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Genetic Algorithm-Driven Optimization for Enhanced Accessibility in Mobile robotics 10

Genetic Algorithm-Driven Optimization for Enhanced Accessibi...

引用

10th international conference on Control, automation and Robotic (ICCAR)

作者： Torres, Gilbert Ace S. Calumba, Shaun Patrick Fajardo, Fermar Germar, Roschele Eguia De Luna, Robert G. Tan, Gerhard P. Polytech Univ Philippines Manila Philippines

ISBN: (纸本)9798350373172;9798350373189

This research explores the application of Genetic Algorithm (GA)-driven optimization to enhance accessibility in the realm of mobile robotics. The pivotal challenge addressed is the efficient optimization of robot paths, aiming to improve accessibility for diverse environments. Traditional path optimization methods often struggle with real-time adaptability and dynamic environmental changes. In response, our proposed genetic algorithm harnesses evolutionary principles to dynamically optimize paths, thereby contributing to the increased accessibility of mobile robots. Through simulations and experiments, we demonstrate the efficacy of the GA-driven optimization in accommodating diverse scenarios. The algorithm showcases its ability to adapt to changing conditions, ensuring not only optimal paths but also improved accessibility for users. The research sheds light on the potential applications of genetic algorithms in mobile robotics, paving the way for advancements in autonomous navigation with a focus on inclusivity and enhanced accessibility.

关键词： Genetic Algorithm Accessibility Path Optimization Mobile robotics

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Exploring Software-Defined robotics: Its Requirements and applications of Information Models 24

Exploring Software-Defined Robotics: Its Requirements and Ap...

引用

24th international conference on Control, automation and Systems

作者： Park, Hong Seong Kangwon Natl Univ Dept Elect & Elect Engn Chunchon 24341 Ganwondo South Korea

ISBN: (纸本)9798331517939;9788993215380

This paper explores the application of Software-Defined x (SDx) principles to robotics, specifically focusing on Software-Defined Robot (SDR), to enhance flexibility, interoperability, and portability in robotic systems. SDR facilitates a significant paradigm shift from traditional, hardware-dependent configurations to more agile, software-defined setups. By abstracting hardware functions into software or separating hardware from software, SDR allows for more dynamic development, rapid updates, and adjustments of robotic applications without the constraints of physical hardware. Utilizing standardized information model of ISO 22166-201 and DIS 22166-202, this paper discusses how SDR facilitates the development, testing, and deployment of robotic functionalities such as mobility services without direct hardware interaction. The implementation of SDR is demonstrated using a Jackal robot and a TurtleBot, which are examples of mobile platforms, with further testing through digital twins in a simulated environment, showcasing the potential of SDR to transform the robotics industry by reducing hardware dependency and enhancing system adaptability.

关键词： robotics Software-Defined Robot Requirements Information model Abstraction Modules

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A Model-Based Approach for robotics Education with Emphasis on Embedded Systems 9

A Model-Based Approach for Robotics Education with Emphasis ...

引用

9th international conference on automation, robotics and applications (ICARA)

作者： Beneder, Roman Schmitt, Patrick Koernyefalvy, Clemens UAS Tech Wien Dept Elect Engn Vienna Austria

ISBN: (纸本)9781665489218

Typically, universities with a focus on technical sciences provide courses where students have to design control systems, to implement these control systems on embedded hardware and to verify the functionality of their implementations. Hence, the students work in groups and implement practical demonstrators based on given problem statements. In order to design, implement, and test robotic applications, it is mandatory to utilize expertise within the field of robotics and the field of embedded systems. The combination of expertise within both fields (robotics and embedded systems) is a highly demanded skill set, which is required to work for companies with focus on aviation, automotive, and even emerging applications for agricultural technology. The technical complexity of these applications is increasing almost exponentially, which requires abstract model-based approaches to ease the design flow of such implementations. This paper introduces a model-based approach for students within robotics and/or embedded systems degree programs. Moreover, this paper describes the state-of-the-art workflow to implement problem statements within the field of robotics and embedded systems (tools, approach and test), gives and overview of the model-based approach for students within these field of applications, and shows the integration of the results into courses based on a control system model.

关键词： robotics Education Embedded Systems Education Control Systems Embedded Software

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HERO-SLAM: Hybrid Enhanced Robust Optimization of Neural SLAM

HERO-SLAM: Hybrid Enhanced Robust Optimization of Neural SLA...

