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International Conference on control, Decision and Information Technologies (CoDIT)

作者： Andrzej M.J. Skulimowski Wojciech Szulc Decision Science Laboratory AGH University Kraków Poland International Center for Decision Sciences and Forecasting Progress & Business Foundation Kraków Poland Automatic Control and Robotics AGH University

ISBN: (数字)9798350373974

ISBN: (纸本)9798350373981

This article studies the deployment of autonomous robots in smart environments equipped with Industrial Internet of Things (IIoT) infrastructure. First, we characterize state-of-the-art IIoT solutions based on a bibliographic and openweb surveys, focusing on the interaction between autonomous robots and the IIoT infrastructures in the context of Robot-as-a-Service (RaaS) paradigm. Then, we define the criteria and requirements for optimal integration of a robot team equipped with an Internet of Vehicles (IoV) communication protocol with an existing IIoT. Sensors, edge devices, and data exchange algorithms are highlighted as crucial elements of seamless soft- and hardware integration. Establishing a quick interaction of robot decision-making algorithms with IIoT is seen as instrumental in identifying bottlenecks and vulnerabilities of the overall system, and a key to its desired performance. Another relevant issue is safety assurance of robot team in an IIoT environment as reflected in the appropriate standards that advocate responsible and sustainable technological progress in AI-enabled robotic systems. Finally, we will provide a real-life application example illustrating the principles and advantages of appropriate multirobot team integration in covered crops smart horticulture. This example pertains to the relevant area of Agricultural IoT (AIoT) applications, specifically focusing on the design of autonomous fruit-picking robots embedded in a greenhouse or polytunnel control infrastructures. Existing AIoT and crop control is integrated with robot software such as anticipatory coordination algorithms, world model building, navigation, and SLAM. Optimal integration is reached via a prior simulation with a dedicated Digital Twin application implemented in Matlab.

关键词： Performance evaluation Protocols Service robots Robot kinematics Mathematical models Safety Robots Standards Industrial Internet of Things Autonomous robots

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Seven Benefits of Using Series Elastic Actuators in the Design of an Affordable, Simple controlled, and Functional Prosthetic Hand

Seven Benefits of Using Series Elastic Actuators in the Desi...

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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Erfan Koochakzadeh Alireza Kargar Parsa Sattari Diba Ravanshid Rezvan Nasiri Research Institute for Robotics Artificial Intelligence and Information Science (RAIIS) Control and Intelligent Processing Center of Excellence (CIPCE) School of Electrical and Computer Engineering College of Engineering University of Tehran Tehran Iran

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

This paper highlights the benefits of using series elastic actuators (SEA) in designing a cost-efficient, easily controlled, and functional prosthetic hand. The designed 3D-printed hand uses only two motors in an antagonistic configuration, transferring power to the fingers via pulleys, cables, and springs; i.e., the motors are in an SEA configuration with the load/fingers. In the designed underactuated prosthetic hand, the thumb is adjustable for various tasks, and the optimization of pulley diameters ensures synchronized finger movement during hand flexion and extension. Thanks to the SEA configuration of the motors and fingers, simple position control of the motor enables features like hand position control, morphological grasp, force control, impedance control, slippage detection, safe interaction, and efficient grasp. An extensive set of experiments has been conducted to evaluate the designed prosthetic hand’s performance. The experiments confirm the hand’s satisfactory performance while also highlighting the importance of improving the proposed design in different aspects. To attain better position control and morphological grasp, minimizing the cable-body and joint friction is recommended. A higher resolution of the current/torque sensor is needed for the precise force control and slippage detection. Finally, a motor brake system is required to achieve efficient grasping.

关键词： Hands Actuators Pulleys Thumb Position control Motors Synchronization Force control Springs Prosthetic hand

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Trajectory Tracking control for Lane Change Maneuvers in Autonomous Vehicles

Trajectory Tracking Control for Lane Change Maneuvers in Aut...

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International Conference on control, Automation, robotics and Vision (ICARCV)

作者： Muhammad Shahab Muhammad Faizan Mysorewala Department of Control & Instrumentation Engineering King Fahd University of Petroleum & Minerals (KFUPM) Dhahran Saudi Arabia Department of Control & Instrumentation Engineering Interdisciplinary Research Center for Smart Mobility and Logistics Interdisciplinary Research Center for Intelligent Manufacturing and Robotics King Fahd University of Petroleum and Minerals (KFUPM) Dhahran Saudi Arabia

ISBN: (数字)9798331518493

ISBN: (纸本)9798331518509

This research advances autonomous vehicle capabilities by developing novel trajectory planning and control techniques for lane changes using free-driving and vehicle-following modes. This study addresses the critical challenge of enhancing lane change precision to minimize accident risks on highways. A quintic polynomial is used for trajectory generation, and a PID controller is employed for trajectory tracking, integrating collision prevention strategies for safety assurance. The contributions of this work include the development of an efficient control scheme that adapts to dynamic traffic conditions and improves the robustness of lane-changing maneuvers. The proposed approach significantly enhances the accuracy and reliability of autonomous lane changes, providing a pathway for safer autonomous driving in complex highway scenarios.

