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IEEE International Conference on Automation science and engineering (CASE)

作者： Gaofeng Li Lei Sun Shan Xu Dezhen Song Jingtai Liu Tianjin Key Laboratory of Intelligent Robotics NanKai University Tianjin China Department of Computer Science and Engineering Texas A&M University College Station Texas United States

ISBN: (纸本)9781509024100

Home service robot works in unstructured environments with various tasks, where a low-cost, dexterous, and intrinsically safe manipulator is important. Traditionally, a redundant manipulator with high degrees of freedom (DOFs) is employed. However, high DOFs bring problems like high cost, complex physical designing, and heavy weight. Here a novel low-cost deformable manipulator for home service robot, which is composed of rigid joints and deformable links, is introduced. The deformable manipulator can obtain relatively dexterous and extended workspace with fewer joints by bending its deformable links. Considering the typical hybrid behaviors caused by bending operation, a hybrid model and a practical kinematic-free control framework with no prior kinematic information are proposed to describe and control the deformable manipulator. The model and controller have been implemented on a 4-DOF deformable manipulator with two deformable links in simulation. The simulation results validate the proposed deformable manipulator and kinematic-free control.

关键词： Manipulators Deformable models Torque Kinematics Actuators Jacobian matrices

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Handling State Uncertainty in Distributed Information Leader Selection for Robotic Swarms

Handling State Uncertainty in Distributed Information Leader...

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IEEE International Conference on Systems, Man, and Cybernetics

作者： Anqi Li Wenhao Luo Sasanka Nagavalli Nilanjan Chakrabortyt Katia Sycara Robotics Institute School of Computer Science Carnegie Mellon University Pittsburgh Pennsylvania USA Department of Mechanical Engineering Stony Brook University Stony Brook New York USA

ISBN: (纸本)9781509018987

In many scenarios involving human interaction with a remote swarm, the human operator needs to be periodically updated with state information from the robotic swarm. A complete representation of swarm state is high dimensional and perceptually inaccessible to the human. Thus, a summary representation is often required. In addition, it is often the case that the human-swarm communication channel is extremely bandwidth constrained and may have high latency. This motivates the need for the swarm itself to compute a summary representation of its own state for transmission to the human operator. The summary representation may be generated by selecting a subset of robots, known as the information leaders, whose own states suffice to give a bounded approximation of the entire swarm, even in the presence of uncertainty. In this paper, we propose two fully distributed asynchronous algorithms for information leader selection that only rely on inter-robot local communication. In particular, by representing noisy robot states as error ellipsoids with tunable confidence level, the information leaders are selected such that the Minimum-Volume Covering Ellipsoid (MVCE) summarizes the noisy swarm state boundary. We provide bounded optimality analysis and proof of convergence for the algorithms. We present simulation results demonstrating the performance and effectiveness of the proposed algorithms.

关键词： MVCE demonstrating performance dike swarms Demonstrate Robot Ellipsoid swarms

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Delay-based numerical stability of the partitioned-solution approach

Delay-based numerical stability of the partitioned-solution ...

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IEEE General Meeting Power& Energy Society

作者： Federico Milano Dept. of EE-Systems TAU Tel Aviv Israel Laboratory of Robotics and Systems in Engineering and Science (LARSyS) University of Lisbon Lisbon Portugal Department of Electrical and Computer Engineering University of Macau Macao China

This paper proposes a technique to evaluate the numerical stability and accuracy of the Partitioned-Solution Method (PSA) for the time domain integration of the Differential Algebraic Equations (DAEs) that are used for power system angle and voltage stability analyses. The partitioned approach consists in solving differential equations and algebraic constraints separately. While efficient, this technique introduces a “mismatch” between state and algebraic variables. The paper states the formal analogy of such a mismatch with a time delay of algebraic variables. Then a Small-signal Stability Analysis (SSSA) for Delay Differential Algebraic Equation (DDAE) is applied to define the numerical stability of the PSA as a function of the integration time step. Results are tested using the IEEE 14-bus system as well as a 1,479-bus model of the all-island Irish system.

