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35th IEEE international conference on Tools with Artificial Intelligence (ICTAI)

作者： Chen, Guangda Gan, Yinghao Chen, Jiayi Shi, Shuanwu Chen, Wei Chen, Yingfeng Xiong, Rong Fan, Changjie Fuxi Robot NetEase Hangzhou Peoples R China Hangzhou Dianzi Univ Coll Comp Sci & Technol Hangzhou Peoples R China Zhejiang Univ Technol Dept Automat Hangzhou Peoples R China Zhejiang Univ State Key Lab Ind Control & Technol Hangzhou Peoples R China

ISBN: (纸本)9798350342734

As labor shortages and safety regulations become more prominent, the need for human-in-the-loop automation of excavators is increasing. To meet this demand, we have developed a comprehensive modeling method for the excavator arm using nonlinear optimization approaches, including a simplified model that maps the task space to the joint space, as well as an equivalent model that maps the joint space to the actuator space. These models were then used to build a feedforward-PID joint velocity controller and a joint trajectory controller combined with position feedback, which forms the core of our proposed semi-automatic control system for the excavator arm. Our deployment scheme is simple and efficient, and has been deployed on two excavators of different makes and sizes. Experiments show that our deployment scheme performs well on both excavators, with an average error of 0.05 rad/s for the velocity controller and less than 5 cm for the trajectory controller. Using our semi-automatic system, we have completed demonstration experiments for precise digging and grading operations. A demonstration video can be found at https://***/N6I0WZGSF68.

关键词： human in the loop automation kinematic modeling robotics in construction

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Modular design automation of the morphologies, controllers, and vision systems for intelligent robots: a survey

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Visual Intelligence 2023年第1期1卷 1-28页

作者： Li, Wenji Wang, Zhaojun Mai, Ruitao Ren, Pengxiang Zhang, Qinchang Zhou, Yutao Xu, Ning Zhuang, JiaFan Xin, Bin Gao, Liang Hao, Zhifeng Fan, Zhun International Cooperation Base of Evolutionary Intelligence and Robotics Guangdong Shantou China Department of Electronic Information Engineering Shantou University Shantou 515063 China School of Automation Beijing Institute of Technology Beijing 100081 China School of Mechanical Science & Engineering HUST Huazhong University of Science and Technology Wuhan 430074 China College of Science Shantou University Shantou 515063 China

Design automation is a core technology in industrial design software and an important branch of knowledge-worker automation. For example, electronic design automation (EDA) has played an important role in both academia and industry. Design automation for intelligent robots refers to the construction of unified modular graph models for the morphologies (body), controllers (brain), and vision systems (eye) of intelligent robots under digital twin architectures, which effectively supports the automation of the morphology, controller, and vision system design processes of intelligent robots by taking advantage of the powerful capabilities of genetic programming, evolutionary computation, deep learning, reinforcement learning, and causal reasoning in model representation, optimization, perception, decision making, and reasoning. Compared with traditional design methods, MOdular DEsigN automation (MODENA) methods can significantly improve the design efficiency and performance of robots, effectively avoiding the repetitive trial-and-error processes of traditional design methods, and promoting automatic discovery of innovative designs. Thus, it is of considerable research significance to study MODENA methods for intelligent robots. To this end, this paper provides a systematic and comprehensive overview of applying MODENA in intelligent robots, analyzes the current problems and challenges in the field, and provides an outlook for future research. First, the design automation for the robot morphologies and controllers is reviewed, individually, with automated design of control strategies for swarm robots also discussed, which has emerged as a prominent research focus recently. Next, the integrated design automation of both the morphologies and controllers for robotic systems is presented. Then, the design automation of the vision systems of intelligent robots is summarized when vision systems have become one of the most important modules for intelligent robotic systems. Then

关键词： Bond graph Evolutionary computation Intelligent robots Modular design automation Neural architecture search

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A New Improved Echo State Network with Multiple Output Layers for Time Series Prediction 6

A New Improved Echo State Network with Multiple Output Layer...

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6th international conference on robotics and automation Engineering, ICRAE 2021

作者： Shao, Yanning Yao, Xianshuang Wang, Gong Cao, Shengxian Northeast Electric Power University School of Automation Engineering Jilin Province Jilin China

ISBN: (纸本)9781665406970

Through investigating the traditional echo state network, their output structure has only one output layer using the same output weight learning method, such that the networked prediction results is not always reliable. Therefore, a new echo state network with multiple output layers (MOL-ESN) in parallel configuration is proposed for time series prediction in this paper. For the output structure of MOL-ESN, multiple output layers with different output weight learning methods are built. Considering the multiple output layers are introduced, the computing burden of training the MOL-ESN will be also increased, and thus, on the premise of ensuring the stable network output, the prediction performance of the MOL-ESN need to be improved. Finally, the effectiveness of the proposed network is verified by a simulation example. © 2021 IEEE.

