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6th International conference on Reconfigurable Mechanisms and robots (ReMAR)

作者： Lin, Xijie Song, Yuan Guo, Lei Beijing Univ Posts & Telecommun Artificial Intelligence Sch Beijing 100876 Peoples R China

ISBN: (纸本)9798350395976;9798350395969

Self-reconfigurable robots aim to develop intelligent robotic systems with shape variability and task adaptability. This technology employs modular design, allowing robots to autonomously adjust their shape and structure according to specific tasks. For multiple self-reconfigurable robots using mecanum wheels as their mobile platform, a collision-free nonlinear model predictive control (NMPC) method is adopted to provide control strategies, enabling them to accomplish short-distance tracking tasks in real-time environments. An external radar module is utilized for global robot localization and obtaining high-precision pose information. Experiments conducted in a 3D simulation environment validate the effectiveness of this approach. In practical applications, overcoming various challenges such as hardware design, communication, and perception is essential to achieve robustness and reliability in self-reconfigurable robot systems.

关键词： Predictive control systems

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Holistic Modeling and Control of Mobile robot applications within 5G O-RAN Networks 29

Holistic Modeling and Control of Mobile Robot Applications w...

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29th ieee International conference on Emerging technologies and Factory Automation, ETFA 2024

作者： Nouruzi-Pur, Jan Vick, Axel Girycki, Adam Steffens, Ernst-Joachim Lambrecht, Jens Gestalt Robotics GmbH Berlin Germany Fraunhofer Ipk Berlin Germany Is-wireless Warsaw Poland Ejs Industrie 4.0 Berlin Germany

ISBN: (纸本)9798350361230

Navigating mobile robots from remote servers offers numerous benefits in industrial settings, such as centralized decision-making and powerful hardware availability. However, the QoS of outsourced controllers is heavily influenced by the communication infrastructure state. Allowing robot applications to gain insights and control these states has the potential to significantly enhance mission performance. Programmable 5G O-RAN standardized near real-time network controllers allow application domain entities to access network-specific metrics and control parameters. We propose a solution where multiple robots are connected via 5G O-RAN to a common robot application framework capable of forwarding network performance metrics and managing network resource usage. This new component allows mobile robot applications to optimize their behavior based on network conditions. The system is evaluated in a simulated environment, where necessary navigation computations can be performed either on the mobile robot's local hardware or on more powerful remote hardware. Results demonstrate enhanced mission performance in the case of network-aware navigation and further improvements when the agent's QoS is prioritized. © 2024 ieee.

关键词： Decision making

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Human robot Interaction with Triboelectric Nanogenerator for Tactile Sensing 9

Human Robot Interaction with Triboelectric Nanogenerator for...

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9th International conference on Mechatronics and robotics Engineering (ICMRE)

作者： Li, Chenxing Wu, Yansong Liu, Yinlong Schreier, Fabian Bing, Zhenshan Knoll, Alois Eivazi, Shahram Univ Tubingen Dept Comp Sci Tubingen Germany Tech Univ Munich Dept Elect & Comp Engn Munich Germany Tech Univ Munich Dept Informat Munich Germany

ISBN: (纸本)9781665463263

The key success factors for Human robot Interaction (HRI) interfaces heavily depend on the robot sensing technologies such as vision and touch sensors. In this paper we investigate the use of Nanogenerator technologies as a sensing device for robotic applications. The particular property that we explore here deals with Triboelectric Nanogenerator (TENG) sensor in which an electric signal can be generated automatically once the sensor is mechanically triggered. We propose to use TENG as a tactile sensor so robot is able to interact with human safely. The result shows that the TENG sensor is sensitive enough for a robotic safety task. The robot arm can stop when contacting the human hand and attempt to find a new way to reach a desired goal. Our experiment uncovers opportunities to use TENG sensors for real-time HRI applications.

关键词： human robot interaction Triboelectric Nanogenerator tactile sensor

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Elliptical Features for Image-Based Visual Servoing Toward Control of UR5 robot Arm Manipulator

Elliptical Features for Image-Based Visual Servoing Toward C...

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2024 International conference on Innovations and Challenges in Emerging technologies, ICICET 2024

作者： Umrikar, Nandan Sahu, Umesh Kumar Jaiswal, Ankur Manipal Academy of Higher Education Manipal Department of Mechatronics Manipal Institute of Technology 576104 India

ISBN: (纸本)9798350319019

robots are increasingly prevalent in various applications, such as farming, where they undertake multiple tasks, including monitoring, sorting, and fruit picking. Effective control of these robots is essential for successful task execution. Visual Servoing (VS) is a control scheme employed for controlling these robots, wherein control is based on visual feedback. Image-Based Visual Servoing (IBVS) utilizes visual features to control the robot's movements. Appropriate visual features and control schemes selection is crucial for the successful implementation of IBVS controlled applications. Image moments have demonstrated its usefulness in the selection of effective visual features. This study concentrates on defining robust features for the IBVS of a 6-degree-of-freedom (DOF) robot manipulator, with validation conducted using the condition number. The results indicate that the proposed features are effective for IBVS applications. © 2024 ieee.

