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IEEE Workshop on Advanced robotics and its Social Impacts, ARSO

作者： Andrea Lucaroni Andrea Bottino Fabrizio Lamberti Giulia Mariani Andrea Marinelli Nicolò Boccardo Emanuele Gruppioni Lorenzo De Michieli Matteo Laffranchi Giacinto Barresi Rehab Technologies Lab Istituto Italiano di Tecnologia Genoa Italy Department of Informatics Bioengineering Robotics and Systems Engineering Università degli Studi di Genova Genoa Italy Department of Control and Computer Engineering Politecnico di Torino Turin Italy Open University Affiliated Research Centre at Istituto Italiano di Tecnologia (ARC@IIT) Genoa Italy Centro Protesi INAIL Istituto Nazionale per l’Assicurazione contro gli Infortuni sul Lavoro Bologna Italy

ISBN: (数字)9798350344639

ISBN: (纸本)9798350344646

The embodiment (the sensation that an external object is part of one’s body scheme) is one of the processes targeted by the research in bionic prosthetics as a potential strategy to increase the acceptance of artificial limbs. This study investigates how one of the components of the embodiment, the body ownership (the sensation of possessing the external object), may be affected by a secondary task (possibly competing for cognitive resources requested for the embodiment itself) in a virtual exergame for prosthetic training. In this preliminary study participants, without impairments, are asked to perform activities of pick-and-place in two conditions by using a digital model of the Hannes bionic hand: (i) one is cognitively challenging, requiring to memorize the sequence of objects to move before it disappears; (ii) the other is non-challenging for the subject’s memory, with a constantly visible sequence. In both conditions, each subject is asked to catch objects according to the presented sequence. According to questionnaire data, we noticed how this procedure is feasible. Interestingly, the proprioceptive drift (the person is asked to indicate where they perceive their own real limb without looking at it) in a subsequent Rubber Hand Illusion session with the real bionic hand seems highlighting that the working memory-engaging secondary task can impair the embodiment process in terms of body ownership of the robotic hand. Probably, the memory task actually requires a type of cognitive resources that are necessary for the body ownership process itself during the multisensory stimulation. This allows for envisioning further investigations and novel design concepts for prosthetic training paradigms.

关键词： Training Solid modeling Visualization Biological system modeling Memory management Propioception Virtual environments

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Improved Dead Reckoning Localization using IMU Sensor

Improved Dead Reckoning Localization using IMU Sensor

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International Symposium on Electronics and Telecommunications (ISETC)

作者： Ibrahim Toy Akif Durdu Abdullah Yusefi Research and Development MPG Machinery Production Group Inc. Co. Konya Turkey Department of Electrical and Electronics Engineering Robotics Automation Control Laboratory (RAC-LAB) Konya Technical University Konya Turkey

ISBN: (纸本)9781665451512

In the upcoming years, autonomous vehicle technology will advance quickly and spread widely. The most crucial component of such systems is vehicle localization or position estimation. The global navigation satellite system (GNSS) is the one of the most advanced positioning system currently in use. But the GNSS signals could be interrupted or degraded due to interference. Additionally, while GNSS delivers precise information for outdoor systems but is unable to provide a solution for indoor. An indoors-and-outdoors-usable device called an inertial measurement unit (IMU) sensor is employed in this paper to suggest a location estimate technique. The study's proposed IMU dead reckoning method makes use of novel techniques to filter noise data and accurately determine the position of the vehicle. The GNSS-based vehicle localization system can be improved by using this technique in GNSS-denied scenarios. In this paper, the IMU sensor's accelerometer, magnetometer, and gyroscope data are utilized to calculate the vehicle's velocity, orientation, and position. The experimental results on a real autonomous vehicle demonstrate that the system is effective, with average errors in rotation and translation of 1.03 degrees and 1.04 meters, respectively.

