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检索条件"任意字段=6th International Conference on Informatics in Control, Automation and Robotics"

共 2795 条记录，以下是2731-2740 订阅

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Kinematics Simulation Modeling of a Wide-Range Flexure Hinge-Based Parallel Robot System

Kinematics Simulation Modeling of a Wide-Range Flexure Hinge...

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Asian Simulation conference/the 6th international conference on system Simulation and Scientific Computing

作者： DONG Wei, DU Zhijiang, SUN Lining (robotics Institute, Harbin Institute of Technology, Harbin, 150001, China)

A novel flexure parallel robot with large workspace is proposed in this paper, which adopts wide-range flexure hinges as passive joints. the repeatability and resolution of this system can attain to the sub-micron scale over the cubic centimeter scale workspace. It is very necessary and important to establish the kinematics simulation model for a precision positioning parallel robot for the whole system later researches including mechanism parameters synthesis, system real-time control and so on. the kinematics simulation model of the whole system is presented based on the stiffness equations of the flexure hinges and the stiffness assembly method. And then an ADAMS-based virtual prototype model is built up in order to validate the kinematics model further, in which massless beam model is adopted to simulate the wide-range flexure hinge. Finally calculation examples are given in this paper, which indicates the kinematics model can be used in the real prototype system.

关键词： kinematics simulation parallel robot rigid-flexible coupling stiffness matrix geometric nonlinearity

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Singularity Processing Algorithm for Inverse Kinematics of 6-DOF Series Robot

Singularity Processing Algorithm for Inverse Kinematics of 6...

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IEEE Joint international Information Technology and Artificial Intelligence conference (ITAIC)

作者： Xin Li Xiaoqing Zhang Hai Li Wending Yuan Ya Qiu College of Electrical and Automation Engineering Hefei University of Technology Hefei China

ISBN: (数字)9781728152448

ISBN: (纸本)9781728152455

the inverse solution of robot kinematics occupies a very important position in robotics, and it is directly related to robot design, analysis, calibration and control. Aiming at the Jacobian matrix singularity problem in the inverse kinematics of a six-degree-of-freedom series robot, based on the damped least squares method, combined with an inverted Gaussian distribution function, a new continuous damping coefficient adaptive adjustment method is proposed. And this method uses the condition number k as the singularity index. Simulation and experimental results verify the effectiveness of the algorithm, that is, the Jacobian matrix is inversely stable near the singular configuration, and the joints move smoothly.

关键词： Damping Jacobian matrices Kinematics Gaussian distribution Indexes Robots Least mean squares methods

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Research of the low impact space docking mechanism based on impedance control strategy

Research of the low impact space docking mechanism based on ...

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IEEE/ASME international conference on Mechtronic and Embedded Systems and Applications, MESA

作者： Zenghui Xie Gangfeng Liu Changle Li Ge Li Jie Zhao Liyi Li State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China School of Electrical Engineering and Automation Harbin Institute of Technology Harbin China

ISBN: (纸本)9781509061914

In order to solve the violent collision and energy consumption problems of conventional space docking mechanism in the docking process, we developed a set of low impact docking mechanism based on impedance control. the docking mechanism adopts the peripheral docking type, the active end of which is a 6-UPS parallel mechanism which is driven by six electric cylinders installed on the fixed platform. For the purpose of the safety of the docking mechanism in the process of docking buffer, we need to monitor the contact force between the active end and environment, so tension-pressure sensor is installed on the end of each electric cylinder. this paper designed a kind of highly efficient force coupling algorithm to convert the six separate force into a six-dimensional integral contact force and then established the dynamic relationship between the contact force and the adjustment of the position and posture to ensure the contact force in the docking process not appear large overshoot. Finally, we completed the compliant docking experiments, which proved that the scheme of low impact docking mechanism is feasible and that the docking mechanism can finish the expected mission.

