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Origami-Inspired Wearable Robot for Trunk Support

IEEE-ASME TRANSACTIONS ON MECHATRONICS 2023年第3期28卷 1466-1476页

作者： Li, Dongting Yumbla, Emiliano Quinones Olivas, Alyssa Sugar, Thomas Amor, Heni Ben Lee, Hyunglae Zhang, Wenlong Aukes, Daniel M. Arizona State Univ Sch Mfg Syst & Networks Ira A Fulton Sch Engn Mesa AZ 85212 USA Arizona State Univ Sch Engn Matter Transport & Energy Ira A Fulton Sch Engn Tempe AZ 85212 USA Arizona State Univ Sch Comp & Augmented Intelligence Ira A Fulton Sch Engn Tempe AZ 85212 USA

We present a wearable "exo-shell " device inspired by the human spine for improving the gait of elderly people during obstacle avoidance tasks. This device-designed and fabricated with origami-inspired techniques-features a serial chain of lockable joints that can be stiffened using a braking system inspired by laminar jamming concepts. Current related work has identified that the trunk plays a crucial role in obstacle avoidance tasks. In this article, we thus propose an affordable wearable system that can be quickly fabricated and whose design can be adjusted to fit the individual wearer. The design leverages switchable, passive systems, in combination with lightweight materials that remain as "transparent " to the user as possible when inactive. This article focuses on translating human requirements into a tangible design that addresses the current state of our biomechanics knowledge. We describe the kinematics and forces of our proposed device, describe the performance of our system in a locked and unlocked state, discuss the integration of various sensors into our device, and characterize the performance of the device when locked and unlocked.

关键词： Parallel robots robotics and automation robot kinematics wearable robots

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Significance of Industry 4.0 technologies in major work functions of manufacturing for sustainable development of small and medium-sized enterprises

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BUSINESS STRATEGY AND DEVELOPMENT 2024年第1期7卷

作者： Narkhede, Ganesh Mahajan, Sonal Narkhede, Rupesh Chaudhari, Tansen Vishwakarma Inst Informat Technol Dept Mech Engn Pune India IndSearch Inst Management Studies & Res Dept Management Studies Pune India Sulzer India Pvt Ltd Prod Dept Pune India Fluid Controls Pvt Ltd New Prod Dev Pune India

Industry 4.0 (I4.0) has brought transformative changes in the manufacturing sector. This paper aims to provide a comprehensive analysis of the applications of I4.0 technologies in major work functions of small and medium-sized enterprises (SMEs). Specifically, this review focuses on the suitability of I4.0 technologies in areas such as New Product Development, Supply Chain Management, Internal Logistics Management, Production Planning Execution and Control, Quality Management, and Maintenance Management. This study employs a systematic literature review (SLR) methodology to comprehensively analyze relevant sources to present valuable perspectives and practical suggestions customized to the requirements of different essential work functions within manufacturing SMEs. The findings of SLR indicate that Big Data Analytics (BDA), robotics, and automation are perceived as highly sustainable, on the other hand, blockchain and cloud technology are viewed as having lower sustainability from SMEs' point of view. The findings presented in this article have several theoretical and practical implications including technology selection and integration, and considering sustainability and ethics. This will allow SMEs to seamlessly integrate distinct I4.0 technologies along three dimensions: vertical, horizontal, and end-to-end digital integration. This article intends to provide an unbiased assessment to ascertain the landscape occupied by I4.0 in the context of SMEs. This article highlights the connection and synergy between I4.0 and SMEs as well as the pertinence of how advanced technologies of I4.0 can influence the business processes in manufacturing SMEs.

关键词： big data analytics Industry 4.0 robotics and automation small and medium-sized enterprises sustainability

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An Efficient Solution to the 2D Visibility Problem in Cartesian Grid Maps and its Application in Heuristic Path Planning

An Efficient Solution to the 2D Visibility Problem in Cartes...

