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21st Polish control Conference, PCC 2023

作者： Babiarz, Artur Department of Automatic Control and Robotics Silesian University of Technology Akademicka 16 Gliwice Poland

ISBN: (纸本)9783031351723

In this paper the imperialist competitive algorithm is used for searching optimal value of parameters of fractional-order PID (FOPID) regulator which is applied for control system of legless capsubot robot. The tuning was done via minimization of selected cost functions with the use of imperialist competitive algorithm (ICA). Obtained results from simulations are compared and discussed. © 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Cost functions

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All-Fabric Bi-directional Actuators for Multi-joint Assistance of Upper Limb

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Journal of Bionic Engineering 2023年第6期20卷 2661-2669页

作者： Junlin Ma Diansheng Chen Zhe Liu Jie Wei Xianglin Zhang Zihan Zeng Yongkang Jiang Institute of Robotics Beihang UniversityBeijing100191China Department of Control Science and Engineering Tongji UniversityShanghai201804China Frontiers Science Center for Intelligent Autonomous Systems Shanghai201210China

According to clinical studies,upper limb robotic suits are vital to reduce therapist fatigue and accelerate patient *** pneumatic actuators have drawn increasing attention for the development of wearable robots due to their low weight,flexibility,and high power-to-weight ***,most of current actuators were designed for the flexion assistance of a specific joint,and that for joint extension requires further ***,designing an actuator for diverse working scenarios remains a *** this paper,we propose an all-fabric bi-directional actuator to assist the flexion and extension of the elbow,wrist,and fingers.A mathematical model is presented that predicts the deformation and guides the design of the proposed bi-directional *** further validate the applicability and adaptability of the proposed actuator for different joints,we developed a 3-DOF soft robotic *** results show that the robotic suit can assist the motion of the elbow,wrist,and finger of the subject.

关键词： Soft robotic suits Fabric-based actuators Multi-DOF motion Upper limb rehabilitation

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Human-Centered Design and Development of an Elderly Care Robot 6

Human-Centered Design and Development of an Elderly Care Rob...

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6th International Conference on robotics and Automation in Industry, ICRAI 2024

作者： Sajid, Ali Sultan, Muhammad Noor Ishfaq, Muhammad Muaviz Raza, Ali University of Engineering and Technology Lahore Human Centered Robotics Lab of NCRA Department of Mechatronics and Control Engineering Lahore Pakistan

ISBN: (纸本)9798350355703

Constituting to the demographic age shift in many regions of the world, technological advancement in the care sector, to deliver quality services to the elders, is now in more demand than ever. One such advancement is the evolution of socially assistive and care robots that promise sustainable, reliable, and safe human-robot interaction to meet geriatric needs. This paper presents the design and development of Silver Companion: a geriatric care robot for the elderly. The target audience chosen for the research phase is the socially isolated elderly community of East Asia and Central Europe which make up about 45% of their total elderly population. Considering the human-centered design paradigm, the technical and psychological aspects of the robot have been devised. The form and functions of the robot have been based on the product design principles. The whole development journey has been subjected to the identified elderly needs and the robot has been tested under multiple use-case scenarios, ideated for possibly fulfilling those needs. The robot has been equipped with assistive and interactive features like voice interaction, complementing micro-gestures and robot expressions, seamless navigation, and robot perception enhanced by a tilt-pan mechanism, all contributing towards making the robot capable of uplifting the well-being and quality of life of seniors. © 2024 IEEE.

关键词： Care Robots Geriatric Care Human Centered Design Human-Robot Interaction Micro Gestures Navigation Robot Expressions Robot Field of View Socially Assistive Robots Voice Interaction

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Intraocular Lens Implant Support System for Patients with Astigmatism 38

Intraocular Lens Implant Support System for Patients with As...

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38th Annual European Simulation and Modelling Conference, ESM 2024

作者： Jaskot, Krzysztof Bieda, Robert Department of Automatic Control and Robotics Silesian University of Technology ul. Akademicka 16 Gliwice44-100 Poland

ISBN: (纸本)9789492859334

The paper presents the design of a prototype booster eye surgery. The objective is to optimize the operation of determining and monitoring the axis of the implant toric intraocular artificial lenses for patients with astigmatism. The INTEGRA system is a digital ink-free device for image tracking scleral vessels. It was helpful for determining the implantation axis in a precise and repeatable manner, and measurements were comparable with a manual technique. © 2024 Modelling and Simulation 2024 - 38th Annual European Simulation and Modelling Conference 2024, ESM 2024. All rights reserved.

关键词： Intraocular lenses

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Automated Classification of VMT Pathology from Optical Coherence Tomography B-scans 25

Automated Classification of VMT Pathology from Optical Coher...

