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2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Liu, Junjia Li, Chenzui Wang, Shixiong Dong, Zhipeng Lam, Tin Lun Calinon, Sylvain Li, Miao Chen, Fei T-Stone Robotics Institute The Chinese University of Hong Kong Department of Mechanical and Automation Engineering Hong Kong Hong Kong School of Science and Engineering The Chinese University of Hong Kong Shenzhen Institute of Artificial Intelligence and Robotics for Society Shenzhen China Sylvain Calinon is with the Idiap Research Institute Martigny Switzerland School of Microelectronics Institute of Technological Sciences Wuhan University Wuhan China

ISBN: (纸本)9781665481090

Soft object manipulation poses significant chal-lenges for robots, requiring effective techniques for state representation and manipulation policy learning. State representation involves capturing the dynamic changes in the environment, while manipulation policy learning focuses on establishing the relationship between robot actions and state transformations to achieve specific goals. To address these challenges, this research paper introduces a novel approach: a dynamic heterogeneous graph-based model for learning goal-oriented soft object manipulation policies. The proposed model utilizes graphs as a unified representation for both states and policy learning. By leveraging the dynamic graph, we can extract crucial information regarding object dynamics and manipulation policies. Furthermore, the model facilitates the integration of demonstrations, enabling guided policy learning. To evaluate the efficacy of our approach, we designed a dough rolling task and conducted experiments using both a differentiable simulator and a real-world humanoid robot. Additionally, several ablation studies were performed to analyze the effect of our method, demonstrating its superiority in achieving human-like behavior. © 2024 IEEE.

关键词： Adversarial machine learning

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Action recognition through fusion of sEMG and skeletal data in feature level

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Journal of Ambient Intelligence and Humanized Computing 2022年第9期13卷 4125-4134页

作者： Wang, Xinming Ding, Weili Bian, Shuangshuang Liu, Honghai Department of Automation Institute of Electrical Engineering Key Laboratory of Intelligent Rehabilitation and Neuromodulation of Hebei Province Yanshan University 438 West of Hebei Avenue Haigang District Qinhuangdao066004 China School of Mechanical Engineering and Automation State Key Laboratory of Robotics and Systems Harbin Institute of Technology Shenzhen Nanshan District Shenzhen518055 China

Human action can be recognized through a unimodal way. However, the information obtained from a single mode is limited due to the fact that a single mode contains only one type of physical attribute. Therefore, it is motivational to improve the accuracy of actions through fusion of two different complementary modality, which are the surface electromyography (sEMG) and the skeletal data. In this paper, we propose a general framework of fusion of sEMG signals and skeletal data. Firstly, vector of locally aggregated descriptor (VLAD) was extracted from sEMG sequences and skeletal sequences, respectively. Secondly, features obtained from sEMG and skeletal data are mapped through different weighted kernels using multiple kernel learning. Finally, the classification results are obtained through the model of multiple kernel learning. A dataset of 18 types of human actions is collected via KinectV2 and Thalmic Myo armband to verify our ideas. The experimental results show that the accuracy of human action recognition are improved by combining skeletal data with sEMG signals. © 2022, The Author(s), under exclusive licence to Springer-Verlag GmbH Germany, part of Springer Nature.

关键词： Musculoskeletal system

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A geometric method based on space arc for pose-configuration simultaneous planning of segmented hyper-redundant manipulators

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Science China(Technological Sciences) 2021年第11期64卷 2389-2407页

作者： HU ZhongHua YUAN Han XU WenFu YANG TaiWei LIU TianLiang LIANG Bin School of Mechanical Engineering and Automation Harbin Institute of TechnologyShenzhen 518055China State Key Laboratory^of Robotics and System Harbin Institute of TechnologyHarbin 150001China Department of Automation Tsinghua UniversityBeijing 100084China

