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Vision robotics for the automatic Assessment of the Diabetic Foot 32nd

Vision Robotics for the Automatic Assessment of the Diabetic...

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32nd international conference on Flexible Automation and intelligent Manufacturing

作者： Mesquita, Rui Costa, Tatiana Coelho, Luis Silva, Manuel F. Polytech Porto Sch Engn Porto Portugal INESC TEC Porto Portugal

ISBN: (纸本)9783031382406;9783031382413

Diabetes, a chronic condition affecting millions of people, requires ongoing medical care and treatment, which can place a significant financial burden on society, directly and indirectly. In this paper we propose a vision-robotics system for the automatic assessment of the diabetic foot, one the exams used for the disease management. We present and discuss various computer vision techniques that can support the core operation of the system. U-Net and Segnet, two popular convolutional network architectures for image segmentation are applied in the current case. Hardcoded and machine learning pipelines are explained and compared using different metrics and scenarios. The obtained results show the advantages of the machine learning approach but also point to the importance of hard coded rules, especially when well know areas, such as the human foot, are the systems' target. Overall, the system achieved very good results, paving the way to a fully automated clinical system.

关键词： Vision robotics Image segmentation Diabetes

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Leveraging Symmetry in RL-based Legged Locomotion control

Leveraging Symmetry in RL-based Legged Locomotion Control

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2024 international conference on intelligent Robots and Systems

作者： Su, Zhi Huang, Xiaoyu Ordonez-Apraez, Daniel Li, Yunfei Li, Zhongyu Liao, Qiayuan Turrisi, Giulio Pontil, Massimiliano Semini, Claudio Wu, Yi Sreenath, Koushil Univ Calif Berkeley Uc Berkeley CA 94720 USA Tsinghua Univ Inst Interdisciplinary Informat Sci Beijing Peoples R China Ist Italiano Tecnol Genoa Italy Shanghai Qi Zhi Inst Shanghai Peoples R China

ISBN: (纸本)9798350377712;9798350377705

Model-free reinforcement learning is a promising approach for autonomously solving challenging robotics control problems, but faces exploration difficulty without information about the robot's morphology. The under-exploration of multiple modalities with symmetric states leads to behaviors that are often unnatural and sub-optimal. This issue becomes particularly pronounced in the context of robotic systems with morphological symmetries, such as legged robots for which the resulting asymmetric and aperiodic behaviors compromise performance, robustness, and transferability to real hardware. To mitigate this challenge, we can leverage symmetry to guide and improve the exploration in policy learning via equivariance / invariance constraints. We investigate the efficacy of two approaches to incorporate symmetry: modifying the network architectures to be strictly equivariant / invariant, and leveraging data augmentation to approximate equivariant / invariant actor-critics. We implement the methods on challenging loco-manipulation and bipedal locomotion tasks and compare with an unconstrained baseline. We find that the strictly equivariant policy consistently outperforms other methods in sample efficiency and task performance in simulation. Additionaly, symmetry-incorporated approaches exhibit better gait quality, higher robustness and can be deployed zero-shot to hardware.

关键词： Reinforcement learning

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Ground Station Software Design Based on Human Machine Hybrid Intelligence: A Command and control Application of Human in the Loop 6

Ground Station Software Design Based on Human Machine Hybrid...

引用

6th international conference on robotics, intelligent control and Artificial Intelligence, RICAI 2024

作者： Wang, Qian Ji, Haoran Wu, Ziwei Ni, Pengde Liu, Lu Intelligent Game and Decision Lab Beijing China

ISBN: (纸本)9798331541699

Ground station software plays a crucial role in the intelligent development of unmanned aerial vehicles (UAVs) across various countries. This work analyzes the current shortcomings of ground station software in supporting UAV missions. In response, a command-and-control system for ground station software, based on human-machine hybrid intelligence, is proposed. The system design includes multiple aspects such as human-machine modeling, human-machine interface design, and human-machine data sharing. These aspects cover task deployment, task monitoring, and task analysis. To validate the effectiveness of the proposed ground station software, a simulation testing environment integrated with Docker containers is constructed to package and isolate UAV control software. This setup is used to test the collaborative operation of hundreds of UAVs and the control by commanders. Experimental results demonstrate that the application achieves effective coordination, high command capabilities, and stable operation, making it a significant advancement in enhancing the intelligence and efficiency of UAV swarm tasks. © 2024 IEEE.

关键词： Software testing

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Active Compliance Variable Impedance control of Lower Supernumerary Robotic Limb 9

Active Compliance Variable Impedance Control of Lower Supern...

