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Toward control of Wheeled Humanoid Robots with Unknown Payloads: Equilibrium Point Estimation via Real-to-Sim Adaptation

Toward Control of Wheeled Humanoid Robots with Unknown Paylo...

引用

2024 international conference on intelligent Robots and systems

作者： Baek, Donghoon Sim, Youngwoo Purushouam, Amariya Gupta, Saurabh Ramos, Joao Univ Illinois Dept Mech Sci & Engn Champaign IL 61820 USA Univ Illinois Dept Elect & Comp Engn Champaign IL USA Univ Illinois Dept Comp Sci Champaign IL USA

ISBN: (纸本)9798350377712;9798350377705

Model-based controllers using a linearized model around the system's equilibrium point is a common approach in the control of a wheeled humanoid due to their less computational load and ease of stability analysis. However, controlling a wheeled humanoid robot while it lifts an unknown object presents significant challenges, primarily due to the lack of knowledge in object dynamics. This paper presents a framework designed for predicting the new equilibrium point explicitly to control a wheeled-legged robot with unknown dynamics. We estimated the total mass and center of mass of the system from its response to initially unknown dynamics, then calculated the new equilibrium point accordingly. To avoid using additional sensors (e.g., force torque sensor) and reduce the effort of obtaining expensive real data, a data-driven approach is utilized with a novel real-to-sim adaptation. A more accurate nonlinear dynamics model, offering a closer representation of real-world physics, is injected into a rigid-body simulation for real-to-sim adaptation. The nonlinear dynamics model parameters were optimized using Particle Swarm Optimization. The efficacy of this framework was validated on a physical wheeled inverted pendulum, a simplified model of a wheeled-legged robot. The experimental results indicate that employing a more precise analytical model with optimized parameters significantly reduces the gap between simulation and reality, thus improving the efficiency of a model-based controller in controlling a wheeled robot with unknown dynamics.

关键词： Anthropomorphic robots

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X-Ray-Guided Magnetic Fields for Wireless control of Untethered Magnetic Robots in Cerebral Vascular Phantoms

X-Ray-Guided Magnetic Fields for Wireless Control of Untethe...

引用

2024 international conference on intelligent Robots and systems

作者： Ligtenberg, Leendert-Jan W. de Boer, Marcus C. J. Mulder, Iris Lomme, Roger Wasserberg, Dorothee Rot, Emily A. M. Klein Ben Ami, Doron Sadeh, Udi Liefers, H. Remco Shoseyov, Oded Jonkheijm, Pascal Warle, Michiel Khalil, Islam S. M. Univ Twente RAM Robot & Mechatron NL-7500 AE Enschede Netherlands Univ Twente Tech Med Ctr NL-7500 AE Enschede Netherlands Radboud Univ Nijmegen Med Ctr NL-6525 GA Nijmegen Netherlands LipoCoat BV NL-7521 AG Enschede Netherlands Univ Twente Lab Biointerface Chem Tech Med Ctr NL-7500 AE Enschede Netherlands Triticum Med IL-4726389 Ramat Hasharon Israel Hebrew Univ Jerusalem IL-76100 Rehovot Israel

ISBN: (纸本)9798350377712;9798350377705

This paper explores the application of X-ray-guided magnetic fields for the wireless control of untethered magnetic robots (UMRs) within cerebral vascular phantoms. With a focus on addressing challenges associated with strokes and brain aneurysms, the study aims to enhance neurosurgical procedures by improving precision and maneuverability. Experimental findings showcase the feasibility and effectiveness of this innovative approach in navigating UMRs, characterized by a screw-shaped body and a ferromagnetic core, through complex vascular structures. Cone-beam computed tomography is employed to determine the tomography and provide various reference trajectories for the UMR inside the cerebral vascular phantom. Our motion control experiments show that the X-ray-guided magnetic fields enable the UMR to move along any intended path with an average success rate of 89%, allowing the UMR to move between the left and right common carotid artery to the left and right internal and external carotid artery.

