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arXiv 2024年

作者： Thibault, William Rajendran, Vidyasagar Melek, William Mombaur, Katja Department of Mechanical and Mechatronics Engineering University of Waterloo WaterlooONN2L 3G1 Canada The Department of Systems Design Engineering CERC Human-Centred Robotics and Machine Intelligence University of Waterloo Canada Karlsruhe Germany

Learning-based methods have proven useful at generating complex motions for robots, including humanoids. Reinforcement learning (RL) has been used to learn locomotion policies, some of which leverage a periodic reward formulation. This work extends the periodic reward formulation of locomotion to skateboarding for the REEM-C robot. Brax/MJX is used to implement the RL problem to achieve fast training. Initial results in simulation are presented with hardware experiments in progress. © 2024, CC BY.

关键词： Reinforcement learning

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Development of a Software for Laser-Based Micromachining of Piezoceramic Microactuators 1

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AUN/SEED-Net Joint Regional Conference in Transportation, Energy, and Mechanical Manufacturing Engineering, RCTEMME 2021

作者： Nguyen, Ha Xuan Nguyen, Hung Anh Department of Machine Design and Robotics School of Mechanical Engineering Hanoi University of Science and Technology No. 1 Dai Co Viet Hai Ba Trung Hanoi Viet Nam Department of Mechatronics Engineering Faculty of Mechanical Engineering Thuy Loi University No. 175 Tay Son Dong Da Hanoi Viet Nam

ISBN: (数字)9789811919688

ISBN: (纸本)9789811919671

Laser-based micromachining is often applied to the fabrication of piezoceramic microactuators. In fact, the manual generation of a G-code file for the micromachining of such microactuators is very hard work. In this work, a CAM software for the laser-based micromachining of piezoceramic microactuators was developed. The software was built using C++ and the OpenCV library with Microsoft Visual Studio 9.0. The software has three main classes, including ReadDXF, DrawDXF, and MakeGcode. ReadDXF and DrawDXF were developed to read and display DXF data of the design of fabricated parts in an image for further processing. MakeGcode was built for generating G-code, which is then included in the main program of the NView for running the machine. Robust algorithms were developed so that the software could read complex designs without any failure. Optimization of the toolpath, which can improve machine productivity and lifetime service, was introduced. Results and experimental implementations show that our software can efficiently be used to machine piezoceramic microactuators. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Laser machining Microactuators Piezoceramic

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Cryo-CACTI: Cryogenic-Aware CACTI for Cache Modeling down to 10K in Advanced 7nm FinFETs

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IEEE Transactions on Computers 2025年

作者： Ravipati, Divya Praneetha van Santen, Victor M. Parihar, Shivendra Singh Chauhan, Yogesh Singh Panda, Preeti Ranjan Amrouch, Hussam Indian Institute of Technology Delhi Department of Computer Science and Engineering New Delhi India Technical University of Munich TUM School of Computation Information and Technology Chair of AI Processor Design Munich Institute of Robotics and Machine Intelligence Germany Kanpur Nanolab Department of Electrical Engineering Uttar Pradesh India

Cryogenic circuits are currently employed in fields such as quantum computing, particle detectors, magnetic resonance imaging, and space applications. While cryogenic circuits are being researched, there is limited work on designing cryogenic caches at temperatures below 77K. Moreover, there is no tool to estimate the delay, power, and area of cryogenic caches at advanced technology nodes. Our research focuses on the development of cryogenic caches tailored for the 7nm technology node, operating at 10K. However, a key challenge is the lack of cryogenic measurement data, especially in recent technologies. Consequently, through conducting our own FinFET transistor measurements, we calibrate cryogenic transistor models at 10K. With the 7nm cryogenic transistor data, we model Cryo-CACTI for cryogenic caches (due to cache’s vital role in improving performance and their considerable share in area and power of the processor). Using Cryo-CACTI, our evaluation reveals considerable improvements in the energy efficiency (up to 99%) of cryogenic caches of larger sizes compared to the caches at room temperature (300K). Additionally, we explore alternative cache configurations at circuit-level to optimize cryogenic operation. Furthermore, we use Cryo-CACTI to explore the performance/energy consumption of cryogenic caches while simulating workloads such as SPEC CPU2017 and machine learning via neural networks. © 1968-2012 IEEE.

