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International Conference on Control, automation and Systems ( ICCAS)

作者： Kangwagye Samuel Kevin Haninger Sehoon Oh Department of Robotics and Mechatronics Engineering DGIST Daegu Korea Department of Automation Fraunhofer IPK Berlin Germany

Admittance control can improve robot performance and robustness in interactive tasks, but is still limited by stability when implemented on low-admittance hardware, such as position-controlled industrial robots. This limits applications which require the payload, reach, or positioning accuracy. While the idealized reference admittance behavior would be stable with any passive environment, real robots can be unstable, especially with high-stiffness environments. Thus, instability comes from deviation from the ideal reference model, due to either inner-loop bandwidth, time-delay, or other model error. To improve accuracy of rendered dynamics and reduce contact forces, a novel integrated disturbance observer-based admittance control method which is implemented on a position/velocity-controlled industrial robot in task space is proposed. The multisensor information is integrated to estimate and cancel the disturbances, outside the position/velocity control loop, all in task space. Experiments on the actual robot show that the proposed method is able to improve accuracy and reduce contact forces even at higher admittance.

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Increasing Admittance of Industrial Robots By Velocity Feedback Inner-Loop Shaping

Increasing Admittance of Industrial Robots By Velocity Feedb...

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IEEE International Conference on robotics and automation (ICRA)

作者： Kangwagye Samuel Kevin Haninger Sehoon Oh Department of Robotics and Mechatronics Engineering DGIST Daegu Korea Department of Automation Fraunhofer IPK Berlin Germany

Admittance and impedance controllers are often purely feedforward, using measured external force or motion, respectively, to generate a reference for an inner-loop controller. In this case, the range of dynamics which can be rendered is limited by the inner-loop, which causes, e.g. contact stability issues for low admittance industrial robots in stiff contact. When both position and force are measured, feedback control can be added to more flexibly reshape the rendered dynamics. This paper uses velocity feedback to increase the admittance of motion-controlled industrial robots in force control applications. This allows an industrial robot with a lower intrinsic admittance, which may be needed for payload, speed, or accuracy, to realize a higher admittance by control, allowing lighter manual guidance and safer contact. This is achieved by a modified disturbance observer, where an inverse dynamic model estimates external forces and amplifies them with positive feedback. This approach is compared with using positive velocity feedback with a shaping filter. Here, velocity reference calculated by the virtual admittance model is modified by the DOB (Dist-Add) or the positive velocity feedback (Vel-Add). When combined with an outer-loop admittance controller, these methods can render a higher admittance while maintaining contact stability compared to standard feedforward admittance control.

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Implementing Machine Learning Approaches to Identify Fabricated Profiles

Implementing Machine Learning Approaches to Identify Fabrica...

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2024 International Conference on Science, Technology, Engineering and Management, ICSTEM 2024

作者： Princess, George T. Kothai, G. Maria, Heartlin H. Rajadurai, Kayalvizhi Ajai, M.R. Department of ADS St. Joseph’s Institute of Technology Chennai India KPR Institute of Engineering and Technology Coimbatore India Department of ECE Rajalakshmi Engineering College Chennai India Dept.of Robotics and Automation Easwari Engineering College Chennai India Department of IT St. Joseph’s Institute of Technology Chennai India

ISBN: (纸本)9798350376913

The increase of fake news is a serious challenge in today’s digital world. During the period of COVID-19 there is a lot of fake news about the COVID-19 virus has been spreading around the world, and it has also been believed among a lot of people, so a lot of conspiracy theories about the virus-like has been intentionally spread by the laboratory and some news is about supporting the zoonotic origin of the virus, likely originating from bats. Some of the news is about False Cures and Treatments, There were various claims about supposed cures for COVID-19, such as drinking bleach, consuming certain herbs, or taking specific vitamins. Health experts and authorities consistently warned against such unproven remedies. Thus it is really necessary to differentiate the fake profile from the genuine profile. This fake news is mostly spread through fake profiles. So it is necessary to differentiate fake profiles from genuine users. This paper introduces a method for the detection of fake profiles using machine learning techniques. The proposed system uses a diversity of features, to distinguish genuine profiles from fake. A dataset is employed to train and evaluate the machine learning algorithm. This dataset includes labeled examples of both pseudo (fake) and real profiles. This paper aims to increase the efficiency in the detection of genuine news from fake. This proposed system mainly focuses on stopping the spread of malicious activities through out the internet, since these activities is mostly spread through the fake account on the social media platforms. © 2024 IEEE.

