Pub Date : 2012-03-25DOI: 10.1109/AMC.2012.6197090
Yu Nakajima, T. Nozaki, T. Mizoguchi, K. Ohnishi
Motion canceling bilateral control (MCBC) is a method to synchronize motion of a teleoperation robot and a target, while an operator can obtain tactile sensation of the remote target. This system helps the operator by taking a task and reduces his/her workload. Unfortunately, the transparency is deteriorated due to the operational force caused by a dynamic motion of the target. This effect is caused by the discreteness and a delay in external sensors essential for MCBC. However, the relationships between the transparency and those sensing constraints were not clarified yet. Therefore in this research, the frequency characteristics of the transparency for the MCBC are analyzed in the following three basis: type of holds, sampling period, and stiffness of the target. The analytical results suggested following three behaviors in the transparency of the MCBC. · A first order hold showed better performance compared with a zero order hold, but it has a peak gain near the Nyquist frequency · Shorter sampling period improves the performance · Contacting hard target deteriorate the performance The validity of analysis was verified by the experimental results.
{"title":"Transparency analysis of motion canceling bilateral control under sensing constraints","authors":"Yu Nakajima, T. Nozaki, T. Mizoguchi, K. Ohnishi","doi":"10.1109/AMC.2012.6197090","DOIUrl":"https://doi.org/10.1109/AMC.2012.6197090","url":null,"abstract":"Motion canceling bilateral control (MCBC) is a method to synchronize motion of a teleoperation robot and a target, while an operator can obtain tactile sensation of the remote target. This system helps the operator by taking a task and reduces his/her workload. Unfortunately, the transparency is deteriorated due to the operational force caused by a dynamic motion of the target. This effect is caused by the discreteness and a delay in external sensors essential for MCBC. However, the relationships between the transparency and those sensing constraints were not clarified yet. Therefore in this research, the frequency characteristics of the transparency for the MCBC are analyzed in the following three basis: type of holds, sampling period, and stiffness of the target. The analytical results suggested following three behaviors in the transparency of the MCBC. · A first order hold showed better performance compared with a zero order hold, but it has a peak gain near the Nyquist frequency · Shorter sampling period improves the performance · Contacting hard target deteriorate the performance The validity of analysis was verified by the experimental results.","PeriodicalId":6439,"journal":{"name":"2012 12th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"19 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2012-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"90641576","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2012-03-25DOI: 10.1109/AMC.2012.6197019
E. Uyar, Turgay Akdogan, Onur Keskin, Lutfi Mutlu
This paper presents the design and position control of a seesaw like supported beam which angular motion is measured by an encoder and controlled by the draft force of a propeller at end of the beam. After the general mechanical design and modelling the system, dynamic equations and parameters are investigated and all parts are drawn in SolidWorks, so that the real weights and inertias for the simulation of the motion and a real implementation with reasonable control application could be done. Classic control algorithms such as P, PI, Pd and PID are applied to the real model with various parameters and the obtained results are compared. On the other hand a MATLAB model of the system is derived and simulation results of this model are then compared with real implementation results. Very closed results approved the success of the model with real implementation.
{"title":"Position control of a seesaw like platform by using a thrust propeller","authors":"E. Uyar, Turgay Akdogan, Onur Keskin, Lutfi Mutlu","doi":"10.1109/AMC.2012.6197019","DOIUrl":"https://doi.org/10.1109/AMC.2012.6197019","url":null,"abstract":"This paper presents the design and position control of a seesaw like supported beam which angular motion is measured by an encoder and controlled by the draft force of a propeller at end of the beam. After the general mechanical design and modelling the system, dynamic equations and parameters are investigated and all parts are drawn in SolidWorks, so that the real weights and inertias for the simulation of the motion and a real implementation with reasonable control application could be done. Classic control algorithms such as P, PI, Pd and PID are applied to the real model with various parameters and the obtained results are compared. On the other hand a MATLAB model of the system is derived and simulation results of this model are then compared with real implementation results. Very closed results approved the success of the model with real implementation.","PeriodicalId":6439,"journal":{"name":"2012 12th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"13 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2012-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"79952637","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2012-03-25DOI: 10.1109/AMC.2012.6197137
Ahmet Kuzu, Ozgur Songuler
In this study, a modified Smith Predictor based fuzzy disturbance rejection scheme is proposed for short delay processes, and compared with a recent counterpart. For this purpose, Astrom's Smith Predictor and the grey predictor are introduced, a recent disturbance reduction scheme and proposed disturbance reduction scheme are described, and both are simulated with pre-published process parameters. The simulation results are compared, and it has been concluded that the disturbance reduction performance is improved by using proposed scheme.
