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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Yue Yang Fu Ali U. Kilic David J. Braun Department of Electrical and Computer Engineering SyBBURE Searle Undergraduate Research Program Vanderbilt University Advanced Robotics and Control Laboratory Advanced Robotics and Control Laboratory Vanderbilt University

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

This study introduces an innovative actuator that resembles a motor with a non-uniform permanent magnetic field. We have developed a prototype of the actuator by combining a standard motor, characterized by a uniform magnetic field, with a custom rotary magnetic spring exhibiting a non-uniform magnetic field. We have also presented a systematic computational approach to customize the magnetic field to minimize the energy consumption of the actuator when used for a user-defined oscillatory task. Experiments demonstrate that this optimized actuator significantly lowers energy consumption in a typical oscillatory task, such as pick-and-place or oscillatory limb motion during locomotion, compared to conventional motors. Our findings imply that incorporating task-optimized non-uniform permanent magnetic fields into conventional motors and direct-drive actuators could enhance the energy efficiency of robotic systems.

关键词： Actuators Energy consumption Limbs Systematics Prototypes Motors Minimization Magnetic fields Springs Standards

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A Novel Adaptive Actor-Critic Reinforcement Learning Controller for Constrained Robots 25

A Novel Adaptive Actor-Critic Reinforcement Learning Control...

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2022 IEEE International Conference on Automation/25th Congress of the Chilean Association of Automatic Control, ICA-ACCA 2022

作者： Pantoja-Garcia, Luis Garcia-Rodriguez, Rodolfo Parra-Vega, Vicente Robotics and Advanced Manufacturing Department Coah Saltillo25900 Mexico Universidad Politecnica Metropolitana de Hidalgo Aeronautical Engineering Program and Postgraduate Program in Aerospacial Engineering Tolcayuca43860 Mexico

ISBN: (纸本)9781665494083

Force-position control for robot manipulators has become a basic control regime for advanced applications such as interaction or cooperative tasks that imply contact to environment or external object. Thus, for many applications environmental information is evaluated continuously to generate adequate control actions to complete the task. There has been proposed techniques such as adaptive or intelligent control to cover some of these requirements, however it seems insufficient given the uncertainty involved when dealing with the environment. The emergence of deep learning has recently renewed interest in these tasks from the perspective of reinforcement learning algorithms. In this paper, an actor-critic scheme is proposed for simultaneous control of contact force and joint positions while moving along an environmental rigid surface. The critic stage evaluates information of the environment through an extended error manifold, trying to minimize the cumulative future rewards by a neural network. The actor stage, which receives environment information from the critic stage, is used to approximate inverse robot dynamics. Together with two continuous orthogonal sliding PID controllers gives rise to simultaneous tracking of position and force, with stability analysis. Numerical simulations show the performance of the proposed approach under several conditions. © 2022 IEEE.

关键词： Reinforcement learning

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Applying CNN Models with Stereo Camera for Object Detection and Distance Estimation in Automatic Micro Electric Vehicle (MEVi) 1

Applying CNN Models with Stereo Camera for Object Detection ...

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1st International Conference on Smart Mechatronics, ICSMech 2024

作者： Harimanto, Farrell Putra Hasanah, Nurul Pradana, Muhammad Khristamto Aditya Puji, Muhammad Nurul Binus Aso School of Engineering Bina Nusantara University Automotive & Robotics Program Computer Engineering Department Jakarta11480 Indonesia National Research and Innovation Agency Kst Samaun Samadikun Research Center for Smart Mechatronics Bandung40135 Indonesia

ISBN: (纸本)9798350368918

Technological advancements in the automotive industry are currently focused on autonomous driving systems or driver assistance systems. Depth estimation is also an important feature of the autonomous driving system as it can accurately estimate the distance to the detected objects. In current developments technologies such as stereo cameras are more popular for a more accurate depth estimation. The process for object detection consists of a combination of classification, localization, and segmentation. Deep convolutional neural networks are the basis of object detection. The methods for object detection are divided into two categories namely the Region Proposal-based method such as RCNN, and the Classification-based method which provides for methods such as YOLO and MobileNet. As a part of the research conducted by the National Research and Innovation Agency (BRIN) on Automatic Micro Electric Vehicles or MEVi, this paper analyzed and compared the performance of several CNN models for object detection as well as the performance of depth sensing using ZED stereo camera which was used for the autonomous system in MEVi. Among several models that had been compared, YOLO v8 model demonstrates high accuracy and moderate speed as indicated by its high mAP (0.50) and FPS (38.46). Based on depth sensing results, the accuracy of distance measurement also depended on brightness and environment with the average of accuracy achieved indoors was 98.2% and outdoors was 96.3%. © 2024 IEEE.

