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检索条件"机构=Embedded System and Robotics Lab"

共 15 条记录，以下是1-10 订阅

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Design and Implementation of an On-Board system for a Spider Robot 1st

Design and Implementation of an On-Board System for a Spider...

引用

1st International Conference on Computing and Emerging Technologies, ICCET 2023

作者： Nauman, Nasir Mustafa, Hirra Ashraf, Abrar Khalil, Hisham Department of Computer Science Superior University Lahore Pakistan Department of Computer Science Sharif College of Engineering and Technology Lahore Lahore Pakistan Embedded System and Robotics Lab Department of Technology The University of Lahore Lahore Pakistan

ISBN: (纸本)9783031776199

This paper presents the design of a system onboard spider robot for rescue services. The spider has the six-leg walking pattern that contains the total number of 18 servo motors. In order to reduce the payload, the abdomen of the spider is made with RF4 printed circuit board (PCB). Whereas, the abdomen is also used as the main structure of the robot to attach the rest of the system. Wherein, two pulse-width modulations (PWM) module are controlled by Arduino Nano, the Bluetooth module is used for communication link and bulk converter for the power supply. The spider robot is operated with an in-house developed Android application. It has been observed that the spider robot has a stable walking response along with the multiple excise performance. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： Machine design

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Development of a Gateway for OpenADR-ECHONET Lite Protocols with Raspberry Pi Board

Development of a Gateway for OpenADR-ECHONET Lite Protocols ...

引用

2018 IEEE International Conference on Consumer Electronics - Asia, ICCE-Asia 2018

作者： Petchsom, Nuttasit Pora, Wanchalerm Department of Electrical Engineering Faculty of Engineering Chulalongkorn University Embedded System Robotics Lab Phayathai Road Bangkok10330 Thailand

ISBN: (纸本)9781538658079

In this paper, we develop an ECHONET-Lite gateway on a Raspberry Pi 3 board. It controls ECHONET-Lite devices which usually are electrical appliances in a household or small building. On the other side of the gateway, it acts as a VEN, which responses with a VTN using the OpenADR protocol. Simulation results show that VTN from the OpenADR Alliance can communicate with our VEN and the appliances such as air-conditioners are controlled accordingly with ECHONET-Lite commands. © 2018 IEEE.

关键词： Air conditioning

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Development of Smart Water Heater Complied with MQTT and ECHONET Lite Protocols

Development of Smart Water Heater Complied with MQTT and ECH...

引用

2018 IEEE International Conference on Consumer Electronics - Asia, ICCE-Asia 2018

作者： Tansangwom, Natapon Pora, Wanchalerm Department of Electrical Engineering Faculty of Engineering Chulalongkorn University Embedded System Robotics Lab Phayathai Road Bangkok10330 Thailand

ISBN: (纸本)9781538658079

This paper proposes a development of smart water heaters complied with both MQTT and ECHONET Lite protocols. The prototype of electric water heater may send temperature, power consumption, and its status to an ECHONET Lite controller for the purpose of Home Energy Management system (HEMS) or to a cloud platform using MQTT protocol so that it can be controlled from anywhere. © 2018 IEEE.

关键词： Water heaters

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Real-Time Slip Detection using Tactile Information 9

Real-Time Slip Detection using Tactile Information

引用

9th Edition of IEEE Region 10 Humanitarian Technology Conference, R10-HTC 2021

作者： Phukan, Nabasmita Kakoty, Nayan M. Sharma, Manoj Jorhat Engineering College Department of Instrumentation Engineering Jorhat Assam India Tezpur University Embedded System and Robotics Lab Assam India

ISBN: (纸本)9781665432405

Slip detection is of paramount importance for stabilized grasping of objects by a prosthetic hand. This paper presents a real-time slip detection framework using a data glove customized with force sensors. The data glove can acquire grasping force with a root mean square error (RMSE) of ±0.21 Newton. A finite state machine (FSA) algorithm was implemented for estimating the instances of slip occurrence as features. Support Vector Machine (SVM) with polynomial and radial basis function (RBF) kernel, k-nearest neighbor (k-NN), Naive Bayes (NB) and Random Forest algorithms were evaluated for detection of slip. An average accuracy of 94% and 98% was achieved using polynomial and RBF kernel SVM respectively. Further NB, k-NN and Random Forest algorithms resulted into an average accuracy of 96 %, 99 % and 100 % respectively. These experimental results show that the proposed framework is very useful for slip detection using tactile force information. It demonstrated robustness of FSA with machine learning algorithms for real-time slip detection and thereby holds promise for stabilized grasping by a prosthetic hand. © 2021 IEEE.