关键词： Combinatorial circuits

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Scaling Methods of the Pelvis without Distortion for the Analysis of Bone Defects

Scaling Methods of the Pelvis without Distortion for the Ana...

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作者： Micheler, Carina M. Lang, Jan J. Wilhelm, Nikolas J. Lazic, Igor Hinterwimmer, Florian Fritz, Christian Eisenhart-Rothe, Rüdiger Von Zäh, Michael F. Burgkart, Rainer H. H. Department of Orthopaedics and Sports Orthopaedics University Hospital Rechts der Isar School of Medicine Technical University of Munich Munich Germany Institute for Machine Tools and Industrial Management School of Engineering and Design Technical University of Munich Garching near Munich Germany Chair of Non-destructive Testing School of Engineering and Design Technical University of Munich Munich Germany Munich Institute of Robotics and Machine Intelligence Department of Electrical and Computer Engineering Technical University of Munich Munich Germany Institute for Ai and Informatics in Medicine Technical University of Munich Munich Germany

For the development of new types of hip implants for acetabulum revision, it is beneficial to analyse the acetabular defects of the indication group in advance. In order to be able to specially compare the bone defects with each other, a normalisation and accompanying scaling of the pelvis is necessary. Uniform scaling is required so that the bone structures are not distorted. In the following study, three scaling methods based on the minimal bounding box and sphere principle are compared with a method using 14 landmarks on the *** landmark method is applied to determine the true scaling factor. For the comparison of the different methods, 40 female pelvic models with an acetabular defect are analysed. In the comparison of the scaling methods, the method using minimal bounding spheres shows the least deviation from the landmark method (mean difference 3.30 ± 2.17 %). Due to the fact that no preprocessing (definition of the landmarks) is required and the fast implementation of the algorithm, the minimal bounding sphere is to be preferred to the landmark method for a fast size estimation. © 2022 by Walter de Gruyter Berlin/Boston.

关键词： Spheres

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IMPS: Informative Map Point Selection for Visual-Inertial SLAM

IEEE Transactions on Intelligent Vehicles

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IEEE Transactions on Intelligent Vehicles 2024年第9期9卷 5595-5605页

作者： Changxiang Liu Hongshan Yu Qiang Fu Xieyuanli Chen Naveed Akhtar Zhi-Hong Mao College of Electrical and Information Engineering School of Robotics Quanzhou Institute of Industrial Design and Machine Intelligence Innovation Hunan University Changsha China National University of Defense Technology Changsha China School of Computing and Information Systems University of Melbourne Melbourne VIC Australia Department of Electrical and Computer Engineering University of Pittsburgh Pittsburgh PA USA

Visual-inertial SLAM (VINS) stands at the forefront of advancements in computer vision, robotics, and autonomous driving, revolutionizing the way we perceive and navigate the world. The typical approach in optimization-based methods for VINS is to estimate camera poses by minimizing the reprojection errors of all corresponding map points. However, not all map points are suitable for accurate pose estimation. Some map points introduce noise and can compromise the accuracy of the estimation. Current methods primarily focus on removing 2D noise points, which proves to be ineffective since triangulation can increase the uncertainty of map points. To address this problem, we propose a new method for Informative Map Point Selection (IMPS) in VINS systems. IMPS identifies the most informative map points by utilizing mutual and geometric information as the optimization target. We integrate IMPS into a VINS system and evaluate its performance using publicly available EuRoC, TUM and M2DGR datasets, as well as our own data. Experimental results demonstrate that our method surpasses existing VINS methods and achieves state-of-the-art pose estimation performance. Importantly, IMPS functions as an independent module with strong generalization capabilities, allowing for easy integration into other VINS systems and enhancing pose estimation performance. This integration not only elevates pose estimation accuracy but also holds great promise for advancing applications in intelligent driving and unmanned systems.

