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Haptic object identification for advanced manipulation skills 9th

Haptic object identification for advanced manipulation skill...

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9th International Conference on Biomimetic and Biohybrid Systems, Living Machines 2020

作者： Gabler, Volker Maier, Korbinian Endo, Satoshi Wollherr, Dirk Automatic Control Engineering Munich Germany Information Oriented Control Department of Electrical and Computer Engineering Technical University of Munich Munich Germany

ISBN: (纸本)9783030643126

In order to identify the characteristics of unknown objects, humans-in contrast to robotic systems-are experts in exploiting their sensory and motoric abilities to refine visual information via haptic perception. While recent research has focused on either estimating the geometry or material properties, this work strives to combine these aspects by outlining a probabilistic framework that efficiently refines initial knowledge from visual sensors by generating a belief state over the object shape while simultaneously learn material parameters. Specifically, we present a grid-based and a shape-based exploration strategy, that both apply the concepts of Bayesian-Filter theory in order to decrease the uncertainty. Furthermore, the presented framework is able to learn about the geometry as well as to distinguish areas of different material types by applying unsupervised machine learning methods. The experimental results from a virtual exploration task highlight the potential of the presented methods towards enabling robots to autonomously explore unknown objects, yielding information about shape and structure of the underlying object and thus, opening doors to robotic applications where environmental knowledge is limited. © Springer Nature Switzerland AG 2020.

关键词： Autonomous agents

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Homotopic Optimization for Autonomous Vehicle Maneuvering

Homotopic Optimization for Autonomous Vehicle Maneuvering

引用

IEEE Symposium on Intelligent Vehicle

作者： Jian Zhou Arvind Balachandran Björn Olofsson Lars Nielsen Erik Frisk Department of Electrical Engineering Division of Vehicular Systems Linköping University Linköping Sweden Department of Automatic Control Lund University Lund Sweden

ISBN: (数字)9798350348811

ISBN: (纸本)9798350348828

Optimization of vehicle maneuvers using dynamic models in constrained spaces is challenging. Homotopic optimization, which has shown success for vehicle maneuvers with kinematic models, is studied in the case where the vehicle model is governed by dynamic equations considering road-tire interactions. This method involves a sequence of optimization problems that start with a large free space. By iteration, this space is progressively made smaller until the target problem is reached. The method uses a homotopy index to iterate the sequence of optimizations, and the method is verified by solving challenging maneuvering problems with different road surfaces and entry velocities using a double-track vehicle dynamics model. The main takeaway is that homotopic optimization is also efficient for dynamic vehicle models at the limit of road-tire friction, and it demonstrates capabilities in solving demanding maneuvering problems compared with alternative methods like stepwise initialization and driver model-based initialization.

关键词： Space vehicles Roads Friction Kinematics Mathematical models Indexes Vehicle dynamics

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Pushing and Rotating a Heavy Mass Rigid Body Using an Omnidirectional Aerial Manipulator 6

Pushing and Rotating a Heavy Mass Rigid Body Using an Omnidi...

引用

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

作者： Ullah, Hameed Soto, Santos Miguel Orozco Mazhar, Naveed Ahmad, Irfan Lippiello, Vincenzo Ruggiero, Fabio University of Naples Federico II Department of Electrical Engineering and Information Technology Naples Italy Science and Technology College Autonomous University of Mexico City Mexico City Mexico National University of Sciences and Technology Unmanned Vehicles Research Lab DEE CEME Islamabad Pakistan Engineering School of Bilbao University of the Basque Country Department of Automatic Control and Systems Bilbao Spain

ISBN: (纸本)9798350355703

This paper presents the pushing and rotation of a heavy rigid body using an omnidirectional actively tilted aerial manipulator, controlled via a hybrid force/position controller. Unlike conventional unmanned aerial vehicles, the proposed system enables precise horizontal force application, making it ideal for aerial physical interaction tasks. The hybrid controller is implemented in the Robot Operating System and validated through extensive simulations in a Gazebo physics-engine-based environment. The manipulator's performance was evaluated in two scenarios: circular trajectory tracking and the rotation of a heavy rigid mass. Results demonstrated its capability to follow complex trajectories with high accuracy and exert sustained forces for object manipulation. The system exhibited excellent stability and precision, underscoring its potential for real-world applications in challenging environments. © 2024 IEEE.

关键词： Omnidirectional antennas

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Implementation of smoothing filtering methods for the purpose of trajectory improvement of single and triple inverted pendulums 6th

Implementation of smoothing filtering methods for the purpos...

