Design and path planning for a remote-brained service robot

This paper presents a novel robot named "TUT03-A" with expert systems, speech interaction, vision systems etc. based on remote-brained approach. The robot is designed to have the brain and body separated. There is a cerebellum in the body. The brain with the expert systems is in charge of decision and the cerebellum control motion of the body. The brain-body. interface has many kinds of structure. It enables a brain to control one or more cerebellums. The brain controls all modules in the system and coordinates their work. The framework of the robot allows us to carry out different kinds of robotics research in an environment that can be shared and inherited over generations. Then we discuss the path planning method for the robot based on ant colony algorithm. The mathematical model is established and the algorithm is achieved with the Starlogo simulating environment. The simulation result shows that it has strong robustness and eligible pathfinding efficiency.

Design and path planning for a remote-brained service robot

This article introduced an effective design method of robot called remote-brain, which is made the brain and body separated. It leaves the brain in the mother environment, by which we mean the environment in which the brain's software is developed, and talks with its body by wireless links. It also presents a real robot TUT06-B based on this method which has human-machine interaction, vision systems, manipulator etc. Then it discussed the path planning method for the robot based on ant colony algorithm in details, especially the Ant-cycle model. And it also analyzed the parameter of the algorithm which can affect the convergence. Finally, it gives the program flow chat of this algorithm.

Range-Gated Laser Stroboscopic Imaging for Night Remote Surveillance

For night remote surveillance, we present a method, the range-gated laser stroboscopic imaging(RGLSI), which uses a new kind of time delay integration mode to integrate target signals so that night remote surveillance can be realized by a low-energy illuminated laser. The time delay integration in this method has no influence on the video frame rate. Compared with the traditional range-gated laser imaging, RGLSI can reduce scintillation and target speckle effects and significantly improve the image signal-to-noise ratio analyzed. Even under low light level and low visibility conditions, the RGLSI system can effectively work. In a preliminary experiment, we have detected and recognized a railway bridge one kilometer away under a visibility of six kilometers, when the effective illuminated energy is 29.5 mu J.

A laboratory study of rheological properties of mudflows in Hangzhou Bay, China

A laboratory study of the rheology of mudflows in Hangzhou Bay, China, is reported in this paper. Both the steady and oscillatory (dynamic) rheological properties are studied using RMS-605 rheometer. A Dual-Bingham model is proposed for analyzing flow curves and compared with Worrall-Tuliani model. It is found that Dual-Bingham plastic rheological model is easier to implement than Worrall-Tuliani model and can provide satisfactory representations of the steady mudflows in Hangzhou Bay and other published data. The dependence of the yield stress and viscosity on sediment concentration is discussed based on the data from Hangzhou Bay mud and other published data. For the dynamic rheological properties of Hangzhou Bay mud, empirical expressions for elastic modulus and dynamic viscosity are provided in the form of exponential functions of sediment volume concentration, and comparisons with other published data also discussed.