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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Zhang, Yameng Bai, Long Liu, Li Ren, Hongliang Meng, Max Q.-H. The Department of Electronic Engineering The Chinese University of Hong Kong Hong Kong Hong Kong The Shun Hing Institute of Advanced Engineering The Chinese University of Hong Kong Hong Kong Hong Kong The Department of Biomedical Engineering National University of Singapore Singapore Singapore Research Institute Suzhou215000 China The Shenzhen Key Laboratory of Robotics Perception and Intelligence China The Department of Electronic and Electrical Engineering Southern University of Science and Technology Shenzhen518055 China The Shenzhen Research Institute The Chinese University of Hong Kong at Shenzhen Shenzhen518057 China

ISBN: (纸本)9781665481090

Due to its non-invasive and painless characteristics, wireless capsule endoscopy has become the new gold standard for assessing gastrointestinal disorders. Omissions, however, could occur throughout the examination since controlling capsule endoscope can be challenging. In this work, we control the magnetic capsule endoscope for the coverage scanning task in the stomach based on reinforcement learning so that the capsule can comprehensively scan every corner of the stomach. We apply a well-made virtual platform named VR-Caps to simulate the process of stomach coverage scanning with a capsule endoscope model. We utilize and compare two deep reinforcement learning algorithms, the Proximal Policy Optimization (PPO) and Soft Actor-Critic (SAC) algorithms, to train the permanent magnetic agent, which actuates the capsule endoscope directly via magnetic fields and then optimizes the scanning efficiency of stomach coverage. We analyze the pros and cons of the two algorithms with different hyperparameters and achieve a coverage rate of 98.04% of the stomach area within 150.37 seconds. © 2022 IEEE.

关键词： Reinforcement learning

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Analysis of harmonic transfer characteristics of a three-winding transformer containing ∆ winding

Analysis of harmonic transfer characteristics of a three-win...

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Smart Grid and Energy engineering (SGEE), International Conference on

作者： Yiming Ji Fangjie Wu Fei Li Zhihua Lu DC Technology Consulting Department State Grid Economic & Technological Research Institute Beijing China School of Electrical Engineering and Automation Hefei University of Technology Hefei China

Multi-spectrum grid harmonic voltages are usually transmitted to the low-volatge bus connected to the delta winding through the three-winding transformer, and their prolonged action on the high-voltage shunt capacitor will affect its life and performance, but at present, there are few studies on the harmonic voltage transmission characteristics of the three-winding transformer containing delta windings. Therefore, this paper firstly establishes a single-phase harmonic equivalent model of a three-phase three-winding transformer containing delta winding and transformer parasitic capacitance based on the port equivalence principle, and derives the harmonic voltage transfer function between the high and low voltage side of a three-winding transformer based on the proposed equivalent model. The correctness of the harmonic voltage transfer characteristics is verified by comparing the data of the simulation model with the theoretical results.

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Towards Embedding Dynamic Personas in Interactive Robots: Masquerading Animated Social Kinematic (MASK)

arXiv

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arXiv 2024年

作者： Park, Jeongeun Jeong, Taemoon Kim, Hyeonseong Byun, Taehyun Shin, Seungyoun Choi, Keunjun Kwon, Jaewoon Lee, Taeyoon Pan, Matthew Choi, Sungjoon Department of Artificial Intelligence Korea University Seoul Korea Republic of Rainbow Robotics Daejeon Korea Republic of NAVER LABS Seongnam Korea Republic of Ingenuity Labs Research Institute Department of Electrical and Computer Engineering Queens University Kingston Canada

This paper presents the design and development of an innovative interactive robotic system to enhance audience engagement using character-like personas. Built upon the foundations of persona-driven dialog agents, this work extends the agent’s application to the physical realm, employing robots to provide a more captivating and interactive experience. The proposed system, named the Masquerading Animated Social Kinematic (MASK), leverages an anthropomorphic robot which interacts with guests using non-verbal interactions, including facial expressions and gestures. A behavior generation system based upon a finite-state machine structure effectively conditions robotic behavior to convey distinct personas. The MASK framework integrates a perception engine, a behavior selection engine, and a comprehensive action library to enable real-time, dynamic interactions with minimal human intervention in behavior design. Throughout the user subject studies, we examined whether the users could recognize the intended character in both personality- and film-character-based persona conditions. We conclude by discussing the role of personas in interactive agents and the factors to consider for creating an engaging user experience. © 2024, CC BY.

