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IEEE International Conference on Automation science and Engineering (CASE)

作者： Jan Blaha Jan Mikula Tomáš Vintr Jiří Janota Jiří Ulrich Tomáš Rouček Fatemeh Rekabi-Bana Laurenz Alexander Fedotoff Martin Stefanec Thomas Schmickl Farshad Arvin Miroslav Kulich Tomáš Krajník Faculty of Electrical Engineering Czech Technical University in Prague Czechia Czech Institute of Informatics Robotics and Cybernetics Czech Technical University in Prague Czechia Computer Science Department Durham University United Kingdom Department of Zoology Artificial Life Lab Institute of Biology University of Graz Graz Austria

ISBN: (数字)9798350358513

ISBN: (纸本)9798350358520

Despite the importance of honeybees as pollinators for the entire ecosystem and their recent decline threatening agricultural production, the dynamics of the living colony are not well understood. In our EU H2020 RoboRoyale project, we aim to support the pollination activity of the honeybees through robots interacting with the core element of the honeybee colony, the honeybee queen. In order to achieve that, we need to understand how the honeybee queen behaves and interacts with the surrounding worker bees. To gather the necessary data, we observe the queen with a moving camera, and occasionally, we instruct the system to perform selective observations elsewhere. In this paper, we deal with the problem of searching for the honeybee queen inside a living colony. We demonstrate that combining spatio-temporal models of queen presence with efficient search methods significantly decreases the time required to find her. This will minimize the chance of missing interesting data on the infrequent behaviors or queen-worker interactions, leading to a better understanding of the queen’s behavior over time. Moreover, a faster search for the queen allows the robot to leave her more frequently and gather more data in other areas of the honeybee colony.

关键词： computer aided software engineering Automation Biological system modeling Ecosystems Robot vision systems Production Search problems Cameras Path planning Robots

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Dual-loop joint torque control based on lower limb exoskeleton robots 18

Dual-loop joint torque control based on lower limb exoskelet...

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18th IEEE Conference on Industrial Electronics and Applications, ICIEA 2023

作者： Zhang, Meitong Zhang, Chi Yi, Feng Shu, Xindong Yuan, Ting Li, Zheng Hebei University of Science and Technology Ningbo Institute of Materials Technology and Engineering Chinese Academy of Sciences School of Electrical Engineering Ningbo315201 China Chinese Academy of Sciences Zhejiang Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology Ningbo Institute of Materials Technology and Engineering Ningbo315201 China University of Chinese Academy of Sciences Ningbo Institute of Materials Technology and Engineering Chinese Academy of Sciences College of Materials Science and Opto-Electronic Technology Ningbo315201 China Ningbo University Ningbo Institute of Materials Technology and Engineering Chinese Academy of Science Faculty of Electrical Engineering and Computer Science Ningbo315201 China Hebei University of Science and Technology School of Electrical Engineering Shijiazhuang050000 China

ISBN: (纸本)9798350312201

In the framework of impedance control, the torque trajectory of the joint is unpredictable due to nonlinear factors during the movement of the exoskeleton. To precisely predict command torque trajectory and compensate for the disturbances, we propose a dual-loop joint torque control system including predictive feedforward and a disturbance observer. A predictive feedforward module is adopted as the control outer loop based on the feedback control, and a general compensation module is used to compensate for the prediction error. The inner loop adopts a disturbance observer to estimate and compensate for low-frequency external disturbances. The simulation, which utilizes the actual torque of hip and knee joints as a reference, is conducted to prove the effectiveness of the proposed method. The comparison results demonstrate that the proposed control method can realize high bandwidth for exoskeleton joint control. © 2023 IEEE.

关键词： Torque control

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Toward Perpetual Occlusion-Aware Observation of Comb States in Living Honeybee Colonies

Toward Perpetual Occlusion-Aware Observation of Comb States ...

