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A localizability estimation method for mobile robots based on 3D point cloud feature

A localizability estimation method for mobile robots based o...

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

作者： Liu, Ying Wang, Jingchuan Huang, Yi Institute of Medical Robotics Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Department of Automation Shanghai200240 China Nanjing Kingyoung Intelligent Technology CO. LTD.

ISBN: (纸本)9781665436786

This paper introduces the theoretical analysis and derivation of localizability estimation for mobile robots based on point cloud observation. Combined with the observation model, the pre-established point cloud map is firstly clustered and segmented with a newly proposed method considering multiple constraints on depth map. Then localizability is set to be equal to the strength of the constraints associated with 3D point cloud features. In addition, based on the method of using information matrix theory, this paper integrates the Fisher's information matrix and point cloud features to estimate localizability. © 2021 IEEE.

关键词： Mobile robots

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Non-Prehensile Whole-Arm Manipulation Grasping and Trajectory Generation in 3D

Non-Prehensile Whole-Arm Manipulation Grasping and Trajector...

引用

robotics, automation and Artificial Intelligence (RAAI), IEEE international conference on

作者： Pascal Hinrichs Christian Kowalski Max Pfingsthorn Andreas Hein OFFIS - Institute for Information Technology Oldenburg Germany Division Assistance Systems and Medical Device Technology Carl von Ossietzky University of Oldenburg Oldenburg Germany

ISBN: (数字)9798350307566

ISBN: (纸本)9798350307573

For manipulating large, bulky loads, whole-arm manipulation is a suitable method. It is often used in a non-prehensile way. However, non-prehensile manipulation is mostly considered only two-dimensional, for example, moving an object on a surface. Whole-arm manipulation, on the other hand, often requires 3-dimensional movements. If redundant manipulators are used for whole-arm manipulation, there may be several valid poses for a way-point on a trajectory but only one of these configurations allows to cover the largest possible distance on the trajectory without reconfiguration. Reconfiguration is not possible with whole-arm manipulation, as this would result in a loss of the object. Numerical methods, on the contrary, can only randomly select one of these configurations. Therefore, we propose a completely analytical trajectory generation method for moving cylindrical bodies, which allows exploration of the entire path for optimal robot configuration and redundancy resolution. The contact plane along the longitudinal axis of the cylinder can be passed as an allowed interval and is used by the algorithm for optimization. In experiments, we compare our method against RRTConnect and the impact of the shiftability of the contact plane on the performance of our method. The results show that the proposed method finds up to two and a half times longer distances than RRTConnect on a path without reconfiguration, but takes more time to do so. Finally, we demonstrate the applicability in a real-world scenario in nursing.

关键词： Three-dimensional displays automation Redundancy Medical services Grasping Manipulators Trajectory

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Deep active inference in control tasks 3

Deep active inference in control tasks

引用

3rd international conference on Electrical, Communication and Computer Engineering, ICECCE 2021

作者： Zelenov, Aleksey Krylov, Vladimir National Research University Higher School of Economics Department of Applied Mathematics and Informatics Nizhny Novgorod Russia

ISBN: (纸本)9781665438971

Modern robotic control tasks are usually solved by applying reinforcement learning techniques. In this paper we show that deep active inference can be applied for creating agents for large and complex environments and show in OpenAI benchmark that deep active inference approach has comparable or better results than modern reinforcement learning algorithms. Active Inference is a framework based on the Free Energy Principle for action and planning in some environment by minimizing Variational Free Energy. The idea is that the agent wants to remain alive and reduce uncertainty, which means that it should avoid surprising or unpreferred states and observations. Active inference proposed as a unifying brain theory but it's implementations unable to handle complex environments. Deep Active Inference algorithm uses deep neural networks to approximate key densities to scale Active Inference to much larger and complex environments. © 2021 IEEE.

关键词： Free energy

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Collaborative turning and jumping control of a cyborg locust via sensory stimulation 3

Collaborative turning and jumping control of a cyborg locust...

