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2024 Australasian Conference on robotics and automation, ACRA 2024

作者： Jangali, Rahul Lim, Hin McGuinness, Ben Au, Chi Kit Williams, Henry MacDonald, Bruce Duke, Mike School of Engineering University of Waikato Hamilton New Zealand Centre for Automation and Robotics Engineering Science University of Auckland New Zealand

This paper presents a new method to evaluate multiple end effectors for a given task, which was applied to four custom-designed robotic end effectors for apple fruitlet thinning in a controlled laboratory environment. These end effectors’ specific mechanisms are stem cutting (cutting), grasp and roll (paraboloid), suction and twist (suction), and piercing and retract (piercing). An artificial fruitlet structure that replicates real apple fruitlets critical characteristics and suitable for different mechanisms of tested end effectors was used to ensure a consistent test platform across all end effectors. Each end effector was tested on single fruitlet at approach angles varying from 90 to 30 ° and five different positions of targeted fruitlet within the cluster at approach angles varying from 90 to 60 ° (cluster). A vision system and path planning system were integrated to facilitate the evaluation. The results showed that all effectors except piercing are capable to remove fruitlets from 45 to 90 ° for single fruitlet, and suction performed best in cluster evaluation. Cutting, paraboloid and suction end effectors were deemed feasible for further development and real field evaluation. © 2024 Australasian robotics and automation Association. All rights reserved.

关键词： Piercing

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Workspace and Cutting Force Requirements for an Automated Grapevine Pruner

Workspace and Cutting Force Requirements for an Automated Gr...

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2024 Australasian Conference on robotics and automation, ACRA 2024

作者： McGuinness, Benjamin Tattersall, Andrew Bernhard, Michael Au, Chikit Williams, Henry Lim, Hin Duke, Mike School of Engineering University of Waikato Hamilton New Zealand Centre for Automation and Robotics Engineering Science The University of Auckland New Zealand

Understanding task requirements is critical to producing efficient hardware which is optimised for the specific task. Robotic manipulators are often selected based on intuition, without a thorough analysis of the task and required workspace beforehand. This paper investigates key design requirements for a grapevine cane pruning robot. It presents a method for quantifying the workspace and degrees of freedom required, and investigates the cutting force required for the end effector. A UR5 robot arm was manually moved into cut positions, and used to capture the key cut locations and orientations for 15 vines, for a total of 792 data points. The dimensions of the required cuboid for pruning where determined to be 778 wide, 294 deep and 441 high, with a centre 888 mm above the ground. 6 DOF of freedom was required to access all the cut points, or 90.2 % could be accessed with five DOF, removing the need for variable pitch. Cutting force increased linearly with increasing diameter of canes, with a maximum force requirement of approximately 1200 N. These values can be used to inform the design of a grapevine pruning robot to optimise hardware and software systems for weight, cost, and efficiency. © 2024 Australasian robotics and automation Association. All rights reserved.

关键词： End effectors

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Investigations on the Design and Simulation of Smart Irrigation Robot for Nurseries 3

Investigations on the Design and Simulation of Smart Irrigat...

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3rd International Conference on Advances in Computing, Communication, Embedded and Secure Systems, ACCESS 2023

作者： Abhiram, B. Jha, Swati Sai Prasad, Y. Yogendra Dhanraj, Joshuva Arockia Ramkumar, V. Hindustan Institute of Technology and Science Centre for Automation & Robotics Department of Mechatronics Engineering Tamil Nadu Chennai India

ISBN: (纸本)9798350346169

The irrigation systems in nurseries can be the cause of various water supply errors- ranging from lack of sufficient water supply to over-watering and imbalance in the water pH levels. Based on the statistics recorded by the department of agriculture and farmers welfare, we have conducted we concluded that the water supply management and plant life maintenance are the major problems. Considering all these real-time errors, we have designed a smart irrigation robot functioning on the inputs from a group of soil moisture sensors which helps eliminate the monotonous task of monitoring and keeping records of the change in soil moisture. © 2023 IEEE.

