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the long-acting walking control of a cockroach bio-bot for vision-aided pipeline navigation

The long-acting walking control of a cockroach bio-bot for v...

引用

Annual international conference of the IEEE Engineering in Medicine and Biology Society (EMBC)

作者： Songsong Ma Shen Liu Songlin Yang Yuansheng Chen Yao Li Bing Li State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin P.R. China Guangdong Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Harbin Institute of Technology Shenzhen P.R. China School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen P.R. China

Many small bionic crawling robots have been invented for search and rescue missions in narrow spaces. However, their locomotion capability is far from that of insects of the same size. Transforming a cockroach into a bio-bot has been a hot topic in the past decade. Herein, we modified this insect to perform surveillance work in dark confined environments. the synergistic electrical stimulation for turning control was proposed by alternating electrical stimulation of the cerci and antennae every 5 trials. the result showed that this method was able to control cockroaches turning steadily 117 times. An electronic backpack was designed, which was capable of transmitting images in real time, and a light emitting diode (LED) was installed on the backpack providing a light source for the camera. thus, a vision-aided navigation system was formed for dark confined environments, e.g. pipelines. With a host computer software, the operator controlled the bio-bot to pass through a completely dark and closed pipeline. the electronic backpack and the host computer were connected via transmission control protocol (TCP), which allows the operator to manipulate the bio-robot remotely. this technology can be applied in pipeline surveillance in the future.

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Research of Beam Domain MVDR and Motion Compensation

Research of Beam Domain MVDR and Motion Compensation

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2014 5th international conference on Information Technology for Manufacturing Systems(ITMS 2014)

作者： Xiubo Luo Demin Xu Junjun Hu Xiaomei Hu Northwestern Polytechnical University Shanghai Key Laboratory of Intelligent Manufacturing and Robotics School of Mechatronic Engineering and Automation Shanghai University

Minimum variance distortionless response(MVDR) beamformer is a better target detection method, which provided high-resolution and anti-interference abilities. But the nice features will be degraded significantly for a fast bearing-rate target. Because the eigenvalue of longtime integral correlation matrix will spread, the signal and interference are no longer clearly identified by the eigenvectors. A beam domain MVDR and motion compensation arithmetic is given in this paper. the motion effect can be compensated by tracking the signal bearing change using real time estimated beam domain covariance matrix. the detection ability of moving target can be improved.

关键词： Beamforming MVDR Motion compensation

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Olivia 2.0 @ TechFest 09: Receptionist robot impressed visitors with lively interactions

Olivia 2.0 @ TechFest 09: Receptionist robot impressed visit...

引用

ACM/IEEE international conference on Human-Robot Interaction (HRI)

作者： Lawrence T. C. Por Adrian Tay Dilip Kumar Limbu Institute of Infocomm Research Agency for Science Technology and Research Singapore

ISBN: (纸本)9781424448920;9781424448937

Olivia 2.0 is a Social Robot designed to interact and serve in office environment as a Robotic Receptionist. this is the forth model of Service Robot developed by A*STAR robotics Team in Singapore. For a start, the occupation & background story of Olivia as a receptionist has set a common ground between human and robot for interaction around topics fitting to the job. the use of vision technology enabled Olivia to detect the presence of a visitor standing in front of her so that she will initiate a dialogue. through speech recognition technology and careful designed dialogue management system, visitors are able to converse with Olivia to know more about the amenities in Fusionopolis building as well as to engage in small talk. Taking the persona of a 5 years old kid, with a cute face and child voice, coupled with nice decorations has set the stage for a fun interaction time, as Olivia proceeds to engage the visitor to play a simple game that showcased object recognition and tracking capability. Olivia is built with advanced Mechatronics design with 13 degree of freedom for head, body and hands motions. the advance motion control algorithm and imitation learning software trained her well to display humanlike hand gestures and upper body movements. We noticed the lively gestures coupled with expressive robotic voice are very crucial to draw attention from human for the continuous engagement with Social Robot. We knew that this would be a valuable field trial opportunity whereby many visitors were having first encountering with service robot. We took advantage to study social acceptance by taking video recording for every human-robot interactions, follow by inviting visitors to participate in on-site feedback gathering with questionnaires. Of more than 100 questionnaires completed, 62% gave an overall rating of good and above, several expressed that the response of the robot is slow and 75.5% found that the robot is able to recognize their speech without any difficulti