关键词： Computerized tomography

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Toward a (Secure) Path of Least Resistance: An Examination of Usability Challenges in Secure Sandbox systems 5

Toward a (Secure) Path of Least Resistance: An Examination o...

引用

5th IEEE international conference on Trust, Privacy and Security in intelligent systems and Applications (TPS-ISA)

作者： Beauchaine, Adam Shue, Craig A. Worcester Polytech Inst Dept Comp Sci Worcester MA 01609 USA

ISBN: (纸本)9798350323856

The computing hardware and software tools for virtualizing and isolating execution environments have matured, enabling a paradigm shift towards cloud computing and containerization. Unfortunately, the use of these technologies in traditional computing is largely limited to servers and systems administered by professional IT teams. At another extreme, mobile device operating systems extensively leverage isolation to prevent malicious activity from mobile applications. In stark contrast, despite possessing the resources to support virtual machines, traditional endpoint systems tend to have a single execution environment for all of a user's activity. In this work, we explore the usability challenges that may prevent widespread use of isolation mechanisms, such as virtual machines, on traditional computing endpoints. We explore systems using a common workflow, where a user wants to experiment with a new software tool, to compare existing virtualization systems and motivate a new design. We use keystrokelevel modeling to quantitatively compare systems and identify optimization opportunities.

关键词： Usable Security Isolation System Sandboxing Usability Modeling

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Virtual sensor for door opening detection and anomaly detection using machine learning 22

Virtual sensor for door opening detection and anomaly detect...

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22nd international conference on intelligent systems Applications to Power systems

作者： Neto, Almir Gomes, Luis Vale, Zita Fed Inst Educ Sci & Technol Maranhao IFMA Sao Luis Maranhao Brazil Polytech Porto P PORTO GECAD Res Grp Intelligent Engn & Comp Adv Innovat Porto Portugal

ISBN: (纸本)9798331531768;9798331531751

Currently, several studies are being developed using machine Learning with the aim of replacing real sensors with virtual sensors. One of the biggest challenges is obtaining quality data to enable the system modeling. This article proposes the replacement of a light dependent resistor sensor, applied to a refrigerator, which detects whether the door is open or closed and an anomaly test when the door is forgotten open for too long. The use of tiny machine learning is applied to ESP32 to enable the use of regression and classification models to detect the door opening and anomaly. The tested metrics for the regression were the root mean squared error. The comparative results between the virtual and real sensors are satisfactory with an accuracy of 99.59% for classification and a root mean squared error value of 0.01 for regression. Furthermore, a prototype was developed, and the model was embedded in the ESP32 microcontroller.

关键词： Tiny Machine Learning virtual sensors internet of things intelligent devices

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Development of a Bilateral control Teleoperation System for Bipedal Humanoid Robot Utilizing Foot Sole Haptics Feedback

Development of a Bilateral Control Teleoperation System for ...

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2024 international conference on intelligent Robots and systems

作者： Shen, Yang Kanazawa, Masanobu Mori, Kazuki Isono, Ryu Nakazawa, Yuri Takanishi, Atsuo Otani, Takuya Waseda Univ Fac Sci & Engn 3-4-1 OkuboShinjuku Ku Tokyo 1698555 Japan Waseda Univ Fac Sci & Engn Shinjuku City Tokyo Japan Waseda Univ Humanoid Robot Inst HRI Shinjuku City Tokyo Japan Shibaura Inst Technol Coll Syst Engn & Sci Saitama 3378570 Japan Waseda Univ Waseda Res Inst Sci & Engn Shinjuku City Tokyo Japan

ISBN: (纸本)9798350377712;9798350377705

Teleoperating bipedal humanoid robots presents unique challenges, including decreased stability and reduced operator presence. This paper addresses these challenges by proposing a method that leverages the operator's inherent sense of stability by feedback from a sole haptics display to operate a bipedal humanoid robot. We developed a bilateral control system that integrates a device replicating sole haptics feedback and provides the operator with feedback on changes in the robot's center of gravity. We conducted operating experiments in the forward-backward direction to evaluate its effectiveness and investigate the effectiveness of sole haptics on robot operation. The results demonstrate that operating with both vision and sole haptics feedback significantly reduces the robot's fall rate by over 56% when disturbances are applied, compared to using only vision feedback. Moreover, operators reported a 21% higher sense of presence with both vision and sole haptics feedback compared to using only vision feedback.

