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IEEE International Conference on engineering Technologies and Applied Sciences (ICETAS)

作者： Zied Ben Hazem Zafer Bingül Department of Mechatronics Engineering College of Engineering (COE) University of Technology Bahrain Bahrain Department of Mechatronics Engineering Automation and Robotics Laboratory Kocaeli University Kocaeli Turkey

This paper presents a study of the development of anti-swing control of a triple link rotary pendulum system (TLRPS). The motion nonlinear equations of the TLRPS are obtained using the Euler-Lagrange method based on the kinematic model and Denavit-Bartenberg (DH) convention. In this study three anti-swing controllers, linear-quadratic regulator (LQR), fuzzy linear-quadratic regulator (FLQR), and radial basis neuro-fuzzy linear quadratic regulator (RBNFLQR) are developed to control and eliminate the swing angles of the three links during the rotation. Moreover, the performance characteristics of the controllers are compared and examined in terms of their time response specifications parameters and swing angle elimination. Moreover, the robustness of controllers is tested under external torque disturbance. The simulation and experiment results of the response of the TLRPS are presented in time domains. Simulation and experiment results exhibit excellent control performance and robustness in terms of position control and damping oscillations elimination.

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Stiffness and Vibration Resistance Analysis of Isotropic Stewart Platform (ISP) and Common Stewart Platform (CSP)

Stiffness and Vibration Resistance Analysis of Isotropic Ste...

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International Conference on Control, automation and Systems ( ICCAS)

作者： Aisulu Tileukulova Perizat Rakhmetova Azamat Yeshmukhametov Koichi Koganezawa Department of Physics and Technology Al-Farabi Kazakh National University Almaty Kazakhstan Department of Robotics Engineering Nazarbayev University Astana Kazakhstan Department of Robotics and Engineering Tools of Automation Satbayev University Almaty Kazakhstan Department of Robotics Engineering School of Engineering and Digital Sciences Nazarbayev University Astana Kazakhstan Department of Mechanical Engineering Tokai University Japan

Parallel manipulators found wide applications in the industry such as entertainment, heavy, and aerospace industries. However, the contemporary growth of the economy and industry demands additional and exceptional capabilities for robots. Parallel manipulator applications in the industry are pretty specific and complex rather than serial manipulators. Therefore in this research, we proposed an isotropic Stewart parallel manipulator to enhance robot stiffness and payload capacity capabilities. Moreover, proves the concept by experimental methods. The main contribution of this paper is to rely on robot design, joint positions, and comparison of experimental results to prove the concept idea. The research paper is organized in the following order: introduction, design concept, joint positions and simulation, experimental results, and conclusion.

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Trajectory Tracking Using Linear State Feedback Controller for a Mecanum Wheel Omnidirectional 6th

Trajectory Tracking Using Linear State Feedback Controller f...

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6th IFToMM Asian Mechanisms and Machine Science Conference, Asian MMS 2021

作者： Thai, Nguyen Hong Ly, Trinh Thi Khanh Long, Nguyen Thanh Dzung, Le Quoc Department of Mechanical Design and Robotics School of Mechanical Engineering HanoiUniversity of Science and Technology Hanoi Viet Nam Faculty of Automation Technology Electric Power University Hanoi Viet Nam

ISBN: (纸本)9783030918910

This paper presents a method to design a linear state feedback controller for the mecanum wheel omnidirectional to track a NURBS curve trajectory. Firstly, the robot's kinematic model and kinematic error were established to design a linear state feedback controller. Then, determine the parameters of the controller according to the varying angular velocity for the desired trajectory. An omnidirectional robot platform has been experimental designed and manufactured for experimental verification of the proposed controller. The simulation and experimental results show that the kinematic controller devel-oped by this study has high-performance trajectory tracking with minor tracking errors. © 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Controllers

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Design and Implementation of IoT Enabled Smart Assistive Systems for Healthcare Applications 2

Design and Implementation of IoT Enabled Smart Assistive Sys...

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2nd IEEE Global Conference on Communications and Information Technologies, GCCIT 2024

作者： Dankan Gowda, V. Srinivas, D. Srinivas, Rachakonda Ingole, Balaji Shesharao Jadhav, Priya Dongare Prasad, K.D.V. Bms Institute of Technology and Management Department of Electronics and Communication Engineering Karnataka Bangalore India Sr University School of Business Telangana Warangal506371 India Aditya Institute of Technology and Management Department of Computer Science & Engineering Tekkali Andhra Pradesh Srikakulam India GA United States Department of Robotics and Automation Maharashtra Pune412115 India Symbiosis Institute of Business Management Hyderabad India Pune India

ISBN: (纸本)9798350388916

The use of IoT technology in healthcare systems has been adopted in patient monitoring because IoT technology has been adopted rapidly in the systems. This paper discusses on design and implementation of an IoT integrated smart assistive health care system to enhance the precision and speed of patient health assessment. In the proposed system, wearable sensors are used to capture respiratory rate, pulse rate, blood pressure, oxygen saturation, and body temperature with data to be sent to the cloud server as and when it is received. Some of the features are, however, small data transmission delays, high accuracy in the physiological signals and long durations of monitoring due to the low power consumption. The simulations showed that the response time falls below 500ms, and physicians retain up to a 2 % variance to clinical grade devices, which actualized robust and effective patient care. The incorporation of predicting capacities, thus providing ways of early identification of health complications, makes the system applicable in chronic disease treatments and telemedicine. © 2024 IEEE.

