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arXiv 2021年

作者： Cao, Hanwen Huang, Junda Li, Yichuan Zhou, Jianshu Liu, Yunhui T Stone Robotics Institute Department of Mechanical and Automation Engineering The Chinese University of Hong Kong China

Autonomous grasping is an important factor for robots physically interacting with the environment and executing versatile tasks. However, a universally applicable, cost-effective, and rapidly deployable autonomous grasping approach is still limited by those target objects with fuzzy-depth information. Examples are transparent, specular, flat, and small objects whose depth is difficult to be accurately sensed. In this work, we present a solution to those fuzzy-depth objects. The framework of our approach includes two major components: one is a soft robotic hand and the other one is a Fuzzy-depth Soft Grasping (FSG) algorithm. The soft hand is replaceable for most existing soft hands/grippers with body compliance. FSG algorithm exploits both RGB and depth images to predict grasps while not trying to reconstruct the whole scene. Two grasping primitives are designed to further increase robustness. The proposed method outperforms reference baselines in unseen fuzzy-depth objects grasping experiments (84% success rate). Copyright © 2021, The Authors. All rights reserved.

关键词： Cost effectiveness

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The application of a non-uniform magnetic field to semi-active vibration control of a beam with magnetorheological fluid

The application of a non-uniform magnetic field to semi-acti...

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International Carpathian Control Conference (ICCC)

作者： Jacek Snamina Faculty of Mechanical Engineering and Robotics Department of Process Control AGH University of Science and Technology Krakow Poland

The influence of non-uniform magnetic field on the beam with magnetorheological fluid is used to build the vibration control algorithms. A special laboratory stand with appropriate electromagnet was built to test free and forced vibrations of the beam with and without control. Experiments were done to determine the stiffness and damping parameters of the beam for various currents flowing in electromagnet coils. A vibration control algorithm was proposed, based on the system identification data and using the averaging technique of nonlinear system analysis.

关键词： Vibrations Laser beams Magnetic fields Electromagnets Damping Fluids Equations

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Acquiring Large Field-of-View Optical Super-Resolution Images Using Adaptive As-Natural-As-Possible (AANAP) Image Stitching Method 13

Acquiring Large Field-of-View Optical Super-Resolution Image...

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13th IEEE International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2023

作者： Sun, Hui Chen, Meng Wu, Cong Luo, Hao Chen, Qingjiu Jia, Boliang Zhang, Guanglie Li, Wen Jung City University of Hong Kong Department of Mechanical Engineering Hong Kong Hong Kong Shenyang Institute of Automation State Key Laboratory of Robotics Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China Shenzhen518000 China Hong Kong

ISBN: (纸本)9798350315196

Optical super resolution (OSR) is a technique that enhances the spatial resolution of images beyond the diffraction limit of the imaging system. OSR images can provide more details and information compared with conventional optical microscopes that are limited by the diffraction limit of light and thus have a best spatial resolution of about 200 nm. Moreover, the trade-off between magnification and field of view (FOV) hinders capturing large-scale structures and fine details simultaneously. Therefore, novel microscopy techniques that can overcome these limitations and provide high-resolution and large-FOV images of biological samples need to be developed. In this paper, a new method combining microsphere-based optical microscopic super-resolution imaging system and the image stitching method are proposed to improve the resolution and FOV conventional optical microscopy. First, the technique captures multiple images through the microsphere at different positions by moving the samples. Then, the technique stitches together the images using a registration algorithm to form a high-resolution, wide-field image. This technique can overcome the diffraction limit of optical microscopy and achieve sub wavelength resolution with a large FOV. It can be used in various fields of science and engineering, such as cell imaging, tissue imaging, and disease diagnosis. © 2023 IEEE.

关键词： Microspheres

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Adaptive Model Predictive Control with Data-driven Error Model for Quadrupedal Locomotion

Adaptive Model Predictive Control with Data-driven Error Mod...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Xuanqi Zeng Hongbo Zhang Linzhu Yue Zhitao Song Lingwei Zhang Yun-Hui Liu Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Hong Kong Centre for Logistics Robotics

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Model Predictive Control (MPC) relies heavily on the robot model for its control law. However, a gap always exists between the reduced-order control model with uncertainties and the real robot, which degrades its performance. To address this issue, we propose the controller of integrating a data-driven error model into traditional MPC for quadruped robots. Our approach leverages real-world data from sensors to compensate for defects in the control model. Specifically, we employ the Autoregressive Moving Average Vector (ARMAV) model to construct the state error model of the quadruped robot using data. The predicted state errors are then used to adjust the predicted future robot states generated by MPC. By such an approach, our proposed controller can provide more accurate inputs to the system, enabling it to achieve desired states even in the presence of model parameter inaccuracies or disturbances. The proposed controller exhibits the capability to partially eliminate the disparity between the model and the real-world robot, thereby enhancing the locomotion performance of quadruped robots. We validate our proposed method through simulations and real-world experimental trials on a large-size quadruped robot that involves carrying a 20 kg un-modeled payload (84% of body weight).