关键词： Support vector machines

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A biomimetic design of an artificial knee for lower limb prosthesis

A biomimetic design of an artificial knee for lower limb pro...

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2019 Conference on Advances in robotics, AIR 2019

作者： Gopinath, Gokul Krishnan, Harish Bandaru, Kushaal Mohan, Kanamarlapudi Sai Krishna Chittawadigi, Rajeevlochana G. Kakoty, Nayan M. Department of Mechanical Engineering Amrita School of Engineering Bengaluru Amrita Vishwa Vidyapeetham India Embedded System and Robotics Lab School of Engineering Tezpur University Tezpur Assam India

ISBN: (纸本)9781450366502

The focus of this paper is to design an artificial knee joint for lower limb prosthesis. The design is inspired by human knee anatomy replicating the tibio-femoral and patella-femoral joints for emulating the natural gait cycle. A set of ‘kine spring’, one of the prosthetic technologies used in knee-replacement surgeries in orthopaedic science, introduced into the proposed design that performs the tasks of the lateral collateral ligament and medial collateral ligament of the human knee. These allow limited abduction-adduction movement of the design and support the excess load on the artificial knee joint. The proposed design was modeled and simulated in Autodesk Inventor software for the joint torque and reaction forces. The springs were analyzed with various stiffness coefficients for its position retraction. The comparison of the simulation results with that of the human knee gait shows that the designed knee resembles the motions of natural knee. Further, stress analysis was performed to test the suitability of the design. These simulation results envisage that the reported design holds promise for development of an anthropomorphic artificial knee joint for lower limb prosthesis. © 2019 Association for Computing Machinery.

关键词： Knee prostheses

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A Reinforcement Learning Approach for Autonomous Control and Landing of a Quadrotor

A Reinforcement Learning Approach for Autonomous Control and...

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International Conference on Unmanned Aircraft systems (ICUAS)

作者： Madhu Babu Vankadari Kaushik Das Chinmay Shinde Swagat Kumar TCS Innovation Lab Robotics and Embedded System Group Bangalore India

This paper looks into the problem of precise autonomous landing of an Unmanned Aerial Vehicle (UAV) which is considered to be a difficult problem as one has to generate appropriate landing trajectories in presence of dynamic constraints, such as, sudden changes in wind velocities and directions, downwash effects, change in payload etc. The problem is further compounded due to uncertainties arising from inaccurate model information and noisy sensor readings. The problem is partially solved by proposing a Reinforcement Learning (RL) based controller that uses Least Square Policy Iteration (LSPI) to learn the optimal control policies required for generating these trajectories. The efficacy of the approach is demonstrated through both simulation and real-world experiments with actual Parrot AR drone 2.0. According to our study, this is the first time such experimental results have been presented using RL based controller for drone landing, making it a novel contribution in this field.

关键词： Drones Learning (artificial intelligence) Computational modeling Trajectory Uncertainty Training Mathematical model

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Low-Cost Hand Gesture Control for Swarm Quadrotor using Wearable Device in Indoor Environments

Low-Cost Hand Gesture Control for Swarm Quadrotor using Wear...

引用

IEEE International Symposium on Industrial Electronics (ISIE)

作者： Muhammad Luthfi Harwidjaya Aufaclav Zatu Kusuma Frisky Bilqis Hafsah Ababiel Adhiwirya Panyananda Suryadi Alfahri Rifki Fahrezi Bambang Nurcahyo Prastowo Department of Computer Science and Electronics Embedded System and Robotics Lab UGM Indonesia

ISBN: (数字)9798350394085

ISBN: (纸本)9798350394092

The control device for quadrotor aerial vehicles has garnered considerable attention in development endeavors aimed at enhancing user interface and interaction in indoor environments. Quadrotor control mechanisms rely on sophisticated remote transmitters, which often come at a substantial cost and necessitate a proficient skill set for operation to adjust in limited space. Consequently, an innovative paradigm to harness wearable technology as a means of controlling multi-drone systems, thereby streamlining user engagement. This novel approach harnesses 2.4 GHz radio frequency communication and leverages hand gestures as a conduit for motion inputs, which are subsequently processed via a machine learning algorithm augmented by a 9 axis Inertial Measurement Unit (IMU) sensor suite. The primary objective of this system pertains to the effective control of multi drones in the context of obstacle avoidance missions in indoor space. As such, this system embodies considerable promise as an alternative avenue for multi-drone system control, characterized by its intuitive nature and enhanced user accessibility.