关键词： Blood pressure

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Modal-Graph 3D Shape Servoing of Deformable Objects with Raw Point Clouds

arXiv

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arXiv 2023年

作者： Yang, Bohan Sui, Congying Zhong, Fangxun Liu, Yun-Hui T Stone Robotics Institute The Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Hong Kong

Deformable object manipulation (DOM) with point clouds has great potential as non-rigid 3D shapes can be measured without detecting and tracking image features. However, robotic shape control of deformable objects with point clouds is challenging due to: the unknown point correspondences and the noisy partial observability of raw point clouds;the modeling difficulties of the relationship between point clouds and robot motions. To tackle these challenges, this paper introduces a novel modal-graph framework for the model-free shape servoing of deformable objects with raw point clouds. Unlike the existing works studying the object's geometry structure, we propose a modal graph to describe the low-frequency deformation structure of the DOM system, which is robust to the measurement irregularities. The modal graph enables us to directly extract low-dimensional deformation features from raw point clouds without extra processing of registrations, refinements, and occlusion removal. It also preserves the spatial structure of the DOM system to inverse the feature changes into robot motions. Moreover, as the framework is built with unknown physical and geometric object models, we design an adaptive robust controller to deform the object toward the desired shape while tackling the modeling uncertainties, noises, and disturbances online. The system is proved to be input-to-state stable (ISS) using Lyapunov-based methods. Extensive experiments are conducted to validate our method using linear, planar, tubular, and volumetric objects under different settings. Copyright © 2023, The Authors. All rights reserved.

关键词： Modal analysis

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Enhanced Multi-Occupant Tracking Via Fusion of Low-Intrusive Radar and Wearable Ultra-Wideband Devices Using Autoencoders

SSRN

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SSRN 2024年

作者： Polo-Rodríguez, Aurora Anguita-Molina, Miguel Ángel Ruiz, Ignacio Rojas Medina-Quero, Javier Department of Computer Engineering Automation and Robotics University of Granada Granada18071 Spain Department of Computer Science University of Jaén Jaén23071 Spain

This work explores the integration of millimetre wave (mmWave) Radar and minimal configuration of Ultra-Wideband (UWB) devices for enhanced tracking of multiple occupants in real domestic environments. Using a low-cost, non-intrusive, and quickly deployable device setup, our approach addresses the challenges of multi-occupant tracking with a focus on privacy and ease of installation. Initially, mmWave Radar identifies the presence of occupants with high precision but lacks individual recognition and limited sensitivity. By incorporating a minimal configuration of UWB (wearable tags and ambient anchors), we include identification through signal strength measurements, bypassing complex localisation needs. In addition, we propose several autoencoder models to fuse data from these diverse sources. Experiments carried out in two real-world domestic settings that involve up to three inhabitants per room showcase the ability of the proposal to combine mmWave and UWB technologies for indoor multioccupant tracking, suggesting promising applications in smart homes, ambient assisted living, and eHealth. © 2024, The Authors. All rights reserved.

关键词： Millimeter waves

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Investigate the Stability of a Polylactic acid 3D Printing Unmanned Aerial Vehicle

Investigate the Stability of a Polylactic acid 3D Printing U...

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International Conference on Advanced robotics and Mechatronics (ICARM)

作者： Pedklah Kamonsukyunyong Watcharasak Phowangdon Suriyachat Yooyen Theputis Sarathai Soravit Sriviriyaporn Somboon Sukpancharoen Department of Agricultural Engineering Khon Kaen University Khon Kaen Thailand Department of Automation Robotics and Intelligent System Khon Kaen University Khon Kaen Thailand

ISBN: (数字)9798350385724

ISBN: (纸本)9798350385731

This study investigates the influence of arm length on the stability of quadrotors, a type of unmanned aerial vehicle (UAV) widely used in various applications. The research employs 3D printing technology to fabricate quadrotors with arm lengths of $20 \mathrm{~cm}, 25 \mathrm{~cm}$, and 30 cm, using polylactic acid (PLA) as the primary material. The quadrotors are designed using advanced 3D modeling software and printed with a Creality Sermoon D1 3D printer. Stability tests are conducted in a controlled indoor environment, measuring the angular deviation and other flight parameters during hover and basic maneuvers. The results demonstrate that the 30 cm arm length configuration exhibits the highest stability, significantly outperforming the 20 cm and 25 cm configurations. The findings highlight the importance of arm length optimization in quadrotor design and discuss the implications for various industries. However, future research should investigate the influence of other design parameters and their interactions with arm length to develop a more comprehensive understanding of UAV design optimization.

