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Australasian Conference on robotics and Automation 2016, ACRA 2016

作者： Holston, Alexander C. Singh, Surya P.N. Robot Intelligence Technology Lab Korean Advanced Institute of Science and Technology Korea Republic of Robotics Design Lab University of Queensland Australia

ISBN: (纸本)9781634396080

Compliant robots have a bevy of benefits, particularly when interacting with humans or fragile objects as the maximum output force is limited by the compliance. The relatively low inertia of a parallel configuration, such as a Delta manipulator, complements this;however, compliance affects precision and speed, two hallmark characteristics of such a configuration. This may be compensated for via adaptive control. Iterative Learning Control (ILC) may be adopted to compensate for the flexibility by learning how the system reacts across the workspace over time;but, this can lead to a latency when the end-effector drags behind its ideal path due to loading and inertia. This paper introduces a two-stage ILC strategy that corrects for this latency with a separate ILC controller. Thus, it is possible to converge to the desired output without the need for complex models, which may be brittle to tuning, and without risking the instabilities that may arise from a single controller with rigid-body assumptions. Limitations in control due to frequency dependency of compliant materials are also investigated. © 2018 Australasian robotics and Automation Association. All rights reserved.

关键词： Manipulators

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Design and Analysis for the Axe Foot of Bio-inspired Anchoring robot

Design and Analysis for the Axe Foot of Bio-inspired Anchori...

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IEEE International Conference on Mechatronics and Automation

作者： Lei Liu Linsen Xu Jinfu Liu Jiajun Xu Shouqi Chen Gaoxin Cheng Hong Xu Jia Shi University of Science and Technology of China Hefei China Anhui Province Key Laboratory of Biomimetic Sensing and Advanced Robot Technology Hefei China

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164175

Mooring location has become increasingly important with the rapid development and utilization of marine resources. The mooring system of the underwater mobile robot is required to be efficient and intelligent. This paper proposes a novel anchoring robot by imitating the excellent inhabitation functions and physiological structure of the razor clam. This bio-inspired robot can autonomously dig holes, anchor, and detach to improve the efficiency of mooring location in marine operations. Specifically, the axe foot of the robot plays an important role in these movements. It contains a screw-cone drill and two soft parts. The screw-cone drill is the main forced part while the robot is in the digging state and the rationality of drill design is proved by mechanics analysis. Moreover, the soft part, which is connected with the upper end of the drill, is analyzed to show the capability of obstacle avoidance. The rationality of the structural design and a good submarine anchoring function of the axe foot are verified by the above analysis.

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Flapping performance of a flapper actuated by the compressed LIPCA

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World Forum on Smart Materials and Smart Structures technology, SMSST 07

作者： Nguyen, Quoc Viet Park, Hoon Cheol Goo, Nam Seo Department of Advanced Technology Fusion Konkuk University Korea Republic of Department of Advanced Technology Fusion Konkuk University Artificial Muscle Research Center and Smart Robot Center Korea Republic of

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Study on 6D Pose Estimation System of Occlusion Targets for the Spherical Amphibious robot based on Neural Network 20

Study on 6D Pose Estimation System of Occlusion Targets for ...

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20th IEEE International Conference on Mechatronics and Automation, ICMA 2023

作者： Du, Chaofeng Guo, Jian Guo, Shuxiang Fu, Qiang Tianjin University of Technology Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems Intelligent Robot Laboratory BinshuiXidao Extension 391 Tianjin300384 China Shenzhen Institute of Advanced Biomedical Robot Co. Ltd. No.12 Ganli Sixth Road Jihua Street Longgang District Shenzhen518100 China School of Life Science Beijing Institute of Technology Key Laboratory of Convergence Medical Engineering System and Healthcare Technology The Ministry of Industry and Information Technology No.5 Zhongguancun South Street Beijing100081 China

ISBN: (纸本)9798350320831

The amphibious robot needs to accurately estimate the 6D pose of the target in tasks such as target tracking, docking with the recovery module, and target grasping. The current research on target 6D pose estimation is mainly applied to unoccluded targets, but when the target is occluded, the target's pose cannot be accurately identified. Compared with other algorithms, the PVNet algorithm shows better robustness when target is occluded, but the accuracy is still low. To improve the accuracy of the PVNet algorithm, this paper adds the confidence score prediction of the prediction vector at the last layer of the PVNet network, and designs a vector confidence score loss function to train the network. Before generating the hypothetical keypoints, the pixels whose confidence score is lower than the set threshold are screened out, so that the generated hypothetical 2D keypoints are closer to the true 2D keypoints. Finally, the method in this paper is compared with the Tekin, PoseCNN, Oberweger and Pvnet algorithm, and demonstrate the superiority of the proposed method. © 2023 IEEE.

