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Electrical, Computer, Communications and Mechatronics engineering (ICECCME), International Conference on

作者： Marius Misaros Clément Robier Ovidiu-Petru Stan Szilárd Enyedi Anca Stan Dan Ioan Gota Liviu Miclea Automation Department Technical University of Cluj-Napoca Cluj-Napoca Romania Generalist Department Cesi Ingineering School of Lyon Lyon France Industrial Engineering Robotics and Production Management Technical University of Cluj Napoca Romania

ISBN: (数字)9798350391183

ISBN: (纸本)9798350391190

The ability of a vehicle to move without the input of a human operator marks its transition into the domain of the autonomous vehicle. This concept is gaining increasing popularity with the objective of enhancing navigational safety and facilitating the transmission and reception of information from other road users, thereby facilitating more efficient navigation. It was thus resolved to construct a partially autonomous vehicle that employs sensors and Li-Fi technology to receive and process external stimuli approaching the control side of the vehicle. The prototype in the proposed and analyzed case study is steered by means of a steering wheel that has been specially configured for this application and is connected by radio. Additionally, the case study examined the reliability of the vehicle, which is a crucial factor in determining the potential causes of malfunction or even complete failure of the prototype under test. The principal objective of the case study is to construct a prototype and conduct a reliability analysis of the system, examining each component to ascertain the strengths and weaknesses of the prototype under test. The findings of the study underscore the significance of assessing the hardware elements of the proposed autonomous vehicle, culminating in a favorable assessment of its reliability.

关键词： Mechatronics Navigation Roads Prototypes Wheels Process control Sensors Safety Reliability Autonomous vehicles

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Human Following Robot Based on Object Detection for Aerospace Application 1

Human Following Robot Based on Object Detection for Aerospac...

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1st International Conference of Adisutjipto on Aerospace Electrical engineering and Informatics, ICAAEEI 2024

作者： Sumari, Arwin Datumava Wahvudi Aryandika, Ahnaf Bagus Purnami, Ndaru Atmi Dermawan, Denny Syamsiana, Ika Noer State Polytechnic of Malang Cognitive Artificial Intelligence Research Group Department of Electrical Engineering Malang Indonesia Adisutjipto Institute of Aerospace Technology Electrical Engineering Study Program Yogyakarta Indonesia Adisutjipto Institute of Aerospace Technology Aerospace Navigation Instrumentation Control Automation and Robotics System Research Group Electrical Engineering Study Program Yogyakarta Indonesia Adisutjipto Institute of Aerospace Technology Electrical Engineering Study Program Aerosp. Digit. Syst. Microprocessor Microcontroller and Programmable Logic Devices Research Group Yogyakarta Indonesia

ISBN: (纸本)9798331507930

In this research, the Human Following Robot (HFR) prototype has been designed and implemented using YOLO v3-Tiny and Tensor Flow Lite on Raspberry Pi hardware named Rewang. The HFR Rewang is designed to assist aircraft technicians by bringing maintenance tool kits to aircraft shelters. Rewang's movement is based on a camera as a vision sensor following the movement of human entities. Image input is processed by YOLO v3-Tiny through the determination of the bounding box, the calculation of Euclidean Distance, and the determination of the pixel value of the camera as the basis of Rewang's movement which is regulated by an L298N driver motor that controls two Direct Current (DC) motors for the left and right wheels. The test results show that Rewang can move at an average speed of 0.18 m/s at 2 m with a travel time of 11 seconds with a light intensity of more than 250 lux. The minimum and maximum distance of object detection is as far as 120 cm and 400 cm, with an object detection accuracy of 95.8%. Rewang allows the HFR to have a larger carrying capacity to bring more complete aircraft maintenance tools and is prospective for other aerospace and general applications. © 2024 IEEE.

关键词： Travel time

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Autonomous Intelligent Navigation for Flexible Endoscopy Using Monocular Depth Guidance and 3-D Shape Planning

Autonomous Intelligent Navigation for Flexible Endoscopy Usi...