关键词： Legged locomotion Adaptation models Predictive models Robot sensing systems Data models Sensors Quadrupedal robots

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Study of neural network motion control of piezoelectric actuation systems for micro/nano manipulation

Study of neural network motion control of piezoelectric actu...

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International Conference on Control, Automation, robotics and Vision (ICARCV)

作者： Hwee Choo Liaw Bijan Shirinzadeh Robotics and Mechatronics Research Laboratory Department of Mechanical and Aerospace Engineering Monash University Clayton VIC Australia

This paper investigates the feasibility of a neural network motion control methodology applied in the piezoelectric actuation systems for micro/nano manipulation. This control methodology is proposed for tracking desired motion trajectories in the presence of unknown system parameters, non-linearities including the hysteresis effect, and external disturbances in the micro/nano manipulation systems. The advantage of this control methodology is that no prior knowledge of the system parameters, or of the initial estimates of the neural networks, is required for the physical realisation of the control system. Simulation results of the control methodology for tracking a desired motion trajectory are presented. This control methodology can be utilised to realise high performance micro/nano manipulation systems driven by piezoelectric actuators.

关键词： Neural networks Motion control Control systems Hysteresis Piezoelectric actuators Tracking Trajectory robotics and automation Robot control Robot vision systems

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engineering exposition - a model for engineering diversity and outreach

Engineering exposition - a model for engineering diversity a...

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Frontiers in Education (FIE) Conference

作者： B.P. Van Poppel D.D. Boettner A.O. Armas Department of Civil and Mechanical Engineering United States Military Academy USA Mechanical Engineering Program Director United States Military Academy USA Department of Civil and Mechanical Engineering United States Military Academy

In September 2003 the United States Military Academy (USMA) hosted its first annual engineering exposition (Expo). More than just a college fair, the Expo was an evening event to promote engineering at USMA and across the Mid-Hudson (New York) region. The objectives of the 2003 Expo included: 1) Promote engineering and diversity in engineering across all disciplines. 2) Promote membership in engineering societies. 3) Provide an outreach event to local and regional high school and middle school students. The Expo specifically addressed diversity in engineering in the Mid-Hudson region and at USMA. The Mid-Hudson and West Point Student Chapters of American Society of mechanical engineering (ASME), Society of Women Engineers (SWE), and American Society of Civil Engineers (ASCE) supported the event.

关键词： mechanical engineering Educational institutions Cultural differences engineering profession Systems engineering and theory Lead Regions Student Chapters Cities and towns Mathematics

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Resonant photonic structures in porous silicon for biosensing 9

Resonant photonic structures in porous silicon for biosensin...

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Frontiers in Biological Detection: From Nanosensors to Systems IX

作者： Zhao, Yiliang Rodriguez, Gilberto A. Graham, Yasmin M. Cao, Tengfei Gaur, Girija Weiss, Sharon M. Interdisciplinary Graduate Program in Materials Science Vanderbilt University NashvilleTN37235 United States Department of Electrical Engineering and Computer Science Vanderbilt University NashvilleTN37235 United States Department of Mechanical Engineering University of Maryland Baltimore County BaltimoreMD21250 United States

ISBN: (数字)9781510606043

ISBN: (纸本)9781510606036

The formation of resonant photonic structures in porous silicon leverages the benefit of high surface area for improved molecular capture that is characteristic of porous materials with the advantage of high detection sensitivity that is a feature of resonant optical devices. This review provides an overview of the biosensing capabilities of a variety of resonant porous silicon photonic structures including microcavities, Bloch surface waves, ring resonators, and annular Bragg resonators. Detection sensitivities > 1000 nm/RIU are achieved for small molecule detection. The challenge of detecting molecules that approach and exceed the pore diameter is also addressed. © 2017 SPIE.

关键词： Porous silicon

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Carbon based hybrid nanostructures for high performance composites: The surfactant investigation 30

Carbon based hybrid nanostructures for high performance comp...

