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On-line Adaptive control for Minimizing Slippage Error While Mobile Platform and Manipulator Operate Simultaneously for robotics Mobile Manipulation

On-line Adaptive control for Minimizing Slippage Error While...

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Annual Conference of the IEEE Industrial Electronics Society

作者： Ren C. Luo Yueh-Shiuan Tsai International Center of Excellence on Intelligent Robotics and Automation Research National Taiwan University

ISBN: (纸本)9781479917631

Mecanum wheels can apply a flexible mobility to a mobile robot, in this paper, a mobile manipulation robot is designed with combination of a Mecanum wheeled mobile platform and a 7-degrees of freedom (DoF) robot manipulator. Due to the mechanism of Omni-directional mobility, the Mecanum wheeled robot suffers with slip errors on the free rollers, these errors may be reduced with additional sensors and appropriate feedback control. However, while the mobile platform and the manipulator operate simultaneously, the displacement of the center of gravity of the whole robot increases the complexity to the motion control. To solve this problem, we analyze and model the effect of inconsistency of slippage errors caused by the unbalance of normal force on the wheels, and propose an on-line adaption slippage model for the Mecanum vehicle to generate a better control system to reduce these errors. We proof the effectiveness by using our proposed adaption model and on-line compensation control with experiments.

关键词： Yttrium

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A Unified Framework for Age Invariant Face Recognition and Age Estimation

A Unified Framework for Age Invariant Face Recognition and A...

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2017中国智能自动化会议(CIAC 2017)

作者： Changhong Wu Jianbo Su Department of Automation Research Center of Intelligent Robotics Shanghai Jiao Tong University

1 Introduction Human facial appearances change substantially over time,resulting in great challenges for the face recognition *** the other hand,the age estimation task expects to catch the age related *** some extent... 详细信息

关键词： image HOG Framework A Unified Framework for Age Invariant Face Recognition and Age Estimation

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Sensor fusion based vSLAM system for 3D environment grid map construction

Sensor fusion based vSLAM system for 3D environment grid map...

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： Ren C. Luo Ming Hsiao Cheng-Hsun Xie Center for Intelligent Robotics and Automation Research National Taiwan University Taipei Taiwan

ISBN: (纸本)9781467351942

The objective of this paper is to develop a mobile robot system to construct stereo vision and sonar fusion grid maps of 3D environment structure, which is based on a visual simultaneously localization and mapping (vSLAM) system. We first solve the problem of large textureless area for stereo camera by projecting laser dots onto them, and design the system algorithm to avoid the visual features of vSLAM disturbed by the projected laser dots. Meanwhile, some functions are integrated to make the projection efficient and avoid laser dots projected toward humans. The 3D grid map construction methods are also well designed to ensure the confidence of each grid even when stereo and sonar range data are noisy. We successfully demonstrate the concept through experiments, and the grid map is sufficient for future navigation and path planning tasks.

关键词： Stereo vision Lasers Visualization Cameras Robot sensing systems Sonar detection

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Evaluation of different crosslinking methods in altering the properties of extrusion-printed chitosan-basedmulti-material hydrogel composites

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Bio-Design and Manufacturing 2023年第2期6卷 150-173页

作者： Suihong Liu Haiguang Zhang Tilman Ahlfeld David Kilian Yakui Liu Michael Gelinsky Qingxi Hu Centre for Translational Bone Joint and Soft Tissue ResearchFaculty of Medicine and University Hospital Carl Gustav CarusTechnische Universität Dresden01307 DresdenGermany Rapid Manufacturing Engineering Center School of Mechatronic Engineering and AutomationShanghai UniversityShanghai 200444China Shanghai Key Laboratory of Intelligent Manufacturing and Robotics School of Mechatronic Engineering and AutomationShanghai UniversityShanghai 200444China National Demonstration Center for Experimental Engineering Training Education Shanghai UniversityShanghai 200444China

