检索结果-内蒙古大学图书馆

Iberian robotics Conference (ROBOT)

作者： Eduardo Navas Kai Blanco Daniel Rodríguez-Nieto Roemi Fernández Centre for Automation and Robotics (CAR) CSIC-UPM Madrid Spain

ISBN: (数字)9798350376364

ISBN: (纸本)9798350376371

The automation of agricultural tasks, known as Agriculture 4.0 or Smart Agriculture, has garnered significant interest in the past decade. The use of drones and other mobile robots for tasks such as crop monitoring, harvesting, and pruning has advanced the automation of this sector, partly driven by a shortage of labor. However, certain tasks, such as pollination, still require effective automation solutions. Pollination, naturally performed by various animals such as insects, demands special attention due to a significant decline in pollinator insect populations. This decline has led to reduced crop yields, posing a major challenge to agricultural productivity. To address this issue, this paper proposes the development of a pollination tool using additive manufacturing technology and soft, flexible materials. This tool is specifically designed for integration into a robotic system capable of automatically pollinating various crops without damaging the flowers. The proposed solution aims to enhance pollination efficiency and support sustainable crop yields in the face of declining natural pollinators.

关键词： Smart agriculture automation Insects Pollination (plants) Three-dimensional printing Internet of Things Artificial intelligence Robots Crop yield Drones

来源：评论

学校读者我要写书评

暂无评论

Uncertainty Estimation of Human-Exoskeleton Interaction Using a Robotic Dummy

Uncertainty Estimation of Human-Exoskeleton Interaction Usin...

引用

IEEE International Workshop on Medical Measurement and Applications (MEMEA)

作者： Stefano Massardi David Rodriguez-Cianca Diego Torricelli Matteo Lancini DIMI University of Brescia Brescia Italy BioRobotics Group Centre for Automation and Robotics (CAR) CSIC-UPM Madrid Spain BioRobotics Group Centre for Automation and Robotics (CAR) CSIC-UPM Madrid Spain DSMC University of Brescia Brescia Italy

ISBN: (数字)9798350307993

ISBN: (纸本)9798350308006

Exoskeletons and exosuits have witnessed unprecedented growth in recent years, especially in the medical and industrial sectors. The study of human-exoskeleton interaction relies on the participation of potential exoskeleton users, which gives rise to safety concerns and substantial testing resources. Specifically, the study of physical human-exoskeleton interaction (pHEI) is based on several metrics that are typically challenging to assess in a systematic way. To address this, we present an instrumented setup composed of a mechatronic leg able to sense interaction forces, together with a vision system for measuring pHEI kinematic metrics. In this study, we started from a previously designed protocol to extract key metrics utilized in assessing pHEI, such as joint misalignments, relative motions and interaction forces. Subsequently, we carried out an uncertainty analysis on these chosen metrics of interest. To achieve this, a series of experiments were conducted to assess the influence of the measurement uncertainty on each metric through multiple test repetitions. Despite generally acceptable uncertainty values, angular misalignment metrics warrant further investigation since their associated uncertainty is close to the value of its standard deviation in the conditions tested. These findings emphasize the importance of conducting such an analysis, offering insights for the future measurement protocols verification and improvements.

关键词： Uncertainty Protocols Systematics Measurement uncertainty Exoskeletons Force Kinematics

来源：评论

学校读者我要写书评

暂无评论

A New Emotional Social Robotic Platform

A New Emotional Social Robotic Platform

引用

Iberian robotics Conference (ROBOT)

作者： Daniel Sotelo Javier Laserna Daniel Galan Fernando Matia Centre for Automation and Robotics (CAR) UPM-CSIC Universidad Politécnica de Madrid Madrid Spain

ISBN: (数字)9798350376364

ISBN: (纸本)9798350376371

In this paper, we present the development of an advanced social robot designed to assist older adults and children with medical conditions, focusing primarily on its potential for social interaction in these contexts. While the robot incorporates some emotional recognition and expression capabilities, the core of our work centers on the design and construction of the robot, aiming to provide a flexible platform for social engagement. The robot architecture integrates both hardware and software components optimized for interaction in care settings. Key features include various sensors, such as cameras and microphones, that enable the robot to perceive its environment and respond in ways that enhance user comfort. The robot's design allows for future expansions in emotional recognition and empathetic interaction, although these aspects are currently in a conceptual stage. This paper details the robot's physical construction and its overall design, emphasizing its potential to support users in social environments through interaction and communication. We discuss the various components and functionalities that make the robot a promising tool for assisting elderly individuals and children with medical conditions. Future work will involve further development of its emotional capabilities and real-world testing to evaluate its overall effectiveness.