关键词： Simultaneous localization and mapping Optimization Cameras Pose estimation Robots Mutual information Intelligent vehicles

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Towards Unconstrained Collision Injury Protection Data Sets: Initial Surrogate Experiments for the Human Hand

Towards Unconstrained Collision Injury Protection Data Sets:...

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

作者： Robin Jeanne Kirschner Jinyu Yang Edonis Elshani Carina M. Micheler Tobias Leibbrand Dirk Müller Claudio Glowalla Nader Rajaei Rainer Burgkart Sami Haddadin Chair for Robotics and Systems Intelligence Munich Institute of Robotics and Machine Intelligence Technical University of Munich Munich Germany Department of Orthopaedics and Sports Orthopaedics Klinikum Rechts der Isar TUM School of Medicine Technical University of Munich Munich Germany Institute for Machine Tools and Industrial Management TUM School of Engineering and Design Technical University of Munich Garching Near Munich Germany Endoprothetikzentrum der Maximalversorgung BG Hospital Murnau Murnau Germany

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

Safety for physical human-robot interaction (pHRI) is a major concern for all application domains. While current standardization for industrial robot applications provide safety constraints that address the onset of pain in blunt impacts, these impact thresholds are difficult to use on edged or pointed impactors. The most severe injuries occur in constrained contact scenarios, where crushing is possible. Nevertheless, situations potentially resulting in constrained contact only occur in certain areas of a workspace and design or organisational approaches can be used to avoid them. What remains are risks to the human physical integrity caused by unconstrained accidental contacts, which are difficult to avoid while maintaining robot motion efficiency. Nevertheless, the probability and severity of injuries occurring with edged or pointed impacting objects in unconstrained collisions is hardly researched. In this paper, we propose an experimental setup and procedure using two pendulums modeling human hands and arms and robots to understand the injury potential of unconstrained collisions of human hands with edged objects. Pig feet are used as ex vivo surrogate samples - as these closely resemble the physiological characteristics of human hands - to create an initial injury database on the severity of injuries caused by unconstrained edged or pointed impacts. For the effective mass range of typical lightweight robots, the data obtained show low probabilities of injuries such as skin cuts or bone/tendon injuries in unconstrained collisions when the velocity is reduced to < 0.5 m/s. Additionally, distinct differences between injury probability of the finger substitutes and the back of the hand substitutes are observed. The proposed experimental setups and procedures should be complemented by sufficient human modeling, e.g. the effective masses of human body parts, and will eventually lead to a complete understanding of the biomechanical injury potential in pHRI.

关键词： Hands Geometry Robot motion Human-robot interaction Standardization Skin Effective mass Collision avoidance Injuries Foot

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DropHD: Technology/Algorithm Co-design for Reliable Energy-Efficient NVM-Based Hyper-Dimensional Computing Under Voltage Scaling

DropHD: Technology/Algorithm Co-Design for Reliable Energy-E...

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design, Automation and Test in Europe Conference and Exhibition

作者： Paul R. Genssler Mahta Mayahinia Simon Thomann Mehdi B. Tahoori Hussam Amrouch Semiconductor Test and Reliability University of Stuttgart Stuttgart Germany Department of Computer Science and Informatics Karlsruhe Institute of Technology Karlsruhe Germany Chair of AI Processor Design TUM School of Computation Information and Technology Technical University of Munich Munich Institute of Robotics and Machine Intelligence Munich Germany

