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arXiv 2024年

作者： Wu, Zijian Schmidt, Adam Kazanzides, Peter Salcudean, Septimiu E. Robotics and Control Laboratory Department of Electrical and Computer Engineering The University of British Columbia VancouverBCV6T 1Z4 Canada Department of Computer Science Johns Hopkins University BaltimoreMD21218 United States

The Segment Anything Model (SAM) is a powerful vision foundation model that is revolutionizing the traditional paradigm of segmentation. Despite this, a reliance on prompting each frame and large computational cost limit its usage in robotically assisted surgery. Applications, such as augmented reality guidance, require little user intervention along with efficient inference to be usable clinically. In this study, we address these limitations by adopting lightweight SAM variants to meet the efficiency requirement and employing fine-tuning techniques to enhance their generalization in surgical scenes. Recent advancements in Tracking Any Point (TAP) have shown promising results in both accuracy and efficiency, particularly when points are occluded or leave the field of view. Inspired by this progress, we present a novel framework that combines an online point tracker with a lightweight SAM model that is fine-tuned for surgical instrument segmentation. Sparse points within the region of interest are tracked and used to prompt SAM throughout the video sequence, providing temporal consistency. The quantitative results surpass the state-of-the-art semi-supervised video object segmentation method XMem on the EndoVis 2015 dataset with 84.8 IoU and 91.0 Dice. Our method achieves promising performance that is comparable to XMem and transformer-based fully supervised segmentation methods on ex vivo UCL dVRK and in vivo CholecSeg8k datasets. In addition, the proposed method shows promising zero-shot generalization ability on the label-free STIR dataset. In terms of efficiency, we tested our method on a single GeForce RTX 4060/4090 GPU respectively, achieving an over 25/90 FPS inference speed. Code is available at: https://***/wuzijian1997/SIS-PT-SAM © 2024, CC BY.

关键词： Surgical equipment

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Design of a Parallel Elastic Actuator with a Continuously-Adjustable Equilibrium Position

arXiv

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arXiv 2022年

作者： Chatziandreou, Evangelos Mathews, Chase W. Braun, David J. Advanced Robotics and Control Laboratory Center for Rehabilitation Engineering and Assistive Technology Department of Mechanical Engineering Vanderbilt University NashvilleTN37235 United States

In this paper, we present an adjustable-equilibrium parallel elastic actuator (AE-PEA). The actuator consists of a motor, an equilibrium adjusting mechanism, and a spring arranged into a cylindrical geometry, similar to a motor-gearbox assembly. The novel component of the actuator is the equilibrium adjusting mechanism which (i) does not require external energy to maintain the equilibrium position of the actuator even if the spring is deformed and (ii) enables equilibrium position control with low energy cost by rotating the spring while keeping it undeformed. Adjustable equilibrium parallel elastic actuators resolve the main limitation of parallel elastic actuators (PEAs) by enabling energy-efficient operation at different equilibrium positions, instead of being limited to energy-efficient operation at a single equilibrium position. We foresee the use of AE-PEAs in industrial robots, mobile robots, exoskeletons, and prostheses, where efficient oscillatory motion and gravity compensation at different positions are required. © 2022, CC BY-NC-ND.

关键词： Actuators

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Extension Principle and controller Design for Nonlinear Systems

Extension Principle and Controller Design for Nonlinear Syst...

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European control Conference (ECC)

作者： Altuğ İftar Farshad Khorrami Department of Electrical and Electronics Engineering Eskişehir Technical University Eskişehir Turkey Department of Electrical and Computer Engineering Control/Robotics Research Laboratory (CRRL) New York University 5 Metrotech Center Brooklyn NY U.S.A.

We generalize the principle of extension and controller design using this principle for nonlinear systems. We first define principles of inclusion and extension for nonlinear time-invariant (NLTI) systems. Thereafter, we present the necessary and sufficient conditions for a system to be an extension of another and show that when the expanded system is an extension of the original system, any controller designed for the expanded system can be contracted for implementation on the original system. Subsequently, we demonstrate how an overlappingly decomposed NLTI system can be expanded so that the expanded system is an extension of the original system, how decentralized controllers can be designed for the expanded system, and how these controllers can be contracted for implementation on the original system. An example is also provided to illustrate the extension and contraction concepts and show controller design using the proposed principles.

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Hybrid Unmanned Aerial Underwater Vehicles: A Survey on Concepts and Technologies

SSRN

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SSRN 2023年

作者： Pinheiro, Pedro Miranda Dias de Oliveira Evald, Paulo Jefferson Grando, Ricardo Bedin Neto, Armando Alves Jorge Drews, Paulo Lilles Intelligent Robotics and Automation Group Federal University of Rio Grande Rio Grande Brazil Intelligent Systems and Control Group Federal University of Pelotas Pelotas Brazil Department of Robotics Technological University of Uruguay Rivera Uruguay Department of Electronic Engineering Federal University of Minas Gerais Belo Horizonte Brazil

