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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Barbara Bazzana Ralph Brantjes Chiara Gabellieri Antonio Franchi Robotics and Mechatronics Department Electrical Engineering Mathematics and Computer Science (EEMCS) Faculty University of Twente Enschede The Netherlands Department of Computer Control and Management Engineering Sapienza University of Rome Rome Italy

ISBN: (数字)9798350357882

ISBN: (纸本)9798350357899

In this paper, we propose a model for the thrust coefficient of propellers that can take into account cross-influence between adjacent propellers. The aerodynamic interaction between propellers in multirotor aerial vehicles reduces the thrust they can produce. The influence between propellers depends on their relative positioning and orientation, which are taken into account by the proposed model. It is validated on measurements collected by a force sensor mounted on a propeller for different configurations of the adjacent propellers in a support structure. In this work, we focus on configurations with small relative orientations. Results show that the proposed model outperforms the traditional constant model in terms of thrust prediction on the data we collected, and it performs better than other models with fewer parameters, being the only one with less than 10% maximum percentage error.

关键词： Training Adaptation models Torque Propellers Atmospheric modeling Force Velocity control

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High-precision Calibration of Camera and IMU on Manipulator for Bio-inspired Robotic System

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Journal of Bionic engineering 2022年第2期19卷 299-313页

作者： Yinlong Zhang Wei Liang Sichao Zhang Xudong Yuan Xiaofang Xia Jindong Tan Zhibo Pang State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Key Laboratory of Networked Control Systems Chinese Academy of SciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China The School of Computer Science and Technology Xidian UniversityXi’an 710071China Department of Mechanical Aerospace and Biomedical EngineeringUniversity of TennesseeKonxville 37996USA Department of Automation Technology ABB Corporate Research Sweden72178 VästerasSweden

Inspired by box jellyfish that has distributed and complementary perceptive system,we seek to equip manipulator with a camera and an Inertial Measurement Unit(IMU)to perceive ego motion and surrounding unstructured *** robot perception,a reliable and high-precision calibration between camera,IMU and manipulator is a critical *** paper introduces a novel calibration ***,we seek to correlate the spatial relationship between the sensing units and manipulator in a joint ***,the manipulator moving trajectory is elaborately designed in a spiral pattern that enables full excitations on yaw-pitch-roll rotations and x-y-z translations in a repeatable and consistent *** calibration has been evaluated on our collected visual inertial-manipulator *** systematic comparisons and analysis indicate the consistency,precision and effectiveness of our proposed calibration method.

关键词： Bio-inspired robotic system Monocular camera IMU Manipulator Calibration

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MAD-BA: 3D LiDAR Bundle Adjustment - from Uncertainty Modelling to Structure Optimization

arXiv

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arXiv 2025年

作者： Ćwian, Krzysztof Di Giammarino, Luca Ferrari, Simone Ciarfuglia, Thomas Grisetti, Giorgio Skrzypczyński, Piotr The Institute of Robotics and Machine Intelligence Poznan University of Technology Poznan Poland The Department of Computer Control and Management Engineering "Antonio Ruberti" Sapienza University of Rome Italy

The joint optimization of sensor poses and 3D structure is fundamental for state estimation in robotics and related fields. Current LiDAR systems often prioritize pose optimization, with structure refinement either omitted or treated separately using representations like signed distance functions or neural networks. This paper introduces a framework for simultaneous optimization of sensor poses and 3D map, represented as surfels. A generalized LiDAR uncertainty model is proposed to address degraded or less reliable measurements in varying scenarios. Experimental results on public datasets demonstrate improved performance over most comparable state-of-the-art methods. The system is provided as open-source software to support further research. © 2025, CC BY.

关键词： Structural optimization

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Target Defense with Multiple Defenders and an Agile Attacker via Residual Policy Learning

arXiv

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arXiv 2025年

作者： Tao, Jiyue Shen, Tongsheng Zhao, Dexin Zhang, Feitian Robotics and Control Laboratory Department of Advanced Manufacturing and Robotics College of Engineering and the State Key Laboratory of Turbulence and Complex Systems Peking University Beijing100871 China National Innovation Institute of Defense Technology Beijing100071 China

The target defense problem involves intercepting an attacker before it reaches a designated target region using one or more defenders. This letter focuses on a particularly challenging scenario in which the attacker is more agile than the defenders, significantly increasing the difficulty of effective interception. To address this challenge, we propose a novel residual policy framework that integrates deep reinforcement learning (DRL) with the force-based Boids model. In this framework, the Boids model serves as a baseline policy, while DRL learns a residual policy to refine and optimize the defenders’ actions. Simulation experiments demonstrate that the proposed method consistently outperforms traditional interception policies, whether learned via vanilla DRL or fine-tuned from force-based methods. Moreover, the learned policy exhibits strong scalability and adaptability, effectively handling scenarios with varying numbers of defenders and attackers with different agility levels. Copyright © 2025, The Authors. All rights reserved.