关键词： Social networking (online)

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A Comprehensive Study of Meta-Heuristic Algorithms for Job Shop Scheduling Optimization

A Comprehensive Study of Meta-Heuristic Algorithms for Job S...

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International Conference on Computing and Networking Technology (ICCNT)

作者： Rashmi Benni Suraj Ravindra Umarani Shashikumar Totad Department of MCA KLE Technological University Hubballi Karnataka India Department of Automation & Robotics KLE Technological University Hubballi Karnataka India

ISBN: (数字)9798350370249

ISBN: (纸本)9798350370270

Job scheduling is critical in job shop scheduling systems for manufacturing and production as it allocates various tasks (or jobs) to different machines to optimize job routing and *** order to find effective solutions for the NP-hard Job Shop Scheduling Problem (JSSP), sophisticated optimization approaches are needed. The current work enforces metaheuristic algorithms, which are capable of efficiently exploring the search space to discover near optimal solutions, in place of traditional algorithms, which suffer from complex constraints and dynamic adaptability, leading to problems with scalability, flexibility, and real-time adaptability to changing industrial conditions., where earlier algorithms fall short. The present research addresses Simulated Annealing (SA) for stochastic optimization algorithm(SOA), Artificial Bee Colony (ABC) for swarm intelligence algorithms(SIA), and Tabu Search (TS) for Human intelligence algorithms(HIA) while dealing with complex optimization problems. These metaheuristics are known to be efficient in dealing with job scheduling problems. The study examines several benchmark criteria focused on efficiency to minimize makespan, maximize utilization of resources, reduce machine idle time, and decrease production cost. The results demonstrate that the Artificial Bee Colony (ABC) outperforms Simulated Annealing and Tabu Search under various constraints, involving makespan, resource utilization, and other *** work enables researchers and practitioners with practical insights in utilizing optimization techniques for job scheduling on various machines, emphasizing the strengths of metaheuristic algorithms. Index Terms-Job shop scheduling problems(JSSP),metaheuristics, NP-Hard problems, optimization, swarm intelligence algorithms(SIA), artificial bee colony(ABC),stochastic optimization algorithms(SOA), simulated annealing(SA),human intelligence algorithms(HIA),tabu search(TS).

关键词： Job shop scheduling Heuristic algorithms Scalability Metaheuristics Simulated annealing Production Search problems Routing Space exploration Particle swarm optimization

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Neural Network-Based Gain Scheduled Position Control of a Pneumatic Artificial Muscle

Neural Network-Based Gain Scheduled Position Control of a Pn...

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2022 IEEE International Conference on Electronics, Computing and Communication Technologies, CONECCT 2022

作者： Majumder, Arunabha Sarkar, Debadrata Chakraborty, Sagnik Singh, Abhijit Roy, Shibendu Shekhar Arora, Aman Robotics and Automation Group Durgapur713209 India Ghaziabad201002 India National Institute of Technology Durgapur Department of Mechanical Engineering Durgapur713209 India

ISBN: (数字)9781665497817

ISBN: (纸本)9781665497817

The pneumatic artificial muscle (PAM) is considered one of the most preferred actuators in a variety of robotic and industrial applications. However, due to their inherent nonlinearities and hysteretic properties, they are difficult to model and the controller's design becomes more sophisticated. The position control problem of a PAM having different regions of operations at various axial loads is considered in this paper. A neural network-based gain scheduled proportional-integral-derivative (PID-NN) control scheme has been synthesized and compared to the classical linear PID controllers. The PID gains for different operating regions at different loads are determined using Zeigler Nichols sustained oscillation method. These sets of PID gains are then used to determine the neural network (NN) model that schedules them based on the region of operations and axial loads. To validate the efficacy of the proposed control scheme with regards to different step inputs and a sinusoidal input reference tracking performance, experimental studies are conducted, and comparisons have been made with the PID controller. The experimental results for position control confirm the efficacy of the proposed control strategy. © 2022 IEEE.

