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6th international conference on robotics and automation in Industry, ICRAI 2024

作者： Saleem, Maryam Zohaib, Mohammad Naqvi, Syed Abbas Zilqurnain UET Human Centered Robotics Lab Department of Mechatronics and Control Engineering Lahore Pakistan SIGMA Clermont University of Clermont Auvergne Aubiere France

ISBN: (纸本)9798350355703

Estimating 3D keypoints of an object has achieved considerable interest, especially in computer graphics and ma-chine vision. the complexity of the problem increases when the object is noisy, decimated, or partially occluded. To this end, we present an approach to estimate 3D keypoints from the partial PCDs such that they also highlight the object's missing parts. It is based on two modules: shape completion and keypoints estimation. the first module computes the object's missing parts and generates a dense shape which is used by the second module to estimate semantically and geometrically consistent keypoints. the approach also estimates confidence scores that allow the selection of valid keypoint considering the object's structure. We evaluate the proposed method for four different backbones and observe that we get better results using PointNet. Furthermore, the presented results show that the Percentage of Correct Keypoints (PCK) and Dual Alignment Score (DAS) for the keypoints estimated from the dense shapes (36.61 and 76.29) are 23.51 % and 12.14% higher, respectively, compared to those estimated from the partial objects (13.10 and 64.15). © 2024 IEEE.

关键词： 3D modeling

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A new probabilistic path planning algorithm for (dis)assembly tasks

A new probabilistic path planning algorithm for (dis)assembl...

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Joint 41st international Symposium on robotics, ISR 2010 and 6th German conference on robotics 2010, ROBOTIK 2010

作者： thomas, Ulrike Iser, Rene Institute for Robotics and Mechatronics German Aerospace Center Oberpfaffenhofen Germany Institute for Robotics and Process Control Technical University of Braunschweig Germany

ISBN: (纸本)9781617387197

In this paper, a new probabilistic path planning algorithm is described. the algorithm has been developed for assembly planning purposes, but however it can also be used in similar scenarios. Most assembly planning algorithms apply the so called assembly-by-disassembly strategy, therewith planning starts from the goal position of parts and tries to remove single parts or group of parts. Such problems are characterized by the appearance of many narrow passages. thus, we have developed an probabilistic algorithm able to find paths even if many of such passages exist. the idea of our path planner emanates from the particle In each iteration, it propagates new samples, discards bad evaluated samples and assigns higher weights to good examples. the evaluation functions propagates the samples to explore free space as well as to condensate on the border of obstacles, which leads samples to pass narrow passages. We have evaluated our path planning algorithm with different examples and compared it to the well-known RRT and PRMplanners. We could achieve good execution times for realistic industrial assembly tasks.

关键词： Iterative methods

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Domain Adaptation in LiDAR Semantic Segmentation by Aligning Class Distributions 18

Domain Adaptation in LiDAR Semantic Segmentation by Aligning...

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18th international conference on informatics in control, automation and robotics (ICINCO)

作者： Alonso, Inigo Riazuelo, Luis Montesano, Luis Murillo, Ana C. Univ Zaragoza DIIS I3A RoPeRt Grp Zaragoza Spain Bitbrain Zaragoza Spain

ISBN: (纸本)9789897585227

LiDAR semantic segmentation provides 3D semantic information about the environment, an essential cue for intelligent systems, such as autonomous vehicles, during their decision making processes. Unfortunately, the annotation process for this task is very expensive. To overcome this, it is key to find models that generalize well or adapt to additional domains where labeled data is limited. this work addresses the problem of unsupervised domain adaptation for LiDAR semantic segmentation models. We propose simple but effective strategies to reduce the domain shift by aligning the data distribution on the input space. Besides, we present a learningbased module to align the distribution of the semantic classes of the target domain to the source domain. Our approach achieves new state-of-the-art results on three different public datasets, which showcase adaptation to three different domains.

关键词： robotics Autonomous Systems LiDAR Deep Learning Semantic Segmentation Domain Adaptation

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Adaptive Fuzzy Sliding Mode control for Collaborative Robot Based on Nominal Model 6

Adaptive Fuzzy Sliding Mode Control for Collaborative Robot ...