{"title":"Novel fuzzy — Smith predictor hybrid scheme for periodic disturbance reduction in linear time delay systems","authors":"Ahmet Kuzu, Ozgur Songuler","doi":"10.1109/AMC.2012.6197137","DOIUrl":"https://doi.org/10.1109/AMC.2012.6197137","url":null,"abstract":"In this study, a modified Smith Predictor based fuzzy disturbance rejection scheme is proposed for short delay processes, and compared with a recent counterpart. For this purpose, Astrom's Smith Predictor and the grey predictor are introduced, a recent disturbance reduction scheme and proposed disturbance reduction scheme are described, and both are simulated with pre-published process parameters. The simulation results are compared, and it has been concluded that the disturbance reduction performance is improved by using proposed scheme.","PeriodicalId":6439,"journal":{"name":"2012 12th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"27 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2012-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"86545399","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2012-03-25DOI: 10.1109/AMC.2012.6197057
D. Schindele, H. Aschemann
This paper presents a compensation strategy for the hysteresis in the nonlinear force characteristic of pneumatic muscles. For a dynamical modelling of the hysteresis, the generalised Bouc-Wen model is employed. This model allows for the representation of highly asymmetric hysteresis. The parameters of the Bouc-Wen model are identified by measurements. An existing control structure for a high-speed linear axis actuated by pneumatic muscles is extended by the Bouc-Wen model with the identified parameters for compensation of the hysteresis. Experimental results from an implementation on a test rig show the efficiency of the proposed compensation strategy.
{"title":"Model-based compensation of hysteresis in the force characteristic of pneumatic muscles","authors":"D. Schindele, H. Aschemann","doi":"10.1109/AMC.2012.6197057","DOIUrl":"https://doi.org/10.1109/AMC.2012.6197057","url":null,"abstract":"This paper presents a compensation strategy for the hysteresis in the nonlinear force characteristic of pneumatic muscles. For a dynamical modelling of the hysteresis, the generalised Bouc-Wen model is employed. This model allows for the representation of highly asymmetric hysteresis. The parameters of the Bouc-Wen model are identified by measurements. An existing control structure for a high-speed linear axis actuated by pneumatic muscles is extended by the Bouc-Wen model with the identified parameters for compensation of the hysteresis. Experimental results from an implementation on a test rig show the efficiency of the proposed compensation strategy.","PeriodicalId":6439,"journal":{"name":"2012 12th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"52 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2012-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"88307526","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2012-03-25DOI: 10.1109/AMC.2012.6197056
Hiromi Ohkubo, T. Shimono, N. Motoi
Recently, a lot of robots and industrial machines with disturbance observer (DOB) have been put to practical use all over the world. By using DOB, acceleration control is achieved. As a result, DOB is contributed to robust position and force control. In other front, DOB is utilized as the reaction force observer (RFOB) for estimation of the external force. As a result, DOB is a key technology for motion control. Therefore, it is necessary to improve the performance of DOB to realize high advanced motion control system. The performance of DOB depends on motion control frequency, current control frequency of motor driver and the resolution of encoder. This paper focuses on motion control frequency and current control frequency. The purpose of this paper is realization of high-performance DOB based on fast motion control frequency and fast current control frequency.
{"title":"The performance validation of disturbance observer based on comparison between motion control frequency and current control frequency","authors":"Hiromi Ohkubo, T. Shimono, N. Motoi","doi":"10.1109/AMC.2012.6197056","DOIUrl":"https://doi.org/10.1109/AMC.2012.6197056","url":null,"abstract":"Recently, a lot of robots and industrial machines with disturbance observer (DOB) have been put to practical use all over the world. By using DOB, acceleration control is achieved. As a result, DOB is contributed to robust position and force control. In other front, DOB is utilized as the reaction force observer (RFOB) for estimation of the external force. As a result, DOB is a key technology for motion control. Therefore, it is necessary to improve the performance of DOB to realize high advanced motion control system. The performance of DOB depends on motion control frequency, current control frequency of motor driver and the resolution of encoder. This paper focuses on motion control frequency and current control frequency. The purpose of this paper is realization of high-performance DOB based on fast motion control frequency and fast current control frequency.","PeriodicalId":6439,"journal":{"name":"2012 12th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"8 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2012-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"87944370","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2012-03-25DOI: 10.1109/AMC.2012.6197030
D. Hoshino, N. Kamamichi, J. Ishikawa
This paper reports experimental evaluation results of a time variant disturbance observer based on the LuGre friction model for friction compensation. The observer is designed from state space expressions of a controlled plant with the LuGre model that is locally-linearized every sampling period. Thus, observer gains derived from the linearized model become time variant ones as a function of velocity. Parameters of the LuGre model were experimentally identified for a linear stage driven by a ball screw with an AC motor, i.e., a controlled plant. To show the validity of the proposed method, experiments using the controlled plant were conducted to evaluate tracking errors for positioning control with and without the proposed disturbance observer. From the experimental results, it has been confirmed that the proposed disturbance observer can eliminate influence of the friction and is effective to improve positioning accuracy.