引用

6th International Conference on Advanced engineering Theory and Applications, AETA 2019

作者： Kawala-Sterniuk, Aleksandra Slanina, Zdenek Ozana, Stepan Faculty of Electrical Engineering Automatic Control and Informatics Opole University of Technology Opole Poland FEECS Department of Cybernetics and Biomedical Engineering VSB – Technical University Ostrava Ostrava Czech Republic

ISBN: (纸本)9783030530204

In this paper smoothing filters were applied in order to improve inverted pendulum’s movement trajectory. The filtering was implemented in order to remove some signals’ artifacts. The authors tested various classical filters such as Savitzky-Golay and median filters. The authors decided to test the data from two types of inverted pendulums – single and triple. © Springer Nature Switzerland AG 2021.

关键词： Inverted pendulum

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Client-server Mobile System for Diagnosis of Asynchronous Motors 4

Client-server Mobile System for Diagnosis of Asynchronous Mo...

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4th IEEE KhPI Week on Advanced Technology, KhPI Week 2023

作者： Chorna, Olha Kurliak, Petro Busher, Victor Chornyi, Oleksii Tytiuk, Valerii Zachepa, Iurii Institute of Education and Science in Electrical Engineering and Information Technologies Kremenchuk Mykhailo Ostrogradskyi National University Kremenchuk Ukraine Department of Electrical Power Engineering Electrical Engineering And Electromechanics Ivano-Frankivsk National Technical University of Oil and Gas Ivano-Frankivsk Ukraine Dept. of Electrical Engineering and Electronics National University "Odessa Maritime Academy" Odessa Ukraine Department of Electromechanics Kryvyi Rih National University Kryvyi Rih Ukraine Department of Systems of Automatic Control and Electric Drive Kremenchuk Mykhailo Ostrohradskyi National University Kremenchuk Ukraine

ISBN: (纸本)9798350395532

This paper presents client-server mobile system for diagnosis of asynchronous motors. The system is created as a mobile application for smartphones and tablets. The system provides processing of the measured values of the currents and voltages of the stator phases of the asynchronous motor. According to the processing results, the results of diagnostics and forecasting of the current state of asynchronous motors are calculated. The software runs on the Android OS. The main purpose is to predict the current state of AD, which has a parametric electromagnetic asymmetry of the stator phases. © 2023 IEEE.

关键词： Induction motors

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A Novel Cutting Fluids Performance Assurance System for CNC Machine Tools

A Novel Cutting Fluids Performance Assurance System for CNC ...

引用

International automatic control Conference

作者： You-Syuan Chou Yi-Shiang Chen Fu-Yu Chiang Chen-Yen Yang Zhe-Xun Shi Yu-Sheng Lin Shang-Chih Lin Shun-Feng Su Yennun Huang Institute of Automatic Control Engineering Feng Chia University Taichung Taiwan Department of Automatic Control Engineering Feng Chia University Taichung Taiwan Department of Electrical Engineering National Taiwan University of Science and Technology Taipei Taiwan Research Center for Information Technology Innovation Academia Sinica Taipei Taiwan

ISBN: (数字)9798350354904

ISBN: (纸本)9798350354911

In the CNC machine tool industry, cutting fluid is a crucial component of the machining process. Nevertheless, as the duration of cutting fluid use increases, its performance progressively deteriorates, presenting a significant challenge that necessitates resolution. This study introduces an innovative intelligent monitoring system designed to optimize the preparation of cutting fluid in CNC machine tools. The aim is to extend the fluid’s service life, mitigate tool wear, and address issues arising from fluid degradation. The system integrates a heating plate, sensors, pumping motors, and embedded systems to monitor and manage the cutting fluid effectively. Testing was conducted using a customdesigned container, and data analysis identified the optimal supply strategy, thereby extending the usable lifespan of the cutting fluid. This system enhances production longevity and allows for the configuration of containers with appropriate capacities based on specific requirements, ensuring consistent and high-quality production.

关键词： Temperature measurement Temperature sensors Temperature distribution Lubricants Production Containers Sensor systems Machine tools Monitoring Testing

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Robotic Assisted Immersive Therapy System for Stroke Rehabilitation

Robotic Assisted Immersive Therapy System for Stroke Rehabil...