关键词： Forecasting

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Target Tracking Based on Improved Particle Filter Algorithm-and Camshift Method 8

Target Tracking Based on Improved Particle Filter Algorithm-...

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8th IEEE Annual international conference on Cyber Technology in automation, Control, and Intelligent Systems (IEEE-CYBER)

作者： Zheng, Shuang Yuan, Liang Chen, Heping Shenzhen Acad Robot Shenzhen Peoples R China Xinjiang Univ Coll Mech Engn Urumqi 830047 Peoples R China Xinjiang Univ Coll Mech Engn Xinjiang 830047 Peoples R China

ISBN: (纸本)9781538670576

The applications of visual tracking in real life are becoming more and more extensive, and attention paid to it is getting higher and higher. The problem of traditional particle filtering is that the recommended distribution probability density generally does not include the target current position state information. The Camshift algorithm introduced in the particle filtering prediction particle phase is proposed, and the current position information is added to the new sampling particle. Using the directional feature, the target edge is extracted by Snake, the observation probability of the directional model feature is calculated. The algorithm greatly reduces the problem of particle degradation and improves the tracking accuracy. And the experimental results show that the algorithm can be used to solve the single-target and multi-target tracking problems with good robustness.

关键词： object tracking particle filtering (numerical methods) probability target tracking Target tracking Particle filters tracking objects Particle filtering algorithm POSITION INFORMATION DIRECTIONAL tracking accuracy Current Position visual tracking Probability

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Enhancing Flexibility in Power Electronics Production: A Study on Robotic Handling of Copper Clips for Laser Bonding 11

Enhancing Flexibility in Power Electronics Production: A Stu...

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11th international conference on Control, Mechatronics and automation (ICCMA)

作者： Janisch, Lucas Ockel, Manuela Schlichting, Johannes Breuer, Marius Franke, Jorg Friedrich Alexander Univ Erlangen Nuremberg Inst Factory Automat & Prod Syst Nurnberg Germany Siemens Aktiengesellschaft Technol Dept Munich Germany

ISBN: (纸本)9798350315684

The production of power electronic modules requires cost-effective manufacturing of customer-specific small batches to meet today's requirements. Consequently, traditional methods of production are being replaced by highly flexible and fully automated manufacturing processes. This paper introduces a novel approach: a robot-assisted laser beam welding method designed to join copper clips with power modules' Direct Bonded Copper substrates and power terminals. The proposed setup involves using two six-axis articulated robots to assemble the components. Additionally, stationary scanner optics are utilized to guide a laser beam with a wavelength of 515 nm in order to establish the connections. To investigate the feasibility of the proposed approach initial experiments which focus on examining the influence of the pick and place process on the laser beam welding were conducted. The results demonstrate the feasibility of the manufacturing concept while showing a correlation between the geometry of the copper clamp, the clamping force and the resulting gap between the welded copper clamp and the Direct Bonded Copper. The findings obtained from these experiments contribute valuable insights toward the development of a flexible and reliable production method for power electronic modules.

关键词： laser bonding robotics gripper power electronics semiconductor device packaging

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Haptic simulation for robot-assisted dressing

Haptic simulation for robot-assisted dressing

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2017 IEEE international conference on robotics and automation, ICRA 2017

作者： Yu, Wenhao Kapusta, Ariel Tan, Jie Kemp, Charles C. Turk, Greg Liu, C. Karen School of Interactive Computing Georgia Institute of Technology Atlanta United States Healthcare Robotics Lab Georgia Institute of Technology Atlanta United States

ISBN: (纸本)9781509046331

There is a considerable need for assistive dressing among people with disabilities, and robots have the potential to fulfill this need. However, training such a robot would require extensive trials in order to learn the skills of assistive dressing. Such training would be time-consuming and require considerable effort to recruit participants and conduct trials. In addition, for some cases that might cause injury to the person being dressed, it is impractical and unethical to perform such trials. In this work, we focus on a representative dressing task of pulling the sleeve of a hospital gown onto a person's arm. We present a system that learns a haptic classifier for the outcome of the task given few (2-3) real-world trials with one person. Our system first optimizes the parameters of a physics simulator using real-world data. Using the optimized simulator, the system then simulates more haptic sensory data with noise models that account for randomness in the experiment. We then train hidden Markov models (HMMs) on the simulated haptic data. The trained HMMs can then be used to classify and predict the outcome of the assistive dressing task based on haptic signals measured by a real robot's end effector. This system achieves 92.83% accuracy in classifying the outcome of the robot-assisted dressing task with people not included in simulation optimization. We compare our classifiers to those trained on real-world data. We show that the classifiers from our system can categorize the dressing task outcomes more accurately than classifiers trained on ten times more real data. © 2017 IEEE.