关键词： Irrigation

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Spatio-Temporal Communication Compression in Distributed Prime-Dual Flows 63

Spatio-Temporal Communication Compression in Distributed Pri...

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63rd IEEE Conference on Decision and Control, CDC 2024

作者： Ren, Zihao Wang, Lei Yuan, Deming Su, Hongye Shi, Guodong Zhejiang University College of Control Science and Engineering China Nanjing University of Science and Technology School of Automation China University of Sydney Australia Centre for Field Robotics Australia

ISBN: (纸本)9798350316339

In this paper, we study distributed prime-dual flows for multi-agent optimization with spatio-temporal compressions. The central aim of multi-agent optimization is for a network of agents to collaboratively solve a system-level optimization problem with local objective functions and node-to-node communication by distributed algorithms. The scalability of such algorithms crucially depends on the complexity of the communication messages, and a number of communication compressors for distributed optimization have recently been proposed in the literature. First of all, we introduce a general spatio-temporal compressor characterized by the stability of the resulting dynamical system along the vector field of the compressor. We show that several important distributed optimization compressors such as the greedy sparsifier, the uniform quantizer, and the scalarizer all fall into the category of this spatio-temporal compressor. Next, we propose two distributed prime-dual flows with the spatio-temporal compressors being applied to local node states and local error states, respectively, and prove (exponential) convergence of the node trajectories to the global optimizer for (strongly) convex cost functions. Finally, a few numerical examples are present to illustrate our theoretical results. © 2024 IEEE.

关键词： Cost functions

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Inverse Origami Design Model for Soft Robotic Development

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Soft robotics 2024年第1期11卷 131-139页

作者： Hu, Qiqiang Li, Junyang Tao, Jian Dong, Erbao Sun, Dong Department of Biomedical Engineering City University of Hong Kong Hong Kong Department of Precision Machinery and Precision Instrumentation University of Science and Technology of China Hefei China Department of Electronic Engineering Ocean University of China Qingdao China CAS Key Laboratory of Mechanical Behavior and Design of Materials School of Engineering Science University of Science and Technology of China Hefei China Centre for Robotics and Automation Shenzhen Research Institute of City University of Hong Kong Shenzhen China

Origami provides an opportunity to construct a wide range of 3D functional structures by folding a flat sheet. It can be used to develop various soft functional robots by combining soft smart actuators. However, a simple and an effective model that can address the challenging problem of designing origami patterns to connect origami design with robotics is lacking, thereby greatly increasing the threshold of soft origami robots and hindering its development. This study proposes an easy-to-use inverse origami design model to generate the flat crease pattern from the desired folded shape automatically while simulating origami morphing by simply providing the shape parameters or 2D shape graphics. This method overcomes the difficulty of origami design and enables a close connection between origami and robotics. Through this method, various soft origami robots can be developed with low design complexity and time cost to achieve different functions, thereby promoting the development of soft origami robots. © 2024 Mary Ann Liebert Inc.. All rights reserved.

关键词： Robots

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Critical Component Identification in Hovercraft assembly Through FMEA 10

Critical Component Identification in Hovercraft assembly Thr...

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10th International Conference on Emerging Trends in engineering and Technology - Signal and Information Processing, ICETET-SIP-22 2022

作者： Nakandhrakumar, R.S. Ramakrishnan, M. Dinesh Kannan, K. Anand, Gopi Sidharthan, K. Venkatasamy, Ramkumar Centre for Automation and Robotics Hindustan Institute of Technology and Science Department of Mechanical Engineering Chennai603103 India Hindustan Institute of Technology and Science Department of Mechanical Engineering Chennai603103 India

ISBN: (纸本)9781665467414

The goal of this study is to use the proactive procedure to categorize the failure, which likely to occur in hovercraft assembly. First, the hovercraft model is developed for standard sizes to identify the critical component through FMEA concept. This involves predicting critical component through SOD analysis and defining by RPN for all failure modes in the regular monitoring and replacement of parts. The conventional FMEA provides prioritization to the mating components by giving higher values for severity, occurrence and detection indexes. Many a time experts may disagree in the ranking index due to condition status of the component. In this project work, the attempt made to give range of values through which higher values to be given with more focus and lower values can be allowed to run further and further moderate values to be used for regular monitoring. This approach offers an effective way for such complicated assembly with much limited or unreliable data. © 2022 IEEE.