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9th IEEE international conference on Advanced robotics and Mechatronics (ICARM)

作者： Huo, Jun Wang, Xinyi Yang, Bo Yan, Qingyang Yuan, Zhaofan Huang, Jian Huazhong Univ Sci & Technol Sch Artificial Intelligence & Automat Hubei Key Lab Brain Inspired Intelligent Syst Wuhan 430074 Peoples R China Huazhong Univ Sci & Technol Sch Artificial Intelligence & Automat Key Lab Minist Educ Image Proc & Intelligent Cont Wuhan 430074 Peoples R China China Telecom Res Inst Guangzhou 510000 Guangdong Peoples R China China Ship Dev & Design Ctr Wuhan 430074 Peoples R China

ISBN: (纸本)9798350385731;9798350385724

In human-robot systems, ensuring user safety amidst external disturbances remains paramount. An efficient variable impedance control (VIC) technique is designed to enhance human-robot interaction, particularly in scenarios with external force disturbances. By dynamically adapting impedance parameters in response to detected changes in contact force, VIC achieves heightened system flexibility. The robust stability of the VIC system is rigorously established using the Lyapunov approach, with a parameter update law tailored for a lower limb supernumerary robotic limb robot. Through simulations and experiments, the efficacy of the system in maintaining a specific safety margin is demonstrated. Moreover, the technique offers a pragmatic solution to accommodate individual variations in walking gait and cross-user disparities in interaction. The proposed method contributes to advancing the safety and adaptability of cross-user human-robot systems.

关键词： Human robot interaction

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An anti-swing control method for crane robot with liquid container lifting 6

An anti-swing control method for crane robot with liquid con...

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6th international conference on robotics, intelligent control and Artificial Intelligence, RICAI 2024

作者： Wang, Shourui Jin, Wuyin Chen, Guolong Lin, Qian School of Mechanical and Electronical Engineering Lanzhou University of Technology Lanzhou China Editorial Department of Journal Lanzhou University of Technology Lanzhou China

ISBN: (纸本)9798331541699

The sloshing of liquid in containers being lifted by crane robots presents a serious safety hazard. To effectively suppress liquid sloshing during the lifting process, a sliding mode control method is proposed in this paper. An equivalent dynamic model of the crane robot lifting liquid containers is developed based on a mass-spring system. A sliding mode surface is constructed that incorporates the coupling of trolley displacement, payload swing angle, and liquid sloshing displacement. The sliding mode control law is derived, and the stability of the closed-loop system is analyzed. The simulation results have demonstrated the effectiveness and robustness of the proposed control method. © 2024 IEEE.

关键词： Closed loop control systems

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Mobile Bot Rotation Using Sound Source Localization And Distant Speech Recognition

Mobile Bot Rotation Using Sound Source Localization And Dist...

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IEEE international conference on robotics and Automation (ICRA)

作者： Sontakke, Swapnil Hegde, Pradyoth Bannulmath, Prashant Deepak, K. T. Indian Inst Informat Technol Dept Data Sci & Intelligent Syst Dharwad Karnataka India Indian Inst Informat Technol Dharwad Dept Elect & Commun Engn Dharwad Karnataka India

ISBN: (纸本)9798350384581;9798350384574

In the last few years, mobile robots such as floor cleaners, assistive robots, and home telepresence have become an essential part of our day-to-day activities. In human-robot interaction, speech is the preferred way of communication, especially in indoor environments. This paper proposes a speech module to rotate the mobile robot. It has two components, namely, a distant automatic speech recognizer and a sound source localizer. To build distant speech recognizer, far-field speech data is collected at 1, 3, and 5-meters distances. The model performs well even at a 5-meters distance with a Word Error Rate of 40.38% and a Character Error Rate of 28.85%. The direction of arrival of the speech signal is computed from the 4-mic circular array microphone. The speech module is integrated with the Robot Operating System and physically demonstrated on Turtlebot3 Waffle Pi. It is observed that the speech recognizer and sound source localizer work well in the reverberant indoor environment with a small single-board computer.

关键词： Human robot interaction

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A Case of Cups and a Ball: Utilizing Generative Artificial Intelligence for Human-robotic Collaboration in Task Execution

A Case of Cups and a Ball: Utilizing Generative Artificial I...

引用

2024 international automatic control conference, CACS 2024

作者： Khoirurizka, Nurdin Prajogo, Joy Chrissetyo Perkins, Spencer Kuo, Chao-Hsiang Lin, Hsien-I National Yang Ming Chiao Tung University College of Electrical and Computer Engineering Hsinchu Taiwan National Yang Ming Chiao Tung University Hsinchu Taiwan National Yang Ming Chiao Tung University Institute of Electrical and Control Engineering Hsinchu Taiwan

ISBN: (纸本)9798350354904

Within the domain of robotics, effective interaction between a human collaborator and robot is a topic of great importance. With the continued advancements in Generative Artificial Intelligence (GAI), we propose a prototype system that utilizes GAI and seeks to bridge the gap between the human and robot. This prototype utilizes a Large Language Model (LLM) combined with a vision system for detection and tracking, to allow the GAI system to control a robotic arm and manipulate objects within the action space. We model the action space within our experiments on the 3-cup Monte game where the user can prompt the system to manipulate the cups within the action space based on the ball's location. Experimentation is done on prompts of varying lengths of sequences, and we evaluate our system based on its ability to understand the prompt and correctly execute the desired task. With this collaboration of techniques and technologies, we hope to open the possibilities and extend human and robotic collaboration into new areas. The results of our experiments show promising results to this end. © 2024 IEEE.

