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检索条件"机构=Dept. Robotics and Mechatronics Engineering DGIST"

共 152 条记录，以下是31-40 订阅

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Advancing Pedestrian Attribute Classification: A Multi-Head Deep Learning Paradigm

Advancing Pedestrian Attribute Classification: A Multi-Head ...

引用

International Conference on Systems and Control (ICSC)

作者： Amanali Bekbolat Syuhei Kurokawa Muhammad Hassan Tanveer Md. Hazrat Ali Dept. of Mechanical and Aerospace Engineering SEDS Nazarbayev University Astana Kazakhstan Dept. of Mechanical Engineering Kyushu University Nishi-ku Fukuoka Japan Dept. of Robotics and Mechatronics Engineering Kennesaw State University Marietta GA USA

ISBN: (数字)9798331531812

ISBN: (纸本)9798331531829

Evaluating pedestrians is critical when designing new systems for more sophisticated video monitoring and innovative computer vision-based security. Although convolutional neural networks successfully learn different features from images, modeling the pedestrians to the details needed for such tasks remains an issue. In this paper, we present a novel approach based on the multi-head deep learning model to identify the pedestrian attributes, which has merits in this method. Thus, the proposed approach yields better accuracy, robustness, and efficiency in comparison to state-of-the-art methods on a novel database consisting of pedestrian images. We also incorporate further pre-processing steps whereby data augmentation, transfer learning, and model ensembling are additional methods that are used to improve the generality and applicability of the approach proposed in this study. This framework empirically achieves promising accuracy and outperforms existing approaches, proving the usefulness and robustness of our idea in terms of pedestrian attribute recognition.

关键词： Deep learning Pedestrians Accuracy Databases Computational modeling Transfer learning Robustness Data models Monitoring Image classification

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Action-Driven Tactile Object Exploration for Shape Reconstruction via Silver Nanowire Injected Sensors

Action-Driven Tactile Object Exploration for Shape Reconstru...

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IEEE/SICE International Symposium on System Integration

作者： Tleukhan Mussin Yermakhan Kassym Nurlan Kabdyshev Marat Kaikanov Zhanat Kappassov School Engineering and Digital Sciences Nazarbayev University Dept. of Robotics and Mechatronics Nazarbayev University Astana Kazakhstan Physics Department Nazarbayev University

We present an action-driven tactile exploration system using flexible touch sensors integrated into the fingertips of a robot hand. These sensors are made from foams injected with silver nanotubes that exhibit resistance changes under pressure to enable tactile perception. A microcontroller-based unit captures the resistance, with communication deployed using the Robot Operating System. Our approach is evaluated in tactile object exploration, where robotic finger movements estimate the coordinates of the points of contact upon collisions with an object. Through repeated grasps, a point cloud of the shape of an object is generated. Distinct finger movements, or affordances, are developed to collect new contact points to discriminate four different shapes, including cube, cylinder, pyramid, and sphere. We benchmark our approach on medium and large sets of objects.

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Design and Analysis of Knee Joint for Transfemoral Amputees

Design and Analysis of Knee Joint for Transfemoral Amputees

引用

2021 International Conference on Artificial Intelligence and mechatronics Systems, AIMS 2021

作者： Qadir, Muhammad Usman Khan, Muhammad Awais Hussain, Muzammal Ul Haq, Izhar Akhtar, Nizar Shah, Kmaran Advanced Robotics Automation Lab University of Engineering Technology Dept. of Mechatronics Engineering Peshawar Pakistan University of Engineering Technology Dept. of Mechatronics Engineering Peshawar Pakistan International Committee of Red Cross Sanaa Yemen

