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IEEE International Conference on Fuzzy Systems (FUZZ-IEEE)

作者： Seung-Mok Lee Jong-Hwan Kim Hyun Myung Department of Civil and Environmental Engineering Robotics Program KAIST Daejeon South Korea Department of Electrical Engineering and Computer Science Robotics Program KAIST Daejeon South Korea

This paper presents a novel interval type-2 fuzzy logic control architecture for flocking system when the system has noisy sensor measurements. The traditional type-1 fuzzy logic controller (FLC) using precise type-1 fuzzy sets cannot fully model and handle the uncertainties of sensor data. However, type-2 FLC using type-2 fuzzy sets with a footprint of uncertainty (FOU) produces better performances under noisy environments. In this paper, therefore, we present a reactive control architecture for flocking algorithm that is based on interval type 2 FLC to implement the flocking behaviors consisting separation, obstacle avoidance, and velocity matching behaviors. The type-2 based control system could cope with the uncertainties of noisy sensor measurements and resulted in good performances that outperformed the type-1 FLC.

关键词： Collision avoidance Robot sensing systems Trajectory Fuzzy sets Fuzzy logic Noise measurement

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RoboRover - A Jetson Nano Powered Robot Car for Object Following, Obstacle Avoidance, and Wall Following 14

RoboRover - A Jetson Nano Powered Robot Car for Object Follo...

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14th IEEE Annual Ubiquitous Computing, Electronics and Mobile Communication Conference, UEMCON 2023

作者： Huynh, Trinh Walter, James Aveta, Federica University of Michigan Robotics Department Ann ArborMI48109 United States Wentworth Insitute of Technology Electrical and Computer Engineering Program BostonMA02115 United States

ISBN: (纸本)9798350304138

An intelligent and self-sufficient robot is essential across a wide range of fields, including transportation, industry, space exploration, and defense. Mobile robots possess the capability to undertake diverse tasks such as handling materials, aiding in disaster scenarios, conducting patrols, and executing rescue operations. As a result, the development of an autonomous robot that can navigate through both unchanging and ever-changing surroundings has become important. The primary objective of mobile robot navigation revolves around ensuring the seamless and secure traversal of the robot through complex environments, starting from an initial position, and reaching a designated goal position. This paper presents the design and implementation of a Jetson Nano powered robot car which uses local sensors to interact with an unknown environment. Object following, obstacle avoidance, and wall following features are built for the car to navigate to reach its desired destinations. © 2023 IEEE.

关键词： Mobile robots

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Inverse reinforce learning with nonparametric behavior clustering

arXiv

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arXiv 2017年

作者： Rajasekaran, Siddharthan Zhang, Jinwei Fu, Jie Department of Electrical and Computer Engineering Robotics Engineering Program Worcester Polytechnic Institute

Inverse Reinforcement Learning (IRL) is the task of learning a single reward function given a Markov Decision Process (MDP) without defining the reward function, and a set of demonstrations generated by humans/experts. However, in practice, it may be unreasonable to assume that human behaviors can be explained by one reward function since they may be inherently inconsistent. Also, demonstrations may be collected from various users and aggregated to infer and predict users behaviors. In this paper, we introduce the Non-parametric Behavior Clustering IRL algorithm to simultaneously cluster demonstrations and learn multiple reward functions from demonstrations that may be generated from more than one behaviors. Our method is iterative: It alternates between clustering demonstrations into different behavior clusters and inverse learning the reward functions until convergence. It is built upon the Expectation-Maximization formulation and non-parametric clustering in the IRL setting. Further, to improve the computation efficiency, we remove the need of completely solving multiple IRL problems for multiple clusters during the iteration steps and introduce a resampling technique to avoid generating too many unlikely clusters. We demonstrate the convergence and efficiency of the proposed method through learning multiple driver behaviors from demonstrations generated from a grid-world environment and continuous trajectories collected from autonomous robot cars using the Gazebo robot simulator. Copyright © 2017, The Authors. All rights reserved.

关键词： Demonstrations

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Automatic Anti-Swing Gantry Crane Based on Gradient Descent Optimization Proportional Integrated Derivative (PID): A Comparison Simulation and Real Experiment

Automatic Anti-Swing Gantry Crane Based on Gradient Descent ...

