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PWM Signal Reconstruction to Operate the iBooster Brake for Electric Vehicle: A Reverse Engineering 1

PWM Signal Reconstruction to Operate the iBooster Brake for ...

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1st international conference on Smart Mechatronics, ICSMech 2024

作者： Haq, Muhamad Fajar Imanul Latifah, Faiza Pratama, Mulia Putri, Dewi Indriati Hadi Wahid, Muhammad Rizalul Wahono, Bambang Praptijanto, Achmad Putrasari, Yanuandri Dimyani, Ahmad Nur, Arifin Wardana, Muhammad Khristamto Aditya Suherman Program Study of Mechatronics and Artificial Intelligence Universitas Pendidikan Indonesia Purwakarta Indonesia Research Organization of Electronics and Informatics National Research and Innovation Agency Research Center for Smart Mechatronics Bandung Indonesia Mechatronics and Artificial Intelligence Universitas Pendidikan Indonesia Purwakarta Indonesia

ISBN: (纸本)9798350368918

The rise of Advanced Driver Assistance Systems (ADAS) has emphasized the need for technologies such as Automatic Emergency Braking (AEB) and Adaptive Cruise control, both of which require brake activation without driver input. Since 2016, automotive manufacturers, particularly in the U.S., have been incorporating AEB technologies in response to safety demands. Bosch's iBooster, an electromechanical brake booster, has gained prominence for its role in autopilot and braking systems, notably in Tesla's Model S and X. The iBooster system can generate full braking pressure in just 120 milliseconds and allows for electronic control while still maintaining manual override capabilities. Tesla's iBooster Gen1, used in its autopilot system, operates via a controlled Area Network (CAN), though the exact method is not publicly available. Honda has also adopted the iBooster Gen1 in the 2018 CR-V, utilizing it for the Brake Assist feature, although details on Honda's CAN network usage remain limited. This paper explores reverse engineering of the iBooster to uncover key hardware and software technologies. The reverse engineering operation entails altering the system's control loop, capturing the pedal sensor signal, and replicating this signal using an Arduino. Additionally, it includes designing circuit schematics and PCBs. The results demonstrate the success of this reverse engineering approach, which uses a work cycle and Pulse Width Modulation (PWM) to interact with the iBooster Gen1. The method produced identical responses to the iBooster with PWM values set at 30%, 40%, and 50%. © 2024 IEEE.

关键词： Advanced driver assistance systems

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Carrying the uncarriable: a deformation-agnostic and human-cooperative framework for unwieldy objects using multiple robots

Carrying the uncarriable: a deformation-agnostic and human-c...

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IEEE international conference on robotics and automation (ICRA)

作者： Doganay Sirintuna Idil Ozdamar Arash Ajoudani Human-Robot Interfaces and Interaction Laboratory Istituto Italiano di Tecnologia Genoa Italy Dept. of Informatics Bioengineering Robotics and System Engineering University of Genoa Genoa Italy

This manuscript introduces an object deformability-agnostic framework for co-carrying tasks that are shared between a person and multiple robots. Our approach allows the full control of the co-carrying trajectories by the person while sharing the load with multiple robots depending on the size and the weight of the object. This is achieved by merging the haptic information transferred through the object and the human motion information obtained from a motion capture system. One important advantage of the framework is that no strict internal communication is required between the robots, regardless of the object size and deformation characteristics. We validate the framework with two challenging real-world scenarios: co-transportation of a wooden rigid closet and a bulky box on top of forklift moving straps, with the latter characterizing deformable objects. In order to evaluate the generalizability of the proposed framework, a heterogenous team of two mobile manipulators that consist of an Omni-directional mobile base and a collaborative robotic arm with different DoFs is chosen for the experiments. The qualitative comparison between our controller and the baseline controller (i.e., an admittance controller) during these experiments demonstrated the effectiveness of the proposed framework especially when co-carrying deformable objects. Furthermore, we believe that the performance of our framework during the experiment with the lifting straps offers a promising solution for the co-transportation of bulky and ungraspable objects.

