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17th International Conference on Brain Informatics, BI 2024

作者： Sandron, Alessandro Valero, Alejandro Orozco García, Juan Miguel Mancini, Gabriele Pelayo, Francisco Morillas, Christian Panzeri, Stefano Martínez-Cañada, Pablo University of Padua Padua Italy University of Granada Granada Spain Istituto Italiano di Tecnologia Genoa Italy Department of Pharmacy and Biotechnology University of Bologna Bologna Italy Hamburg Germany Department of Computer Engineering Automation and Robotics University of Granada Granada Spain

ISBN: (纸本)9789819632930

Extracellular electrophysiology recordings capturing the activity of neuronal populations, e.g., Local Field Potentials (LFPs), have offered important insights into cortical dynamics. Yet there is still a lack of clarity about how features and characteristics of these extracellular potentials relate to the properties and function of the underlying neural populations. Mechanistic models combined with simulation-based inference (SBI) algorithms have emerged as an effective strategy for developing predictive tools that fit well with available empirical data and can be used to predict key parameters that describe neural activity. Numerous SBI techniques rely on summary statistics or interpretable features to approximate the likelihood or posterior. However, at present, a significant challenge is assessing how each feature impacts the SBI model’s predictions. Here, we developed an approach to determine feature importance in the context of cortical circuit parameter inference. We first created a dataset that includes a million distinct simulations from a spiking cortical microcircuit model of recurrently connected excitatory and inhibitory populations. Biophysics-based causal filters were coupled with spikes to generate realistic LFP data. We then extracted a set of meaningful features from simulated LFP data that were used to train an SBI algorithm. To evaluate feature importance, we employed SHAP values, a prominent tool in machine learning for interpreting the contribution of each feature to the prediction outcomes. Our findings demonstrate the effectiveness of our approach in pinpointing the most critical features, such as dfa, rs_range, low_freq_power or transition_variance, for inferring parameters of a recurrent cortical circuit model based on electrophysiological data. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Electrophysiology

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PID-fuzzy switching-based strategy to heading control for remote operated vehicle

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Neural Computing and Applications 2024年 1-17页

作者： Xie, Baolong He, Shuping Cao, Xiang Wang, Honghai Stojanovic, Vladimir Shi, Kaibo School of Electrical Engineering and Automation Anhui University Hefei230039 China School of Artificial Intelligence Anhui University Hefei230039 China School of Computing and Artificial Intelligence Chaohu University Chaohu238024 China Department of Automatic Control Robotics and Fluid Technique Faculty of Mechanical and Civil Engineering University of Kragujevac Kraljevo36000 Serbia School of Electronic Information and Electrical Engineering Chengdu University Chengdu610106 China

Accurate heading control is the premise for underwater vehicles to complete underwater operations. In order to improve the performance of heading control, this paper proposes a heading control strategy based on PID-fuzzy switching. First, the force analysis of the steering motion was carried out to derive the dynamics model of the steering motion. Then, the whole heading control process is divided into two phases, steering phase and holding phase. Fuzzy control is used in the steering phase, and PID control is used in the holding phase. By setting the automatic switching switch, the control system can switch freely between the two to meet the needs of system adjustment under different errors. Finally, the performance of the established heading control system is verified through motion control simulations and pool experiments, and the proposed control strategy is compared with other methods. The results show that the control strategy can effectively achieve ROV heading control with good steady-state accuracy, and the overall performance has been greatly improved. © The Author(s), under exclusive licence to Springer-Verlag London Ltd., part of Springer Nature 2024.

关键词： Fuzzy control

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Monocular Visual-Inertial and Robotic-Arm Calibration in a Unifying Framework

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IEEE/CAA Journal of Automatica Sinica 2022年第1期9卷 146-159页

作者： Yinlong Zhang Wei Liang Mingze Yuan Hongsheng He Jindong Tan Zhibo Pang Key Laboratory of Networked Control Systems Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016 State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016 Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China School of Computing Wichita State UniversityWichita 67260 USA Department of Mechanical Aerospace and Biomedical EngineeringUniversity of TennesseeTN 37996 USA Department of Automation Technology ABB Corporate Research SwedenVasteras 72178Sweden Department of Intelligent Systems Royal Institute of Technology(KTH)Stockholm 11428Sweden

Reliable and accurate calibration for camera,inertial measurement unit(IMU)and robot is a critical prerequisite for visual-inertial based robot pose estimation and surrounding environment ***,traditional calibrations suffer inaccuracy and *** address these problems,this paper proposes a monocular visual-inertial and robotic-arm calibration in a unifying *** our method,the spatial relationship is geometrically correlated between the sensing units and robotic *** decoupled estimations on rotation and translation could reduce the coupled errors during the ***,the robotic calibration moving trajectory has been designed in a spiral pattern that enables full excitations on 6 DOF motions repeatably and *** calibration has been evaluated on our developed *** the experiments,the calibration achieves the accuracy with rotation and translation RMSEs less than 0.7°and 0.01 m,*** comparisons with state-of-the-art results prove our calibration consistency,accuracy and effectiveness.