关键词： Road transportation Trajectory planning Trajectory tracking Prevention and mitigation Robot sensing systems Robustness Safety Trajectory Vehicle dynamics Autonomous vehicles

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Unveiling the Potential of Segment Anything Model 2 for RGB-Thermal Semantic Segmentation with Language Guidance

arXiv

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arXiv 2025年

作者： Zhao, Jiayi Teng, Fei Luo, Kai Zhao, Guoqiang Li, Zhiyong Zheng, Xu Yang, Kailun The School of Robotics Hunan University China The National Engineering Research Center of Robot Visual Perception and Control Technology Hunan University China The AI Thrust Hong Kong University of Science and Technology Guangzhou China

The perception capability of robotic systems relies on the richness of the dataset. Although Segment Anything Model 2 (SAM2), trained on large datasets, demonstrates strong perception potential in perception tasks, its inherent training paradigm prevents it from being suitable for RGB-T tasks. To address these challenges, we propose SHIFNet, a novel SAM2-driven Hybrid Interaction Paradigm that unlocks the potential of SAM2 with linguistic guidance for efficient RGB-Thermal perception. Our framework consists of two key components: (1) Semantic-Aware Cross-modal Fusion (SACF) module that dynamically balances modality contributions through text-guided affinity learning, overcoming SAM2’s inherent RGB bias;(2) Heterogeneous Prompting Decoder (HPD) that enhances global semantic information through a semantic enhancement module and then combined with category embeddings to amplify cross-modal semantic consistency. With 32.27M trainable parameters, SHIFNet achieves state-of-the-art segmentation performance on public benchmarks, reaching 89.8% on PST900 and 67.8% on FMB, respectively. The framework facilitates the adaptation of pre-trained large models to RGB-T segmentation tasks, effectively mitigating the high costs associated with data collection while endowing robotic systems with comprehensive perception capabilities. The source code will be made publicly available at https://***/iAsakiT3T/SHIFNet. Copyright © 2025, The Authors. All rights reserved.

关键词： Semantic Segmentation

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Qualification of the MMX Rover Locomotion Subsystem for the Martian Moon Phobos

Qualification of the MMX Rover Locomotion Subsystem for the ...

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IEEE Conference on Aerospace

作者： Stefan Barthelmes Ralph Bayer Wieland Bertleff Markus Bihler Fabian Buse Maxime Chalon Günther Geyer Franz Hacker Cynthia Hofmann Roman Holderried Alexander Kolb Erich Krämer Viktor Langofer Roy Lichtenheldt Sascha Moser André Fonseca Prince Kaname Sasaki Hans-Jürgen Sedlmayr Juliane Skibbe Bernhard Vodermayer German Aerospace Center (DLR) Institute of System Dynamics and Control Weßling German Aerospace Center (DLR) Institute of Robotics and Mechatronics Weßling German Aerospace Center (DLR) Institute of Space Systems Bremen

Planetary rovers have proven their function and value for the Earth moon as well as Mars in the past decades. While these celestial bodies have a gravity of the same order of magnitude as the Earth, wheeled locomotion has never been performed on a body with much lower gravity. Within the Japanese Martian Moon eXploration (MMX) mission, a wheeled rover will land on the Martian Moon Phobos with a gravity of about 1/2000 of the Earth gravity. The Robotic and Mechatronics center of the German Aerospace center (DLR-RMC) has designed and built the locomotion subsystem (LSS) for this rover. As the first ever driving gear for milli-gravity, the LSS needed to undergo a comprehensive qualification campaign. Due to the very challenging timeline of this project, the extent of the campaign needed to be carefully tailored to the needs of the mission. This work describes the concept of the verification including some crucial tailoring choices that have been made. The individual domains of verification are then described in detail with their scope, setup, procedure and results. The goal of this publication is to give a good overview and a detailed insight into the verification of the LSS for milli-gravity. Besides follow-up missions to Phobos, this work is also a good foundation for the qualification of future driving gears for low gravity environments or small rovers in general.

关键词： Earth Space vehicles Mars Mechatronics Gears Moon Mobile robots

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LQR and SMC control design of a DC-DC converter based on Kalman filter observer for a nanosatellite's EPS: A comparative study 48

LQR and SMC control design of a DC-DC converter based on Kal...