关键词： Space missions Simulation Aerospace electronics User interfaces Control systems Indoor environment Wearable devices

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Repeatability measurement and kinematic identification of LBR iiwa 7 R800 using monocular camera

Repeatability measurement and kinematic identification of LB...

引用

2019 Conference on Advances in robotics, AIR 2019

作者： Jain, Aditya Singh, Hardeep Boby, Riby Abraham Saha, Subir Kumar Kumar, Swagat Roy, Sumantra Dutta Department of Mechanical Engineering Indian Institute of Technology Delhi New Delhi India TCS Innovation Lab Robotics and Embedded System Group Bangalore India Department of Electrical Engineering Indian Institute of Technology Delhi New Delhi India

ISBN: (纸本)9781450366502

In this paper, we have performed the kinematic identification and repeatability analysis of LBR iiwa 7 R800 (7 axis serial link robot) using monocular camera mounted at the end-effector of the robot. We started the process with the camera calibration process to identify intrinsic and extrinsic parameters of the camera used. In order to determine the pose of the end-effector using camera for repeatability analysis, we have used a 9x6 checkerboard for the repeatability experiment and for kinematic identification we have used ArUco markers. For repeatability analysis, we have used poses from ISO 9283 standards. Also we have used dispersion as a statistical means for quantifying the repeatability analysis. Subsequently, we have compared the results of kinematic identification with those from laser sensors and the theoretical CAD data sheet provided for the robot. Also in this paper, the algorithm has been introduced for measuring repeatability under force control mode and consequently, a single point repeatabilty has been evaluated. © 2019 Copyright held by the owner/author(s). Publication rights licensed to ACM.

关键词： Cameras

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Real-time SLAM using an RGB-D camera for mobile robots

Real-time SLAM using an RGB-D camera for mobile robots

引用

International Conference on Automatic Control (CACS)

作者： Chung Kuo Hao N. Michael Mayer Adaptive Embedded System And Robotics Lab. National Chung Cheng University Chia-Yi Taiwan

The ability of the localization and the mapping is the essential for the autonomous mobile robot. This is still a popular topic in the robotics community. However most of the SLAM approaches rely on laser scanners that are expensive. With the release of RGB-D cameras, a new class of Visual SLAM approaches became available. The major advantage of the RGB-D cameras is that they provide not only RGB but also the depth information which can estimate the full 6 degrees of freedom of the position in a low-cost way. In this paper, we propose a real-time system that uses an RGB-D camera as the sole sensor to localize the mobile robot and to build a 3D map simultaneously. We evaluated the performance of the proposed system through the datasets and the mobile robot platform. We also compared the proposed system to the FOVIS system. The results show that the proposed system can process at a rate of 25 fps on a CPU core of the command laptop without GPU support while the accuracy is better then 4 cm.

关键词： Mobile robots Feature extraction Simultaneous localization and mapping Cameras Visualization Three-dimensional displays

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Detection Of Fertilizer Quantity In Soil Using Hyperspectral Data

Detection Of Fertilizer Quantity In Soil Using Hyperspectral...

引用

Workshop on Hyperspectral Image and Signal Processing: Evolution in Remote Sensing, WHISPERS

作者： Jay Prakash Kumar Shailesh Deshpande Arun Inamdar Indian Institute of Technology Bombay Powai Mumbai Embedded System and Robotics Lab TCS research TRDDC Pune

ISBN: (纸本)9781728115825

Improvement in the crop yield in sustainable fashion requires application of the agro-chemicals in right quantity, right place, and at right time. Hyperspectral detection of agrochemicals provides an opportunity to develop innovative methods in this regard. The present study reports efforts taken in the same direction. We focus on fertilizer application and attempt to analyze the spectral signature of soil and fertilizer mixture. Further, we develop a correlation between the diagnostic depths and concertation of the fertilizer in the soil using multiple and simple regression.

关键词： Fertilizers Soil Absorption Principal component analysis Correlation Soil measurements Reflectivity

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