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Adapting to the “Open World”: The Utility of Hybrid Hierarchical Reinforcement Learning and Symbolic Planning

Adapting to the “Open World”: The Utility of Hybrid Hierar...

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IEEE international conference on robotics and automation (ICRA)

作者： Pierrick Lorang Helmut Horvath Tobias Kietreiber Patrik Zips Clemens Heitzinger Matthias Scheutz Human-Robot Interaction Laboratory Tufts University Medford MA USA AIT Austrian Institute of Technology GmbH Center for Vision Automation & Control Vienna Austria Institute of Information Systems Engineering Faculty of Informatics TU Wien TU Wien Vienna Austria

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Open-world robotic tasks such as autonomous driving pose significant challenges to robot control due to unknown and unpredictable events that disrupt task performance. Neural network-based reinforcement learning (RL) techniques (like DQN, PPO, SAC, etc.) struggle to adapt in large domains and suffer from catastrophic forgetting. Hybrid planning and RL approaches have shown some promise in handling environmental changes but lack efficiency in accommodation speed. To address this limitation, we propose an enhanced hybrid system with a nested hierarchical action abstraction that can utilize previously acquired skills to effectively tackle unexpected novelties. We show that it can adapt faster and generalize better compared to state-of-the-art RL and hybrid approaches, significantly improving robustness when multiple environmental changes occur at the same time.

关键词： Training Robot control Reinforcement learning Robustness Planning Task analysis Autonomous vehicles

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Construction of land base station for uav maintenance automation 15th

Construction of land base station for uav maintenance automa...

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15th international conference on Electromechanics and robotics Zavalishin’s Readings, ERZR 2020

作者： Lebedev, Igor Ianin, Anton Usina, Elizaveta Shulyak, Viktor St. Petersburg Institute for Informatics and Automation of the Russian Academy of Sciences 39 14th Line St. Petersburg199178 Russia St. Petersburg State University of Aerospace Instrumentation 67 st. Bolshaya Morskaya St. Petersburg190000 Russia

ISBN: (纸本)9789811555794

This paper proposes a construction of a land-based base station for automated unmanned aerial vehicle (UAV) maintenance. The station is intended for UAV storage, protection from poor weather conditions, battery replacement and information transfer. UAV data transfer at the station allows to reduce UAV energy consumption in flight. The base station has two levels: the top one and the bottom one. The construction of base station allows to store UAVs with large dimensions, weighting up to 12 kg. The top level of the station consists of a retractable roof and meteo-sensors. The roof design provides for solar panel installation on it, what allows reducing base station energy consumption from batteries. Materials for the roof were chosen with intention to minimize roof weight and reduce load on drives. The bottom level of the base station contains the landing site, the battery replacement mechanism, the landing site lifting mechanism, the base station control system, as well the energy distribution system. The landing site features an ArUco-marker with backlight and includes mechanisms for UAV centering and fixation. The marker with backlight includes a plexiglass sheet, light emitting diodes (LEDs), a reflective substrate and an opaque scatterer. The outline lighting ensures marker detection in low light conditions. In cases, when the marker cannot be detected by active lighting, dependency of the required photosensitivity of the camera from the UAV flight altitude is presented. © The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd 2021.

关键词： Base stations

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Multi-sensor Autonomous Robot Based Manipulation of Valves for Process control

Multi-sensor Autonomous Robot Based Manipulation of Valves f...

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asia international conference on Modeling & Simulation

作者： Prabhakar Mishra H.N. Shankar Jayesh Sudhir Bhat Sumanth R. Kubair Sameera H. Bharadwaja S. Anudhan Divya Kamath Hundi Goutham Kamath Department of Telecommunication Engineering PES Centre for Intelligent Systems Bangalore India Department of Telecommunication Engineering PES Institute of Technology Bangalore India PES Institute of Technology Bangalore India

An autonomous robot finds applications in process industries to perform control operations such as manipulation of valves, especially in hazardous environments. This would require localization and mapping capabilities for efficient navigation, coupled with a dexterous arm for manipulation of the valves. Dynamic path planning and obstacle avoidance are the necessary requirements for autonomous navigation in the work area of a process industry. This paper presents a way to perform the above tasks using an autonomous robot having multi-sensory inputs, and using vision based inferences.

