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2023 International Conference on Advanced robotics and Intelligent Systems, ARIS 2023

作者： Chien, Shao-Yu Wong, Ching-Chang Tamkang University College of Engineering Doctoral Program in Robotics New Taipei City25137 Taiwan Tamkang University Electrical and Computer Engineering Department New Taipei City25137 Taiwan

ISBN: (纸本)9798350302714

In this paper, a method using deep reinforcement learning is proposed to deal with the 3D online bin packing problem. The packing objects are not limited to several specific or fixed cuboid objects, but are composed of more than a thousand objects and randomly generated cuboids, which make the trained policy network can handle novel unknown objects. In addition, the posture of the object in the box can be any angle, not limited to horizontal and vertical. In the proposed method, four voxel maps are used as inputs, and a Soft Actor-Critic (SAC) algorithm is used to train a policy network. On the other hand, in order to deal with various objects with irregular shapes, a packing task simulator with physics engine enable the policy network to learn the state of falling and stacking objects. In terms of training environment of deep reinforcement learning, the proposed method can be applied to boxes of different sizes because of the scalable image information. Moreover, a reward function and a training strategy with gradually increasing difficulty are proposed to effectively improve the learning of policy network. In terms of experimental results, the results on a random object bin packing task in a simulator illustrate the effectiveness of the proposed method. © 2023 IEEE.

关键词： Reinforcement learning

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Three-Dimensional Visual Mapping of Underwater Ship Hull Surface using View-based Piecewise-Planar Measurements

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IFAC-PapersOnLine 2019年第21期52卷 384-389页

作者： Seonghun Hong Jinwhan Kim Robotics Program KAIST Daejeon Korea Department of Mechanical Engineering KAIST Daejeon Korea

Visual inspection of underwater ship hulls using unmanned underwater vehicles needs to be conducted at very close range to the target surface because of the limited visibility conditions in underwater environments due to light attenuation, scattering, and turbidity. These environmental challenges result in ineffective photometric and geometric information in hull surface images, and thus, the performance of conventional 3D reconstruction techniques is often not satisfactory. This paper presents a visual mapping method for 3D reconstruction of underwater ship hull surface using a monocular camera as a primary mapping sensor. The main idea of the proposed approach is to model the moderately curved hull surface as a combination of piecewise-planar panels, and to generate a global map by aligning the images in a 2D reference frame and correcting them appropriately to reflect the information of perspective projections of the 3D panels. Experimental results are shown to demonstrate the feasibility of the proposed method using a dataset obtained in a field experiment with a full-scale ship in a real sea environment.

关键词： visual mapping 3D reconstruction computer vision autonomous underwater vehicle visual inspection

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Multimode locomotion via SuperBot reconfigurable robots

Multimode locomotion via SuperBot reconfigurable robots

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作者： Shen, Wei-Min Krivokon, Maks Chiu, Harris Everist, Jacob Rubenstein, Michael Venkatesh, Jagadesh Information Sciences Institute Computer Science Department University of Southern California University of Southern California Polymorphic Robotics Laboratory Information Science Institute Polymorphic Robotics Laboratory Product Development Engineering Program University of Southern California

One of the most challenging issues for a self-sustaining robotic system is how to use its limited resources to accomplish a large variety of tasks. The scope of such tasks could include transportation, exploration, construction, inspection, maintenance, in-situ resource utilization, and support for astronauts. This paper proposes a modular and reconfigurable solution for this challenge by allowing a robot to support multiple modes of locomotion and select the appropriate mode for the task at hand. This solution relies on robots that are made of reconfigurable modules. Each locomotion mode consists of a set of characteristics for the environment type, speed, turning-ability, energy-efficiency, and recoverability from failures. This paper demonstrates a solution using the SuperBot robot that combines advantages from M-TRAN, CONRO, ATRON, and other chain-based and lattice-based robots. At the present, a single real SuperBot module can move, turn, sidewind, maneuver, and travel on batteries up to 500 m on carpet in an office environment. In physics-based simulation, SuperBot modules can perform multimodal locomotions such as snake, caterpillar, insect, spider, rolling track, H-walker, etc. It can move at speeds of up to 1.0 m/s on flat terrain using less than 6 W per module, and climb slopes of no less 40 degrees.

