Motor Learning Based on the Cooperation of Cerebellum and Basal Ganglia for a Self-Balancing Two-Wheeled Robot

A novel motor learning method is present based on the cooperation of the cerebellum and basal ganglia for the behavior learning of agent. The motor learning method derives from the principle of CNS and operant learning mechanism and it depends on the interactions between the basal ganglia and cerebellum. The whole learning system is composed of evaluation mechanism, action selection mechanism, tropism mechanism. The learning signals come from not only the Inferior Olive but also the Substantia Nigra in the beginning. The speed of learning is increased as well as the failure time is reduced with the cerebellum as a supervisor. Convergence can be guaranteed in the sense of entropy. With the proposed motor learning method, a motor learning system for the self-balancing two-wheeled robot has been built using the RBF neural networks as the actor and evaluation function approximator. The simulation experiments showed that the proposed motor learning system achieved a better learning effect, so the motor learning based on the coordination of cerebellum and basal ganglia is effective.

Control of a Two-wheeled Machine with Two-directions Handling Mechanism Using PID and PD-FLC Algorithms

This paper presents a novel five degrees of freedom (DOF) two-wheeled robotic machine (TWRM) that delivers solutions for both industrial and service robotic applications by enlarging the vehicle′s workspace and increasing its flexibility. Designing a two-wheeled robot with five degrees of freedom creates a high challenge for the control, therefore the modelling and design of such robot should be precise with a uniform distribution of mass over the robot and the actuators. By employing the Lagrangian modelling approach, the TWRM′s mathematical model is derived and simulated in Matlab/Simulink?. For stabilizing the system′s highly nonlinear model, two control approaches were developed and implemented: proportional-integral-derivative (PID) and fuzzy logic control (FLC) strategies. Considering multiple scenarios with different initial conditions, the proposed control strategies′ performance has been assessed.

Sensorimotor Self-Learning Model Based on Operant Conditioning for Two-Wheeled Robot

Traditional control methods of two-wheeled robot are usually model-based and require the robot's precise mathematic model which is hard to get. A sensorimotor self-learning model named SMM TWR is presented in this paper to handle these problems. The model consists of seven elements: the discrete learning time set, the sensory state set, the motion set, the sensorimotor mapping, the state orientation unit, the learning mechanism and the model's entropy. The learning mechanism for SMM TWR is designed based on the theory of operant conditioning(OC), and it adjusts the sensorimotor mapping at every learning step. This helps the robot to choose motions. The leaning direction of the mechanism is decided by the state orientation unit. Simulation results show that with the sensorimotor model designed, the robot is endowed the abilities of self-learning and self-organizing,and it can learn the skills to keep itself balance through interacting with the environment.

Key technology and application of AB_(2) hydrogen storage alloy in fuel cell hydrogen supply system

At present,there is limited research on the application of fuel cell power generation system technology using solid hydrogen storage materials,especially in hydrogen-assisted two-wheelers.Considering the disadvantages of low hydrogen storage capacity and poor kinetics of hydrogen storage materials,our primary focus is to achieve smooth hydrogen ab-/desorption over a wide temperature range to meet the requirements of fuel cells and their integrated power generation systems.In this paper,the Ti_(0.9)Zr_(0.1)Mn_(1.45)V_(0.4)Fe_(0.15) hydrogen storage alloy was successfully prepared by arc melting.The maximum hydrogen storage capacity reaches 1.89 wt% at 318 K.The alloy has the capability to absorb 90% of hydrogen storage capacity within 50 s at 7 MPa and release 90% of hydrogen within 220 s.Comsol Multiphysics 6.0 software was used to simulate the hydrogen ab-/desorption processes of the tank.The flow rate of cooling water during hydrogen absorption varied in a gradient of(0.02 t x)m s^(-1)(x=0,0.02,0.04,0.06,0.08,0.1,0.12).Cooling water flow rate is positively correlated with the hydrogen absorption rate but negatively correlated with the cost.When the cooling rate is 0.06 m s^(-1),both simulation and experimentation have shown that the hydrogen storage tank is capable of steady hydrogen desorption for over 6 h at a flow rate of 2 L min^(-1).Based on the above conclusions,we have successfully developed a hydrogen-assisted two-wheeler with a range of 80 km and achieved regional demonstration operations in Changzhou and Shaoguan.This paper highlights the achievements of our team in the technological development of fuel cell power generation systems using solid hydrogen storage materials as hydrogen storage carriers and their application in twowheelers in recent years.

