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2024 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2024

作者： Situ, Liwen Lu, Zhenyu Si, Weiyong Yang, Chenguang College of Automation Science and Engineering South China University of Technology Guangzhou510640 China University of the West of England Bristol Robotics Laboratory BristolBS161QY United Kingdom University of Liverpool Department of Computer Science LiverpoolL69 3BX United Kingdom

ISBN: (纸本)9781665410205

Neuroscience research has demonstrated the sig-nificance of modulating stiffness during human task performance. Similarly, endowing robots with such capability is expected. However, existing methods for robot teleoperation require operators to simultaneously control position and stiffness, resulting in high workload and task inefficiency. On the other hand, learning from demonstration (LfD) offers a feasible approach for autonomously generating stiffness. Therefore, this paper proposes a robot teleoperation system that combines the advantages of teleoperation and LfD. Teleoperation enables precise positioning guided by human operators, while LfD can transfer human stiffness skills to robots. A teleoperation-oriented stiffness-adaptive Gaussian Mixture Model/Gaussian Mixture Regression method is proposed to learn human multi-dimensional stiffness and reproduce robot stiffness on a Riemannian manifold. To enhance generalization and cooperate with teleoperation, reference points and position-driven output are introduced. Furthermore, a teleoperation strategy for both the single-leader-single-follower configuration and the single-leader-dual-follower configuration are designed, which allows operators to control either one or two robot arms with a single leader device. Finally, the effectiveness of our method is verified through a plugging-in task and a continuous flipping task, demonstrating that the proposed system is capable of performing tasks that demand high positioning accuracy and stiffness adjustment. A supplementary video for this paper is available in GitHub∗∗https://***/setowenGit/TOSA-GMM-GMR-Video. © 2024 IEEE.

关键词： Robotic arms

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Comparative Analysis among Categorical Shortest Path-finding Algorithms using OPSimDAZ

Comparative Analysis among Categorical Shortest Path-finding...

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International Conference on Computer and Information Technology (ICCIT)

作者： Milton Bhowmick M. Akhtaruzzaman Department of Computer Science and Engineering Military Institute of Science and Technology (MIST) Dhaka Bangladesh Quantum Robotics and Automation Research Group (QRARG) Dhaka Bangladesh

ISBN: (数字)9798331519094

ISBN: (纸本)9798331519100

Efficient navigation of mobile robots is crucial for industrial applications. However, environmental obstacles can pose significant risks and hinder operational optimality. Thus, identifying the ideal algorithm through comparative analysis is imperative. This study examines five popular path planning algorithms; Dijkstra, BFS, A*, D* Lite, and Ant Colony Optimization (ACO); based on 2D grid simulation. The objective is to conduct performance analysis of these algorithms through a custom designed online simulation platform for visualization of path planning strategies. The methodology encompasses a thorough background study, environment setup, development of simulation platform, algorithm implementation, and result analysis with visualization. This study contributes by introducing a new simulation platform, and adding values to the existing knowledge of path planning analysis.

关键词： Visualization Ant colony optimization Navigation Heuristic algorithms Probabilistic logic Path planning Real-time systems Performance analysis Mobile robots Information technology

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Deformable Object Manipulation With Constraints Using Path Set Planning and Tracking

arXiv

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arXiv 2024年

作者： Huang, Jing Chu, Xiangyu Ma, Xin Au, Kwok Wai Samuel The Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Hong Kong The Multi-Scale Medical Robotics Center Hong Kong Hong Kong

In robotic deformable object manipulation (DOM) applications, constraints arise commonly from environments and task-specific requirements. Enabling DOM with constraints is therefore crucial for its deployment in practice. However, dealing with constraints turns out to be challenging due to many inherent factors such as inaccessible deformation models of deformable objects (DOs) and varying environmental setups. This article presents a systematic manipulation framework for DOM subject to constraints by proposing a novel path set planning and tracking scheme. First, constrained DOM tasks are formulated into a versatile optimization formalism which enables dynamic constraint imposition. Because of the lack of the local optimization objective and high state dimensionality, the formulated problem is not analytically solvable. To address this, planning of the path set, which collects paths of DO feedback points, is proposed subsequently to offer feasible path and motion references for DO in constrained setups. Both theoretical analyses and computationally efficient algorithmic implementation of path set planning are discussed. Lastly, a control architecture combining path set tracking and constraint handling is designed for task execution. The effectiveness of our methods is validated in a variety of DOM tasks with constrained experimental settings. Copyright © 2024, The Authors. All rights reserved.