A segmented hyper-redundant manipulator can perform complicated operation tasks in a confined space due to its high flexibility and dexterity. However, the trajectory planning in a narrow space and obstacles environment is very challenging for the manipulator. In this paper, we propose a geometry method to simultaneously plan the end-effector pose and manipulator’s configuration. Firstly, the geometries of each segment are described by an inscribed arc(IA) and a circumscribed arc(CA). Then,the whole kinematics chain is considered as an inscribed curve(IC) or a circumscribed curve(CC) which are composed of multiple IAs or CAs. Furthermore, the IC and CC of the manipulator are divided into multiple spatial single-arc and double-arc groups according to requirements. The pose-configuration simultaneous planning is realized by the spatial single-arc/double-arc modeling and joints angles solving. By numerical iteration, the spatial arcs’ parameters are determined according to desired pose and boundary condition of obstacle avoidance. The angles of joints are analytically solved when the above parameters are known. Finally, a narrow space detection task is simulated and experimented respectively. The results verify the proposed method.

关键词： segmented hyper-redundant manipulator pose-configuration simultaneous planning spatial arc modeling obstacle avoidance geometric planning

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Smart Saline Level Monitoring System using Liquid Level Switch Contactless Sensor, NodeMCU and MQTT-S 1

Smart Saline Level Monitoring System using Liquid Level Swit...

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1st International Conference on Applied Artificial Intelligence and Computing, ICAAIC 2022

作者： Kishore, S. Abarnaa, K.P. Priyanka, S. Sri Atchaya, S. Priyanka, P.L. Amala, Jerrin J Nikhil Bannari Amman Institute of Technology Department of Biomedical Engineering Sathyamangalam India Tu Dortmund University MSc Automation and Robotics Dortmund Germany

ISBN: (纸本)9781665497107

Advancement in the healthcare system is rapidly increasing in recent years due to the application of engineering principles and design concepts to medicine and biology. One of the most commonly used intravenous (IV) therapies, saline, plays a significant role in the treatment of disease patients. Saline plays a major role in replenishing lost fluid, extracellular fluid replacement like dehydration, hypovolemia, haemorrhage, sepsis. Generally, Surveillance of saline bottle levels is monitored by nurses and caretakers. There is an endless need to check the saline level after a particular time. If you don't, there's a good risk your blood may flow back into the saline bottle. Most of the time, due to negligence or an unusual scenario, the proper planning of removing the needle from the patient's vein is forgotten, resulting in a significant loss and maybe death. To avoid such accidents taking place due to the negligence of caretakers, it is proposed that the cost-effective smart saline level monitor which may be a reliable, user friendly and price effective system for saline level monitoring. This technique is built by employing a liquid level switch contactless sensor which is an ultra-low power and low cost sensor and NodeMCU ESP8266 Wi-Fi module microcontroller. The sensor's output is a specific voltage based on the presence of saline. The ESP8266 Wi-Fi module integrated on the NodeMCU microcontroller creates and broadcasts a specific message based on the voltage received from the sensor. MQTT-S is used to distribute/buy in convention, which works over TCP, to convey and introduce the communications to the end customer gadgets of endorsers such as specialists, medical attendants, or guardians. This proposed watching system ensures that messages are sent to supporters in a reliable manner, which is critical in medical treatment. © 2022 IEEE.

关键词： Microcontrollers

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Reconfigurable Smart Grid Management for Electric Vehicle Charging and the Integration of Renewable Energy Sources using Pied Kingfisher Optimizer 2

Reconfigurable Smart Grid Management for Electric Vehicle Ch...

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2nd International Conference on Machine Learning and Autonomous Systems, ICMLAS 2025

作者： Sivaramkrishnan, M. Ramkumar, M. Siva Uday, Kaparthi Kanan, Mohammad Raj, C. Mohan Giri, Jayant Karpagam College of Engnieering Dept of EEE India SNS College of Technology Dept of ECE India CVR College of Engineering Ibrahimpatanam EIE Department Hyderabad India College of Engineering University of Business and Technology Department of Industrial Engineering Jeddah21448 Saudi Arabia College of Engineering Zarqa University Department of Mechanical Engineering Zarqa Jordan Centre for Robotics and Industrial Automation Sri Eshwar College of Engineering Department or EEE Coimbatore641202 India Yeshwantrao Chavan College of Engineering Department of Mechanical Engineering Nagpur India Lovely Professional University Division of Research and Development Phagwara India