{"title":"Friction compensation using time variant disturbance observer based on the LuGre model","authors":"D. Hoshino, N. Kamamichi, J. Ishikawa","doi":"10.1109/AMC.2012.6197030","DOIUrl":"https://doi.org/10.1109/AMC.2012.6197030","url":null,"abstract":"This paper reports experimental evaluation results of a time variant disturbance observer based on the LuGre friction model for friction compensation. The observer is designed from state space expressions of a controlled plant with the LuGre model that is locally-linearized every sampling period. Thus, observer gains derived from the linearized model become time variant ones as a function of velocity. Parameters of the LuGre model were experimentally identified for a linear stage driven by a ball screw with an AC motor, i.e., a controlled plant. To show the validity of the proposed method, experiments using the controlled plant were conducted to evaluate tracking errors for positioning control with and without the proposed disturbance observer. From the experimental results, it has been confirmed that the proposed disturbance observer can eliminate influence of the friction and is effective to improve positioning accuracy.","PeriodicalId":6439,"journal":{"name":"2012 12th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"491 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2012-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"86786727","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2012-03-25DOI: 10.1109/AMC.2012.6197094
A. Tabak, S. Yeşilyurt
Modeling and control of swimming untethered microrobots are important for future therapeutic medical applications. Bio-inspired propulsion methods emerge as realistic substitutes for hydrodynamic thrust generation in micro realm. Accurate modeling, power supply, and propulsion-means directly affect microrobot motility and maneuverability. In this work, motility of bacteria-like untethered helical microrobots in channels is modeled with the resistive force theory coupled with motor dynamics. Results are validated with private experiments conducted on cm-scale prototypes fully submerged in Si-oil filled glass channel. Li-Po battery is utilized as the onboard power supply. Helical tail rotation is triggered by an IR remote control. It is observed that time-averaged velocities calculated by the model agree well with experimental results. Finally, time-dependent performance of a hypothetical model-based position control scheme is simulated with upstream flow as disturbance.
{"title":"Experiment-based kinematic validation of numeric modeling and simulated control of an untethered biomimetic microrobot in channel","authors":"A. Tabak, S. Yeşilyurt","doi":"10.1109/AMC.2012.6197094","DOIUrl":"https://doi.org/10.1109/AMC.2012.6197094","url":null,"abstract":"Modeling and control of swimming untethered microrobots are important for future therapeutic medical applications. Bio-inspired propulsion methods emerge as realistic substitutes for hydrodynamic thrust generation in micro realm. Accurate modeling, power supply, and propulsion-means directly affect microrobot motility and maneuverability. In this work, motility of bacteria-like untethered helical microrobots in channels is modeled with the resistive force theory coupled with motor dynamics. Results are validated with private experiments conducted on cm-scale prototypes fully submerged in Si-oil filled glass channel. Li-Po battery is utilized as the onboard power supply. Helical tail rotation is triggered by an IR remote control. It is observed that time-averaged velocities calculated by the model agree well with experimental results. Finally, time-dependent performance of a hypothetical model-based position control scheme is simulated with upstream flow as disturbance.","PeriodicalId":6439,"journal":{"name":"2012 12th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"22 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2012-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78480276","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2012-03-25DOI: 10.1109/AMC.2012.6197116
T. Akbas, S. Eskimez, Selim Ozel, O. K. Adak, K. C. Fidan, K. Erbatur
Legged robots have significant advantages over other types of mobile robots when task at hand requires the robot to overcome obstacles. This paper presents a reference trajectory generation method for a quadruped robot for pace gait on a flat surface. The approach is based on the Zero Moment Point (ZMP) stability criterion and the Linear Inverted Pendulum Model (LIPM). ZMP reference trajectories for pace is proposed, from which reference trajectories for the Robot Center of Mass (CoM) references are obtained by applying preview control. The position of leg joints are computed using inverse kinematics according to CoM reference trajectory. Proposed reference trajectory generation synthesis is tested through full-dynamics 3D simulation. A 16-degrees-of-freedom (DOF) quadruped robot model is used in the simulations. Simulation results show the success of the reference generation technique for the pace gait.
