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14th International Conference on Computing Communication and Networking Technologies, ICCCNT 2023

作者： Thorat, Ashutosh A. Dixit, Abhishek Agrawal, Pooja Defence Institute of Advanced Technology Department of Aerospace Engineering Pune India Defence Institute of Advanced Technology School of Robotics Pune India

ISBN: (纸本)9798350335095

This paper presents the effectiveness of a fractional order PID (FOPID) controller in stabilizing a sensor mounted on a two-axis gimbal system used for tracking a target. The study focuses on isolating the sensor from various disturbance torques and body motions that can affect its line of sight. The analysis considers the impact of the base body's angular motion with dynamic balances on the gimbal system's torque relationships. The study uses a cross-coupling unit to link the stabilization loops for the gimbal system. Simulation comparisons demonstrate that proposed FOPID controller can outperform the conventional PID controller. © 2023 IEEE.

关键词： Stabilization

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Obstacle avoidance in human-robot cooperative transportation with force constraint

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Science China(Information Sciences) 2023年第1期66卷 334-335页

作者： Ying ZHANG Chenguang YANG Sheng XU Yongsheng OU College of Automation Science and Engineering South China University of Technology Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institutes of Advanced TechnologyChinese Academy of Sciences

Dear editor,Robots are often conceived as human-like machines that can interact with humans naturally and safely. Human-robot interaction means that robots can communicate with people,understand their needs, and act accordingly [1]. This interaction is critical when two people are needed to finish a task cooperatively.

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AgileVision Academy: Indoor Drone Navigation and Obstacle Avoidance 14

AgileVision Academy: Indoor Drone Navigation and Obstacle Av...

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14th International Conference on Information Technology in Medicine and Education, ITME 2024

作者： Jiang, Haolong Gu, Lingdan Wang, Jiayu Lan, Xiao Liu, Qinyao Wang, Fanxin Xi'an Jiaotong Liverpool University University of Liverpool School of Advanced Technology Department of Electrical and Electronic Engineering Suzhou China Xi'an Jiaotong Liverpool University School of Robotics Department of Intelligence Robotics Engineering With Contemporary Entrepreneurialism Suzhou China Xi'an Jiaotong Liverpool University School of Advanced Technology Department of Information and Computer Science Suzhou China Xi'an Jiaotong Liverpool University School of Advanced Technology Department of Electrical and Electronic Engineering Suzhou China Xi'an Jiaotong Liverpool University School of Advanced Technology Department of Mechatronics and Robotics Suzhou China

ISBN: (纸本)9798350356670

Navigating cluttered indoor environments presents a significant challenge for aerial robots, requiring agility, speed, and a high level of reliability to avoid collisions. This project aims to address this challenge by developing advanced algorithms for lightweight drones, enabling them to reach target location and carrying out delivery efficiently and safely. Utilizing camera data to map and avoid obstacles, we create a system that not only maps and perceives the environment but also navigates its path to the destination. Included in the educational content, this project demonstrates the effectiveness of the technology through practical applications and real-world testing, helping the next generation of engineers accumulate technical experience and broaden their understanding of drone navigation algorithms and applications in system integration. It has a milestone impact on education and development of the drone field. © 2024 IEEE.

关键词： Drones

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A Survey of Underwater Multi-Robot Systems

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IEEE/CAA Journal of Automatica Sinica 2022年第1期9卷 1-18页

作者： Ziye Zhou Jincun Liu Junzhi Yu State Key Laboratory for Turbulence and Complex System Department of Advanced Manufacturing and RoboticsBeijing Innovation Center for Engineering Science and Advanced TechnologyCollege of EngineeringPeking UniversityBeijing 100871China College of Information and Electrical Engineering China Agricultural UniversityBeijing 100083China

As a cross-cutting field between ocean development and multi-robot system(MRS),the underwater multi-robot system(UMRS)has gained increasing attention from researchers and engineers in recent *** this paper,we present a comprehensive survey of cooperation issues,one of the key components of UMRS,from the perspective of the emergence of new *** specifically,we categorize the cooperation in terms of task-space,motion-space,measurement-space,as well as their ***,we analyze the architecture of UMRS from three aspects,i.e.,the performance of the individual underwater robot,the new functions of underwater robots,and the technical approaches of *** conclude,we have discussed related promising directions for future *** survey provides valuable insight into the reasonable utilization of UMRS to attain diverse underwater tasks in complex ocean application scenarios.

