作者：
Poovizhi, J Mary RamyaDevi, R.
Schools of Computing Sciences Department of Computer Science Chennai India
Schools of Computing Sciences Department of Computer Applications Chennai India
The abstraction of IT infrastructure enables the integration and pooling of IT resources to be shared across several applications to compensate for declining resources. Growing business needs virtualization offers a c...
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This research thoroughly examined and validated the development and utilization of smart operation and maintenance systems in edge computing settings. The system's response speed and operation and maintenance effi...
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This paper presents a Human-Robot Blind Handover architecture within the context of Human-Robot Collaboration (HRC). The focus lies on a blind handover scenario where the operator is intentionally faced away, focused ...
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ISBN:
(纸本)9798350377712;9798350377705
This paper presents a Human-Robot Blind Handover architecture within the context of Human-Robot Collaboration (HRC). The focus lies on a blind handover scenario where the operator is intentionally faced away, focused in a task, and requires an object from the robot. In this context, it is imperative for the robot to autonomously manage the entire handover process. Key considerations include ensuring safety while handing the object to the operator's hand, and detect the proper timing to release the object. The article explores strategies to navigate these challenges, emphasizing the need for a robot to operate safely and independently in facilitating blind handovers, thereby contributing to the advancement of HRC protocols and fostering a natural and efficient collaboration between humans and robots.
This paper presents a practical framework for path representation and following control for mobile industrial robots. Mobile industrial robots perform various missions, such as navigating predefined routes and transpo...
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ISBN:
(纸本)9798350377712;9798350377705
This paper presents a practical framework for path representation and following control for mobile industrial robots. Mobile industrial robots perform various missions, such as navigating predefined routes and transporting cargo in industrial environments. Unlike traditional AGVs that rely on physical tapes installed densely along routes, our framework supports the generation of drivable paths by connecting waypoints specified by users. The proposed framework generates drivable work paths while considering the permissible deviation between waypoints and the path, as well as the maximum curvature, without nonlinear optimization techniques. Additionally, we introduce a "stopover" attribute for each waypoint to enhance usability in narrow workspaces. Furthermore, we have developed a practical path following control system that takes into account real-world challenges such as actuation delay and computational efficiency. The proposed speed planner incorporates predictive information without relying on optimization techniques, and supports robust following performance by braking intervention if path deviation increases. The effectiveness of the proposed framework has been validated through robot tests, demonstrating accurate path following performance and efficient computation.
At present,The demand for planar multi-DOFs and high-precision flexible micro-positioning platforms is currently on the rise, particularly in the field of ultra-precision machining. To enhance the robust property of p...
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ISBN:
(纸本)9798350364200;9798350364194
At present,The demand for planar multi-DOFs and high-precision flexible micro-positioning platforms is currently on the rise, particularly in the field of ultra-precision machining. To enhance the robust property of proposed parallel structure micro-positioning platform based on piezoelectric ceramic actuator, adaptive sliding mode control method is designed and controlled in this article. The hysteresis characteristic of piezoelectric actuators is described by Bouc-Wen model. Then, the control precision of positioning platform is improved by using adaptive sliding mode control strategy. To demonstrate the advantages of the selected method, PID and sliding mode control methods without adaptive control laws are simulated as the reference methods. The analytical results express the tracking error of the selected controller is under 2%, and tracking accuracy is the best Experimental equipment is also set up to test and evaluate the performance of the proposed positioning platform to express that the proposed compliant mechanism obtains the excellent motion characteristic.
作者：
Soma, Arun KumarPark University
Department of Information Systems & Business Analytics 8700 NW River Park Dr ParkvilleMO64152 United States
Graph data analysis benefits from detecting substructures to infer meaning and interpret data correctly. However, many existing graph clustering algorithms are not applicable to weighted graphs, which contain edge wei...
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Equipping autonomous robots with the ability to navigate safely and efficiently around humans is a crucial step toward achieving trusted robot autonomy. However, generating robot plans while ensuring safety in dynamic...
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ISBN:
(纸本)9798350377712;9798350377705
Equipping autonomous robots with the ability to navigate safely and efficiently around humans is a crucial step toward achieving trusted robot autonomy. However, generating robot plans while ensuring safety in dynamic multi-agent environments remains a key challenge. Building upon recent work on leveraging deep generative models for robot planning in static environments, this paper proposes CoBL-Diffusion, a novel diffusion-based safe robot planner for dynamic environments. CoBL-Diffusion uses control Barrier and Lyapunov functions to guide the denoising process of a diffusion model, iteratively refining the robot control sequence to satisfy the safety and stability constraints. We demonstrate the effectiveness of CoBL-Diffusion using two settings: a synthetic single-agent environment and a real-world pedestrian dataset. Our results show that CoBL-Diffusion generates smooth trajectories that enable the robot to reach goal locations while maintaining a low collision rate with dynamic obstacles.
Micro-mobility, such as electric scooters and bicycles, has set a trend in recent years. This low-speed mode of transport, widespread and getting connected, represents a significant paradigm shift in contemporary tran...
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ISBN:
(纸本)9798350361261;9798350361278
Micro-mobility, such as electric scooters and bicycles, has set a trend in recent years. This low-speed mode of transport, widespread and getting connected, represents a significant paradigm shift in contemporary transportation dynamics. To integrate these low-speed types of transport within the intelligent Transport System (ITS), the paper proposes the use of the Vehicular Ad-Hoc Network (VANET) communication model within the Internet of Vehicles (IoV) using the IEEE 802.11p short-range communications standard. We propose a geofencing model that allows an optimal control of micro-mobility entities speeds in limited geographical areas and we simulate several use cases which can take place within our geofencing model. In addition, an energy saving approach is proposed given the presence of several roadside units (RSUs) in geofencing zones.
Clustering is a typical unsupervised learning method for classifying unsupervised data. One of the clustering meth-ods, even-sized clustering based on optimization (ECBO), is a clustering algorithm that imposes a cons...
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Diabetes has become one of the most relevant concerns of the century due to the large number of users who are affected by it. Devices that control blood glucose are very diverse and the user and the healthcare profess...
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ISBN:
(纸本)9798350319552;9798350319545
Diabetes has become one of the most relevant concerns of the century due to the large number of users who are affected by it. Devices that control blood glucose are very diverse and the user and the healthcare professionals in charge need to analyze their output to help them in the most agile way possible. In this proposal, an intelligent data platform based on IoMT devices is presented to retrieve data from diabetic patients in real time. This data is processed and summarized using generation of linguistic descriptions of time series (GLiDTS) techniques, together with Fuzzy Logic and the Computation with Words paradigm, to highlight the most relevant information for a full day. In the application layer of the platform, a web application is provided to visualize raw glucose data and summaries generated for each patient's Time series (TS) of glucose data. This service is intended to serve users as a help to understand their condition and health professionals to speed up the detection of possible problems or wrong habits in their patients using natural language (NL).
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