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2023 International Conference on Electrical engineering and Informatics, ICEEI 2023

作者： Qadri, Munzir Harjanto, Danang Karuna Miharja, Jonathan Astuti, Winda Mariana, Yosica Tan, Sofyan Solihin, Mahmud Iwan University of Muhammadiyah Jakarta Engineering Faculty Mechanical Engineering Department Jakarta10510 Indonesia Binus Aso School of Engineering Bina Nusantara University Automotive and Robotics Program Computer Engineering Department Jakarta11480 Indonesia Binus Aso School of Engineering Bina Nusantara University Product Design Program Industrial Engineering Department Jakarta11480 Indonesia Ucsi University Departement of Mechanical & Mechatronics Engineering Kuala Lumpur Malaysia

ISBN: (纸本)9798350381290

Transporting payload with precise swing angles and transfer times poses a challenging task in building construction, which is why gantry crane systems are extensively utilized. Various control strategies, including open-loop and closed-loop systems, have been proposed to tackle this issue. However, most of these controllers rely on a model and parameters specific to the crane system, making the process of modeling and parameter identification complex and time-consuming. To address this challenge, this work presents a practical and simulation control method for automatic gantry cranes, which is evaluated simulation and experimentally. The lab-scale Gantry crane is developed in this work, which consists of mechanical and electrical parts. Proportional Integral and Derivative (PID) and Proportional Derivative (PD) controllers which applied optimization method are implemented in the electrical part of the system. The PID and PD controller applied in controlled the position and swing angle, respectively. The Gradient Decent optimization method is the best optimization method in determining the parameter of the controller, since it has the best simulation performance in the output of the system. The experimental result is developed and compared between simulation and lab-scale Gantry crane hardware implementation part. The performance of experimental results is shown appropriately approaching the performance of the simulation result, with the approximately settling time. © 2023 IEEE.

关键词： Proportional control systems

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CNN-Based Task State Estimation for Safer Automation of Oxy-Fuel Metal Cutting 19

CNN-Based Task State Estimation for Safer Automation of Oxy-...

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19th IEEE International Conference on Automation Science and engineering, CASE 2023

作者： Akl, James Kodate, Shreedhar Calli, Berk Worcester Polytechnic Institute Robotics Engineering Department WorcesterMA01609 United States Worcester Polytechnic Institute Data Science Program WorcesterMA01609 United States

ISBN: (纸本)9798350320695

The industrial operation of oxy-fuel metal cutting via gas torches involves tasks such as ignition, preheating, and combustion along the target surface. Automated oxy-fuel cutting systems are exposed to risks and anomalies that can lead to incorrect actions and safety hazards. In this paper, we develop a classifier for online task state estimation to assess the cutting robot's actions, detect anomalies, and reduce the risk of hazards. Using representative footage from our robotic cutting experiments, we curate an image dataset labeled with four types of cutting task states. Using deep learning methods, we design and train a convolutional neural network model for classifying the cutting task state from input images. The classifier architecture is optimized for rapid inferences during online estimation. After evaluation, our classifier achieves an overall accuracy of 93.8 % with high inference speeds on two types of representative hardware. Our 'Oxy-fuel Cutting Task State' (OCTS) dataset is available at ***/10.5281/zenodo.7734951. © 2023 IEEE.

关键词： Risk assessment

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Obstacle recognition using a haptic device

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Journal of Measurement Science and Instrumentation 2013年第4期4卷 376-380页

作者： Kyungwook Noh Donghyuk Lee Sunkyun Kang Jaewon An Jangmyung Lee Department of Interdisciplinary Program in Robotics Pusan National University Department of Electrical Engineering Pusan National University

A haptic device is proposed which gives the user feedback information on their location and orientation of the obstacle through the mobile robot that detects the obstacle in an environment where the user cannot *** robot recognizes the exact position of the obstacle through configuring the nested ultrasonic sensor and giving feedback information to the haptic *** haptic device consisting of five vibration motors can realize the haptic through the vibration of user's finger using the position information of the obstacle received *** addition,it has high accuracy to recognize the surrounding environment and realizes the various situations with the fuzzy controller and the nested ultrasonic sensors.

关键词： haptic device teleoperation haptic feedback mobile robot obstacle recognitionDocument code：AArticle ID：1674-8042（2013）04-0376-05

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Magnetic resonance wireless power transmission using a LLC resonant circuit for a locomotion robot's battery charging

Magnetic resonance wireless power transmission using a LLC r...

