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A Multipurpose Interface for Close- and Far-Proximity control of Mobile Collaborative Robots

A Multipurpose Interface for Close- and Far-Proximity Contro...

引用

IEEE/RAS-EMBS international conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Hamidreza Raei Juan M. Gandarias Elena De Momi Pietro Balatti Arash Ajoudani HRI2 Lab Istituto Italiano di Tecnologia Genoa Italy Department of Electronics Information and Bioengineering Politecnico di Milano Milan Italy Systems Engineering and Automation Department Robotics and Mechatronics lab University of Malaga Malaga Spain

ISBN: (数字)9798350386523

ISBN: (纸本)9798350386530

this letter introduces an innovative visuo-haptic interface to control Mobile Collaborative Robots (MCR). thanks to a passive detachable mechanism, the interface can be attached/detached from a robot, offering two control modes: local control (attached) and teleoperation (detached). these modes are integrated with a robot whole-body controller and presented in a unified close- and far-proximity control framework for MCR. the earlier introduction of the haptic component in this interface enabled users to execute intricate loco-manipulation tasks via admittance-type control, effectively decoupling task dynamics and enhancing human capabilities. In contrast, this ongoing work proposes a novel design that inte-grates a visual component. this design utilizes Visual-Inertial Odometry (VIO) for teleoperation, estimating the interface's pose through stereo cameras and an Inertial Measurement Unit (IMU). the estimated pose serves as the reference for the robot's end-effector in teleoperation mode. Hence, the interface offers complete flexibility and adaptability, enabling any user to operate an MCR seamlessly without needing expert knowledge. In this letter, we primarily focus on the new visual feature of this interface, and first present a performance evaluation of different VIO-based methods for teleoperation. Next, the interface's usability is analyzed in a home-care application and compared to an alternative designed by a commercial MoCap system. Results show comparable performance in terms of accuracy, completion time, and usability. Nevertheless, the proposed interface is low-cost, poses minimal wearability constraints, and can be used anywhere and anytime without needing external devices or additional equipment, offering a versatile and accessible solution for teleoperation.

关键词： Performance evaluation Wireless communication Visualization Wireless sensor networks Accuracy Robot vision systems Collaborative robots Sensors Usability Robots

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Reinforcement Learning Based Shared control: A Novel Teleoperation Strategy for Robotic 7

Reinforcement Learning Based Shared Control: A Novel Teleope...

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7th IEEE international conference on Advanced robotics and Mechatronics

作者： Chang, Ziqing Cheng, Hao Ge, Hangli Duan, Feng Nankai Univ Dept Artificial Intelligence Tianjin Peoples R China Univ Tokyo Interfac Initiat Informat Studies Tokyo Japan

ISBN: (纸本)9781665483063

Teleoperation is widely used in industrial automation, military, space exploration, and surgery. However, traditional control of mechanical arms teleoperation has some defects, such as the lack of present sense for operators, the excessive dependence on the experience, the low precision of operators, and the heavy workload. these problems make it challenging to teleoperate mechanical arms to complete tasks efficiently and accurately. Current Reinforcement Learning's autonomous decision-making can accomplish tasks, but it cannot guarantee successful completion in all cases. We propose a novel teleoperation strategy in which both operator and well-trained agent play a big role. the operator teleoperates the robotic arm with a VR controller as dominant control. the agent trained by deep deterministic policy gradient (DDPG) provides assistance control to fix the motion trajectories. through the proposed shared control strategy, the agent can correct the operator's operation errors in real-time and improve the accuracy and efficiency of operational tasks. To validate the proposed teleoperation strategy, we built a simulation environment using the Pybullet Module. We designed two pick-and-push tasks. the goal is to pick up the object and place it at the target location. We first trained an intelligent agent using the DDPG algorithm. then we mix the actions with human manipulations. Ten rounds of experiments were conducted, and time comparisons were made. the final experimental results show that our proposed method reduces the time to complete the task by 13% on average. the well-trained RL agent can effectively make corrections for trajectories, proving the effectiveness of the proposed method.

关键词： Mechatronics Target recognition Surgery Reinforcement learning Manipulators Real-time systems Trajectory

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A New Approach on Simultaneous Occupancy Grid Mapping and Particle-based Road Boundary Mapping for Autonomous Vehicles

A New Approach on Simultaneous Occupancy Grid Mapping and Pa...

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international conference on control, automation, robotics and vision (ICARCV)

作者： Mukhlas A. Rasyidy Yul Y. Nazaruddin Augie Widyotriatmo Instrumentation and Control Research Group Institut Teknologi Bandung Bandung Indonesia National Center for Sustainable Transportation Technology Bandung Indonesia

ISBN: (纸本)9781665476881

this paper describes a method of environment mapping for autonomous vehicles that takes the advantages of the high-definition dense local map and sparse global map at the same time. the proposed system consists of two estimators, occupancy grid map estimator that is suitable for online local navigation and the new sparse road boundary map estimator for long-term global mapping. the occupancy grid map is estimated with a common Bayesian inference method. On the other hand, the road boundary map estimator is built based on a simple particle filter algorithm which, compared to grid-based map, is memory efficient as it does not require the algorithm to maintain the occupancy state of each point in space. Both estimations are performed by fusing the information from both LiDAR and camera sensors. Our tests in Carla Simulator have shown that the proposed global road boundary mapping system can construct the global map of the test environment well. the particle filter in the proposed algorithm can also reduce the error of road boundary estimation. Moreover, this paper provides the method to fuse the road boundary map into the grid map, which can improve the accuracy of the grid mapping.