Hybrid Unmanned Aerial Underwater Vehicle (HUAUV) is a class of multi-modal mobile robots characterized by the ability to fly and navigate underwater, as well as being able to perform the transition between both environments. The development of modern vehicles of this class is driven by the enhancement of mobile robotic systems, sensors, and control techniques. However, the class definition and hierarchy for these vehicles are still vague and undefined. Therefore, this work presents a survey of concepts and prototypes of HUAUVs, developed from 2010 until 2022. The search for works was performed in relevant international conference proceedings and journals. We present a classification of state-of-the-art concepts and prototypes of HUAUVs based on specific main features of vehicles, allowing the identification of trends in HUAUV development, and an actuator-based taxonomy for HUAUVs. Hence, our categorization provides a more cohesive background for future works, as well as a better understanding of the main features of hybrid vehicles. Finally, a pragmatic approach to future applications is provided, given the current trends in Mobile robotics, focusing on unmanned aerial/underwater vehicles. © 2023, The Authors. All rights reserved.

关键词： Antennas

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An Isomerism Learning Model to Solve Time-Varying Problems Through Intelligent Collaboration

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IEEE/CAA Journal of Automatica Sinica 2023年第8期10卷 1772-1774页

作者： Zhihao Hao Guancheng Wang Bob Zhang Leyuan Fang Haisheng Li the Department of Computer and Information Science University of MacaoMacao 999078China the School of Data Science the Chinese University of Hong KongShenzhen 518172 Shenzhen Institute of Artificial Intelligence and Robotics for Society Shenzhen 518000 China Industrial Control Systems Cyber Emergency Response Team Beijing 100040China IEEE the College of Electrical and Information Engineering Hunan UniversityChangsha 410082 the Peng Cheng Laboratory Shenzhen 518000China the Beijing Key Laboratory of Big Data Technology for Food Safety Beijing Technology and Business UniversityBeijing 100048 the School of Computer Science and Engineering Beijing Technology and Business UniversityBeijing 100048China

Dear Editor,This letter deals with a solution for time-varying problems using an intelligent computational(IC)algorithm driven by a novel decentralized machine learning approach called isomerism *** order to meet the challenges of the model’s privacy and security brought by traditional centralized learning models,a private permissioned blockchain is utilized to decentralize the model in order to achieve an effective coordination,thereby ensuring the credibility of the overall model without exposing the specific parameters and solution process.

关键词： ism thereby letter

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Differential Flatness and Manipulation of Elasto-flexible Cables Carried by Aerial Robots in a Possibly Viscous Environment

Differential Flatness and Manipulation of Elasto-flexible Ca...

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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Chiara Gabellieri Antonio Franchi Robotics and Mechatronics Department Electrical Engineering Mathematics and Computer Science (EEMCS) Faculty University of Twente Enschede The Netherlands Department of Computer Control and Management Engineering Sapienza University of Rome Rome Italy LAAS-CNRS Université de Toulouse Toulouse France

This work considers a system composed of two quadrotors manipulating a deformable and extensible cable. The dynamic model is presented, and it is based on a discrete representation of the cable, which is decomposed into lumped masses interconnected by linear springs through passive spherical joints. A set of flat outputs is found for the system. The flatness is exploited to design a method to manipulate the cable, which is then tested through numerical simulations.

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Techno-Economic Assessment of a Large-Scale Electrolysis Plant in Hydrogen and Ancillary Service Markets

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IFAC-PapersOnLine 2024年第13期58卷 140-145页

作者： Yassine Ennassiri Giulio Ferro Michela Robba Gilney Damm Edemar O. Prado DIBRIS—Department of Informatics Bioengineering Robotics and Systems Engineering University of Genova 16145 Italy IMSE Laboratory Gustave Eiffel University Marne-la-Vallée France Power Electronics and Control Research Group GEPOC Federal University of Santa Maria SantaMaria 97105-900 RS Brazil

Hydrogen electrolysis systems have seen considerable interest from energy communities as a potential solution for shifting from fossil-based energy resources to clean energy alternatives. The system consists of transforming electricity into hydrogen via water electrolysis. As it is expected to have a large-scale connection with the grid to compensate the fluctuation of renewables, it is important to understand the system’s technical and economic feasibility. Therefore, this work aims to provide a high-level techno-economic assessment for the participation of a large-scale electrolysis plant in hydrogen and grid ancillary service markets. The plant generates revenue from two sources: hydrogen and frequency regulation. Based on market prices of electricity and hydrogen, a linear programming (LP) optimization has shown that a 50MW electrolysis plant can generate a 33% increase in profit if the plant includes the grid support market in the business model. Additionally, simulations under unstable grid frequency have shown high reactivity of the system to maintain grid stability.

关键词： optimization hydrogen production frequency regulation linear programming

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Region-Aware Grasping for Stacked Workpieces: A 6D-Wise Label Self-Generation Method and Robust Evaluation Strategy

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IEEE Transactions on Automation Science and engineering 2025年 22卷 16899-16912页

作者： Xungao Zhong Tao Gong Junzhi Yu Jiaguo Luo Chengxian Zhou Xunyu Zhong Qiang Liu School of Electrical Engineering and Automation Xiamen University of Technology Xiamen China Xiamen Key Laboratory of Frontier Electric Power Equipment and Intelligent Control Xiamen China Department of Advanced Manufacturing and Robotics College of Engineering State Key Laboratory for Turbulence and Complex Systems Peking University Beijing China School of Aerospace Engineering Xiamen University Xiamen China School of Engineering Mathematics and Technology University of Bristol Bristol U.K. Department of Psychiatry University of Oxford Oxford U.K.

