In human-robot collaborative assembly, robots are often required to dynamically change their pre-planned tasks to collaborate with human operators in a shared workspace. However, the robots used today are controlled by pre-generated rigid codes that cannot support effective human-robot collaboration. In response to this need, multi-modal yet symbiotic communication and control methods have been a focus in recent years. These methods include voice processing, gesture recognition, haptic interaction, and brainwave perception. Deep learning is used for classification, recognition and context awareness identification. Within this context, this keynote provides an overview of symbiotic human-robot collaborative assembly and highlights future research directions.

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In this paper, the use of a dispersive prism with a triangular shape is proposed to reduce the dispersive radiation nature of a leaky-wave antenna in groove gap waveguide technology. The operation of gap waveguide technology is based on the use of metallic pins that act as an artificial magnetic conductor, so the electromagnetic fields are confined and guided in the desired directions. To control a leaky-wave radiation of these confined fields is possible by tailoring the height of the pins, its periodicity and the waveguide width. This radiation, as in any conventional leaky-wave antenna, is dispersive, leading to beam squint as frequency is varied. Here, we mitigate this beam squint by using a prism made of dispersive pins and choosing appropriately their periodicity and height. With this prism, the leaky-wave radiation is focused into one single direction in a wide frequency-band.This concept is demonstrated with a prototype designed to radiate at ϕ=41 • with a central frequency of 12 GHz and high-gain of 16.5 dBi. A 22% frequency bandwidth for the 3-dB realized gain at ϕ=41 • is achieved, and the main radiating direction, with half-power beamwidth of 5 • , steers only ±0.5 • from 11.4 to 13.4 GHz.

As the most important component of cable-stayed bridges, cable safety has been of crucial public concern. In this paper, a new robot system for the inspection of stay cables is proposed. The robot not only replaces human workers in carrying out risky tasks in a hazardous environment but also increases operational efficiency by eliminating costly erection of scaffolding or dragging of winches. The designed robot is composed of two equally spaced modules, joined by connecting bars to form a closed hexagonal body that clasps the cable. For safe landing in case of an electrical interruption or malfunction, a gas damper with a slider-crank mechanism is proposed to use up the extra energy generated by gravity when the robot slips down. To conserve energy, a landing method based on back electromotive force is introduced. Laboratory and field experiments verified that the robot can stably climb random inclined cables and land smoothly upon electrical malfunction. Finally, along with an application example, the vision inspection system based on charge-coupled device cameras, operating modes of the robot, control methods, and feasibility are discussed in detail. The field applications on two cablestayed bridges indicate that such a low-cost robot system can improve the efficiency of inspection operations and satisfy the requirements of actual cable inspection. C 2011 Wiley Periodicals, Inc.

A Fe 48 Cr 15 Mo 14 C 15 B 6 Y 2 alloy with high glass forming ability (GFA) was selected to prepare amorphous metallic coatings by atmospheric plasma spraying (APS). The as-deposited coatings present a dense layered structure and low porosity. Microstructural studies show that some nanocrystals and a fraction of yttrium oxides formed during spraying, which induced the amorphous fraction of the coatings decreasing to 69% compared with amorphous alloy ribbons of the same component. High thermal stability enables the amorphous coatings to work below 910 K without crystallization. The results of electrochemical measurement show that the coatings exhibit extremely wide passive region and relatively low passive current density in 3.5% NaCl and 1 mol/L HCl solutions, which illustrate their superior ability to resist localized corrosion. Moreover, the corrosion behavior of the amorphous coatings in 1 mol/L H 2 SO 4 solution is similar to their performance under conditions containing chloride ions, which manifests their flexible and extensive ability to withstand aggressive environments.

This paper proposes a dual-polarized endfire phased array 1 for 5G handset devices at 28 GHz. The proposed 4-element array has 2 low profile of 1.1 mm, small clearance of 2.7 mm, and symmetric 3 patterns in the vertical plane. The array element is fed by Substrate 4 Integrated Waveguide (SIW), which works as a waveguide (WG) antenna 5 with vertically polarized radiation pattern. Two transition plates are 6 introduced to improve the impedance matching of the WG antenna. 7 The horizontal polarization is generated by exciting one of the transition 8 plate as an antenna. The other transition plate is modified as a group 9 of triangle strips to minimize its reflection to the horizontal radiation 10 patterns. A -10-dB frequency bandwidth of 5.3% and a -6-dB bandwidth 11 of 25% are achieved, overlapping between the vertical and horizontal 12 polarization. The array scanning angle is from −54 • to 44 • at 29 GHz for 13 both polarization. Within the scanning range, the endfire gain varies from 14 7.48 to 8.14 dBi for the horizontal polarization, whereas from 4.49 to 8.05 15 dBi for the vertical polarization. Good agreements between simulations 16 and measurements are well achieved and shown in this paper.