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The Journal of Machine Learning Research 2023年第1期24卷 12005-12013页

作者： Antonio Serrano-Muñoz Dimitrios Chrysostomou Simon Bøgh Nestor Arana-Arexolaleiba Department of Robotics and Automation Mondragon Unibertsitatea Arrasate Spain Department of Materials and Production Aalborg University Aalborg Denmark Department of Robotics and Automation Mondragon Unibertsitatea Arrasate Spain and Department of Materials and Production Aalborg University Aalborg Denmark

skrl is an open-source modular library for reinforcement learning written in Python and designed with a focus on readability, simplicity, and transparency of algorithm implementations. In addition to supporting environments that use the traditional interfaces from OpenAI Gym / Farama Gymnasium, DeepMind and others, it provides the facility to load, configure, and operate NVIDIA Isaac Gym, Isaac Orbit, and Omniverse Isaac Gym environments. Furthermore, it enables the simultaneous training of several agents with customizable scopes (subsets of environments among all available ones), which may or may not share resources, in the same run. The library's documentation can be found at https://*** and its source code is available on GitHub at https://***/Toni-SM/skrl.

关键词： reinforcement learning software open source Python PyTorch JAX

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An Intuitive Six-DOF Admittance Control Method for Human-Robot Collaboration

An Intuitive Six-DOF Admittance Control Method for Human-Rob...

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2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Meng, Yuming Jiang, Xin Brelen, Marten Erik Liu, Yun-Hui School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen China The Chinese University of Hong Kong Department of Ophthalmology and Visual Sciences Hong Kong Hong Kong T Stone Robotics Institute The Chinese University of Hong Kong Department of Mechanical and Automation Engineering Hong Kong Hong Kong

ISBN: (纸本)9781665481090

Admittance control is a well-established frame-work for enhancing human-robot collaboration. Although it is widely applied in translational tasks, the a six-degree-of-freedom (6-DOF) admittance control involving the use of a handle in both translational and rotational spaces is rarely addressed in the literature. This paper introduces 6-DOF admittance control method that utilizes a handle equipped with a force/torque sensor mounted on the robotic arm to intuitively farme the operation of the end effector. By transforming the force/torque applied to the handle into the operation of the end-effector while preserving the operator's intent, intuitive 6-DOF admittance control is achieved. To eliminate the operational risks associated with the uncertainty of the hand's contact point on the handle, uncertainty shielding is implemented, ensuring stable force/torque calculations. The effectiveness of the proposed 6-DOF admittance control method is validated through an assembly operation and a specific trajectory operation. © 2024 IEEE.

关键词： End effectors

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Adaptive Random Field Scanning System 14

Adaptive Random Field Scanning System

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14th International Conference on Advanced Computer Information Technologies, ACIT 2024

作者： Ivakhiv, Orest Nakonechnyi, Yurii Viter, Oleksandr Nakonechnyi, Markiyan Deyneka, Rostyslav Lviv Polytechnic National University Intelligent Mechatronics and Robotics Department Lviv Ukraine Lviv Polytechnic National University Information Security Department Lviv Ukraine Lviv Polytechnic National University Computarized Automation Systems Department Lviv Ukraine

There are possibilities of the random field characteristics study analyzed. There is the polynomial adaptive principle for system design used. The expression makes it possible to evaluate the main characteristics of t... 详细信息

ISBN: (纸本)9798350350036

关键词： adaptation compressing field random system

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Virtual Reality Image Dataset vCAT Helps Research on Semantic Segmentation Algorithms

Virtual Reality Image Dataset vCAT Helps Research on Semanti...