关键词： Three term control systems

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Neural Network System for Monitoring the Condition of Equipment and Predicting Malfunctions

Neural Network System for Monitoring the Condition of Equipm...

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IEEE NW Russia Young Researchers in Electrical and Electronic Engineering Conference (EIConRusNW)

作者： Nikolay V. Lazovskiy Student of the Department of Robotics and Automation of Production Systems St. Petersburg Electrotechnical University “LETI” Saint Petersburg Russia

The scientific article “Neural network system for monitoring equipment condition and fault prediction” explores an innovative approach to improving proactive maintenance of industrial equipment. The article presents a description of methods for continuous monitoring of the condition of machines and equipment. These methods allow you to collect a lot of data about the operation of equipment, and then use them to predict possible malfunctions. The neural network system contributes to more efficient maintenance management, reducing downtime and reducing repair costs.

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Implementing New Features in CIMON Robot for Providing Therapeutic Assistance to Astronauts in Situations of Extreme Stress and Depression 73

Implementing New Features in CIMON Robot for Providing Thera...

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73rd International Astronautical Congress, IAC 2022

作者： Das, Pallabi Arevalo, Francisco A.P. Spaceonova India Department of Automation and Robotics Engineering Faculty of Engineering Andrés Bello University 880 Antonio Varas Avenue Providencia Santiago Chile

Long-term space flights can exhibit negative effects on an astronaut's mind due to factors such as isolation, confinement, and microgravity. Prolonged separation from their home planet and family have an adverse effect on space crews' psychological and social well-being. Moreover, additional factors such as anxiety, anger, depression and stress can add to strain and behavioural changes. With these degrading psychological conditions, the increase in human factors leading to unintentional failures takes place. This study focuses on resolving such psychological conditions by implementing new features in the existing CIMON robot for improved efficiency and assistance towards astronauts with true results related to mood, motivation, and self-monitoring strategies. The objective is to improve CIMON in providing better assistance not only as an interactive, social and therapeutic assistance robot, but also to provide a personalised company and active assistance in day-to-day activities as a partner. Therefore, this paper includes detailed information about new features, such as the proposal of an intelligent system that can be used to understand the different needs of the crew members and integrate personalized assistance, questionnaires for mood tracking, heart rate data for recognizing emotional changes and also various tools and techniques to improve emotional balance through breathing techniques and humour. Additionally, existing front cameras can be used as a mode of behavioural data collection. The findings and data collected through these new implementations will help study the fluctuations of the emotional stages that occur in a human mind in outer space and will also help prevent potential human error throughout long-duration missions in the coming years. Copyright © 2022 by the International Astronautical Federation (IAF). All rights reserved.

关键词： Robots

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The Automated Control System of the Ferris Wheel Attraction

The Automated Control System of the Ferris Wheel Attraction

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International Russian automation Conference (RusAutoCon)

作者： P. V. Boslovyak A. A. Balashov Faculty of Robotics and Complex Automation Department of Vertical Transport Systems Bauman Moscow State Technical University Moscow Russia

ISBN: (数字)9798350349818

ISBN: (纸本)9798350349825

Special attention is paid to the program code, which reveals the logic of attraction control. Algorithms are analyzed, which ensure accurate synchronization of movement, effective load distribution on structural elements, as well as safety. The technical details of the program code implementation that supports the continuous and stable operation of the attraction are considered. The real loading of the Ferris Wheel attraction during its operation is considered. The issues of integrating modern technologies into safe procedures for the attraction operation to ensure maximum comfort and safety of visitors are also covered. The necessary elements that must be built into the design of the attraction to create an automated control system are considered.