ISBN: (纸本)9798331505745

Electric Vehicle (EV) charging management under the Smart Grid (SG) framework with incorporated Renewable Energy Sources (RESs) functions to advance Energy Management (EM). The operational cost of EV charging varies because renewable energy availability can change so this affects the financial performance of charging operations. Integration of RESs with the SG becomes challenging for operational system efficiency particularly when renewable energy generation levels are low. To overcome these drawbacks, this manuscript proposes an efficient approach for SG management for EV charging with the integration of RESs. The suggested method is Pied Kingfisher Optimizer (PKO). The main aim of the suggested technique is to minimize the operational expenses of EV charging as well as maximize the efficiency of the SG system. The PKO is used to optimize the scheduling and allocation of energy resources within the SG system. By then, the suggested approach is implemented in MATLAB and contrasted with several other methods that are currently in use. The suggested technique outperforms all existing approaches such as Bald Eagle Search (BES), Red Kite Optimization (RKO), Artificial Neural Network-Particle Swarm Optimization (ANN-PSO), and Coati Optimization Algorithm-Constitutive Artificial Neural Network (COA-CANN). The suggested approach delivers superior performance than conventional methods by reducing operational costs to 638,322$ under coordinated charging and 629,745$ under smart charging without impacting system performance metrics. © 2025 IEEE.

关键词： Particle swarm optimization (PSO)

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Backstepping-Based Adaptive Cooperative Control For Multiple Euler-Lagrange Systems Under Unknown Harmonic Disturbances

Backstepping-Based Adaptive Cooperative Control For Multiple...

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2023 China automation Congress, CAC 2023

作者： Chen, Ying Zhao, Zi-Yi Sun, Peng Guo, Xiang-Gui Wang, Jian-Liang Coutinho, Daniel School of Automation and Electrical Engineering University of Science and Technology Beijing Beijing Engineering Research Center of Industrial Spectrum Imaging Beijing China School of Automation and Electrical Engineering University of Science and Technology Beijing Beijing China Hangzhou Innovation Institute of Beihang University Collaborative Flying Robotics HangZhou China Universidade Federal de Santa Catarina Department of Automation and Systems Florianópolis Brazil

ISBN: (纸本)9798350303759

This paper studies cooperative control problem for multiple Euler-Lagrange systems with unknown harmonic disturbances, where the disturbances are the superposition of sinusoidal components with unknown amplitude, phase, and frequency. A novel adaptive disturbance observer without requiring the disturbance frequency information is designed to estimate the disturbances. Over the directed network topology, a cooperative control scheme is proposed based on backstepping techniques, so that the tracking error is ultimately uniformly bounded. The scheme developed can be used to reject the harmonic disturbances in a uniform way, which means the characteristics of the disturbances can be described as a fixed parameter vector. Finally, an application is presented to demonstrate the effectiveness of the proposed control strategy in the context of a two-link manipulator system. © 2023 IEEE.

关键词： Backstepping

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Reduced-Order Nominal Model Design and Validation For Task Space DOB-Based Motion Control of An Industrial Robot

Reduced-Order Nominal Model Design and Validation For Task S...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： Kangwagye Samuel Kevin Haninger Sehoon Oh Chan Lee Department of Robotics and Mechatronics Engineering DGIST Daegu Korea Department of Automation Fraunhofer IPK Berlin Germany Department of Robotics Engineering Yeungnam University Gyeongsan Korea

In conventional robust motion control systems, disturbance observer (DOB) nominal models are designed with same order as the actual plant such that the nominal model directly cancels with the actual plant dynamics. However, for multi-DOF systems such as 6-DOF industrial robots, identifying the higher-order model is laborious. Moreover, there is a high risk of obtaining a nominal model with large deviation from the actual plant due to severe parameter uncertainty. Thus, a reduced-order nominal model is derived from the actual plant model and compared with the one which same order as the actual plant in this paper. The designed model is simple, easy to identify and implement. From the analyses and experiment results, DOB with the proposed nominal model is not affected by severe robot model uncertainty and show significant improvement in motion control performance in terms of transient response and tracking accuracy.