关键词： Visual servoing

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A practical Evaluation of Multi-Agent Pathfinding in Automated Warehouse 21

A Practical Evaluation of Multi-Agent Pathfinding in Automat...

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21st International conference on Ubiquitous robots (UR)

作者： Park, Chanwook Nam, Moonsik Moon, Hyeong Il Kim, Youngjae LG Elect Inc Adv Robot Lab 19 Yangjae Daero11 Gil Busan South Korea

ISBN: (纸本)9798350361087;9798350361070

Multi-agent pathfinding (MAPF) has drawn more attention with the increasing demand for deploying multi-robot applications in industry. Warehouse automation is one particular application of MAPF that is led by global logistics companies. In this application, a fleet of robots simultaneously navigates to their goal locations without collisions among themselves. The key purpose is to optimize operation efficiency in terms of throughput and operation costs. An increasing number of robots initially leads to higher throughput, but inefficiency in path-planning becomes unavoidable due to the dense robot population. In this work, we suggest a novel evaluation metric for automated warehouse applications, called a multi-agent efficiency factor. This metric attempts to quantify the efficiency of multi-robot operations in terms of time or energy consumption in congested environments. We simulate the lifelong version of MAPF in several environments using CCBS-PGA, a highly adaptive MAPF algorithm. Then we evaluate the efficiency of the multi-robot operations using the proposed factor, together with the throughput per agent. Our experiments demonstrate the effectiveness of the multi-agent efficiency factor as an evaluation metric for lifelong MAPF. Finally, we discuss the importance of agent density in designing multi-robot applications.

关键词： multi-agent pathfinding multi-agent efficiency factor CCBS-PGA robot density

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Learning an Efficient Terrain Representation for Haptic Localization of a Legged robot

Learning an Efficient Terrain Representation for Haptic Loca...

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ieee International conference on robotics and Automation (ICRA)

作者： Sojka, Damian Nowicki, Michal R. Skrzypczynski, Piotr Poznan Univ Tech Inst Robot & Machine Intelligence Poznan Poland

ISBN: (纸本)9798350323658

Although haptic sensing has recently been used for legged robot localization in extreme environments where a camera or LiDAR might fail, the problem of efficiently representing the haptic signatures in a learned prior map is still open. This paper introduces an approach to terrain representation for haptic localization inspired by recent trends in machine learning. It combines this approach with the proven Monte Carlo algorithm to obtain an accurate, computation-efficient, and practical method for localizing legged robots under adversarial environmental conditions. We apply the triplet loss concept to learn highly descriptive embeddings in a transformer-based neural network. As the training haptic data are not labeled, the positive and negative examples are discriminated by their geometric locations discovered while training. We demonstrate experimentally that the proposed approach outperforms by a large margin the previous solutions to haptic localization of legged robots concerning the accuracy, inference time, and the amount of data stored in the map. As far as we know, this is the first approach that completely removes the need to use a dense terrain map for accurate haptic localization, thus paving the way to practical applications.

关键词： Computational efficiency

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Digital Shadow Enabled Integrated Multi-platform Automation System for Industrial Assembly 10

Digital Shadow Enabled Integrated Multi-platform Automation ...

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10th ieee International conference on Electronics, Computing and Communication technologies (ieee CONECCT)

作者： Revankar, Ashutosh Halapeti, Deepa Vengurlekar, Samarth Giriyapur, Arunkumar C. KLE Technol Univ Dept Automat & Robot Hubballi India

ISBN: (纸本)9798350385939;9798350385922

This paper presents a fully autonomous assembly line for custom cubes with two sub-block options (plastic and aluminium). Users can design their cubes through an Android app or website interface. The system retrieves orders, processes them based on deadlines, and dispenses the required sub-blocks. A quality inspection station with computer vision and machine learning ensures that defect-free parts are used. Cobots handle sub-block transportation and manipulation throughout the assembly process, with a dedicated station for inserting pins when necessary. A digital Shadow model facilitates performance analysis and optimization. Cloud-based platforms manage data, order processing, and remote access. Finally, an Automated Storage and Retrieval System (ASRS) manages cube storage and delivery. This research demonstrates the potential of combining automation, machine learning, and real-time monitoring for efficient custom product assembly. The approach offers applications in various industries and lays the groundwork for future research on expanding customization options and production flow optimization.

关键词： Digital-shadow robotic assembly line Pneumatic systems Industry 4.0 IoT Control strategy optimization MATLAB Simulink OPC UA server PLCs

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A Parametric Design Approach for Affordable Customized 3D Socket for Transradial Upper Limb Prostheses 10

A Parametric Design Approach for Affordable Customized 3D So...

