The proceedings contain 8 papers. The special focus in this conference is on informatics in control, automation and robotics. The topics include: Improving 2D Scanning Radar and 3D Lidar Calibration;mobile Robots...
ISBN:
(纸本)9783031483028
The proceedings contain 8 papers. The special focus in this conference is on informatics in control, automation and robotics. The topics include: Improving 2D Scanning Radar and 3D Lidar Calibration;mobile Robots for Teleoperated Radiation Protection Tasks in the Super Proton Synchrotron;a Review of Classical and Learning Based Approaches in Task and Motion Planning;Multi-objective Ranking to Optimize CNN’s Encoding Features: Application to the Optimization of Tracer Dose for Scintigraphic Imagery;Linear Delta Kinematics Feedrate Planning for NURBS Toolpaths Implemented in a Real-Time Linux control System;automatic Fault Detection in Soldering Process During Semiconductor Encapsulation.
The proceedings contain 10 papers. The special focus in this conference is on informatics in control, automation and robotics. The topics include: Pose Optimization of Task-Redundant Robots in Second-Order R...
ISBN:
(纸本)9783031264733
The proceedings contain 10 papers. The special focus in this conference is on informatics in control, automation and robotics. The topics include: Pose Optimization of Task-Redundant Robots in Second-Order Rest-to-Rest Motion with Cascaded Dynamic Programming and Nullspace Projection;output Feedback Reference Tracking and Disturbance Rejection for Constrained Linear Systems Using Invariant Sets;output-Feedback Model Predictive control Using Set of State Estimates;prediction of Overdispersed Count Data Using Real-Time Cluster-Based Discretization of Explanatory Variables;preface;approximation Methods and Reference Values for Maximum Allowed Collaborative Operating Speeds in Quasi-Static and Transient Contact Cases;model-Based Optimization of Vaccination Strategies in Different Phases of Pandemic Virus Spread;Toward Real-Time Multi-objective Optimization for Bus Service KPIs.
The proceedings contain 30 papers. The special focus in this conference is on informatics in control, automation and robotics. The topics include: Closing the Gap: Combining Task Specification and Reinforcement Learni...
ISBN:
(纸本)9783030924416
The proceedings contain 30 papers. The special focus in this conference is on informatics in control, automation and robotics. The topics include: Closing the Gap: Combining Task Specification and Reinforcement Learning for Compliant Vegetable Cutting;evaluating the Robustness of New Holistic Description Methods in Position Estimation of Mobile Robots;a Localization Approach Based on Omnidirectional Vision and Deep Learning;low Energy Consumption Quadrupedal Locomotion with Quasi-resonant Compliant Backbone;Simulation Study of Electric Vehicles at Fuzzy PID control of Braking Torque;virtual Adjustable Joint Stiffness Toward a Safer Human/Robot Interaction;equilibrium Configurations of Compliant Tensegrity Mechanism Based on Planar Dual-Triangles;longitudinal and Lateral control with a Global Estimation for a Convoy of Autonomous Vehicles in Urban Transport Areas;Learning-Based vs Model-Free Adaptive control of a MAV Under Wind Gust;constrained Reachability Problems for a Planar Manipulator;solution of the Forward Kinematics of Parallel Robots Based on Constraint Curves;centimeter-Scaled Self-assembly of a Chessboard Pattern;3D Sound Source Mapping Using Interval-Based Methods;satisfaction of Modeling Requirements for Intelligent Navigation Systems: Risk Management Context;model Free Error Compensation for Cable-Driven Robot Based on Deep Learning with Sim2real Transfer Learning;Non-linear MPC for Longitudinal and Lateral control of Vehicle’s Platoon with Insert and Exit Manoeuvres;functional Model-Based Arbitration Strategies Between System Missions: An Application to the Electric Vehicle;Wide Operating Range Current Loop Stability Analysis of a VIENNA-type Three-Phase Rectifier for a Medical Imaging System Power Supply;algorithm for Robustness Estimation of Large Deviations in Linear Discrete-Time Systems;sliding Modes and Lyapunov Functions for Differential Inclusions by Linear Programming;automatic Domain Extension and Optimization Based on Set-Theory.
The proceedings contain 10 papers. The special focus in this conference is on informatics in control, automation and robotics. The topics include: Optimal Reachability and Grasping for a Soft Manipulator;On Local Obse...
ISBN:
(纸本)9783030631925
The proceedings contain 10 papers. The special focus in this conference is on informatics in control, automation and robotics. The topics include: Optimal Reachability and Grasping for a Soft Manipulator;On Local Observer Design for LQR Problems with Tracking;6-DoF Extrinsic Calibration Between a Manipulator and a 2D Laser Scanner;simultaneous control of Two robotics Arms Sharing Workspace via Visual Predictive control;advanced Algorithm for Interpolation with Wendland Functions;an Algorithm for Identifying High-Rank Singularities of Arbitrary Redundant Robots;adaptive Interaction control of a Very Flexible Parallel Robot Manipulator;bayesian Transfer Learning Between Uniformly Modelled Bayesian Filters.
The proceedings contain 86 papers. The topics discussed include: flying wing drones based on cricket antennas;on the design and fabrication of a voice-controlled mobile robot platform;a control engineering framework f...