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48th Annual Conference of the IEEE Industrial Electronics Society, IECON 2022

作者： Daghouri, Amina El Wafi, Ilyas Elhani, Soumia Haloua, Mohamed Guennoun, Zouhair Ensam University Center for Research in Space Technologies Emi Mohammed v University in Rabat Energy Optimization Diagnosis and Control Team Morocco Emi University Center for Research in Space Technologies Emi Mohammed v University in Rabat Smart Communications Research Team Morocco Emi Mohammed v University in Rabat Power Electronics Smart Control Techniques Automatic and Robotics Team Morocco

ISBN: (数字)9781665480253

ISBN: (纸本)9781665480253

Until now, only the PID has been used to control DC/DC converters for a Nanosatellite's Electrical Power System (EPS), thus, the goal of this work is to investigate the feasibility of other methods. This paper focuses on a comparative study of SMC and LQR for the regulation of a Buck converter used in EPS. A study is done to evaluate their efficiency, using MATLAB/Simulink, in response to various fluctuations in voltage source, reference voltage and resistive load. To estimate the system's states and filter the noise in the measurements, a Kalman filter is utilized. In terms of recovery time, settling time and under/overshoots, SMC outperforms the other controllers, however, the control input suffers from the chattering effect and high magnitude peaks. The SMC recovery time to a change in the load is 0.677ms, while LQR takes 1.583ms to recover. PID, on the other hand, is slower with a recovery time of 3.068ms. SMC also presents the lowest steady state error which is less than 0.01%, whereas LQR and PID have an error less than 0.36% and 0.56%, respectively. © 2022 IEEE.

关键词： Electric loads

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An Elliptical Tangent Graph Method Based on Multi-source Information for UAV Path Planning 3rd

An Elliptical Tangent Graph Method Based on Multi-source Inf...

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3rd International Conference on Autonomous Unmanned Systems, ICAUS 2023

作者： Liu, Bin Tang, Qirong Huang, Wentao Jiang, Qingchao Fan, Qinqin Logistics Research Center Shanghai Maritime University Shanghai201306 China Laboratory of Robotics and Multibody System Tongji University Shanghai201804 China Key Laboratory of Control of Power Transmission and Conversion Ministry of Education of China Shanghai200240 China Key Laboratory of Smart Manufacturing in Energy Chemical Ministry of Education East China University of Science and Technology Shanghai200237 China

ISBN: (纸本)9789819711062

Path planning is one of important tasks for unmanned aerial vehicles (UAVs) to achieve autonomous flight. Moreover, the solution efficiency and solution accuracy are usually two conflicting objectives in UAV path planning problem, especially for complex static environments. To alleviate the above issue, an elliptical tangent graph method based on multi-source information (ETG-MI) is proposed in the current study. In the proposed ETG-MI algorithm, the target guidance information is first used to generate candidate waypoints via elliptical tangent graph method, and then a novel heuristic rule is utilized to select promising waypoints. Additionally, a waypoint selection method is proposed to eliminate low-quality detour waypoints. Finally, the cubic B-spline curve method is used to smooth the final obtained path for meeting the actual flight requirements of UAV. The proposed algorithm is compared with four state-of-the-art path planning methods under different scenarios. The experimental results demonstrate that the proposed ETG-MI is capable of finding an optimal feasible path for different environments with various types of obstacles. Moreover, the proposed algorithm performs better than other competitors in simple maze-like environments. © Beijing HIWING Scientific and Technological Information Institute 2024.

关键词： Motion planning

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Multi-Keypoint Affordance Representation for Functional Dexterous Grasping

arXiv

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arXiv 2025年

作者： Yang, Fan Luo, Dongsheng Chen, Wenrui Lin, Jiacheng Cai, Junjie Yang, Kailun Li, Zhiyong Wang, Yaonan School of Robotics Hunan University China National Engineering Research Center of Robot Visual Perception and Control Technology Hunan University China College of Computer Science and Electronic Engineering Hunan University Changsha China

Functional dexterous grasping requires precise hand-object interaction, going beyond simple gripping. Existing affordance-based methods primarily predict coarse interaction regions and cannot directly constrain the grasping posture, leading to a disconnection between visual perception and manipulation. To address this issue, we propose a multi-keypoint affordance representation for functional dexterous grasping, which directly encodes task-driven grasp configurations by localizing functional contact points. Our method introduces Contact-guided Multi-Keypoint Affordance (CMKA), leveraging human grasping experience images for weak supervision combined with Large Vision Models for fine affordance feature extraction, achieving generalization while avoiding manual keypoint annotations. Additionally, we present a Keypoint-based Grasp matrix Transformation (KGT) method, ensuring spatial consistency between hand keypoints and object contact points, thus providing a direct link between visual perception and dexterous grasping actions. Experiments on public real-world FAH datasets, IsaacGym simulation, and challenging robotic tasks demonstrate that our method significantly improves affordance localization accuracy, grasp consistency, and generalization to unseen tools and tasks, bridging the gap between visual affordance learning and dexterous robotic manipulation. The source code and demo videos will be publicly available at https://***/PopeyePxx/MKA. Copyright © 2025, The Authors. All rights reserved.