{"title":"Zero Moment Point based pace reference generation for quadruped robots via preview control","authors":"T. Akbas, S. Eskimez, Selim Ozel, O. K. Adak, K. C. Fidan, K. Erbatur","doi":"10.1109/AMC.2012.6197116","DOIUrl":"https://doi.org/10.1109/AMC.2012.6197116","url":null,"abstract":"Legged robots have significant advantages over other types of mobile robots when task at hand requires the robot to overcome obstacles. This paper presents a reference trajectory generation method for a quadruped robot for pace gait on a flat surface. The approach is based on the Zero Moment Point (ZMP) stability criterion and the Linear Inverted Pendulum Model (LIPM). ZMP reference trajectories for pace is proposed, from which reference trajectories for the Robot Center of Mass (CoM) references are obtained by applying preview control. The position of leg joints are computed using inverse kinematics according to CoM reference trajectory. Proposed reference trajectory generation synthesis is tested through full-dynamics 3D simulation. A 16-degrees-of-freedom (DOF) quadruped robot model is used in the simulations. Simulation results show the success of the reference generation technique for the pace gait.","PeriodicalId":6439,"journal":{"name":"2012 12th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"121 1","pages":"1-7"},"PeriodicalIF":0.0,"publicationDate":"2012-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76068791","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2012-03-25DOI: 10.1109/AMC.2012.6197011
Mayuko Watanabe, T. Murakami
Human-friendly robots are garnering attention for the next generation for assist human motion in the field of nursing care, home care, soothing care and so on. However, the cooperative motion between humans and robots using mobile robots has not yet been researched very much. To address this problem, this paper presents the application of motion control method for safe navigation based on human's behavior using two-wheel mobile manipulator, because it has better mobility and it can pinwheel. In this study, human's behavior is divided into phases and virtual impedance is changed depending on if cooperative walking situation is dangerous or not. To verify the validity of proposed method, experiments of human-robot cooperative motion were carried out. By experimental results, the effect of proposed approach is made definite and safe walking support is realized.
{"title":"Walker's motion based control of two-wheel mobile manipulator","authors":"Mayuko Watanabe, T. Murakami","doi":"10.1109/AMC.2012.6197011","DOIUrl":"https://doi.org/10.1109/AMC.2012.6197011","url":null,"abstract":"Human-friendly robots are garnering attention for the next generation for assist human motion in the field of nursing care, home care, soothing care and so on. However, the cooperative motion between humans and robots using mobile robots has not yet been researched very much. To address this problem, this paper presents the application of motion control method for safe navigation based on human's behavior using two-wheel mobile manipulator, because it has better mobility and it can pinwheel. In this study, human's behavior is divided into phases and virtual impedance is changed depending on if cooperative walking situation is dangerous or not. To verify the validity of proposed method, experiments of human-robot cooperative motion were carried out. By experimental results, the effect of proposed approach is made definite and safe walking support is realized.","PeriodicalId":6439,"journal":{"name":"2012 12th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"24 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2012-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"73464453","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2012-03-25DOI: 10.1109/AMC.2012.6197125
F. Iida, M. Reis, N. Maheshwari, K. Gunura, Simon Hauser
Behavioral performances of our legged robots are still far behind those of biological systems. Energy efficiency and locomotion velocity of our robots, for example, are orders of magnitude lower than those of animals, and in order to fill the gap, it requires a radically new approach in the design and control processes. From this perspective, we have been exploring a novel approach to design and control of legged robots which makes use of free vibration of elastic curved beams. We found that this approach not only simplifies the design and manufacturing processes of locomotion robots, but also substantially improves their energy efficiency, which is comparable to those of animals. In this paper, we explain the novelty and principles of this approach through the four representative case studies that we have been exploring, and discuss challenges and perspectives toward the future.
{"title":"Legged robot locomotion based on free vibration","authors":"F. Iida, M. Reis, N. Maheshwari, K. Gunura, Simon Hauser","doi":"10.1109/AMC.2012.6197125","DOIUrl":"https://doi.org/10.1109/AMC.2012.6197125","url":null,"abstract":"Behavioral performances of our legged robots are still far behind those of biological systems. Energy efficiency and locomotion velocity of our robots, for example, are orders of magnitude lower than those of animals, and in order to fill the gap, it requires a radically new approach in the design and control processes. From this perspective, we have been exploring a novel approach to design and control of legged robots which makes use of free vibration of elastic curved beams. We found that this approach not only simplifies the design and manufacturing processes of locomotion robots, but also substantially improves their energy efficiency, which is comparable to those of animals. In this paper, we explain the novelty and principles of this approach through the four representative case studies that we have been exploring, and discuss challenges and perspectives toward the future.","PeriodicalId":6439,"journal":{"name":"2012 12th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"21 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2012-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"82131359","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
京公网安备 11010802042870号
京ICP备2023020795号-1
扫码关注我们
求助内容：
应助结果提醒方式：