ISBN: (纸本)9781665424820

Lower limb amputation not only reduces mobility but also results in significant impairment in quality of life. Microprocessor based transfemoral knee joints have gained significant importance in the last decade to not only restore cosmetics but also provide functionality comparable to real limb. One of the key issues in such devices is selection of the suitable material for manufacturing of knee joint to minimize chances of failure under various loading conditions, while at the same time ensuring the weight of the knee is within acceptable limits. The purpose of this research is to design a microprocessor-based knee joint and perform various static structural analysis for different materials to optimize strength to weight ratio of the proposed design. Initially, a model for the proposed microprocessor-based knee was developed in SolidWorks followed by displacement study and computation of von-mises stresses in Ansys Workbench. Different materials used in the analysis include Plain Carbon Steel, Stainless Steel 304, Aluminum 6061. Based on the results Aluminum 6061 was identified as a suitable material for manufacturing knee joint as it not only reduces weight of the knee joint but also the deformation and stress values are within acceptable limits. The minimum and maximum Von Mises stress of Aluminum 6061 was 559.9 Pa and 71.37 MPa respectively with tensile strength of 313 MPa. © 2021 IEEE.

关键词： Manufacture

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Analysis of a Variable Stiffness Soft Actuator for Lower Back Pain Rehabilitation

Analysis of a Variable Stiffness Soft Actuator for Lower Bac...

引用

Artificial Intelligence, robotics and Control (AIRC), International Conference on

作者： Muhammed Gaafar Mahmoud Magdy Haitham El-Hussieny Ahmed El-Betar Mechanical Engineering Dept. Benha University Benha Egypt Mechanical Engineering Dept. The British University in Egypt Cairo Egypt Mechatronics and Robotics Engineering Dep. Egypt-Japan University of Science and Technology Alexandria Egypt

ISBN: (数字)9798350385076

ISBN: (纸本)9798350385083

This work presents an analysis of a soft actuator that has customizable stiffness, using the concept of chain mail jamming. The actuator has the ability to achieve adaptive stiffness in a wearable exosuit designed for spinal rehabilitation. It can reshape and exert variable force to aid in this process. The jamming phenomenon occurs when particles within a pliable enclosure become entangled due to the application of pressure along their borders. This is commonly used in the construction of mechanisms that have adjustable stiffness. Chain mail has a smaller packing fraction and offers greater tensile force in comparison to standard jamming media. This work introduces the application of chain mail jamming to soft wearable robotics. Finite Element Analysis confirms the benefits of customizable stiffness in a wearable exosuit for spinal rehabilitation.

关键词： Actuators Pain Shape Force Wearable robots Soft robotics Finite element analysis

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Design and Analysis of a Piezo-based Decoupled 3-DOF (XYθ) Micropositioner with Large Workspace

Design and Analysis of a Piezo-based Decoupled 3-DOF (XYθ) ...

引用

International Conference on Computer and Information Technology (ICCIT)

作者： Tilok Kumar Das Rifat Shahrear Bijan Shirinzadeh Dept. of Mechanical Engineering Chittagong University of Engineering and Technology (CUET) Chattogram Bangladesh Dept. of Mechanical and Aerospace Engineering Robotics and Mechatronics Research Laboratory Monash University Melbourne Australia

This paper presents a piezo-based compliant planer 3-DOF micropositioning stage for decoupled large workspace of the platform. Three piezoelectric actuators inside three double-stairs bridge-type mechanisms were used to drive the output platform in XYθ directions. A-3PPR type kinematic chain has been oriented parallelly in such a way to have a rotational symmetry about the centroid. Two different types of prismatic flexure joints with a passive rotary flexure joint were utilized in each kinematic chain. The proposed design focused on the redundancy of the cross-axis coupling effect from the other axes during directional movements. To evaluate the performance, Finite Element Analysis (FEA) has been conducted. The decoupled 3-DOF micropositioning stage is able to maintain the maximum parasitic motion of 0.05% and 1.95 % in the Y and θ directions of their respective directional working range. So, the effect of cross-coupling motion during directional movement can be presumed to be less in this case. Further, the FEA results show that the micropositioning stage has a large work envelope of ±271.1 μm × 235 μm × ± 6.0352 mrad. Moreover, the evaluation of the dynamic characteristics predicts that out-of-plane motion will be less likely to occur. Thus, the 3-DOF micropositioning stage can provide a unidirectional decoupled large range of motions.

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Independent Optimization for Robot Path Planning and Dynamic Obstacle Avoidance

Independent Optimization for Robot Path Planning and Dynamic...

