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Wang ZJ, Xu XF (2012) A sharing-oriented service selection and scheduling approach for the optimization of resource utilization. SOCA 6(1):15–32 People use air balloon robots for advertising, surveillance, and research. As per a report by Zion Market Research, the global air balloon robots market is expected to reach Multimillion USD by 2028. Futuristic uses of air balloon robots include using them as flying cell towers and delivering food and other supplies to disaster areas. To determine which variables should be considered in the state vector, a statistical investigation was first conducted on the extensive potential relationships between the state variables. Spearman Correlation Coefficient (SCC) was used to account for the nonlinearities in the variables’ relationships as well as the indicator’s simplicity. Isayev, A. I. & Hieber, C. A. Toward a viscoelastic modelling of the injection molding process. Rheol. Acta 19, 168–182, https://doi.org/10.1007/BF01521928 (1980).
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Manfredi, L., Yue, L. & Cuschieri, A. A 3 DOFs mini variable stiffness soft pneumatic actuator. In Proc. ACTUATOR 2018; 16th Int. Conf. New Actuators, 1–4 (2018). It is assumed that there are a total of \( M \) control units, among which there are \( N \) control motors. Each control unit is designed with a control motor control parameter of \( C_{m1} ,C_{m2} , \ldots ,C_{mi} \), each control motor involves a control parameter of \( K_{1} ,K_{2} , \ldots ,K_{n} \), and the control time required for each control parameter is \( T_{1} ,T_{2} , \ldots ,T_{n} \). Each time the multi-balloon profiling control target is \( G_{ijk} \), herein \( i \), \( j \) and \( k \) is the first control unit, the first control motor, and the first control single machine parameter.Liang ZP, Wang XY, Lin QZ, Chen F, Chen JY (2018) A novel multi-objective co-evolutionary algorithm based on decomposition approach. Appl Soft Comput J 73:50–66
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Bray, F. et al. Global cancer statistics 2018: Globocan estimates of incidence and mortality worldwide for 36 cancers in 185 countries. CA: a cancer journal for clinicians 68, 394–424, https://doi.org/10.3322/caac.21492 (2018). The advantage in using a mini-robot to carry out a colonoscopy is that once inserted through the anus, the device will travel by its intrinsic locomotion capability to the caecum virtually abolishing pain and discomfort, as it avoids pressure on the colonic wall and mesenteric tending by loop formation. In addition, standard conventional optical push colonoscopy is a difficult procedure requiring a long period of training for acquisition of the required level of proficiency for safe expert execution and interpretation 10, 11. Robotic colonoscopy dispenses with this long-proficiency-gain curve, averaging 2–3 years to attain competent and safe caecal intubation. This mini-robot should include a camera in its distal end for visual inspection and instruments for treatment. A soft-tether is necessary for high quality video transmission to an external user console, powering and control of the robot. The tether provides also a safety mechanism for withdrawing the mini-robot in case of malfunction. The friction provided by the tether against the colonic wall is a drag force in the locomotion. To overcome this force a robot needs to provide enough locomotive traction, although this can be challenging considering the small size, light weight of a mini-robot and the slippery colonic mucosa. The more conventional approach to design robots for colonoscopy is essentially by construction of components made of rigid miniaturized mechanical parts 12, 13, 14, 15, 16, 17, 18, 19, which may require expensive high precision machining. Thus, such a mini-rigid robotic colonoscope must be re-usable so that the device will be a financially viable proposition. Even if fully developed, it is most unlikely that it would reduce significantly the costs of screening colonoscopy for colorectal cancer. Hu FJ, Wu G (2020) Distributed error correction of EKF algorithm in multi-sensor fusion localization model. IEEE Access 8:93211–93218. https://doi.org/10.1109/ACCESS.2020.2995170Manfredi, L., Putzu, F., Guler, S., Huan, Y. & Cuschieri, A. 4 DOFs hollow soft pneumatic actuator - HOSE. Materials Research Express 6, 045703, https://doi.org/10.1088/2053-1591/aaebea (2019). Another possible explanation can be the neural network’s approximation error. In Figure 7, the ground truth and the predicted values show very close distribution, but there are slight errors between the apparent corresponding pairs. While the neural network outputs the required phase times quite accurately but with a small prediction error, which could contribute to the limit cycle so much out of phase. Kajita S, Cisneros R, Benallegue M, Sakaguchi T (2016) Impact acceleration of falling humanoid robot with an airbag. IEEE-RAS Int Conf Humanoid Robots 30:637–643 Gliders are a type of flying robot that does not have any motors or engines. Instead, gliders rely on the wind or other forms of propulsion, such as being launched from a catapult, to stay in the air. Gliders are typically used for leisure and sporting activities, but can also be used for military applications, such as surveillance. By adopting helium balloons and simplifying bipedal locomotion, BALLU is designed to be affordable and lightweight, and these characteristics allow BALLU to be deployed to real-world and service in close proximity to humans. However, the complexity due to aerodynamics and limited actuation introduces another challenge, and it necessitates a nonconventional walking controller.