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E-Health and Bioengineering Conference (EHB)

作者： Robert Gabriel Lupu Adrian Burlacu Ovidiu Catarama Ionut Sopot Department of Computer Engineering Gheorghe Asachi Technical University of Iasi Iasi Romania Department of Automatic Control and Applied Informatics Gheorghe Asachi Technical University of Iasi Iasi Romania

ISBN: (数字)9798331532147

ISBN: (纸本)9798331532154

The number of stroke cases has increased dramatically in the last 30 years, and more and more people are left disabled because of stroke. It is vital to continue researching new ways to recover and improve their condition. Rehabilitation therapies are based on intensive and repeated training starting as soon as possible. However, the number of therapists is too few to treat the growing number of stroke survivors. Advanced technologies such as virtual reality (VR) and robot-assisted therapies have been introduced to improve stroke rehabilitation. VR-based rehabilitation immerses patients in simulated environments, providing visual feedback miming real-world activities. This approach motivates patients through interactive tasks while engaging their cognitive processes, which is crucial for neuroplasticity and motor recovery. Robot-assisted therapy complements VR by providing precise, repetitive movements and proprioceptive feedback. This paper presents a virtual reality- based and robotic-assisted upper limb neuromotor recovery system. The system combines VR immersion with robotic assistance, allowing patients to receive real-time guidance and support during exercise. The system adapts to the patient's condition, providing personalized visual and physical feedback to help relearn motor skills.

关键词： Training Somatosensory Visualization Robot kinematics Medical treatment Propioception Virtual reality Stroke (medical condition) Motors Real-time systems

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Integration of ANN for Accurate Estimation and control in Wastewater Treatment 28

Integration of ANN for Accurate Estimation and Control in Wa...

引用

28th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2023

作者： Ţiru, Andreea Elena Vasiliev, Iulian Diaconu, Larisa Vilanova, Ramon Voipan, Daniel Ratnaweera, Harsha Dunǎrea de Jos University of Galaţi Department of Automatic Control and Electrical Engineering Galaţi Romania Autonomous University of Barcelona Department of Automation Systems and Advanced Control Research Barcelona Spain Dunǎrea de Jos University of Galaţi Department of Computer Science and Information Technology Galaţi Romania Ås Norway

ISBN: (纸本)9798350339918

The management of wastewater is a significant global concern that calls for innovative solutions to lessen its negative effects on the environment. Conventional techniques of treating wastewater need improvement in order to deal with newly discovered contaminants, which highlights the importance of providing precise estimates of process performance and resource requirements. The worsening water shortage situation requires a paradigm shift in which wastewater is viewed as a useful resource. It is possible to create an economy that is both sustainable and circular by treating and recycling wastewater, putting less pressure on freshwater supplies, and leaving as little of an environmental footprint as possible. This study investigates the use of Artificial Neural Networks (ANNs) as software estimators in the treatment of wastewater, with a particular emphasis on predicting ammonium concentrations in effluent. In order to deal with imbalanced time-series data, the research introduces innovative data pretreatment strategies. These techniques include a Sliding Window protocol, Data Normalization, and a K-Fold training scheme. This illustrates the potential of ANNs to revolutionize wastewater treatment procedures and drive developments in this field. The suggested method demonstrates higher performance when estimating pollutant concentrations, showing the ability of ANNs to do so. © 2023 IEEE.

关键词： Neural networks

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Computation of Discrete-Time Analytic Signals

Computation of Discrete-Time Analytic Signals

引用

XXII International Symposium on Information, Communication and Automation Technologies, ICAT

作者： Dženita Džafić Izudin Džafić Department for Automatic Control and Electronics Faculty of Electrical Engineering Sarajevo University of Sarajevo Sarajevo B&H

Complex signals play an important role in signal processing and communication systems. This paper focuses on two types of complex signals: complex baseband and analytic bandpass signals. Analytic signals contain only the positive frequency components of the original signal and can be efficiently computed using the FFT algorithm. Complex baseband signals represent modulated signals and can be generated using techniques such as quadrature modulation or discrete complex downconversion. Analytic bandpass signals have a non-zero centered bandwidth and can be generated using the FFT method or by directly generating a complex bandpass signal. In both cases, the signal can be manipulated using complex mixers and filters.

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Fractional Order vs Integer Order Transfer Function Models of a Pendulum

Fractional Order vs Integer Order Transfer Function Models o...

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International Conference on Automation, AUTOMATION 2021

作者： Oprzędkiewicz, Krzysztof Rosól, Maciej Żegleń-Wlodarczyk, Jakub Department of Automatic Control and Robotics Faculty of Electrotechnics Automatic Control Informatics and Biomedical Engineering AGH University of Science and Technology al. A Mickiewicza 30 Krakow30-059 Poland

ISBN: (纸本)9783030748920

The paper presents the comparison of fractional order to integer order transfer function models of physical pendulum. The considered transfer functions describe the behaviour of the system around the lower, stable equilibrium point. Fractional order models are built using ORA approximation. Models were verified using real experimental data. Results of tests show that the fractional order transfer function can correctly describe the physical pendulum. Integer order models are a little bit more accurate, but they require more parameters to identify. © 2021, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Linear systems

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