关键词： Force Fasteners Mobile communication Couplings Impedance Space vehicles Force sensors

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A Data Enhancement Strategy for Multi-Agent Cooperative Hunting based on Deep Reinforcement Learning

A Data Enhancement Strategy for Multi-Agent Cooperative Hunt...

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Industrial Cyber-Physical Systems (ICPS)

作者： Zhenkun Gao Xiaoyan Dai Meibao Yao Xueming Xiao Intelligent Robotics Lab (IRL) School of Artificial Intelligence Jilin University Changchun China Engineering Research Center of Knowledge-Driven Human-Machine Intelligence Ministry of Education China CVIR lab Changchun University of Science and Technology China Key Lab of Opto-electronic Measurement and Optical Information Transmission Technology Ministry of Education China

Cooperative hunting is a typical and significant scene to study multi-agent behaviors, where conventional control strategies are difficult to cope with, due to its high dimensionality of state space and locality of communication. Reinforcement learning provides a framework and a set of tools for this issue by trial-and-error interactions with the environment. though promising, it often requires a large number of empirical sample data to learn effective hunting strategies, leading to low sample efficiency, understood as the training episodes required for the agent to learn effective behavior strategies. To improve the sampling efficiency, we propose a data enhancement strategy integrated in the execution (CTDE) training framework to train the multi-agent system. the data enhancement strategy is based on a state transfer dynamics model to generate additional predicted data, which we called dynamic prediction model, combined with the empirical data by interacting with the environment, for higher sample efficiency. the simulation results on the Webots platform show that our method outperforms some state-of-the-art methods, such as MAPPO, with high data sample efficiency.

关键词： Training Service robots Simulation Training data Reinforcement learning Predictive models Data models

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Development of a novel ODEP chip using polymer photoconductive material and FTO electrode

Development of a novel ODEP chip using polymer photoconducti...

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IEEE international conference on Nano/Micro Engineered and Molecular Systems (NEMS)

作者： Shue Wang Zaili Dong Yanli Qu Lei Zhou Zhu Liu Wenli Zhou Shenglin Jiang Yan Yu G. B. Lee Wen J. Li State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy and Sciences Shenyang China Chinese Academy and Sciences Beijing China Department of Electronic Science and Technology Huazhong University of Science and Technology China Wuhan National Laboratory of Optoelectronics Wuhan China Center of Micro Nano Technology Research National Cheng Kung University Taiwan Cent. for Micro and Nano Systems Chinese University of Hong Kong Hong Kong China

A novel ODEP (optical dielectrophoresis) chip using a polymer photoconductive material and fluorine doped tin oxide (FTO) conductive film is demonstrated to manipulate micron-sized polystyrene beads. Instead of using the traditional hydrogenated amorphous silicon (a-Si:H) as photoconductive layers, a thin film of a mixture of poly (3-hexylthiophene) (P3HT) and [6,6]-phenyl C61-butyric acid methylester (PCBM) photoconductive polymer is used in this novel ODEP chip. When the polymer layer is illuminated by a light beam, many electron-hole pairs are created, which increase the conductivity of the polymer. Consequently, localized non-uniform electric field can be generated when an AC bias is applied across the ODEP chip, and localized DEP forces are then generated. the distribution of electrical field induced by a ring-shaped optical electrode is simulated and the maximum trapping velocity is calculated according to Stokes' law for this ODEP chip. the effect of the polymer thickness to the magnitude of the generated DEP force has also been investigated. the maximum trapping velocity and the induced DEP force exerted on 20 μm polystyrene beads are estimated to be 77 μm/s and 15 pN, respectively. Finally, performance of the polymer-based ODEP chip is compared with an a-Si:H-based ODEP chip by trapping and sorting polystyrene beads with identical parameters. the experimental results indicate that the polymer photoconductive material used in our work is promising for rapid fabrication of ODEP chips for microparticles manipulation.

关键词： Force Charge carrier processes Optical imaging Optical films Electric fields Optical polymers

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A body-machine interface for training selective pelvis movements in stroke survivors: a pilot study

A body-machine interface for training selective pelvis movem...

