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arXiv 2023年

作者： Li, Shilei Li, Lijing Shi, Dawei Lou, Yunjiang Shi, Ling The Department of Electronic and Computer Engineering The Hong Kong University of Science and Technology Hong Kong The School of Information and Control Engineering China University of Mining and Technology China The School of Automation Beijing Institute of Technology China The State Key Laboratory of Robotics and System School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen Shenzhen518055 China

This paper presents two computationally efficient algorithms for the orientation estimation of inertial measurement units (IMUs): the multi-kernel correntropy-based gradient descent (CGD) and the multi-kernel correntropy-based decoupled orientation estimation (CDOE). Traditional methods, such as gradient descent (GD) and decoupled orientation estimation (DOE), rely on the least square (LS) criterion in algorithm derivation, making them vulnerable to external acceleration and magnetic interference. To address this issue, we first demonstrate that the multi-kernel correntropy loss (MKCL) is an optimal objective function under the maximum likelihood estimation (MLE) framework when the noise follows a specific type of heavy-tailed distribution. Then, we provide some important properties of the MKCL as a cost function. By replacing the LS cost with the MKCL, we develop the CGD and CDOE algorithms. We evaluate the effectiveness of our proposed methods by comparing them with existing algorithms in various situations. Experimental results indicate that our proposed methods (CGD and CDOE) outperform their conventional counterparts (GD and DOE), especially when faced with external acceleration and magnetic disturbances. Furthermore, the new algorithms demonstrate significantly lower computational complexity than Kalman filter-based approaches, making them suitable for applications with low-cost microprocessors. Copyright © 2023, The Authors. All rights reserved.

关键词： Maximum likelihood estimation

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FPGA based area-power-performance analysis of LMS filter using conventional and proposed multipliers 3

FPGA based area-power-performance analysis of LMS filter usi...

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3rd International Conference on Applied and Practical Sciences, ICAPS 2021

作者： Pathan, A. Memon, T.D. Sohu, F Khan Larkana Pakistan Institute of Information and Communication Technologies Mehran University of Engineering and Technology Jamshoro Pakistan Department of Electronic Engineering Mehran University of Engineering and Technology Jamshoro Pakistan National Center for Robotics and Automation Hhcms Lab Muet Jamshoro Pakistan

This paper compares LMS filter-based adaptive channel equalizer, implemented on Vertex 7 FPGA using several existing and proposed multipliers. The three main performance parameters taken into consideration are the consumed resources (in terms of lookup tables), utilized power (among various design components), and the performance achieved (in terms of observed frequency). The results show the area-power-performance tradeoff amongst the conventional and proposed multipliers based designs. It is to mention that the proposed multipliers result in more compact systems due to less utilization of resources in all means. © Published under licence by IOP Publishing Ltd.

关键词： Field programmable gate arrays (FPGA)

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Evaluation of rehabilitation robots

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AIP Conference Proceedings 2024年第1期3035卷

作者： S. Prabhakaran S. Aravinthan R. Ashwin T. M. Eshwar Ram S. Sanjay Department of Robotics & Automation Engineering PSG College of Technology Coimbatore India

The 21st century has seen rapid and tremendous progress in the use of robots to correct sensorimotor deficits caused by central nervous system (CNS) injuries and other muscle disorders. Rehabilitation robots have significantly and emphatically affected the clinical field broadly. With the developing need of help with restoration and in the overall clinical field, customized robots to assist patients with recuperating effortlessly will have a useful impact in the essential fields. Robots for rehabilitation are usually bespoke instruments that assist and help patients recover from impairments and improve muscular function. With the current rate of improvement and development in this field, it is soon expected to completely revolutionise the medical system. This paper reviews the needs for rehabilitation robots, types of treatment offered to patients, safety, implementation barriers and the various types of rehabilitation robots in the market.

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Review: Emerging innovation of digital twin technology

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AIP Conference Proceedings 2024年第1期3035卷

作者： R. Nithyasri S. Sakthi Sridevi V. Parvathi Priya Department of Robotics & Automation Engineering PSG College of Technology Coimbatore India

Digital twin technology is an emerging innovation in the industry. Providing the live replica of physical systems has provided a lot more advantages to the industry, such as faster innovations with a reduction in cost and enhanced productivity. With the help of the Internet of Things (IoT), Artificial Intelligence (AI), and digital twin technology, the industry can see growth. Digital Twin is an ideal solution for sectors such as healthcare, automotive, and manufacturing. This paper is all about an overview of the digital twin, including their uses, challenges, compatibility with IoT and AI, and prospects for the future.