关键词： Cooperation formation control multi-robot systems(MRS) taxonomy underwater robots underwater tasks

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Multi-particles micromanipulation in focused sound field for single-beam acoustic tweezer

Multi-particles micromanipulation in focused sound field for...

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2024 International Conference on Mechatronic engineering and Artificial Intelligence, MEAI 2024

作者： Zhu, Guolong Li, Bo Xu, Junlei Zhang, Lue Sun, Lining School of Mechanical and Electric Engineering Jiangsu Provincial Key Laboratory of Advanced Robotics Soochow University Suzhou215137 China

ISBN: (纸本)9781510689176

In this paper, for the prediction of sound field distribution, a spherical piezoelectric transducer is designed for focused acoustic field according to piezoelectricity equation and vibration analysis. Based on the predicted acoustic fields distribution, the Acoustic Radiation Force(ARF) of the particles with different material and different sizes are obtained, according to a perturbation expansion of the acoustic fields in fluid. Besides, the trapping and micro-manipulation of particles are realized perpendicular to the acoustic axis through experimental according to the predicted ARF. © 2025 SPIE.

关键词： Acoustic fields

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General Kinetostatic Modeling and Deformation Analysis of a Two-Module Rod-Driven Continuum Robot with Friction Considered

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Chinese Journal of Mechanical engineering 2023年第3期36卷 110-122页

作者： Peiyi Wang Xinhua Yang Xiangyang Wang Sheng Guo School of Mechanical Electronic and Control EngineeringBeijing Jiaotong UniversityBeijing 100044China Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institute of Advanced TechnologyChinese Academy of SciencesShenzhen 518005China

Continuum robots actuated by flexible rods have large potential applications,such as detection and operation tasks in confined environments,since the push and pull actuation of flexible rods withstand tension and compressive force,and increase the structure's *** this paper,a generalized kinetostatics model for multi-module and multi-segment continuum robots considering the effect of friction based on the Cosserat rod theory is ***,the model is applied to a two-module rod-driven continuum robot with winding ropes to analyze its deformation and load *** different in-plane configurations under the external load term as S1,S2,C1,and C2 are *** a bending plane as an example,the tip deformation along thex-axis of these shapes is simulated and compared,which shows that the load capacity of C1 and C2 is generally larger than that of S1 and ***,the deformation experiments and simulations show that the maximum error ratio without external loads relative to the total length is no more than 3%,and it is no more than 4.7%under the external *** established kinetostatics model is proven sufficient to accurately analyze the rod-driven continuum robot with the consideration of internal friction.

关键词： Rod-driven continuum robot Kinetostatic model Cosserat rod theory Deformation and stiffness analysis

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Isotope effect on four-phonon interaction and lattice thermal transport: An atomistic study of lithium hydride

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Physical Review B 2024年第20期110卷 205202页

作者： Wenjiang Zhou Bai Song Department of Energy and Resources Engineering School of Advanced Engineering Department of Advanced Manufacturing and Robotics National Key Laboratory of Advanced MicroNanoManufacture Technology Beijing 100871 China

Despite decades-long studies of how isotope-disorder scattering affects heat conduction, the effect of isotope-induced frequency shift on phonon-phonon interactions and lattice thermal transport remains largely unexplored and less understood. In this work, by using the phonon Boltzmann transport equation and machine-learning-assisted classical and path-integral molecular-dynamics simulations, we theoretically investigate the interplay between the intrinsic phonon-phonon scatterings and the isotopic compositions in lithium hydride (LiH). We reveal that the hydrogen isotopes notably impact thermal transport primarily via three-phonon interaction, while four-phonon scattering is less sensitive. Due to the stronger temperature dependence of higher-order processes, the isotope effect on thermal conductivity is increasingly suppressed by four-phonon scattering as temperature rises (from 73% to 35% at 700 K). In addition, we observe a more pronounced isotope effect on thermal diffusivity, which is attributed to the variation of heat capacity. Our work provides a promising avenue for manipulating thermal transport via isotope engineering, and it highlights the crucial role of four-phonon interaction.

关键词： Anharmonic lattice dynamics Isotope effect Lattice thermal conductivity Density functional calculations First-principles calculations Lattice-Boltzmann methods Machine learning Molecular dynamics Path-integral methods

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Mind the Gap: Towards Building a More Seamless Sim-to-Real Platform for Robotic Grasping and Manipulation 5

Mind the Gap: Towards Building a More Seamless Sim-to-Real P...