关键词： Automotive industry

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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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Design of a Knee-joint Exoskeleton to Reduce Misalignment in Both the Sagittal and Coronal Planes

Design of a Knee-joint Exoskeleton to Reduce Misalignment in...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Shubhranil Sengupta Jee-Hwan Ryu The Robotics Program KAIST Daejeon South Korea Department of Civil and Environmental Engineering KAIST Daejeon South Korea

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Many individuals experience knee dysfunctions attributed to the natural aging process and degenerative conditions. To aid individuals in regaining knee functionality, supportive exoskeletons were designed to be affixed to both the shin and thigh. However, a common issue encountered in knee exoskeletons involves the misalignment of joints between the exoskeleton and the user, resulting in discomfort and potential injuries. To reduce misalignment with the knee joint, it is essential for the thigh and shin harnesses of the exoskeleton to replicate the natural trajectories of the knee. However, achieving this is a complex task due to the shifting center of rotation of the knee in both the Sagittal and Coronal planes. Previous knee exoskeletons primarily focus on aligning the joint in the Sagittal plane, neglecting alignment in the other dimension due to inherent design constraints. For the first time, this study introduces a knee-joint exoskeleton capable of conforming to the natural movement of the knee in both the Sagittal and Coronal planes, with the aim of minimizing joint misalignment without the use of inherently soft materials. A spherical scissor linkage mechanism (SSLM) was utilized in conjunction with a customized guide rail to adjust the center of rotation of the SSLM. This configuration facilitates knee flexion/extension while accommodating the knee joint’s center of rotation in both the Sagittal and Coronal planes. The experimental outcomes demonstrated a substantial reduction in misalignment with the knee when compared to a commercial knee-support brace with a one-degree-of-freedom revolute joint.

关键词： Rails Couplings Exoskeletons Thigh Aging Trajectory Task analysis

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Development of a Collaborative Robotic Arm-based Bimanual Haptic Display

arXiv

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arXiv 2024年

作者： Lee, Joong-Ku Kim, DongHyeon Park, Seong-Su Lee, Jiye Ryu, Jee-Hwan Department of Civil and Environmental Engineering KAIST Daejeon Korea Republic of Robotics Program KAIST Daejeon Korea Republic of

This paper presents a bimanual haptic display based on collaborative robot arms. We address the limitations of existing robot arm-based haptic displays by optimizing the setup configuration and implementing inertia/friction compensation techniques. The optimized setup configuration maximizes workspace coverage, dexterity, and haptic feedback capability while ensuring collision safety. Inertia/friction compensation significantly improve transparency and reduce user fatigue, leading to a more seamless and transparent interaction. The effectiveness of our system is demonstrated in various applications, including bimanual bilateral teleoperation in both real and simulated environments. This research contributes to the advancement of haptic technology by presenting a practical and effective solution for creating high-performance bimanual haptic displays using collaborative robot arms. © 2024, CC BY.

关键词： Collaborative robots

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Design of an Automatic Price Tag System for Web-Based Retail Business

Design of an Automatic Price Tag System for Web-Based Retail...

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International Conference on Information Management and Technology (ICIMTech)

作者： Suryadiputra Liawatimena Devina Gunawan Automotive & Robotics Program Computer Engineering Department BINUS ASO School of Engineering Computer Science Deparment BINUS Graduate Program Master of Computer Science Bina Nusantara University Jakarta Indonesia Automotive & Robotics Program Computer Engineering Department BINUS ASO School of Engineering Bina Nusantara University Jakarta Indonesia

ISBN: (数字)9798350390025

ISBN: (纸本)9798350390032

Modern retail businesses face a significant challenge with the inefficiency of manually changing price labels on shelves. This manual process not only consumes valuable time and resources but also increases the likelihood of errors, leading to potential inaccuracies in pricing and a less streamlined shopping experience for customers. The proposed solution is the implementation of an Electronic Shelf Label (ESL) system that automatically displays the prices of goods on retail business shelves. This system connects a website (front end and back end) to e-paper via a Wi-Fi network and microcontroller, allowing retail business owners to update prices more easily. Additionally, buyers can search for desired items through the website. The results are the time to send data from the website to the e-paper, namely, to know the performance of the e-paper used. The average time required from 10 attempts to send data from the website to the e-paper is 20.935 seconds. Since the data is connected to the server and will be updated automatically, using this system will be more efficient than manually changing the price label, although it takes time to transfer data from the website to the e-paper.