关键词： Valves Process control Navigation Service robots Robot vision systems Intelligent robots Humans Mechanical sensors robotics and automation Dead reckoning

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How Morphology Affects Self-Assembly in a Stochastic Modular Robot

How Morphology Affects Self-Assembly in a Stochastic Modular...

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2008 IEEE international conference on robotics and automation (ICRA 2008), vol.8

作者： Shuhei Miyashita Marco Kessler Max Lungarella Artificial Intelligence Lab Department of Informatics University of Zurich Switzerland

Self-assembly is a process through which an organized structure can spontaneously form from simple parts. Taking inspiration from biological examples of self-assembly, we designed and built a water-based modular robotic system consisting of autonomous plastic tiles capable of aggregation on the surface of water. In this paper, we investigate the effect of the morphology (here: shape) of the tiles on the yield of the self-assembly process, that is, on the final amount of the desired aggregate. We describe experiments done with the real system as well as with a computer simulation thereof. We also present results of a mathematical analysis of the modular system based on chemical rate equations which point to a power-law relationship between yield rate and shape. Using the real system, we further demonstrate how through a single parameter (here: the externally applied electric potential) it is possible to control the self-assembly of propeller-like aggregates. Our results seem to provide a starting point (a) for quantifying the effect of morphology on the yield rates of self-assembly processes and (b) for assessing the level of modular autonomy and computational resources required for emergent functionality to arise.

关键词： Self-assembly Stochastic processes Robots Tiles Shape Aggregates Plastics Surface morphology Computer simulation Mathematical analysis

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Application of System on Chip (SoC) devices for the design of a smoke detector working with megapixel image streams

Application of System on Chip (SoC) devices for the design o...

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international conference on Methods and Models in automation and robotics (MMAR)

作者： Wiesław Pamuła Maciej Sajkowski Tomasz Stenzel Jarosław Michalak Grzegorz Baron Bartłomiej Szady Department of Transport Systems and Traffic Engineering Silesian University of Technology Katowice Poland Department of Power Electronics Silesian University of Technology Gliwice Poland Faculty of Automatic Control Institute of Informatics Silesian University of Technology Gliwice Poland

The paper discusses the application of System on Chip devices for processing Megapixel video streams. The domain of image processing using high resolution images is very demanding in the scope of calculating power and frequently exploits special processing hardware. The progress of integration technology brings about SoC which are capable of meeting such processing demands. Characteristics of FPGA and DSP based systems are assessed. A concise survey of chip solutions is presented and a pair of representative systems is chosen for comparison of their properties. The design of a smoke detection system is used for evaluating the advantages and drawbacks of using such SoC solutions. Almost identical image processing algorithms are implemented in the case of FPGA and DSP. Both solutions meet the image processing requirements and are suitable for real time processing. FPGA based solution is much faster as it uses pipelining for improving the utilisation of scarce memory resources.

关键词： Streaming media Digital signal processing Field programmable gate arrays Program processors Image resolution Standards

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Variable Stiffness Link (VSL): Toward inherently safe robotic manipulators

Variable Stiffness Link (VSL): Toward inherently safe roboti...

