Amasistimu amaningi akhona wamarobhothi athola ugqozi emvelweni, akhiqiza kabusha ngokuzenzisa izinqubo zebhayoloji, izakhiwo zemvelo noma ukuziphatha kwezilwane ukuze kuzuzwe izinhloso ezithile. Lokhu kungenxa yokuthi izilwane nezitshalo ngokwemvelo zihlonyiswe ngamakhono azisiza ukuthi ziphile ezindaweni ezikuzo, futhi lokho kungase futhi kuthuthukise ukusebenza kwamarobhothi ngaphandle kwezilungiselelo zaselabhorethri.
"Izingalo zamarobhothi ezithambile ziyisizukulwane esisha sabenzi bokuqondisa amarobhothi abathola ugqozi emandleni okukhohlisa athuthukisiwe aboniswa izinto eziphilayo 'ezingenamathambo', njengamatende e-octopus, iziqu zendlovu, izitshalo, njll.," u-Enrico Donato, omunye wabacwaningi abenze lokhu. ucwaningo, utshele i-Tech Xplore. “Ukuhumushela lezi zimiso zibe izixazululo zobunjiniyela kubangela izinhlelo ezakhiwe ngezinto ezingasindi eziguquguqukayo ezingase zibe nokuwohloka okushelelayo okunwebekayo ukuze kukhiqizwe ukunyakaza okuvumelanayo nokunobuciko. Ngenxa yalezi zici ezifiselekayo, lezi zinhlelo zihambisana nendawo futhi zikhombisa ukuqina komzimba nokusebenza okuphephile kwabantu ngezindleko ezingaba ziphansi.”
Nakuba izingalo zamarobhothi ezithambile zingasetshenziswa kuhlu olubanzi lwezinkinga zomhlaba wangempela, zingaba usizo ikakhulukazi emisebenzini yokuzenzakalela ehilela ukufinyelela ezindaweni ezifiselekayo ezingafinyeleleki kumarobhothi aqinile. Amaqembu amaningi ocwaningo asanda kuzama ukuthuthukisa abalawuli abangavumela lezi zingalo eziguquguqukayo ukuthi zibhekane ngempumelelo nale misebenzi.
"Ngokuvamile, ukusebenza kwabalawuli abanjalo kuncike ekwakhiweni kwekhompyutha okungadala imephu evumelekile phakathi kwezikhala ezimbili zokusebenza zerobhothi, okungukuthi, indawo yomsebenzi kanye ne-actuator-space," kuchaza u-Donato. “Kodwa-ke, ukusebenza kahle kwalaba balawuli ngokuvamile kuncike kumbono-impendulo ekhawulela ukuba semthethweni kwabo endaweni yaselabhorethri, ekhawulela ukusetshenziswa kwalezi zinhlelo ezindaweni zemvelo neziguquguqukayo. Lesi sihloko siwumzamo wokuqala wokunqoba lo mkhawulo ongalungiswanga futhi wandise ukufinyelela kwalezi zinhlelo ezindaweni ezingahlelekile. "
"Ngokuphambene nombono oyiphutha ovamile wokuthi izitshalo azihambi, izitshalo zihamba ngenkuthalo futhi ngenhloso zisuka kwelinye iphuzu ziye kwelinye zisebenzisa amasu okunyakaza ngokusekelwe ekukhuleni," kusho u-Donato. “Lawa maqhinga asebenza kakhulu kangangokuthi izitshalo zingaqoqa cishe zonke izindawo zokuhlala emhlabeni, ikhono elingekho embusweni wezilwane. Ngokuthakazelisayo, ngokungafani nezilwane, amasu okunyakaza kwezitshalo awasuki esimisweni sezinzwa esiyinhloko, kodwa kunalokho, avela ngenxa yezindlela eziyinkimbinkimbi zezinqubo zekhompiyutha ezihlukaniselwe amazwe.”
Isu lokulawula elisekela ukusebenza kwesilawuli sabacwaningi lizama ukuphindaphinda izindlela eziyinkimbinkimbi ezihlukaniselwe izindawo ezisekela ukunyakaza kwezitshalo. Ithimba lisebenzise ngokukhethekile amathuluzi obuhlakani bokwenziwa asuselwe ekuziphatheni, ahlanganisa ama-ejenti ekhompuyutha ahlukaniselwe indawo ahlanganiswe esakhiweni esibheke phezulu.
