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14th AIAA/AHI International Space Planes and Hypersonics Systems Technologies Conference

作者： Fidan, Bariş Kuipers, Matthew Ioannou, Petros A. Mirmirani, Maj National ICT Australia Ltd. Australian National University Canberra ACT 2601 Australia University of Southern California Los Angeles CA 90089 United States California State University Los Angeles CA 90032 United States Systems Engineering and Complex Systems Program Australia AIAA United States Electrical Engineering Department Mechanical Engineering Department

ISBN: (纸本)1563478269

The non-standard dynamic characteristics of air-breathing hypersonic flight vehicles together with the aerodynamic effects of hypersonic flight make the flight control of such systems highly challenging. Moreover the wide range of speed during operation and the lack of a broad flight dynamics database add significant plant parameter variations and uncertainties to the problem of controlling air-breathing hypersonic flight. In this paper, we present a general approach to this challenging problem based on linear time-varying plant models. This approach lets employment of some recent techniques developed for adaptive and non-adaptive control of systems with fast varying parameters via exploitation of a priori information about parameter variations. We discuss application of this approach to a generic analytical hypersonic flight vehicle model that is widely used in the literature as well as a detailed generic hypersonic vehicle concept model developed at the California State University - Los Angeles. The paper is concluded with some remarks on validations and extensions of the presented approach.

关键词： Spacecraft

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Learning robotic ultrasound scanning skills via human demonstrations and guided explorations

arXiv

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arXiv 2021年

作者： Deng, Xutian Chen, Yiting Chen, Fei Li, Miao School of Power and Mechanical Engineering Wuhan University Hubei China Department of Mechanical and Automation Engineering T-Stone Robotics Institute The Chinese University of Hong Kong Hong Kong

Medical ultrasound has become a routine examination approach nowadays and is widely adopted for different medical applications, so it is desired to have a robotic ultrasound system to perform the ultrasound scanning autonomously. However, the ultrasound scanning skill is considerably complex, which highly depends on the experience of the ultrasound physician. In this paper, we propose a learning-based approach to learn the robotic ultrasound scanning skills from human demonstrations. First, the robotic ultrasound scanning skill is encapsulated into a high-dimensional multi-modal model, which takes the ultrasound images, the pose/position of the probe and the contact force into account. Second, we leverage the power of imitation learning to train the multi-modal model with the training data collected from the demonstrations of experienced ultrasound physicians. Finally, a post-optimization procedure with guided explorations is proposed to further improve the performance of the learned model. Robotic experiments are conducted to validate the advantages of our proposed framework and the learned models. Copyright © 2021, The Authors. All rights reserved.

关键词： Ultrasonics

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Intelligent motion planning by genetic algorithm with fuzzy critic

Intelligent motion planning by genetic algorithm with fuzzy ...

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IEEE International Symposium on Intelligent Control (ISIC)

作者： T. Shibata T. Fukuda Bio Robotics Division Robotics Department Mechanical Engineering Laboratory Tsukuba Ibaraki Japan Department of Mechano Informatics and Systems University of Nagoya Nagoya Aichi Japan

A strategy for motion planning in robotics is proposed. The proposed strategy applies a genetic algorithm (GA) to optimize the motion planning. To evaluate the planned motion, the strategy also applies fuzzy logic to a fitness function. The fitness function is referred to as fuzzy critic. The fuzzy critic evaluates plans as populations in the GA with respect to multiple factors. Depending on the goals of the tasks, human operators can easily determine inference rules in the fuzzy critic because of the fuzzy logic. The strategy determines a path for a mobile robot which moves from a starting point to a goal point while avoiding obstacles in a work space and picking up loads on the way. Simulations illustrate the effectiveness of the proposed strategy.< >

关键词： Genetic algorithms Motion planning Strategic planning Fuzzy logic Humans Intelligent robots Orbital robotics Robot kinematics Mobile robots Algorithm design and analysis

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Improved Image Stitching Method for Neutron Imaging of Large Objects with Small Beam Size 25

Improved Image Stitching Method for Neutron Imaging of Large...

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Hard X-Ray, Gamma-Ray, and Neutron Detector Physics XXV 2023

作者： Bisbee, Matthew Oksuz, Ibrahim Hetrick, Quinnan Cherepy, Nerine Townsend, Andy Cao, Lei R. Nuclear Engineering Program Department of Mechanical and Aerospace Engineering The Ohio State University ColumbusOH United States AwareAbility Technologies LLC ColumbusOH United States Lawrence Livermore National Laboratory LivermoreCA United States Nuclear Reactor Laboratory College of Engineering The Ohio State University ColumbusOH United States