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IEEE international conference on robotics and automation (ICRA)

作者： Agostino Stilli Luca Grattarola Hauke Feldmann Helge A. Wurdemann Kaspar Althoefer Department of Informatics King's College London Strand London UK Faculty of Technology Hochschule Emden/Leer Emden Germany Department of Mechanical Engineering University College London Gower St London UK School of Electronic Engineering & Computer Science Queen Mary University of London London UK

Nowadays, the field of industrial robotics focuses particularly on collaborative robots that are able to work closely together with a human worker in an inherently safe way. To detect and prevent harmful collisions, a number of solutions both from the actuation and sensing sides have been suggested. However, due to the rigid body structures of the majority of systems, the risk of harmful collisions with human operators in a collaborative environment remains. In this paper, we propose a novel concept for a collaborative robot made of Variable Stiffness Links (VSLs). The idea is to use a combination of silicone based structures and fabric materials to create stiffness-controllable links that are pneumatically actuated. According to the application, it is possible to change the stiffness of the links by varying the value of pressure inside their structure. Moreover, the pressure readings from the pressure sensors inside the regulators can be utilised to detect collisions between the manipulator body and a human worker, for instance. A set of experiments are performed with the aim to assess the performance of the VSL when embedded in a robotic manipulator. The effects of different loads and pressures on the workspace of the manipulator are evaluated together with the efficiency of the collision detection control system and hardware.

关键词： Collision avoidance Manipulators Robot sensing systems Service robots Shape

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B-spline based filters for multi-point trajectories planning

B-spline based filters for multi-point trajectories planning

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IEEE international conference on robotics and automation (ICRA)

作者： Luigi Biagiotti Claudio Melchiorri Department of Information Engineering University of Modena and Reggio Emilia and INFM Modena Italy Department of Electronics Informatics and Systems University of Bologna Bologna Italy

In this paper, the relation between B-splines and FIR (Finite Impulse Response) filters is demonstrated and exploited to design a digital filter for trajectory planning, combining the very simple structure and computational efficiency of FIR filters with the flexibility of splines. In particular, the trajectory generator consists of two main elements. The former is devoted to the solution of an optimization problem that, given a set of points to be interpolated (or approximated), provides the control points defining the spline. The latter, a cascade of moving average filters, gives the trajectory profile at each sampling time on the basis of such points. The proposed method has been applied to several robotic and industrial applications, and in this paper two case studies are reported as examples: an industrial robot performing a welding operation and a mobile robot moving in an environment with obstacles. With respect to these tasks, the main features of the trajectory generator are shown: the possibility of planning trajectories with high degree of smoothness (continuity of the derivatives), the possibility of easily changing the duration of the trajectory (and therefore the velocity, acceleration, jerk, etc. of the trajectory) maintaining the same geometric path, the possibility of locally modifying the pre-planned path.

关键词： Spline Trajectory Finite impulse response filter Mobile robots Digital filters Service robots Computational efficiency Sampling methods Welding Path planning

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Causal Inference for De-biasing Motion Estimation from Robotic Observational Data

Causal Inference for De-biasing Motion Estimation from Robot...

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IEEE international conference on robotics and automation (ICRA)

作者： Junhong Xu Kai Yin Jason M. Gregory Lantao Liu Luddy School of Informatics Computing and Engineering at Indiana University Bloomington IN USA Expedia Group. U.S. Army Research Laboratory Adelphi MD

Robot data collected in complex real-world scenarios are often biased due to safety concerns, human preferences, and mission or platform constraints. Consequently, robot learning from such observational data poses great challenges for accurate parameter estimation. We propose a principled causal inference framework for robots to learn the parameters of a stochastic motion model using observational data. Specifically, we leverage the de-biasing functionality of the potential-outcome causal inference framework, the Inverse Propensity Weighting (IPW), and the Doubly Robust (DR) methods, to obtain a better parameter estimation of the robot's stochastic motion model. The IPW is a re-weighting approach to ensure unbiased estimation, and the DR approach further combines any two estimators to strengthen the unbiased result even if one of these estimators is biased. We then develop an approximate policy iteration algorithm using the bias-eliminated estimated state transition function. We validate our framework using both simulation and real-world experiments, and the results have revealed that the proposed causal inference-based navigation and control framework can correctly and efficiently learn the parameters from biased observational data.

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