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25th IEEE Signal Processing: Algorithms, Architectures, Arrangements, and Applications, SPA 2022

作者： Marciniak, Tomasz Stankiewicz, Agnieszka Institue of Automatic Control and Robotics Robotics and Electrical Engineering Poznan University of Technology Department of Automatic Control Poznan Poland

ISBN: (数字)9788362065424

ISBN: (纸本)9788362065424

The research presented in this article aims to determine the possibility of identifying macular pathologies from optical coherence tomography (OCT) images. Early detection of a pathology in the human eye retina is beneficial for patient recovery. Disorders commonly evaluated in clinical practice and research are drusen in age-related macular degeneration (AMD), diabetic macular edema (DME), and choroidal neovascularization (CNV). Our work extends this set of pathologies to include the pathology associated with improper posterior vitreous detachment, namely vitreomacular traction (VMT). Experimental research was based on single line OCT B-scans of healthy eyes and eyes with the investigated pathologies. AMD, DME and CNV images were taken from a public OCT dataset for retina classification, while healthy subjects and VMT images were acquired using an Avanti Optovue device. The accuracy results of more than 97% show the possibility of automatic preliminary diagnosis and differentiation between macular pathologies. © 2022 Division of Signal Processing and Electronic Systems, Poznan University of Technology (DSPES PUT).

关键词： Optical tomography

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Real-Time Multi-object Tracking Using YOLOv8 and SORT on a SoC FPGA 21st

Real-Time Multi-object Tracking Using YOLOv8 and SORT on a...

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21st International Symposium on Applied Reconfigurable Computing, ARC 2025

作者： Danilowicz, Michal Kryjak, Tomasz Embedded Vision Systems Group Computer Vision Laboratory Department of Automatic Control and Robotics AGH University of Science and Technology Krakow Poland

ISBN: (纸本)9783031879944

Multi-object tracking (MOT) is one of the most important problems in computer vision and a key component of any vision-based perception system used in advanced autonomous mobile robotics. Therefore, its implementation on low-power and real-time embedded platforms is highly desirable. Modern MOT algorithms should be able to track objects of a given class (e.g. people or vehicles). In addition, the number of objects to be tracked is not known in advance, and they may appear and disappear at any time, as well as be obscured. For these reasons, the most popular and successful approaches have recently been based on the tracking paradigm. Therefore, the presence of a high quality object detector is essential, which in practice accounts for the vast majority of the computational and memory complexity of the whole MOT system. In this paper, we propose an FPGA (Field-Programmable Gate Array) implementation of an embedded MOT system based on a quantized YOLOv8 detector and the SORT (Simple Online Realtime Tracker) tracker. We use a modified version of the FINN framework to utilize external memory for model parameters and to support operations necessary required by YOLOv8. We discuss the evaluation of detection and tracking performance using the COCO and MOT15 datasets, where we achieve 0.21 mAP and 38.9 MOTA respectively. As the computational platform, we use an MPSoC system (Zynq UltraScale+ device from AMD/Xilinx) where the detector is deployed in reprogrammable logic and the tracking algorithm is implemented in the processor system. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： System-on-chip

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Long-Range Vehicle Detection of LiDAR using Adaboost Classification

Long-Range Vehicle Detection of LiDAR using Adaboost Classif...

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2025 IEEE/SICE International Symposium on System Integration, SII 2025

作者： Lim, Na-Young Lee, Jeon-Hyeok Park, Tae-Hyoung Chungbuk National University Department of Intelligent Systems & Robotics Cheongju Korea Republic of Chungbuk National University Department of Control & Robot Engineering Cheongju Korea Republic of

ISBN: (纸本)9798331531614

In recent developments, autonomous racing has garnered attention as it aims to overcome the limitations of standard autonomous driving systems. Achieving safe racing conditions necessitates both fast and long-range perception. However, current 3D LiDAR object detection methods face challenges with high computational costs and limited detection ranges. These issues make them unsuitable for racing scenarios. To address these challenges, this paper proposes a clustering-based long-range vehicle detection method that relies solely on LiDAR. First, the method removes ground points and foreground points and clusters the remaining points. Subsequently, these clusters are classified as vehicles using AdaBoost, generating 2D bounding boxes in the range view. Experimental results demonstrate superior performance, achieving a computational efficiency of 53 Hz and a long-range detection accuracy of over 80%, compared to voxel-based and range-based methods. This approach offers a viable solution for autonomous racing environments. © 2025 IEEE.

关键词： Autonomous vehicles

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Transfer Learning: An Approach on the Riemannian Manifold for Multiclass Motor Imagery EEG Brain-Computer Interface 30

Transfer Learning: An Approach on the Riemannian Manifold fo...