引用

IEEE international conference on robotics and automation (ICRA)

作者： Xin, Zhe Yue, Yufeng Zhang, Liangjun Wu, Chenming Chinese Acad Sci Inst Automat Beijing Peoples R China Beijing Inst Technol Sch Automat Beijing Peoples R China Baidu Res Robot & Autonomous Driving Lab RAL Beijing Peoples R China

ISBN: (纸本)9798350384581;9798350384574

Simultaneous Localization and Mapping (SLAM) is a fundamental task in robotics, driving numerous applications such as autonomous driving and virtual reality. Recent progress on neural implicit SLAM has shown encouraging and impressive results. However, the robustness of neural SLAM, particularly in challenging or data-limited situations, remains an unresolved issue. This paper presents HERO-SLAM, a Hybrid Enhanced Robust Optimization method for neural SLAM, which combines the benefits of neural implicit field and feature-metric optimization. This hybrid method optimizes a multi-resolution implicit field and enhances robustness in challenging environments with sudden viewpoint changes or sparse data collection. Our comprehensive experimental results on benchmarking datasets validate the effectiveness of our hybrid approach, demonstrating its superior performance over existing implicit field-based methods in challenging scenarios. HERO-SLAM provides a new pathway to enhance the stability, performance, and applicability of neural SLAM in real-world scenarios. Project page: https://***.

关键词： SLAM robotics

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Enhanced multifunctional interface for reconfigurability of robotic teams in planetary applications

Enhanced multifunctional interface for reconfigurability of ...

引用

IEEE international conference on robotics and automation (ICRA)

作者： Yueksel, Mehmed Brinkmann, Wiebke Jankovic, Marko Kuecueker, Hilmi Dogu Kirchner, Frank DFKI GmbH Robot Innovat Ctr RIC Bremen Germany Univ Bremen FB3 Robot Res Grp Bremen Germany

ISBN: (纸本)9798350384581;9798350384574

Exploration missions on extra terrestrial celestial bodies are to date performed by complex and heavy robotic systems. The trend is towards lighter modular systems that can be (re)configured in situ according to mission specific requirements. To facilitate flexible configurability, a multifunctional interconnect is used to mechanically couple the involved systems while providing electrical power and data transmission. The paper presents the further development of the reliable electromechanical interface (EMI) from the TransTerrA project, which has been proven in several field tests and reached TRL 4. Docking under loads of up to 550 N has been successfully tested with the new design. The experiments presented include undocking at various inclinations with different loads expected for the application scenario. The maximum determined static load that can be carried by the further developed EMI is 2000 N. In further experiments, new contact blocks responsible for the transfer of electrical power and data were tested for water resistance and resilience to environmental factors, as well as power and data transfer. The obtained results will be helpful in the development of a multi-functional interface suitable for lunar applications and missions having similar challenging environmental conditions.

关键词： Planetary robotics interface modularity docking lunar environment

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Rational Intelligence Model: Overcoming Data Handling Limitations in LLMs 18

Rational Intelligence Model: Overcoming Data Handling Limita...

引用

18th international conference on Control automation robotics and Vision

作者： Tao, XueHong Miao, Yuan Wang, Guanhua Swinburne Univ Technol Melbourne Vic 3122 Australia Victoria Univ Melbourne Vic 3011 Australia

ISBN: (纸本)9798331518509;9798331518493

Many human-computer interactions and automated processes are dependent on data. We need to correctly store data and retrieve data to support these processes. Large Language Models (LLMs) have made significant progress in comprehension and reasoning. However, we have found that their ability to handle professional data is weak, which significantly limits their applications in automated processes and professional applications. These scenarios often involve a large number of similar data entries, which are challenging for LLMs such as ChatGPT-4 Omni. In this paper, we propose a Rational Intelligence Model that comprehends human experts' knowledge of data structure and process requirements of data, automatically extracts data from conversations with end users, and effectively stores the data and retrieves it for supporting the interaction and process. Experiments show that ChatGPT-4o can achieve 0% error in simple queries, 2.6% errors when data entries are out of order, and 38% errors when the queries are reasonably complex. However, with our proposed Rational Intelligence Model (RIM), we can achieve 0% error rate in all tests. RIM fundamentally changes software engineering and expert system development approaches. Instead of having a software engineer understand expert knowledge of data processing, this is now achieved by RIM, which means it is much more flexible, lower in cost, and requires much less development time.

关键词： Rational Intelligence ChatGPT SQL Large Language Model Process automation expert system software engineering

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Mechanical Characterization Analysis of Kirigami Structure for Soft Robotic Design 9

Mechanical Characterization Analysis of Kirigami Structure f...

引用

9th international conference on automation, Control and robotics Engineering (CACRE)

作者： Khan, Muhammad Niaz Lotfiani, Amin Javaid, Umair Shao, Zhufeng Tsinghua Univ State Key Lab Tribol Dept Mech Engn Beijing Peoples R China Tsinghua Univ Inst Mfg Engn Dept Mech Engn Beijing Peoples R China Tsinghua Univ Dept Mech Engn Beijing Key Lab Precis Ultraprecis Mfg Equipments Beijing Peoples R China Univ Twente Fac Engn Technol Enschede Netherlands Ningbo Univ Technol Robot Inst Ningbo Peoples R China

ISBN: (纸本)9798350350319;9798350350302

This paper provides a detailed mechanical characterization and stress analysis of kirigami sheets across various structural configurations, highlighting their potential applications in soft robotics. The study examines linear, circular, triangular, and trapezoidal kirigami patterns through finite element simulations, complemented by experimental validation. Deformation parameters are systematically applied to both single and multiple units of kirigami sheets to assess their capacity for mechanical elongation and load sustainability. Additionally, friction analyses are discussed via simulation to explore the anchoring effects of these kirigami structures when applied to soft robots. The results of this study enhance our understanding of the mechanical properties of kirigami structures and their practical implications for soft robotics design.