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10th International conference on Control, Decision and Information technologies (CoDIT)

作者： Saldarriaga, Alejandro M. Romero, Enzo Abarca, Victoria E. Elias, Dante A. Pontificia Univ Catolica Peru Biomech & Appl Robot Res Lab Lima 15088 Peru

ISBN: (纸本)9798350373981;9798350373974

In upper limb prosthetics, customization of prosthetic designs is necessary to adapt them to each user's unique anatomical dimensions and ensure comfort and functionality. In addition, streamlining the process is essential to reduce the waiting time for people in need. In this context, an approach to parametric and transradial prosthesis design, which emerges as the primary tool to meet these challenges, is presented. In this way, the step-by-step process of how this paradigm is used in conjunction with other design techniques is detailed, thus obtaining a prosthetic stump-forearm interface and a forearm socket fabricated by 3D printing with PLA material. Likewise, customizing these elements guarantees a natural and realistic imitation of a forearm, which leads to the user feeling a sense of belonging toward the prosthesis itself. The results of this study show the fabrication of the final prosthetic design and its respective preliminary evaluation on a volunteer user with a long transradial congenital amputation condition based on the anthropometric measurements described in the design process. In addition, this process can optimize the design time compared to other prosthetic procedures, facilitating their productivity by manufacturing. This process, optimized in design time and computational load, benefits the creation of affordable prosthetic devices and sets a precedent in parametric design research, with potential for future applications in biomedical innovations.

关键词： CAD design parametric prosthesis socket transradial upper limb

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A Framework for Secure Internet of Things applications 10

A Framework for Secure Internet of Things Applications

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10th International conference on Control, Decision and Information technologies (CoDIT)

作者： Buccafurri, Francesco Lazzarol, Sara Univ Mediterranea Reggio Calabria DIIES Dept I-89124 Reggio Di Calabria Italy

ISBN: (纸本)9798350373981;9798350373974

MQTT is the de facto standard protocol for Internet of Things (IoT) devices. It is a messaging protocol based on lightweight publish-subscribe architecture, tailored specifically for devices with limited computational capabilities. Being a lightweight protocol, it lacks security and privacy features. The OASIS standard suggests some mechanisms to enhance the MQTT protocol. Therefore it is the implementer's responsibility to include these mechanisms as part of their design. In this paper, we identify three main missing features in MQTT, which are: (1) the presence of weak authentication procedures, (2) the lack of end-to-end security mechanisms, and (3) the lack of privacy mechanisms. Therefore, we propose to fill these gaps with three solutions from the literature, all leveraging the standard MQTT primitives. Finally, we propose a comprehensive framework showing how to combine the three above solutions with the security guidelines presented in the OASIS standard.

关键词： Authentication Protocol

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Intelligent Sensing technologies Based on Flexible Wearable Sensors: A Review

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ieee SENSORS JOURNAL 2024年第14期24卷 22197-22217页

作者： Nong, Hengchang Jin, Mingzhe Pan, Chengcheng Zhou, Hongyu Zhang, Chao Pan, Xuemei Chen, Yuren Wei, Xiangning Lu, Yeping Zhao, Kaixiao Huang, Mingzhe Li, Xiangcheng Yu, Yang Zhang, Zhenrong Guangxi Univ Sch Comp & Elect Informat Nanning 530004 Peoples R China Natl Univ Def Technol Coll Sci Changsha 410073 Peoples R China State Run Changhong Machinery Factory Guilin 541000 Peoples R China

Flexible wearable sensors, characterized by their stretchability, flexibility, lightweight, high sensitivity, and the ability to dynamically and continuously measure multiple parameters, have been widely applied in areas such as physiological health monitoring, human-computer interaction control, real-time motion monitoring, and personalized medical assistance. With the development of artificial intelligence technology, the integration of flexible wearable sensors with artificial intelligence technologies such as machine learning (ML) has become increasingly profound. This integration has facilitated the emergence and development of intelligent sensing systems with human-like perception capabilities, garnering growing attention toward flexible wearable intelligent sensing technology. This article focuses on introducing various sensor mechanisms, intelligent sensing algorithms, and practical applications of flexible wearable intelligent sensing technology. The challenges and possible development directions of flexible wearable smart sensing technology, encompassing aspects, such as power supply, multimodal sensing capability, preparation materials, processing and fabrication techniques, and smart sensing algorithms, are also discussed and prospected. Such a review can provide a reference for research in the field of flexible wearable smart sensing technology.

关键词： Sensors Wearable sensors Intelligent sensors Machine learning algorithms robot sensing systems Biomedical monitoring Reviews Flexible wearable sensor intelligent sensing machine learning (ML)

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