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

作者： S. Summa C. Pierella P. Giannoni A. Sciacchitano S. Iacovelli A. Farshchiansadegh F. A. Mussa-Ivaldi M. Casadio the Department of Informatics Bioengineering Robotics and System Engineering at the University of Genoa 16145 Genoa Italy the ART Education and Rehab Center Genoa Italy the Sensory Motor Performance Program Rehabilitation Institute of Chicago Chicago IL 60611 USA. the Sensory Motor Performance Program Rehabilitation Institute of Chicago Chicago IL 60611 USA

ISBN: (纸本)9781424492695

the body-machine interfaces (BMIs) map the subjects' movements into the low dimensional control space of external devices to reach assistive and/or rehabilitative goals. this work is a first proof of concept of this kind of BMI as tool for rehabilitation after stroke. We designed an exercise to improve the control of selective movements of the pelvis in stroke survivors, increasing the ability to decouple the motion in the sagittal and frontal planes and decreasing compensatory adjustments at the shoulder girdle. A Kinect sensor recorded the movements of the subjects. Subjects played different games by controlling the vertical and horizontal motion of a cursor on a screen with respectively the lateral tilt and the ante/retroversion of their pelvis. We monitored also the degrees of freedom not directly involved in cursor control, thus subjects could complete the task only with a correct posture. Our preliminary results highlight significant improvement not only in cursor control, but also in the Trunk Impairment Scale (TIS) and in the Five Times Sit to Stand Test (5xSST).

关键词： TIS 5xSST BMI Pelvis cursor control Movements proof of concept Stroke Pilot Studies Body Mass Index Horizontal motion BMI CONSOLE first proofs Survivors nonius

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Exploring Player's Body as a Game controller for Fitness Activity Promotion

Exploring Player's Body as a Game Controller for Fitness Act...

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Experiment@ international conference (exp.at)

作者： Diogo Simões Paulo Menezes Electrical and Computer Engineering Department University of Coimbra Institute of Systems and Robotics Coimbra Portugal

ISBN: (数字)9798350314403

ISBN: (纸本)9798350314410

In recent years, there has been a tendency for people to resort to a more sedentary lifestyle, which has only been aggravated by the COVID-19 pandemic and the evermore common remote work policies. this lack of physical activity brings negative health outcomes and can generally be difficult to overcome due to how challenging it can be for a person to find the motivation to adopt a more physically active routine. To address this issue, we propose the use of serious games as an engaging, fun, and highly motivational tool that can aid people in their quest for a healthier lifestyle. We focus on three problem areas: motor control improvement and rehabilitation, post-stroke rehabilitation, and physical activity for general health. there exist multiple solutions for these problems which often require specific equipment that may not be available to the common user. therefore, we propose a different approach requiring solely a laptop equipped with a camera, thus making it more practical and accessible to the wider public.

关键词： COVID-19 Motor drives Portable computers Pandemics Games Cameras Remote working

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Beyond Traditional Methods: Feature Fusion for Robust Biometric Identification

Beyond Traditional Methods: Feature Fusion for Robust Biomet...

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international conference on Pattern Analysis and Intelligent Systems (PAIS)

作者： Yacine Belhocine Abdallah Meraoumia Hakim Bendjenna Ameur Khemane LAboratory of Mathematics Informatics and Systems (LAMIS) Echahid Cheikh Larbi Tebessi University Tebessa Algeria Laboratory of Intelligent and Communicating Systems Engineering (LICSE) USTHB Algiers Algeria

ISBN: (数字)9798350350265

ISBN: (纸本)9798350350272

In the era of cybersecurity, Biometric recognition systems are used in a variety of applications, including access control and forensic investigation. this paper presents a novel biometric authentication technique in the field of cybersecurity by combining support vector machine (SVM) classification with feature extraction techniques. Our system combines the symbiotic interaction between several biometric cues to capture detailed information in biometric data by integrating Local Phase Quantization (LPQ) and Local Binary Pattern (LBP) features. SVM classifier efficiently finds discriminative patterns in the fused feature space to enable accurate person identification. Tests carried out empirically on benchmark datasets verify the effectiveness of our approach and demonstrate significant improvements in recognition accuracy compared to traditional methods. Our research has encouraging implications for practical cybersecurity applications by highlighting the importance of feature fusion and SVM classification in strengthening biometric authentication systems.