关键词： Power system stability Numerical stability Stability analysis Mathematical model Numerical models Delay effects Delays

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Unsupervised feature selection by nonnegative sparsity adaptive subspace learning

Unsupervised feature selection by nonnegative sparsity adapt...

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International Conference on Wavelet Analysis and Pattern Recognition (ICWAPR)

作者： Nan Zhou Hong Cheng Ya-Li Zheng Liang-Tian He Witold Pedrycz School of Mathematical Science University of Electronic Science and Technology of China Chengdu Sichuan China Center for Robotics University of Electronic Science and Technology of China Chengdu Sichuan China Department of Electrical and Computer Engineering University of Alberta AB Canada

ISBN: (纸本)9781509029181

Given the high-dimensionality of the original data, dimensionality reduction becomes a necessary step in data processing. In this study, a novel unsupervised feature selection model is proposed, which regards the unsupervised feature selection process as nonnegative subspace learning. Considering the efficiency of the learned subspace which can better indicate the selected features, a nonnegative sparsity adaptive subspace learning framework is proposed. It adapts the sparsity by weighted ℓ 2, 1 model. Specifically, the weights are defined by multi-stage support detection. Then we provide an approach to solve this weighted ℓ 2, 1 constraint non-convex problem leading to the Non-negative Sparsity Adaptive Subspace Learning (NSASL) algorithm. By the experiments which are conducted on real-word datasets, the superiority of proposed method over seven state-of-the-art unsupervised feature selection algorithms is verified.

关键词： Indexes Pattern recognition Face Wavelet analysis Feature extraction STEM Adaptation models

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gSeaGen code by KM3NeT: An efficient tool to propagate muons simulated with CORSIKA

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computer Physics Communications 2025年 314卷