ISBN: (数字)9783981926385

ISBN: (纸本)9798350348606

Brain-inspired hyperdimensional computing (HDC) offers much more efficient computing compared to other classical deep learning and related machine learning algorithms. Unlike classical CMOS, emerging non-volatile memories (NVMs) used in the realization of HDC are susceptible to failures under voltage scaling, which is essential for energy saving. Although HDC is inherently robust against errors, this is only possible when hypervectors with a large dimension (e.g., 10,000 bits) are being used, resulting in significant energy consumption. This work demonstrates, for the first time, that different NVM technologies exhibit different error characteristics under voltage scaling. In contrast to conventional CMOS-based SRAM, we demonstrate that the error behavior is data-dependent and not captured by simple bit flips in emerging NVMs. We employ our cross-layer framework that starts from the underlying technology all the way up to the algorithm to develop the novel HDC training approach DropHD. DropHD considerably shrinks the size of hypervectors (e.g., from 10,000 bits down to merely 3000 bits), while maintaining a high inference accuracy. The use of aggressive voltage scaling reduces energy consumption by 1.6 x. DropHD further reduces it to up to 9.5 × while fully recovering the induced accuracy drop, i.e. without a tradeoff.

关键词： Training Energy consumption machine learning algorithms Nonvolatile memory Random access memory Voltage Inference algorithms

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Algorithm to Technology Co-Optimization for CiM-Based Hyperdimensional Computing

Algorithm to Technology Co-Optimization for CiM-Based Hyperd...

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design, Automation and Test in Europe Conference and Exhibition

作者： Mahta Mayahinia Simon Thomann Paul R. Genssler Christopher Münch Hussam Amrouch Mehdi B. Tahoori Department of Computer Science and Informatics Karlsruhe Institute of Technology Karlsruhe Germany Chair of AI Processor Design TUM School of Computation Information and Technology Technical University of Munich Munich Institute of Robotics and Machine Intelligence Munich Germany Semiconductor Test and Reliability University of Stuttgart Stuttgart Germany

ISBN: (数字)9783981926385

ISBN: (纸本)9798350348606

Hyperdimensional computing (HDC) has been recognized as an efficient machine learning algorithm in recent years. Robustness against noise and simple computational operations, while being limited by the memory bandwidth, make it a perfect fit for the concept of computation in memory (CiM) with emerging nonvolatile memory (NVM) technologies. For an HDC accelerator based on NVM-CiM, there are different parameters from the algorithm all the way down to the technology that interact with each other and affect the overall inference accuracy as well as the energy efficiency of the accelerator. Therefore, in this paper, we propose, for the first time, a full-stack co-optimization method and use it to design an HDC accelerator based on NVM-based content addressable memory (CAM). By incorporating the device manufacturing variability and co-optimizing the algorithm and hardware design, HDC inference on our proposed NVM-based CiM accelerator can reduce the energy consumption by 3.27x, while compared to the purely software-based implementation, the inference accuracy loss is merely 0.125%.

关键词： Associative memory Energy consumption machine learning algorithms Nonvolatile memory Noise Inference algorithms Hardware

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Improving Equine Intramedullary Nail Osteosynthesis via Fracture Adjacent Polymer Reinforcement

Improving Equine Intramedullary Nail Osteosynthesis via Frac...

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作者： Lang, Jan J. Baylacher, Veronika Micheler, Carina M. Wilhelm, Nikolas J. Hinterwimmer, Florian Schwaiger, Benedikt Barnewitz, Dirk von Eisenhart-Rothe, Rüdiger Grosse, Christian U. Burgkart, Rainer Munich Germany Department of Orthopedics and Sports Orthopedics School of Medicine TUM Munich Germany Institute for Machine Tools and Industrial Management School of Engineering and Design TUM Munich Germany Munich Institute of Robotics and Machine Intelligence Department of Electrical and Computer Engineering TUM Munich Germany School of Medicine Institute for AI and Informatics in Medicine TUM Munich Germany Department of Diagnostic and Interventional Neuroradiology School of Medicine TUM Munich Germany Research Centre of Medical Technology and Biotechnology Bad Langensalza Germany Non-destructive Testing Department of Mechanical Engineering TUM Munich Germany