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IEEE International Conference on robotics and automation (ICRA)

作者： Ibrahim, Ibrahim Gillis, Joris Decre, Wilm Swevers, Jan Katholieke Univ Leuven Mot Estimat Control & Optimizat Lab Leuven Belgium

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581;9798350384574

This paper introduces a novel, lightweight method to solve the visibility problem for 2D grids. The proposed method evaluates the existence of lines-of-sight from a source point to all other grid cells in a single pass with no preprocessing and independently of the number and shape of obstacles. It has a compute and memory complexity of O(n), where n = n(x) x n(y) is the size of the grid, and requires at most ten arithmetic operations per grid cell. In the proposed approach, we use a linear first-order hyperbolic partial differential equation to transport the visibility quantity in all directions. In order to accomplish that, we use an entropy-satisfying upwind scheme that converges to the true visibility polygon as the step size goes to zero. This dynamic-programming approach allows the evaluation of visibility for an entire grid orders of magnitude faster than typical ray-casting algorithms. We provide a practical application of our proposed algorithm by posing the visibility quantity as a heuristic and implementing a deterministic, local-minima-free path planner, setting apart the proposed planner from traditional methods. Lastly, we provide necessary algorithms and an open-source implementation of the proposed methods.

关键词： Shape Heuristic algorithms Partial differential equations Memory management Path planning Complexity theory robotics and automation

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Autonomous Overhead Powerline Recharging for Uninterrupted Drone Operations

Autonomous Overhead Powerline Recharging for Uninterrupted D...

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IEEE International Conference on robotics and automation (ICRA)

作者： Viet Duong Hoang Nyboe, Frederik Falk Malle, Nicolaj Haarhoj Ebeid, Emad Univ Southern Denmark Dept Mech & Elect Engn DME Odense Denmark

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581;9798350384574

We present a fully autonomous self-recharging drone system capable of long-duration sustained operations near powerlines. The drone is equipped with a robust onboard perception and navigation system that enables it to locate powerlines and approach them for landing. A passively actuated gripping mechanism grasps the powerline cable during landing after which a control circuit regulates the magnetic field inside a split-core current transformer to provide sufficient holding force as well as battery recharging. The system is evaluated in an active outdoor three-phase powerline environment. We demonstrate multiple contiguous hours of fully autonomous uninterrupted drone operations composed of several cycles of flying, landing, recharging, and takeoff, validating the capability of extended, essentially unlimited, operational endurance. For an online video demonstration, please visit: https://***/watch?v=C-uekD6VTIQ

关键词： Navigation Force Inspection Robustness Magnetic fields robotics and automation Grippers

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Vision-based Control of UAV for Autonomous Firefighting 16

Vision-based Control of UAV for Autonomous Firefighting

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16th International Conference on Computer and automation Engineering (ICCAE)

作者： Mehra, Ankit Shukla, Amit Prajapati, Darshankumar Kumar, Pushkar Rana, Ashish Patil, Tushar Indian Inst Technol SMME Mandi Himachal Prades India Indian Inst Technol CAIR Mandi Himachal Prades India

ISBN: (纸本)9798350370058;9798350370164

Urban and industrial environments frequently necessitate the immediate readiness of firefighting personnel to address potential fire emergencies, which can lead to a perpetual shortage of available manpower. To counter this challenge, we propose an integrated approach to autonomous firefighting through the utilization of Unmanned Aerial Vehicles (UAVs). The UAVs serve a dual purpose: providing auxiliary support to conventional firefighting efforts while simultaneously mitigating risks to human life. Our proposed methodology incorporates deep learning-based fire detection. The system combines image feature analysis with data obtained from distance sensor to establish Cartesian coordinates of the identified fire sources. Autonomous vision-based control for multirotor platform is developed, guided by the extracted image features and Cartesian coordinates. This system is designed to facilitate both swift deployment and autonomous operation, while still allowing for manual intervention as necessary. We present experimental validations for the vision-based control of the multirotor platform under outdoor conditions. Further tests are conducted to assess the performance characteristics of the spray subassembly, including spray distance and flow rate, prior to its deployment on aerial platforms. The experimental results are discussed for performance analysis of the approach.