作者： Aiello, S. Albert, A. Alhebsi, A.R. Alshamsi, M. Alves Garre, S. Ambrosone, A. Ameli, F. Andre, M. Aphecetche, L. Ardid, M. Ardid, S. Atmani, H. Aublin, J. Badaracco, F. Bailly-Salins, L. Bardačová, Z. Baret, B. Bariego-Quintana, A. Becherini, Y. Bendahman, M. Benfenati, F. Benhassi, M. Bennani, M. Benoit, D.M. Berbee, E. Bertin, V. Biagi, S. Boettcher, M. Bonanno, D. Bouasla, A.B. Boumaaza, J. Bouta, M. Bouwhuis, M. Bozza, C. Bozza, R.M. Brânzaş, H. Bretaudeau, F. Breuhaus, M. Bruijn, R. Brunner, J. Bruno, R. Buis, E. Buompane, R. Busto, J. Caiffi, B. Calvo, D. Capone, A. Carenini, F. Carretero, V. Cartraud, T. Castaldi, P. Cecchini, V. Celli, S. Cerisy, L. Chabab, M. Chen, A. Cherubini, S. Chiarusi, T. Circella, M. Cocimano, R. Coelho, J.A.B. Coleiro, A. Condorelli, A. Coniglione, R. Coyle, P. Creusot, A. Cuttone, G. Dallier, R. De Benedittis, A. De Martino, B. De Wasseige, G. Decoene, V. Del Rosso, I. Di Mauro, L.S. Di Palma, I. Díaz, A.F. Diego-Tortosa, D. Distefano, C. Domi, A. Donzaud, C. Dornic, D. Drakopoulou, E. Drouhin, D. Ducoin, J.-G. Dvornický, R. Eberl, T. Eckerová, E. Eddymaoui, A. van Eeden, T. Eff, M. van Eijk, D. El Bojaddaini, I. El Hedri, S. Ellajosyula, V. Enzenhöfer, A. Ferrara, G. Filipović, M.D. Filippini, F. Franciotti, D. Fusco, L.A. Gagliardini, S. Gal, T. García Méndez, J. Garcia Soto, A. Gatius Oliver, C. Geißelbrecht, N. Genton, E. Ghaddari, H. Gialanella, L. Gibson, B.K. Giorgio, E. Goos, I. Goswami, P. Gozzini, S.R. Gracia, R. Guidi, C. Guillon, B. Gutiérrez, M. Haack, C. van Haren, H. Heijboer, A. Hennig, L. Hernández-Rey, J.J. Idrissi Ibnsalih, W. Illuminati, G. Joly, D. de Jong, M. de Jong, P. Jung, B.J. Kalaczyński, P. Kistauri, G. Kopper, C. Kouchner, A. Kovalev, Y.Y. Kueviakoe, V. Kulikovskiy, V. Kvatadze, R. Labalme, M. Lahmann, R. Lamoureux, M. Larosa, G. Lastoria, C. Lazo, A. Le Stum, S. Lehaut, G. Lemaître, V. Leonora, E. Lessing, N. Levi, G. Lindsey Clark, M. Via Santa Sofia 64 Catania95123 Italy Université de Strasbourg CNRS IPHC UMR 7178 StrasbourgF-67000 France Khalifa University Department of Physics PO Box 127788 Abu Dhabi0000 United Arab Emirates Aix Marseille Univ CNRS/IN2P3 CPPM Marseille France c/Catedrático José Beltrán 2 Paterna Valencia46980 Spain INFN Sezione di Napoli Complesso Universitario di Monte S. Angelo Via Cintia ed. G Napoli80126 Italy Università di Napoli "Federico II" Dip. Scienze Fisiche "E. Pancini" Complesso Universitario di Monte S. Angelo Via Cintia ed. G Napoli80126 Italy INFN Sezione di Roma Piazzale Aldo Moro 2 Roma00185 Italy Universitat Politècnica de Catalunya Laboratori d'Aplicacions Bioacústiques Centre Tecnològic de Vilanova i la Geltrú Avda. Rambla Exposició s/n Vilanova i la Geltrú 08800 Spain Subatech IMT Atlantique IN2P3-CNRS Nantes Université 4 rue Alfred Kastler La Chantrerie NantesBP 20722 44307 France Universitat Politècnica de València Instituto de Investigación para la Gestión Integrada de las Zonas Costeras C/ Paranimf 1 Gandia46730 Spain University Mohammed V in Rabat Faculty of Sciences 4 av. Ibn Battouta B.P. 1014 R.P. 10000 Rabat Morocco Université Paris Cité CNRS Astroparticule et Cosmologie ParisF-75013 France Università di Genova Via Dodecaneso 33 Genova16146 Italy INFN Sezione di Genova Via Dodecaneso 33 Genova16146 Italy LPC CAEN Normandie Univ ENSICAEN UNICAEN CNRS/IN2P3 6 boulevard Maréchal Juin Caen14050 France Czech Technical University in Prague Institute of Experimental and Applied Physics Husova 240/5 Prague110 00 Czech Republic Comenius University in Bratislava Department of Nuclear Physics and Biophysics Mlynska dolina F1 Bratislava842 48 Slovakia INFN Sezione di Bologna v.le C. Berti-Pichat 6/2 Bologna40127 Italy Università di Bologna Dipartimento di Fisica e Astronomia v.le C. Berti-Pichat 6/2 Bologna40127 Italy Università degli Studi della Campania "Luigi Vanvitelli" Dipartimento di Ma