Introduction: Osteosynthesis of the equine femur is still a challenge for veterinary medicine. Even though intramedullary fracture fixation is possible nowadays, the varying geometry of the medullary cavity along the bone axis is a critical factor. Limited contact area between implant and bone can cause insufficient primary stability. In this study, it was investigated whether the osteosynthesis stability can be improved with a form-adaptive reinforcement for the diaphyseal part of the proximal fragment. Material and Methods: Eight equine femora were fitted with intramedullary nail osteosynthesis and analyzed by 4-point bending. Virtual position planning of the ex-vivo implantation using CT-data increased comparability. For five femora the proximal fragment was reinforced with a flexible polymer mixture. Longterm stability was tested via cyclic loading. Bending stiffness and its development due to cyclic loading was evaluated before and after reinforcement procedure. Finally, load-to-failure was tested in the same setup. Results and Discussion: The application of the polymer reinforcement increased the maximum torque in the load-to-failure measurement by 26%. Bending stiffness was not affected in the measured loading range by the reinforcement. Cyclic loading increased bending stiffness for a conditioned state but showed to be reversible for the most part. Conclusion: The fracture adjacent reinforcement showed to be beneficial to the osteosynthesis stability, but further investigation is necessary for surgical application. © 2022 The Author(s), published by De Gruyter.

关键词： Reinforcement

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Towards Safe Robot Use with Edged or Pointed Objects: A Surrogate Study Assembling a Human Hand Injury Protection Database

Towards Safe Robot Use with Edged or Pointed Objects: A Surr...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Robin Jeanne Kirschner Carina M. Micheler Yangcan Zhou Sebastian Siegner Mazin Hamad Claudio Glowalla Jan Neumann Nader Rajaei Rainer Burgkart Sami Haddadin Chair for Robotics and Systems Intelligence Munich Institute of Robotics and Machine Intelligence Technical University of Munich Munich Germany Department of Orthopaedics and Sports Orthopaedics Klinikum Rechts der Isar TUM School of Medicine Technical University of Munich Munich Germany Institute for Machine Tools and Industrial Management TUM School of Engineering and Design Technical University of Munich Garching Near Munich Germany Endoprothetikzentrum der Maximalversorgung BG Hospital Murnau Murnau Germany Department of Diagnostic and Interventional Radiology Klinikum Rechts der Isar TUM School of Medicine Technical University of Munich Munich Germany

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

The use of pointed or edged tools or objects is one of the most challenging aspects of today’s application of physical human-robot interaction (pHRI). One reason for this is that the severity of harm caused by such edged or pointed impactors is less well studied than for blunt impactors. Consequently, the standards specify well-reasoned force and pressure thresholds for blunt impactors and advise avoiding any edges and corners in contacts. Nevertheless, pointed or edged impactor geometries cannot be completely ruled out in real pHRI applications. For example, to allow edged or pointed tools such as screwdrivers near human operators, the knowledge of injury severity needs to be extended so that robot integrators can perform well-reasoned, time-efficient risk assessments. In this paper, we provide the initial datasets on injury prevention for the human hand based on drop tests with surrogates for the human hand, namely pig claws and chicken drumsticks. We then demonstrate the ease and efficiency of robot use using the dataset for contact on two examples. Finally, our experiments provide a set of injuries that may also be expected for human subjects under certain robot mass-velocity constellations in collisions. To extend this work, testing on human samples and a collaborative effort from research institutes worldwide is needed to create a comprehensive human injury avoidance database for any pHRI scenario and thus for safe pHRI applications including edged and pointed geometries.

关键词： Geometry Databases Collaboration Skin Collision avoidance Protection Injuries

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