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ieee International conference on robotics and Automation (ICRA)

作者： Chatterjee, Sreejani Doan, Duc Calli, Berk Worcester Polytech Inst Dept Robot Engn Worcester MA 01609 USA

ISBN: (纸本)9798350384581;9798350384574

This paper presents a novel strategy to train keypoint detection models for robotics applications. Our goal is to develop methods that can robustly detect and track natural features on robotic manipulators. Such features can be used for vision-based control and pose estimation purposes, when placing artificial markers (e.g. ArUco) on the robot's body is not possible or practical in runtime. Prior methods require accurate camera calibration and robot kinematic models in order to label training images for the keypoint locations. In this paper, we remove these dependencies by utilizing inpainting methods: In the training phase, we attach ArUco markers along the robot's body and then label the keypoint locations as the center of those markers. We, then, use an inpainting method to reconstruct the parts of the robot occluded by the ArUco markers. As such, the markers are artificially removed from the training images, and labeled data is obtained to train markerless keypoint detection algorithms without the need for camera calibration or robot models. Using this approach, we trained a model for realtime keypoint detection and used the inferred keypoints as control features for an adaptive visual servoing scheme. We obtained successful control results with this fully model-free control strategy, utilizing natural robot features in the runtime and not requiring camera calibration or robot models in any stage of this process.

关键词： Visual servoing

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3D Manipulation of 6DOF Tendon Driven Continuum robot for Surgical applications 10

3D Manipulation of 6DOF Tendon Driven Continuum Robot for Su...

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10th ieee RAS/EMBS International conference for Biomedical robotics and Biomechatronics (BioRob)

作者： Bamoriya, Shailesh Gedam, Vidit Kumar, Cheruvu Siva Indian Inst Technol Kharagpur Dept Mech Engn Kharagpur W Bengal India

ISBN: (纸本)9798350386523;9798350386530

Continuum robots have the advantage of flexibility and dexterity due to their elastic and bendable architecture. Nowadays, multi-segment robots are employed as various medical instruments. However, the multi-segment robot consists of complex kinematics and control, but it also enhances the robot's capabilities for complex procedures. The paper presents the path planning and motion control of basic robot motion to perform surgical tasks. The robot's 3D manipulation discussed in this paper includes insertion, point-to-point motion, and tool center point motion. The follow-the-leader motion approach was employed for the robot insertion. The point-to-point motion trajectory is generated in configuration space, and differential Jacobian base inverse kinematics is employed for Tool center point motion control of a tendon-driven threesegment continuum robot. The simulation results indicate that the obtained input parameters in joint space ensure smooth robot manipulation.

关键词： Inverse kinematics

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Application of PID controller and CNN to control Duckiebot robot 21

Application of PID controller and CNN to control Duckiebot r...

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21st International conference on Emerging eLearning technologies and applications, ICETA 2023

作者： Dlugosz, Marek Skruch, Pawel Szelest, Marcin Morys-Magiera, Artur Agh University of Science and Technology CracowPoland Poland

ISBN: (纸本)9798350370690

The paper presents the design and practical implementation by students of a control system using a classic PID controller and a controller using artificial neural networks. The control object is a Duckiebot robot, and the task it is to perform is to drive the robot along a designated line (line follower). The purpose of the proposed activities is to familiarize students with the advantages and disadvantages of the two controllers used and for them to acquire the ability to implement control systems in practice. The article briefly describes how the two controllers work, how to practically implement them, and how to practically implement the exercise. © 2023 ieee.

关键词： robots

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Utilizing robot Kinematics and Dynamics for Enhanced Debt Recovery in the Banking Sector 5

Utilizing Robot Kinematics and Dynamics for Enhanced Debt Re...

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5th International conference on Image Processing and Capsule Networks, ICIPCN 2024

作者： Dogra, Disha Kumar, Sunil University Institute of Legal Studies Chandigarh University Punjab India

ISBN: (纸本)9798350367171

The banking sector faces a significant challenge when it comes to debt recovery. This process often involves complex workflows and requires considerable resource allocation. To address this issue, researchers have explored the potential of using robot kinematics and dynamics to improve debt recovery efficiency. Integrating robotic technologies into debt recovery workflows can help banks streamline their operations, reduce costs, and improve the overall recovery rates. This paper investigates the theoretical framework, practical implementations, and potential impacts of utilizing robots in debt recovery processes. By comprehensively reviewing existing literature and case studies, it highlights the advantages, challenges, and future directions of incorporating robot kinematics and dynamics in the banking sector's debt recovery strategies. The integration of robot kinematics and dynamics presents a transformative opportunity to enhance debt recovery processes within the banking sector. The paper examines the theoretical framework, practical implementations, advantages, challenges, and future directions of leveraging robotic technologies in debt recovery operations. By analyzing case studies and exploring potential applications, this paper highlights the significant potential of robot-assisted debt recovery in streamlining processes, reducing costs, and improving outcomes for financial institutions and their customers. However, implementing robotic technologies also poses challenges such as technical complexity, data privacy concerns, and ethical considerations. By addressing these challenges and embracing a culture of innovation, banks can unlock the full potential of robot kinematics and dynamics to revolutionize debt recovery practices. This paper provides insights and recommendations for banks seeking to navigate the complexities of implementing robotic technologies in debt recovery and harness the benefits of automation in the digital age. © 2024 ieee.