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6th international conference on control, robotics and Cybernetics, CRC 2021

作者： Liu, Yunfei He, Chunlai Cheng, Shuo The 21ST Research Institute of China Electronic Technology Group Corporation Robotics Engineering Center Shanghai China

ISBN: (纸本)9781665424370

the seven-degree-of-freedom (7dof) collaborative robot is a type of nonlinear system with multiple inputs, multiple outputs, parameter uncertainties, external disturbances and unmodeled dynamics. Due to the external disturbances, such as friction, uncertainty information and parameters will be generated in the system, which can affect the operation of the robotic arm. Sliding mode control has the advantages of being insensitive to changes in external disturbances and internal disturbances. Based on this, this paper designed a model-based adaptive fuzzy sliding mode controller. On the basis of compensating the unmodeled characteristics of the system, the controller can be deduced by adaptively estimating the uncertainty upper bound, which can eliminate the chattering problem of the control law well. through the simulation of the seven-degree-of-freedom cooperative robot, it is known that this scheme has higher tracking accuracy than ordinary sliding mode control schemes. Furthermore, it greatly improves the robustness to external interference, system uncertain information and parameter changes. © 2021 IEEE.

关键词： Fuzzy control

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A knowledge integration framework for robotics

A knowledge integration framework for robotics

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Joint 41st international Symposium on robotics, ISR 2010 and 6th German conference on robotics 2010, ROBOTIK 2010

作者： Persson, Jacob Gallois, Axel Björkelund, Anders Hafdell, Love Haage, Mathias Malec, Jacek Nilsson, Klas Nugues, Pierre Department of Computer Science Lund University Sweden

ISBN: (纸本)9781617387197

this paper describes a knowledge integration framework for robotics, whose goal is to represent, store, adapt, and distribute knowledge across engineering platforms. the architecture abstracts the components as data sources, where data are available in the automationML data exchange format. automationML is an on-going standard initiative that aims at unifying data representation and APIs used by engineering tools. A triplification procedure converts native formats used by data sources into RDF triples and then exposes them via a SPARQL endpoint. the triplification step has been implemented for the CAEX top level and logic data parts of automationML, where the conversion uses XSLT rules.

关键词： robotics

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FlexSEA-Execute: Advanced Motion controller for Wearable Robotic Applications 6

FlexSEA-Execute: Advanced Motion Controller for Wearable Rob...

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6th IEEE international conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Duval, Jean-Francois Herr, Hugh M. MIT Media Lab Ctr Extreme Bion Cambridge MA 02139 USA

ISBN: (纸本)9781509032877

Wearable robots, such as powered prostheses and active exoskeletons, often rely on electric motors for actuation. Emulating biological joint angle and torque profiles requires special sensors, high peak power and advanced real-time controls. Safety is paramount and fail-safe circuits are required to detect and correct problematic situations. A smaller, lighter circuit can lead to a more efficient and affordable robot. Few commercial motor drivers accommodate all of these requirements. In this paper we present FlexSEA-Execute (Figure 1), the advanced motion controller part of FlexSEA, the FLEXible, Scalable Electronics Architecture designed for wearable robotic applications. At 36cm(3) and 34.8g, this PSoC-based design integrates a 8A/25A (continuous/pulse) brushed/brushless motor driver, a safety co-processor, multi-drop RS-485, a strain gauge amplifier, a 6-axis inertial motion unit (IMU), USB, and a programmable expansion connector.

关键词： embedded system control power electronics brushless motor wearable robotics

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Adding extra sensitivity to the SMART non-linear actuator using sensor fusion

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INDUSTRIAL ROBOT-thE international JOURNAL OF robotics RESEARCH AND APPLICATION 2004年第2期31卷 179-188页

作者： Montes, H Pedraza, L Armada, M Akinfiev, T Caballero, R Ind Automat Inst Dept Automat Control Madrid Spain Univ Tecnol Panama Panama City Panama

the prospect of using humanoid robots in practical applications attracts an important research effort and the latest steps forward in robot technology show many remarkable achievements where design aspects, control systems and software evolution regarding humanoid machines have been realised. While aiming to improve humanoid robots' overall performance, it is required that they could work for a long time spending minimum energy without losing their kinematic skills. In this direction, a new kind of non-linear actuator, SMART, based on quasi-resonance principle, has been developed by the Industrial automation Institute to improve the overall performance of biped locomotion.