关键词： Semantics

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The multiscale simulation of metal organic chemical vapor deposition growth dynamics of GaInP thin film

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Science China(Physics,Mechanics & Astronomy) 2010年第8期53卷 1481-1490页

作者： HU GuiHua YU Tao Key Laboratory of Advanced Control and Optimization for Chemical Processes Ministry of EducationEast China University of Science and TechnologyShanghai 200237China CIMS&Robot Center of Shanghai University Shanghai 200072China

As a Group III–V compound, GaInP is a high-efficiency luminous material. Metal organic chemical vapor deposition (MOCVD) technology is a very efficient way to uniformly grow multi-chip, multilayer and large-area thin film. By combining the computational fluid dynamics (CFD) and the kinetic Monte Carlo (KMC) methods with virtual reality (VR) technology, this paper presents a multiscale simulation of fluid dynamics, thermodynamics, and molecular dynamics to study the growth process of GaInP thin film in a vertical MOCVD reactor. The results of visualization truly and intuitively not only display the distributional properties of the gas’ thermal and flow fields in a MOCVD reactor but also display the process of GaInP thin film growth in a MOCVD reactor. The simulation thus provides us with a fundamental guideline for optimizing GaInP MOCVD growth.

关键词： metal organic chemical vapor deposition computational fluid dynamics kinetic Monte Carlo virtual reality multiscale simulation GaInP thin film growth

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Intelligent interaction between surgeon and laparoscopic assistant robot system

Intelligent interaction between surgeon and laparoscopic ass...

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14th IEEE Workshop on robot and Human Interactive Communication, RO-MAN 2005

作者： Ko, Seong-Young Kim, Jonathan Kwon, Dong-Soo Lee, Woo-Jung Human-Robot Interaction Research Center Korea Advanced Institute of Science and Technology 373-1 Guseong-dong Yuseong-gu Daejeon Korea Republic of College of Medicine Yonsei University 134 Sinchon-dong Seodaemun-gu Seoul Korea Republic of

ISBN: (纸本)0780392752

This paper proposes an intelligent interaction architecture to develop a compact robotic assistant which is operable with minimal control burden. The interaction architecture provides the viewpoint of a laparoscope based on a surgery model and environmental information and an operating surgeon can modify the viewpoint with voice commands, if needed. For this purpose, cholecystectomy is modeled with state-transition diagram through the analysis of four human cholecystectomies. The surgery model for the laparoscopic assistant robot includes a sequence of surgical procedures, surgical instruments in use and proper camera view point at each stage. The camera view information is utilized to obtain the tip position and the type of surgical instrument in use. Surgeon's voice commands are used to modify the camera view suggested by the proposed architecture. The proposed interaction scheme is implemented using the KaLAR system and evaluated through in vivo porcine cholecystectomy. ©2005 IEEE.

关键词： robotics

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Study on a Two-layer Path Planning Method of Spherical Multi-robot 20

Study on a Two-layer Path Planning Method of Spherical Multi...

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20th IEEE International Conference on Mechatronics and Automation, ICMA 2023

作者： Li, Chenqi Guo, Jian Guo, Shuxiang Fu, Qiang Tianjin University of Technology Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems Intelligent Robot Laboratory BinshuiXidao Extension 391 Tianjin300384 China Shenzhen Institute of Advanced Biomedical Robot Co. Ltd. No.12 Ganli Sixth Road Jihua Street Longgang District Shenzhen518100 China Key Laboratory of Convergence Medical Engineering Systems and Healthcare Technology The Ministry of Industry and Information Technology School of Life Science Beijing Institute of Technology No.5 Zhongguancun South Street Beijing100081 China

ISBN: (纸本)9798350320831

A path planning method based on a two-layer coordination system is proposed for the compatibility requirement of path planning global optimum and local coordination in a spherical multi-robot system. In the first layer of the algorithm, the global path quality is improved by proposing a nonlinear sine factor and a sparrow search algorithm with improved levy flight strategy to plan the global collision-free optimal path for each robot. In the second layer, a rolling window method is used to determine the possible collision positions of each robot in the system, and a priority-based conflict resolution strategy is proposed to complete the local coordination of the path near the corresponding position. The experimental results show that the path planning method enables the robots to drive along the global optimal path, but still can carry out flexible and orderly local path coordination, which effectively improves the path planning performance of the system. © 2023 IEEE.

