balance the computation allocation: (1) set a threshold of simulation times to detect “super individuals” and (2) follow an exclusion mechanism to marginalize them. Finally, the proposed approach is applied to an SJSSP comprising 8 jobs on 8 machines with random processing time in truncated normal, uniform, and exponential distributions, respectively. The results demonstrate that our method outperforms the ESOO method by achieving better solutions

Genome-wide identification and characterization of non-specific lipid transfer proteins in cabbage

Plant non-specific lipid transfer proteins (nsLTPs) are a group of small, secreted proteins that can reversibly bind and transport hydrophobic molecules. NsLTPs play an important role in plant development and resistance to stress. To date, little is known about the nsLTP family in cabbage. In this study, a total of 89 nsLTP genes were identified via comprehensive research on the cabbage genome. These cabbage nsLTPs were classified into six types (1, 2, C, D, E and G). The gene structure, physical and chemical characteristics, homology, conserved motifs, subcellular localization, tertiary structure and phylogeny of the cabbage nsLTPs were comprehensively investigated. Spatial expression analysis revealed that most of the identified nsLTP genes were positively expressed in cabbage, and many of them exhibited patterns of differential and tissue-specific expression. The expression patterns of the nsLTP genes in response to biotic and abiotic stresses were also investigated. Numerous nsLTP genes in cabbage were found to be related to the resistance to stress. Moreover, the expression patterns of some nsLTP paralogs in cabbage showed evident divergence. This study promotes the understanding of nsLTPs characteristics in cabbage and lays the foundation for further functional studies investigating cabbage nsLTPs

Overcoming Cabbage Crossing Incompatibility by the Development and Application of Self-Compatibility-QTL- Specific Markers and Genome-Wide Background Analysis

Cabbage hybrids, which clearly present heterosis vigor, are widely used in agricultural production. We compared two S5 haplotype (Class II) cabbage inbred-lines 87–534 and 94–182: the former is highly SC while the latter is highly SI; sequence analysis of SI-related genes including SCR, SRK, ARC1, THL1, and MLPK indicates the some SNPs in ARC1 and SRK of 87–534; semi-quantitative analysis indicated that the SI-related genes were transcribed normally from DNA to mRNA. To unravel the genetic basis of SC, we performed whole-genome mapping of the quantitative trait loci (QTLs) governing self-compatibility using an F2 population derived from 87–534 × 96–100. Eight QTLs were detected, and high contribution rates (CRs) were observed for three QTLs: qSC7.2 (54.8%), qSC9.1 (14.1%) and qSC5.1 (11.2%). 06–88 (CB201 × 96–100) yielded an excellent hybrid. However, F1 seeds cannot be produced at the anthesis stage because the parents share the same S-haplotype (S57, class I). To overcome crossing incompatibility, we performed rapid introgression of the self-compatibility trait from 87–534 to 96–100 using two self-compatibility-QTL-specific markers, BoID0709 and BoID0992, as well as 36 genome-wide markers that were evenly distributed along nine chromosomes for background analysis in recurrent back-crossing (BC). The transfer process showed that the proportion of recurrent parent genome (PRPG) in BC4F1 was greater than 94%, and the ratio of individual SC plants in BC4F1 reached 100%. The newly created line, which was designated SC96–100 and exhibited both agronomic traits that were similar to those of 96–100 and a compatibility index (CI) greater than 5.0, was successfully used in the production of the commercial hybrid 06–88. The study herein provides new insight into the genetic basis of self-compatibility in cabbage and facilitates cabbage breeding using SC lines in the male-sterile (MS) system

Nonlinear Dynamics of a Space Tensioned Membrane Antenna during Orbital Maneuvering

Due to the super flexibility and strong nonlinearity of space membrane antennas, the dynamic response of a space membrane antenna will be affected by the rigid–flexible coupling effect in the process of orbital maneuvering. In this case, the dynamic model of a tensioned membrane antenna is significantly different from that under the general condition (fixed boundary). In this study, a nonlinear dynamic model of a tensioned space membrane antenna experiencing maneuvering is established, and the influence of the rigid–flexible coupling effect on structural stiffness and damping characteristics is described. Through a numerical solution, the effects of rigid body motion and structural natural frequency on the rigid–flexible coupling effect are discussed. The results show that the vibration frequency and amplitude of the antenna are positively correlated with the acceleration and initial velocity of rigid body motion. With the increase of the natural frequency of the antenna, the vibration frequency increases but the amplitude decreases. The rigid–flexible coupling nonlinear dynamic model proposed in this work is more applicable in intelligent vibration control compared to finite element software

Nonlinear Dynamics of a Space Tensioned Membrane Antenna during Orbital Maneuvering

Due to the super flexibility and strong nonlinearity of space membrane antennas, the dynamic response of a space membrane antenna will be affected by the rigid–flexible coupling effect in the process of orbital maneuvering. In this case, the dynamic model of a tensioned membrane antenna is significantly different from that under the general condition (fixed boundary). In this study, a nonlinear dynamic model of a tensioned space membrane antenna experiencing maneuvering is established, and the influence of the rigid–flexible coupling effect on structural stiffness and damping characteristics is described. Through a numerical solution, the effects of rigid body motion and structural natural frequency on the rigid–flexible coupling effect are discussed. The results show that the vibration frequency and amplitude of the antenna are positively correlated with the acceleration and initial velocity of rigid body motion. With the increase of the natural frequency of the antenna, the vibration frequency increases but the amplitude decreases. The rigid–flexible coupling nonlinear dynamic model proposed in this work is more applicable in intelligent vibration control compared to finite element software

Teleoperation of Collaborative Robot for Remote Dementia Care in Home Environments

As a senile chronic, progressive and currently incurable disease, dementia has an enormous impact on society and life quality of the elderly. The development of teleoperation technology has changed the traditional way of care delivery and brought a variety of novel applications for dementia care. In this paper, a telerobotic system is presented which gives the caregivers the capability of assisting dementia elderly remotely. The proposed system is composed of a dual-arm collaborative robot (YuMi) and a wearable motion capture device. The communication architecture is achieved by the robot operation system (ROS). The position-orientation data of the operator’s hand are obtained and used to control the YuMi robot. Besides, a path-constrained mapping method is designed for motion trajectory tracking between the robot and the operator in the progress of teleoperation. Meanwhile, corresponding experiments are conducted to verify the performance of the trajectory tracking using the path-constrained mapping method. Results show that the position tracking deviation between the trajectory of the operator and the robot measured by dynamic time warping distance is 1.05 mm at the sampling frequency of 7.5 Hz. Moreover, the practicability of the proposed system was verified by teleoperating the YuMi robot to pick up a medicine bottle and further demonstrated by assisting an elderly woman in picking up a cup remotely. The proposed telerobotic system has potential utility for improving the life quality of dementia elderly and the care effect of their caregivers