关键词： Vision

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SIT-Net: Surgical Image Translation Network Using a Generative Adversarial Method with Visual Feature Disentanglement

SIT-Net: Surgical Image Translation Network Using a Generati...

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2023 IEEE International Conference on Real-Time Computing and robotics, RCAR 2023

作者： Guo, Yuhao Zhou, Tiancheng Chi, Wenzheng Zhou, Feng Qi, Peng Li, Ling Sun, Lining Lu, Bo Soochow University Robotics and Microsystems Center School of Mechanical and Electric Engineering Suzhou215021 China Soochow University First Affiliated Hospital Department of Orthopedics Suzhou215021 China Tongji University Department of Control Science and Engineering Shanghai China Suzhou Ultimage Health Technology Co. Ltd. China

ISBN: (纸本)9798350327182

With flourishing advancements of surgical robots and learning-driven algorithms, surgical automation that enables robots with autonomous functions for certain subtasks by learning experts' skills is attracting tremendous attention. To facilitate its development, introducing a high-quality surgical image translation method from current scenes to desired domains can not only augment the data for model training but also alleviate the problems that may frequently encounter using traditional approaches, like visual blurs or incomplete instrument generations. To this end, we propose a new surgical image generation method called Surgical Image Translation Network (SIT-Net). Considering complex features entangled within surgical images, a novel generator that leverages tool masks to disentangle the foreground and background characteristics is proposed. Besides, to retain the completeness of instruments, a novel loss function that can preserve tools' features is introduced to further supervise the model training process. We extensively evaluated our method in terms of the visual appearance of translated images and adopted an evaluation indicator Fréchet Inception Distance (FID) to verify whether the generated images are close to the target domain or not. Both the qualitative and quantitative outcomes demonstrate that our SIT-Net is superior to the traditional approach regarding surgical image translation and generation in desired scenes. © 2023 IEEE.

关键词： Robotic surgery

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EgoEvGesture: Gesture Recognition Based on Egocentric Event Camera

arXiv

引用

arXiv 2025年

作者： Wang, Luming Shi, Hao Yin, Xiaoting Yang, Kailun Wang, Kaiwei Bai, Jian State Key Laboratory of Extreme Photonics and Instrumentation Zhejiang University China School of Robotics Hunan University China National Engineering Research Center of Robot Visual Perception and Control Technology Hunan University China

Egocentric gesture recognition is a pivotal technology for enhancing natural human-computer interaction, yet traditional RGB-based solutions suffer from motion blur and illumination variations in dynamic scenarios. While event cameras show distinct advantages in handling high dynamic range with ultra-low power consumption, existing RGB-based architectures face inherent limitations in processing asynchronous event streams due to their synchronous frame-based nature. Moreover, from an egocentric perspective, event cameras record data that includes events generated by both head movements and hand gestures, thereby increasing the complexity of gesture recognition. To address this, we propose a novel network architecture specifically designed for event data processing, incorporating (1) a lightweight CNN with asymmetric depthwise convolutions to reduce parameters while preserving spatiotemporal features, (2) a plug-and-play state-space model as context block that decouples head movement noise from gesture dynamics, and (3) a parameter-free Bins-Temporal Shift Module (BSTM) that shifts features along bins and temporal dimensions to fuse sparse events efficiently. We further establish the EgoEvGesture dataset, the first large-scale dataset for egocentric gesture recognition using event cameras. Experimental results demonstrate that our method achieves 62.7% accuracy tested on unseen subjects with only 7M parameters, 3.1% higher than state-of-the-art approaches. Notable misclassifications in freestyle motions stem from high interpersonal variability and unseen test patterns differing from training data. Moreover, our approach achieved a remarkable accuracy of 97.0% on the DVS128 Gesture, demonstrating the effectiveness and generalization capability of our method on public datasets. The dataset and models are made available at https://***/3190105222/EgoEv_Gesture. Copyright © 2025, The Authors. All rights reserved.

关键词： Gesture recognition

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