关键词： Support vector machines Symbiosis Quantization (signal) Biometrics (access control) Forensics Authentication Feature extraction

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IFAISTOS: A fair and flexible resource allocation policy for next-generation passive optical networks

IFAISTOS: A fair and flexible resource allocation policy for...

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international conference on Ultra Modern Telecommunications and Workshops (ICUMT)

作者： Panagiotis Sarigiannidis Georgios Papadimitriou Petros Nicopolitidis Emmanouel Varvarigos Malamati Louta Vasiliki Kakali Department of Informatics and Telecommunications Engineering University of Western Macedonia Kozani Greece Department of Informatics Aristotle University of Thessaloniki Thessaloniki Greece Computer Technology Institute and Press “Diophantus” N. Kazantzaki University of Patras Rio Greece

ISBN: (纸本)9781479952922

In modern, competitive, and dynamic access networks the underlying bandwidth distribution mechanism has to be capable of understanding user requirements, meeting stringent quality of service (QoS) demands, and satisfying a broad spectrum of user traffic dynamics. Undoubtedly, optical fiber is the dominant transmission medium enabling practical and cost-effective optical infrastructures in the last mile. Passive optical networks (PONs) represent one of the most promising player towards the fiber to the home (FTth) vision allowing users to experience high quality, demanding multimedia services and applications. the 10-gigabit-capable passive optical network (XG-PON), one of the latest PON standard, incorporates a set of profound conditions a contemporary PON should ensure. Fairness provisioning constitutes one of the most critical features a PON should provide. However, ensuring fairness in an access network with numerous different users, requesting multiple traffic flows in any time, is not a straightforward task. In this work, we focus on the fairness issue by devising an adaptive, efficient, and fair dynamic bandwidth allocation (DBA) scheme called Insistent FAIr STrategy prOcesS (IFAISTOS). IFAISTOS investigates and maintains user traffic profiles. Overloaded users are carefully treated by gaining greater granting windows than other users; however bandwidth monopolization is prevented. Fairness is ensured for all users in terms of traffic load and average delay. A steering, adaptive mechanism records user traffic profiles by changing and defining bandwidth weights proportional to individual traffic needs. Extensive simulation results reveal the efficacy of the proposed DBA in terms of fairness and average packet delay.

关键词： Bandwidth Optical network units Resource management Passive optical networks Channel allocation Telecommunications Learning automata

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On the Use of Discrete Steps in Robot-aided Flexible Needle Insertion

On the Use of Discrete Steps in Robot-aided Flexible Needle ...

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

作者： Andre A. Geraldes Murilo M. Marinho Mariana C. Bernardes Antonio P. L. Bo Geovany A. Borges Laboratory of Robotics and Automation (LARA) University of Brasilia

ISBN: (纸本)9781457702150

Needle steering devices present great potential for improving the safety and accuracy of medical interventions with percutaneous access. Despite significant advances in the field, needle steerability remains an issue to be solved by the scientific community. In this paper, we propose the use of discrete steps in flexible needle insertion, inspired by the manual procedure performed by physicians. Conceptually, the method relies in alternating between two motions: grasp-push and release-retreat. For experimental evaluation, a modified gripper is used along with a 6DOF robotic manipulator to control needle insertion velocity, rotation and grasping. Preliminary results indicate that the use of discrete steps minimizes some negative effects, such as slippage and needle buckling, observed on alternative methods, while preserving their functional advantages.

关键词： NEEDLES Steps scientific community alternative methods Sliding Steering FLEXIBLE Insertion Mutation

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