引用

International Symposium on High Capacity Optical Networks and Enabling Technologies, HONET

作者： Terrance Hall Christopher Johnson Brighton Swales Charles Koduru M. Hassan Tanveer Dept. of Robotics and Mechatronics Engineering Kennesaw State University Marietta USA

ISBN: (纸本)9781665461986

Autonomous robots can be assigned with various tasks such as moving payload, analyzing terrain, and capturing data in an environment. For an Autonomous Mobile Robot (AMR) to execute such tasks the robot (Hussarion ROSbot) will require efficient algorithms and techniques to reference its current location. The robot is relative to surrounding obstacles in its predetermined path. The conducted research study explains the coordinated method used to successfully allow a robot to identify its position in the environment (Gazebo Simulation) and avoid obstructions with increasing velocity - contingent on nearby surroundings. The results show multiple robots individually tasked with distinct roles, while incorporating an obstacle avoidance function used to avoid both static and dynamic obstacles. Such results can be used in the applications of a high-capacity warehouse environments.

关键词： Three-dimensional displays Navigation Smart cities Robot kinematics Path planning Task analysis Collision avoidance

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RT-Swap: Addressing GPU Memory Bottlenecks for Real-Time Multi-DNN Inference

RT-Swap: Addressing GPU Memory Bottlenecks for Real-Time Mul...

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IEEE Symposium on Real-Time and Embedded Technology and Applications

作者： Woosung Kang Jinkyu Lee Youngmoon Lee Sangeun Oh Kilho Lee Hoon Sung Chwa Dept. of Electrical Engineering and Computer Science DGIST Republic of Korea Dept. of Computer Science and Engineering Sungkyunkwan University (SKKU) Republic of Korea Dept. of Robotics Hanyang University Republic of Korea Department of Software & Computer Engineering Ajou University Republic of Korea School of AI Convergence Soongsil University Republic of Korea

ISBN: (数字)9798350358414

ISBN: (纸本)9798350358421

The increasing complexity and memory demands of Deep Neural Networks (DNNs) for real-time systems pose new significant challenges, one of which is the GPU memory capacity bottleneck, where the limited physical memory inside GPUs impedes the deployment of sophisticated DNN models. This paper presents, to the best of our knowledge, the first study of addressing the GPU memory bottleneck issues, while simultaneously ensuring the timely inference of multiple DNN tasks. We propose RT-Swap, a real-time memory management framework, that enables transparent and efficient swap scheduling of memory objects, employing the relatively larger CPU memory to extend the available GPU memory capacity, without compromising timing guarantees. We have implemented RT-Swap on top of representative machine-learning frameworks, demonstrating its effectiveness in making significantly more DNN task sets schedulable at least 72% over existing approaches even when the task sets demand up to 96.2% more memory than the GPU's physical capacity.

关键词： Scheduling algorithms Memory management Graphics processing units Artificial neural networks Machine learning Drives Real-time systems

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Convolutional Neural Networks Model for Screening Tuberculosis Disease

Convolutional Neural Networks Model for Screening Tuberculos...

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2021 International Conference of Technology, Science and Administration, ICTSA 2021

作者： Alawi, Abdulfattah E. Ba Al-Basser, Amer Sallam, Amer Al-Sabaeei, Amr Al-Khateeb, Hesham Taiz University Software Engineering Dept. Taiz Yemen Taiz University Mechatronics and Robotics Engineering Dept. Taiz Yemen Taiz University Computer Networks and Distributed System Dept. Taiz Yemen

ISBN: (纸本)9781665428620

Tuberculosis disease has a big concern and it is spreading quickly across the world. The secret for managing the condition is an accurate diagnosis. Acid quick staining, conventional approaches such as tuberculin skin test (TST), yield findings are unreliable or require more time to detect. This paper presents an automated solution that uses chest radiographs to diagnose tuberculosis. Chest radiographic images are used for tuberculosis diagnosis. Tuberculosis in chest radiographs is difficult to investigate under the current system of cavity identification, ribs, and diaphragm removal. By using a CNN-based model, the lung area is separated to resolve the problems. The proposed technique can classify chest x-ray (CXR) images as Tuberculosis (TB) infected or not. We analyzed 3500 CXR cases and 3500 normal cases with exposure to tuberculosis. Then, we built and trained our own CNN and found that the features map or heat-map generated from this network performed a slightly better job. The implementation was done in Tensorflow and Keras library. An accuracy of 98.71%, a sensitivity of 98.86%, and a specificity of 98.57% were achieved. © 2021 IEEE.