关键词： Anthropomorphic robots

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Robust Satisfaction of Joint Position and Velocity Bounds in Discrete-Time Acceleration control of Robot Manipulators

Robust Satisfaction of Joint Position and Velocity Bounds in...

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IEEE/RSJ international conference on intelligent Robots and systems (IROS)

作者： Zanolli, Erik Del Prete, Andrea Univ Trento Ind Engn Dept Via Sommarive 11 I-38123 Trento Italy

ISBN: (纸本)9781665491907

This paper deals with the robust control of fullyactuated robots subject to joint position, velocity and acceleration bounds. Robotic systems are subject to disturbances, which may arise from modeling errors, sensor noises or communication delays. This work presents mathematical and computational tools to ensure the robust satisfaction of joint bounds in the control of robot manipulators. We consider a system subject to bounded additive disturbances on the control inputs, with constant joint position, velocity and acceleration bounds. We compute the robust viability kernel, which is the set of states such that, starting from any such state, it is possible to avoid violating the constraints in the future, despite the presence of disturbances. Then we develop an efficient algorithm to compute the range of feasible accelerations that allow the state to remain inside the robust viability kernel. Our derivation ensures the continuous-time robust satisfaction of the joint bounds, while considering the discrete-time nature of the control inputs. Tests are performed in simulation with a single joint and a 6-DOF robot manipulator, demonstrating the effectiveness of the proposed approach compared to other state-of-the-art methods.

关键词： Robust control

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Development of a Weather Station Using IoT Platform Based Arduino Integrated With a control System for Smart Agriculture Applications

Development of a Weather Station Using IoT Platform Based Ar...

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IEEE international conference on Automatic control and intelligent systems (I2CACIS)

作者： Khan, A. A. Makmud, M. Z. H. Miskon, M. T. Nair, A. Biding, K. Univ Malaysia Sabah Fac Sci & Nat Resources 1 Green Technol & Adv Matter GREAT Res Grp Kota Kinabalu 88400 Sabah Malaysia Coll Engn Sch Elect Engn UiTM Terengganu 23000 Dungun Campus Terengganu Malaysia Univ Malaysia Sabah Fac Trop Forestry Forest Water Secur Res Grp Jalan UMS Kota Kinabalu 88400 Sabah Malaysia Univ Malaysia Sabah Fac Sci & Nat Resources Environm Sci Programme Kota Kinabalu 88400 Sabah Malaysia

ISBN: (纸本)9798350372113;9798350372106

The increasing impacts of climate change on agriculture necessitates a shift towards adaptive solutions, with Climate-Smart Agriculture (CSA) emerging as a pivotal paradigm. This study underscores the imperative transition from conventional farming to CSA by shedding light on multi-faceted applications of IOT-based weather stations. This article details the design, development, and implementation of a lowcost weather station integrated with a control system, driven by Arduino Mega. This system also includes cloud- based and edg-ebased data transmission capabilities enabling real-time data monitoring for the farmers and efficient data collection. In the context of precision agriculture and smart farming, this study aims to achieve the goals of meteorological innovations, cost-effectiveness, customizability, and scalable solutions for diverse applications such as weather monitoring, climate forecasting, pesticide spray, CO2 injection, and automated irrigation. Results and discussions showcase the system's capabilities in capturing meteorological data, including CO2 concentration, solar irradiation, wind speed, wind direction, and rainfall. The study concludes by highlighting the flexibility and scalability of the designed system, with potential applications extending beyond environmental monitoring to encompass irrigation control, plant health monitoring, and overall productivity enhancement.

关键词： Smart farming automation IOT weather station Climate-Smart Agriculture

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Construction of intelligent Building Automation control System Based on Fuzzy Clustering Algorithm

Construction of Intelligent Building Automation Control Syst...