关键词： automation Codes Wheels Control systems Stability analysis Software Safety Software reliability Synchronization Software development management

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Dynamic degradation patterns of porous polycaprolactone/β-tricalcium phosphate composites orchestrate macrophage responses and immunoregulatory bone regeneration

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Bioactive Materials 2023年第3期21卷 595-611页

作者： Hao Wu Xinghui Wei Yichao Liu Hui Dong Zhen Tang Ning Wang Shusen Bao Zhigang Wu Lei Shi Xiongfei Zheng Xiaokang Li Zheng Guo Department of Orthopaedics Tangdu HospitalFourth Military Medical UniversityXi’anShaanxi710038PR China Department of Orthopaedics Xijing HospitalFourth Military Medical UniversityXi’anShaanxi710032PR China Department of Orthopaedics The 63750 Hospital of People’s Liberation ArmyXi’anShaanxi710038PR China State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyangLiaoning110000PR China

Biodegradable polycaprolactone/β-tricalcium phosphate(PT)composites are desirable candidates for bone tissue engineering applications.A higherβ-tricalcium phosphate(TCP)ceramic content improves the mechanical,hydrophilic and osteogenic properties of PT scaffolds in *** a dynamic degradation reactor,we estab-lished a steady in vitro degradation model to investigate the changes in the physio-chemical and biological properties of PT scaffolds during ***46 and PT37 scaffolds underwent degradation more rapidly than PT scaffolds with lower TCP *** vivo studies revealed the rapid degradation of PT(PT46 and PT37)scaffolds disturbed macrophage responses and lead to bone healing *** co-culture assays and a subcutaneous implantation model indicated that the scaffold degradation process dynamically affected macro-phage responses,especially ***-Seq analysis indicated phagocytosis of the degradation products of PT37 scaffolds induces oxidative stress and inflammatory M1 polarization in ***,this study reveals that the dynamic patterns of biodegradation of degradable bone scaffolds highly orchestrate immune responses and thus determine the success of bone ***,through evaluation of the biological effects of biomaterials during the entire process of degradation on immune responses and bone regeneration are necessary in order to develop more promising biomaterials for bone regeneration.

关键词： Polycaprolactone/β-TCP Dynamic degradation Macrophage response Bone healing

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Shape and Pose Reconstruction of Robotic In-Hand Objects from a Single Depth Camera 1st

Shape and Pose Reconstruction of Robotic In-Hand Objects f...

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1st International Conference on Cognitive Computation and Systems, ICCCS 2022

作者： Jin, Xiaoxian Deng, Zhen Zhang, Zhenyu Lu, Liangjun Gao, Ge He, Bingwei Department of Mechanical Engineering and Automation Fuzhou University Fujian350108 China Maynooth International Engineering College Fuzhou University Fujian350108 China Mech-Mind Robotics Technologies Ltd. Beijing110000 China

ISBN: (纸本)9789819927883

This paper tackles the task of estimating the state of an object in a robotic hand. The state of the object includes its shape and posture, which is critically important for robotic in-hand manipulation. However, in-hand objects have self-occlusion, making it challenging to perceive their complete shape and posture. To address this challenge, this work proposed a point-clouds processing framework to achieve shape completion and pose estimation of the in-hand objects. Firstly, the input point cloud are segmented based region growing algorithm to obtain the points belonging to the target object. Then, we design a neural network with the auto-encoder structure to perform shape completion and 6D pose estimation of the in-hand object. The latent feature of the network is used to regress the 6D pose, i.e., position and orientation, of the object. The effectiveness of the proposed framework is evaluated by comparison experiment and real-word experiment. Experimental results show that our approach achieves significantly high accuracy in the shape completion and pose estimation of robotic in-hand objects. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： robotics

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