Jointly Build the Belt and Road Initiative with a Two-Wheel Drive——International Work of The Amity Foundation

With the development of economy and society,China’s comprehensive national strength has been continuously enhanced and its international influence has been increasing.China is shouldering more international responsibilities and obligations to make greater contributions to building a community of shared future for mankind by“always being a builder of world peace,a contributor to global development,and a defender of the international order”.In March 2015,President Xi Jinping put forward the concept of the Belt and Road Initiative,which not only pointed out the way for Chinese social organizations to participate in international affairs,but also opened up unprecedented opportunities for Chinese social organizations to further participate in global governance.

Furrow design for improving crop establishment of two-wheel tractor operated strip tillage planters in loam and clay loam soils

Conservation agriculture(CA)based production systems may help in achieving more sustainable intensification of cropping systems that use less labour and energy and have higher profit margins,in addition to soil conservation and environmental impact mitigation advantages.But these objectives can only be achieved when the right mechanization options,including appropriate crop establishment equipment,are in place to assist in timely field operations.An urgent need exists,therefore,to fine tune and re-adjust the existing two-wheel tractor(2WT)operated seed drills,with specific reference to the design of blade and furrow openers,while at the same time considering performance in different soil types and environments.To this end,experiments were conducted during 2013-2014 and 2014-2015 at two BARI Regional Agricultural Research Stations in Jamalpur and Barisal,Bangladesh,on a loam and clay loam soil,respectively,to evaluate five types of furrow opener for strip tillage.Shoe and modified shoe-type furrow openers were tested and compared with three inverted-T furrow openers with rake angles of 75°,65°and 55°.The newly designed inverted-T furrow openers were narrower than the shoe-type openers;they also had a longer,hollow shanks and provided better options for adjustment to achieve the desired seeding depth and line spacing.Compared to shoe-type openers,better seeding depth,uniformity and higher degree of seed coverage were recorded with use of the inverted-T furrow opener with a 65°rake angle.This resulted in better seed coverage in the furrow,a higher emergence rate index,and the highest emergence percentage of maize and mung bean.Our research findings can be generalized to smallholder production systems on loam and clay loam soils where farmers utilize 2WT operated seed drills for crop establishment in both traditional and conservation agriculture-based planting systems.

Control System of Two-Wheel Self-Balancing Vehicle

This study mainly concerns a motion model and the main control algorithm of two-wheel self-balancing vehicle models.Details of the critical parameters fetching and output value of two-wheel self-balancing vehicle models are introduced,including those concerning balance control,speed control and direction control.An improved cascade coupling control scheme is proposed for two-wheel vehicles,based on a proportional-integral-derivative(PID)control algorithm.Moreover,a thorough comparison between a classic control system and the improved system is provided,and all aspects thereof are analyzed.It is determined that the control performance of the two-wheel self-balancing vehicle system based on the PID control algorithm is reliable,enabling the vehicle body to maintain balance while moving smoothly along a road at a fast average speed with better practical per-formance.

Optimization of depreciation subsidy policy strategies for electric two-wheelers for improving traffic safety

To improve the traffic safety of electric two-wheelers(ETW),China has promulgated ETW standardization policies.This policy requires local governments to take measures to guide the illegal ETWs out of use.Governments have implemented a depreciation subsidy scheme to encourage users to scrap illegal ETWs early.When designing the subsidy scheme,effectively improving the ETWs’traffic safety at the road network level while saving government expenses is essential for the sustainable implementation of the policy.This study proposes an optimization method for depreciation subsidy design incorporating traffic safety evaluation.Based on the policy scheme,this study formulates a risk assessment model for the ETW traffic network to characterize the effect of the subsidy on improving safety.Then,we use the bi-level programming approach to model the subsidy strategy design problem.The upper-level problem reflects the goal of policymakers to maximize safety improvement and minimize government expenses.The lower-level problem describes the route choices of ETW users.The optimal subsidy design under different safety-expense trade-offs is analysed based on the Nguyen and Dupuis network and a real network extracted from Changsha City in China.The results show that specific subsidy schemes effectively improve road safety without a large government spending.When themarket price or service life of ETWs increases,the government spending on the same safety goal increases.The government should comprehensively consider the safety effect of financial expense and the situation of the local ETW market before selecting reasonable subsidy strategies.

Synergetic Management Theory for Coal-Based Energy Engineering and the Engineering Practice of Shenhua

To deal with problems in synergetic development of coal-based energy engineering,this paper,guided by the philosophy of engineering,proposes the synergetic management philosophy of "factors coordination,systems synergy,dynamic optimization and three-dimension planning." The paper also establishes the synergetic management system characterized by systems factor synergy,resource-environment synergy and systems boundary extension and supported by the "two-wheel driven"management innovation and technological innovation.In addition,the paper presents a multi-objective dynamic optimization model for energy engineering,designed based on Shenhua's own engineering practice,to analyze Pareto optimal solution in three scenarios:best resource allocation,minimal environmental impact and maximal value creation.This provides important reference to synergetic development strategies and decision-making in engineering management.