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With the increasing penetration of renewable energy, uncertainty has become the main challenge of power systems operation. Fortunately, system operators could deal with the uncertainty by adopting stochastic optimization (SO), robust optimization (RO) and distributionally robust optimization (DRO). However, choosing a good decision takes much experience, which can be difficult when system operators are inexperienced or there are staff shortages. In this paper, a decision-making approach containing robotic assistance is proposed. First, advanced clustering and reduction methods are used to obtain the scenarios of renewable generation, thus constructing a scenario-based ambiguity set of distributionally robust unit commitment (DR-UC). Second, a DR-UC model is built according to the above time-series ambiguity set, which is solved by a hybrid algorithm containing improved particle swarm optimization (IPSO) and mathematical solver. Third, the above model and solution algorithm are imported into robots that assist in decision making. Finally, the validity of this research is demonstrated by a series of experiments on two IEEE test systems. [ABSTRACT FROM AUTHOR]

In this paper, we investigate the relationship between emotions and colors by showing robot animated emotion faces and colors to the participants through a series of surveys. We focused on representing a visualized emotion through a robot's facial expression and background colors. To complete the emotion design with animated faces and color background, we gave an experimental design for surveying the users' thoughts. We took an example of a robot animated face by using the ASUS Zenbo. We selected 11 colors as our color background and 24 facial expressions from Zenbo. To analyze our results from questionnaires, we used histograms to show the basic data situation and the multiple logistic regression analysis (MLRA) to see the marginal relationships. We separated our questionnaires into positive and negative questionnaires and divided the dataset into three cases to discuss the different relationships between color and emotion. Results showed that people preferred the blue color no matter whether the face was showing positive or negative emotion. The MLRA also showed the correct percentage is outstanding in case 2, either positive emotion or negative emotion. Participants thought Zenbo's robotic animated face was the same as they thought. Through our experimental design, we hope that people can consider more colors with emotion to design the human–robot interface that will be closer to the users' thoughts and make life more colorful with comfortable reactions with robots. [ABSTRACT FROM AUTHOR]

We report on the methodology of developing a hybrid model and utilizing it as a template to initiate running behavior in a legged robot. The hybrid model is comprised of a physics-based, rolling, spring-loaded, inverted pendulum (R-SLIP) model, and a data-driven model that compensates for unmodeled dynamics using Gaussian process (GP) regression. The hybrid R-SLIP-GP model retains the R-SLIP's intrinsic running dynamics, as well as improves the template's accuracy without intensive data training and iteration efforts. The proposed hybrid model was evaluated via simulation and in empirical robot running experiments. The results confirm that the added GP-based model greatly improved the model's accuracy, especially discrepancies resulting from the originally difficult-to-model complex leg-ground interactions. In addition, the R-SLIP-GP model was utilized as a complete motion template to design and control the robot's running motion. The experimental results demonstrate that the hybrid template can initiate more stable and power-efficient running motion in the robot than using the R-SLIP template. [ABSTRACT FROM AUTHOR]

This report is on the design, control strategy, implementation, and performance evaluation of a novel leg–wheel transformable robot called TurboQuad, which can perform fast gait/mode coordination and transitions in wheeled mode, in legged trotting, and in legged walking while in motion. This functionality was achieved by including two novel setups in the robot that were not included in its predecessor, Quattroped. First, a new leg–wheel mechanism was used, in which the leg/wheel operation and its in situ transition can be driven by the same set of motors, so the actuation system and power can be utilized efficiently. Second, a bio-inspired control strategy was applied based on the central pattern generator and coupled oscillator networks, in which the gait/mode generation, coordination, and transitions can be integrally controlled. The robot was empirically built and its performances in the described three gaits/modes as well as the transitions among them were experimentally evaluated and will be discussed in this paper. [ABSTRACT FROM AUTHOR]