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A geometric method based on space arc for pose-configuration simultaneous planning of segmented hyper-redundant manipulators

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Science China(Technological Sciences) 2021年第11期64卷 2389-2407页

作者： HU ZhongHua YUAN Han XU WenFu YANG TaiWei LIU TianLiang LIANG Bin School of Mechanical Engineering and Automation Harbin Institute of TechnologyShenzhen 518055China State Key Laboratory^of Robotics and System Harbin Institute of TechnologyHarbin 150001China Department of Automation Tsinghua UniversityBeijing 100084China

A segmented hyper-redundant manipulator can perform complicated operation tasks in a confined space due to its high flexibility and dexterity. However, the trajectory planning in a narrow space and obstacles environment is very challenging for the manipulator. In this paper, we propose a geometry method to simultaneously plan the end-effector pose and manipulator’s configuration. Firstly, the geometries of each segment are described by an inscribed arc(IA) and a circumscribed arc(CA). Then,the whole kinematics chain is considered as an inscribed curve(IC) or a circumscribed curve(CC) which are composed of multiple IAs or CAs. Furthermore, the IC and CC of the manipulator are divided into multiple spatial single-arc and double-arc groups according to requirements. The pose-configuration simultaneous planning is realized by the spatial single-arc/double-arc modeling and joints angles solving. By numerical iteration, the spatial arcs’ parameters are determined according to desired pose and boundary condition of obstacle avoidance. The angles of joints are analytically solved when the above parameters are known. Finally, a narrow space detection task is simulated and experimented respectively. The results verify the proposed method.

关键词： segmented hyper-redundant manipulator pose-configuration simultaneous planning spatial arc modeling obstacle avoidance geometric planning

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Leveraging large language models for comprehensive locomotion control in humanoid robots design

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Biomimetic Intelligence & robotics 2024年第4期4卷 48-63页

作者： Shilong Sun Chiyao Li Zida Zhao Haodong Huang Wenfu Xu School of Mechanical Engineering and Automation Harbin Institute of TechnologyShenzhen 518055China Guangdong Provincial Key Laboratory of Inteligent Morphing Mechanisms and Adaptive Robotics Shenzhen 518055China Key University Laboratory of Mechanism&Machine Theory and Intelligent Unmanned Systems of Guangdong Shenzhen 518055China

This paper investigates the utilization of large language models(LLMs)for the comprehensive control of humanoid robot *** reinforcement learning(RL)approaches for robot locomotion are resource-intensive and rely heavily on manually designed reward *** address these challenges,we propose a method that employs LLMs as the primary designer to handle key aspects of locomotion control,such as trajectory planning,inverse kinematics solving,and reward function *** using user-provided prompts,LLMs generate and optimize code,reducing the need for manual *** approach was validated through simulations in Unity,demonstrating that LLMs can achieve human-level performance in humanoid robot *** results indicate that LLMs can simplify and enhance the development of advanced locomotion control systems for humanoid robots.

关键词： Humanoid robots Large language models Locomotion control Reinforcement learning

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Prototype of an intelligent textile based robot skin to expand potential applications for cobot's 8

Prototype of an intelligent textile based robot skin to expa...

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8th International Conference on Mechanical Engineering and robotics Research, ICMERR 2023

作者： Niquet, Kirubagaran Patel, Nikunjkumar Schrodel, Frank Jahn, Matthias Varelmann, Sven Schmalkalden University of Applied Sciences Mechatronics and Robotics Thuringia Germany Schmalkalden University of Applied Sciences Automation Technology and Robotics Thuringia Germany ITP GmbH Engineers for Smart Textiles Germany B and R Industrie-Elektronik GmbH Germany

ISBN: (纸本)9798350330519

Human Robot Collaboration (HRC) already dates couple of decades back. However, as Industry 4.0 and 5.0 demands smart human-centered production technologies, more concerns has been raised in the recent years regarding optimization and adaption of collaborative robots (Cobots). The core idea of HRC focuses on sharing the same workspace and performing a joint task, by both robot and humans. This paper focuses mainly on the development of a textile-based cover for industrial robots, integrated by several sensor arrays, resulting in enabling the sense of the human in the vicinity of the robot. This information is further utilized to manipulate the standard robot control algorithm to facilitate a safe collaboration by adaptive speed control based on the distance of human and robot. Additionally, the cover material is based on textile, which in terms of passive safety, facilitates cushioning effect when collision is occurred. In terms of active safety, it provides a wide area of sensing with several proximity sensors integrated over the skin. © 2023 IEEE.

关键词： Intelligent robots

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Truth in the Age of Misinformation: A Dual-Approach Model for Improved Fake News Detection

Truth in the Age of Misinformation: A Dual-Approach Model fo...