关键词： Social robotics Receptionist robot Service robot Human-robot interaction Service robots Human machine interaction hotel personnel Robot Speech recognition

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Trajectory-Tracking and Centralized control for Mapping Tasks Using Multiple Drones

Trajectory-Tracking and Centralized Control for Mapping Task...

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international conference on Electrical Engineering, Computer Science and informatics (EECSI)

作者： Shania Argiliana Estiyanti Ekawati Faqihza Mukhlish Instrumentation and Control Master Program Faculty of Industrial Technology Institut Teknologi Bandung Faculty of Industrial Technology Center for Instrumentation Technology and Automation Institut Teknologi Bandung

ISBN: (数字)9798350355314

ISBN: (纸本)9798350355321

this study focuses on improving multiple drones' trajectory tracking accuracy and completion time in mapping assignments. A centralized control system is applied to drones to achieve such performance. the system tracking accuracy is supported by dense square fiducial markers (SFM) as positioning media. the drone's position is assumed to be at the camera's center, leading to more precise calculations. Detecting multiple markers also ensures that the drones do not lose positional information over long distances, resulting in more accurate position estimation. the test is conducted indoors with two drones, with trajectory tracking tests performed along the x-axis and y-axis within a $5\times 4\ \mathrm{m}^th$ area. the test shows that the root means squared tracking error (RMSTE) when the drones moved along the positive x-axis was 5.2 cm, less than 20% of the drone's diameter. During the mapping assignment, the drones traced an S-shaped route and obtained RMSTE values of 12.3 cm for drone A and 22.5 cm for drone B, with a travel time of 51 seconds from takeoff to landing. therefore, detecting multiple markers improves trajectory tracking capabilities, enabling drones to perform mapping tasks efficiently, even in confined areas.

关键词： Electrical engineering Accuracy Trajectory tracking Estimation Media Fiducial markers Trajectory informatics Drones Centralized control

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Attitude and Horizontal Speed control System on Unmanned Aerial Vehicle Using LQR

Attitude and Horizontal Speed Control System on Unmanned Aer...

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international conference on Science and Technology-Computer (ICST)

作者： Andi Dharmawan Lazuardi Ichsan Hanif Baskoro Jazi Eko Istiyanto Ariesta Martiningtyas Handayani Electronics and Instrumentation Research Laboratory Universitas Gadjah Mada Yogyakarta Indonesia Computer System and Networking Research Laboratory Universitas Gadjah Mada Yogyakarta Indonesia Department of Electrical and Informatics Engineering Universitas Gadjah Mada Yogyakarta Indonesia

ISBN: (数字)9781728123691

ISBN: (纸本)9781728123707

Unmanned Aerial Vehicles (UAV) or drones are expected to fly automatically, especially in performing basic maneuvers. the necessary maneuver is to fly straight and level, where no rotation occurs on the roll, pitch, and yaw axes that work on the plane. Also, to free from rotational motion, the aircraft needs to maintain its horizontal speed to prevent the vehicle from losing lift and free-fall. this research uses a Linear Quadratic Regulator (LQR) control method to obtain full-state feedback K gain from the control system. the gain of the full-state feedback is used to control the output, which is converted into Pulse Width Modulation to control the rotational speed of the brushless motor, and the angle of servo. the result of this research is that system response obtained is optimum with the desired specification.

关键词： control systems Angular velocity Unmanned aerial vehicles Mathematical model Attitude control Force Torque

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5G Light-Emitting Biomedical Robots for Hospital Disinfection

5G Light-Emitting Biomedical Robots for Hospital Disinfectio...

