Quadruped Robot Control: An Approach Using Body Planar Motion Control, Legs Impedance Control and Bézier Curves.

In robotics, the ability of quadruped robots to perform tasks in industrial, mining, and disaster environments has already been demonstrated. To ensure the safe execution of tasks by the robot, meticulous planning of its foot placements and precise leg control are crucial. Traditional motion planning and control methods for quadruped robots often rely on complex models of both the robot itself and its surrounding environment. Establishing these models can be challenging due to their nonlinear nature, often entailing significant computational resources. However, a more simplified approach exists that focuses on the kinematic model of the robot's floating base for motion planning. This streamlined method is easier to implement but also adaptable to simpler hardware configurations. Moreover, integrating impedance control into the leg movements proves advantageous, particularly when traversing uneven terrain. This article presents a novel approach in which a quadruped robot employs impedance control for each leg. It utilizes sixth-degree Bézier curves to generate reference trajectories derived from leg velocities within a planar kinematic model for body control. This scheme effectively guides the robot along predefined paths. The proposed control strategy is implemented using the Robot Operating System (ROS) and is validated through simulations and physical experiments on the Go1 robot. The results of these tests demonstrate the effectiveness of the control strategy, enabling the robot to track reference trajectories while showing stable walking and trotting gaits.

Reply to Comments: A Novel Low-Cost Instrumentation System for Measuring the Water Content and Apparent Electrical Conductivity of Soils, Sensors, 15, 25546⁻25563.

In this article we respond to the comments made by Chavanne et al., who have questioned: (i) the name of the technique used; (ii) the ability of the system to determine both soil water content and salinity due to potential instrument biases and choice of sensor frequencies; and (iii) the procedure used to determine temperature effect on readings presented in the article "A Novel Low-Cost Instrumentation System for Measuring the Water Content and Apparent Electrical Conductivity of Soils" (Sensors 2015, 15, 25546⁻25563). We have carefully analyzed the arguments in the comment, and have concluded that they only partially affect the previous conclusions, as will be discussed in this reply. We show here that the findings and conclusions previously drawn are valid and supported by the many experiments previously conducted.

Discontinuity Detection in the Shield Metal Arc Welding Process.

This work proposes a new methodology for the detection of discontinuities in the weld bead applied in Shielded Metal Arc Welding (SMAW) processes. The detection system is based on two sensors-a microphone and piezoelectric-that acquire acoustic emissions generated during the welding. The feature vectors extracted from the sensor dataset are used to construct classifier models. The approaches based on Artificial Neural Network (ANN) and Support Vector Machine (SVM) classifiers are able to identify with a high accuracy the three proposed weld bead classes: desirable weld bead, shrinkage cavity and burn through discontinuities. Experimental results illustrate the system's high accuracy, greater than 90% for each class. A novel Hierarchical Support Vector Machine (HSVM) structure is proposed to make feasible the use of this system in industrial environments. This approach presented 96.6% overall accuracy. Given the simplicity of the equipment involved, this system can be applied in the metal transformation industries.

A Novel Low-Cost Instrumentation System for Measuring the Water Content and Apparent Electrical Conductivity of Soils.

The scarcity of drinking water affects various regions of the planet. Although climate change is responsible for the water availability, humanity plays an important role in preserving this precious natural resource. In case of negligence, the likely trend is to increase the demand and the depletion of water resources due to the increasing world population. This paper addresses the development, design and construction of a low cost system for measuring soil volumetric water content (θ), electrical conductivity (σ) and temperature (T), in order to optimize the use of water, energy and fertilizer in food production. Different from the existing measurement instruments commonly deployed in these applications, the proposed system uses an auto-balancing bridge circuit as measurement method. The proposed models to estimate θ and σ and correct them in function of T are compared to the ones reported in literature. The final prototype corresponds to a simple circuit connected to a pair of electrode probes, and presents high accuracy, high signal to noise ratio, fast response, and immunity to stray capacitance. The instrument calibration is based on salt solutions with known dielectric constant and electrical conductivity as reference. Experiments measuring clay and sandy soils demonstrate the satisfactory performance of the instrument.