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4th IEEE Conference on Information and Communication Technology, CICT 2020

作者： Veeramani, Satheeshkumar Muthuswamy, Sreekumar Indian Institue of Information Technology Design and Manufacturing Kancheepuram Centre for AI IoT and Robotics Department of Mechanical Engineering Chennai600127 India

ISBN: (纸本)9780738124476

This paper presents the intelligent path planning model of the mobile base agent of SwarmItFIX robot with novel Swing and Dock (SaD) locomotion for material handling/transfer applications. In this work, the Markov Decision Process (MDP) path planning problem of SaD agent is solved using two Reinforcement Learning (RL) based dynamic programming methods viz Policy Iteration (PI), and Value Iteration (VI). Being tested with 16 different test cases, both the algorithms return the optimal sequence of steps with reduced makespan for the mobile agents to reach the goal positions positively. The results of both the methods were compared with each other in the section V, and found to be convincing. Hence the proposed control scheme is being implemented in the SwarmItFIX setup available at the University of Genova, Italy. © 2020 IEEE.

关键词： Dynamic programming

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Development of ROV Simulator based on Real Oceanographic Data

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IFAC-PapersOnLine 2023年第2期56卷 11590-11595页

作者： Ryusei KAMEWARI Yusuke FUJISHIMA Kuniaki KAWABATA Kenta SUZUKI Norimitsu SAKAGAMI Fumiaki TAKEMURA Satoru TAKAHASHI Graduate School of Science for Creative Emergence Kagawa University 2217-20 Hayashi-Machi Takamatsu Kagawa 761-0396 Japan Area of Mechanical Systems Engineering Faculty of Engineering and Design Kagawa University Kagawa Japan Sector of Fukushima Research and Development Japan Atomic Energy Agency Fukushima Japan Mechanical Engineering and Robotics Course Faculty of Advanced Science and Technology Ryukoku University Shiga Japan Department of Mechanical Systems Engineering National Institute of Technology Okinawa College Okinawa Japan

In recent years, demand for efficient oceanographic research for the development of marine resources has been increasing on a global scale. In general, research and operation training on underwater robotics in the ocean is very costly, and the climate and conditions of the ocean may make it impossible to conduct experiments. In this paper, we introduce an ocean simulator using real oceanographic data that can avoid these issues. First, we treat Choreonoid which is an integrated software for robots applied by National Institute of Advanced Industrial Science and Technology (AIST), as the basis of the simulator software. Furthermore, to demonstrate its feasibility in a more realistic ocean environment, we introduce the seabed data obtained from oceanographic research and a function to reproduce ocean currents on the simulator. In this paper, self-localization experiment is conducted to demonstrate the effectiveness of the simulator for oceanographic research.

关键词： underwater robot oceanographic research Ocean simulator self-localization estimation

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Kinematic-Model-Free Tip Position Control of Reconfigurable and Growing Soft Continuum Robots

Kinematic-Model-Free Tip Position Control of Reconfigurable ...

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IEEE International Conference on Soft robotics (RoboSoft)

作者： Ahmad AlAttar Ikhlas Ben Hmida Federico Renda Petar Kormushev Robot Intelligence Lab Dyson School of Design Engineering Imperial College London UK Robotics Lab Dubai Future Labs Dubai UAE Department of Mechanical Engineering Khalifa University of Science and Technology Abu Dhabi UAE Khalifa University Center for Autonomous Robotic Systems (KUCARS) Khalifa University Abu Dhabi UAE

Soft robots have many advantages over their rigid counterparts. These include their inherent compliance, lightweight and high adaptability to cluttered workspaces. Soft continuum robots, biologically inspired snake-like robots, are hyper-redundant and highly deformable. These robots can be challenging to control due to their complex kinematic and dynamic models. This paper presents a novel kinematic-model-free controller that uses a quasi-static assumption in order to control the tip-position of soft continuum robots with threadlike actuation while compensating for gravity simultaneously. The controller was tested on simulated continuum soft robots to demonstrate its ability to guide the tip while following a given trajectory. Novel kinematic-model-free control methods are introduced for soft robots' route and length control. The robustness of the controller is demonstrated with an actuator-failure test. The kinematic-model-free controller provides an adaptive control method for static, re-configuring, and growing soft continuum robots with threadlike actuation.