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IEEE International Conference on robotics and automation (ICRA)

作者： Yiang Lu Ruofeng Wei Bin Li Wei Chen Jianshu Zhou Qi Dou Dong Sun Yun-hui Liu Department of Mechanical and Automation Engineering T Stone Robotics Institute The Chinese University of Hong Kong Hong Kong Department of Biomedical Engineering City University of Hong Kong Hong Kong Hong Kong Center for Logistics Robotics Hong Kong Department of Computer Science and Engineering The Chinese University of Hong Kong Hong Kong

Recent advancements toward perception and decision-making of flexible endoscopes have shown great potential in computer-aided surgical interventions. However, owing to modeling uncertainty and inter-patient anatomical variation in flexible endoscopy, the challenge remains for efficient and safe navigation in patient-specific scenarios. This paper presents a novel data-driven framework with self-contained visual-shape fusion for autonomous intelligent navigation of flexible endoscopes requiring no priori knowledge of system models and global environments. A learning-based adaptive visual servoing controller is proposed to online update the eye-in-hand vision-motor configuration and steer the endoscope, which is guided by monocular depth estimation via a vision transformer (ViT). To prevent unnecessary and excessive interactions with surrounding anatomy, an energy-motivated shape planning algorithm is introduced through entire endoscope 3-D proprioception from embedded fiber Bragg grating (FBG) sensors. Furthermore, a model predictive control (MPC) strategy is developed to minimize the elastic potential energy flow and simultaneously optimize the steering policy. Dedicated navigation experiments on a robotic-assisted flexible endoscope with an FBG fiber in several phantom environments demonstrate the effectiveness and adaptability of the proposed framework.

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Evaluating the Applicability of Analytical Models for Silicone Tube Mckibben Actuators through Soft Computing 7

Evaluating the Applicability of Analytical Models for Silico...

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7th IEEE International Conference on Electronics, Computing and Communication Technologies, CONECCT 2021

作者： Sarkar, Debadrata Dasgupta, Shounak Sen, Soumen Roy, Shibendu Shekhar Arora, Aman Robotics and Automation Group CSIR-Central Mechanical Engineering Research Institute Durgapur Durgapur India National Institue of Technology Durgapur Department of Mehcanical Engineering Durgapur India

ISBN: (纸本)9781665428491

Pneumatic artificial muscles are highly compliant actuators closely resembling the human muscles and are mainly used in bio-mimicking applications nowadays due to their high power to weight ratio. Although most of the biomimetic systems have utilized commercially available Mckibben type pneumatic artificial muscle actuators, customized actuators are necessary to specifically meet the force-contraction-actuation pressure demands. This article discusses such an actuator built of hyperelastic silicone material to reduce the actuation pressure, necessary for untethered systems. Although several analytical models have been validated for the commercial actuators, it is important to investigate their applications to the ones developed in-house. Starting off by equating the force-contraction output work with the pressure-volume input energy, the analysis slowly takes into consideration the strain energy stored in the hyperelastic silicone tube material. The material model for silicone has been chosen carefully through uniaxial tensile tests conducted in laboratory. The article discusses the development as well as static performance characterization of a set of total nine such actuators having three levels of length and diameter each. Finally, appropriate correction factors have been introduced, optimized through a soft-computing technique along with the discussion of their dependencies on design parameters as well as operating pressures. Finally, a modified formulation specifically for such grades of customizable actuators has been presented. © 2021 IEEE.

关键词： Silicones

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Synchronization Error Elimination for Heterogeneous Discrete-Time Multi-Agent Systems: A Reinforcement Learning Design Approach

Synchronization Error Elimination for Heterogeneous Discrete...

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American Control Conference (ACC)

作者： Xinyang Wang Martin Guay Shimin Wang Hongwei Zhang Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen Guangdong China Department of Chemical Engineering Queen's University Kingston Ontario Canada

ISBN: (数字)9798350382655

ISBN: (纸本)9798350382662

This paper proposes a novel reinforcement learning approach to solve the optimal output synchronization problem for discrete-time heterogeneous multi-agent systems. Different from existing learning methods, the optimal control protocol is obtained to guarantee zero synchronization error by solving the augmented algebraic Riccati equations (AREs). The proposed adaptive dynamic programming (ADP) method can stabilize the output synchronization error and solve the output regulator equations implicitly. To eliminate the dependency on information of system dynamics, an online Q-function-based policy iteration (PI) algorithm is developed. Finally, a numerical example is provided to demonstrate the advantages of the proposed ADP over traditional ADP in terms of synchronization performance.