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2022 IEEE International Conference on Industrial Technology, ICIT 2022

作者： Li, Wenjie Jia, Wenchuan Fan, Yunxin Ma, Shugen Shanghai University School of Mechatronic Engineering and Automation Shanghai Key Laboratory of Intelligent Manufacturing and Robotics Shanghai China Ritsumeikan University Department of Robotics Japan

ISBN: (纸本)9781728119489

It is difficult to create sample datasets for semantic identification for animals with quick behavior traits, such as cats, and the cost of dataset gathering is greatly increased by high-speed motion capture cameras. This paper takes the common Chinese dragon-li as an example, carries on the solid modeling and the gait movement design in the digital 3D modeling software, then constructs the virtual image dataset vCAT through the image rendering technology. To account for changing elements like the body shape, and scene and camera perspective, the vCAT dataset has numerous data sub-categories. In addition, we accomplished the pixel-level segmentation test of synthetic images and actual scene images using deep learning on the vCAT dataset based on the attention mechanism. During the basis of training, the recognition accuracy rate can reach 84% when only 726 images with real scene modeling were used. In addition to providing a fully automated technical method for creating the original image of the virtual image dataset with its corresponding labels, we also thoroughly test and discuss elements like scenes, perspectives, textures, and lighting in the virtual dataset to serve as a foundation for its practical use in deep learning training. © 2022 IEEE.

关键词： Semantic Segmentation

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AMR Navigation Based on Dynamic Control Sampling Space

AMR Navigation Based on Dynamic Control Sampling Space

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2023 International Conference on Advances in Electronics, Control and Communication Systems, ICAECCS 2023

作者： Bouraine, Sara Hasani, Idriss Djoudi, Alla Gourine, Ahmed Kazed, Boualem Center for Development of Advanced Technologies Division Robotics and Industrial Automation Baba Hassen Algeria University BLIDA-1 Electronic and Automation Department Blida Algeria University of Science and Technology Houari Boumedienne Bab ezzouar Algeria

ISBN: (纸本)9781665463102

This paper addresses the problem of local navigation for autonomous mobile robots in partially observable dynamic environments. The main contribution of this work is the expansion of a sampling based approach to deal with the robot and environment dynamic constraints and integrate a safety distance to keep the robot away from collisions. The developed algorithm has been implemented on a robotic platform with a Robot Operating System based embedded architecture, where it has been tested and validated in an indoor environment. © 2023 IEEE.

关键词： Navigation

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Case Study on an Experimental Autonomous Vehicle and Evaluation of its System Reliability 4

Case Study on an Experimental Autonomous Vehicle and Evaluat...

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4th International Conference on Electrical, Computer, Communications and Mechatronics Engineering, ICECCME 2024

作者： Misaros, Marius Robier, Clement Stan, Ovidiu-Petru Enyedi, Szilard Stan, Anca Gota, Dan Ioan Miclea, Liviu Technical University of Cluj-Napoca Automation Department Cluj-Napoca Romania Cesi Ingineering School of Lyon Generalist Department Lyon France Technical University of Cluj Napoca Industrial Engineering Robotics and Production Management Romania

ISBN: (纸本)9798350391183

The ability of a vehicle to move without the input of a human operator marks its transition into the domain of the autonomous vehicle. This concept is gaining increasing popularity with the objective of enhancing navigational safety and facilitating the transmission and reception of information from other road users, thereby facilitating more efficient navigation. It was thus resolved to construct a partially autonomous vehicle that employs sensors and Li-Fi technology to receive and process external stimuli approaching the control side of the vehicle. The prototype in the proposed and analyzed case study is steered by means of a steering wheel that has been specially configured for this application and is connected by radio. Additionally, the case study examined the reliability of the vehicle, which is a crucial factor in determining the potential causes of malfunction or even complete failure of the prototype under test. The principal objective of the case study is to construct a prototype and conduct a reliability analysis of the system, examining each component to ascertain the strengths and weaknesses of the prototype under test. The findings of the study underscore the significance of assessing the hardware elements of the proposed autonomous vehicle, culminating in a favorable assessment of its reliability. © 2024 IEEE.

关键词： Reliability analysis

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Modeling and control scheme of the absorption machine of a solar cooling plant. ⁎

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IFAC-PapersOnLine 2024年第7期58卷 478-483页

作者： M.G. Satué M. Castilla F.R. Rubio M.G. Ortega Systems Engineering and Automation Department University of Seville 41092 Seville Spain Department of Computer Engineering Automation and Robotics CIESOL—ceiA3 University of Almería 04120 Almería Spain

The article presents the modeling of an absorption machine and a low level control system necessary to ultimately control the cooling power demanded by air conditioning systems. The modeling of the components has been implemented in Simulink in order to obtain a simulator of an absorption-machine-based cooling plant for controller design purposes. In the simulator, the proposed refrigeration system presents control loops to maintain the output variables of the flow rates and temperatures in established references. Finally, the results of the simulation are presented, which show the behavior of the absorption machine system and support the good performance of the proposed low level control system.