ISBN:
(纸本)9789897585227
The proceedings contain 86 papers. The topics discussed include: flying wing drones based on cricket antennas;on the design and fabrication of a voice-controlled mobile robot platform;a control engineering framework for quadrotors: an application for the Crazyflie 2.X;edge and corner detection in unorganized point clouds for robotic pick and place applications;revisiting Johann Bernoulli's method for the Brachistochrone problem;stiffness modeling of compliant serial manipulators based on tensegrity mechanism under external loading;Bayesian mixture estimation without tears;optimization-based or AI task planning for scenarios with cooperating mobile manipulators?;and energy consumption modeling for specific washing programs of horizontal washing machine using system identification.
Compliant mechanisms have been used in several robotics applications, including locomotion and grasping. Variable stiffness joints are part of these compliant mechanisms and generally use one passive element per joint...
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ISBN:
(纸本)9798331517519;9798331517526
Compliant mechanisms have been used in several robotics applications, including locomotion and grasping. Variable stiffness joints are part of these compliant mechanisms and generally use one passive element per joint. This paper presents the design, model, and characterization of a Variable Stiffness Multi-joint Mechanism (VSMM) using a single carbon fibre rod as its passive element. The VSMM employs a variable lever mechanism, allowing the modulation of the joints' stiffness. We present an analytical model of the mechanism, providing insights into its mechanical behaviour and enabling the prediction of stiffness variations under different design parameters. Through experimental testing, the mechanism demonstrates a stiffness range of 0.19N/ mm to 0.27N/ mm, offering variable compliance that can change to suit specific task requirements.
In recent years, advanced model-based and data-driven control methods are unlocking the potential of complex robotics systems, and we can expect this trend to continue at an exponential rate in the near future. Howeve...
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ISBN:
(纸本)9798350384581;9798350384574
In recent years, advanced model-based and data-driven control methods are unlocking the potential of complex robotics systems, and we can expect this trend to continue at an exponential rate in the near future. However, ensuring safety with these advanced control methods remains a challenge. A well-known tool to make controllers (either Model Predictive controllers or Reinforcement Learning policies) safe, is the so-called control-invariant set (a.k.a. safe set). Unfortunately, for nonlinear systems, such a set cannot be exactly computed in general. Numerical algorithms exist for computing approximate control-invariant sets, but classic theoretic control methods break down if the set is not exact. This paper presents our recent efforts to address this issue. We present a novel Model Predictive control scheme that can guarantee recursive feasibility and/or safety under weaker assumptions than classic methods. In particular, recursive feasibility is guaranteed by making the safe-set constraint move backward over the horizon, and assuming that such set satisfies a condition that is weaker than control invariance. Safety is instead guaranteed under an even weaker assumption on the safe set, triggering a safe task-abortion strategy whenever a risk of constraint violation is detected. We evaluated our approach on a simulated robot manipulator, empirically demonstrating that it leads to less constraint violations than state-of-the-art approaches, while retaining reasonable performance in terms of tracking cost, number of completed tasks, and computation time.
Active object reconstruction using autonomous robots is gaining great interest. A primary goal in this task is to maximize the information of the object to be reconstructed, given limited on-board resources. Previous ...
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ISBN:
(纸本)9798350384581;9798350384574
Active object reconstruction using autonomous robots is gaining great interest. A primary goal in this task is to maximize the information of the object to be reconstructed, given limited on-board resources. Previous view planning methods exhibit inefficiency since they rely on an iterative paradigm based on explicit representations, consisting of (1) planning a path to the next-best view only;and (2) requiring a considerable number of less-gain views in terms of surface coverage. To address these limitations, we propose to integrate implicit representations into the One-Shot View Planning (OSVP). The key idea behind our approach is to use implicit representations to obtain the small missing surface areas instead of observing them with extra views. Therefore, we design a deep neural network, named OSVP, to directly predict a set of views given a dense point cloud refined from an initial sparse observation. To train our OSVP network, we generate supervision labels using dense point clouds refined by implicit representations and set covering optimization problems. Simulated experiments show that our method achieves sufficient reconstruction quality, outperforming several baselines under limited view and movement budgets. We further demonstrate the applicability of our approach in a real-world object reconstruction scenario.
The optimization formulation of the coefficient inverse problem for semi-linear parabolic equations with imperfect contact matching conditions and an additional integral condition is considered. Imperfect-contact matc...
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Minimally invasive surgery (MIS) is the type of surgery in which a small incision is created in the abdominal area to insert the laparoscopic tools. Previously, the tools used for MIS were less dexterous due to their ...
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ISBN:
(纸本)9798331517939;9788993215380
Minimally invasive surgery (MIS) is the type of surgery in which a small incision is created in the abdominal area to insert the laparoscopic tools. Previously, the tools used for MIS were less dexterous due to their rigid links and less degrees of freedom. The new technology which provides more dexterity and ease of operation is known as soft manipulator which uses the concept of soft robotics to perform surgical procedures. In this work, a prototype design and fabrication of soft manipulator for minimally invasive surgery' introduces a novel, bioinspired manipulator for MIS. The manipulator is entirely composed of soft materials, and it has been designed to test the surgical environment. The manipulator is composed of four similar modules;provided with bending, elongation and stiffening capabilities, like an octopus tentacle. The manipulator was actuated using fluid actuation control system. The combination of stiffening capabilities and manipulation tasks was addressed to confirm the manipulator's potential employment in a real surgical scenario. Such design is considered promising in the biomedical industry as they are safer compared to rigid-link robots when meeting tissues and organs and will be proved more bio compatible.
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