关键词： Location awareness Meters Accelerometers Global navigation satellite system Dead reckoning Measurement units Magnetic separation

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A Dynamic Programming Framework for Optimal Planning of Redundant Robots Along Prescribed Paths With Kineto-Dynamic Constraints

arXiv

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arXiv 2022年

作者： Ferrentino, Enrico Savino, Heitor J. Franchi, Antonio Chiacchio, Pasquale University of Salerno SA Fisciano84084 Italy Ambev Robotics Lab Anheuser-Busch InBev SP Jacareí12334-480 Brazil The Robotics and Mechatronics Laboratory Faculty of Electrical Engineering Mathematics & Computer Science University of Twente Enschede7522NH Netherlands The Department of Computer Control and Management Engineering Sapienza University of Rome Rome00185 Italy

Offline optimal planning of trajectories for redundant robots along prescribed task space paths is usually broken down into two consecutive processes: first, the task space path is inverted to obtain a joint space path, then, the latter is parametrized with a time law. If the two processes are separated, they cannot optimize the same objective function, ultimately providing sub-optimal results. In this paper, a unified approach is presented where dynamic programming is the underlying optimization technique. Its flexibility allows accommodating arbitrary constraints and objective functions, thus providing a generic framework for optimal planning of real systems. To demonstrate its applicability to a real world scenario, the framework is instantiated for time-optimality on Franka Emika's Panda robot. The well-known issues associated with the execution of non-smooth trajectories on a real controller are partially addressed at planning level, through the enforcement of constraints, and partially through post-processing of the optimal solution. The experiments show that the proposed framework is able to effectively exploit kinematic redundancy to optimize the performance index defined at planning level and generate feasible trajectories that can be executed on real hardware with satisfactory results. Note to Practitioners-The common planning algorithms which consolidated over the years for generating trajectories for non-redundant robots are not adequate to fully exploit the more advanced capabilities offered by redundant robots. This is especially true in performance-demanding tasks, as for robots employed on assembly lines in manufacturing industries, repeatedly performing the same activity. Once the assembly line engineer has defined the tool path in the task space, our planning algorithm unifies inverse kinematics and time parametrization so as to bring the manipulator at its physical limits to achieve specific efficiency goals, being execution time the most typical

关键词： Robot programming

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LiDAR Extrinsic Calibration Without Accessing 3D Point Cloud Data: A New Approach for LiDAR-Vehicle Alignment Inspection

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IEEE Sensors Journal 2025年第12期25卷 22793-22803页

作者： Song, Hyeong-Seok Park, Jae-Eun Ahn, Chang-Min Kim, Young-Keun Korea Institute of Robotics and Technology Convergence Korea Republic of Handong Global University Department of Mechanical and Control Engineering Pohang Korea Republic of Handong Global University School of Mechanical and Control Engineering Korea Republic of

LiDAR-vehicle external calibration involves estimating the relative pose of the LiDAR body from the ego-vehicle coordinate frame, which is required after the LiDAR is assembled on the vehicle. Current methods necessitate direct wiring to the LiDAR controller unit to access 3D point cloud data. However, situations can limit a third party’s access to the LiDAR control unit for security and other practical reasons. Can the LiDAR-vehicle pose be estimated under such circumstances? Therefore, this study addresses this issue by proposing a new approach to the LiDAR extrinsic calibration method that does not require accessing 3D point cloud data. The proposed solution uses a designed camera-target board system to capture images of LiDAR beams projected on a cylindrical target. By utilizing geometrical modeling equations, it can estimate the relative 6D pose of the LiDAR body on the reference frame. Experiments demonstrated accuracy within 0.05 degrees and 0.7 mm. This one-shot LiDAR-vehicle alignment inspection system when accessing 3D point cloud data is restricted for various practical applications. © 2001-2012 IEEE.

关键词： Cylindrical target LiDAR alignment LiDAR external calibration LiDAR pose estimation NIR laser one-shot calibration point cloud data

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Bi-Directional Human-Robot Handover Using a Novel Supernumerary Robotic System

Bi-Directional Human-Robot Handover Using a Novel Supernumer...

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IEEE Workshop on Advanced robotics and its Social Impacts, ARSO

作者： Yuwei Du Xin Zhang Mattia Leonori Pietro Balatti Jing Jin Qiang Wang Arash Ajoudani Department of Control Science and Engineering School of Astronautics Harbin Institute of Technology Heilongjiang China Human-Robot Interfaces and Interaction (HRI2) Lab Istituto Italiano di Tecnologia Genova Italy State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China

Cooperative human-robot systems are the key technology to improve efficiency in agile production. In this work, a novel on-shoulder supernumerary robotic limb (SRL) is developed for human-robot collaboration. The SRL system is mainly composed of a 6-degree-of-freedom (DoF) lightweight robotic arm and a wearable and adjustable base, which allows different users to regulate the arm installation position to fit their physical dimensions and expand their workspace. As the SRL is close to the human head, nullspace-based collision avoidance is designed to achieve safe motion planning. Meanwhile, a Kalman filter is designed to actively predict human hand position and yield anticipatory motion control of our SRL in handover tasks. Furthermore, we conduct a bi-directional handover case study to verify the capability of the SRL system and the effectiveness of the proposed collaborative handover. The result shows that our control method can guarantee intuitive and natural handover behavior.