Three-dimensional printing technologies exhibit tremendous potential in the advancing fields of tissue engineering and regenerative medicine due to the precise spatial control over depositing the *** their widespread utilization and numerous advantages,the development of suitable novel biomaterials for extrusion-based 3D printing of scaffolds that support cell attachment,proliferation,and vascularization remains a ***-material composite hydrogels present incredible potential in this ***,in this work,a multi-material composite hydrogel with a promising formulation of chitosan/gelatin functionalized with egg white was developed,which provides good printability and shape *** addition,a series of comparative analyses of different crosslinking agents and processes based on tripolyphosphate(TPP),genipin(GP),and glutaraldehyde(GTA)were investigated and compared to select the ideal crosslinking strategy to enhance the physicochemical and biological properties of the fabricated *** of the results indicate that the composite hydrogel and the resulting scaffolds utilizing TPP crosslinking have great potential in tissue engineering,especially for supporting neo-vessel growth into the scaffold and promoting angiogenesis within engineered tissues.

关键词： Multi-material composite hydrogel Crosslinking mechanism Chitosan Gelatin Egg white 3D printing

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Multisensor integrated stair recognition and parameters measurement system for dynamic stair climbing robots

Multisensor integrated stair recognition and parameters meas...

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IEEE International Conference on automation Science and Engineering (CASE)

作者： Ren C. Luo Ming Hsiao Che-Wei Liu Center for Intelligent Robotics and Automation Research National Taiwan University Taipei Taiwan

In this paper, we develop an online real-time system using Kinect and inertial measurement unit (IMU) to recognize and measure stairs for stair climbing tasks of erect mobile robots. This system combines the ideas of statistical characteristics of 3D point cloud data and adjustable geometric models for stair recognition tasks. Through this system, we not only verify the advantages of statistics methods in 3D environment perception process, but also realize the idea of using adjustable geometric models to fit 3D perception data correctly and efficiently. Because our stair recognition system keeps good quality results (average errors within ±0.4 cm) and less time consumption (less than 0.1 second per frame) even under dynamic situations, it is expected that it can help mobile robots to achieve online dynamic stair climbing tasks.

关键词： Three-dimensional displays Vectors Solid modeling Data models Sensors Robots Predictive models

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Boosting the Efficiency and Mechanical Stability of Organic Solar Cells Through a Polymer Acceptor by Reducing the Elastic Modulus

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Advanced Energy Materials 2025年第0期

作者： Wang, Yan Yu, Han Zhao, Dan Liu, Wei Liu, Baoze Wu, Xin Gao, Danpeng Zhang, Dong Zhang, Shoufeng Sun, Xianglang Zhang, Chunlei Zhao, Chaoyue Fu, Yuchen Song, Wei Gong, Shaokuan Fu, Yuang Kwok, Chung Hang Ge, Ziyi Lu, Xinhui Chen, Xihan Xiao, Shuang Wong, Wai-Yeung Chai, Yu Yan, He Zhu, Zonglong Department of Chemistry City University of Hong Kong Kowloon999077 Hong Kong Department of Chemistry Guangdong-Hong Kong-Macao Joint Laboratory of Optoelectronic and Magnetic Functional Materials Energy Institute and Hong Kong Branch of Chinese National Engineering Research Center for Tissue Restoration & Reconstruction Hong Kong University of Science and Technology Clear Water Bay Kowloon999077 Hong Kong Department of Applied Biology and Chemical Technology and Research Institute for Smart Energy The Hong Kong Polytechnic University Hung Hom 999077 Hong Kong Hong Kong University of Science and Technology-Shenzhen Research Institute No. 9 Yuexing 1st RD Hi-tech Park Nanshan Guangdong Shenzhen518057 China School of Automation Engineering University of Electronic Science and Technology of China Sichuan Chengdu611731 China Department of Physics City University of Hong Kong Kowloon999077 Hong Kong Zhejiang Engineering Research Center for Energy Optoelectronic Materials and Devices Ningbo Institute of Materials Technology & Engineering Chinese Academy of Sciences Ningbo315201 China Shenzhen Key Laboratory of Intelligent Robotics and Flexible Manufacturing Systems SUSTech Energy Institute for Carbon Neutrality Department of Mechanical and Energy Engineering Southern University of Science and Technology Guangdong Shenzhen518055 China Department of Physics The Chinese University of Hong Kong Shatin999077 Hong Kong Center for Advanced Material Diagnostic Technology and College of Engineering Physics Shenzhen Technology University Guangdong Shenzhen518118 China Shenzhen Research Institute City University of Hong Kong Shenzhen518057 China