关键词： Industries Three-dimensional displays Torque Service robots Autonomous aerial vehicles Three-dimensional printing Stability analysis Software Steady-state Quadrotors

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Exploiting Scale-Variant Attention for Segmenting Small Medical Objects

arXiv

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arXiv 2024年

作者： Dai, Wei Liu, Rui Wu, Zixuan Wu, Tianyi Wang, Min Zhou, Junxian Yuan, Yixuan Liu, Jun The Centre for Robotics and Automation City University of Hong Kong Hong Kong The Department of Electronic Engineering The Chinese University of Hong Kong Hong Kong

Early detection and accurate diagnosis can predict the risk of malignant disease transformation, thereby increasing the probability of effective treatment. Identifying mild syndrome with small pathological regions serves as an ominous warning and is fundamental in the early diagnosis of diseases. While deep learning algorithms, particularly convolutional neural networks (CNNs), have shown promise in segmenting medical objects, analyzing small areas in medical images remains challenging. This difficulty arises due to information losses and compression defects from convolution and pooling operations in CNNs, which become more pronounced as the network deepens, especially for small medical objects. To address these challenges, we propose a novel scale-variant attention-based network (SvANet) for accurately segmenting small-scale objects in medical images. The SvANet consists of scale-variant attention, cross-scale guidance, Monte Carlo attention, and vision transformer, which incorporates cross-scale features and alleviates compression artifacts for enhancing the discrimination of small medical objects. Quantitative experimental results demonstrate the superior performance of SvANet, achieving 96.12%, 96.11%, 89.79%, 84.15%, 80.25%, 73.05%, and 72.58% in mean Dice coefficient for segmenting kidney tumors, skin lesions, hepatic tumors, polyps, surgical excision cells, retinal vasculatures, and sperms, which occupy less than 1% of the image areas in KiTS23, ISIC 2018, ATLAS, PolypGen, TissueNet, FIVES, and SpermHealth datasets, respectively. © 2024, CC BY.

关键词： Convolutional neural networks

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ReFlow6D: Refraction-Guided Transparent Object 6D Pose Estimation via Intermediate Representation Learning

arXiv

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arXiv 2024年

作者： Gupta, Hrishikesh Thalhammer, Stefan Weibel, Jean-Baptiste Haberl, Alexander Vincze, Markus Vision for Robotics Laboratory Automation and Control Institute TU Wien Austria Industrial Engineering Department UAS Technikum Vienna TU Wien Austria

Transparent objects are ubiquitous in daily life, making their perception and robotics manipulation important. However, they present a major challenge due to their distinct refractive and reflective properties when it comes to accurately estimating the 6D pose. To solve this, we present ReFlow6D, a novel method for transparent object 6D pose estimation that harnesses the refractive-intermediate representation. Unlike conventional approaches, our method leverages a feature space impervious to changes in RGB image space and independent of depth information. Drawing inspiration from image matting, we model the deformation of the light path through transparent objects, yielding a unique object-specific intermediate representation guided by light refraction that is independent of the environment in which objects are observed. By integrating these intermediate features into the pose estimation network, we show that ReFlow6D achieves precise 6D pose estimation of transparent objects, using only RGB images as input. Our method further introduces a novel transparent object compositing loss, fostering the generation of superior refractive-intermediate features. Empirical evaluations show that our approach significantly outperforms state-of-the-art methods on TOD and Trans32K-6D datasets. Robot grasping experiments further demonstrate that ReFlow6D’s pose estimation accuracy effectively translates to real-world robotics task. The source code is available at: https://***/StoicGilgamesh/ReFlow6D and https://***/StoicGilgamesh/matting *** Codes 68T45 © 2024, CC BY-NC-SA.

关键词： Light refraction

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Humanoid Pianist: Dexterous Piano Playing with Synergy-based Hand Representation*

Humanoid Pianist: Dexterous Piano Playing with Synergy-based...

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IEEE Workshop on Advanced robotics and its Social Impacts, ARSO

作者： W. Jason Li Zhuo Li Junjia Liu Zhipeng Dong Zheng Sun Fei Chen Department of Mechanical and Automation Engineering T-Stone Robotics Institute The Chinese University of Hong Kong Hong Kong Faculty of Engineering The University of Hong Kong Hong Kong

ISBN: (数字)9798350344639

ISBN: (纸本)9798350344646

Playing the piano with dexterous hands has long presented unique challenges for robotics research due to the complex dexterity required. Traditional approaches utilizing individual control of each finger and joint in a robot hand make achieving fluent musical performances difficult and introduce significant control complexity due to the high degree-of-freedom nature of the dexterous hand workspace. This paper introduces a system that explores dexterous piano playing more naturally through a synergistic approach. The system employs a dual-armed robot with hands designed around two main synergies governing coordinated finger movements, which allows defining simple poses to represent both single-note and double-note playing. A mapping connects specific musical notes to the corresponding hand poses and precise timing required for a realistic piano rendition. A robot operating system is utilized to allow complex sequences and rhythms to be concisely specified. Results show that a synergistic approach is feasible and allows convenience with considerable accuracy and repeatability.

关键词： Measurement Codes Accuracy Robot kinematics Operating systems Humanoid robots Keyboards

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