关键词： Actuators Adaptation models Three-dimensional displays Biological system modeling Position control Kinematics Soft robotics

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Research of Control Systems for Robotic Spatial Planning Platforms

Research of Control Systems for Robotic Spatial Planning Pla...

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International Conference on Modern Electrical and Energy Systems (MEES)

作者： Yurii Lebedenko Oksana Polyvoda Anatolii Derkachenko Yevhenii Modlo Svitlana Demishonkova Yurii Pylypenko Information and Computer Technologies Department Kyiv National University of Technologies and Design Kyiv Ukraine Automation Robotics and Mechatronics Department Kherson National Technical University Kherson Ukraine Technological Institute State University of Economics and Technology Kryvyi Rih Ukraine Department of Computer Engineering and Electromechanics Kyiv National University of Technologies and Design Kyiv Ukraine

ISBN: (纸本)9798350346848

The work is devoted to the study of the control system of the moving platform of the manipulative robot. The purpose of the work is the development and research of an instrumental complex of control, analysis and modeling of the operation of positioning platforms based on a spherical mechanism for use in automated industrial systems. The state of use of multi-link positioning platforms in various industries was analyzed and their classification was provided, the main areas of use were determined. A comparative analysis of mathematical methods for describing the kinematic properties of positioning platforms was performed, namely: the closed vector contour method, the coordinate transformation method. A model with an analytical apparatus for controlling the drive links of the spherical mechanism according to the given scenarios of the orientation of the positioning platform was developed, as well as a mathematical model of inverse kinematics was made, the working space was modeled, and the service angles were determined, and a calculation and real-life experiment was conducted. For the first time, the work uses the dependencies of analytical geometry to implement algorithms for controlling a spherical mechanism by inverse kinematics, and offers software and hardware that combines visual modeling tools with real-time data transmission to a controller that controls the drivers of a spherical mechanism by direct kinematics. The result of the field experiment is the testing of the proposed control algorithm on the manufactured manipulator mechanism on the most common movements of the platform of the spherical mechanism and its exit to the extreme positions in order to determine the working space and the values of the service angles. A system of remote control of the spherical mechanism at the hardware level with an interactive interface and tracking of the positioning target has been implemented.

关键词： Analytical models Target tracking Robot kinematics Software algorithms Kinematics Aerospace electronics Control systems

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Pushing the Boundaries of AI Chips: From Monolithic 3D CMOS to Cryogenic Computing

Pushing the Boundaries of AI Chips: From Monolithic 3D CMOS ...

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design, Automation and Test in Europe Conference and Exhibition

作者： Mahdi Benkhelifa Shivendra S. Parihar Anirban Kar Girish Pahwa Yogesh S. Chauhan Hussam Amrouch Chair of AI Processor Design Technical University of Munich TUM School of Computation Information and Technology Munich Institute of Robotics and Machine Intelligence Munich Germany Department of Electrical Engineering and Computer Sciences University of California Berkeley USA National Yang Ming Chiao Tung University International College of Semiconductor Technology Taiwan Indian Institute of Technology Kanpur India

ISBN: (数字)9783982674100

ISBN: (纸本)9798331534646

As CMOS scaling approaches its fundamental limits, the explosive rise of AI and LLMs has unveiled profound bottlenecks in computing architectures. This paper presents two groundbreaking paradigms poised to reshape the landscape of high-performance computing and meet the surging demands of AI-driven workloads. The first paradigm is 3D monolithic integration, a revolutionary approach that achieves unprecedented logic density through Complementary FETs (CFETs), where pMOS and nMOS transistors are vertically stacked, and a dramatic expansion of on-chip memory capacity by integrating memory layers atop logic transistors. The second paradigm leverages the transformative potential of operating chips at cryogenic temperatures where transistors exhibit enhanced performance, and parasitic resistances are substantially minimized. These advancements hold the promise of redefining computing efficiency and performance for the AI era.

关键词： Semiconductor device modeling Three-dimensional displays High performance computing Random access memory Cryogenics Silicon System-on-chip Logic Three-dimensional integrated circuits Optimization

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Jamming-Assisted Proactive Eavesdropping over Two Suspicious Communication Links

Jamming-Assisted Proactive Eavesdropping over Two Suspicious...