"Into entsha yesilawuli sethu esiphefumulelwe nge-bio ilele ekululameni kwayo, lapho sisebenzisa khona imisebenzi eyisisekelo yengalo yerobhothi elithambile ukuze sikhiqize ukuziphatha okufinyelelekayo okuphelele," kusho u-Donato. “Ngokuqondile, ingalo yerobhothi ethambile ihlanganisa ukuhlelwa okungasasebenzi kwamamojula athambile, ngalinye lenziwa lisebenze ngonxantathu wama-actuator ahlelwe ngokukhazimulayo. Kuyaziwa ukuthi ekucushweni okunjalo, isistimu ingakhiqiza izinkomba eziyisithupha zokugoba.”
Abenzeli bekhompuyutha abasekela ukusebenza kwesilawuli seqembu basebenzisa i-amplitude futhi babeka isikhathi ukumiswa kwe-actuator ukuze kuphinde kukhiqizwe izinhlobo ezimbili ezihlukene zomnyakazo wezitshalo, okwaziwa ngokuthi i-circumnutation ne-phototropism. I-circumnutations i-oscillation evame ukubonwa ezitshalweni, kuyilapho i-phototropism iwukunyakaza okuqondisayo okuletha amagatsha esitshalo noma amaqabunga eduze nokukhanya.
Isilawuli esidalwe u-Donato nozakwabo singashintsha phakathi kwalokhu kuziphatha okubili, sithole ukulawulwa okulandelanayo kwezingalo zerobhothi ezidlula ezigabeni ezimbili. Esokuqala salezi zigaba yisigaba sokuhlola, lapho izingalo zihlola khona indawo ezizungezile, kuyilapho okwesibili kuyisigaba sokufinyelela, lapho zihamba khona ukuze zifinyelele indawo noma into oyifunayo.
"Mhlawumbe into ebaluleke kakhulu ethathwe kulo msebenzi wukuthi kungokokuqala ngqa ukuthi izingalo zamarobhothi athambile ezingasasebenzi zinikwe amandla okufinyelela ngaphandle kwendawo yaselabhorethri, ngohlaka olulula kakhulu lokulawula," kusho u-Donato. “Ngaphezu kwalokho, isilawuli sisebenza kunoma yikuphi okuthambileirobhothiingalo inikeze ukuhlelwa okufanayo kokusebenza. Lesi isinyathelo esibheke ekusetshenzisweni kwezinzwa ezishumekiwe namasu okulawula asabalalisiwe kumarobhothi aqhubekayo nathambile.”
Kuze kube manje, abacwaningi bahlole isilawuli sabo ochungechungeni lokuhlola, besebenzisa ingalo ye-modular eqhutshwa ngekhebula, engasindi futhi ethambile enamadigri enkululeko angu-9 (9-DoF). Imiphumela yabo ibithembisa kakhulu, njengoba isilawuli sivumele ingalo ukuthi ihlole kokubili indawo eyizungezile futhi ifinyelele indawo eqondiwe ngempumelelo kunamanye amasu okulawula ahlongoziwe esikhathini esidlule.
Ngokuzayo, isilawuli esisha singasetshenziswa kwezinye izingalo zerobhothi ezithambile futhi sihlolwe kuzo zombili izilungiselelo zaselabhorethri nezomhlaba wangempela, ukuze kuqhutshekwe nokuhlola amandla aso okubhekana nezinguquko zemvelo eziguqukayo. Ngaleso sikhathi, u-Donato nozakwabo bahlela ukuthuthukisa isu labo lokulawula ngokuqhubekayo, ukuze likwazi ukukhiqiza ukunyakaza kwengalo yerobhothi kanye nokuziphatha.
"Okwamanje sibheke ukuthuthukisa amakhono esilawuli ukuze sivumele ukuziphatha okuyinkimbinkimbi njengokulandelela okuqondiwe, ukusonta ingalo yonke, njll., ukuze senze amasistimu anjalo asebenze endaweni yemvelo isikhathi eside," wanezela u-Donato.
Isikhathi sokuthumela: Jun-06-2023