关键词： sensors sensor fusion robotics actuators

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Design and implementation of a quasiholonomic mobile robot

Design and implementation of a quasiholonomic mobile robot

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IEEE international conference on robotics and automation

作者： Salerno, Alessio Angeles, Jorge Columbia Univ Dept Mech Engn 220SW Mudd Mail Code 4703500W 120th St New York NY 10027 USA McGill Univ Dept Mech Engn Montreal PQ H3A 2K6 Canada McGill Univ Ctr Intelligent Machines Montreal PQ H3A 2K6 Canada

ISBN: (纸本)9781424406012

Aspects of the mechatronic design and prototyping of a robot designed and realized with the quasiholonomy property are discussed here. After an overview of the motivation and applications of the project at hand, we show how we faced the challenges encountered in the mechatronic design and implementation of the prototype. the actuation system and power supply dimensioning are then described, along with the selection of the on-board control unit and programming of the real-time operating system. Advantages of quasiholonomic robotic systems are substantiated.

关键词： Mobile robots

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Simultaneous design of structural and control systems using set-based design method 15

Simultaneous design of structural and control systems using ...

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15th international conference on informatics in control, automation and robotics, ICINCO 2018

作者： Ishikawa, Haruo Sasaki, Naoko Graduate School of Informatics and Emgineering University of Electro-Communications Chofu Tokyo Japan Center for International Programs and Exchange University of Electro-Communications Chofu Tokyo Japan

ISBN: (纸本)9789897583216

the design method capable of considering the influence factors related to control and structural design systems under conditions that simultaneously satisfy multi-objective performances over both the systems is investigated. the influence factors and performances have some kinds of uncertainty related to structural design and control system design. the uncertainty may be expressed in terms of set interval. Set-based design method is available as a design method that can take account of such uncertainty. In the method, instead of optimization, the concept of satisficing is used. In the present study, the applicability of set-based design method that has been studied in the field of structural design is investigated for the simultaneously satisficing design of control and structural systems. For discussing the applicability, an example problem of inverted pendulum with heteromorphic shape on cart is solved by optimal regulator method in modern control theory. As a result, the set intervals of influence factors which simultaneously satisfy the set intervals of multi-objective performances are obtained. From this result, the usefulness of set-based design method for simultaneous design of control and structural systems can be confirmed. Copyright © 2018 by SCITEPRESS – Science and Technology Publications, Lda. All rights reserved

关键词： Structural design

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A Cryptography-Based Framework for Securing Medical Imaging Data in Robotic Systems 6

A Cryptography-Based Framework for Securing Medical Imaging ...

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6th international conference on robotics and automation in Industry, ICRAI 2024

作者： Arshad, Huraira Iqbal, Maryam Mir, Ayesha Waqar Fatima, Rida Bahria University Electrical Engineering Islamabad Pakistan

ISBN: (纸本)9798350355703

Medical imaging data is crucial in robotics-assisted diagnostics and interventions, particularly in neurology. Ensuring the security and privacy of this sensitive data is increasingly challenging in the context of robotic systems. this study presents a robust framework to secure MRI brain images using the Advanced Encryption Standard (AES) algorithm, tailored for use in robotics applications. the AES algorithm is chosen for its high level of data confidentiality and integrity, making it well-suited for protecting sensitive medical information in robotic systems. Encrypted MRI images are decrypted and then processed by a convolutional neural network (CNN), specifically AlexNet, integrated into the robotic platform to classify the images as either tumorous or healthy. the classification performance is thoroughly evaluated using confusion matrices and performance plots, assessing the accuracy of the system. the project is implemented using Python, and the results demonstrate significant improvements over recent advancements in this field. this study not only enhances the security of medical imaging data within robotics applications but also contributes to improving the precision and reliability of robotic diagnostic systems. © 2024 IEEE.

关键词： Medical robotics

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