关键词： Robots

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Ground Following Locomotion of a Robot Inspired by Pill Bugs

Ground Following Locomotion of a Robot Inspired by Pill Bugs

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IEEE International Conference on robotics and Biomimetics

作者： Jongwon Park Young Kook Kim Won Suk Jung Kyung-Soo Kim Soohyun Kim Department of Mechanical Engineering KAIST Robotics Program KAIST

ISBN: (纸本)9781457721366

This paper introduces 'Ground Following Locomotion' as a means to traverse rough terrain inspired by pill bugs (Armadillidium vulgare). The locomotion of pill bugs is unique and effective on irregular terrain. Pill bugs bend their bodies actively along with the terrain to maintain traction force and the behavior enables them to overcome irregular terrain easily. This biological principle can be applied to small robots to overcome rough terrain by adjusting relative positions of body modules. Analysis and simulations will be conducted to compare performance of adjustable joint model (ground following locomotion) and fixed joint model and the results will show that the performance of ground following locomotion is effective to overcome vertical obstacles. The principle described here could be applied to small ground robots to improve mobility on rough terrains.

关键词： Locomotion Rough terrain Robot Pill Dosage Form bugs Bugs small robots terrains ground Traction force landscapes Respiratory Inspiration

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Design improvements and dynamic characterization on fluidic elastomer actuators for a soft robotic snake

Design improvements and dynamic characterization on fluidic ...

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IEEE International Conference on Technologies for Practical Robot Applications (TePRA)

作者： Ming Luo Weijia Tao Fuchen Chen Tri K. Khuu Selim Ozel Cagdas D. Onal Robotics Engineering Program Worcester Polytechnic Institute MA USA Mechanical Engineering Department and Robotics Engineering Program Worcester Polytechnic Institute MA USA

This paper addresses the design and dynamic analysis of a new generation of fluidic elastomer actuators (FEAs) that offer bidirectional bending developed as motion segments of a pressure-operated soft robotic snake. Our prior work on FEAs has identified a number of limitations, namely a high center of gravity, narrow base, slow dynamics, and a small range of pressure inputs. We developed two versions of FEAs based on an improved design concept with different geometric parameters and characterized their dynamic response under a custom visual tracking system. Compared with the previous actuators, the FEAs developed in this work offer robust operation, safety at larger input pressure values, faster response, lower center of gravity and a flat bottom for better compatibility for snake-like undulatory locomotion.

关键词： Actuators Robot kinematics Rubber Pneumatic systems Fabrication Valves

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Linear One-to-Many (OTM) system

Linear One-to-Many (OTM) system

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IEEE International Conference on Technologies for Practical Robot Applications (TePRA)

作者： Thane R. Hunt Christopher J. Berthelette Marko B. Popovic Robotics Engineering Program Worcester Polytechnic Institute Worcester MA USA Robotics Engineering Program Mechanical Engineering Department Worcester Polytechnic Institute Worcester MA USA Robotics Engineering Program Biomedical Engineering Department Physics Department Worcester Polytechnic Institute Worcester MA USA

We report on progress on the "One-To-Many" (OTM) concept that allows a single electric motor to store energy in the form of elastic potential energy to drive multiple (e.g. hundred) motor units or independently controlled mechanical degrees of freedom. Critical to this concept is the OTM architecture which utilizes light weight, high-speed, energy efficient, robust, and cost-effective clutches that provide positional feedback. Here, we address linear springs as elastic mediums for energy storage and bi-stable solenoid based clutches that require minimal energy to transition between states. We analyze the power transfer of the system, discuss current and future designs and suggest avenues for potential applications of this practical technology.

关键词： Prototypes Mechanical cables Vehicles

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Development of Automatic Detection and Monitoring Application System for Peristaltic Condition based on Machine Learning and Internet of Thing (IoT) System 7

Development of Automatic Detection and Monitoring Applicatio...

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7th International Conference of Computer and Informatics engineering, IC2IE 2024

作者： Astuti, Winda Giovanni Benedict Davin, K. Nurul Puji, Muhammad Kunaifi, Matthew Andriatin, Yuli Astuti Bina Nusantara University Binus Aso School of Engineering Automotive and Robotics Program Computer Engineering Department Jakarta Indonesia Cilacap Regional General Hospital Gatot Subroto No.28 Cilacap Indonesia

ISBN: (纸本)9798331505530

Poor sanitation and limited access to clean water are the main causes of increased risk of gastrointestinal diseases. In Indonesia, environmental hygiene problems are the main cause of digestive tract disorders, which contribute to more than 25% of deaths each year according to data from the Ministry of Health. Digestive disease is one of the diseases that often appears due to Poor sanitation and limited access to clean water. The development of a digital stethoscope for early detection of problems in the digestive tract would be useful, especially in remote areas. The sound was recorded from a Mel Frequency Cepstral Coefficient (MFCC) technique. The resulting features extracted from the stethoscope sound signal, are used as the inputs for the machine learning which applied three types of method, they are Logistic Regression (LR), combination of Logistic Regression (LR) and K-Nearest Neighbors (KNN), combination of Logistic Regression (LR) and Support Vector Machine (SVM). The experiment of MFCC with three types of machine learning methods above, based the sound from a stethoscope. Experimental results show the combination of Logistic Regression (LR) and K-Nearest Neighbors (KNN) has exceeded results among other methods, with the training and testing accuracy of 90 % and 88 % respectively. They confirm the effectiveness of the proposed intelligent automatic stethoscope sound identification based on Mel-Frequency Cepstral Coefficient (MFCC) and Linear Regression. Furthermore, the system continuously saves and monitors the result of the patient. © 2024 IEEE.