The high-quality datasets and generalized network model combined with robust evaluation strategies serve as a significant benchmark for developing new policies for industrial bin-picking. In this paper, we propose the concept of region-aware grasping, a sim2real cutting-edge system to generate and evaluate 6D poses for robots to pick up novel workpieces from stacked environments. It consists of Region-Aware-Dataset, a large-scale synthetic point cloud grasp dataset; and Semantic-Graspnet, a 6D-wise affordance policy that predicts full 6D grasp pose for stacked workpieces. The introduced Semantic-Graspnet transforms the 6D pose prediction problem into semantic categorization via point cloud encoding and decoding. Meanwhile, we propose a robust evaluation strategy based on pose evaluation and mechanical grasping evaluation, which enhances the robot’s grasping success rate and sorting efficiency. In real industrial tasks, the robot achieves a grasp completion rate of 91.3% in cluttered scenes and 89.2% in densely stacked scenes, demonstrating state-of-the-art results in robotic picking-and-placing applications. Note to Practitioners—This work is inspired by the robotic universal AI technique, which holds an indispensable position in industrial as bin-picking tasks. Leveraging this technology, the robot can proficiently perform picking-and-placing for diverse workpieces. The prior robot grasping policies primarily centered on maximizing the optimization of grasp detection to ensure successful grasping. Nevertheless, limitations still exist regarding efficient datasets, generalized network models, and robust evaluation strategies. Therefore, in order to effectively curtail the development cycle of robot picking-and-placing applications, this paper puts forward a novel region-aware grasping policy for stacked workpieces. We have investigated an autonomous grasp label annotation method and constructed a large-scale synthetic point cloud grasp dataset. Subsequently, a seman

关键词： Grasping Point cloud compression Training Service robots Affordances Collision avoidance Semantics Predictive models Electronic mail Deep learning

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A Gradient Neural Network for online Solving the Time-varying Inverse Kinematics Problem of Four-wheel Mobile Robotic Arm 10

A Gradient Neural Network for online Solving the Time-varyin...

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10th IEEE Data Driven control and Learning Systems Conference, DDCLS 2021

作者： Zhou, Yanpeng Liu, Keping Li, Chunxu Wang, Gang Liu, Yongbai Sun, Zhongbo Changchun University of Technology Department of Control Engineering Changchun130012 China University of Plymouth Centre for Robotics and Neural Systems PlymouthPL48AA United Kingdom

ISBN: (纸本)9781665424233

In this paper, a gradient neural network (GNN) is presented, analyzed and discussed to solve the time-varying inverse kinematics solution of the four-wheel mobile robotic arm, which can approximate the time varying inverse kinematics solution. A monolithic kinematics model of mobile robotic arm is established, and the inverse kinematics solution can synchronously coordinate the control of the mobile platform and the robotic arm to accomplish the task of the end-executor. Besides, the computer numerical results are provided to attest validity and high exactitude of GNN model in settling the time-varying inverse kinematics of a four-wheel mobile robotic arm. © 2021 IEEE.

关键词： Robotic arms

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Design and control of an Omnidirectional Aerial Robot with a Miniaturized Haptic Joystick for Physical Interaction

Design and Control of an Omnidirectional Aerial Robot with a...

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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Julien Mellet Andrea Berra Salvatore Marcellini Miguel Ángel Trujillo Soto Guillermo Heredia Fabio Ruggiero Vincenzo Lippiello Department of Electrical Engineering and Information Technology PRISMA Lab University of Naples Federico II Naples Italy CATEC Advanced Center for Aerospace Technologies Seville Spain Leonardo Innovation Labs Rome Italy GRVC Robotics Vision and Control Group School of Engineering University of Seville Seville Spain

ISBN: (数字)9798331513283

ISBN: (纸本)9798331513290

Fully actuated aerial robots have shown superiority in Aerial Physical Interaction (APhI) in recent years. This work presents a minimal setup for aerial telemanipulation, improving accessibility to such technologies. The design and control of a 6-Degrees of Freedom (DoF) joystick with 4-DoF haptic feedback are detailed. It is the first haptic device with standard Remote controller (RC) form factor for APhI. Miniaturizing the haptic device adds sense of touch to RC, enhancing physical awareness. The goal is to provide operators with an extra sense-beyond vision and sound-to support safe APhI. To the best of the authors' knowledge, this is the first 6- DoF aerial teleoperation system capable of decoupling single-axis input commands. The proposed robot hardware design reduces number of components, aiming for easier maintenance and improved force and thrust-to-weight ratios. Open-source physics-based simulation and successful early flight tests high-light the tool's promise for future APhI applications.

关键词： Translation Shape Autonomous aerial vehicles Robot sensing systems Hardware Stability analysis Software Haptic interfaces Maintenance Standards

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