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Electric Vehicle Charging Navigation Using Waterwheel Plant Algorithm for Coordinating Smart Grids and Intelligent Transportation Systems 2

Electric Vehicle Charging Navigation Using Waterwheel Plant ...

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2nd International Conference on Machine Learning and Autonomous Systems, ICMLAS 2025

作者： Siva Ramkumar, M. Sivaramkrishnan, M. Uday, Kaparthi Kanan, Mohammad Mohan Raj, C. Giri, Jayant SNS College of Technology Dept of ECE India Karpagam College of Engnieering Dept of EEE India CVR College of Engineering EIE Department Hyderabad India College of Engineering University of Business and Technology Department of Industrial Engineering Jeddah21448 Saudi Arabia College of Engineering Zarqa University Department of Mechanical Engineering Zarqa Jordan Centre for Robotics and Industrial Automation Sri Eshwar College of Engineering Department or EEE Coimbatore641202 India Yeshwantrao Chavan College of Engineering Department of Mechanical Engineering Nagpur India Lovely Professional University Division of Research and Development Phagwara India

ISBN: (纸本)9798331505745

The efficient charging of electric vehicles (EVs) remains essential to create sustainable mobility while EVs transform into crucial elements of upcoming transportation systems. The present EV charging navigation systems deal with three main issues including grid congestion and inadequate charging station (CS) selection and delays from traffic *** paper proposes a novel Waterwheel Plant Algorithm (WWPA) for optimizing EV charging navigation within the Smart Grid (SG) and Intelligent Transportation Systems (ITS). The suggested method strives to enhance SG-EV coordination through demand balancing in addition to charge price reduction and decreased grid congestion levels. WWPA algorithm serves as the proposed method to optimize EV charging schedules. The MATLAB platform serves as the implementation environment for the proposed method which demonstrates superior performance than Multi-agent Reinforcement Learning (MARL), Deep Reinforcement Learning (DRL), Coati-Northern Goshawk Optimization (Coati-NGO) and Grey Sail Fish Optimization (GSFO). Results demonstrate that the WWPA algorithm reduces average charging expenses by 18.14% throughout diverse charging operations as it produces superior performance than existing algorithms operating in the SG ITS. © 2025 IEEE.

关键词： Reinforcement learning

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High-precision Calibration of Camera and IMU on Manipulator for Bio-inspired Robotic System

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Journal of Bionic engineering 2022年第2期19卷 299-313页

作者： Yinlong Zhang Wei Liang Sichao Zhang Xudong Yuan Xiaofang Xia Jindong Tan Zhibo Pang State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Key Laboratory of Networked Control Systems Chinese Academy of SciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China The School of Computer Science and Technology Xidian UniversityXi’an 710071China Department of Mechanical Aerospace and Biomedical EngineeringUniversity of TennesseeKonxville 37996USA Department of Automation Technology ABB Corporate Research Sweden72178 VästerasSweden

Inspired by box jellyfish that has distributed and complementary perceptive system,we seek to equip manipulator with a camera and an Inertial Measurement Unit(IMU)to perceive ego motion and surrounding unstructured *** robot perception,a reliable and high-precision calibration between camera,IMU and manipulator is a critical *** paper introduces a novel calibration ***,we seek to correlate the spatial relationship between the sensing units and manipulator in a joint ***,the manipulator moving trajectory is elaborately designed in a spiral pattern that enables full excitations on yaw-pitch-roll rotations and x-y-z translations in a repeatable and consistent *** calibration has been evaluated on our collected visual inertial-manipulator *** systematic comparisons and analysis indicate the consistency,precision and effectiveness of our proposed calibration method.

关键词： Bio-inspired robotic system Monocular camera IMU Manipulator Calibration

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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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