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Study on spiral winding swimming motion control of a slender legless creature model

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High Technology Letters 2021年第4期27卷 415-421页

作者： Lu Zhenli Ma Zhipeng Marko Pencic Maja Cavic Borovac Branislav Roumiana Ilieva Bojan Nemec Marjan Mernik School of Electrical Engineering and Automation Changshu Institute of TechnologyChangshu 215500P.R.China School of Information and Control Engineering China University of Mining and TechnologyXuzhou 221116P.R.China Faculty of Technical Sciences University of Novi SadNovi Sad 621000Serbia Faculty of Management Technical University of SofiaSofia 1000Bulgaria Department of Automatics Biocybernetics and RoboticsJožef Stefan InstituteLjubljana 1000Slovenia Faculty of Electrical Engineering and Computer Science University of MariborMaribor 462000Slovenia

Through the observation and analysis of the motion trajectory of spiral winding motion for slender legless biological creatures in water,V-REP software is adopted to build a dynamic simulator to study on the mechanism of spiral winding swimming(SWS)*** using the output of spiral function(SF),the dynamic simulation model of slender legless creature(SLC)realizes the SWS motion in *** corresponding experiments under the control of different bending angle of SF to control the dynamic model are also carried out to analyze the water performance of SWS in still *** with the output of two different bending angles of the spiral function,the dynamic model can be used to realize SWS and up/down *** work provides technical reserve and experimental platform for the corresponding study in related fields.

关键词： V-REP spiral winding swimming(SWS) motion control slender legless creature(SLC)

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Augmented System Observer-based Robust Fault-estimation Scheme for Nonlinear Systems

Augmented System Observer-based Robust Fault-estimation Sche...

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第40届中国控制会议

作者： Sheng Gao Guangfu Ma Yanning Guo Wei Zhang Department of Control Science and Engineering Harbin Institute of Technology State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences

For the problem of previous fault-estimation studies that the so-called observer-matching condition should be satisfied,as well as the difficulty to estimate actuator and sensor faults simultaneously,an augmented system fault-estimation observer is proposed for a sort of nonlinear systems subject to process and sensor *** essential idea is to construct an augmented system using a filter and to further create an augmented state vector by considering the system states and simultaneous actuator and sensor *** nonlinearity,process,and sensor disturbances and multiple-fault problem of the actuator and sensor are all taken into ***,an augmented observer is designed for the augmented system by attenuating the disturbances and simultaneously estimating the system states and actuator and sensor *** asymptotic stability is confirmed via the Lyapunov stability theory,and the linear matrix inequality optimization technique is further utilized to solve the designed *** simulations of a single-link flexible-joint robot are performed to illustrate the effectiveness of the proposed robust fault-estimation scheme.

关键词： Augmented observer Fault diagnosis Fault estimation Nonlinear system Linear matrix inequality(LMI)

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Unsupervised Learning of 3D Scene Flow from Monocular Camera

arXiv

引用

arXiv 2022年

作者： Wang, Guangming Tian, Xiaoyu Ding, Ruiqi Wang, Hesheng Department of Automation Institute of Medical Robotics Key Laboratory of System Control and Information Processing of Ministry of Education Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Shanghai 200240 China

Scene flow represents the motion of points in the 3D space, which is the counterpart of the optical flow that represents the motion of pixels in the 2D image. However, it is difficult to obtain the ground truth of scene flow in the real scenes, and recent studies are based on synthetic data for training. Therefore, how to train a scene flow network with unsupervised methods based on real-world data shows crucial significance. A novel unsupervised learning method for scene flow is proposed in this paper, which utilizes the images of two consecutive frames taken by monocular camera without the ground truth of scene flow for training. Our method realizes the goal that training scene flow network with real-world data, which bridges the gap between training data and test data and broadens the scope of available data for training. Unsupervised learning of scene flow in this paper mainly consists of two parts: (i) depth estimation and camera pose estimation, and (ii) scene flow estimation based on four different loss functions. Depth estimation and camera pose estimation obtain the depth maps and camera pose between two consecutive frames, which provide further information for the next scene flow estimation. After that, we used depth consistency loss, dynamic-static consistency loss, Chamfer loss, and Laplacian regularization loss to carry out unsupervised training of the scene flow network. To our knowledge, this is the first paper that realizes the unsupervised learning of 3D scene flow from monocular camera. The experiment results on KITTI show that our method for unsupervised learning of scene flow meets great performance compared to traditional methods Iterative Closest Point (ICP) and Fast Global Registration (FGR). The source code is available at: https://***/IRMVLab/3DUnMonoFlow. Copyright © 2022, The Authors. All rights reserved.