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作者： Zhang, Haiyang Duan, Lingjie Zhang, Rui Engineering Systems and Design Pillar Singapore University of Technology and Design Singapore Singapore Shenzhen Institute of Artificial Intelligence and Robotics for Society Shenzhen518040 China Department of Electrical and Computer Engineering National University of Singapore Singapore Singapore

This paper studies a new and challenging wireless surveillance problem where a legitimate monitor attempts to eavesdrop two suspicious communication links simultaneously. To facilitate concurrent eavesdropping, our multi-antenna legitimate monitor employs a proactive eavesdropping via jamming approach, by selectively jamming suspicious receivers to lower the transmission rates of the target links. In particular, we are interested in characterizing the achievable eavesdropping rate region for the minimum-mean-squared-error (MMSE) receiver case, by optimizing the legitimate monitor's jamming transmit covariance matrix subject to its power budget. As the monitor cannot hear more than what suspicious links transmit, the achievable eavesdropping rate region is essentially the intersection of the achievable rate region for the two suspicious links and that for the two eavesdropping links. The former region can be purposely altered by the monitor's jamming transmit covariance matrix, whereas the latter region is fixed when the MMSE receiver is employed. Therefore, we first analytically characterize the achievable rate region for the two suspicious links via optimizing the jamming transmit covariance matrix and then obtain the achievable eavesdropping rate region for the MMSE receiver case. In addition, we also consider the MMSE with successive interference cancellation (MMSE-SIC) receiver case and characterize the corresponding achievable eavesdropping rate region by jointly optimizing the time-sharing factor between different decoding orders. Furthermore, extensions to the imperfect channel state information case and the more than two suspicious links scenario are also examined. Finally, numerical results are provided to corroborate our analysis and evaluate the eavesdropping performance. © 2002-2012 IEEE.

关键词： Covariance matrix

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Soft Gripping: Specifying for Trustworthiness

Soft Gripping: Specifying for Trustworthiness

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IEEE International Conference on Soft robotics (RoboSoft)

作者： Dhaminda B. Abeywickrama Nguyen Hao Le Greg Chance Peter D. Winter Arianna Manzini Alix J. Partridge Jonathan Ives John Downer Graham Deacon Jonathan Rossiter Kerstin Eder Shane Windsor School of Computer Science University of Bristol UK Department of Computer Science The University of Manchester UK School of Engineering Mathematics and Technology University of Bristol UK School of Sociology Politics and International Studies University of Bristol UK Bristol Medical School (PHS). University of Bristol UK School of Electrical Electronic and Mechanical Engineering University of Bristol UK Robotics Research Team Ocado Technology UK School of Civil Aerospace and Design Engineering University of Bristol UK

Soft robotics is an emerging technology in which engineers create flexible devices for use in a variety of applications. In order to advance the wide adoption of soft robots, ensuring their trustworthiness is essential; if soft robots are not trusted, they will not be used to their full potential. In order to demonstrate trustworthiness, a specification needs to be formulated to define what is trustworthy. However, even for soft robotic grippers, which is one of the most mature areas in soft robotics, the soft robotics community has so far given very little attention to formulating specifications. In this work, we discuss the importance of developing specifications during development of soft robotic systems, and present an extensive example specification for a soft gripper for pick-and-place tasks for grocery items. The proposed specification covers both functional and non-functional requirements, such as reliability, safety, adaptability, predictability, ethics, and regulations. We also highlight the need to promote verifiability as a first-class objective in the design of a soft gripper.

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Joint design of Radar Receive Filter and Unimodular ISAC Waveform with Sidelobe Level Control

arXiv

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arXiv 2025年

作者： Zhang, Kecheng Liu, Ya-Feng Wang, Zhongbin Yuan, Weijie Keskin, Musa Furkan Wymeersch, Henk Xia, Shuqiang School of System Design and Intelligent Manufacturing The Shenzhen Key Laboratory of Robotics and Computer Vision Southern University of Science and Technology Shenzhen518055 China State Key Laboratory of Scientific and Engineering Computing Institute of Computational Mathematics and Scientific/Engineering Computing Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing100190 China Department of Electrical Engineering Chalmers University of Technology Gothenburg41296 Sweden ZTE Corporation The State Key Laboratory of Mobile Network and Mobile Multimedia Technology Shenzhen518055 China