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IEEE international conference on Emerging & Sustainable Technologies for Power & ICT in a Developing Society (NIGERCON)

作者： Ugochukwu O. Matthew Renata L. Rosa Nwamaka U. Okafor Jazuli S. Kazaure Ogobuchi Daniel Okey Matthew Abiola Oladipupo Lateef Olawale Fatai Victor Nosakhare Oriakhi Demostenes Z. Rodriguez Computer Science Dept Federal University of Lavras Minas Gerais Brazil School of Elect Electronics Engineering University College Dublin Dublin Ireland Electrical Engineering Dept Hussaini Adamu Federal Polytechnic Kazaure Nigeria Center for Engineering Federal University of ABC Sao Paulo Brazil Data Science Department University of Salford Manchester England UK Robotics and Automation University of Salford Manchester England UK

ISBN: (数字)9798331542559

ISBN: (纸本)9798331542566

Hospital-acquired infections (HAIs) pose a significant challenge to healthcare systems worldwide, exacerbated by the COVID-19 pandemic. Current disinfection methods often fall short in ensuring comprehensive sterilization of high-contact areas, leading to persistent risks. this study addresses this gap by leveraging 5G biomedical internet of things (IoT) robots equipped with ultra-violet light emitting diodes (UV-LEDs) for effective disinfection. Our approach focuses on destroying the genetic material of pathogens, thereby preventing their spread within medical facilities. By integrating autonomous IoT 5G disinfection robots, we aim to enhance hospital sanitation and continuous infectious disease surveillance. A thorough review of nine biomedical studies underscores the efficacy of UV-based disinfection methods. We demonstrate that advancements in 5G infrastructure will significantly boost IoT and 5G medical robotic innovations, facilitating their application in both hospital settings and industrial healthcare automation. thus, this paper presents a robust framework for utilizing 5G and IoT technologies in medical robotics to improve healthcare safety and efficacy.

关键词： COVID-19 5G mobile communication Hospitals Pandemics Service robots Robot kinematics Surveillance Light emitting diodes Safety Standards

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A novel method for harmonics and low switching-frequency eliminations for a three-phase PWM inverter

A novel method for harmonics and low switching-frequency eli...

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IEEE SSD international Multi-conference on Systems, Signals and Devices

作者： O. Bouchhida A. Tlemcani D. Boudana K. Benmansour A. Cherifi M.S. Boucherit Département du Génie Electrique Ecole Nationale Polytechnique Laboratoire de Commande des Processus Algiers Algeria Laboratory of Robotics IUT Mantes-en-Yvelines Mantes la Jolie France

Harmonics and switching frequency cause a major problem in power system. A novel harmonic elimination technique and low switching frequency in a three-phase pulse width modulation (PWM) inverter are proposed in this paper. this inverter is associated with a LC filter. the technique determines the commutation angles based by solving a set of nonlinear system equations. this commutation angles are determined off-line (Pre-Calculed) and stored in the microcontroller memory in order to speed up the online control of the processes. the pre-calculated switching is modelled to cancel the greater part of low-order harmonics and to keep a single-pole dc voltage across the polarized capacitors. LC filter is designed to cancel the high-order harmonics. this approach allows substantial reduction of the harmonic ratio in the AC main output voltage without increasing the switching-frequency per period. Consequently, the duties of the semiconductor power switches are alleviated. To show the validity of the new harmonic elimination and low switching-frequency, DSP based experimental results are presented. these results are very satisfactory and prove the effectiveness of the new approach.

关键词： Inverters Power harmonic filters Harmonic analysis Pulse width modulation Switches Mathematical model Power system harmonics

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Towards Precision in Educational Testing: Automated Question Creation and Difficulty Assessment in CAT-CBT

Towards Precision in Educational Testing: Automated Question...