关键词： Electric potential Microcontrollers Pricing Manuals Information management Servers Wireless fidelity Faces Business

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Multi-Target Tracking Considering the Uncertainty of Deep Learning-based Object Detection of Marine Radar Images

Multi-Target Tracking Considering the Uncertainty of Deep Le...

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International Conference on Ubiquitous Robots (UR)

作者： Eunghyun Kim Jonghwi Kim Jinwhan Kim Robotics Program KAIST Daejeon Korea The Department of Mechanical Engineering KAIST Daejeon Korea

In this paper, a multi-target tracking approach that integrates the extended Kalman filter and deep learning-based object detection in marine radar images is presented. The Gaussian YOLOv3 method is utilized for object detection, providing both position measurements and their uncertainties. The extended Kalman filter is employed to estimate the position, heading, and speed of each detected target considering the uncertainty values obtained from the object-detection process. The global nearest neighbor-based data association and a dual filter structure composed of a confirmed track and a reserved track are applied to enhance the robustness of the tracking process. The feasibility of the proposed algorithm is validated through a real-world marine radar dataset collected in a coastal environment.

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Consideration of Constructing a Weed Detection Method for an Agricultural Robot in Perilla Fields

Consideration of Constructing a Weed Detection Method for an...

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International Conference on Machine Learning and Cybernetics (ICMLC)

作者： Tatsuya Sugie Noboru Takagi Tatsuo Motoyoshi Kei Sawai Hiroyuki Masuta Graduate School of Intelligent Robotics Program Toyama Prefectural University Toyama Japan Department of Data Science Toyama Prefectural University Toyama Japan Department of Intelligent Robotics Toyama Prefectural University Toyama Japan

ISBN: (数字)9798331528041

ISBN: (纸本)9798331528058

In recent years, the number of farmers in Japan has been decreasing, and the automation of agriculture using robots, AI, and IoT, known as “smart agriculture,” is being promoted. In this context, Toyama city is promoting a project to build a robot for automatic weeding between plants in a perilla fields. In this research, we are in charge of the system part that detects weeding regions and informs the weeding mechanism. In the field, a wide variety of weeds form vegetation, and it is necessary to prevent food crops from being cut. Therefore, we detect crop regions and the rest of the area should be the weeding regions. In this study, we construct a system to detect crop regions by transfer learning the object detection model YOLO-v8, which is a convolutional neural network (CNN), and evaluate the system in terms of detection accuracy and processing speed.

关键词： Smart agriculture Accuracy Transfer learning Urban areas Crops Vegetation mapping Object detection Real-time systems Convolutional neural networks Object recognition

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Investigation of Robot's Eye Gaze Affecting Human Pedestrian Behavior by Robot in Virtual Space

Investigation of Robot's Eye Gaze Affecting Human Pedestrian...

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International Conference on Machine Learning and Cybernetics (ICMLC)

作者： RYO TAKATA YOTARO FUSE NOBORU TAKAGI BILGUUNMAA MYAGMARDULAM TATSUO MOTOYOSHI KEI SAWAI HIROYUKI MASUTA Graduate School of Intelligent Robotics Program Toyama Prefectural University Toyama Japan Department of Data Science Toyama Prefectural University Toyama Japan Department of Intelligent Robotics Toyama Prefectural University Toyama Japan

ISBN: (数字)9798331528041

ISBN: (纸本)9798331528058

We investigate the effects of robot's gaze on human behavior when a human and a robot pass each other in a virtual reality space (VR). Nonverbal communication, particularly eye contact, influences physical proximity between individuals in human-to-human interaction. Results of a study indicate that the robot's gaze affects the physical distance between a human and a robot in human-robot communication. Studies on robot's gaze tend to focus on experimental scenarios in which robots and humans communicate. However, robot's gaze in environments with interactions, such as crossing paths, has not been extensively investigated. Therefore, we hypothesize that the robot's gaze exhibits an influence on the physical distance between humans and robots during encounters. In our experiment, we compare three conditions: a robot with a rotating neck and gaze directed at the subject, a faceless robot with a rotating neck, and a faceless robot with a rotating neck and gaze directed at the subject. We analyze the subject's paths of movement and physical distance between the subjects and the robot. Results suggest that the hypothesis that “intimacy equilibrium model” works when humans and robot's cross paths in the VR environment is not supported.

关键词： Solid modeling Pedestrians Human-robot interaction Virtual reality Machine learning Neck Behavioral sciences Mobile robots Robots Cybernetics

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