关键词： Anthropomorphic robots

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Mutual Impacts of Different Dead-times and Control Sample Times on SiC Inverter Loss in Experimental Motor Drive at High Carrier Frequencies

Mutual Impacts of Different Dead-times and Control Sample Ti...

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International Conference on Communications and Electronics, ICCE

作者： Nguyen Gia Minh Thao Van-Long Pham Kutsukake Asuka Keisuke Fujisaki Ton Duc Do Department of Mechanical Electrical and Electronic Engineering Interdisciplinary Faculty of Science and Engineering Shimane University Matsue Japan Department of Automation School of Electrical and Electronic Engineering Hanoi University of Science and Technology Hanoi Vietnam Next Generation Tatara Co-Creation Centre Shimane University Matsue Japan Electromagnetic Energy System Laboratory Toyota Technological Institute Nagoya Japan Department of Robotics and Mechatronics School of Engineering and Digital Sciences Nazarbayev University Astana Kazakhstan

ISBN: (数字)9798350379792

ISBN: (纸本)9798350379808

At high pulse-width modulation (PWM) carrier frequencies up to 200 kHz using silicon carbide (SiC) devices, the individual and mutual impacts of the sample time and dead-time on the SiC inverter loss in a motor drive system may become significantly. Thus, these issues under load condition are experimentally investigated and analyzed in the present study, where the dead-time is from 250 to 1000 ns and the control sample time is from 100 to 1000 μs. Furthermore, the measured results with the SiC metal–oxide-semiconductor field-effect transistor (MOSFET) inverter are briefly compared to that with the silicon (Si) insulated-gate bipolar transistor (IGBT) inverter for reference. Moreover, the total harmonics distortion (THD) of the measured voltage and current of the considered interior permanent magnet synchronous motor (IPMSM) is provided to explain the results. Finally, insights with theoretical analysis are shown as complementary explanations of the experimental findings. The outcome of this research can be treated as a reference in choosing the suitable value of the control sample time for IPMSM drive systems using SiC-MOSFET inverters.

关键词： Semiconductor device measurement Time-frequency analysis Motor drives Voltage measurement Magnetic field measurement Silicon carbide Current measurement

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The Magni Human Motion Dataset: Accurate, Complex, Multi-Modal, Natural, Semantically-Rich and Contextualized

arXiv

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arXiv 2022年

作者： Schreiter, Tim de Almeida, Tiago Rodrigues Zhu, Yufei Maestro, Eduardo Gutierrez Morillo-Mendez, Lucas Rudenko, Andrey Kucner, Tomasz P. Mozos, Oscar Martinez Magnusson, Martin Palmieri, Luigi Arras, Kai O. Lilienthal, Achim J. Örebro University Sweden Robert Bosch GmbH Corporate Research Stuttgart Germany Mobile Robotics Group Department of Electrical Engineering and Automation Aalto University Finland

Rapid development of social robots stimulates active research in human motion modeling, interpretation and prediction, proactive collision avoidance, human-robot interaction and co-habitation in shared spaces. Modern approaches to this end require high quality datasets of human motion trajectories for training and evaluation. However, the majority of available datasets suffers from either inaccurate tracking data or unnatural, scripted behavior of the tracked people. This paper attempts to fill this gap by providing high quality tracking information from motion capture, eye-gaze trackers and onboard robot sensors in a semantically-rich environment. To induce natural behavior of the recorded participants, we utilise loosely scripted task assignment, which induces the participants to navigate through the dynamic laboratory environment in a natural and purposeful way towards the randomly assigned targets. The motion dataset, presented in this paper, sets a high quality standard, as the realistic and accurate data is enhanced with semantic information, enabling development of new algorithms which rely not only on the tracking information but also on contextual cues of the moving agents, static and dynamic environment. Copyright © 2022, The Authors. All rights reserved.