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2023 international conference on Internet of Things, Robotics and Distributed computing, ICIRDC 2023

作者： Liu, Jing He, Yu Harbin Huade University Heilongjiang Harbin150025 China

ISBN: (纸本)9798350375275

With the vigorous development of the construction industry, the market demand for automatic control systems is increasing, and it has attracted domestic and foreign automation system manufacturers to continuously improve the software for computer control management, emphasizing the humanized use of interfaces, and ensuring the orderly use of building machinery and fire protection, security, and parking management. In this regard, this article constructs an intelligent building automation control system based on fuzzy clustering algorithm, which can effectively improve the intelligence and prevention level of buildings. The intelligent building equipment automation control system utilizes modern scientific technologies such as communication technology, computer network technology, and intelligent monitoring technology. It uses hierarchical clustering to obtain the initial number of clusters from offline data, and then performs fuzzy clustering on incremental data. However, there is a problem of needing to set parameters to identify outlier samples. Comparative experiments have been conducted to verify the time for receiving control instructions between the traditional system and the system in this paper. The average receiving time of the traditional system is 18.95 seconds, while the average receiving time of the system in this paper is 12.75 seconds, which shortens the receiving time of control instructions by 6.2 seconds compared to the traditional system. The above experimental results once again validate the effectiveness of the system in this paper. © 2023 IEEE.

关键词： intelligent buildings

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Simulation and Visualization of intelligent MIMO-ANFIS-Based control System in Virtual Reality using MATLAB and V-Rep

Simulation and Visualization of Intelligent MIMO-ANFIS-Based...

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international conference on Computational Science and Computational Intelligence (CSCI)

作者： Abdulghani, Mokhles M. Walters, Wilbur L. Abed, Khalid H. Jackson State Univ Jackson MS 39217 USA

ISBN: (纸本)9798350361513;9798350372304

The noteworthy increase in processing power of computers with the excess of open software and hardware standards has significantly changed the landscape in the field of 3D virtual robotics simulation platforms. Employing software computing tools, such as fuzzy logic, neural networks, and genetic algorithms, encouraged researchers to design intelligent systems that mimic human behavior. Designing a Multiple-Input Multiple-Output (MIMO) control system using Adaptive Nuero-Fuzzy System (ANFIS) offers easy and reliable solutions to generate the desired outputs without the need for a complex mathematical model. This paper shows a MATLAB-based MIMO ANFIS control system for two different robotic systems: a two-wheel drive (2WD) mobile robot and a six-degree of freedom (6DOF) robotic arm. The Virtual Robot Experimentation Platform (V-Rep) has been used to test the designed systems through a direct interface with the MATLAB Simulink. The results showed an acceptable error value of 0.002% in generating the desired outputs of the 2WD robot. On the other hand, the performance of the implemented ANFIS controller for the 6DOF robotic arm showed a high error value of 30% if the proposed method is used to design MIMO-ANFIS control system.

关键词： MIMO ANFIS V-Rep Obstacle avoidance control MATLAB Simulink 3D simulation Real-time control ANFIS

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Application of Internet Fusion Document Recognition in the Realization of Legal Wisdom Guiding Platform with R

Application of Internet Fusion Document Recognition in the R...

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6th international conference on intelligent computing and control systems, ICICCS 2022

作者： Wu, Jing Shanghai University of Engineering Science School of Air Transportation Shanghai 201620 China

ISBN: (纸本)9781665410366

In the construction of smart legal teaching based on the R platform, in terms of teaching concept, it is necessary to pay attention to the cultivation of morality;in terms of education mode, it is necessary to emphasize individualized cultivation;in terms of teaching methods, it is necessary to implement smart education, realize the sharing of educational resources, and fully Encourage the use of the "technology + education"approach to realize the intelligence of specific educational means. After the integration of document subject information, the evaluation performance has been further improved in some systems. Experiments in the lexical cohesion part also show that the proposed sum is superior in document evaluation, and they give the best fusion evaluation results in most cases. © 2022 IEEE.

关键词： Visualization Law Education Learning (artificial intelligence) control systems Internet Knowledge transfer

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