关键词： Unsupervised learning

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Fabrication of translucent graded dental crown using zirconia-yttrium multi-slurry tape casting 3D printer

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Journal of the Mechanical Behavior of Biomedical Materials 2024年 152卷 106406页

作者： Romario, Yulius Shan Bhat, Chinmai Ramezani, Maziar Pasang, Tim Chen, Zhangwei Jiang, Cho-Pei Graduate Institute of Manufacturing Technology National Taipei University of Technology 1 Sec. 3 Zhongxiao E. Rd. Taipei10608 Taiwan High-value Biomaterials Research and Commercialization Center National Taipei University of Technology 1 Sec. 3 Zhongxiao E. Rd. Taipei10608 Taiwan Department of Mechanical Engineering Auckland University of Technology Auckland1010 New Zealand Department of Engineering Design Manufacturing and Management Systems Western Michigan University KalamazooMI4900-5200 United States Additive Manufacturing Institute Shenzhen University Shenzhen518060 China Guangdong Key Laboratory of Electromagnetic Control and Intelligent Robotics College of Mechatronics and Control Engineering Shenzhen University Shenzhen518060 China Department of Mechanical Engineering National Taipei University of Technology 1 Sec. 3 Zhongxiao E. Rd. Taipei10608 Taiwan

This paper aims to fabricate functionally graded dental crown using a multi-slurry tape casting additive manufacturing technology. The different luminescence of the dental crown was obtained with different composition of zirconia and yttria. Zirconia with tunable mechanical properties and translucency are obtained by adding 3, 3.5, 4, 4.5, and 5 mol% of yttrium oxide to zirconia powder. After obtaining the printable slurry with maximum solid loading, the green bodies are prepared using the in-house built high-speed multi-ceramic tape casting technology. They are later sintered with two-stage sintering method. After the successful fabrication, the mechanical properties and translucency of the specimens were evaluated with Vickers hardness, three-point bending and translucency parameter tests. Finally, an FGM tooth crown with five photocurable slurries is proposed to demonstrate the translucent gradient effect of sintered part. The solid loading of 80% zirconia and 20% resin delivered samples without any surface cracks. The shrinkage ratio analysis showed that the sintered sample dimension was reduced by 20%, 20%, and 23% along X, Y, and Z directions. The samples fabricated with 3% yttrium oxide to zirconia delivered excellent hardness (1687 HV) and flexural strength (650.6 MPa). However, the relative luminescence increased with increasing the yttrium oxide for 3–5 mol%. With the optimized process parameters, the proposed dental crown is fabricated and analyzed for their shrinkage ratio, mechanical, and translucency properties. The study proposes the potential of fabricating customized dental crown with gradient translucent appearance. © 2024

关键词： Zirconia

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Comparison of Synchronous Reluctance Machine and Permanent Magnet-Assisted Synchronous Reluctance Machine Performance Characteristics 27

Comparison of Synchronous Reluctance Machine and Permanent M...

引用

27th International Workshop on Electric Drives: MPEI department of Electric Drives 90th Anniversary, IWED 2020

作者： Heidari, Hamidreza Andriushchenko, Ekaterina Rassolkin, Anton Kallaste, Ants Vaimann, Toomas Demidova, Galina L. Tallinn University of Technology Department of Electrical Power Engineering and Mechatronics Tallinn Estonia ITMO University Faculty of Control Systems and Robotics St. Petersburg Russia

ISBN: (纸本)9781728141589

Since the dominant induction machines and permanent magnet synchronous machines are well-established in the industry, the reluctance machines require more research work and investigation to substitute the conventional technologies. This paper analyzes the synchronous reluctance machines and permanent magnet-Assisted synchronous reluctance machines in terms of the effect of permanent magnets in the model and the performance characteristic of the machines. The machines are designed and the parameters are measured. The vector diagrams of the machines and the equivalent circuits of the machines are analyzed. A comparison of the machines in terms of power factor, efficiency, and torque of the machines is provided based on the measurements. The study presents a notable improvement in power factor and efficiency in the case of inserting permanent magnets in the synchronous reluctance machine's rotor. © 2020 IEEE.

关键词： Permanent magnets

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