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2024 International Conference on Artificial Intelligence and Emerging technology, Global AI Summit 2024

作者： Malik, Ishan Singh, Sanjay Kumar Saxena, Pranshu University School of Automation and Robotics Guru Gobind Singh Indraprastha University East Delhi Campus Surajmal Vihar Delhi110092 India Abes Engineering College Department of Information Technology Ghaziabad India

ISBN: (纸本)9798350379716

The inspiration that drives this study is the increase in the prevalence of misinformation, and the need to solve the big challenge of detecting fake news. With the possibility of uncontrolled misinformation disastrously impacting our society, the objective of our study is to make contributions towards the body of knowledge which aims to improve the efficiency and accuracy of current methodologies to detect false information. Although there has been an improvement in the fake news detection systems, their adaptation to real-time applications remains sub-optimal due to the subtle and complex processing involved with handling misinformation. The purpose of this study is to bridge this gap and come up with a better detection model using the Recurrent neural network (RNN) models like Long Short-Term Memory (LSTM) and Bi-directional LSTM (BiLSTM) that will enhance the performance of the existing models, especially in terms of detection accuracy, as the existing systems are weak in the 'disagree' category and mostly misclassify it. We use a mix of machine learning algorithms and natural language processing techniques. Integrating LSTM with BiLSTM will analyze textual content at a granular level to find patterns representing fake news. The preliminary results have indicated that our model is performing significantly better than existing ones, with an overall improvement of up to 86.25% in accuracy [15]. However, in the 'disagree' category, there are a few challenges faced by the system, reflecting the scope for many improvements in the future. Our research has made a valuable contribution to the knowledge and tools in the area of digital information credibility by providing a strong model that improves detection rates of more subtle cues of misinformation thereby, combating the spread of fake news. © 2024 IEEE.

关键词： Long short-term memory

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An Adaptive Golden Jackal Optimization Algorithm for Mobile Robotic Path Planning

An Adaptive Golden Jackal Optimization Algorithm for Mobile ...

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2024 International Conference on Mechatronics and Intelligent Control, ICMIC 2024

作者： Chen, Siwen Zheng, Xiujuan Shanghai United Imaging Healthcare Co. Ltd. Shanghai China Engineering Research Center for Metallurgical Automation and Measurement Technology of Ministry of Education Wuhan University of Science and Technology Wuhan China Institute of Robotics and Intelligent Systems Wuhan University of Science and Technology Wuhan China

ISBN: (数字)9781510686847

ISBN: (纸本)9781510686830

Given the shortcomings of the traditional Golden Jackal Optimization (GJO) algorithm, including limited accuracy and slow convergence speed in solving mobile robot path planning problems, an improved adaptive Golden Jackal Optimization (IAGJO) method is proposed. Firstly, a nonlinear adaptive energy strategy is presented to adjust the energy decay pattern, balancing global and local search. Secondly, an enhanced position update mechanism based on Cauchy and Gaussian mutation increases population diversity and guide the search based on optimal individuals, thereby facilitating efficient exploration of unknown regions and avoiding local optima. Finally, the IAGJO algorithm is applied to mobile robot path planning (MRPP), demonstrating that the IAGJO achieves shorter path lengths and higher search efficiency, exhibiting significant advantages over existing methods. © 2025 SPIE.

关键词： Optimization algorithms

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Energy management strategies for hybrid ships and Unmanned Underwater Vehicles 5

Energy management strategies for hybrid ships and Unmanned U...

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2022 5th International Conference on Power Electronics and Control Engineering, ICPECE 2022

作者： Zhang, Mengyao Gu, Haitao Guo, Jianhua School of Chemical Process Automation Shenyang University of Technology China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences China

Both ships and unmanned underwater vehicles (UUVs) have played a great role in the human exploration of the ocean and the investigation of marine resources. Their endurance of them is limited by the onboard energy storage, and the benefits of hybrid ships and UUVs in terms of energy conservation and emission reduction technologies are increasingly clear. The secret to attaining energy conservation while maintaining power performance is energy management. The management of energy for hybrid ships and UUVs are summarized in this work. First, this article includes the state of the art in energy management techniques for autonomous maritime vehicles and hybrid ships. and summarizes the hybrid energy management objectives for different purposes. Second, it analyses the latest progress of hybrid energy management strategies at the present stage and compares the benefits and drawbacks of existing energy management strategies in a comprehensive and in-depth manner. Finally, the paper summarizes their shortcomings and provides an outlook on the future development of hybrid energy management strategies. © Published under licence by IOP Publishing Ltd.

关键词： Energy management

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Parameter Identification of Chaotic Systems Based on Least Squares Method and Pauta Criterion

Parameter Identification of Chaotic Systems Based on Least S...

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2023 China automation Congress, CAC 2023

作者： Liu, Yu Chen, Zhihuan Qiao, Yaru Wuhan University of Science and Technology Eng. Res. Center for Metallurgical Automation and Measurement Technology of Ministry of Education Wuhan China Institute of Robotics and Intelligent Systems Wuhan University of Science and Technology Wuhan China

ISBN: (纸本)9798350303759

In this study, an offline parameter identification approach based on the measured time series of chaotic system is proposed. In this approach, least squares method is firstly introduced to minimize the time series error and Pauta criterion is then employed to pick out the wrong extreme value point. Two representative cases are conducted to verify the effectiveness of our proposed approach. Numerical results are in agreement with theoretical analysis. Comparing to other existing methods, our proposed approach just needs to obtain the measured time series to estimate the parameters, which is simple in theorem and easy to be implemented. © 2023 IEEE.