Organic solar cells (OSCs) are regarded as one of the most promising flexible power sources due to their lightweight and flexible properties, with the improvement of photovoltaic and mechanical performance. To improve the current density and power conversion efficiency (PCE), mPh4F-TS (TS) and PYSe2F-T (PA) are introduced into the binary host, PM6/mPh4F-TT (PM6/TT) as third components. It is demonstrated that the corresponding ternary devices, in both rigid and flexible devices, achieved superior efficiencies (19.6%/17.7% for PM6/TT+TS, and 19.2%/17.4% for PM6/TT+PA) outperform the binary counterparts (18.3%/16.4%). However, distinct differences in mechanical performance are observed between the polymer acceptor (PA) and small-molecular acceptor (TS). The PM6/TT+PA significantly improved the mechanical stability of flexible devices with a lower elastic modulus of 3.6 GPa, while the PM6/TT+TS resulted in the opposite effect with a higher elastic modulus of 5.5 GPa. Through in-depth investigation, a clear correlation between the elastic modulus, crack density, and mechanical stability of the active layer blends is successfully established, revealing the key role of reducing the elastic modulus in enhancing the mechanical stability of flexible OSCs. This study provides important guidance for the development of flexible photovoltaic devices with both high efficiency and mechanical robustness. © 2025 The Author(s). Advanced Energy Materials published by Wiley-VCH GmbH.

关键词： Organic solar cells

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Analytical inverse kinematic solution for modularized 7-DoF redundant manipulators with offsets at shoulder and wrist

Analytical inverse kinematic solution for modularized 7-DoF ...

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2014 IEEE/RSJ International Conference on intelligent Robots and Systems

作者： Ren C. Luo Tsung-Wei Lin Yun-Hsuan Tsai Center for Intelligent Robotics and Automation Research National Taiwan University Taipei Taiwan

The objective of this paper is to develop an analytical inverse kinematic solution for a 7-DoF redundant manipulator with offsets at shoulder and wrist. Firstly, the key ingredient is to derive closed-form inverse kinematic solution using different joint as redundancy based on parameterization method. By having these redundant parameters,we obtain different null-space self-motion pattern of the arm. We then can select a proper redundant joint. The method is consistent with calculating augmented Jacobian matrix. Lastly, the derived equations are verified with a modularized 7-DoF manipulator with offsets at shoulder and wrist, which consists of modularized components designed and built by our laboratory.

关键词： Joints Manipulators Kinematics Equations Mathematical model Wrist Redundancy

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Descending stairs locomotion and somatosensory control for an erect wheel-legged service robot

Descending stairs locomotion and somatosensory control for a...

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IEEE International Conference on robotics and automation (ICRA)

作者： Ren C. Luo Ming Hsiao Che-Wei Liu Center for Intelligent Robotics and Automation Research National Taiwan University Taipei Taiwan

In this paper, an erect stair climbing robot, which has been able to ascend stairs, is further developed for descending stairs automatically. The somatosensory control functions are also implemented for a human rider to drive the robot on flat ground as a personal vehicle instinctively. In order to face front whether climbing up or down stairs, the robot is designed with proper mechanical structure and mass distribution. Moreover, the perception and control methods of descending stairs are modified from the methodologies of ascending stairs in our previous works so that the robot can handle both ascending and descending stairs effectively under similar principles. As for the somatosensory control part, the functions of controlling the robot to move back and forth using the rider's body motion is realized, which has more advantages than Segway PT since it can stand still when the rider wants the platform to stop moving, and the robot motion under the control of the human rider is stable enough for indoor applications. In the experiments, the stair-climbing abilities and somatosensory control functions are both successfully demonstrated, which proves that the design and implementation of the robot system are feasible and efficient. We are looking forward for more functions and applications of the robot, including our ultimate goal of carrying a human rider to climb stairs in an erect way with somatosensory control simultaneously.