关键词： Human robot interaction

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FogROS2-FT: Fault Tolerant Cloud robotics

arXiv

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arXiv 2024年

作者： Chen, Kaiyuan Hari, Kush Chung, Trinity Wang, Michael Tian, Nan Juette, Christian Ichnowski, Jeffrey Ren, Liu Kubiatowicz, John Stoica, Ion Goldberg, Ken Department of Electrical Engineering and Computer Science United States Robert Bosch Research and Technology Center North America SunnyvaleCA United States Robotics Institute Carnegie Mellon University United States Department of Industrial Engineering and Operations Research United States University of California BerkeleyCA United States

— Cloud robotics enables robots to offload complex computational tasks to cloud servers for performance and ease of management. However, cloud compute can be costly, cloud services can suffer occasional downtime, and connectivity between the robot and cloud can be prone to variations in network Quality-of-Service (QoS). We present FogROS2-FT (Fault Tolerant) to mitigate these issues by introducing a multi-cloud extension that automatically replicates independent stateless robotic services, routes requests to these replicas, and directs the first response back. With replication, robots can still benefit from cloud computations even when a cloud service provider is down or there is low QoS. Additionally, many cloud computing providers offer low-cost "spot" computing instances that may shutdown unpredictably. Normally, these low-cost instances would be inappropriate for cloud robotics, but the fault tolerance nature of FogROS2-FT allows them to be used reliably. We demonstrate FogROS2-FT fault tolerance capabilities in 3 cloud-robotics scenarios in simulation (visual object detection, semantic segmentation, motion planning) and 1 physical robot experiment (scan-pick-and-place). Running on the same hardware specification, FogROS2-FT achieves motion planning with up to 2.2x cost reduction and up to a 5.53x reduction on 99 Percentile (P99) long-tail latency. FogROS2-FT reduces the P99 long-tail latency of object detection and semantic segmentation by 2.0x and 2.1x, respectively, under network slowdown and resource contention. Videos and code are available at https://***/view/fogros2-ft. © 2024, CC BY.

关键词： Quality of service

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Modeling of Fatigue Mechanism and Reliability Analysis of Nose Landing Gear under Impact Loading

Modeling of Fatigue Mechanism and Reliability Analysis of No...

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International Conference on Fluid Power and Mechatronics (FPM)

作者： Yuemei Dong Chen Chen Jian Shi School of Automation Science and Electrical Engineering Beihang University Beijing China Department of Mechatronics Systems Shen yang Aircraft Design and Research Institute AVIC Shenyang China

ISBN: (数字)9798350304947

ISBN: (纸本)9798350304954

When the aircraft lands, the nose landing gear is subjected to impact loading, which can cause fatigue damage and affect its reliability. In this paper, finite element method and fatigue life prediction techniques are used to analyze the fatigue mechanism and reliability of the nose landing gear. Firstly, the dynamic and kinematic models of the key components of the retractable mechanism of the nose landing gear were established. Finite element analysis was carried out using ANSYS to obtain the stress-strain distribution of the mechanism through numerical simulation. Subsequently, on the basis of the stress-strength interference model, the probabilistic method was adopted to establish an accumulated damage-antifatigue damage strength-time dynamic interference model for multiple cyclic stresses. Finally, through analysis of multi-level variable load experimental test data, the fatigue life and reliability assessment of the nose landing gear were obtained. The results indicate that the fatigue life and reliability of the landing gear are severely affected by variable load impact, and this research has practical significance for improving the reliability of aircraft and accident prevention.

关键词： Gears Atmospheric modeling Nose Interference Fatigue Finite element analysis Reliability

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A Stochastic Optimal Planning Methodology for User-Side Energy System with Multiple Energy Forms

A Stochastic Optimal Planning Methodology for User-Side Ener...