关键词： Pediatrics Emotion recognition Medical conditions Social robots Sensor phenomena and characterization Robot sensing systems Software Older adults Robots Testing

来源：评论

学校读者我要写书评

暂无评论

Flocking Behavior for Dynamic and Complex Swarm Structures

Flocking Behavior for Dynamic and Complex Swarm Structures

引用

International Conference on Unmanned Aircraft Systems (ICUAS)

作者： carmen Pita-Romero Pedro Arias-Perez Miguel Fernandez-Cortizas Rafael Perez-Segui Pascual Campoy Computer Vision and Aerial Robotics group (CVAR) Centre for Automation and Robotics (CAR) Universidad Politécnica de Madrid (UPM-CSIC) Madrid Spain

ISBN: (数字)9798331513283

ISBN: (纸本)9798331513290

Maintaining the formation of complex structures with multiple UAVs and achieving complex trajectories remains a major challenge. This work presents an algorithm for implementing the flocking behavior of UAVs based on the concept of Virtual Centroid to easily develop a structure for the flock. The approach builds on the classical virtual-based behavior, providing a theoretical framework for incorporating enhancements to dynamically control both the number of agents and the formation of the structure. Simulation tests and real-world experiments were conducted, demonstrating its simplicity even with complex formations and complex trajectories.

关键词： Heuristic algorithms Trajectory Aircraft

来源：评论

学校读者我要写书评

暂无评论

Improvement for Fuel Cell Power Systems by Short Circuit Energy Recovering*

Improvement for Fuel Cell Power Systems by Short Circuit Ene...

引用

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

作者： J. carrascal García R. Del Toro Matamoros L. González Rodríguez R. Haber Guerra The Centre for Automation and Robotics Polytechnic University of Madrid - Spanish Council for Scientific Research (CAR UPM-CSIC) Madrid Spain

ISBN: (数字)9798350373974

ISBN: (纸本)9798350373981

In this work a design solution is proposed for energy efficiency improvement of fuel cell power systems, in which the short circuit activation technique is employed as a routine procedure during its operation. The energy produced by the fuel cell stack during the small short circuit interval, not supplied to the load, is stored in a capacitive device and a control system guarantees to recover it for being supplied to the balance of plant (BOP) components. The short circuit activation method is experimentally analyzed in a commercial 1 kW fuel cell stack, observing a power enhancement of 7.44 % at lower energy range and short operation time. Based on the experimental analysis a system has been designed in order to additionally guarantee the power continuity for the load. It is composed of four units: the voltage stabilization unit, the active short circuit unit, the energy recovery unit and a control unit for power management. The capacitances for temporary energy storage devices are calculated and they serve for two purposes: holding the voltage of the load and storing the energy of the short circuit. The recovered energy is thus used to maintain the charge of the battery, which store energy from the fuel cell that is supplied to the BOP. The control unit guarantees the complete discharge of the recovering storage element per short circuit cycle. The proposed system is numerically validated for a 1 kW fuel cell power system and for different short circuit voltages values. The proportion of recovered energy is evidencable higher as lower is the operating power and as higher is the short-circuit voltage, reaching a 4.50 %.

关键词： Power system management Fuel cells Power system stability Supercapacitors Energy efficiency Discharges (electric) Batteries Voltage control Information technology Switching circuits

来源：评论

学校读者我要写书评

暂无评论

Low Energy Consumption Quadrupedal Locomotion with Quasi-resonant Compliant Backbone 1

引用

17th International Conference on Informatics in Control, automation and robotics, ICINCO 2020

作者： Parra Ricaurte, Edgar Andres Dominguez, S. Rossi, C. Centre for Automation and Robotics UPM-CSIC Universidad Politécnica de Madrid Madrid Spain

ISBN: (数字)9783030924423

ISBN: (纸本)9783030924416

Thanks to their flexible trunk, many quadrupeds are capable of highly power efficient gaits. The backbone, tendons and musculature help their different gaits, especially running, by storing and releasing elastic energy. Additionally, they also help a smooth deceleration and a fast acceleration of the different parts of the body involved during running. In this work we present our studies aimed at modeling and reproducing such phenomena for efficient robot locomotion. In addition, we studied how to amplify such effect when the frequency of the backbone is brought close to the natural resonant frequency of the compliant structure. We demonstrate that a flexible artificial structure representing the backbone, muscle and tendons, driven to quasi-resonant oscillations is capable of dramatically reducing the energy required to maintain oscillations. At the same time, such oscillations increase their amplitude. Such effect will be used to design fast running and energy efficient quadruped robots. © 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Energy efficiency

来源：评论

学校读者我要写书评

暂无评论

Soft Bellow-Based 3D Printed Robot for in-Pipe Inspection Applications

Soft Bellow-Based 3D Printed Robot for in-Pipe Inspection Ap...

引用

Iberian robotics Conference (ROBOT)

作者： Kai Blanco Eduardo Navas Daniel Rodríguez-Nieto Luis Emmi Roemi Fernández Centre for Automation and Robotics CSIC-UPM Arganda del Rey Spain

ISBN: (数字)9798350376364

ISBN: (纸本)9798350376371

In-pipe inspection frequently involves toxic chemicals, fluids, and spaces that are inaccessible to human operators. To ensure the well-being of workers in this sector, various approaches have been explored, most notably the use of rigid robotics. These robots use rigid elements linked together, along with multiple actuators, to achieve movement. However, the main drawback of rigid robotics is their difficulty in adapting to changing, unstructured environments. However, in the past decade, the use of soft robots, which employ soft materials as the basis for their operation, has begun to be studied for these types of tasks. The use of these materials in the robot's actuators offers significant adaptability, enabling more efficient movement and performance in unstructured environments. Additionally, the soft actuators allow the robot to navigate irregular surfaces, overcome small obstacles, and change direction within pipes without the need for extra actuation systems. This article explores the use of soft robotics in pipe inspection tasks, showcasing their potential in such applications. The study highlights the benefits of using Finite Element Modeling (FEM) combined with hyperelastic models during the initial design and planning stages to predict and better plan the behavior of the soft robot prior to its manufacturing.