ISBN: (纸本)9781510666061

Imaging stitching is a solution for radiography and computed tomography (CT) applications where the object is larger than the beam size. Imaging stitching algorithms require a robust noise filter that maintains the landmark features used in stitching. In lens-coupled neutron radiography and CT, a camera is placed away from the neutron beam. Even with shielding, the camera experiences a high radiation dose of mixed gammas and neutrons. The CCD silicon sensor, sensitive to both gammas and neutrons, introduces speckled noise, pixel oversaturation, and blooming effects. Conventional median filters prove inadequate with this type of noise and can result in blurred images. Manual filtering of CT sets is time-consuming and error-prone. An improved image filtering method designed for neutron CT data sets is therefore needed to improve imaging stitching algorithms. We have developed a method that utilizes statistical information in radiographs and variable-sized radii filtration to adequately remove noise while preserving resolution. Once noise has been identified, the algorithm tracks cluster size to inform local filter needs. Filtered radiographs are stitched using a semi-automatic algorithm. This approach works best for data containing features for joint corner detection. It does require specific user inputs, such as object size, features of interest, and alignment, to pinpoint the optimal joining location. Overall, our method represents a significant advancement in neutron CT image processing, offering improved results for imaging stitching and traditional CT applications. We describe the application of this combined filter and stitching algorithm on thermal and fast neutron CT data at OSURR. © 2023 SPIE. All rights reserved.

关键词： Cameras

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Design and Construction of a Low-Cost Combat Robot

Design and Construction of a Low-Cost Combat Robot

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2024 Brazilian Symposium on robotics (SBR), and 2024 Workshop on robotics in Education (WRE)

作者： R. B. Costa G. Itacaramby J. Cabral M. A. Pastrana J. M. Peñaloza Daniel M. Muñoz Faculty of Gama Automotive Engineering Undergraduate Program Faculty of Gama Aerospace Engineering Undergraduate Program Faculty of Gama Software Engineering Undergraduate Program University of Brasilia Brasilia DF Brazil Department of Mechanical Engineering Mechatronics Graduate Program

ISBN: (数字)9798350391084

ISBN: (纸本)9798350391091

This paper presents the design and construction of a low-cost combat robot named Artemis, developed for participation in the Robocore Experience 2024 competition. The project emphasizes the integration of cost-effective components and innovative methodologies to create a competitive robot. The ESP32 microcontroller was selected for its advantages in energy efficiency and connectivity, surpassing traditional platforms like Arduino. The construction process involved several phases, including planning, development, testing, correction, and performance evaluation, utilizing tools such as CAD software for design and 3D printing for fabrication. Key components included a DC motor, L298N H-bridge, and a LiPo battery, all chosen to optimize performance while adhering to budget constraints. The robot's design evolved through iterative testing and adjustments, ultimately leading to a successful competition debut. This work highlights the importance of resourcefulness and collaboration in robotics, showcasing how educational institutions can foster innovation in engineering projects.

关键词： Technological innovation Microcontrollers Weapons Switches Three-dimensional printing Solids Software Time factors Robots Testing

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Spherical Cubic Blends: $\mathcal{C}^{2}$-Continuous, Zero-Clamped, and Time-Optimized Interpolation of Quaternions

Spherical Cubic Blends: $\mathcal{C}^{2}$-Continuous, Zero-C...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Jonas Wittmann Lukas Cha Marco Kappertz Philipp Seiwald Daniel J. Rixen Department of Mechanical Engineering Technical University of Munich TUM School of Engineering and Design Munich Institute of Robotics and Machine Intelligence (MIRMI) Garching Germany

Modern collaborative robotic applications require robot motions that are predictable for human coworkers. Therefore, trajectories often need to be planned in task space rather than configuration space ( $\mathcal{C}$ -space). While the interpolation of translations in Euclidean space is straightforward, the interpolation of rotations in $SO(3)$ is more complex. Most approaches originating from computer graphics do not exhibit the often desired $\mathcal{C}^{2}$ -continuity in robotics. Our main contribution is a $\mathcal{C}^{2}$ -continuous, zero-clamped interpolation scheme for quaternions that computes a fast synchronized motion given a set of waypoints. As a second contribution, we present modifications to two state-of-the-art quaternion interpolation schemes, Spherical Quadrangle Interpolation (SQUAD) and Spherical Parabolic Blends (SPB), to enable them to compute $\mathcal{C}^{2}$ -continuous, zero-clamped trajectories. In experiments, we demonstrate that for the time optimization of trajectories, our approach is computationally efficient and at the same time computes smooth trajectory profiles.

关键词：

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Effective emotional expressions with Emotion Expression Humanoid Robot WE-4RII - Integration of humanoid robot hand RCH-1

Effective emotional expressions with Emotion Expression Huma...

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2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Miwa, Hiroyasu Itoh, Kazuko Matsumoto, Munemichi Zecca, Massimiliano Takanobu, Hideaki Roccella, Stefano Carrozza, Maria Chiara Dario, Paolo Takanishi, Atsuo Department of Mechanical Engineering Waseda University Tokyo Japan Grad. Sch. of Sci. and Engineering Waseda University Tokyo Japan ARTS Lab Scuola Superiore Sant'Anna Pontedera Italy ROBOCASA Tokyo Japan Dept. of Mech. Systems Engineering Kogakuin University Tokyo Japan Humanoid Robotics Institute Waseda University Tokyo Japan

ISBN: (纸本)0780384636

The authors have been developing humanoid robots in order to develop new mechanisms and functions for a humanoid robot that has the ability to communicate naturally with a human by expressing human-like emotion. We considered that human hands play an important role in communication because human hands have grasping, sensing and emotional expression abilities. Then, we developed the the Emotion Expression Humanoid Robot WE-4RII (Waseda Eye No.4 Refined II) by integrating the new humanoid robot hands RCH-1 (RoboCasa Hand No.1) into the Emotion Expression Humanoid Robot WE-4R. Furthermore, we confirmed that RCH-1 and WE-4RII had effective emotional expression ability because the correct recognition rate of WE-4RII's emotional expressions were higher than the WE-4R's one. In this paper, we describe the mechanical features of WE-4RII.