关键词： Laser radar Navigation Roads Memory management Estimation Particle filters Inference algorithms

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Supervisor Synthesis for Networked Discrete Event Systems with Delays against Non-FIFO Communication Channels 16

Supervisor Synthesis for Networked Discrete Event Systems wi...

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16th IEEE international conference on control, automation, robotics and vision (ICARCV)

作者： Zhu, Yuting Lin, Liyong Tai, Ruochen Su, Rong Nanyang Technol Univ Sch Elect & Elect Engn Singapore Singapore

ISBN: (纸本)9781728177090

In this work, we study the problem of supervisory synthesis for networked discrete event systems against non-FIFO communication channels with bounded delays. Both the observation and control communication channels are represented by finite state automata under the assumption that all communication delays are bounded, the resilient networked supervisor synthesis problem is then reduced to supervisor synthesis for non-deterministic automata. We firstly analyze the structure of networked discrete-event systems with delays, and then describe the message transmission process through the communication channels which connect the plant and the supervisor. the assumption of the networked discrete event systems: 1)the buffer size of the communication channels is limited;2)there is a maximum delay boundary for each event in the communication channel;3)the number of multiple copies of the same event in the communication channel is limited. the content of the observation and control channel will be represented by the timed finite state automata. Finally, an example will illustrate how the networked resilient supervisor will be synthesized.

关键词： Bounded delays non-FIFO channel networked discrete-event systems supervisory control

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Multi-Sensor-Based Predictive control for Autonomous Parking in Presence of Pedestrians 16

Multi-Sensor-Based Predictive Control for Autonomous Parking...

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16th IEEE international conference on control, automation, robotics and vision (ICARCV)

作者： Perez-Morales, David Kermorgant, Olivier Dominguez-Quijada, Salvador Martinet, Philippe Ecole Cent Nantes Lab Sci Numer Nantes 1 Rue Noe F-44321 Nantes France INRIA Sophia Antipolis 2004 Route Lucioles F-06902 Valbonne France

ISBN: (纸本)9781728177090

this paper explores the feasibility of a Multi-Sensor-Based Predictive control (MSBPC) approach in order to have constraint-based backward non-parallel (perpendicular and diagonal) parking maneuvers capable of dealing with moving pedestrians and, if necessary, performing multiple maneuvers. Our technique relies solely in sensor data expressed relative to the vehicle and therefore no localization is inherently required. Since the proposed approach does not plan any path and instead the controller maneuvers the vehicle directly, the classical path planning related issues are avoided. Real experimentation validates the effectiveness of our approach.

关键词： Motion planning

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Cyber Physical System of robotics Training Set in Rajamangala University of Technology Tawan-ok Education and Training for automation 4.0 in thailand Smart Laboratory

Cyber Physical System of Robotics Training Set in Rajamangal...

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international conference on Information Technology (INCIT)

作者： Pongpat Singsri Karin Kosiyanurak Woramet thongtan Chawalit Panya-Isara Tassaphan Suwannatat Srichol Phiromlap Information and Communication Technology Department Rajamangala University of Technology Tawan-ok Cholburi Thailand Mechatronics and Robotics School of Engineer and Innovation Rajamangala University of Technology Tawan-ok Cholburi Thailand

the design and implementation of a robotics training set with a ’repeat system’ concept. the system is built upon principles of signal exchange, collaboration among multiple devices, and integrated decision-making. Two independent robots operate within the system, with a focus on object selection and placement. the training set underwent initial design phases and equipment installation, with the transition from proximity sensors to a camera for improved object classification accuracy. the hardware inventory includes robots, conveyors, sensors, PLCs, and various auxiliary components, while software tools such as PLCnext Engineer, DobotStudio Pro, Node-RED, and CiRA-CORE facilitate programming and system control. the control system involves a series of signal exchanges and workflows, including object handling, image processing, and reporting. Real-time data visualization offers insight into system operations, including object processing. Overall, this robotics training set had average cycle time of 17, 18, and 20 seconds/cycle for detecting blue, black, and yellow objects, respectively.