关键词： Constraint handling

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An AI-NLP based Interactive Chatbot Model for Patient Prescreening at Doctor’s Consultancy

An AI-NLP based Interactive Chatbot Model for Patient Prescr...

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International Conference on Innovations in Science, engineering and Technology (ICISET)

作者： Sachitra Halder M Akhtaruzzaman Jamal Uddin Tanvin Md Rifat Islam Md Tausiful Haque Department of Computer Science and Engineering Military Institute of Science and Technology (MIST) Dhaka Bangladesh Quantum Robotics and Automation Research Group (QRARG) Dhaka Bangladesh

ISBN: (数字)9798350355499

ISBN: (纸本)9798350355505

Diabetes is a prevalent issue in Bangladesh, presenting significant challenges for healthcare systems. This project aims to develop an integrated health prescreening solution that combines an interactive chatbot with sensor modules for vital health data logging. Effective diabetes treatment requires comprehensive information from patients, including lifestyle, dietary habits, medications, and comorbidities, which typically consumes a lot of time during medical consultations. The proposed system streamlines this process by using dedicated sensors to collect essential health data, such as temperature, heart rate, and oxygen levels. Patients interact with a conversational chatbot to provide additional information, including symptoms and medical history. This data is then displayed on a screen at the end of the conversation for easy reference by healthcare professionals. The project progresses through four main stages: requirement analysis, system design, chatbot development, and sensor integration. While the sensor output may show slight fluctuations compared to medical-grade equipment, the chatbot achieves high accuracy ($\gt \mathbf{9 0 \%}$) in conversation and information extraction. By integrating vital sign monitoring with an interactive chatbot, this project aims to reduce waiting times, enhance efficiency of medical checkups, and improve doctor-patient communication in a modern healthcare setting.

关键词： Temperature sensors Temperature measurement Deep learning Temperature distribution Accuracy Medical services Oral communication Chatbots Diabetes System analysis and design

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Collaborating for Success: Optimizing System Efficiency and Resilience Under Agile Industrial Settings

Collaborating for Success: Optimizing System Efficiency and ...

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IEEE-RAS International Conference on Humanoid Robots

作者： Sunny Katyara Suchita Sharma Praveen Damacharla Carlos Garcia Francis O’Farrell Philip Long Department of Robotics & Automation Irish Manufacturing Research Company Ltd Ireland Software Engineering Division Shutterfly USA KineticAI INC Woodlands Texas USA

ISBN: (数字)9798350373578

ISBN: (纸本)9798350373585

Designing an efficient and resilient human-robot collaboration strategy that not only upholds the safety and ergonomics of shared workspace but also enhances the performance and agility of collaborative setup presents significant challenges concerning environment perception and robot control. In this research, we introduce a novel approach for collaborative environment monitoring and robot motion regulation to address this multifaceted problem. Our study proposes novel computation and division of safety monitoring zones, adhering to ISO 13855 and TS 15066 standards, utilizing 2D lasers information. These zones are not only configured in the standard three-layer arrangement but are also expanded into two adjacent planes, thereby enhancing system uptime and preventing unnecessary deadlocks. Moreover, we also leverage 3D visual information to track dynamic human articulations and extended intrusions. Drawing upon the fused sensory data from 2D and 3D perceptual spaces, our proposed hierarchical controller stably regulates robot velocity, validated using Lasalle in-variance principle. Empirical evaluations demonstrate that our approach significantly reduces task execution time and system response delay, resulting in improved efficiency and resilience within collaborative settings.

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Real-time Prediction of Fluid Resuscitation Rate for Burn Patients: A Web Based Fuzzy Logic Approach

Real-time Prediction of Fluid Resuscitation Rate for Burn Pa...