关键词： Industrial robots

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A coupled Powersim and MCNPX-Beta analysis of online reprocessing requirements for a one-fluid U-233/Th-232 FLiBe molten salt thermal breeder reactor

A coupled Powersim and MCNPX-Beta analysis of online reproce...

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作者： Yee, Shannon K. Stone, Stephen Chenkovich, Jeremy Blue, Thomas E. Sun, Xiaodong Mechanical Engineering Department NE Program Ohio State University 219 W. 19th Ave. Columbus OH 43210 United States

ISBN: (纸本)9781563479441

Thorium-fueled nuclear reactor technology can offer cost-efficient power generation while avoiding many proliferation concerns. Chemical reprocessing systems must be developed to operate simultaneously with a thorium-fueled reactor. This paper offers a detailed reprocessing scheme for potential support of a novel one-fluid thorium-fueled molten salt breeder reactor that is called here the "Liquid Fluoride Reactor" (LFR). The LFR operates using the U-233/Th-232 fuel cycle. In equilibrium, it breeds sufficient U-233 from Th-232 to maintain criticality and to fuel other reactors, with only Th-232 as input to the reactor. The LFR includes, as a part of the reactor plant, a reprocessing system for continuous fuel recycling. This paper presents a coupled Powersim and MCNPX-Beta analysis of online reprocessing requirements for a one-fluid U-233/Th-232 FLiBe molten salt thermal breeder reactor. The coupled Powersim and MCNPX-Beta computer model is demonstrated. The results of the calculations show that: 1) for larger reprocessing rates, the fuel in the reactor is cleaner (the Fission Product (FP) inventory in the circulating fuel decreases) and the reactor has a larger value of keff, and 2) the time until the inventory of Pa-233 has increased to the point that the LFR is producing instantaneously more U-233 than it consumes can be on the order of months. Copyright © 2008 by the American Institute of Aeronautics and Astronautics, Inc.

关键词： Fused salts

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Robot navigation using a pressure generated mechanical stress field: "the biharmonic potential approach"

Robot navigation using a pressure generated mechanical stres...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： A.A. Masoud S.A. Masoud M.M. Bayoumi Robotics Laboratory Electrical Engineering Department Queen's University Kingston ONT Canada Department of Mechanical Industrial and Nuclear Engineering College of Engineering University of Cincinnati Cincinnati OH USA

This paper suggests a new approach for navigation in a known environment. The approach is based on the biharmonic potential fields which govern mechanical stress fields in homogeneous solids. It is observed that a path generated by such a technique is free of sharp turns that may appear in its counterpart that is generated from an underlying harmonic potential. This in turns makes a path from the former more dynamically suitable for traversal. Also, the navigation field is extracted from the biharmonic potential in a manner that bypass the rapidly vanishing field problem which is encountered in the harmonic potential approach. Development of the biharmonic approach, simulation results, as well as comparison with the Neumann and Dirichlet setting of the harmonic approach are provided.< >

关键词： Navigation Stress Service robots Path planning Feature extraction Geometry Educational institutions Laboratories Solids Fasteners

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Learning an Action-Conditional Model for Haptic Texture Generation

Learning an Action-Conditional Model for Haptic Texture Gene...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Negin Heravi Wenzhen Yuan Allison M. Okamura Jeannette Bohg Department of Mechanical Engineering Stanford University Robotics Institute Carnegie Mellon University Department of Computer Science Stanford University

ISBN: (数字)9781728173955

ISBN: (纸本)9781728173962

Rich haptic sensory feedback in response to user interactions is desirable for an effective, immersive virtual reality or teleoperation system. However, this feedback depends on material properties and user interactions in a complex, non-linear manner. Therefore, it is challenging to model the mapping from material and user interactions to haptic feedback in a way that generalizes over many variations of the user's input. Current methodologies are typically conditioned on user interactions, but require a separate model for each material. In this paper, we present a learned action-conditional model that uses data from a vision-based tactile sensor (GelSight) and user's action as input. This model predicts an induced acceleration that could be used to provide haptic vibration feedback to a user. We trained our proposed model on a publicly available dataset (Penn Haptic Texture Toolkit) that we augmented with GelSight measurements of the different materials. We show that a unified model over all materials outperforms previous methods and generalizes to new actions and new instances of the material categories in the dataset.

关键词： Haptic interfaces Autoregressive processes Force Acceleration Predictive models Solid modeling Discrete Fourier transforms

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