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5th International Conference on Image, Video Processing, and Artificial Intelligence, IVPAI 2023

作者： Zhang, Zhengshen Wang, Haozhe Zhou, Lei Liu, Zhiyang Liu, Chenchen Tay, Francis E.H. Lu, Wen Feng Ang, Marcelo H. Advanced Robotics Centre National University of Singapore 117608 Singapore Integrative Sciences and Engineering Programme NUS Graduate School 119077 Singapore

ISBN: (纸本)9781510674660

This paper presents a vision of creating a more seamless sim-to-real robotic grasping and manipulation platform, bridging the gap between simulated environments and real-world applications. In recent years, the emergence of digital twin technology has revolutionized how we develop and test such applications. A digital twin can simulate the behavior of a physical system in a virtual replica of the real-world environment in real-time, enabling engineers and researchers to conduct detailed analysis and evaluation before deploying robotic systems in the real world. In this paper, we study the potential of creating a digital twin that allows researchers and engineers to seamlessly deploy a grasping system trained on synthetic data and tested in a simulation environment without writing any additional code or doing additional calibration. Using our proposed platform, we present a case study done using a robotic grasping algorithm and analyze the advantages and limitations of our current platform. In the end, we suggest some possible improvements and future directions to enhance the platform’s effectiveness and applicability. © 2024 SPIE. All rights reserved.

关键词： Real time systems

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Hip Hiking Gait Improvement with Electrohydraulic Robotic Knee: Preliminary Results 46

Hip Hiking Gait Improvement with Electrohydraulic Robotic Kn...

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46th Annual International Conference of the IEEE engineering in Medicine and Biology Society, EMBC 2024

作者： Zhong, Heran Gao, Siyuan Wang, Qining Peking University College of Engineering Department of Advanced Manufacturing and Robotics Beijing100871 China Peking University College of Engineering The Institute for Artificial Intelligence Department of Advanced Manufacturing and Robotics Beijing100871 China Peking University Third Hospital Beijing100191 China University of Health and Rehabilitation Sciences Qingdao266071 China

ISBN: (纸本)9798350371499

Individuals with Transfemoral Amputation (TFA) usually exhibit hip hiking walking with passive prostheses due to insufficient knee flexion. Powered knee prostheses can provide net-positive energy in the knee joint with improved gait symmetry. However, their effects on improving hip hiking are not well understood. This study investigates residual hip hiking through walking experiments using a robotic transfemoral prosthesis that can provide swing assistance. Different levels of assistive flexion torque were provided during the pre-swing and the mid-swing (no assistance, low assistance, medium assistance, high assistance). The kinematic and electromyographic (EMG) results indicate that with the increasing assistive torque level applied, the residual hip hiking was improved. The results preliminarily demonstrate the positive effect of knee flexion assistance on hip hiking improvement. © 2024 IEEE.

关键词： Knee prostheses

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Design and Development of IoT Based Weather and Air Quality Monitoring Station

Design and Development of IoT Based Weather and Air Quality ...

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2023 International Conference on robotics and Automation in Industry, ICRAI 2023

作者： Haris, Muhammad Ubaid, Bilal Bibi, Uzma Said, Ameer Us Saqib, Syed Najm Khan, Shahbaz Tufail, Muhammad Advanced Robotics and Automation Lab National Center of Robotics and Automation Peshawar Pakistan University of Engineering and Technology Department of Mechatronics Engineering Peshawar Pakistan Institute of Manufacturing Engineering Management University of Engineering and Applied Sciences Swat Swat Pakistan

ISBN: (纸本)9781665464727

This paper presents the Design and Development of IoT Based Weather and Air Quality Monitoring stations that provide weather-related information for agriculture, and aviation climate forecasting purposes. The prototype is made up of an outdoor unit that consistently monitors numerous climatic variables such as temperature, humidity, barometric pressure, wind speed, wind direction, rainfall, and air quality using sensors with high accuracy. The air quality index(AQI) is also calculated using the sensors values which tell us whether the atmosphere is safe or polluted. ESP32(Microcontroller) which has a WiFi module is used to gather and send the sensor data through the Internet of things (IoT) to a ThingSpeak channel (IoT cloud), an internet platform where the data is saved, analyzed and read the data remotely. The weather station makes use of photovoltaic power and a rechargeable lead-acid battery to sustain the system. This paper also discusses the obvious strengths and shortcomings of the system and suggests plausible upgrades to assist the system in obtaining higher and long-term performance. © 2023 IEEE.

关键词： Internet of things

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