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3rd IEEE international conference on Electrical, control and Instrumentation engineering, ICECIE 2021

作者： Liu, Peng Ma, Songsong Liu, Shen Li, Yao Li, Bing Harbin Institute of Technology School of Mechanical Engineering and Automation Shenzhen518055 China Harbin Institute of Technology State Key Laboratory of Robotics and Systems Shenzhen518055 China

ISBN: (纸本)9781665449663

In this study, we describe the first-ever demonstration of the turning and jumping control of locusts based on electrical stimulation, which can realize a cyborg jumper. In terms of perception, walking distance, speed, payload, maneuverability, and adaptability to complex environments, cyborgs can reveal unmatchable advantages to insect-scale artificial robots. Herein, live locusts (Locusta migratoria) were selected as the study platform. Antennae and cercus stimulations using electrical pulses were applied to elicit the insect to turn and jump. We examined both the turning angle and the angular velocity by tuning the stimulus amplitude or frequency. It is found the turning rate induced by antenna stimulation can be graded. Besides, the stimulation of the cercus at the distal abdomen triggered the jump reliably. Moreover, the directional jumping control of the locust was achieved by the collaboration of turning and jumping control. Such results provide the potential to establish a more precise and more efficient model to develop a direction-controllable cyborg jumper. © 2021 IEEE.

关键词： Antennas

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Determinants of AI Image Generator Adoption Among Marketing Agencies: The Mediating Effects of Perceived Usefulness

Determinants of AI Image Generator Adoption Among Marketing ...

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robotics, automation, Artificial-intelligence and Internet-of-Things (RAAICON), 2019 IEEE international conference on

作者： Tahsina Khan Md Mehedi Hasan Emon Centre for Higher Studies and Research Bangladesh University of Professionals (BUP) Dhaka Bangladesh Faculty of Business Administration American International University-Bangladesh Dhaka Bangladesh

ISBN: (数字)9798331534400

ISBN: (纸本)9798331534417

This study aims to investigate the factors influencing the adoption of AI image generators among marketing agencies in Bangladesh, focusing particularly on the mediating role of perceived usefulness (PU). Employing a quantitative approach, data was collected from 170 respondents working in various marketing roles across different agencies in Bangladesh. Structural Equation Modeling (SEM) was utilized to analyze relationships among the constructs such as performance expectancy (PE), effort expectancy (EE), facilitating conditions (FC), attitude towards technology (ATT), perceived risk (PR), social influence (SI), perceived usefulness (PU), and behavioral intention (BI) to Adopt AI image generators. Findings reveal that PE, FC, and ATT positively influence PU, which subsequently predicts BI significantly. Conversely, PR negatively impacts PU, while EE and SI exhibit weaker effects. The study underscores the pivotal role of perceived usefulness in shaping the adoption intentions of AI image generator among marketing professionals in Bangladesh. Limitations include the study's cross-sectional design and industry-specific focus, suggesting potential avenues for future research to explore longitudinal effects and compare adoption dynamics across diverse industries and regions. Practical implications highlight the importance for marketing agencies to emphasize performance benefits, Social Influence, and positive attitudes towards AI while addressing perceived risks to foster successful adoption of AI image generators. Socially, the study underscores AI's potential to drive innovation and enhance competitiveness to commercialize AI technologies in developing economies. This research contributes to literature by applying established technology adoption models to a new context, offering insights into AI technology adoption within the marketing sector of a developing nation.

关键词： Industries Technological innovation Privacy Service robots Numerical analysis Focusing Generators Mathematical models Security Artificial intelligence

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Development of IoT-based Scale Sensor to Measure AWD System Water Level in Crop Field

Development of IoT-based Scale Sensor to Measure AWD System ...