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30th Annual Technical Conference of the American Society for Composites, ASC 2015

作者： Munhoz, V. Oliveira, A. Monteiro, E. Ávila, A. Universidade Federal de Minas Gerais Graduate Studies Program in Mechanical Engineering 6627 Antonio Carlos Avenue Belo Horizonte Minas Gerais31270-901 Brazil Universidade Federal de Minas Gerais Mechanical Engineering Department 6627 Antonio Carlos Avenue Belo Horizonte Minas Gerais31270-901 Brazil

ISBN: (纸本)9781605952253

The addition of nanofillers has been shown an alternative to improve the fiber/matrix interaction and the epoxy matrix mechanical properties. Many studies have reported the addition of carbon based nanostructures, i.e. carbon nanotubes (CNT) and graphene, as nanofillers in different composite materials, with an increase on its mechanical properties. Nevertheless, the individual nanostructures have the tendency to agglomerate when the energy provided by the dispersion process, such as sonication, high shear mixing, etc., is removed. The use of surfactants seems to be a promising route to overcome this problem. This research goal is to investigate the surfactant effects on carbon/epoxy composites nano-modified by graphene and carbon nanotubes. Multi-layered graphene and multiwall carbon nanotubes were dispersed with two different surfactants, one ionic and another non-ionic, i.e. Sodium dodecylbenzenesulfonate (SDBS) and Polyoxyethylenenonylphenyl ether (IGEPAL® CO-890). The nanoscale analysis was based on morphological/nature observations via scanning electron microscopy (SEM) and atomic force microscopy (AFM), while the macro analysis follows the mechanical characterization by tensile tests (ASTM D 3039) and three point bending test (ASTM D 790). Copyright © 2015 by DEStech Publications, Inc. and American Society for Composites. All rights reserved.

关键词： Surface active agents

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Measuring the energy content of food: A 'relevant' first law experiment for a thermodynamics class

Measuring the energy content of food: A 'relevant' first law...

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114th Annual ASEE Conference and Exposition, 2007

作者： Sangeorzan, Brian Guessous, Laila Oakland University United States Department of Mechanical Engineering Oakland University United States NSF United States DoD Funded Automotive Research and Industrial Mentorship REU Program United States

What marginally motivated undergraduate student would not perk up at the thought of working with food or a "bomb", or both, in a thermodynamics laboratory experiment? Sure, our experience has shown that students express some slight disappointment when they find out that the experiment in question does not involve any loud explosions or flashes of light, and that the food amounts are miniscule (on the order of a few grams, sealed in an unappetizing gelatin capsule);but, overall, students greatly enjoy performing the experiment described in this paper, and along the way learn some important lessons about applying the First Law of Thermodynamics and its relevance to our everyday lives. In this paper we describe a thermodynamics experiment that involves measuring the energy content of a food sample, whose contents are unknown to the students. This is achieved by burning the sample in a combustion bomb, measuring the temperature rise of the water in the calorimeter, applying conservation of energy principles to estimate the energy value of the food sample in calories/gram and scurrying down supermarket aisles (or the internet) to collect nutritional information on a number of potential food items. The description will include an outline of the relevant measurements, calculations, engineering principles and their relevance to Accreditation Board for engineering and Technology (ABET) program Outcomes. © American Society for engineering Education, 2007.

关键词： Food products

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Robotic vision for bin-picking applications of various objects

Robotic vision for bin-picking applications of various objec...

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Joint 41st International Symposium on robotics, ISR 2010 and 6th German Conference on robotics 2010, ROBOTIK 2010

作者： Pochyly, Ales Kubela, Tomas Kozak, Martin Cihak, Petr Brno University of Technology Faculty of Mechanical Engineering Department of Robotics and Robots Technicka 2 616 69 Brno Czech Republic Blumenbecker Prag S.r.o. Pocernicka 96 108 03 Praha Czech Republic

ISBN: (纸本)9781617387197

In this paper we present a new experimental work and results regarding the bin-picking problem that has been still a challenging topic in robotic so far. Although the number of potential applications for bin-picking is growing in industry representing a huge market potential, in many situations it is done manually. We present a functional solution for the bin-picking problem that has been verified on a variety of objects. Initially, there is presented a pilot project concerned with a picking of standard nuts from a bin. Further, based on interests from automotive industry, we dealt with objects complex in shape (sheet-metal parts). However, the solution is not universal;the whole bin-picking system has to be adjusted according to various object specifications. The bin-picking system, presented in this work, for objects manipulation (grasping and placement) is mainly concerned with an industrial robot, 3D vision system mounted on a movable linear axis frame and a proper end effector-standard gripper or vacuum gripper depending on the variety of objects to manipulate.

关键词： Grippers

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