关键词： Actuators Bellows Navigation Toxic chemicals Soft robotics Inspection Three-dimensional printing Finite element analysis Planning Testing

来源：评论

学校读者我要写书评

暂无评论

Extending the operational lifespan of key components in a cyberphysical system. A method and case study

Extending the operational lifespan of key components in a cy...

引用

International Conference on System Theory, Control, and Computing (ICSTCC)

作者： Fernando Castaño Yarens J. Cruz Rodolfo E. Haber Alberto Villalonga Centre for Automation and Robotics CSIC – UPM Arganda del Rey Spain Centre for Automation and Robotics CSIC – Universidad Politécnica de Madrid (UPM) Arganda del Rey Spain

ISBN: (数字)9798350364293

ISBN: (纸本)9798350364309

Nowadays extending the lifespan of key electronic components in cyber-physical systems is a must from the viewpoint of efficiency and sustainability. Up-to-date, there is a fresh push to use Artificial intelligence (AI) for estimating the remaining useful life (RUL) of electronic components. This paper proposes an automated framework for predicting RUL and classifying device failures. The framework includes a library of AI-based models to perform RUL estimation and to assess the actual condition of critical electronic components, without disconnecting them in a cyber-physical system. The best model is selected using the Q-learning method, which runs in parallel with the set of models. To evaluate the framework, a case study involving electrolytic capacitors of DC/DC power converters is presented. The results corroborate the suitability of the suggested approach in real-data sets and industrial test-bed.

关键词： Support vector machines Q-learning Capacitors Cyber-physical systems Libraries Data models Integrated circuit modeling Sustainable development Long short term memory Standards

来源：评论

学校读者我要写书评

暂无评论

Real-Time Beach Monitoring: Addressing Beach Safety with UAVs and Computer Vision

Real-Time Beach Monitoring: Addressing Beach Safety with UAV...

引用

Iberian robotics Conference (ROBOT)

作者： Rodrigo Da-Silva-Gomez Alejandro Rodriguez-Ramos David Perez-Saura Guillermo GP-Lenza Fernando Palacios-Lopez Salvador Dominguez Ana Redondo-Rodriguez Daniel Sanz-Merodio Helder Rodriguez Pascual Campoy Miguel López Computer Vision and Aerial Robotics (CVAR) Centre for Automation and Robotics (CAR) UPM-CSIC ARQUIMEA Research Center (ARC) Universidad Politécnica de Madrid Spain

ISBN: (数字)9798350376364

ISBN: (纸本)9798350376371

This study employs computer vision techniques to address beach safety concerns, with a focus on camera-equipped UAVs. The UAVs provide five channels of information that require preprocessing and image alignment to remove noise. The main challenges addressed are the identification of dangerous areas and people detection. For segmentation tasks, several lightweight models were evaluated, with YOLOv8-seg demonstrating superior efficiency and computational lightness across diverse conditions. In people detection, YOLOv8 also shows suitable results, identifying beach users, bathers, swimmers, and surfers. These solutions enable the use of UAVs for beach monitoring, providing a foundation for applications that evaluate danger for individuals on the beach. The results demonstrate the models' effectiveness and their capability to be deployed in real-time on board the UAVs.

关键词： Computer vision Image segmentation Computational modeling Noise Real-time systems Safety Computational efficiency Monitoring

来源：评论

学校读者我要写书评

暂无评论

Corridors-based navigation for automated vehicles convoy in off-road environments*

引用

IFAC-PapersOnLine 2022年第14期55卷 71-76页

作者： Jorge Godoy Antonio Artuñedo Miguel Beteta Jorge Villagra Centre for Automation and Robotics (CSIC-UPM). Madrid Spain

Most of the studies found in the literature for autonomous driving solutions applied to vehicles convoying are related to highway platooning applications. However, in recent years both the agriculture and military fields seem to have an increased interest in such solutions for off-road applications. This work presents a corridor-based strategy for motion planning of automated vehicles convoys in off-road environments. From the wake generated by the leading vehicle, the follower vehicle estimates the boundaries of a navigable corridor encompassing the leader's path. Using these boundaries and the outputs from the on-board navigation subsystem, the vehicle plans the most suitable trajectory to follow the leader while avoiding obstacles. In order to keep the vehicles within safety distance thresholds, an inter-distance model is applied to the speed profile generation. The proposed strategy has been implemented and validated with real vehicles, showing promising results in fully operational off-road environments.

关键词： Intelligent Transportation Systems Path planning Multi-Vehicle Systems Navigation Systems Trajectory Tracking Obstacle Detection Avoidance Platoons

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：