引用

robotics, automation, Artificial-intelligence and Internet-of-Things (RAAICON), 2019 IEEE international conference on

作者： Md Shahriar Kabir Khalid Mahmud Niloy Md Imon Hossen Sumaiya Afrose Md. Ismail Hossain Mofazzol Dept. of Electrical & Electronics Engineering American International University-Bangladesh Dept. of Computer Science Engineering Uttara University Dhaka Bangladesh

ISBN: (数字)9798331534400

ISBN: (纸本)9798331534417

The paper introduces an innovative Internet of Things (IoT)-based scale sensor that measures the water level in the alternate wetting and drying (AWD) system and displays data in the mobile app to enable remote monitoring. The AWD system mainly consists of 30 cm of PVC pipe or bamboo with a diameter of 10-15 cm inserted into the paddy field, with a lower 20 cm buried in the soil and tiny holes at the bottom to allow field water to enter. The water level within the pipe indicates the field's water level, especially the underground water level. The AWD method optimizes water usage and reduces methane emissions by watering periodically and drying rice fields instead of maintaining continuous flooding. The current manual measurement process for water level needs to go to crop fields daily with a scale, which is difficult for continuous and remote monitoring. The developed scale sensor has IoT connectivity that removes the difficulties. The scale sensor works based on conductive rain sensors to precisely detect each centimeter rise or fall of water. The sensor consists of two open conductive layers that create a short circuit when the water level touches them by raising, triggering the microcontroller to register a voltage drop. The scale can measure up to 20 cm as it has 20 conductive layers, which fulfill the requirements. It has a 1 cm resolution, and in the test, it shows 95-99% accuracy. So, the sensor can effectively measure the water level in the AWD system, and further research is required to add an automatic irrigation system with the sensor so that the whole process can be controlled remotely.

关键词： Irrigation Accuracy Microcontrollers Crops Soil Robot sensing systems Mobile applications Timing Internet of Things Remote monitoring

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Alternating Implicit and Semi-implicit Iterations in the Periodic QZ Algorithm 1

引用

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

作者： Sima, Vasile Gahinet, Pascal National Institute for Research and Development in Informatics Bucharest Romania Technical Sciences Academy of Romania Bucharest Romania MathWorks 3 Apple Hill Drive NatickMA United States

ISBN: (数字)9783030924423

ISBN: (纸本)9783030924416

The periodic QZ (pQZ) algorithm is a basic tool in many applications, including periodic systems, cyclic matrices and matrix pencils, and solution of skew-Hamiltonian/Hamiltonian eigenvalue problems, which, in turn, is essential in optimal and robust control, and characterization of dynamical systems. This iterative algorithm operates on a formal product of matrices. The shifts needed to increase the convergence rate are implicitly defined and applied via an embedding of the Wilkinson polynomial. But the implicit approach may not converge for some periodic eigenvalue problems, since the shifts involved may be indefinitely unsuitable. A semi-implicit approach has been recently proposed hoping to avoid convergence failures and reduce the number of iterations. In this approach, the shifts are chosen based on eigenvalues computed explicitly using a special pQZ algorithm for subproblems of order two, and they are enforced via a suitable embedding. This offers degrees of freedom unavailable for the implicit approach. But a semi-implicit pQZ step is more expensive than an implicit pQZ step, since an inner iterative process is involved. Moreover, the purely semi-implicit approach may also sometimes fail to converge. However, alternating implicit and semi-implicit iterations offers the advantages of both approaches, improving the behavior of the pQZ algorithm. The numerical results in extensive tests have shown no convergence failures and a reduced number of iterations. © 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Numerical methods

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Fusing Dynamics and Reinforcement Learning for control Strategy: Achieving Precise Gait and High Robustness in Humanoid Robot Locomotion*

Fusing Dynamics and Reinforcement Learning for Control Strat...