关键词： intelligent systems

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Coordinated Landing control for Cross-Domain UAV-USV Fleets Using Heterogeneous-Feature Matching

Coordinated Landing Control for Cross-Domain UAV-USV Fleets ...

引用

IEEE international conference on robotics and Automation (ICRA)

作者： Ding, Jianing Zhang, Hai-Tao Hu, Bin-Bin Huazhong Univ Sci & Technol Sch Artificial Intelligence & Automat MOE Engn Res Ctr Autonomous Intelligent Unmanned Guangdong Engn Technol Res Ctr Fully Autonomous U Wuhan 430074 Peoples R China Huazhong Univ Sci & Technol State Key Lab Digital Mfg Equipment & Technol Wuhan 430074 Peoples R China Nanyang Technol Univ Sch Mech & Aerosp Engn Singapore 637460 Singapore

ISBN: (纸本)9798350384581;9798350384574

Coordinated landing control for multiple unmanned aerial vehicles (UAVs) on appropriate multiple unmanned surface vehicles (USVs) is an urgent yet challenging mission with the tremendous development of modern marine industry. To this end, we propose a coordinated multiple UAV-USV landing control algorithm via heterogeneous-feature matching. Specifically, the heterogeneous landing features of different UAVs and USVs are extracted to establish a dynamic UAV-USV cooperative landing ability mapping for the crossdomain UAV-USV fleets (CDUUFs). Then, by incorporating suitable allocation with UAV-USV landing convergence and collision avoidance among UAVs into constraints with the assistance of both control Lyapunov functions (CLFs) and control barrier functions (CBFs), the multiple UAV-USV landing control problem is formulated as a constraint-based optimization one. Therein, slack variables are introduced to fulfill the assignment and facilitate the searching of a balanced solution between control performance and landing safety. Finally, extensive simulations are conducted to substantiate the effectiveness of the present multiple UAV-USV landing control law.

关键词： Marine industry

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Research on Measurement and Positioning System for automatic Loading Robot 24

Research on Measurement and Positioning System for Automatic...

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3rd international Symposium on control Engineering and robotics, ISCER 2024

作者： Li, Xuepin Guo, Weibin Gao, Lifu Xie, Chenlei Zhu, Xulai School of Electronic and Information Engineering Anhui Jianzhu University Institute of Intelligent Machines Hefei Institutes of Physical Science Chinese Academy of Sciences Hefei60073547 China Institute of Intelligent Machines Hefei Institutes of Physical Science Chinese Academy of Sciences Hefei60026316 China School of Electronic and Information Engineering Anhui Jianzhu University Hefei60073547 China

ISBN: (纸本)9798400709951

In the factory, the loading of bagged goods will produce a large amount of particle dust, causing serious environmental pollution and health damage of workers. Therefore, intelligent unmanned automatic loading robot is an inevitable requirement. In order to achieve safe and reliable automatic loading, the primary task is measurement and positioning of on-site truck compartment. In this paper, according to the structural characteristics of the automatic loading robot, a truck compartment measurement and positioning system for automatic loading robot is designed. The system uses the combination of lidar and laser sensor to obtain the three-dimensional information of the measured truck compartment, and calculates the coordinate position, length, width, height, tilt angle, and other data of the truck compartment through the detected data. Experimental measurements have proved that the system can operate stably in the harsh environment of the factory, the relative deviation of the truck compartment size measurement is less than 1.68%, its measurement and detection accuracy fully meets the loading requirements. © 2024 ACM.

关键词： Trucks

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Architectural-Scale Artistic Brush Painting with a Hybrid Cable Robot

Architectural-Scale Artistic Brush Painting with a Hybrid Ca...

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2024 international conference on intelligent Robots and Systems

作者： Chen, Gerry Al-Haddad, Tristan Dellaert, Frank Hutchinson, Seth Georgia Inst Technol Inst Robot & Intelligent Machines Atlanta GA 30332 USA Format Studio Atlanta GA USA

ISBN: (纸本)9798350377712;9798350377705

Robot art presents an opportunity to both showcase and advance state-of-the-art robotics through the challenging task of creating art. Creating large-scale artworks in particular engages the public in a way that small-scale works cannot, and the distinct qualities of brush strokes contribute to an organic and human-like quality. Combining the large scale of murals with the strokes of the brush medium presents an especially impactful result, but also introduces unique challenges in maintaining precise, dextrous motion control of the brush across such a large workspace. In this work, we present the first robot to our knowledge that can paint architectural-scale murals with a brush. We create a hybrid robot consisting of a cable-driven parallel robot and 4 degree of freedom (DoF) serial manipulator to paint a 27m by 3.7m mural on windows spanning 2-stories of a building. We discuss our approach to achieving both the scale and accuracy required for brush-painting a mural through a combination of novel mechanical design elements, coordinated planning and control, and on-site calibration algorithms with experimental validations.

关键词： Machine design

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