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A review on cobots: A man’s helping hand

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AIP Conference Proceedings 2024年第1期3035卷

作者： S. Prabhakaran P. Shudhi Rishaa R. Ashwath M. Suresh Department of Robotics & Automation Engineering PSG College of Technology Coimbatore India

The robots which collaborate with humans and make every task easier are generally called as collaborative robots or otherwise known as cobots. In today's world inheritance of cobots has become more normal than it was before 2020. They in fact make life easier, the history of robotics is profusely filled with ideas and patents of collaborative robots which aim to interface and work simultaneously with humans without replacing them. It enhances our natural abilities in the process. Cobots are already influencing workplaces around the world and have the power to drastically change every industry. Research into how robots can mimic human actions and decisions is very active right now. However, it has been demonstrated that algorithms using artificial intelligence are able to make everything possible. This paper reviews the industrial applications and top manufacturing companies of cobot and concluded by predicting the future trends in cobot.

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Why-So-Deep: Towards Boosting Previously Trained Models for Visual Place Recognition

arXiv

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arXiv 2022年

作者： Bhutta, M. Usman Maqbool Sun, Yuxiang Lau, Darwin Liu, Ming C3 Robotics Lab Department of Mechanical and Automation CUHK Hong Kong Department of Mechanical Engineering PolyU Kowloon Hong Kong Department of Electronic and Computer Engineering HKUST Hong Kong

Deep learning-based image retrieval techniques for the loop closure detection demonstrate satisfactory performance. However, it is still challenging to achieve high-level performance based on previously trained models in different geographical regions. This paper addresses the problem of their deployment with simultaneous localization and mapping (SLAM) systems in the new environment. The general baseline approach uses additional information, such as GPS, sequential keyframes tracking, and re-training the whole environment to enhance the recall rate. We propose a novel approach for improving image retrieval based on previously trained models. We present an intelligent method, MAQBOOL, to amplify the power of pre-trained models for better image recall and its application to real-time multiagent SLAM systems. We achieve comparable image retrieval results at a low descriptor dimension (512-D), compared to the high descriptor dimension (4096-D) of state-of-the-art methods. We use spatial information to improve the recall rate in image retrieval on pre-trained models. Material related to this work is available at https://***/why-so-deep. © 2022, CC BY-NC-ND.

关键词： Image retrieval

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An Improved Method for Identifying SSVEP Single-Channel Target Frequency for BCI Systems

An Improved Method for Identifying SSVEP Single-Channel Targ...

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Emerging Trends in Electrical, Control, and Telecommunication engineering (ETECTE), International Conference on

作者： Adeel Wahab Umar Shahbaz Khan Tahir Nawaz Hassan Akbar Syed Tayyab Hussain Shah Zulfiqar Hasan Khan Department of Mechatronics Engg National University of Sciences and Technology Islamabad Pakistan National Centre of Robotics and Automation National University of Sciences and Technology Islamabad Pakistan Department of Basic Sciences and Humanities National University of Sciences and Technology Islamabad Pakistan Faculty of Electrical Engineering Ghulam Ishaq Khan Institute of Engineering Sciences and Technology Topi Pakistan

ISBN: (数字)9798331504861

ISBN: (纸本)9798331504878

Steady-state visual evoked potential (SSVEP) is a brain response to flickering visual stimuli in the occipital area. SSVEP detection methods usually utilize multichannel configurations, which can be intricate and uncomfortable. Conversely, single-channel configurations are simple and user-friendly, but attaining the necessary accuracy is difficult, requiring the development of a reliable and accurate single-channel technique. For this purpose, this study introduces a hybrid VMD-LGBM approach to single-channel SSVEP detection. The proposed technique utilizes VMD as a preprocessor that decomposes the SSVEP signal into harmonic, intrinsic mode functions (IMFs), and noisy IMFs. To separate harmonic IMFs from noisy IMFs, the crest factor of the cross-correlation function was introduced. Then the restored SSVEP signal is used to extract features using power spectral density analysis (Welch's approach), followed by classification using a Light Gradient Boosting Machine. Our proposed approach performs better than available techniques in terms of classification accuracy and information transfer rate. The proposed single-channel approach provides better efficiency and user-friendliness for practical applications.

关键词： Visualization Accuracy Noise Harmonic analysis Feature extraction Reliability engineering Market research Communications technology Steady-state Noise measurement

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Learning Skills from Demonstrations: A Trend from Motion Primitives to Experience Abstraction

arXiv

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arXiv 2022年

作者： Tavassoli, Mehrdad Katyara, Sunny Pozzi, Maria Deshpande, Nikhil Caldwell, Darwin G. Prattichizzo, Domenico Department of Advanced Robotics Italian Institute of Technology Genoa16163 Italy Robotics and Automation team Irish Manufacturing Research DublinD24 Ireland Department of Information Engineering and Mathematics University of Siena 53100 Italy

The uses of robots are changing from static environments in factories to encompass novel concepts such as Human-Robot Collaboration in unstructured settings. Pre-programming all the functionalities for robots becomes impractical, and hence, robots need to learn how to react to new events autonomously, just like humans. However, humans, unlike machines, are naturally skilled in responding to unexpected circumstances based on either experiences or observations. Hence, embedding such anthropoid behaviours into robots entails the development of neuro-cognitive models that emulate motor skills under a robot learning paradigm. Effective encoding of these skills is bound to the proper choice of tools and techniques. This paper studies different motion and behaviour learning methods ranging from Movement Primitives (MP) to Experience Abstraction (EA), applied to different robotic tasks. These methods are scrutinized and then experimentally benchmarked by reconstructing a standard pick-n-place task. Apart from providing a standard guideline for the selection of strategies and algorithms, this paper aims to draw a perspectives on their possible extensions and improvements. © 2022, CC BY.