引用

IEEE-RAS international conference on Humanoid Robots

作者： Zida Zhao Haodong Huang Shilong Sun Chiyao Li Wenfu Xu School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen and Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics China

ISBN: (数字)9798350373578

ISBN: (纸本)9798350373585

Achieving precise gait planning and high robustness in locomotion control is crucial for the development and application of humanoid robots. In this paper, a novel control strategy is proposed, which combines dynamics control and reinforcement learning (RL), leveraging the precision of dynamics control and the robustness of RL. Specifically, foot placements for each step of the humanoid robot are designed, and the trajectories of the center of mass (CoM) and feet are obtained using a 3D linear inverted pendulum model (3D LIPM). Subsequently, joint angles during motion are calculated based on the trajectories of the CoM and feet using inverse kinematics equations. Finally, the obtained joint angles are trained as baseline actions using RL algorithms. To enhance control robustness, parameter domain randomization is introduced during the training process. By employing this control strategy, simulations of various single-step gaits, such as walking forward, walking to the right, and making right turns, are achieved. Additionally, trajectory tracking, locomotion tests on different terrains, and disturbance resistance are conducted. The simulation results demonstrate that the proposed control strategy enables precise gait control and exhibits strong robustness in humanoid robots.

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Triple Parallel LSTM Networks for Classifying the Gait Disorders Using Kinect Camera and Robot Platform During the Clinical Examination

Triple Parallel LSTM Networks for Classifying the Gait Disor...

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Electrical, Computer, Communications and Mechatronics Engineering (ICECCME), international conference on

作者： Mohsen Shayestegan Tomas Zalabsky Jan Mareš Faculty of Electrical Engineering and Informatics University of Pardubice Pardubice Czech Republic Faculty of Electrical Engineering and Informatics Research Center University of Pardubice Pardubice Czech Republic Department of Process Control Faculty of Electrical Engineering and Informatics University of Pardubice Pardubice Czech Republic

This paper presents a new methodology for the data processing and classification method for gait disorders, which is observed with a Kinect camera. The study of gait and motion stability in gait disorders is one of the most interesting research areas in the field. The patient and the physician must monitor the progress of the rehabilitation process before and after surgery to obtain an objective view of the rehabilitation process. In this study, the patient is scanned with the Kinect camera placed on a mobile robotic platform. For feature extraction and feature analysis, the exercises (three walking exercises) frames are collected and saved in data folders. This study uses 84 measurements of 37 patients with complex observations based on the physician's opinion in a clinical setting to address classification problems. In the analysis of gait disorders, motion data play an essential role. Furthermore, it reduces the selection of helpful body features for assessing gait disorders. The proposed system uses a key-point detector that computes body landmarks and classifies gait disorders using triple-parallel long short-term memory (LSTM) networks. The present study demonstrates the success of the method in classification evaluation when combined with the state-of-the-art pose estimation method. Around 81 percent accuracy was achieved for given sets of individuals using velocity-based, angle-based, and position-based features.

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Study of Non Linear Design Approach for High Time Resolution Pulse Generation on FPGA 3

Study of Non Linear Design Approach for High Time Resolution...

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3rd international conference on Advances in Computing, Communication control and Networking, ICAC3N 2021

作者： Kp, Pradeep Kumar Zacharias, Ajish Singh, Manish Kandulna, Brice Niketan Centre for Artificial Intelligence Robotics C V Raman Nagar Bengaluru India

ISBN: (纸本)9781665438117

True Random Number Generator (TRNG) has vital role in data encryption for cyber security system. This paper proposes the TRNG circuit design and implementation to generate a pulse that has a high time resolution which is equal to the time delay of the buffer cell. The idea is to generate such a pulse without using a high frequency clock and meet the design into realising an effective, high speed, entropy source for cyber security systems. The randomness of TRNG is analysed in three approaches like Non-linear based Ring Oscillator (RO), Linear RO and DFF Jitter RO. The validation of the proposed design and implementation is performed using National Institute of Standards and Technology (NIST) test suite software. © 2021 IEEE.

关键词： Field programmable gate arrays (FPGA)

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