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IEEE/IAS Industrial and Commercial Power System Asia (I&CPS Asia)

作者： Jia Liu Mojiang Yu Zao Tang Yi Tang Pingliang Zeng Liyang Research Institute of Southeast University Liyang China School of Electrical Engineering Southeast University Nanjing China Department of Automation Hangzhou Dianzi University Hangzhou China

Developing a user-side integrated energy system holds significant importance in advancing China's energy revolution. However, the complexity of such systems, consisting of numerous interconnected forms of energy, presents a daunting challenge for optimal planning. This manuscript proposes a stochastic mixed integer linear programming model to tackle this challenge and plan user-side integrated energy systems effectively. The model's objective function aims to minimize investment costs in the system's surge phase. Separate operating constraint models are established for the electrical, heat, cooling, and gas equipment involved. Commercial solving software is employed to obtain optimized solutions based on typical scenarios. The proposed model offers the best planning scenario, including equipment type and capacity, and operational strategies. The model is then applied to the planning of user-side integrated energy systems, verifying the effectiveness of the model and its solution methodology.

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Simulation Model for Loss Measurement of electrical Steel and Study on the Influence of Harmonics

Simulation Model for Loss Measurement of Electrical Steel an...

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IEEE Student Conference on Electric Machines and Systems

作者： Shoulun Guo Bo Gao Zhanxi Lin Xiangrui Yin Tianxu Zhao Yuan Cheng Motor and Electric Drive Development Department FAW Research and Development Institute Changchun China School of Electrical Engineering and Automation Harbin Institute of Technology Harbin China Advanced Special Motor Research Center Chongqing Research Institute of HIT Chongqing China

In order to calculate the motor core loss accurately, it is usually necessary to test the loss characteristics of the electrical steel (silicon steel), including the specific loss under different frequencies and different flux densities, that is, the loss per unit volume or unit weight. Some samples of specific shapes need to be made before testing, and the testing is time-consuming. The finite element simulation can be used to replace the testing work to a certain extent, thus reducing the material cost and labor cost. In this paper, a simulation model for annular silicon steel sheet is constructed, and its accuracy is verified by comparing with the tested results. On this basis, the influence of flux density harmonics on core loss can be studied.

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Multi-Tree Guided Efficient Robot Motion Planning

Multi-Tree Guided Efficient Robot Motion Planning

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2022 International Symposium on Biomimetic Intelligence and robotics, ISBIR 2022

作者： Sun, Zhirui Wang, Jiankun Meng, Max Q.-H. Shenzhen Key Laboratory of Robotics Perception and Intelligence Shenzhen China Department of Electronic and Electrical Engineering Southern University of Science and Technology Shenzhen China Jiaxing Research Institute Southern University of Science and Technology Jiaxing China Department of Electronic Engineering The Chinese University of Hong Kong Shatin N.T. Hong Kong Shenzhen Research Institute The Chinese University of Hong Kong Shenzhen Hong Kong

Motion Planning is necessary for robots to complete different tasks. Rapidly-exploring Random Tree (RRT) and its variants have been widely used in robot motion planning due to their fast search in the state space. However, they perform not well in many complex environments since the motion planning needs to simultaneously consider the geometry constraints and differential constraints. In this article, we propose a novel robot motion planning algorithm that utilizes multi-tree to guide the exploration and exploitation. The proposed algorithm maintains more than two trees to search the state space at first. Each tree will explore the local environments. The tree starts from the root will gradually collect information from other trees and grow towards the goal state. This simultaneous exploration and exploitation method can quickly find a feasible trajectory. We compare the proposed algorithm with other popular motion planning algorithms. The experiment results demonstrate that our algorithm performs better on different evaluation metrics. © 2022 The Authors. Published by Elsevier B.V. This is an open access article under the CC BY-NC-ND license (https://***/licenses/by-nc-nd/4.0) Peer-review under responsibility of the scientific committee of the Proceedings of International Symposium on Biomimetic Intelligence and robotics.

关键词： Motion planning

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