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International Conference on Computer and Information Technology (ICCIT)

作者： Aminul Islam M. Akhtaruzzaman Department of Computer Science and Engineering Military Institute of Science and Technology (MIST) Dhaka Bangladesh Quantum Robotics and Automation Research Group (QRARG) Dhaka Bangladesh

ISBN: (数字)9798331519094

ISBN: (纸本)9798331519100

Effective management of burn patients in the early stages of treatment is crucial for ensuring survival and optimal recovery. A key element of this process is proper fluid resuscitation, which is essential for maintaining organ function and preventing potentially fatal complications such as shock. Accurate and timely assessment of fluid needs, depending on the Total Body Surface Area (TBSA) affected and the patient’s Hourly Urine Output (HUO), is therefore critical. To address these challenges in burn care, this research introduces a modern web application specifically designed for healthcare providers. The application modern technologies, including Spring Boot, React, ***, MySQL Database and a Java fuzzy logic library, to implement fuzzy logic design and modeling based on the Rule of Nines. This application facilitates rapid analysis of burn extent and provides continuous 24-hour monitoring. By offering accurate, hourly recommendations for fluid resuscitation rates, the tool significantly enhances decision-making in critical care settings. The application includes secure doctor login functionality, allowing healthcare professionals to manage patient data efficiently. Patient information is stored in a database for real-time access and ongoing monitoring. The user-friendly interface allows for seamless data entry and quick interpretation of results, making it highly practical in high-pressure emergency situations.

关键词： Fuzzy logic Java Fluids Accuracy Databases Medical services Real-time systems Libraries Monitoring Surface treatment

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Development of a Measurment Method to Assess the Ice Adhesive Properties

Development of a Measurment Method to Assess the Ice Adhesiv...

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International Youth Conference on Radio Electronics, Electrical and Power engineering (REEPE)

作者： Margarita A. Baranova Alexey S. Osipkov Roman A. Poshekhonov Special Engineering Department Bauman Moscow State Technical University Moscow Russian Federation Robotics and Complex Automation Department Bauman Moscow State Technical University Moscow Russian Federation

ISBN: (数字)9798331531836

ISBN: (纸本)9798331531843

Ice formation on the power and industrial equipment, such as power lines, wind turbines, solar panels, etc., could cause malfunctions or significant reduction in their performance. Solutions including the Ice-phobic Coating (IC) and, in particular, the anti-icing surfaces, are an efficient method in protecting the surfaces from icing. However, the ice adhesion strength values obtained by different research groups are difficult to be compared directly, as any unified standard for measuring the ice adhesion strength is missing, which causes significant variations in the results and makes it difficult to further implement the IC technique in practical applications. The paper analyses the sources of errors in the existing ice adhesion measurement techniques and develops a methodology that minimizes effect of the main influencing factors. An appropriate test bench with an efficient surface cooling system based on the Peltier element and the micro-breaking machine was designed and developed in implementing the technique, its purpose was to determine adhesion characteristics of the statically frozen ice using the horizontal shear method. In the future, the proposed methodology could become a basis for the standardized ice adhesion testing.

关键词： Temperature measurement Temperature distribution Adhesives Cooling Ice Wind turbines Coatings Velocity measurement Surface treatment Testing

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Optimization Model of Housing Construction Project Scheduling Based on Optimized Ant Colony Algorithm 2

Optimization Model of Housing Construction Project Schedulin...

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2nd International Conference on Smart Technologies for Smart Nation, SmartTechCon 2023

作者： Srinivasa, Gowda G.K. Krishna, G.R. Sanjay Rex, J. Kumar, K. Sambath Kumar, Madhan Mohan Manikandan, N. Department of Computer Science and Engineering ACS College of Engineering Tamilnadu Bangalore India Department: Mechanical Engineering Koneru Lakshmaiah Education foundation Green fields Andhra Pradesh Vaddeswaram India Department of Civil Engineering Malla Reddy Engineering College Tamilnadu Hyderabad India Department of Electronics and Communication Engineering Vel Tech Rangarajan Dr.Sagunthala R&D Institute of Science and Technology Chennai India Department of Robotics and Automation Easwari Engineering College Bharathi salai Ramapuram Tamilnadu Chennai India Dept of Mechanical Engineering School of Engineering Mohan Babu University Andhra Pradesh Tirupati India

