Gini Coefficient-based Task Allocation for Multi-robot Systems With Limited Energy Resources

Nowadays, robots generally have a variety of capabilities, which often form a coalition replacing human to work in dangerous environment, such as rescue, exploration, etc. In these operating conditions, the energy supply of robots usually cannot be guaranteed. If the energy resources of some robots are consumed too fast, the number of the future tasks of the coalition will be affected. This paper will develop a novel task allocation method based on Gini coefficient to make full use of limited energy resources of multi-robot system to maximize the number of tasks. At the same time, considering resources consumption,we incorporate the market-based allocation mechanism into our Gini coefficient-based method and propose a hybrid method,which can flexibly optimize the task completion number and the resource consumption according to the application contexts.Experiments show that the multi-robot system with limited energy resources can accomplish more tasks by the proposed Gini coefficient-based method, and the hybrid method can be dynamically adaptive to changes of the work environment and realize the dual optimization goals.

Particulate flow modelling in a spiral separator by using the Eulerian multi-fluid VOF approach

The Euler-Euler model is less effective in capturing the free surface of flow film in the spiral separator,and thus a Eulerian multi-fluid volume of fluid(VOF)model was first proposed to describe the particulate flow in spiral separators.In order to improve the applicability of the model in the high solid concentration system,the Bagnold effect was incorporated into the modelling framework.The capability of the proposed model in terms of predicting the flow film shape in a LD9 spiral separator was evaluated via comparison with measured flow film thicknesses reported in literature.Results showed that sharp air–water and air-pulp interfaces can be obtained using the proposed model,and the shapes of the predicted flow films before and after particle addition were reasonably consistent with the observations reported in literature.Furthermore,the experimental and numerical simulation of the separation of quartz and hematite were performed in a laboratory-scale spiral separator.When the Bagnold lift force model was considered,predictions of the grade of iron and solid concentration by mass for different trough lengths were more consistent with experimental data.In the initial development stage,the quartz particles at the bottom of the flow layer were more possible to be lifted due to the Bagnold force.Thus,a better predicted vertical stratification between quartz and hematite particles was obtained,which provided favorable conditions for subsequent radial segregation.