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6th International Conference on Intelligent robotics and Applications, ICIRA 2013

作者： Kim, Ki-Ryong Kim, Dong-Hyun Kim, Hee-Je Department of Interdisciplinary Program in Robotics Pusan National University Jangjeon-dong Geumjung-gu Korea Republic of Department of Electrical Engineering Pusan National University Jangjeon-dong Geumjung-gu Korea Republic of

ISBN: (纸本)9783642408519

The purpose of this paper is a locomotion robot's battery charging. Using a LLC resonant circuit and magnetic resonance WPT(Wireless Power Transmission). The proposed this WPT system consists of transmitter and receiver circuits. The transmitter is a LLC resonant circuit and receiver circuit is a LC resonant circuit that has a resonant coil, a capacitor, and full bridge diode rectifier. © 2013 Springer-Verlag Berlin Heidelberg.

关键词： Charging (batteries)

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Mechatronics Design of Wheeled Mobile Robotic System for Gutter Maintenance 30

Mechatronics Design of Wheeled Mobile Robotic System for Gut...

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30th IEEE International Conference on Electronics, Electrical engineering and Computing, INTERCON 2023

作者： Arbulu, Mario Arias, Geyni Iniguez, Brayan Dussan, Sofia Barreto, Ricardo Cornejo, Jose CORHUILA Mechatronics Engineering Program Colombia CORHUILA Industrial Engineering Program Colombia Robotics 4.0 R and D Department Colombia Universidad Nacional de Ingeniería Center for Space Emerging Technologies Lima Peru Universidad Tecnológica Del Perú Lima Peru

ISBN: (纸本)9798350315578

This paper deals with the challenges involved on roof building gutter maintenance robot design, from the problem statement of secure teleoperated semiautonomous navigation on confined gutter spaces, and the best selection of right mechatronics brush to remove the waste on gutter surface;Two concept design have been tested: Passive Brush with Parallel locomotion (PBP), and Active Brush Axial (ABA). The results on our development are shown, as following: secure robot lifting regulation, simulation environment, HMI to teleoperate, mechatronics design. Finally, some tests on simulations and current prototypes are shown, to validate our proposal, and the conclusion that the ABA design allows to remove until 85% gutter waste, instead of PBP design;furthermore, the ABA allows independent brush rotation velocity, instead of PBP design. © 2023 IEEE.

关键词： Maintenance

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A classification scheme for planar 4r, spherical 4r, and spatial rccc linkages to facilitate computer animation

A classification scheme for planar 4r, spherical 4r, and spa...

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ASME 1998 Design engineering Technical Conferences, DETC 1998

作者： Murray, Andrew P. Larochelle, Pierre M. Department of Mechanical and Aerospace Engineering University of Dayton DaytonOH45469-0210 United States Robotics and Spatial Systems Laboratory Mechanical Engineering Program Florida Institute of Technology Melbourne FL32901 United States

ISBN: (纸本)9780791880319

In this paper we develop a complete classification scheme for planar, spherical and spatial four-bar linkages. The goal of this classification is to note all of the subtleties of motion that an arbitrary set of four link lengths can define. A classification should exist only between the mechanisms that exhibit similar ranges of motion at both the input and output. In the planar case, three parameters being identified as either positive, negative, or zero are necessary to completely characterize all possible ranges of motion. In the spherical and spatial cases, four parameters being identified as positive, negative or zero are needed. The result is 27 classifications of planar mechanisms and 81 for spherical and spatial RCCC mechanisms. © 1998 by ASME.

关键词： Spheres

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Development of a Mixed-Reality Dual-User Training System for Robot Laparoscopic Surgery

Development of a Mixed-Reality Dual-User Training System for...

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2024 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2024

作者： Chen, Ting-You Young, Kuu-Young Graduate Degree Program of Robotics National Yang Ming Chiao Tung University Hsinchu Taiwan National Yang Ming Chiao Tung University Department of Electrical Engineering Hsinchu Taiwan

ISBN: (纸本)9781665410205

As robot surgery becomes more popular these days, it consequently solicits a high demand on its training system. Currently, most of the systems are intended for personal training, while it may be more effective if an experienced expert can also be involved. It thus motivates us to propose a dual-user robotic surgical training system that can closely link the mentor and trainee together. The system is developed in a mixed-reality environment that integrates the information from both the virtual and real worlds. The haptic feedback and virtual fixtures are employed for assistance during skill transfer. The proposed system can assess the proficiency level of the trainee for the mentor to provide proper assistance during training. The experimental results demonstrate that the proposed system is capable of enhancing the trainee's ability for surgery. Especially, similar effectiveness is observed during comparative studies with direct hands-on guidance frequently adopted for skill transfer during sport training. © 2024 IEEE.

关键词： Robotic surgery

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