ISBN: (纸本)9798350305418

Construction management is a standardized means of project management. The construction project takes a long time and has many links, and the construction workers involved are complicated. Poor quality buildings will not only affect the construction enterprises’ brand, but also threaten the safety of people's lives and property. In this paper, an optimization model of housing construction project scheduling based on ant colony algorithm (ACA) is put forward. By studying the relationship among various sub-projects in the construction system of building projects, the management of building projects can be better realized. The results show that compared with the other two algorithms, the optimized ACA has certain advantages in recall and accuracy. There are many contents involved in the building construction process, and there are many uncontrollable factors in the building process, which greatly impact the project's construction quality. The construction industry can use this technology to strengthen the building construction management, solve the problems existing in the construction management, and improve the construction quality. © 2023 IEEE.

关键词： ant colony algorithm Building engineering Construction supervision Optimization Model Project scheduling

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The Journey/DAO/TAO of Embodied Intelligence: From Large Models to Foundation Intelligence and Parallel Intelligence

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IEEE/CAA Journal of Automatica Sinica 2024年第6期11卷 1313-1316页

作者： Tianyu Shen Jinlin Sun Shihan Kong Yutong Wang Juanjuan Li Xuan Li Fei-Yue Wang College of Information Science and Technology Beijing University of Chemical TechnologyBeijing 100029China School of Electrical and Information Engineering Jiangsu UniversityZhenjiang 212013China State Key Laboratory for Turbulence and Complex Systems Department of Advanced Manufacturing and RoboticsCollege of EngineeringPeking UniversityBeijing 100871China State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China Peng Cheng Laboratory Shenzhen 518000China State Key Laboratory for Management and Control of Complex Systems Chinese Academy of SciencesBeijing 100190 Faculty of Innovation Engineering Macao University of Science and TechnologyMacao 999078China IEEE

THE tremendous impact of large models represented by ChatGPT[1]-[3]makes it necessary to con-sider the practical applications of such models[4].However,for an artificial intelligence(AI)to truly evolve,it needs to possess a physical“body”to transition from the virtual world to the real world and evolve through interaction with the real *** this context,“embodied intelligence”has sparked a new wave of research and technology,leading AI beyond the digital realm into a new paradigm that can actively act and perceive in a physical environment through tangible entities such as robots and automated devices[5].

关键词： Intelligence DAO TAO

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An Intuitive Six-DOF Admittance Control Method for Human-Robot Collaboration

An Intuitive Six-DOF Admittance Control Method for Human-Rob...

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IEEE International Conference on robotics and Biomimetics

作者： Yuming Meng Xin Jiang Marten Erik Brelen Yun-Hui Liu School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen China Department of Ophthalmology and Visual Sciences The Chinese University of Hong Kong HKSAR China Department of Mechanical and Automation Engineering T Stone Robotics Institute The Chinese University of Hong Kong HKSAR China

ISBN: (数字)9798331509644

ISBN: (纸本)9798331509651

Admittance control is a well-established frame-work for enhancing human-robot collaboration. Although it is widely applied in translational tasks, the a six-degree-of-freedom (6-DOF) admittance control involving the use of a handle in both translational and rotational spaces is rarely addressed in the literature. This paper introduces 6-DOF admittance control method that utilizes a handle equipped with a force/torque sensor mounted on the robotic arm to intuitively farme the operation of the end effector. By transforming the force/torque applied to the handle into the operation of the end-effector while preserving the operator's intent, intuitive 6-DOF admittance control is achieved. To eliminate the operational risks associated with the uncertainty of the hand's contact point on the handle, uncertainty shielding is implemented, ensuring stable force/torque calculations. The effectiveness of the proposed 6-DOF admittance control method is validated through an assembly operation and a specific trajectory operation.

关键词： Uncertainty Biomimetics Human-robot interaction Aerospace electronics Robot sensing systems 6-DOF End effectors Trajectory Admittance control Assembly

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