The KM3NeT Collaboration has tackled a common challenge faced by the astroparticle physics community, namely adapting the experiment-specific simulation software to work with the CORSIKA air shower simulation output. The proposed solution is an extension of the open source code gSeaGen, which allows the transport of muons generated by CORSIKA to a detector of any size at an arbitrary depth. The gSeaGen code was not only extended in terms of functionality but also underwent a thorough redesign of the muon propagation routine, resulting in a more accurate and efficient simulation. This paper presents the capabilities of the new gSeaGen code as well as prospects for further developments. Program summary: Program title: gSeaGen CPC Library link to program files: https://***/10.17632/ymgxvy2br4.2 Developer's respository link: ***/opensource/gseagen Licensing provisions: BSD 3-Clause Programming language: C++ Nature of problem: Integration of the state-of-the-art extensive air shower Monte Carlo event generator CORSIKA [1] into the atmospheric muon simulation for water Cherenkov neutrino telescopes. The primary use case considered is the KM3NeT experiment [2], however, the code should be able to cover other similar experiments as well. The challenges in this work included interfacing the CORSIKA binary output, efficient handling of already generated events to reduce the overall computational cost, and preserving all the additional available information, which can be invaluable in physics analyses. Solution method: The readout of CORSIKA simulation was adapted from the base script provided together with CORSIKA and implemented as a standalone flux driver in gSeaGen. The propagation routine has been redesigned to support the geometry of extensive air shower simulations and to improve its efficiency in propagating particles to the detector. To ensure a reliable modelling of muon energy loss and scattering, PROPOSAL [3] was set as the default internal code for m

关键词： C++ (programming language)

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Enhancing Human Understanding of a Mobile Robot's State and Actions using Expressive Lights

Enhancing Human Understanding of a Mobile Robot's State and ...

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IEEE International Symposium on Robot and Human Interactive Communication

作者： Kim Baraka Stephanie Rosenthal Manuela Veloso Robotics Institute Carnegie Mellon University Pittsburgh PA USA Software Engineering Institute Carnegie Mellon University United States Computer Science Department Carnegie Mellon University United States

ISBN: (纸本)9781509039302

In order to be successfully integrated into human-populated environments, mobile robots need to express relevant information about their state to the outside world. In particular, animated lights are a promising way to express hidden robot state information such that it is visible at a distance. In this work, we present an online study to evaluate the effect of robot communication through expressive lights on people's understanding of the robot's state and actions. In our study, we use the CoBot mobile service robot with our light interface, designed to express relevant robot information to humans. We evaluate three designed light animations on three corresponding scenarios for each, for a total of nine scenarios. Our results suggest that expressive lights can play a significant role in helping people accurately hypothesize about a mobile robot's state and actions from afar when minimal contextual clues are present. We conclude that lights could be generally used as an effective non-verbal communication modality for mobile robots in the absence of, or as a complement to, other modalities.

关键词： Robots Animation Color Videos Navigation Mobile communication Speech Robot Mobile robots Animation Light mobile communication Videotapes navigation Speech Action Afar

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Large bridge cable tension estimation with Cyber vibration Sensing System

Large bridge cable tension estimation with Cyber vibration S...

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IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems

作者： Shaodong Zhan Meng Chen Zhi Li Winston Sun Wen J. Li Guanglie Zhang Shenzhen Academy of Robotics Institute of Intelligent Cyber Sensing Systems China Department of Mechanical and Biomedical Engineering City University of Hong Kong Hong Kong SAR College of Computer Science & Software Engineering Shenzhen University China

ISBN: (纸本)9781509027347

We present in this paper our development of a cyber physical sensing platform for monitoring the structural tension of large bridge cables using MEMS vibration sensors and proprietary wireless technology. In order to implement the online tension analysis of the bridge cables, we developed an improved technology for the general identification of cable tension using the Gauss-Newton method to determine the eigenfrequency order and bending stiffness. The improved identification method was applied to vertical suspender cables, i.e., more commonly known as “hangers”, of the south section of the Huangpu Bridge. The result shows that the proposed method can effectively estimate the cable tension of the bridge's cables of different lengths.