关键词： Reinforcement learning

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Power Harvesting towards Sustainable Energy Technology through Ambient Vibrations and Capacitive Transducers

Power Harvesting towards Sustainable Energy Technology throu...

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Emerging Power Technologies (ICEPT), International Conference on

作者： Umar Jamil Muhammad Sulaiman Nouman Ghafoor Mostafa Malmir Faisal Nawaz Rana I. Shakoor Department of Electrical Engineering University of Texas at San Antonio San Antonio USA Department of Electrical Engineering Air University Islamabad Pakistan Department of Science and Engineering University of Limerick Limerick Ireland Department of Electrical Engineering Ajou University Suwon South Korea MEMS Sensor Design and Test Lab National Center of Robotics and Automation Air University Islamabad Pakistan

As part of the fourth industrial revolution, low-power electronic devices require a power harvesting system to provide energy for their operation because energy harvesting technologies are crucial for enabling 90% of wireless sensor networks. While solar and thermal energy harvesting are popular methods, they have limitations such as dependence on sunlight and thermal gradients, which make them unreliable for low-wattage electronic equipment and wireless sensing networks. Power harvesting from ambient vibrations can lead to a sustainable system. Currently, there is a focus on different power harvesting principles such as electromagnetic, piezoelectric, and electrostatic. This research work presents a novel power harvester design that uses three in-plane capacitive transducers - gap-closing, overlap-varying, and pattern-varying - to operate under ambient vibrations as input energy. With low levels of input vibrations, the device moves, leading to changes in capacitance and the harvesting of reliable electrical power. The design analysis includes capacitance, frequency, and electromechanical evaluations to acquire capacitance matrices, natural frequencies for different modes, displacement covered by moving mass, charge distribution, and pressure distribution.

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RAPID & FASTNAV Projects: High-Speed Semi-Autonomous Rovers Enabling High Return Planetary Missions

RAPID & FASTNAV Projects: High-Speed Semi-Autonomous Rovers ...

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Space robotics (iSpaRo), International Conference on

作者： Matteo De Benedetti Steven Kay Jorge Ocón Raquel Jalvo Manuel Esquer Cerezo Augusto Gómez Eguíluz Mercedes Alonso Javier Ramos Fernandez Karl Buckley Robert Field Angus Cameron Vassilios Papantoniou Ares Papantoniou Carlos Perez del Pulgar Konstantinos Kapellos Martin Azkarate GMV NSL Ltd UK GMV Aerospace and Defence Spain Hellenic Technology of Robotics Athens Greece Department of Systems Engineering and Automation Space Robotics Laboratory Universidad de Málaga Málaga Spain Network Research Belgium Uccle Belgium European Space Agency European Space Research and Technology Centre (ESTEC) Noordwijk Netherlands

ISBN: (数字)9798350367232

ISBN: (纸本)9798350367249

Previous Mars and Moon rover missions have highlighted a limitation in mobility, with surface rovers traversing only a few tens of meters per day, at speeds in the order of 10 cm/s. This limitation can be primarily attributed to the rover locomotion system from one side, and on the other by the lack/limited on-board autonomous *** address these limitations, ESA issued a series of activities on fast autonomous rovers. GMV is leading the RAPID and FASTNAV projects, aiming at developing a semi-autonomous rover capable of safely traversing lunar terrains at high speeds (around 1 m/s), using a visual navigation based Guidance, Navigation and Control (GNC) system. The RAPID project was the foundation of this work, in which the rover platform was designed, manufactured, and a first version of the on-board software was developed. The follow-up FASTNAV project builds upon the work of RAPID to establish an innovative multi-mode continuous drive GNC system. This new architecture aims to achieve an improved autonomy and faster speeds, with different guidance modes selected according to the terrain type, using a combination of techniques (AI and classical computer vision), while also improving the existing GNC *** paper shall present the experience obtained during the development of the rover platform and the GNC system across both activities. It shall provide an overview of the challenges and risks, the decisions made, a detailed technical overview of the GNC architecture and components, and the results observed during the analogue field tests.

关键词： Space vehicles Meters Visualization Computer vision Navigation Space missions Moon Computer architecture Control systems Software

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