关键词： Calibration inertial measurement unit(IMU) monocular camera robotic arm spiral moving trajectory

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Rapid Maintenance based improved design for omnidirectional controlled wheels for VirtuSphere system 29

Rapid Maintenance based improved design for omnidirectional ...

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29th IEEE International Symposium for Design and Technology in Electronic Packaging, SIITME 2023

作者： Bazavan, Lidia Cristina Roibu, Horatiu Coman, Daniela Cismaru, Stefan Irinel Petrisor, Anca Bizdoaca, Nicu George University of Craiova Faculty of Automation Computers and Electronics Mechatronics and Robotics Department Craiova Romania University of Craiova Faculty of Mechanics Engineering and Management of the Technological Systems Department Craiova Romania University of Craiova Faculty of Electrical Engineering Electrical Energy and Aerospace Engineering Department Craiova Romania

ISBN: (纸本)9798350344110

Designing for rapid maintenance requires an approach whereby the replacement of rapidly wearing sub-assemblies can be easily replaced while ensuring that the degree of wear can be tracked in real-time if possible. The redesign of the movement system of the Virtusfera platform by the authors previously led to an omnidirectional platform with increased integration facilities in virtual environments. The article presents two solutions for redesigning some subsystems that make up the new experimentally validated solution, presenting at the same time the study based on which the subsystems with the lowest reliability were identified and a proposal for a real-time tracking solution for those subsystems. Numerical simulations of the two solutions are presented, and conclusions and directions are formulated regarding the practical implementation of these subsystems based on the concept of design based on rapid maintenance. © 2023 IEEE.

关键词： Maintenance

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Lidar-Visual-Inertial Odometry with Online Extrinsic Calibration

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Journal of Shanghai Jiaotong university(Science) 2023年第1期28卷 70-76页

作者：茅天阳赵文韬王景川陈卫东 Department of Automation Institute of Medical RoboticsShanghai Jiao Tong UniversityShanghai 200240China Key Laboratory of System Control and Information Processing of Ministry of Education Shanghai 200240China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai 200240China

To achieve precise localization,autonomous vehicles usually rely on a multi-sensor perception system surrounding the mobile *** is a time-consuming process,and mechanical distortion will cause extrinsic calibration ***,we propose a lidar-visual-inertial odometry,which is combined with an adapted sliding window mechanism and allows for online nonlinear optimization and extrinsic *** the adapted sliding window mechanism,spatial-temporal alignment is performed to manage measurements arriving at different *** nonlinear optimization with online calibration,visual features,cloud features,and inertial measurement unit(IMU)measurements are used to estimate the ego-motion and perform extrinsic *** experiments were carried out on both public datasets and real-world *** indicate that the proposed system outperforms state-of-the-art open-source methods when facing challenging sensor-degenerating conditions.

关键词： autonomous vehicles multi-sensor fusion online calibration

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Unmanned Aerial Vehicle for disaster response and relief operations: Helping hands from air 3

Unmanned Aerial Vehicle for disaster response and relief ope...

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3rd International Conference on Power, Energy, Control and Transmission Systems, ICPECTS 2022

作者： Verma, Avinash Kaushik, Vibhanshu Dheivanai, R. Dronacharya College of Engineering Department of Robotics and Automation Gurugram India Dronacharya College of Engineering Department of Electronics and Electrical Engineering Gurugram India Department of Electrical and Electronics Engineering Dronacharya College of Engineering Gurugram India

ISBN: (纸本)9781665462754

Fixed wing plane requires large area for take-off and also has long flying time;on the other hand, Quadcopter take-off area is small but lesser flying time. So we have designed a hybrid Vertical take-off and landing (VTOL) plane which can either land or take off vertically like a quadcopter as well as long endurance of fixed wing has been put together while eliminating the disadvantage of both quadcopters and fixed wing planes. This will help to adopt superior flying qualities to the hybrid vertical take-off and landing plane. This paper presents the design and working of a hybrid unmanned aerial vehicle (UAVs) which can run at its robust speed for a long distance and with the help of the solar panel fitted on its upper body, it can recharge its battery while flying. It can also be used at longer distance with the help of 4G module fitted in it and also get footage of that area with help of camera on it. These are the unique features of our UAV which made it different from other hybrid UAVs. In this paper, a prototype of aerial vehicle is presented and some plans for future aerial vehicles are also been discussed. © 2022 IEEE.

关键词： Fixed wings

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Design and Development of an In-Pipe Mobile Robot for Pipeline Inspection with AI Defect Detection System

Design and Development of an In-Pipe Mobile Robot for Pipeli...