关键词： Hidden Markov models

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Fast and Simple Interacting models of Drape Tool and Ply Material for Handling Free Hanging, Pre-impregnated Carbon Fibre Material 15th

Fast and Simple Interacting Models of Drape Tool and Ply Mat...

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15th international conference on Informatics in Control, automation and robotics (ICINCO)

作者： Gunnarsson, Gudmundur G. Nielsen, Ole W. Schlette, Christian Petersen, Henrik G. Univ Southern Denmark Maersk McKinney Moller Inst Campusvej 55 DK-5230 Odense M Denmark

ISBN: (纸本)9783030319939;9783030319922

Robotic layup of pre-impregnated (prepreg) fiber plies onto complex molds is a hitherto unsolved problem. At the University of Southern Denmark (SDU), we have gathered an international consortium with industrial keyplayers for addressing this gap in the FlexDraper project. We use an underactuated array of suction cups to handle the plies and our approach is based on model- and simulation-based control of the shaping of the tool and the free hanging plies during the draping procedure. This requires fast computable models in the draping control loop. In this paper, we present a tool model that predicts the 6D configuration of the suction cups based on the actuator positions and subsequently a ply model that predicts the shape of the free hanging prepreg fiber plies with perpendicular fiber directions, where the ply is held (clamped) at a set of locations that are not too far apart. Rather than using computationally expensive physical techniques, e.g. FEM simulations, our ply model is only based on interpolations between the held locations satisfying curve length constraints in fiber directions. The paper also contains experimental tests for the accuracy of the overall model.

关键词： Robotic layup of fiber plies Modeling underactuated tools Modeling shapes of deformable objects

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Adaptive tracking control of a Duffing oscillator with hard error constraints

Adaptive tracking control of a Duffing oscillator with hard ...

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international conference on methods and models in automation and robotics (MMAR)

作者： Jacek Kabziński Institute of Automatic Control Lodz University of Technology Lodz Poland

A general tracking control problem is solved for a chaotic system (Duffing oscillator) with unknown parameters, under the additional requirement that the tracking error must remain inside an imposed hard constraint. The barrier Lyapunov functions technique is applied in an adaptive backstepping scheme. Several system properties are investigated and benefits coming from state variable constraints are discussed. The same approach may be used for chaos synchronization and chaotification.

关键词： Oscillators Trajectory Lyapunov methods Backstepping Chaos Synchronization Force

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Remarks on Functional Observers for Distributed Parameter Systems

Remarks on Functional Observers for Distributed Parameter Sy...

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international conference on methods and models in automation and robotics (MMAR)

作者： Zbigniew Emirsajłow Department of Control and Measurements West Pomeranian University of Technology Szczecin Poland

The paper deals with the output observation problem for a class of distributed parameter systems. We describe the design procedure by deriving sufficient conditions to be satisfied by a functional observer which does the job. The plant is described by a state space model with the system operator generating a strongly continuous group. We assume that both the input and the output operators of the plant and the observer are bounded.

关键词： Observers Mathematical model Generators Distributed parameter systems Analytical models Electronic mail Hilbert space

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An online motion planning and control strategy for UAVs in wind using reduced order forward models

An online motion planning and control strategy for UAVs in w...

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2013 Australasian conference on robotics and automation, ACRA 2013

作者： Doshi, Ashray A. Singh, Surya P. N. Postula, Adam J. University of Queensland Australia

ISBN: (纸本)9780980740448

This paper presents an online motion planning strategy for Unmanned Aerial Vehicles (UAVs) in an obstacle-strewn environment that is complicated by uncertainties stemming from unmodeled effects and environmental disturbances, particularly cross-winds. During execution underlying wind currents are estimated and applied to the forward model used in online trajectory planning. To facilitate on-board computations, a reduced order forward model is used. We consider a 2D slice of the operating environment and assume that the UAV has independent bounded control over airspeed and altitude. Results are demonstrated from simulation using a medium fidelity non-linear model of a small UAV (Sig Rascal) under wind disturbances of varying magnitude and direction. The approach is tested in base winds in excess of 22 knots (50% forward speed). Results suggest that the method provides an efficient strategy for navigating to the desired destination by re-routing the trajectory as opposed to pure-pursuit methods under significant disturbance.

关键词： Motion planning

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