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Information Technology and Education Technology (ITET), international conference on

作者： Teiko Arai Takuya Matsuzaki Naoya Todo Noriko H. Arai Faculty of Regional Policy Takasaki City University of Economics Takasaki Japan Department of Applied Mathematics Tokyo University of Science Tokyo Japan Faculty of Humanities and Social Sciences Tokyo Metropolitan University Tokyo Japan Information and Society Research Division National Institute of Informatics Tokyo Japan

ISBN: (数字)9798331540425

ISBN: (纸本)9798331540432

Recent educational advancements spotlight the integration of Item Response theory (IRT) into computer adaptive testing (CAT) for computer-based testing (CBT). this paper demonstrates the necessity of generating diverse questions with controlled difficulty levels to avoid floor and ceiling effects, emphasizing the automation of question creation and pre-assessment of difficulties. Our study contrasts questions based on selecting fitting versus non-fitting examples, discovering that non-fitting example questions pose greater difficulty. Building on this insight, we propose a method to double the CAT item pool by automatically generating non-fitting example questions from human-crafted fitting example questions. this approach not only enriches the diversity of the item pool but also demonstrates its effectiveness in enhancing the robustness of CAT systems.

关键词： Technological innovation Fitting Focusing Educational technology Reliability engineering Robustness Question generation Information technology Floors Testing

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Overview of Assistive Technologies for the Blind: Navigation and Shopping

Overview of Assistive Technologies for the Blind: Navigation...

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international conference on control, automation, robotics & Vision

作者： Karen Duarte Jose Cecilio Pedro Furtado Department of Informatics Engineering University of Coimbra Portugal

ISBN: (纸本)9781479952007

One of the major driving forces behind technology development is the establishment of equality among everyone. It is intended that the strategic use of technology complements competencies or diminished capacities, improving self confidence and autonomy. Blind and partially sighted people often deal with this inequality in the performance of tasks or daily activities. the presented work reviews some of the proposed technologies to assist visually impaired people in common activities, specifically navigation and going shopping.

关键词： Global Positioning System RFID tags Robot sensing systems Mobile handsets

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A Human-Robot Skill Transfer Framework of Mobile Medical Robots for Autonomous Motion with Teaching by Demonstration

A Human-Robot Skill Transfer Framework of Mobile Medical Rob...

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international conference on Advanced robotics and Mechatronics (ICARM)

作者： Jiehao Li Junzheng Wang Shoukun Wang Hui Peng Qi Wen Longbin Zhang Meina Lin Politecnico di Milano Milan Italy State Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Beijing China College of Intelligence Science and Technology National University of Defense Technology Changsha China BioMEx Center KTH Mechanics KTH Royal Institute of Technology Stockholm Sweden Guangdong Key Laboratory of IoT Information Technology Guangdong University of Technology Guangzhou China

ISBN: (数字)9781728164793

ISBN: (纸本)9781728164809

the accuracy of autonomous motion is the main challenge for mobile medical robots, especially running in narrow space conditions to transport the casualties in the hospital. this article mainly centers on the human-robot transmission of the mobile medical robot for narrow space autonomous motion. In order to enable mobile medical robots to autonomously and smoothly transport hospital casualties through narrow aisles, in this paper, we present a robot skill transfer technology, namely a human-robot skill transfer framework of mobile medical robots for autonomous motion with teaching by demonstration, which is that a smooth optimal path is planned through the human motion, and then the Kinect sensor is used to detect human bone movement to learn its motion trajectory so as to achieve trajectory tracking control. Meanwhile, using the Remote Center of Motion (RCM) constraint to minimize the error between the actual trajectory of the medical robot and the tracking reference path to control the motion trajectory accurately, human-computer interactive mobile medical robots can smoothly pass through narrow channels. through research and analysis, it is demonstrated that the mobile medical robot proposed in this paper has great feasibility, which is of great reference value in the field of medical rescue.

关键词： Medical robotics Education Trajectory Mobile robots Tracking Hospitals

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