Rabbit Anti-Human BAD (a.a. 2-168) Polyclonal antibody

Designing human motion predictors which preserve safety while maintaining robot efficiency is an increasingly important challenge for robots operating in close physical proximity to people. One approach is to use robust control predictors that safeguard against every possible future human state, leading to safe but often too conservative robot plans. Alternatively, intent-driven predictors explicitly model how humans make decisions given their intent, leading to efficient robot plans. However, when the intent model is misspecified, the robot might confidently plan unsafe maneuvers. In this letter, we combine ideas from robust control and intent-driven human modelling to formulate a novel human motion predictor which provides robustness against misspecified human models, but reduces the conservatism of traditional worst-case predictors. Our approach predicts the human states by trusting the intent-driven model to decide only which human actions are completely unlikely. We then safeguard against all likely enough actions, much like a robust control predictor. We demonstrate in simulation and hardware how our approach safeguards against misspecified human intent models while not leading to overly conservative robot plans.

PV-ETFE cushion roof combines transparent ETFE films and flexible photovoltaics, making it possible to harvest both electricity and heat from solar energy simultaneously. However, high temperature caused by solar radiation remarkably affects the mechanical behaviors of ETFE foils and converting efficiency of PV due to their thermal sensitivity. To tackle this issue, it is critical to understand the photothermal-structural-fluid performance of PV-ETFE cushion. Due to the difficulty to measure by experiment, this paper presents a three-dimensional mathematical model considering heat-structure-fluid couplings to conduct numerical analysis. Time-dependent analysis and dynamic boundary conditions are applied to study the behaviors which are difficult to observe in experiment. Results explain how photothermal-structural-fluid properties vary in a typical summer day from 9:00 to 17:00. Incident solar radiation and PV modules are two main factors that affect the temperature distribution of the cushion roof and the circulation of internal air. Eight groups of air circulation are found inside cushion chambers during simulating period. Air pressure is mainly determined by average temperature rather than local air flow and uneven heat distribution. It is also found that the worst structural case occurs on the upper layer at noon in terms of structural safety factor. Structural safety of PV-ETFE cushion roof in typical summer days can be guaranteed. These results can be applied further to improve and optimize the design of PV-ETFE cushion roof. (C) 2020 Elsevier B.V. All rights reserved.