balloon robot steals the show at California tech Walking balloon robot steals the show at California tech
Based on the careful analysis of the motions from experts’ teleoperation, a data-driven controller is suggested to handle the highly nonlinear dynamics. First, a set of teleoperation data in the simulation were collected in different scenarios. Next, to extract underlying state vectors of the complex dynamics, the correlations between the kinematic quantities were statistically evaluated; for each phase of walking, the quantities that have a high Spearman Correlation Score (SCC) were chosen as state variables. Then, their relationship was approximated using an artificial neural network, which is trained on the same data.A hexacopter is a type of quadcopter that has six rotors. If you need something that is more stable, a hexacopter should be a good choice. Unmanned aerial vehicles (UAVs) We trained a planar data-driven walking controller with artificial neural networks using the definition of the state and a set of expert data.
Balloon robot walks across room at tech event - ABC News
Made with helium balloons and lightweight body parts, BALLU (Buoyancy Assisted Lightweight Legged Unit) has the possibility to overcome the aforementioned issues concerning existing robots. The first is safety and inherent stability. Because of the buoyancy provided by the balloons, BALLU is a robot that literally cannot fall down. More importantly, its light parts and soft balloon body can only generate so much momentum and force, allowing it to be operated without worry when there is physical interaction or even collision with young children. This allows BALLU to potentially act in the future as a safe, interactive service robot in the vicinity of people. The second is its cost. BALLU is merely as affordable as many low-cost home appliances. In the long run, this even opens up opportunities for such platforms to act as disposable robots, where a number of them can be easily built and explore unknown environments with the less economic burden. Considering that the multi-balloon profiling control needs to meet the shortest time and the highest copying accuracy, the balloon multi-objective optimization control model can be transformed into the following model [ 21]:The first set of simulations make changes in mass properties. With heavier feet or pelvis, the body would be easier to sink down. First, the pelvis mass is increased by 6.4% (from 31.2 to 33.2 g), and secondly, the feet masses are increased by 16.5% (from 24.2 to 28.2 g), respectively. The second set of modifications is the change in commanded velocity, and two simulations are conducted in a slower velocity and a higher velocity. 5.2 Hardware Verification Appleyard, M. N. et al. The measurement of forces exerted during colonoscopy. Gastrointestinal Endoscopy 52, 237–240, https://doi.org/10.1067/mge.2000.107218 (2000). Since the concept of BALLU was first unveiled by Ghassemi and Hong (2016), there have been further studies of robot platforms adopting helium balloons and leveraging their buoyancy force. One noticeable work is the Giacometti Arm designed by Takeichi et al. (2017), a 20-m helium balloon supported robot arm designed for inspection tasks. This manipulator has 20 joints driven by pneumatic and thin artificial muscles. Among mobile platforms, GerWalk by Yamada and Nakamura (2018) is one that is very resemblant to BALLU. Because its body is a helium balloon, it is able to easily traverse stairs and other obstacles with stability. Nayar et al. (2019) of JPL also proposed a balloon based walking robot for Mars exploration.
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