Catching flying objects with a cushioning process is a skill commonly performed by humans, yet it remains a significant challenge for robots. In this paper, we present a framework that combines optimization and learni...
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作者：
Falaq QureshiRiaz UddinDepartment of Electrical Engineering
Haptics Human-Robotics and Condition Monitoring Lab (affiliated with National Center of Robotics and Automation - NCRA HEC/PC Pakistan) NED University of Engineering and Technology Karachi Pakistan
In this paper, we discuss the design of different models for teleoperation control by presenting the significant benchmark results for various important force reflecting control architectures used in 1-DOF bilateral t...
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In this paper, we discuss the design of different models for teleoperation control by presenting the significant benchmark results for various important force reflecting control architectures used in 1-DOF bilateral teleoperation. They are used to analyze the results of force and distance tracking graphs in free motion and contact mode obtained from various control models by varying dynamics of master, slave, environment, and communication channel. In this regard, different force reflecting teleoperation control architectures are simulated via proposed model design, such as two-channel (2C) architectures, three-channel (3C) and finally four-channel (4C) architecture. These benchmark results are presented for each architecture via MATLAB/Simulink-based simulator.
In recent years,advances in microfabrication technology and tissue engineering have propelled the development of a novel drug screening and disease modelling platform known as *** platform integrates organoids and org...
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In recent years,advances in microfabrication technology and tissue engineering have propelled the development of a novel drug screening and disease modelling platform known as *** platform integrates organoids and organ-on-a-chip technologies,emerging as a promising approach for in vitro modelling of human organ ***-on-a-chip devices leverage microfluidic systems to simulate the physiological microenvironment of specific organs,offering a more dynamic and flexible setting that can mimic a more comprehensive human biological ***,the lack of functional vasculature has remained a significant challenge in this *** is crucial for the long-term culture and in vitro modelling of organoids,holding important implications for drug development and personalised medical *** review provides an overview of research progress in developing vascularised organoid-on-a-chip models,addressing methods for in vitro vascularisation and advancements in vascularised *** aim is to serve as a reference for future endeavors in constructing fully functional vascularised organoid-on-a-chip platforms.
This study integrated an improved equivalent-input-disturbance (EID) and a repetitive control methods to ensure reference tracking and enhance disturbance-rejection performance for a pedaling rehabilitation robot. A r...
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Changes in coal seam hardness cause fluctuations in the feed resistance at the drill bit during the drilling process, leading to unstable feeding speed. This paper proposes a robust dynamic output feedback controller ...
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In this paper, we proposed a novel multi-camera auto-adjustment framework for infrastructure inspections, specifically 3D point cloud mapping via lidar-camera fusion. Our method uses a single controller for consensus ...
In this paper, we proposed a novel multi-camera auto-adjustment framework for infrastructure inspections, specifically 3D point cloud mapping via lidar-camera fusion. Our method uses a single controller for consensus target brightness and adaptive lighting. In addition, a vignette correction filter was created to apply to images outputted from cameras to avoid dark strips on the point cloud data. This approach is designed to be a versatile, real-time friendly, and platform agnostic software stack.
Grasp coordination is crucial for performing cooperative object manipulation tasks. Planning cooperative grasps among a group of decentralized robots is a new line of coordination problem that requires robots to simul...
Grasp coordination is crucial for performing cooperative object manipulation tasks. Planning cooperative grasps among a group of decentralized robots is a new line of coordination problem that requires robots to simultaneously handle complex and large shaped and sized objects, a new level of difficulty that is rarely addressed in the literature. In this paper, we propose grasp coordination approaches for a decentralized group of robots facing explicit communication and sensing limitations. In particular, a scenario where robots with incomplete knowledge about each other's embodiments further lose the ability to 1. observe others' grasps occluded by the object's shape 2. exchange direct messages due to potential communication degradation resulting from the real-time planning and execution constraints. To tackle such a scenario, we introduce two baseline and two probabilistic approaches that are specifically designed for strict decentralization. The approaches analyze cooperative grasps using traditional grasp quality metrics and estimate cooperative grasps based on the assigned robot's priority. Simulation experiments demonstrate that the probabilistic approaches exhibit superior performance over the baseline approaches, reaching performance close to optimal for both homogeneous and heterogeneous groups. These approaches provide solutions to simulated multi-robot grasp coordination scenarios that have the potential to translate to real-world environments such as logistics, manufacturing, and services.
In this paper, we propose a three-finger soft robotic gripper, which adopts an untethered and under-actuated design with simple structure and easy operation. The rotation of two servomotors is used to control the posi...
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This paper addresses the problem of local navigation for autonomous mobile robots in partially observable dynamic environments. The main contribution of this work is the expansion of a sampling based approach to deal ...
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This paper addresses the problem of local navigation for autonomous mobile robots in partially observable dynamic environments. The main contribution of this work is the expansion of a sampling based approach to deal with the robot and environment dynamic constraints and integrate a safety distance to keep the robot away from collisions. The developed algorithm has been implemented on a robotic platform with a Robot Operating System based embedded architecture, where it has been tested and validated in an indoor environment.
This paper proposed a permanent magnet optimization method to suppress the air gap flux density harmonic of permanent magnet synchronous motor(PMSM).The method corrected the effective air gap length of the motor,calcu...
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This paper proposed a permanent magnet optimization method to suppress the air gap flux density harmonic of permanent magnet synchronous motor(PMSM).The method corrected the effective air gap length of the motor,calculated the magnetization length of the permanent in the case of parallel magnetization,and took the influence of the permanent magnet relative permeability into *** on these works,for a given sinusoidal air gap flux density waveform,the corresponding structural parameters can be calculated,so as to achieve the optimization of the permanent *** using this method to optimize the shape of the magnet,the fundamental wave of the air gap flux density can be retained to the greatest extent,so as to eliminate harmonics and maintain the output capacity at the same *** feasibility and accuracy of the method have been verified by finite element analysis(FEA)and prototype machine *** method is simple and time-saving,and has a satisfactory accuracy,which provides a reference method for permanent magnet optimization of PMSM.
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