关键词： Mobile robots Wheels Robot sensing systems Acceleration Robot kinematics

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Recognition of facial expressions using component-based Active Appearance Models for human-robot interactions

Recognition of facial expressions using component-based Acti...

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Annual Conference of Industrial Electronics Society

作者： Ren C. Luo Chun Y. Huang Chin C. Hsiao Center of Intelligent Robotics and Automation Research National Taiwan University Taiwan Intelligent Robotics Technology Division Industrial Technology Research Institute Taiwan

Recognition of facial expressions becomes significant issue between human and robot interactions. The purpose of this paper is to study the alignment and tracking of facial features with optical flow and component-based active appearance model, and then analyze fitted points to recognize facial expressions. Using this method with accurate analysis and tracking of facial features in robot or computer. Consequently robot or computer can easily recognize user's facial expressions and emotional variation, and then response properly. We apply some realtime techniques and Active Appearance Model (AAM) on the cameras. A high-quality AAM alignment results depend on apposite selections of initial positions. Nevertheless it takes a lot of time when we apply image pyramid to get precise results. In this paper, we introduce a new method to apply AAM fitting and further solve above problems. In our fitting plan, we apply partial AAM fitting separately on mouth and eyes. Therefore we could make more efficient facial features alignment and then it becomes able to implement tracking to real-world video and realtime alignment. To get more stable partial AAM, we use multi-level optical flow to determine initial positions of facial feature models. It is relative easier to analyze user's emotional information and get accurate positions of facial features for further application in real world environments by the algorithm we developed.

关键词： Active appearance model Fitting Mouth Image motion analysis Face Optical imaging

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Mobile sensor node deployment and asynchronous power management for wireless sensor networks

Mobile sensor node deployment and asynchronous power managem...

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IEEE Transactions on Industrial Electronics

作者： Luo, Ren C. Chen, Ogst Center for Intelligent Robotics and Automation Research National Taiwan University Taipei 10617 Taiwan Department of Electrical Engineering National Chung Cheng University Taipei 10617 Taiwan

Mobile sensor node deployment and power management are important issues in the wireless sensor network system. This study designs a mobile sensor node platform to achieve a highly accurate localization mechanism by using ultrasonic, dead reckoning, and radio frequency information which is processed through a particle filter algorithm. Mobile sensor node with accurate localization ability is of great interest to basic research works and applications, such as sensor deployment, coverage management, dynamic power management, etc. In this paper, we propose an efficient mobile sensor node deployment method, grid deployment, where the map is divided into multiple individual grids and the weight of each grid is determined by environmental factors such as predeployed nodes, boundaries, and obstacles. The grid with minimum values is the goal of the mobile node. We also design an asynchronous power management strategy in our sensor node to reduce power consumption of the sensor network. Several factors such as probability of event generation, battery status, coverage issues, and communication situations have also been taken into consideration. In network communication, we propose an asynchronous awakening scheme so that each node is free to switch on or off its components according to observed event statistics and make a tradeoff between communication and power consumption. The deepest sleep state period is determined by the residual power. By combining these methods, the power consumption of the sensor node can be reduced. © 2006 IEEE.

关键词： Sensor nodes Communication Distributed computer systems Electric network synthesis Energy management Sensor networks Asynchronous power management Basic research Battery status Communication situations Coverage Coverage management Dead reckoning dynamic power management Environmental factors Grid deployment Minimum value Mobile nodes Mobile sensor node Network communications Particle filter algorithms Power managements Radio frequencies Residual power Sensor deployment Sleep state Study design Switch on Wireless sensor

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