关键词： Information processing Market research Indexes Monitoring Standards

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A miniaturized mechanical antenna based on FEP/ THV unipolar electrets for extremely low frequency transmission

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Microsystems & Nanoengineering 2022年第3期8卷 223-233页

作者： Yong Cui Ming Wu Zhaoyang Li Xiao Song Chen Wang Haiven Yuan Zhi-Xin Yang Junwen Zhong School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100191China Department of Electromechanical Engineering and Centre for Artificial Intelligence and Robotics University of MacaoMacaoSAR 999078China School of Cyber Science and Technology Beihang universityBeijing 100191China State Key Laboratory of Internet of Things for Smart City and Department of Electromechanical Engineering University of MacaoMacaoSAR 999078China

An electret-based mechanical antenna(EBMA),which can transmit extremely low frequency(ELF)electromagnetic signals,has the advantages of miniaturization and high transmitting efficiency,with great potential applications in air,underwater,and underground *** improve the charge density of the electret,which is a key factor in determining the radiation performance of an EBMA,this work proposes a fluorinated ethylene propylene/terpolymer of tetrafluoroethylene,hexafluoropropylene and vinylidene fluoride(FEP/THV)unipolar electret exhibiting negative polarity,reaching a total charge density up to-0.46 mC/m^(2) for each layer of *** transmission distances can be achieved in sea water,soil,and air using a 3-layer-FEP/THV-based EBMA with a compact volume of 5×10^(-4) m^(3).As an application demonstration,binary ASili-coded ELF information of"BUAA"is successfully transmitted with a power consumption<5W.

关键词： antenna propylene FEP

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Smooth Surface-to-Surface Contact Control for Rope-Base Soft-Tip Manipulator

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IEEE Transactions on automation science and engineering 2025年 22卷 16297-16308页

作者： Guangli Sun Fangxun Zhong Peng Li Linzhu Yue Zhi Chen Xiang Li Yun-Hui Liu Department of Mechanical and Automation Engineering T Stone Robotics Institute The Chinese University of Hong Kong Shatin SAR Hong Kong School of Science and Engineering The Chinese University of Hong Kong Shenzhen China School of Mechanical Engineering and Automation Harbin Institute of Technology at Shenzhen Shenzhen China Hong Kong Centre for Logistics Robotics SAR Hong Kong Department of Automation Tsinghua University Beijing China

A new control pipeline has been proposed for the Rope-Base Soft-tip Manipulator (RBSM) to execute the surface contact task to prevent the jamming and slipping problems. The control pipeline enables smooth surface-to-surface contact for the RBSM using only force sensors, eliminating the dependence on additional pose measurement of the window surface plane and soft-tip deformation information. The pipeline consists of three steps: free contact step implemented by an exponential force shape controller to avoid force overshoot to the window surface; orientation refinement step implemented by a force and torque combined controller to make the RBSM cleaning head surface stable adapt to the smooth window surface; and finally, a release normal force step to reduce head jamming and region covering with a pre-defined vibration-less cleaning trajectory for smooth cleaning on the slippery window surface. The proposed pipeline has been validated in a Rope base Cleaning Manipulator prototype to clean a common window surface. The force and velocity curves during the cleaning experiment show that the proposed method achieves smooth scraping and cleaning under unknown initial significant errors in surface orientation. Note to Practitioners—The current robotic rope base high-rise exterior work, especially cleaning, is not efficient due to the instability of the base and the influence of the soft-tip on the window and end-effector contact. A new control pipeline has been proposed for the Rope-Base Soft-tip Manipulator (RBSM) to clean the window surface smoothly to avoid jamming, slipping, and leaving problems in the contact process. The control pipeline realizes smooth surface-to-surface contact of RBSM with only force sensors without additional pose measurement of the window surface plane. The pipeline consists of three steps: free contact step implemented by an exponential force shape controller to avoid force overshoot to the window surface; orientation refinement step implemented

关键词： Surface cleaning Force Manipulators Robots Jamming Pipelines End effectors Trajectory Surface impedance Force sensors

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CPL-CLIP: Compound Prompt Learning for Flexible-Modal Face Anti-Spoofing 18

CPL-CLIP: Compound Prompt Learning for Flexible-Modal Face A...