关键词： Resource allocation

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Equipped with Monocular Depth Estimation and Intelligent Wake-up Vision Based Tracking System for a Human-Following Mobile robot

Equipped with Monocular Depth Estimation and Intelligent Wak...

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ieee International conference on Multimedia and Expo (ICME)

作者： Tsai, Tsung-Han Lee, Chun-Lin Natl Cent Univ Dept Elect Engn Taoyuan Taiwan

ISBN: (纸本)9798350379822;9798350379815

With the advancement of technology and the development of human civilization, intelligent robots as "service robots" have been gradually integrated into the practical application of people's daily lives and the good assistants for people's family life, medical and health, entertainment, and social security. This paper designs and implements a novel vision-based intelligent human-following system for a mobile robot. To achieve human tracking using only RGB images, a monocular depth estimation network is combined with an object tracking network. Considering the speed, robustness, and accuracy in real applications, we optimized the network and added the target update strategy to achieve a good balance between speed and accuracy. Implemented on an NVIDIA Jetson AGX Xavier, the system achieved 97.8% accuracy on our customized dataset, with overall system performance averaging 5.57 FPS.

关键词： Tracking System Human-following robot CNN tracker Intelligent Wake-up Monocular Depth Estimation

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Design and Modeling of a Cable-Driven Rigid-Flexible Humanoid Hand 19

Design and Modeling of a Cable-Driven Rigid-Flexible Humanoi...

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ieee 19th conference on Industrial Electronics and applications (ICIEA)

作者： Wu, Yuzhi Lin, Shangcan Feng, Jiashu Su, Manjia Huang, Gang Xie, Weichun Guan, Yisheng Guangdong Univ Technol Sch Electromech Engn Biomimet & Intelligent Robot Lab BIRL Guangzhou Peoples R China Guangdong Fulisheng Biomimet Robot Co Ltd Guangzhou Peoples R China

ISBN: (纸本)9798350360875;9798350360868

The research of humanoid multi-fingered hand aiming to be applied to people's daily life, but they are faced with the main contradiction between simplicity and functionality. Herein, we propose a novel rigid-flexible coupling humanoid multi-fingered hand comprising finger and palm. Based on the rigid-flexible coupling finger designed in this paper, the mechanical deformation of rigid-flexible coupling finger structure is analyzed from the static point of view based on the theory of beam constraint model. The mechanic model of the rigid-flexible coupling finger is established according to the deformation of the designed rigid-flexible coupling finger structure driven by the cable, considering the friction force of the cable. The feasibility of the design method is proved by experiments, which can potentially bean alternative for manipulators in practical applications to complete the flexible works.

关键词： Humanoid hand rigid-flexible coupling finger cable-driven mechanic modeling

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A Model-Based Approach for robotics Education with Emphasis on Embedded Systems 9

A Model-Based Approach for Robotics Education with Emphasis ...

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9th International conference on Automation, robotics and applications (ICARA)

作者： Beneder, Roman Schmitt, Patrick Koernyefalvy, Clemens UAS Tech Wien Dept Elect Engn Vienna Austria

ISBN: (纸本)9781665489218

Typically, universities with a focus on technical sciences provide courses where students have to design control systems, to implement these control systems on embedded hardware and to verify the functionality of their implementations. Hence, the students work in groups and implement practical demonstrators based on given problem statements. In order to design, implement, and test robotic applications, it is mandatory to utilize expertise within the field of robotics and the field of embedded systems. The combination of expertise within both fields (robotics and embedded systems) is a highly demanded skill set, which is required to work for companies with focus on aviation, automotive, and even emerging applications for agricultural technology. The technical complexity of these applications is increasing almost exponentially, which requires abstract model-based approaches to ease the design flow of such implementations. This paper introduces a model-based approach for students within robotics and/or embedded systems degree programs. Moreover, this paper describes the state-of-the-art workflow to implement problem statements within the field of robotics and embedded systems (tools, approach and test), gives and overview of the model-based approach for students within these field of applications, and shows the integration of the results into courses based on a control system model.

