Locomotion Optimization and Manipulation Planning of a Tetrahedron-Based Mobile Mechanism with Binary Control

Locomotion and manipulation optimization is essential for the performance of tetrahedron-based mobile mechanism. Most of current optimization methods are constrained to the continuous actuated system with limited degree of freedom(DOF), which is infeasible to the optimization of binary control multi-DOF system. A novel optimization method using for the locomotion and manipulation of an 18 DOFs tetrahedron-based mechanism called 5-TET is proposed. The optimization objective is to realize the required locomotion by executing the least number of struts.Binary control strategy is adopted, and forward kinematic and tipping dynamic analyses are performed, respectively.Based on a developed genetic algorithm(GA), the optimal number of alternative struts between two adjacent steps is obtained as 5. Finally, a potential manipulation function is proposed, and the energy consumption comparison between optimal 5-TET and the traditional wheeled robot is carried out. The presented locomotion optimization and manipulation planning enrich the research of tetrahedron-based mechanisms and provide the instruction to the successive locomotion and operation planning of multi-DOF mechanisms.

Binary ABR flow control over ATM networks with uncertainty using discrete-time variable structure controller

A binary available bit rate （ABR） scheme based on discrete-time variable structure control （DVSC） theory is proposed to solve the problem of asynchronous transfer mode （ATM） networks congestion in this paper. A discrete-time system model with uncertainty is introduced to depict the time-varying ATM networks. Based on the system model, an asymptotically stable sliding surface is designed by linear matrix inequality （LMI）. In addition, a novel discrete-time reaching law that can obviously reduce chatter is also put forward. The proposed discrete-time variable structure controller can effectively constrain the oscillation of allowed cell rate （ACR） and the queue length in a router. Moreover, the controller is self-adaptive against the uncertainty in the system. Simulations are done in different scenarios. The results demonstrate that the controller has better stability and robustness than the traditional binary flow controller, so it is good for adequately exerting the simplicity of binary flow control mechanisms.

Nonlinear Theory on Dynamic Controlling Interface Patterns DuringSolidification of a Dilute Binary Alloy

In non-equilibrium nonlinear region, the nonlinear equations of time dependence of perturbation amplitude at the solid/liquidinterface during solidification of a dilute binary alloy are established on the base of assuming that there is local equilibrium at the solid/liquid interface and considering that curvature, temperature and composition at the solid/liquid interface which are related to the perturbation amplitude are nonlinear. As a result, patterns at the solid/liquid interface during solidification process, which is from nonsteadystate to steady state can be controlled by these nonlinear equations.

Three-dimensional Construction and Omni-directional Rolling Analysis of a Novel Frame-like Lattice Modular Robot

Lattice modular robots possess diversity actuation methods, such as electric telescopic rod, gear rack, magnet, robot arm, etc. The researches on lattice modular robots mainly focus on their hardware descriptions and reconfiguration algorithms. Meanwhile, their design architectures and actuation methods perform slow telescopic and moving speeds, relative low actuation force verse weight ratio, and without internal space to carry objects. To improve the mechanical performance and reveal the locomotion and reconfiguration binary essences of the lattice modular robots, a novel cube-shaped, frame-like, pneumatic-based reconfigurable robot module called pneumatic expandable cube（PE-Cube） is proposed. The three-dimensional（3D） expanding construction and omni-directional rolling analysis of the constructed robots are the main focuses. The PE-Cube with three degrees of freedom（Do Fs） is assembled by replacing the twelve edges of a cube with pneumatic cylinders. The proposed symmetric construction condition makes the constructed robots possess the same properties in each supporting state, and a binary control strategy cooperated with binary actuator（pneumatic cylinder） is directly adopted to control the PE-Cube. Taking an eight PE-Cube modules＇ construction as example, its dynamic rolling simulation, static rolling condition, and turning gait are illustrated and discussed. To testify telescopic synchronization, respond speed, locomotion feasibility, and repeatability and reliability of hardware system, an experimental pneumatic-based robotic system is built and the rolling and turning experiments of the eight PE-Cube modules＇ construction are carried out. As an extension, the locomotion feasibility of a thirty-two PE-Cube modules＇ construction is analyzed and proved, including dynamic rolling simulation, static rolling condition, and dynamic analysis in free tipping process. The proposed PE-Cube module, construction method, and locomotion analysis enrich the family of the lattice modular robot and provide the instruction to design the lattice modular robot.