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18th IEEE International Joint Conference on Biometrics, IJCB 2024

作者： Zhang, Ying Zhu, Xiangyu Liu, Ajian Lin, Xun Wan, Jun Zhang, Jing Lei, Zhen Beihang University School of Computer Science and Engineering China Chinese Academy of Sciences State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation China University of Chinese Academy of Sciences School of Artificial Intelligence China Macau University of Science and Technology School of Computer Science and Engineering China Chinese Academy of Sciences Centre for Artificial Intelligence and Robotics Hong Kong Institute of Science & Innovation China

ISBN: (纸本)9798350364132

Face anti-spoofing (FAS) is pivotal in safeguarding the integrity of face recognition systems. Flexible-modal FAS utilizes multi-modal data and trains a unified model adaptable to any single-modal testing scenario. This innovation addresses the shortcomings of conventional multi-modal FAS approaches, which typically demand separate model training and deployment for each modality. However, existing flexible-modal FAS approaches activate specific network branches based on the modality of the tested sample. This not only increases the model's parameters but also necessitates the provision of the image's modality for testing, thereby constraining deployment flexibility. To address the issue, we present Compound Prompt Learning CLIP (CPL-CLIP), a novel method for flexible-modal FAS. This approach capitalizes on a learned textual prompt that is nearly independent of modality, thus bolstering class-based classification across arbitrary modalities. Specifically, our CPL-CLIP introduces a Dual-Branch Prompt (DBP), consisting of class and modal prompts that describe and guide classification, where each prompt is composed of learnable vectors and fixed templates. To further render the class prompt as modality-agnostic as possible, a Cosine Similarity Loss (CSL) is proposed to facilitate the maximal separation of the class prompt from the modality prompt. With only the class prompt utilized during testing, CPL-CLIP enables deployment in diverse modal testing scenarios without the necessity of the test image's modality to be known. Extensive experiments demonstrate CPL-CLIP's superiority over existing methods on several flexible-modal FAS benchmarks. © 2024 IEEE.

关键词： Face recognition

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Nussbaum Function Based PID Approach for Tracking Control of Robot Manipulators

Nussbaum Function Based PID Approach for Tracking Control of...

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Mediterranean Conference on Control and automation (MED)

作者： Hamed Rahimi Nohooji Holger Voos Interdisciplinary Centre for Security Reliability and Trust (SnT) Automation Robotics Research Group University of Luxembourg Department of Engineering Interdisciplinary Centre for Security Reliability and Trust (SnT) Automation Robotics Research Group Faculty of Science Technology and Medicine (FSTM) University of Luxembourg

ISBN: (数字)9798350395440

ISBN: (纸本)9798350395457

This paper introduces a novel Nussbaum function-based PID control for robotic manipulators. The integration of the Nussbaum function into the PID frame-work provides a solution with a simple structure that effectively tackles the challenge of unknown control di-rections. Stability is achieved through a combination of neural network-based estimation and Lyapunov analysis, facilitating automatic gain adjustment without the need for system dynamics. Our approach offers a gain determination with minimum parameter requirements, significantly reducing the complexity and enhancing the efficiency of robotic manipulator control. The paper guarantees that all signals within the closed-loop system remain bounded. Lastly, numerical simulations validate the theoretical framework, confirming the effectiveness of the proposed control strategy in enhancing robotic manipulator control.

关键词： Technological innovation PI control Estimation Stability analysis Trajectory Complexity theory PD control

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