关键词： robotics Education Embedded Systems Education Control Systems Embedded Software

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technologies for Energy Storage Power Stations Safety Operation: Battery State Evaluation Survey and a Critical Analysis

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ieee ACCESS 2024年 12卷 31334-31356页

作者： Xia, Xiangyang Yue, Jiahui Guo, Yuan Lv, Chonggeng Zeng, Xiaoyong Xia, Yongkai Chen, Guiquan Changsha Univ Sci & Technol Sch Elect & Informat Engn Changsha 410114 Hunan Peoples R China

As large-scale lithium-ion battery energy storage power facilities are built, the issues of safety operations become more complex. The existing difficulties revolve around effective battery health evaluation, cell-to-cell variation evaluation, circulation, and resonance suppression, and more. Based on this, this paper first reviews battery health evaluation methods based on various methods and summarizes the selection of existing health factors in data-driven methods. Secondly, the paper discusses the new research hotspots in the existing battery state evaluation technologies from the perspectives of state evaluation using data fragments and edge computing. Thirdly, we focus and discuss on the safety operation technologies of energy storage stations, including the issues of inconsistency, balancing, circulation, and resonance. To address these issues, we present an intelligent inspection robot, enabling real-time data interaction with the EMS and fulfilling rapid inspection and real-time diagnosis. Above all, we focus on the safety operation challenges for energy storage power stations and give our views and validate them with practical engineering applications, building the foundation of the next-generation techniques that support the development of new power systems.

关键词： Batteries Integrated circuit modeling Computational modeling Monitoring Equivalent circuits Temperature sensors Temperature measurement Bioinformatics Entropy Safety devices Lithium-ion batteries Energy storage Power generation Occupational safety Industrial robots robots Inspection Health factor state of health remaining useful life cell-to-cell variation entropy safety operation

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Real-time Bandwidth-efficient Occupancy Grid Map Synchronization for Multi-robot Systems

Real-time Bandwidth-efficient Occupancy Grid Map Synchroniza...

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2024 International conference on Intelligent robots and Systems

作者： Shi, Liuyu Yin, Longji Kong, Fanze Ren, Yunfan Zhu, Fangcheng Tang, Benxu Zhang, Fu Univ Hong Kong Dept Mech Engn Hong Kong Peoples R China

ISBN: (纸本)9798350377712;9798350377705

robot swarms are increasingly being applied in various domains. However, due to the inherent limitation imposed by low real-time communication bandwidth, the synchronization of environmental information among multiple robots remains a persistent and challenging problem in practical applications. In response to this challenge, we introduce a comprehensive framework for synchronizing occupancy grid maps (OGMs) in practical multi-robot systems that operate under communication bandwidth constraints. In our research, we elaborately design the data structure of transmitted local OGMs and employ the Hilbert space-filling curve for voxel sorting. By adopting this approach, data redundancy is effectively increased, resulting in lower information entropy for compression and significantly reducing the volume of communication data. Finally, our framework outperforms the benchmark method by reducing the average and maximum bandwidth usage by more than 10 times in high-resolution scenarios. Moreover, our method has been successfully applied in the multi-UAV autonomous navigation application, demonstrating its real-time and bandwidth-efficient nature, as well as its practical value.

关键词： Bandwidth

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Language-guided Active Sensing of Confined, Cluttered Environments via Object Rearrangement Planning

Language-guided Active Sensing of Confined, Cluttered Enviro...

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ieee International conference on robotics and Automation (ICRA)

作者： Chen, Weihan Ren, Hanwen Qureshi, Ahmed H. Purdue Univ Dept Comp Sci W Lafayette IN 47907 USA

ISBN: (纸本)9798350384581;9798350384574

Language-guided active sensing is a robotics sub-task where a robot with an onboard sensor interacts efficiently with the environment via object manipulation to maximize perceptual information, following given language instructions. These tasks appear in various practical robotics applications, such as household service, search and rescue, and environment monitoring. Despite many applications, the existing works do not account for language instructions and have mainly focused on surface sensing, i.e., perceiving the environment from the outside without rearranging it for dense sensing. Therefore, in this paper, we introduce the first language-guided active sensing approach that allows users to observe specific parts of the environment via object manipulation. Our method spatially associates the environment with language instructions, determines the best camera viewpoints for perception, and then iteratively selects and relocates the best view-blocking objects to provide the dense perception of the region of interest. We evaluate our method against different baseline algorithms in simulation and also demonstrate it in real-world confined cabinet-like settings with multiple unknown objects. Our results show that the proposed method exhibits better performance across different metrics and successfully generalizes to real-world complex scenarios.

关键词： robot programming

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