关键词： Convolutional neural networks

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Robot-Assisted Navigation for Visually Impaired through Adaptive Impedance and Path Planning

Robot-Assisted Navigation for Visually Impaired through Adap...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Pietro Balatti Idil Ozdamar Doganay Sirintuna Luca Fortini Mattia Leonori Juan M. Gandarias Arash Ajoudani HRI2 Lab Istituto Italiano di Tecnologia Genoa Italy Dept. of Informatics Bioengineering Robotics and System Engineering University of Genoa Genoa Italy Systems Engineering and Automation Department Robotics and Mechatronics Lab University of Malaga Malaga Spain

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

This paper presents a framework to navigate visually impaired people through unfamiliar environments by means of a mobile manipulator. The Human-Robot system consists of three key components: a mobile base, a robotic arm, and the human subject who gets guided by the robotic arm via physically coupling their hand with the cobot’s end-effector. These components, receiving a goal from the user, traverse a collision-free set of waypoints in a coordinated manner, while avoiding static and dynamic obstacles through an obstacle avoidance unit and a novel human guidance planner. With this aim, we also present a legs tracking algorithm that utilizes 2D LiDAR sensors integrated into the mobile base to monitor the human pose. Additionally, we introduce an adaptive pulling planner responsible for guiding the individual back to the intended path if they veer off course. This is achieved by establishing a target arm end-effector position and dynamically adjusting the impedance parameters in real-time through a impedance tuning unit. To validate the framework we present a set of experiments both in laboratory settings with 12 healthy blindfolded subjects and a proof-of-concept demonstration in a real-world scenario.

关键词： Target tracking Navigation Robot kinematics End effectors Real-time systems Path planning Sensors

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Design and Analysis of a Novel Hybrid Grasping Mode Microgripper for High Precision Tasks

Design and Analysis of a Novel Hybrid Grasping Mode Microgri...

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IEEE International WIE Conference on Electrical and Computer engineering (WIECON-ECE)

作者： Tilok Kumar Das Rifat Shahrear Arpita Das Bijan Shirinzadeh Dept. of Mechanical Engineering Chittagong University of Engineering and Technology (CUET) Chattogram Bangladesh Dept. of Electrical and Computer Engineering Temple University Philadelphia Pennsylvania USA dept. of Mechanical and Aerospace Engineering Robotics and Mechatronics Research Laboratory Monash University Melbourne Australia

This paper represents a novel piezoelectric actuated flexure-based compliant microgripper which can perform both parallel and angular grasping regardless of the geometric surface of the objects. Two compliant bridge-type mechanisms along with two symmetrical microgripper jaws at the end of the two side arms are accommodated to construct the microgripper. The two side arms of the microgripper act as lever-type amplification mechanisms. Simultaneous actuation of two bridge-type mechanisms is needed to perform linearized parallel grasping. The symmetric design is adopted to maintain better stability. The Finite Element Analysis (FEA) has been performed to evaluate the performance of the microgripper. FEA shows that each jaw of the microgripper can achieve a displacement of 141.72 $\mu\mathrm{m}$ resulting in a total displacement of 283.44 $\mu \mathrm{m}$ with an amplification ratio of 10.7 and 0.715% parasitic motion in y-direction of the X -axis displacement during parallel grasping. Also, each jaw can achieve a displacement of 283.88 $\mu\mathrm{m}$ which results in a total displacement of 567.76 $\mu\mathrm{m}$ with an amplification ratio of 21.5 and 5.17 mrad angular rotation about the Z-axis during angular grasping. The FEA suggests that the microgripper is capable of both parallel and angular grasping/releasing tasks.

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