关键词： Adversarial machine learning

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controllable Mechanical-domain Energy Accumulators

Controllable Mechanical-domain Energy Accumulators

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IEEE International Conference on robotics and Automation (ICRA)

作者： Sung Y. Kim David J. Braun Department of Mechanical Engineering Advanced Robotics and Control Laboratory within the Center for Rehabilitation Engineering and Assistive Technology Vanderbilt University Nashville TN

Springs are efficient in storing and returning elastic potential energy but are unable to hold the energy they store in the absence of an external load. Lockable springs use clutches to hold elastic potential energy in the absence of an external load, but have not yet been widely adopted in applications, partly because clutches introduce design complexity, reduce energy efficiency, and typically do not afford high fidelity control over the energy stored by the spring. Here, we present the design of a novel lockable compression spring that uses a small capstan clutch to passively lock a mechanical spring. The capstan clutch can lock over 1000 N force at any arbitrary deflection, unlock the spring in less than 10 ms with a control force less than 1% of the maximal spring force, and provide an 80% energy storage and return efficiency (comparable to a highly efficient electric motor operated at constant nominal speed). By retaining the form factor of a regular spring while providing high-fidelity locking capability even under large spring forces, the proposed design could facilitate the development of energy-efficient spring-based actuators and robots.

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Gain Scheduling Position control for Fully-Actuated Morphing Multi-Rotor UAVs

Gain Scheduling Position Control for Fully-Actuated Morphing...

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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Youssef Aboudorra Aaron Saini Antonio Franchi Robotics and Mechatronics Faculty of Electrical Engineering Mathematics & Computer Science University of Twente Enschede The Netherlands Department of Computer Control and Management Engineering Sapienza University of Rome Rome Italy

ISBN: (数字)9798350357882

ISBN: (纸本)9798350357899

This work presents techniques for scheduling the position controller gains for a class of fully-actuated morphing multi-rotor UAVs that use synchronized tilting to change their actuation capabilities. The feasible set of forces and torques that can be produced by the platform changes with the tilting angle, thus the tracking and disturbance rejection capabilities also change. To exploit the platform limits, two methods are proposed for gain scheduling using a simplified example, then one method is tested in simulation with an omnidirectional morphing multi-rotor (OmniMorph). The simulation results show that the developed techniques achieve consistent position tracking performance along the range of tilting angles when rejecting step disturbance forces of values close to the maximum force capabilities. The proposed methods offer a trade-off between simplicity and accuracy, that could be potentially applied for any multi-rotor with synchronized tilting capabilities. A video summary can be found in: https://***/kH-rrO8gWeU

关键词： Accuracy Processor scheduling Attitude control Simulation Force Rotors Position control

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Understanding How a 3-dimensional ZMP Exactly Decouples the Horizontal and Vertical Dynamics of the CoM-ZMP Model

Understanding How a 3-dimensional ZMP Exactly Decouples the ...

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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Yuki Onishi Shuuji Kajita Department of Systems and Control Engineering School of Engineering Tokyo Institute of Technology Tokyo Japan Japan Society for the Promotion of Science Japan Department of Artificial Intelligence and Robotics College of Science and Engineering Chubu University Kasugai Japan

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

The CoM-ZMP model represents the dominant behaviour of bipedal locomotion with surface contact. However, once the centre of mass (CoM) position goes out of a predefined spatial plane, the horizontal dynamics of the model can couple with its vertical dynamics to be nonlinear. This study theoretically investigates the properties of the 3-dimensional zero moment point (ZMP), lying apart from the actual ground to resolve the coupling. The presented discussion includes the compatibility of the 3D ZMP with ZMPs used in preceding research, such as the linear inverted pendulum mode, the existence of a virtual repellent point considering the arbitrary vertical CoM motion, the parameter invariance of the CoM-ZMP model, and feasible regions of the ZMP.