关键词： Regulators Q-learning Protocols System dynamics Riccati equations Optimal control Mathematical models

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Experimental analysis of slip ratio using the wheel walking locomotion mode in reconfigurable rovers

Experimental analysis of slip ratio using the wheel walking ...

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Mediterranean Conference on Control and automation (MED)

作者： S. Domí nguez-Durante C. J. Pé rez-Del-Pulgar G. J. Paz-Delgado M. Azkarate Department of Systems Engineering and Automation Space Robotics Laboratory Universidad de Ma&#x00ED laga Andalucia Tech Ma&#x00ED laga Spain Robotics and Automation Section European Space Agency Noordwijk The Netherlands

ISBN: (数字)9781665406734

ISBN: (纸本)9781665406741

Planetary exploration has been affected by the ability of rovers to avoid getting trapped on sandy terrains. Currently, the European Space Agency in collaboration with the Russian Federal Space Agency are preparing the ExoMars mission, with the objective of placing a rover on the Martian surface to seek for signs of life. This rover is capable of a novel locomotion mode, commonly called wheel walking. It consists on moving the wheel forward and backward in order to improve traction and escape from terrains with a high slip ratio. The main drawback of this locomotion mode is related to the efficiency in power consumption. Therefore, it should be used only in extreme conditions. The objective of this paper is twofold. First, the definition of an experimental setup, based on a rover prototype, an experimental flat terrain and a mechanism to induce a given slip to the rover. Second, the use of this experimental scenario to validate a method, previously proposed by authors, to estimate the rover slip during the wheel walking locomotion mode.

关键词： Legged locomotion Adaptation models Power demand Space missions European Space Agency Force Wheels

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Fault Detection and Isolation for a Standard Quadrotor Using a Deep Neural Network Trained on a Momentum-based Estimator

Fault Detection and Isolation for a Standard Quadrotor Using...

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IEEE International Conference on automation Science and engineering (CASE)

作者： Vincenzo Scognamiglio Jonathan Cacace Fabio Ruggiero Vincenzo Lippiello Department of Electrical Engineering and Information Technology PRISMA Lab and CREATE Consortium University of Naples Federico II Naples Italy Robotics and Automation Unit Eurecat Centre Tecnològic de Catalunya

ISBN: (数字)9798350358513

ISBN: (纸本)9798350358520

Rapid identification of motor failures holds significant importance for ensuring the safety of multi-rotor unmanned aerial vehicles. This study introduces a method for detecting and isolating motor faults in standard quadrotors, utilizing an external wrench estimator and a recurrent neural network with long short-term memory nodes. The proposed approach treats partial or complete motor failure as an external disturbance affecting the quadrotor. Consequently, the external wrench estimator trains the network to quickly discern whether the estimated wrench results from a motor fault, identifying the specific motor involved, or if it stems from unmodeled dynamics or external factors such as wind or contacts. The training and testing of this method were conducted in a simulation environment equipped with a physics engine.

关键词： Training Recurrent neural networks Rotors Motors Safety Vehicle dynamics Standards Long short term memory Quadrotors Testing

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2D-3D Object Shape Alignment for Camera-Object Pose Compensation in Object-Visual SLAM

2D-3D Object Shape Alignment for Camera-Object Pose Compensa...