关键词： Logistic regression

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Three-dimensional reconstruction of a semi-submersible offshore platform with an unmanned surface vehicle

Three-dimensional reconstruction of a semi-submersible offsh...

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OCEANS - Europe

作者： Jungwook Han Minju Kang Jeonghyeon Wang Jinwhan Kim Department of Mechanical Engineering Robotics Program KAIST Daejeon Korea

ISBN: (纸本)9781467397254

This paper addresses the three-dimensional (3D) reconstruction of a floating structure with an unmanned surface vehicle (USV). Onboard lidar and sonar sensors are employed to collect a volumetric point cloud of the structure both above and below the waterline. These measurements are obtained in the vehicle-fixed frame; thus, for successful 3D reconstruction, precision estimation of trajectory and attitude is required. GPS signals are severely deteriorated or unavailable near and under floating structures. Therefore, relative navigation with respect to the planar surfaces of their hull structures is performed in the framework of simultaneous localization and mapping (SLAM). This approach enables high-precision navigation and mapping near and under a large floating structure. A field experiment was performed in a semi-submersible offshore platform environment and the results are presented.

关键词： Three-dimensional displays Vehicles Laser radar Sensors Surface reconstruction Sonar navigation Sonar

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Underwater Visual SLAM with Loop-Closure using Image-to-Image Link Recovery

Underwater Visual SLAM with Loop-Closure using Image-to-Imag...

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OCEANS

作者： Seonghun Hong Taeyun Kim Jinwhan Kim Robotics Program Department of Mechanical Engineering KAIST Daejeon Korea

ISBN: (纸本)9781479987375

This study develops an underwater visual simultaneous localization and mapping (SLAM) algorithm using a monocular vision as a major measurement sensor, focusing in particular on the loop-closure problem. Although most vision-based loop-closure approaches have been implemented by feature-based pairwise image matching, matching underwater images is generally a challenging task due to the limited number of feature correspondences or relatively small overlapping regions between the compared images. The lack of loop-closing events caused by these challenges can degrade the navigation and mapping performance of visual SLAM. For robust visual SLAM, a loop-closure algorithm that can recover image-to-image matching links is presented. The proposed loop-closure algorithm is more resilient to failures of pairwise matching and thus can maximize the use of image-to-image links, thereby improving the estimation performance in the context of visual SLAM. To validate the effectiveness of the proposed algorithm, a hover-capable unmanned underwater vehicle was used for in-water experiments, and the proposed algorithm was also evaluated through a series of comparative results drawn from an experimental dataset.

关键词： Underwater visual SLAM Loop-closure Link recovery

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Automatic petrol and diesel engine sound identification based on machine learning approaches 1

Automatic petrol and diesel engine sound identification base...

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1st International Conference on Automotive, Manufacturing, and Mechanical engineering, IC-AMME 2018

作者： Frederick, Halim Winda, Astuti Solihin, Mahmud Iwan Automotive and Robotics Program Computer Engineering Department BINUS ASO School of Engineering Bina Nusantara University Jakarta11480 Indonesia Faculty of Engineering Technology and Built Environment UCSI University Cheras Kuala Lumpur56000 Malaysia

Petrol and diesel engine have a significantly different way to convert chemical energy into mechanical energy. In this work, the intelligent system approach is used to automatically identify the type of engine based on the sound of the engine. The combination of signal processing and machine learning technique for automatic petrol and diesel engine sound identification is presented in this work. After a signal preprocessing step of the engine sound, a Fast Fourier Transform (FFT)-based frequency characteristic modelling technique is applied as the feature extraction method. The resulting features extracted from the sound signal, in the form of frequency in the FFT matrix, are used as the inputs for the machine learning, the Support Vector Machine (SVM), step of the proposed approach. The experiment of FFT with SVM-based diesel and petrol engine sound identification has been carried out. The results show that the proposed approach produces a good accuracy in the relatively short training time. Experimental results show the training and testing accuracy of 100 % and 100 % respectively. They confirm the effectiveness of the proposed intelligent automatic diesel and petrol engine sound identification based on Fast Fourier Transform (FFT) and Support Vector Machines (SVMs). © 2019 The Authors, published by EDP Sciences.

关键词： Support vector machines

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