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30th International Conference on Mechatronics and Machine Vision in Practice, M2VIP 2024

作者： Sun, Xu Chu, Yaqi Luo, Yang Zhao, Xingang Northeastern University Department of Control Engineering Shenyang110819 China China Institutes for Robotics and Intelligent Manufacturing Shenyang110016 China

ISBN: (纸本)9798350391916

Motor imagery (MI) EEG-based brain-computer interface (BCI) facilitates direct communication between the brain's intentions and a computer. In essence, it allows a person to control external equipment by decoding EEG signals during the mental imagery of limb movements. However, due to the intricate individual variances in EEG signals, creating a general decoding model with parameters applicable to all subjects is exceptionally challenging. Consequently, a prolonged calibration process is necessary to gather labeled subject-specific data for each individual, making it less user-friendly. A potential solution to this problem is transfer learning, a methodology that transfers knowledge from related domains to a target domain. To tackle the problem, this paper proposes a novel transfer learning approach on the Riemannian manifold framework in the context of multiclass MI EEG-based BCI classification. Particularly, a user-specific frequency band selection (FBS) method with MI EEG class distinctiveness is utilized to improve the accuracy and efficiency of Riemannian space calculations, which is measured using the inter-class distance and intra-class variance on the manifold. Then, the Riemannian space Alignment (RA) strategy is used to calibrate the MI EEG variances of different subjects. The comparative experiments between the proposed approach and baseline/conventional methods are conducted on a public dataset with four-class motor imagery EEG, including two-class transfer learning scenario and four-class transfer learning scenario. proposed transfer learning approach is outperformed. Compared with the baseline/conventional methods using a fixed wide frequency band, the preliminary results suggests that the proposed approach can significantly improve the transfer learning performance for the MI EEG signals from different subjects in Riemannian space. © 2024 IEEE.

关键词： Brain computer interface

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A Multi-party Asymmetric Self-play Algorithm and Its Application in Multi-USV Adversarial Game Simulations 24

A Multi-party Asymmetric Self-play Algorithm and Its Applica...

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2024 International Conference on Machine Learning, Pattern Recognition and Automation Engineering, MLPRAE 2024

作者： Rao, Jinjun Wang, Cong Liu, Mei Lei, Jingtao Giernacki, Wojciech Department of Precision Mechanical Engineering School of Mechatronic Engineering and Automation Shanghai University China Institute of Robotics and Machine Intelligence Faculty of Automatic Control Robotics and Electrical Engineering Poznan University of Technology Poland

ISBN: (纸本)9798400709876

Aiming at the problem that the combination of self-play (SP) and deep reinforcement learning (DRL) only involves two-party games and the policy learning of each party is limited, a multi-party asymmetric self-play algorithm (MASP) is proposed. Firstly, by improving the ELO scoring system, the ELO scoring takes into account each party of the unmanned surface vehicle (USV) clusters, and the imbalance of the number of USV clusters, so that the frequency of exchanging strategies of all USV clusters in the confrontation process is equal. Secondly, it ensures that USV clusters have a balanced combat ability, and at the same time ensures that the combat ability of all parties is strong and weak and the gap is not too wide. In addition, the parameters are dynamically set to reduce the update frequency of the policy of the stronger party. The experimental results show that the MASP can make the USV clusters learn more effective policies, have a shorter game time, and obtain higher rewards and ELO scores in the simple 2v2 adversarial game scenario and the three-party game scenario of a warship escort mission. © 2024 ACM.

关键词： Deep reinforcement learning

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A control Theoretic Study on Omnidirectional MAVs with Minimum Number of Actuators and No Internal Forces at Any Orientation 63

A Control Theoretic Study on Omnidirectional MAVs with Minim...

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63rd IEEE Conference on Decision and control, CDC 2024

作者： Ali, Ahmed Gabellieri, Chiara Franchi, Antonio Faculty Robotics and Mechatronics Department Enschede7500 AE Netherlands Sapienza University of Rome Department of Computer Control and Management Engineering Rome00185 Italy

ISBN: (纸本)9798350316339

We propose a new multirotor aerial vehicle class of designs composed of a multi-body structure in which a main body is connected by passive joints to links equipped with propellers. We have investigated some instances of such class, some of which are shown to achieve omnidirectionality while having a minimum number of inputs equal to the main body Degrees of Freedom DoF's, only uni-directional positive thrust propellers, and no internal forces generated at steady state. After dynamics are derived following the Euler-Lagrange approach, an I/O dynamic feedback linearization strategy is then used to show the controllability of any desired pose with stable zero dynamics. We finally verify the developed controller with closed-loop simulations. © 2024 IEEE.

关键词： Feedback linearization

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