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Nuclear energy is one of the most important clean energy on earth presently. The steam generator secondary side is the key device of nuclear power station. As an important branch of special robot, nuclear robot is the most convenient and effective mean to inspect the steam generator. This paper describes one robot system which could help users inspecting tubes and locating the robot inside the steam...
Unmanned Automatic Guided Vehicle (AGV) is a critical part of advanced manufacturing system. The navigation and localization technology are the key components of AGV design. In this paper, we propose a navigation method based on Kalman Filter and a magnetic nail localization. By the method, the state equation can be obtained by carrying out the kinematics analysis. Heading angle and position can be...
In recent years, researchers come up with lots of path following algorithms. One of their basic assumptions is that the robot's initial position is a single certain point. Actually, as robots rely on sensor data to locate by Kalman filter or Partical filter, it outputs a probability distribution. In this paper, F* describes a new path following algorithm with the robot's initial position is uncertain...
In this paper, we introduce a telescopic manipulator that is used in the narrow space inside the steam generator of the nuclear power plants for video inspection. Mimicing the structure of tape measure, we design the structure of the manipulator, and apply finite element analysis method to analyze the key parts of the flexible arm. There are many factors exerting influences on the manipulator and...
As a key device in nuclear station, the steam generator is vulnerable to certain kinds of damages, which make it necessary to check the generator annually. However, it is impossible for human to finish the examine because of that the tremendous tubes inside the generator makes its inner space too crowded. In this paper, we introduced a novel designed climbing robot system which is competent to the...
Clothbot is a new kind of climbing robot with novel structure that enables it to move on human cloth. Earlier version of Clothbot can only climb on cloth with manual control because there is complex deformation on human cloth and thus Clothbot can't keep itself stable. In this paper, we propose some new hardware improvements to enhance the stability of Clothbot on human cloth, then adopt a remote...
In this paper, a novel stress relief robotic system is designed to help people release their stress. Such a system should have good interactivity, that is, the robotic system can respond to various user input such as touch and voice by playing audio, video and so on. Besides interactivity, the robotic system should also have good application scalability. Good application scalability means developing...
This paper presents a novel climbing robot called Clothbot which has high maneuverability on flexible clothes. It has a novel gripper consisting of two parallel wheels that can grip continuously and stably on various kinds of clothes. Clothbot also has an omni-directional tail of two DOFs so that it can change its center of gravity to control the moving direction on complex and undeterminate clothes...
This paper mainly investigates the impact large traders have on the optimal exercise strategies for warrants and their values. By exploring a simple method for pricing the outstanding warrants incorporating strategic exercise of the warrants and employing a lattice process for the equity value of the firm, a valuation formulas for multiple warrants is derived. The multiple warrants pricing model not...
In order to maximize portfolio return of a fund which is managed by multi-managers not belonging to a managerial hierarchy in a large investment institution, we introduce a decentralized investment method by which an optimal portfolio and optimal firm utility can be obtained. The analytical result shows that the firm performance with decentralized investment is different from that with centralized...
We develop an analytic warrant pricing model with perfect hedging in an inefficient market model where the underlying price variations are autocorrelated. This is accomplished by assuming that the underlying noise in the system is derived by an Ornstein-Uhlenbeck process, rather than from a Wiener process. This model provides a valuable insight into dependence of warrant price on the return autocorrelation...
In order to solve assets allocation problem with fuzzy uncertainty, a fuzzy portfolio selection model is used in this paper. By introducing a coherent risk measure named fuzzy conditional value-at-risk in possibility spaces, the model can rationally solve fuzzy assets allocation problem. Impractical results indicate that efficient frontier of the model is a band. This approach can effectively solve...
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