关键词： Bridges Vibrations Sensors Force Bridge circuits Monitoring Acceleration

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Editorial

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International Journal of Social robotics 2015年第1期7卷 1-2页

作者： Ge, Shuzhi Sam Khatib, Oussama and the Robotics Research Lab Department of Electrical & Computer Engineering The National University of Singapore Singapore Singapore University of Electronic Science and Technology of China Chengdu China Artificial Intelligence Laboratory Department of Computer Science Stanford University StanfordCA United States

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Data-driven comparison of four cutaneous displays for pinching palpation in robotic surgery

Data-driven comparison of four cutaneous displays for pinchi...

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International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (HAPTICS)

作者： Jeremy D. Brown Mary Ibrahim Elyse D. Z. Chase Claudio Pacchierotti Katherine J. Kuchenbecker Department of Mechanical Engineering & Applied Mechanics University of Pennsylvania Philadelphia PA USA Department of Advanced Robotics Instituto Italiano di Tecnologia Genova Italy Departments of Mechanical Engineering & Applied Mechanics and Computer & Information Science’ University of Pennsylvania Philadelphia PA USA

ISBN: (纸本)9781509009046

Current teleoperated surgical robots do not provide surgeons with haptic feedback, due in part to the safety risks associated with grounded kinesthetic forces. Ungrounded cutaneous feedback provides an elegant and inherently stable way to refer haptic feedback to the surgeon in such situations. Choosing the most appropriate display, however, is challenging given the substantial number of unique cutaneous displays presented in the literature. In this work, we demonstrate how measuring the space of tactile sensations that a device can create can be employed to objectively compare different cutaneous displays for a specific task. We built four cutaneous displays and compared their ability to render sensations measured while pinching four disparate materials with a biomimetic tactile sensor. As predicted, quantitative tactile rendering errors varied significantly across devices and materials. The results of this comparison can be used to design better cutaneous displays for pinching palpation in robotic surgery. Furthermore, the proposed approach could provide a useful tool for evaluating novel cutaneous devices for various other tactile tasks, providing an objective framework to supplement and guide future human subject studies.

关键词： Servomotors Fabrics Surgery Haptic interfaces Couplings Robot sensing systems

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Reactive High-level Behavior Synthesis for an Atlas Humanoid Robot

Reactive High-level Behavior Synthesis for an Atlas Humanoid...

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IEEE International Conference on robotics and Automation

作者： Spyros Maniatopoulos Philipp Schillinger Vitchyr Pong David C. Conner Hadas Kress-Gazit Verifiable Robotics Research Group Sibley School of Mechanical and Aerospace Engineering Cornell University Ithaca NY 14853 USA Robert Bosch GmbH Corporate Research Department for Cognitive Systems 70442 Stuttgart Germany Capable Humanitarian Robotics & Intelligent Systems Lab Department of Physics Computer Science and Engineering Christopher Newport University Newport News VA 23606 USA

ISBN: (纸本)9781467380270

In this work, we take a step towards bridging the gap between the theory of formal synthesis and its application to real-world, complex, robotic systems. In particular, we present an end-to-end approach for the automatic generation of code that implements high-level robot behaviors in a verifiably correct manner, including reaction to the possible failures of low-level actions. We start with a description of the system defined a priori. Thus, a non-expert user need only specify a high-level task. We automatically construct a formal specification, in a fragment of Linear Temporal Logic (LTL), that encodes the system's capabilities and constraints, the task, and the desired reaction to low-level failures. We then synthesize a reactive mission plan that is guaranteed to satisfy the formal specification, i.e., achieve the task's goals or correctly react to failures. Lastly, we automatically generate a state machine that instantiates the synthesized symbolic plan in software. We showcase our approach using Team ViGIR's software and Atlas humanoid robot and present lab experiments, thus demonstrating the application of formal synthesis techniques to complex robotic systems. The proposed approach has been implemented and open-sourced as a collection of Robot Operating System (ROS) packages, which are adaptable to other systems.

关键词： Atlas Humanoid Robot formal synthesis ROS

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