The construction industry in Provinsi Aceh continues to develop alongside efforts by the government and private sector to accelerate post-conflict and natural disaster reconstruction. automation and robotics are incre...
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Frost formation in refrigerators disrupts heat ex-change, lowering system efficiency and causing operational is-sues, making defrosting essential for maintaining performance. However, modern defrost systems rely on se...
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The configuration spaces of parallel manipulators exhibit more nonlinearity than serial manipulators. Qualitatively, they can be seen to possess extra folds. Projection onto smaller spaces of engineering relevance, su...
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ISBN:
(纸本)9798350323658
The configuration spaces of parallel manipulators exhibit more nonlinearity than serial manipulators. Qualitatively, they can be seen to possess extra folds. Projection onto smaller spaces of engineering relevance, such as an output workspace or an input actuator space, these folds cast edges that exhibit boundary behavior. For example, inside the global workspace bounds of a five-bar linkage appear several local workspace bounds that only constrain certain output modes of the mechanism. The presence of such boundaries, which manifest in both input and output projections, serve as a source of confusion when these projections are studied exclusively instead of the configuration space itself. Particularly, the design of nonsymmetric parallel manipulators has been confounded by the presence of exotic projections in their input and output spaces. In this paper, we represent the configuration space with a radius graph, then weight each edge by solving an optimization problem using homotopy continuation to quantify transmission quality. We then employ a graph path planner to approximate geodesics between configuration points that avoid regions of low transmission quality. Our methodology automatically generates paths capable of transitioning between non-neighboring output modes, a motion which involves osculating multiple workspace boundaries (local, global, or both). We apply our technique to two nonsymmetric five-bar examples that demonstrate how transmission properties and other characteristics of the workspace can be selected by switching output modes.
The potential of artificial muscles is becoming increasingly evident in a number of fields, including robotics, prosthetics, and wearable devices. Howeverthere is still a need to develop a soft actuator that is lightw...
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Hyperproperties extend trace properties to express properties of sets of traces, and they are increasingly popular in specifying various security and performance-related properties in domains such as cyber-physical sy...
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ISBN:
(纸本)9798400703188
Hyperproperties extend trace properties to express properties of sets of traces, and they are increasingly popular in specifying various security and performance-related properties in domains such as cyber-physical systems, smart grids, and automotive. This paper introduces HyperTWTL, which extends Time Window Temporal Logic (TWTL)-a domain-specific formal specification language for robotics, by allowing explicit and simultaneous quantification over multiple execution traces. We propose two different semantics for HyperTWTL, synchronous and asynchronous, based on the alignment of the timestamps in the traces. Consequently, we demonstrate the application of HyperTWTL in formalizing important information-flow security policies and concurrency for robotics applications. Furthermore, we introduce a model checking algorithm for verifying fragments of HyperTWTL by reducing the problem to a TWTL model checking problem.
robotics process automation (RPA) is a key technique in modern technology. The RPA guarantees that tasks are completed accurately and consistently, which is essential for decision-making. Further, the performance of t...
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In order to solve the problem of chaotic program formation in portable bionic robotic arms, which leads to excessive output angle of automation control methods and severe shaking during operation. A portable bionic ro...
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To address the selection of generic image segmentation and open-set object detection models for robotic object recognition, this paper experimentally compares the generic image segmentation and open-set object detecti...
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ISBN:
(纸本)9798350352634;9798350352627
To address the selection of generic image segmentation and open-set object detection models for robotic object recognition, this paper experimentally compares the generic image segmentation and open-set object detection models, specifically, compares and analyzes the performance of the SAM (Segment anything Model) image segmentation model as well as its derivatives Mobile SAM and HQ-SAM generic image segmentation model, and the Grounding DINO and YOLO-world open set object detection models. The applicability of these state-of-the-art object recognition methods in different robotic environment perception tasks is fully validated through detailed experimental evaluations. The results show that Mobile SAM and YOLO-world perform well in real-time demanding scenarios and can meet the needs of fast response and processing, while HQ-SAM and Grounding DINO show superior performance in segmentation or detection tasks requiring high accuracy and are more suitable for application scenarios requiring high segmentation or detection accuracy. These findings provide references and guidance for the practical applications of robotic object recognition, and can help researchers and engineers to choose the most suitable models and methods in scenarios with different requirements.
The width control accuracy of hot rolling strip is the key to improving product quality, the accurate prediction of finish rolling width spread directly affects the rough rolling width setting model. In order to furth...
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Physical human-robot interaction can improve human ergonomics, task efficiency, and the flexibility of automation, but often requires application-specific methods to detect human state and determine robot response. At...
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ISBN:
(纸本)9781728196817
Physical human-robot interaction can improve human ergonomics, task efficiency, and the flexibility of automation, but often requires application-specific methods to detect human state and determine robot response. At the same time, many potential human-robot interaction tasks involve discrete modes, such as phases of a task or multiple possible goals, where each mode has a distinct objective and human behavior. In this paper, we propose a novel method for multi-modal physical human-robot interaction that builds a Gaussian process model for human force in each mode of a collaborative task. These models are then used for Bayesian inference of the mode, and to determine robot reactions through model predictive control. This approach enables optimization of robot trajectory based on the belief of human intent, while considering robot impedance and human joint configuration, according to ergonomic- and/or task-related objectives. The proposed method reduces programming time and complexity, requiring only a low number of demonstrations (here, three per mode) and a mode-specific objective function to commission a flexible online human-robot collaboration task. We validate the method with experiments on an admittance-controlled robot, performing a collaborative assembly task with two modes where assistance is provided in full six degrees of freedom. It is shown that the developed algorithm robustly re-plans to changes in intent or robot initial position, achieving online control at 15 Hz.
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