Traction-energy balancing adaptive control with slip optimization for wheeled robots on rough terrain

On rough terrain, excessive wheel slippage is easily generated by changes of surface conditions such as soil types and geometries. It induces considerable loss of wheel traction and battery energy. To prevent this, wheeled robots should consistently recognize the current situation generated between wheel and surface. And also wheeled robots are required to optimally control wheel motion in limited wheel traction and battery capacity. Therefore, this paper proposes a novel wheel control algorithm based on slip optimization of traction and energy, which is adaptive to change of surface condition. Proposed wheel control algorithm is called Traction-Energy Balancing Adaptive Control (TEB) in this paper and TEB assigns optimized rotation speed to each wheel by observing wheel slip ratio which is a key parameter of TEB. As functions of TEB, TEB is largely divided into three main parts; (1) slip optimizer (2) slip controller (3) SC-compensator. In the slip optimizer, two optimal slip models were derived as a function of slip ratios regarding maximum traction and tractive efficiency using experimental data about wheel-terrain interaction in three types of soil (grass, gravel and sand). And the optimal slip models were employed in order to determine a desired slip value of wheel with observation of a change in actual robot velocity as control input in the slip controller. For optimal slip control, the proposed slip controller is based on conventional PID controller with compensating disturbance in the controller (SC-compensator) which occurs by change of surface shapes. In the SC-compensator, radial function networks (RBFN) was applied in the slip controller and RBFN was of help to readjust previously set PID gains depending on occurred slip error. Finally, TEB was experimentally verified by controlling a real robot having four wheels on various terrain types.     

Adaptations to walking on an uneven terrain for individuals with and without Developmental Coordination Disorder

Given the importance of walking in everyday life, understanding why this is challenging for some populations is particularly important. Studies focusing on gait patterns of individuals with Developmental Coordination Disorder (DCD) have shown that whilst increased variability is characteristic of walking patterns for this group, differences in spatio-temporal gait variables seem only to arise when task demands increase. However, these differences occur under rather artificial conditions, for example using a treadmill. The aim of this study, therefore was to examine the step characteristics of individuals with and without DCD whilst walking along an irregular terrain. Thirty-five individuals with DCD aged 8–32 years and 35 age and gender-matched controls participated in this study. Participants were divided into 3 age groups; 8–12 years (n = 12), 13–17 years (n = 12) and 18–32 years (n = 11). Participants walked up and down a 6 m walkway for two minutes on two terrains: level and irregular. VICON 3D motion analysis was used to extract measures of foot placement, velocity and angle of the head and trunk. Results showed that both groups adapted their gait to negotiate the irregular terrain, but the DCD group was more affected than their TD peers; walking significantly slower with shorter, wider steps and inclining their head more towards the ground. This suggests an adaptive approach used by individuals with DCD to preserve stability and increase visual sampling whilst negotiating an irregular terrain.     

The Critical Point to Step into a Hole is Similar in Young and Older Adults

Abstract

The avoidance of a hole in the pathway while walking has been systematically investigated; however, depending on the dimensions of the hole, the option to avoid it is infeasible, and it is necessary to use the so-called accommodation strategy to step into the hole. We investigated the critical point between the avoidance and accommodation strategies when dealing with a hole in the ground during locomotion of young and older adults. Young and older adults performed two tasks: verbal estimation and walking. We used holes of different lengths and constant depth (12?cm). In the verbal estimation task, participants stood and looked at each hole and verbally respond if they would step into or avoid it. In the walking task, they walked and chose to either step or avoid the hole. Both age groups preferred to step into the hole when it was larger than 1.3 times their foot length in both tasks. The perception of affordances of young and older adults to step into a hole was similar, and it was unaffected by the investigated tasks. Thus, our participants preferred to have a safety margin that was large enough to guarantee that the whole foot would accommodate within the hole.     

The impact of surface projection on military tactics comprehension

This experiment assessed how displaying information onto different surfaces (flat vs. raised) influenced the performance, workload, and engagement of cadets answering questions on military tactics. Sixty-two cadets in a within-subjects design each answered 24 tactics-related questions across 2 conditions (12 on flat, 12 on raised) which were measured by accuracy and time on task. After each set of 12 questions, the cadets took postsurveys assessing engagement, measured by a modified User Engagement Scale and the System Usability Scale, and workload measured by the NASA-TLX. Findings indicated that raised terrain surface led to reduced workload and increased engagement and time on task as compared to the flat terrain surface. A practice effect drove performance metrics (time on task and accuracy), where the learner performed better on the second surface type displayed. This research contributes to expanding the literature base that supports alternative display methods to increase engagement and augment instruction of military tactics tasks.