关键词： Multipurpose robots

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Korean manual alphabet (KMA) recognition for composition of a Korean syllable character

Korean manual alphabet (KMA) recognition for composition of ...

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2nd International Conference on Convergent Information technology, ICCIT 07

作者： Oh, Young-Joon Park, Kwang-Hyun Bien, Zeungnam Human-friendly Welfare Robot System Engineering Research Center Korea Advanced Institute of Science and Technology Dept. of Electrical Engineering and Computer Science Korea Advanced Institute of Science and Technology

ISBN: (纸本)0769530389

Sign language is complex visual-spatial language most used in deaf society, and is a representative example of hand gesture with linguistic structure. Korean manual alphabet is a manual alphabet that expresses the vowel and the consonant of Korean sign language. This paper presents a system which recognizes the Korean manual alphabet (KMA) using a USB camera and translates into a normal Korean character. The system captures images from a camera and extracts skin color region from an image, and finds a hand region. The system detects a skin colored hand without particular cloth in a complex background. We use 33 KMA hand shapes as template images, and the system compares hand shape with template images using a correlation coefficient method and composes a text syllable of initial consonant, medial vowel and final consonant. © 2007 IEEE.

关键词： Cameras

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Analysis of a Five-Degree-of-Freedom Hybrid robot RPR/RP + RR + P 23rd

Analysis of a Five-Degree-of-Freedom Hybrid Robot RPR/RP + R...

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23rd IFToMM China International Conference on Mechanism and Machine Science and Engineering, IFToMM CCMMS 2022

作者： Ma, Xuejian Xu, Yundou Wang, Yu Yang, Fan Zhao, Yongsheng Yao, Jiantao Zhou, Yulin Laboratory of Parallel Robot and Mechatronic System of Hebei Province Yanshan University Qinhuangdao066004 China Key Laboratory of Advanced Forging and Stamping Technology and Science Yanshan University Qinhuangdao066004 China School of Mechanical Engineering Yanshan University Qinhuangdao066004 China

ISBN: (纸本)9789811993978

This work proposes a hybrid machining robot RPR/RP + RR + P based on a planar parallel mechanism. Based on the screw theory, the characteristics of the degree of freedom of the hybrid robot are analyzed, and then the inverse and forward kinematics are solved by geometric methods. And size optimization is carried out by taking the workspace and driving forces as the objects. Then the working space of the hybrid robot is calculated by the Monte Carlo method. Finally, the three-dimensional model of the mechanism is established, and through ADAMS simulation, the accuracy of the inverse kinematics solution was verified. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Inverse kinematics

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Weight aids system for Horse Riding robot Simulator

Weight aids system for Horse Riding Robot Simulator

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IEEE International Workshop on robot and Human Communication (ROMAN)

作者： Ji-Won Seo Oh-Hoon Kwon Jeong-Yeon Yang Chan-Soon Lim Dong-Soo Kwon Human-Robot Interaction Research Center Korea Advanced Institutes of Science and Technology Daejeon Korea Department of Mechanical Engineering KAIST(Korea Advanced Institute of Science and Technology) Daejeon Republic of Korea

A rider communicates with a horse to control the horse. This type of communication, collectively known as riding aids, is important in horse riding. When the rider communicates with the horse during horse riding, the horse determines the rider's command with its own intelligence and controls its own motors. We expect that probability factors can represent the riding aids and they can be used to control the horse. Therefore, we propose a probability model of riding aids, especially weight aids. To estimate the probability of the weight aids, we devised a sensor-equipped saddle that measures the vertical force. These sensors calculate the Center of Gravity (COG). In experiments, the rider rides on the horse with the sensor-equipped saddle and the sensors record the COG data depending on the rider's commands. Finally, we formulated the probability of the weight aids as rider commands. The probability of weight aid can be a prior probability of other riding aid probability, and we expect that the rider can control a horse robot simulator with theses probability models.

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