Abstract: Presented herein are embodiments of a two-stage methodology that integrates data-driven imitation learning and model-based trajectory optimization to generate optimal trajectories for autonomous excavators. In one or more embodiments, a deep neural network using demonstration data to mimic the operation patterns of human experts under various terrain states, including their geometry shape and material type. A stochastic trajectory optimization methodology is used to improve the trajectory generated by the neural network to ensure kinematics feasibility, improve smoothness, satisfy hard constraints, and achieve desired excavation volumes. Embodiments were tested on a Franka robot arm equipped with a bucket end-effector. Embodiments were also evaluated on different material types, such as sand and rigid blocks. Experimental results showed that embodiments of the two-stage methodology that comprises combining expert knowledge and model optimization increased the excavation weights by up to 24.

Abstract: A tracer particle spreading device for a boundary layer flow visualization experiment based on a flat plate includes a tracer particle generator, a smoke storage box, and a wall-surface particle distribution box. Fume and oil are pressurized by a micro pump and flows into a heating pipe to be heated and vaporized, and then is ejected from a nozzle to form tracer particles. The tracer particles enter the smoke storage box via a smoke guiding tube. An axial flow fan is mounted on a wall surface of the smoke storage box. The tracer particles enter a cavity of the wall-surface particle distribution box via the smoke guiding tube, and the tracer particles are rectified by a rectifying plate and ejected from a spreading slit. An outlet of the spreading slit is at an angle of 15° with respect to an experiment flat plate.

Abstract: A battery with a battery management system is capable of charging the battery with recaptured energy from an energy regeneration device. The battery management system charges the battery with the energy regeneration device if the output voltage from the energy regeneration device is larger than the charging voltage of the battery.

Abstract: A lithium battery designed to replace lead-acid battery. The lithium battery has a plurality of battery cells connected in series and a battery management unit. The battery management unit includes a controller, a sensing unit connected to the plurality of battery cells and the controller, a charging control unit connected to the controller, and a discharging control unit connected to the controller. The battery management unit prevents the batteries connected in parallel from mutually charging each other and also prevents the batteries being depleted completely by outputting a low voltage in pulse mode when the battery has low charge.

Abstract: A battery with a battery management system and a wireless communication module is capable of charging the battery with recaptured energy from an energy regeneration device. The battery management system charges the battery with the energy regeneration device if the output voltage from the energy regeneration device is larger than the charging voltage of the battery. The battery management system can enable and disable charging of the battery with the energy from the energy regeneration device according to an instruction received wirelessly.

Abstract: A battery with a plurality of battery cells disposed on a plurality of cell holders. Each battery cell holder holds two battery cells. The plurality of cell holders with the battery cells are enclosed in a battery case and placed inside an external case with a top cover.

Abstract: A lithium battery designed to replace lead-acid battery. The lithium battery has a plurality of battery cells connected in series and a battery management unit. The battery management unit includes a controller, a sensing unit connected to the plurality of battery cells and the controller, a charging control unit connected to the controller, and a discharging control unit connected to the controller. The battery management unit prevents the batteries connected in parallel from mutually charging each other and also prevents the batteries being depleted completely by outputting a low voltage in pulse mode when the battery has low charge.

Abstract: A battery with a battery management system is capable of charging the battery with recaptured energy from an energy regeneration device. The battery management system charges the battery with the energy regeneration device if the output voltage from the energy regeneration device is larger than the charging voltage of the battery.

Abstract: A battery with a plurality of battery cells disposed on a plurality of cell holders. Each battery cell holder holds two battery cells. The plurality of cell holders with the battery cells are enclosed in a battery case and placed inside an external case with a top cover.

Abstract: A lithium battery designed to replace lead-acid battery. The lithium battery comprises a plurality of battery cells connected in series and a battery management unit. The battery management unit comprises a controller, a sensing unit connected to the plurality of battery cells and the controller, a charging control unit connected the controller, and a discharging control unit connected to the controller. The battery management unit prevents the batteries connected in parallel from mutual charging each other and also prevents the batteries being depleted completely by outputting a low voltage in pulse mode when the battery has low charge.

Abstract: A battery with a battery management system is capable of charging the battery with recaptured energy from an energy regeneration device. The battery management system charges the battery with the energy regeneration device if the output voltage from the energy regeneration device is larger than the charging voltage of the battery.

Abstract: A battery with a battery management system is capable of charging the battery with recaptured energy from an energy regeneration device. The battery management system charges the battery with the energy regeneration device if the output voltage from the energy regeneration device is larger than the charging voltage of the battery.

Abstract: A lithium battery designed to replace lead-acid battery. The lithium battery comprises a plurality of battery cells connected in series and a battery management unit. The battery management unit comprises a controller, a sensing unit connected to the plurality of battery cells and the controller, a charging control unit connected the controller, and a discharging control unit connected to the controller. The battery management unit prevents the batteries connected in parallel from mutual charging each other and also prevents the batteries being depleted completely by outputting a low voltage in pulse mode when the battery has low charge.

Abstract: An active charge equilibrium system for lithium battery pack consists a lithium battery pack composed of connecting multiple cells in series, including a multiplex module, control module and multiple equilibrium control module, which each segment of the cells are connected to the multiplex module in sequence, a voltage signal is converted into a digital signal via the control module to compare the voltages of the cells and select the cell with lower voltage. Further, the control module enables the equilibrium control module corresponding to the cell with the lower voltage to work. A pulse width modulator adjusts the output pulse width according to output current and voltage signal from a signal feedback module for controlling current and voltage to charge the cell. As the voltage of the cell reaches a constant current first and a constant voltage second, the control module turns off said equilibrium control module.

Abstract: An active charge equilibrium system for lithium battery pack consists a lithium battery pack composed of connecting multiple cells in series, including a multiplex module, control module and multiple equilibrium control module, which each segment of the cells are connected to the multiplex module in sequence, a voltage signal is converted into a digital signal via the control module to compare the voltages of the cells and select the cell with lower voltage. Further, the control module enables the equilibrium control module corresponding to the cell with the lower voltage to work. A pulse width modulator adjusts the output pulse width according to output current and voltage signal from a signal feedback module for controlling current and voltage to charge the cell. As the voltage of the cell reaches a constant current first and a constant voltage second, the control module turns off said equilibrium control module.