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International Conference on Control, automation and Systems ( ICCAS)

作者： Azamat Kenzhekhan Akbayan Bakytzhanova Sultan Omirbayev Yelnur Tuieubayev Madiyar Daniyalov Azamat Yeshmukhametov Department of Robotics Engineering Nazarbayev University Astana Kazakhstan Department of Robotics and Automation Satbayev University Almaty Kazakhstan

In today's modern world, pipelines serve as a vital component of the economic infrastructure of countries, serving as a lifeblood vascular system. To prevent disasters, timely inspection and maintenance operations are critical. In-pipe inspection robots are emerging as a promising solution to prevent any negative consequences in the pipeline industry. In this research, we propose a new design concept of motor placement and extension system that employs compression springs as the passive extension mechanism. The primary objective of the new design is to provide video feedback, enabling the robot to detect and recognize various types of obstructions and leak sources, including cracks, corrosion, weld defects, and deformations of the pipe structure. To further enhance the capabilities of the robot, a deep learning system will be applied with a carefully created dataset. This will enable the robot to learn and classify anomalies with increased accuracy and efficiency. This research paper is organized in the following order; introduction, robot design, control board, defect detection system, and results part with evaluation.

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Nussbaum Function Based Approach for Tracking Control of Robot Manipulators

arXiv

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arXiv 2024年

作者： Nohooji, Hamed Rahimi Voos, Holger Automation Robotics Research Group University of Luxembourg Luxembourg Department of Engineering University of Luxembourg Luxembourg

This paper introduces a novel Nussbaum function-based PID control for robotic manipulators. The integration of the Nussbaum function into the PID framework provides a solution with a simple structure that effectively tackles the challenge of unknown control directions. 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. © 2024, CC BY.

关键词： Three term control systems

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Design and analysis of newly developed two-wheeler shock absorber helical spring 3

Design and analysis of newly developed two-wheeler shock abs...

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3rd International Conference on Intelligent robotics, Mechatronics and automation Systems, IRMAS 2023

作者： Hait, Mongaldip Dey, Tapobrata Sarnobat, Sandeep S Department of Mechanical Engineering D. Y. Patil College of Engineering Akurdi Pune India Savitribai Phule Pune University Pune India Department of Robotics and Automation D. Y. Patil College of Engineering Akurdi Pune India

The Elasticity property/Spring theory indicates that a long lasting spring is always showing small deflection and high stiffness and this property makes it comfortable for any applications. The present investigation deals with a comparative analysis carried out on the basis of sustainability of helical spring that is extensively used in suspension system, to increase the work efficiency of the shock absorber. A suspension system or a shock absorber is a mechanical device that is used to absorb shocks when riding in rough terrains. Stainless Steel grade (AISI316 & AISI302), High Carbon Steel (Music wire grade ASTM A228 & Hard drawn grade ASTM A227) and Alloy Steel (Chrome vanadium grade ASTM A231 & Chrome silicon grade ASTM A401) springs have been utilized throughout the study followed by applying compressive load. In order to enhance the mechanical property of the helical spring, alloy steel based material has been used instead of stainless steel. During this investigation a new shock absorber spring has been designed with the help of Solid Works software and the static structural analysis of the so formed model has been conducted via FEA. © Published under licence by IOP Publishing Ltd.

关键词： Finite element method

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Real-Time Geometric Joint Uncertainty Tracking for Surgical automation on the dVRK System

Real-Time Geometric Joint Uncertainty Tracking for Surgical ...

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IEEE International Conference on robotics and Biomimetics

作者： Bin Li Hongbin Lin Fangxun Zhong Yunhui Liu The Department of Mechanical and Automation Engineering T Stone Robotics Institute The Chinese University of Hong Kong

ISBN: (数字)9798331509644

ISBN: (纸本)9798331509651

Accurate control of surgical robotics under uncertainty is crucial for achieving surgical autonomy. This uncertainty arises from sensor or model inaccuracies in surgical platforms, e.g., dVRK system, where joint bias in positioning and complex transmission effects caused by backlash and cable stretch. Previous approaches usually rely on depth sensors or additional offline calibration steps, making them difficult to deploy in real-world laparoscopy surgeries. In this paper, we propose a real-time geometric approach for calibrating joint errors on-the-fly combined with geometric features. An efficient visual detector is employed to identify the shaft mask and wrist keypoints. Based on the extracted features, we introduce a geometric model to recover the shaft axis pose and determine the first two joints uncertainty. Additionally, we develop a geometric model for wrist joints in projection space, calibrating remaining joint uncertainty through spatial geometry and the analytical structure of dVRK platform. Experimental results in simulation show that our approach significantly reduces joint error from 15° to 0.02°, with end-effector pose accuracy improving from centimeter to sub-millimeter level. This greatly enhances the accuracy and success rate of surgical automation. We also demonstrate robust control performance in diverse surgical tasks, highlighting the effectiveness of our geometric model in achieving accurate control despite joint offsets.

关键词： Shafts Wrist Uncertainty Accuracy automation Geometric modeling Robot sensing systems Feature extraction Real-time systems Calibration

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