关键词： Kirigami Structure Mechanical Characterization Soft robotics Simulation

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SensorClouds: A Framework for Real-Time Processing of Multi-modal Sensor Data for Human-Robot-Collaboration 9

SensorClouds: A Framework for Real-Time Processing of Multi-...

引用

9th international conference on automation, robotics and applications (ICARA)

作者： Poeppel, Alexander Eymueller, Christian Reif, Wolfgang Univ Augsburg Inst Software & Syst Engn Augsburg Germany

ISBN: (纸本)9781665489218

Human-robot-collaboration (HRC) requires fast and reliable sensor data to ensure the safety of humans in the workspace. Current solutions for processing multi-modal sensor data in HRC are either highly performant in specific scenarios or offer more flexibility at the cost of decreased performance. Our GPU accelerated SensorClouds framework, however, combines both high flexibility and real-time performance. The architecture aids developers in quickly implementing complex HRC applications with multiple sensors by encapsulating all functionality into reusable modules. The resulting pipeline is optimized by the framework and executed in real-time.

关键词： human-robot-interaction point clouds voxel maps multi-modal sensor data sensor fusion GPU computing real-time computing robotics

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Accurate Prior-centric Monocular Positioning with Offline LiDAR Fusion

Accurate Prior-centric Monocular Positioning with Offline Li...

引用

IEEE international conference on robotics and automation (ICRA)

作者： He, Jinhao Huang, Huaiyang Zhang, Shuyang Jiao, Jianhao Liu, Chengju Liu, Ming Hong Kong Univ Sci & Technol Guangzhou Thrust Robot & Autonomous Syst Guangzhou Peoples R China Baidu Autonomous Driving Technol Dept ADT Hong Kong Peoples R China Hong Kong Univ Sci & Technol Dept Elect & Comp Engn Kowloon Clear Water Bay Hong Kong Peoples R China UCL Dept Comp Sci Gower St London WC1E 6BT England Tongji Univ Sch Elect & Informat Engn Shanghai Peoples R China HKUST Shenzhen Hong Kong Collaborat Innovat Res I Shenzhen Peoples R China

ISBN: (纸本)9798350384581;9798350384574

Unmanned vehicles usually rely on Global Positioning System (GPS) and Light Detection and Ranging (LiDAR) sensors to achieve high-precision localization results for navigation purpose. However, this combination with their associated costs and infrastructure demands, poses challenges for widespread adoption in mass-market applications. In this paper, we aim to use only a monocular camera to achieve comparable onboard localization performance by tracking deep-learning visual features on a LiDAR-enhanced visual prior map. Experiments show that the proposed algorithm can provide centimeter-level global positioning results with scale, which is effortlessly integrated and favorable for low-cost robot system deployment in real-world applications.

关键词： Localization robotics in Under-Resourced Settings Sensor Fusion

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Development and Characterization of Tactile Capacitive Sensor for Soft robotics Application 12

Development and Characterization of Tactile Capacitive Senso...

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12th international conference on Control Mechatronics and automation

作者： Srinivas, Gidugu Lakshmi Carinthia Univ Appl Sci ADMiRE Res Ctr Sch Engn & IT A-9500 Villach Austria

ISBN: (纸本)9798331517519;9798331517526

This paper details developing and characterizing a soft capacitive sensor patch designed for force measurement in soft robotics and orthosis applications. The 6x6 matrix sensor was fabricated using silicone, selected for its viscoelasticity and strain resistance, making it well-suited for human-interactive applications. The sensing mechanism is based on capacitance changes when force is applied and measured using a MUCA board. The system also incorporates an SHT30 sensor to monitor environmental conditions like temperature and humidity, ensuring the sensor's performance under varying conditions. Data from the capacitive sensor is processed via an Arduino Nano 33 IoT, with all measurements wirelessly transmitted and displayed in real-time using a custom dashboard on Arduino Cloud. The sensor can detect forces in the range of 1 to 4 N. Machine learning techniques, specifically linear regression, were used to characterize the sensor, yielding a highly accurate R-2 value of 0.9932. Capacitance and environmental data are automatically saved and processed using Python scripts, allowing for efficient data analysis. This capacitive sensor shows great promise in applications requiring precise force measurement and enhanced human-machine interaction. Potential future uses include wearable orthosis devices to improve human comfort and soft robotic systems designed to mimic natural movements. The ability to integrate this sensor into wearable technology highlights its potential in fields such as medical rehabilitation and prosthetics, offering improved interaction and adaptability in human-centered environments.

关键词： Capacitive sensor Force measurement Machine learning Orthosis applications Soft-robotics Tactile sensor array

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