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IEEE International Conference on robotics and automation (ICRA)

作者： Hanyeol Lee Jae Hyung Jung Chan Gook Park Department of Aerospace Engineering and Automation and Systems Research Institute Seoul Natioinal University Seoul South Korea Smart Robotics Lab School of Computation Information and Technology Technical University of Munich Germany

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

In this study, we propose an object shape alignment method through a robust optimization scheme for 6-degrees-of-freedom (DOF) object pose compensation. Although the pose estimation of the 3D object by the camera has been rapidly improved in recent years with the development of deep learning, the estimate still contains errors due to several factors. To compensate for this, we perform a shape alignment between the 2D segmentation of the object and the projection of the 3D object in the image plane. To avoid convergence to a local minimum in nonlinear optimization, we separate the pose into translation and rotation. This approach derives the optimization of a linear form in terms of a translation with reduced computational cost. For the rotation, the parallel optimization is performed with multiple initial values, reflecting to the uncertainty of an initial value. We formulate an invariant extended Kalman filter (EKF)-based object-visual simultaneous localization and mapping (SLAM) with a camera-object relative pose as the measurement model. To verify the performance of the proposed algorithm, we present the improved results of camera-object relative pose accuracy and localization and mapping accuracy in the several sequences of YCB-video dataset.

关键词： Location awareness Image segmentation Three-dimensional displays Simultaneous localization and mapping Uncertainty Accuracy Shape

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Study on TIG welding parameters for joining different kind of aluminium tube with a tube plate

Study on TIG welding parameters for joining different kind o...

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2022 International Conference on Design, Manufacturing and Materials engineering, ICDMME 2021

作者： Chandran, Jishu Muniamuthu, Sumathy Padmanaban, G. Kishore Kumar, A. Mohan Kumar, M. Department of Mechanical Engineering Vel Tech Rangarajan Dr.Sagunthala R&D Institute of Science and Technology Tamil Nadu Avadi600062 India Department of Mechanical Engineering Karpagam College of Engineering Tamil Nadu Coimbatore641032 India Department of Robotics and Automation Sri Ramakrishna Engineering College Tamil Nadu Coimbatore641022 India Department of Electronics & Communication Engineering Hindusthan College of Engineering and Technology Tamil Nadu Coimbatore641032 India

Welding is a vital metal joining technique with a wide range of industrial uses. In this study, numerous process factors such as current, feed rate, and distance between tube and work piece, among others, were used to investigate in Tungsten Inert Gas (TIG) welding. We used Aluminum 6063 tube to Aluminum 6061 tube plate for this TIG welding. After the welding is finished, a radiographic test is performed to show any welding faults that might lead to defect-free welds. The most critical control factors that would result in better joint strength were identified to use a Taguchi L9 orthogonal matrix. Furthermore, the most relevant process parameter was determined using quantitative independent test (ANOVA). In addition, the mechanical tests were performed to determine the welding strength. The value of the best welded connection strength for tubes with holes welded at interference was found to be 318.716 MPa. © 2022 Published under licence by IOP Publishing Ltd.

关键词： Analysis of variance (ANOVA)

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SPONGE: Sequence Planning with Deformable-ON-Rigid Contact Prediction from Geometric Features

arXiv

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arXiv 2023年

作者： Le, Tran Nguyen Abu-Dakka, Fares J. Kyrki, Ville Intelligent Robotics Group The Department of Electrical Engineering and Automation School of Electrical Engineering Aalto University Finland MIRMI Technische Universität München München80992 Germany

Planning robotic manipulation tasks, especially those that involve interaction between deformable and rigid objects, is challenging due to the complexity in predicting such interactions. We introduce SPONGE, a sequence planning pipeline powered by a deep learning-based contact prediction model for contacts between deformable and rigid bodies under interactions. The contact prediction model is trained on synthetic data generated by a developed simulation environment to learn the mapping from point-cloud observation of a rigid target object and the pose of a deformable tool, to 3D representation of the contact points between the two bodies. We experimentally evaluated the proposed approach for a dish cleaning task both in simulation and on a real Franka Emika Panda with real-world objects. The experimental results demonstrate that in both scenarios the proposed planning pipeline is capable of generating high-quality trajectories that can accomplish the task by achieving more than 90% area coverage on different objects of varying sizes and curvatures while minimizing travel distance. Code and video are available at: https://***/sponge/. Copyright © 2023, The Authors. All rights reserved.

关键词： Pipelines

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