关键词： solar cooling absorption machine

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Framework for Robust Localization of UUVs and Mapping of Net Pens

arXiv

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arXiv 2024年

作者： Botta, David Ebner, Luca Studer, Andrej Reijgwart, Victor Siegwart, Roland Kelasidi, Eleni The Department of Mechanical and Process Engineering ETH Switzerland Tethys Robotics Switzerland The Aquaculture Robotics and Automation Group SINTEF Ocean

This paper presents a general framework integrating vision and acoustic sensor data to enhance localization and mapping in highly dynamic and complex underwater environments, with a particular focus on fish farming. The proposed pipeline is suited to obtain both the net-relative pose estimates of an Unmanned Underwater Vehicle (UUV) and the depth map of the net pen purely based on vision data. Furthermore, this paper presents a method to estimate the global pose of an UUV fusing the net-relative pose estimates with acoustic data. The pipeline proposed in this paper showcases results on datasets obtained from industrial-scale fish farms and successfully demonstrates that the vision-based TRU-Depth model, when provided with sparse depth priors from the FFT method and combined with the Wavemap method, can estimate both net-relative and global position of the UUV in real time and generate detailed 3D maps suitable for autonomous navigation and inspection purposes. © 2024, CC BY.

关键词： Fish

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Handling Qualities of a New Last-Mile Vehicle

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Journal of Transportation Technologies 2022年第1期12卷 137-158页

作者： Jordi D’hondt Dominiek Degryse Eric Demeester Peter Slaets Marc Juwet Department of Robotics Automation and Mechatronics KU Leuven Gent Belgium Department of Robotics Automation and Mechatronics KU Leuven Diepenbeek Belgium Department of Robotics Automation and Mechatronics KU Leuven Group T Leuven Belgium

This paper assesses the vehicle dynamics of a new cargo bike concept developed for euro pallet sized cargo. The cargo bike developed is for last-mile delivery. Different aspects of manoeuvrability and stability are examined using a series of manoeuvres based on tests from the automotive industry combined with bicycle industry regulations. These manoeuvres objectively evaluate and determine the handling capabilities of the cargo bike concept. Those tests can be compared using the results of the benchmark vehicles. The results conclude the new cargo bike has proper vehicle dynamics above the majority of benchmark vehicles but there is still room for improvement.

关键词： Cargo Bike Last-Mile Delivery Handling Qualities E-Commerce

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A Comparative Review on Design and Development of automation System for Grading of Onion

A Comparative Review on Design and Development of Automation...

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AIML-Applications for Engineering & Technology (ICAET), International Conference on

作者： Rahul Suryawanshi Jayesh Jagtap Dnyaneshwari Shegokar Siddhesh Jaju Chandan M. N Avinash M. Badadhe Department of Automation and Robotics JSPM's Rajarshi Shahu College of Engineering Pune India

ISBN: (数字)9798350355611

ISBN: (纸本)9798350355628

Grading of onion is important for the purpose of quality as well as market value, and it has, in the past, used traditional methods. Onion grading has thus been automated, which has been a focus of numerous researchers because of the rising need for quality produce. Thus, the findings highlighted in this work show the progress and current approaches and methodologies designed for the design and implementation of automation systems for grading onions. This work outlines various methods such as image processing, gas sensor technology, Near Infra-Red (NIR) spectroscopy, X-ray imaging, Laser Doppler Vibrometry (LDV), and some artificial intelligence approaches that have been used in improving onion sorting systems. In addition, it reveals the drawbacks of these technologies, such as the realization of high image processing, the availability of small data sets, and the stability of the sortation systems. Based on the findings of this review, some recommendations for future research are suggested, such as the integration of multi-sensor systems and the enhancement of the efficiency of the automated onion grading systems using different types of algorithms.

关键词： automation Reviews Image processing X-ray lasers Laser stability Doppler effect Gas lasers Artificial intelligence X-ray imaging Sorting

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