关键词： Couplings Solid modeling Three-dimensional displays Dynamics Spatial resolution Intelligent robots

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Image classification using DETR based object-level feature

Image classification using DETR based object-level feature

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International Conference on control, Automation and Systems ( ICCAS)

作者： Chung-Gi Ban Dayoung Park Youngbae Hwang Department of Control and Robotics Engineering Chungbuk National University Cheongju Korea

The object in an image is the main information of image representation for image classification. In case that the background in the image is complex or an object size is small, the existing invariant feature, such as Scale Invariant Feature Transform (SIFT) or Speeded Up Robust Features (SURF) is not easy to use for object-level representation. Because SIFT can not distinguish whether the feature includes relevant object information, it may consist of background or less informative features. We use Detection Transformer (DETR), the state of the art object detector to represent the object-level information. By visualizing the attention map of Transformer decoder, we find that each output vector indicates the region of objects effectively. Bag of visual words (BoVW) is applied to represent N output vectors of DETR as the feature of a query image. Based on scene-level and object-level datasets, we compare our method with SIFT based BoVW as an image classification task. We show that the proposed method perform better for object-level dataset than BoVW of SIFT.

关键词： Visualization Histograms Transforms Detectors Image representation Feature extraction Transformers

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Application of Combined Finite-time State-Dependent Riccati Equation Terminal Sliding Mode control to Robotic Manipulators

Application of Combined Finite-time State-Dependent Riccati ...

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Conference on Artificial Intelligence and robotics and Asia-Pacific International Symposium

作者： Neda Nasiri Ahmad Fakharian Mohammad Bagher Menhaj Department. of Electrical Engineering Qazvin Branch Islamic Azad University Qazvin Iran Department of Electrical Engineering The Center of Excelence on Control and Robotics Amirkabir University of Technology (Tehran Polytechnic) Tehran Iran

This paper investigates application of the terminal sliding mode control (TSMC) in conjunction with state-dependent differential Riccati equation (SDDRE) for robotic manipulators in finite time. Due to nature of the terminal sliding mode control, considering finite time as an input control parameter is impossible. Hence, the convergence time could not be determined before completing the task. However, in this method, finite-time gain which is obtained through partitioning and making symmetric positive definite SDDRE control gain is inserted into the sliding surface. This leads to completing the control task in the desired predetermined time. To highlight superiority of the finite-time SDRE-terminal sliding mode control as a robust optimal scheme, we compared with TSMC as a robust control through applying both methods to 3-DoF articulated-joint manipulator. Simulation results are fully discussed.

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Robustness Evaluation of Pre-trained vs. Fine-Tuned Computer Vision Models for Score Detection in Dynamic Sports Environments 14th

Robustness Evaluation of Pre-trained vs. Fine-Tuned Computer...

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14th International Conference on Information Society and Technology, ICIST 2024

作者： Ivačko, Nikola Ćirić, Ivan Dimitrijević, Nikola Mitić, Dimitrije Milošević, Maša Kitić, Ana Krstić, Dušan Department of Mechatronics and Control Faculty of Mechanical Engineering University of Niš Aleksandra Medvedeva 14 Niš18000 Serbia Faculty of Information Technologies Belgrade Metropolitan University Belgrade Serbia Faculty of Electrical Engineering University of Niš Aleksandra Medvedeva 14 Niš18000 Serbia NAIS ROBOTICS D.O.O Aleksandra Medvedeva bb Niš Serbia

ISBN: (纸本)9783031714184

This paper explores the efficacy of two distinct approaches in computer vision, particularly in intelligent sports training systems. Our focus is on the development and comparison of two methodologies for image recognition in a basketball score detection system, named "Koško." The first approach uses a pre-trained model with two combined datasets in the training phase. This method leverages diverse data to enhance the model’s ability to generalize and accurately recognize scores in basketball games. In contrast, the second approach fine-tunes a model initially trained on one dataset with a subsequent second dataset. Rooted in recent transfer learning studies, this method shows that selectively fine-tuning a subset of layers or customizing learning rates can significantly improve robustness to out-of-distribution (OOD) data. By enforcing weight projections, this approach aims to maintain the generalization capabilities of the pre-trained models while adapting to the new dataset. Our research balances precise score detection and pragmatic system development, contributing to intelligent sports training systems. This work highlights the feasibility of combining machine learning and vision-based methodologies to advance sports training systems. Research on basketball score detection using the YOLOv8n model shows the pre-trained model achieved 93.75% accuracy and a 3% false positive rate, outperforming the fine-tuned model’s 88.71% accuracy and 5% false positive rate. By evaluating both networks, this study aims to provide clear strategies for implementing computer vision systems in sports, particularly in the dynamic environment of basketball. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2024.

关键词： Basketball

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