关键词： Fire detection Vision-based control algorithm Unmanned Aerial Vehicle(UAV) robotics and automation Autonomous firefighting

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Efficient Cable Path Optimization Based on Critical Robot Poses for Industrial Robot Arms

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IEEE ACCESS 2022年 10卷 66028-66044页

作者： Iwamura, Shintaro Mizukami, Yoshiki Endo, Takahiro Matsuno, Fumitoshi Omron Corp Controller Div Prod Business Div HQ Ind Automat CoSoftware Dev Dept Shimogyo Ku Kyoto 6008530 Japan Yamaguchi Univ Grad Sch Sci & Engn Ube Yamaguchi 7558611 Japan Kyoto Univ Dept Mech Engn & Sci Nishikyo Ku Kyoto 6158540 Japan

Although industrial robotic arms are equipped with external cables to supply electricity, gases or other materials, cable path design is a difficult and demanding task. Herein, an efficient optimization method is proposed for automating cable path design under the assumption that the robot motion path is known. The contribution of this study was to reduce the considerable computation time required for the optimization, which was a concern in our previous work. The previous method represented candidates for cable paths as a set of parameter vectors (PVs) that included cable length and guide configurations, and then selected the optimal PV that satisfies stress constraints and provided the shortest cable path. The proposed method extracted critical poses, i.e., several static robot poses that are prone to applying stress to the cable, from the joint angle time series of the motion path, and then performed attachment and motion tests. The cable geometry for the static critical poses was simulated in the attachment test, while the geometry for dynamic robot motion was simulated in the motion test in an ascending order of the cable length among the PV candidates. Experimental results showed that the computation time for cable path optimization could be significantly reduced.

关键词： Robots Optimization Manipulators Service robots Stress Collision avoidance Trajectory Computer simulation industrial engineering optimal matching path planning robotics and automation

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Uniform Coverage Tool Path Generation for Robotic Surface Finishing of Curved Surfaces

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IEEE robotics and automation LETTERS 2022年第2期7卷 4931-4938页

作者： Wen, Yalun Jaeger, Daniel J. Pagilla, Prabhakar R. Texas A&M Univ Dept Mech Engn College Stn TX 77843 USA

We provide a novel solution to the problem of robot tool path generation to uniformly cover the surface area of a curved surface with varying curvatures by using a circular, flat finishing tool. We first develop a local contact shape descriptor using tools from differential geometry to estimate the contact shape and its area between the finishing tool and the workpiece surface under an applied normal force. Based on this varying contact area as the tool moves on the surface, we describe a tool path planning strategy that provides full and uniform coverage of a free-form or curved surface with the least amount of overlap. As opposed to fixed spacing paths with point contact in most existing approaches, we provide a novel path generation method where the interval spacing between neighboring path segments is determined by the contact area, which is position-dependent and varies along the surface in accordance with its principal curvatures. An efficient bisection method is employed in the proposed off-line path planning strategy. Numerical studies were conducted for ruled and general curved surfaces to compare the contact areas and coverage of the resulting path with paths generated using two other approaches from the literature. Real-time surface finishing experiments with a six degree-of-freedom robot equipped with a surface finishing tool were also conducted for both these surfaces to validate the proposed approach. Results from the numerical studies and experiments are presented and discussed.

关键词： Path planning robotics and automation surface finishing

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Model-Free Online Motion Adaptation for Energy-Efficient Flight of Multicopters

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IEEE ACCESS 2022年 10卷 65507-65519页

作者： Wu, Xiangyu Zeng, Jun Tagliabue, Andrea Mueller, Mark W. Univ Calif Berkeley Dept Mech Engn High Performance Robot Lab HiPeRLab Berkeley CA 94720 USA Univ Calif Berkeley Dept Mech Engn Hybrid Robot Grp Berkeley CA 94720 USA MIT Aerosp Controls Lab Dept Aeronaut & Astronaut Cambridge MA 02139 USA

Limited flight distance and time is a common problem for multicopters. We propose a method for finding the optimal speed and sideslip angle of a multicopter flying a given path to achieve either the longest flight distance or time. Since flight speed and sideslip are often free variables in multicopter path planning, they can be changed without changing the mission. The proposed method is based on a novel multivariable extremum seeking controller with adaptive step size, which is inspired by recent work from the machine learning community on stochastic optimization. Our method (a) does not require a power consumption model of the vehicle, (b) is computationally efficient and runs on low-cost embedded computers in real-time, and (c) converges faster than the standard extremum seeking controller with constant step size. We prove the stability of this approach and validate it through outdoor experiments. The method is shown to converge with different payloads and in the presence of wind. Compared to flying at the maximum achievable speed in the experiments with a uniformly selected random sideslip angle, flying at the optimal range speed and sideslip on average increases the flight range by 14.3% without payload and 19.4% with a box payload. In addition, compared to hovering, flying at the optimal endurance speed and sideslip increases the flight time by 7.5% without payload and 14.4% with a box payload. A video can be found at https://***/aLds8LVfogk