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Longitudinal and Lateral control with a Global Estimation for a Convoy of Autonomous Vehicles in Urban Transport Areas 1

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17th international conference on Informatics in control, automation and robotics, ICINCO 2020

作者： Mohamed-Ahmed, M.-M. Naamane, Aziz Aix Marseille University University of Toulon CNRS LIS UMR Marseille France

ISBN: (数字)9783030924423

ISBN: (纸本)9783030924416

In this paper, we propose a longitudinal and lateral control of a convoy of autonomous vehicles to follow a desired trajectory and maintain an inter-distance between them to avoid collisions and realize its missions in the required condition. the control approach belongs to the decentralized global family and is based on the states estimated By different sliding mode approaches, which allow speed and position states estimations (longitudinal, lateral and yaw angle) by using position sensors, in order to calculate the dynamics of each vehicle. the convoy treated in this paper is composed of four vehicles in which a first-order sliding mode observer (FOSM) is used for the 1st vehicle, and a first-order sliding mode observer with a linear correction term (FOSML) for the 2nd vehicle. the 3rd and 4th vehicle use successively a second-order sliding mode observer without and with a linear correction term (SOSM, SOSML). the law of control is calculated by using a linearized control by inverse dynamics for the longitudinal movement and a first-order sliding mode control for the lateral movement. the performance and efficiency of the proposed approaches were tested and validated in two different trajectory scenarios and with low and high speeds in the SCANeRTM -Studio platform. © 2022, the Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： State estimation

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FPGA-based deep learning acceleration for visual grasping control of manipulator

FPGA-based deep learning acceleration for visual grasping co...

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2021 IEEE international conference on Real-Time Computing and robotics, RCAR 2021

作者： Yin, Haibin Hong, Haiqing Liu, Jing School of Mechanical and Electronic Engineering Wuhan University of Technology Key Laboratory of Hubei Province for Digital Manufacture Wuhan430070 China

ISBN: (纸本)9781665436786

the vision-based robotic arm control system is an important solution for intelligent production, and the robotic arm visual grasping system based on deep learning is an important branch. Aiming at the requirements of fast visual recognition speed, low power consumption and high precision of mobile visual grasping robot, a deep learning target detection scheme based on FPGA hardware acceleration is proposed. Use Vivado and Petalinux development kit to build the software and hardware system, then deploy YOLOv3 model in the system. Experiments show that the solution meets the demand of robotic arm visual grasping, and the real-time performance is better. the recognition speed is 18 times that of the CPU, the power consumption is 1/13 of the GPU, and the cost is lower. © 2021 IEEE.

关键词： Manipulators

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Nonblocking Supervisory control Synthesis of Timed Automata using Abstractions and Forcible Events 16

Nonblocking Supervisory Control Synthesis of Timed Automata ...

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16th IEEE international conference on control, automation, robotics and vision (ICARCV)

作者： Rashidinejad, Aida van der Graaf, Patrick Reniers, Michel Eindhoven Univ Technol Dept Mech Engn Eindhoven Netherlands

ISBN: (纸本)9781728177090

Conventional supervisory control synthesis techniques are not adequate for timed automata (TA) due to their infinite state space. this paper presents a supervisory control synthesis technique for TA with the objective of satisfying controllability and nonblockingness. the synthesis method consists of three steps. First, a TA is abstracted to a finite automaton (FA). the event set of the FA includes the discrete events of the TA as well as an event representing the passage of a significant amount of time. Time passage is considered to be preemptable by events from a given set of forcible events. Second, an algorithm is presented to synthesize a controllable and nonblocking supervisor for the FA. Finally, a time-refinement technique is proposed to convert the supervisor to a TA.

关键词： Supervisory personnel

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Developing of Automatic Gasket Gluing Robot for a Tractor Company

Developing of Automatic Gasket Gluing Robot for a Tractor Co...

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Mechatronics and robotics Engineering (ICMRE), international conference on

作者： Suphanut Plengkham Natchapon Busyakanistha Nathanicha Promsuwan Nattanan Santiudommongkol Ratchatin Chancharoen Department of Mechanical Engineering Chulalongkorn University Bangkok Thailand Department of Mechanical Engineering Faculty of Engineering Chulalongkorn University Bangkok Thailand

Humans are still the primary laborer to apply gasket glue on the brake cases and inspect the tractor's assembly quality in the tractor factory, Siam Kubota Corporation Company Limited. Because working with manual labor still has human errors, the researchers desire to improve the process by using image processing technology and automation to build a machine vision to control the gluing quality on the brake cases and the assembly inspection. For the automatic glue extrusion, a cartesian robot was chosen. the image processing technology was also used to indicate an initial point to start applying glue, and G-code was used to control the robot to move along the designed path on the brake case. then the glue extrusion robot was tested with two experiments: applying the glue on the sample, which has a surface like the real brake case called Sample 1, to evaluate the performance of the image processing and using the glue on the printed image of the brake case called Sample 2 to determine the performance of the robot in terms of accuracy and precision. this has resulted in the deviation of the gluing distance error process at a 95% confidence interval got; the mean dimension on the actual surface Sample 1 is 0.73±0.04 mm width and 0.72±0.27 height, and the performance of the robot within the exact surface dimension Sample 2 has a mean distance of 1.04±0.1 width and 1.06±0.20 height.

关键词： Mechatronics Gaskets Process control Manuals Companies Agricultural machinery Robot sensing systems

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