关键词： Chaotic systems

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Electromagnetic-thermal Coupled Analyses and Joint Optimisation of Electrically-excited Flux-switching Linear Machines

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CES Transactions on Electrical Machines and Systems 2022年第4期6卷 368-377页

作者： Hui Wen Yufei Wang Yuting Zheng Wen Zeng Xiao Qu Jiongjiong Cai IEEE School of Automation and Electrical Engineering Zhejiang University of Science and TechnologyHangzhouChina Key Institute of Robotics Industry of Zhejiang Province HangzhouChina

Electrically-excited flux-switching machines are advantageous in simple and reliable structure,good speed control performance,low cost,etc.,so they have arouse wide concerns from new energy ***,they have much lower torque density/thrust density compared with the same type PM *** overcome this challenge,electromagnetic-thermal coupled analysis is carried out with respect to water-cooled electrically-excited flux-switching linear machines(EEFSLM).The simulation results indicate that the conventional fixed copper loss method(FCLM)is no longer suitable for high thrust density design,since it is unable to consider the strong coupling between the electromagnetic and thermal ***,a multi-step electromagnetic-thermal joint optimisation method is proposed,which first ensures the consistency between the electromagnetic and thermal modelling and then considers the effect of different field/armature coil *** using the proposed joint optimisation method,it is found that the combination of relatively large size of field coil and relatively low field copper loss is favourable for achieving high thrust force for the current EEFSLM ***,the thrust force is raised by 13-15%compared with using the *** electromagnetic and thermal performance of the EEFSLM is validated by the prototype test.

关键词： Electrically-excited flux-switching linear machine(EEFSLM) Thrust density Electromagnetic-thermal coupled analysis Joint optimisation coil size copper loss

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Optimum Design of Cumene Reactor Using COMSOL Multiphysics Modelling

Optimum Design of Cumene Reactor Using COMSOL Multiphysics M...

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International Conference on Advanced Engineering Optimization Through Intelligent Techniques, AEOTIT 2022

作者： Lakshmanan, Vinila Mundakkal Kallingal, Aparna Sreekumar, Sreepriya Department of Chemical Engineering National Institute of Technology Calicut Kerala Kozhikode673601 India Department of Robotics and Automation Adi Shankara Institute of Engineering and Technology Kerala Kalady Ernakulum683574 India

ISBN: (纸本)9789811992841

COMSOL Multiphysics design of cumene reactor is done for the energy efficient modelling. Cumene manufacturing is an intermediate process during the production of phenol and acetone. The model incorporates the reaction kinetics, and the parameters are derived from the research plant. The system is designed as a packed bed reactor with four packed beds with defined boundary conditions. TDS interface of COMSOL is used to add the transport qualities, and the transport mechanism is convection. The system's performance is evaluated in order to improve efficiency and throughput. The concentration distribution in the fluid along the length of the reactor is one of the investigation's findings. The reactor implemented is analysed for variations in different parameters of the system. The particle porosity and catalytic particle size have been analysed. The analysis suggests that for a variation in the catalytic particle size from that of the plant value, the reactor temperature can be reduced to a minimal optimum level. Hence, this paper proposes an energy efficient model for the cumene reactor under study. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Particle size

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Enhanced Streetlight Management: Using IoT and ESP32 for Automated Fault Detection 5

Enhanced Streetlight Management: Using IoT and ESP32 for Aut...

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5th IEEE India Council International Subsections Conference, INDISCON 2024

作者： Bhisikar, Swati Jagtap, Prabodh Sonawane, Shilpa Sawant, Hrushikesh Pisal, Prerana Rajarshi Shahu College of Engineering Dept. of Electronics and Telecommunication Pune India Vishwakarma Institute of Information Technology Dept. of Information Technology Pune India Rajarshi Shahu College of Engineering Dept. of Automation and Robotics Pune India

ISBN: (纸本)9798350376753

The core focus of this paper is to implement a cutting-edge system for intelligent streetlight management, leveraging an automotive monitoring system to identify and rectify any faults within the streetlight infrastructure. Rapid response of the proposed fault detection system will help save the time of the linemen, which is wasted in manually detecting the faults at streetlights, and will help to reduce the workload of the linemen. Also, most of the time, the detection of the problem mainly depends on the grievances of the local people. Thus, this causes delays in the maintenance of the streetlights, wastage of power, and problems for the local people. So, to reduce such problems, we have developed an automatic detection system for streetlight faults. During nighttime, this system will detect faults such as whether the lamp is ON or OFF, or if a wire cut is in the circuit. As the fault is detected, the information will be provided to the authorized person;the information will contain the type of fault that occurred in the streetlight system. © 2024 IEEE.

关键词： Fault detection

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