关键词： Power demand Payloads Adaptation models Energy efficiency Cost function Vehicle dynamics Trajectory Unmanned aerial vehicles motion planning energy consumption robotics and automation

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Sensorless Optimal Interaction Control Exploiting Environment Stiffness Estimation

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IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY 2022年第1期30卷 218-233页

作者： Roveda, Loris Shahid, Asad Ali Iannacci, Niccolo Piga, Dario Univ Svizzera Italiana USI Ist Dalle Molle Studi Intelligenza Artificiale ID Scuola Univ Profess Svizzera Italiana SUPSI CH-6928 Manno Switzerland Politecn Milan Dept Mech Engn I-20156 Milan Italy Leonardo Helicopters I-21017 Samarate Italy

Industrial robots are increasingly used to perform tasks that require an interaction with the surrounding environment (e.g., assembly tasks). Such environments are usually (partially) unknown to the robot (in terms of dynamic characteristics), demanding the implemented controllers to suitably react to the established interaction. Standard controllers require force/torque measurements to close the loop, making it, if possible, to adapt the robot behavior to the specific environment. However, most of the industrial manipulators do not have embedded force/torque sensor(s), which entails additional effort in terms of costs and implementation for their integration in the robotic setup. To extend the use of sensorless compliant controllers to force control, a robot-environment interaction dynamics model-based methodology is presented in this article. Relying on the sensorless Cartesian impedance control, an extended Kalman filter (EKF) is proposed to estimate the stiffness of an interaction environment. Exploiting the provided estimation, the robot-environment coupled dynamic modeling is used to design an optimal LQR interaction controller to close the force loop. The control gains can be analytically computed by solving the related Riccati equation, as such gains are a function of the impedance control and environment parameters. In addition, the interaction force can be estimated to close the force loop, making the sensorless robot able to perform the target interaction task. The described approach has been validated with experiments by analyzing two scenarios: a probing task and a closing of a plastic (i.e., compliant) box with a snap-fit closure mechanism. The performance of the proposed control framework has been evaluated, highlighting the capabilities of the EKF and the optimal LQR interaction controller. Finally, the proposed control schema is enhanced by the adaptation of the EKF for the estimation of the external wrench. Two additional experiments are provided t

关键词： Robot sensing systems Robots Estimation Force Task analysis Dynamics Service robots Control systems force control intelligent robots optimal control robot control robotics and automation

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RGB-D DSO: Direct Sparse Odometry With RGB-D Cameras for Indoor Scenes

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IEEE TRANSACTIONS ON MULTIMEDIA 2022年 24卷 4092-4101页

作者： Yuan, Zikang Cheng, Ken Tang, Jinhui Yang, Xin Huazhong Univ Sci & Technol Inst Artificial Intelligence Wuhan 430074 Peoples R China Huazhong Univ Sci & Technol Elect Informat & Commun Wuhan 430074 Peoples R China Nanjing Univ Sci & Technol Sch Comp Sci & Engn Nanjing 210093 Peoples R China

Visual odometry (VO) is a fundamental technique for many robotics and augmented reality (AR) applications. However, most existing RGB-D VO systems suffer from large performance degradation when large occlusions are present and/or a large portion of depth values are invalid due to the limited range of an RGB-D camera, prohibiting the usage of most systems in practical applications. To address above two problems, we present RGB-D DSO, an RGB-D direct sparse odometry with the core part being sliding-window optimization with occlusion removal and a depth refinement module. Occlusion removal excludes negative effects arising from occluded objects when minimizing the final energy function for camera pose tracking. Depth refinement ensures sufficient valid depth values uniformly distributed for the depth map of a keyframe. Experimental results on three public datasets demonstrate that our method achieves smaller tracking error than most existing state-of-the-art methods. Meanwhile, our system takes only 21.93 ms to track a frame, which is faster than most existing methods.

关键词： Cameras Optimization Simultaneous localization and mapping Feature extraction Three-dimensional displays Real-time systems Calibration Robot sensing systems robotics and automation robots simultaneous localization and mapping

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