Integrated sensing and communication (ISAC) has been considered a key feature of next-generation wireless networks. This paper investigates the joint design of the radar receive filter and dual-functional transmit waveform for the multiple-input multiple-output (MIMO) ISAC system. While optimizing the mean square error (MSE) of the radar receive spatial response and maximizing the achievable rate at the communication receiver, besides the constraints of full-power radar receiving filter and unimodular transmit sequence, we control the maximum range sidelobe level, which is often overlooked in existing ISAC waveform design literature, for better radar imaging performance. To solve the formulated optimization problem with convex and nonconvex constraints, we propose an inexact augmented Lagrangian method (ALM) algorithm. For each subproblem in the proposed inexact ALM algorithm, we custom-design a block successive upper-bound minimization (BSUM) scheme with closed-form solutions for all blocks of variable to enhance the computational efficiency. Convergence analysis shows that the proposed algorithm is guaranteed to provide a stationary and feasible solution. Extensive simulations are performed to investigate the impact of different system parameters on communication and radar imaging performance. Comparison with the existing works shows the superiority of the proposed algorithm. © 2025, CC BY-NC-SA.

关键词： Mean square error

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Segment-Based Wall Treatment Model for Heat Transfer Rate in Smoothed Particle Hydrodynamics

arXiv

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arXiv 2023年

作者： Park, Hyung-Jun Kim, Jaekwang Kim, Hyojin Platform Technology Research Center LG Chem 30 Magokjungang 10-ro Gangseo-gu Seoul07796 Korea Republic of Department of Mechanical and Design Engineering Hongik University Sejong30016 Korea Republic of Center for Healthcare Robotics Korea Institute of Science and Technology Seoul02792 Korea Republic of

In this study, a smoothed particle hydrodynamics (SPH) model that applies a segment-based boundary treatment is used to simulate natural convection. In a natural convection simulated using an SPH model, the wall boundary treatment is a major issue because accurate heat transfer from boundaries should be calculated. The boundary particle method, which models the boundary by placing multiple layers of particles on and behind the wall boundary, is the most widely used boundary treatment method. Although this method can impose accurate boundary conditions, boundary modeling for complex shapes is challenging and requires excessive computational costs depending on the boundary shape. In this study, we utilize a segment-based boundary treatment method to model the wall boundary and apply this method to the energy conservation equation for the wall heat transfer model. The proposed method solves the problems arising from the use of boundary particles and simultaneously provides accurate heat transfer calculation results for the wall. In various numerical examples, the proposed method is verified through a comparison with available experimental results, SPH results using the boundary particle method, and finite volume method (FVM) results. Copyright © 2023, The Authors. All rights reserved.

关键词： Natural convection

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Jigsaw-Based Benchmarking for Learning Robotic Manipulation

Jigsaw-Based Benchmarking for Learning Robotic Manipulation

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International Conference on Advanced robotics and Mechatronics (ICARM)

作者： Xiaobo Liu Fang Wan Sheng Ge Haokun Wang Haoran Sun Chaoyang Song Department of Mechanical and Energy Engineering Southern University of Science and Technology Shenzhen Guangdong China School of Design Southern University of Science and Technology Shenzhen Guangdong China Robotics & Autonomous Systems Thrust System Hub Hong Kong University of Science and Technology Hong Kong China Department of Computer Science The University of Hong Kong Hong Kong China

Benchmarking provides experimental evidence of the scientific baseline to enhance the progression of fundamental research, which is also applicable to robotics. In this paper, we propose a method to benchmark metrics of robotic manipulation, which addresses the spatial-temporal reasoning skills for robot learning with the jigsaw game. In particular, our approach exploits a simple set of jigsaw pieces by designing a structured protocol, which can be highly customizable according to a wide range of task specifications. Researchers can selectively adopt the proposed protocol to benchmark their research outputs, on a comparable scale in the functional, task, and system-level of details. The purpose is to provide a potential look-up table for learning-based robot manipulation, commonly available in other engineering disciplines, to facilitate the adoption of robotics through calculated, empirical, and systematic experimental evidence.

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