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

作者： Jan Blaha Tomáš Vintr Jan Mikula Jiří Janota Tomáš Rouĉek Jiří Ulrich Fatemeh Rekabi-Bana Laurenz Alexander Fedotoff Martin Stefanec Thomas Schmickl Farshad Arvin Miroslav Kulich Tomáš Krajník Faculty of Electrical Engineering Czech Technical University in Prague Czechia Computer Science Department Durham University United Kingdom Czech Institute of Informatics Robotics and Cybernetics Czech Technical University in Prague Czechia Department of Zoology Artificial Life Lab Institute of Biology University of Graz Graz Austria

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

Honeybees are one of the most important pollinators in the ecosystem. Unfortunately, the dynamics of living honeybee colonies are not well understood due to their complexity and difficulty of observation. In our project “RoboRoyale”, we build and operate a robot to be a part of a bio-hybrid system, which currently observes the honeybee queen in the colony and physically tracks it with a camera. Apart from tracking and observing the queen, the system needs to monitor the state of the honeybee comb which is most of the time occluded by workerbees. This introduces a necessary tradeoff between tracking the queen and visiting the rest of the hive to create a daily map. We aim to collect the necessary data more effectively. We evaluate several mapping methods that consider the previous observations and forecasted densities of bees occluding the view. To predict the presence of bees, we use previously established maps of dynamics developed for autonomy in human-populated environments. Using data from the last observational season, we show significant improvement of the informed comb mapping methods over our current system. This will allow us to use our resources more effectively in the upcoming season.

关键词： Biological system modeling Robot vision systems Ecosystems Data collection Cameras Data models Complexity theory Biomedical monitoring Monitoring Intelligent robots

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A Signal Temporal Logic Planner for Ergonomic Human–Robot Collaboration

A Signal Temporal Logic Planner for Ergonomic Human–Robot C...

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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Giuseppe Silano Amr Afifi Martin Saska Antonio Franchi Department of Cybernetics Faculty of Electrical Engineering Czech Technical University in Prague Prague Czech Republic Robotics and Mechatronics Department Electrical Engineering Mathematics and Computer Science (EEMCS) Faculty University of Twente AE Enschede The Netherlands Department of Computer Control and Management Engineering Sapienza University of Rome Rome Italy LAAS-CNRS Université de Toulouse Toulouse France

This paper proposes a method for designing human-robot collaboration tasks and generating corresponding trajectories. The method uses high-level specifications, expressed as a Signal Temporal Logic (STL) formula, to automatically synthesize task assignments and trajectories. To illustrate the approach, we focus on a specific task: a multi-rotor aerial vehicle performing object handovers in a power line setting. The motion planner considers limitations, such as payload capacity and recharging constraints, while ensuring that the trajectories are feasible. Additionally, the method enables users to specify robot behaviors that take into account human comfort (e.g., ergonomics, preferences) while using high-level goals and constraints. The approach is validated through numerical analyzes in MATLAB and realistic Gazebo simulations using a mock-up scenario.

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Development of a Soft robotics Diaphragm to Simulate Respiratory Motion 8

Development of a Soft Robotics Diaphragm to Simulate Respira...

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8th IEEE RAS/EMBS International Conference for Biomedical robotics and Biomechatronics, BioRob 2020

作者： Naghibi, Hamid Dorp, Jeroen Van Abayazid, Momen University of Twente Robotics and Mechatronics Group Faculty of Electrical Engineering Mathematics and Computer Science Technical Medical Centre Netherlands

ISBN: (纸本)9781728159072

Liver cancer is the second leading cause of cancer deaths worldwide. Without treatment, the five-year survival rate is less than 5%. Liver tumors are often detected using MRI. MRI is preferable over other imaging modalities include absence of ionizing radiation, superior soft tissue contrast resolution, and multiplanar imaging capabilities. Needle interventions are then needed for further diagnosis (biopsy) and treatment (ablation). Respiratory motion is the main cause of inaxccurate needle placement leading to misdiagnosis and insufficient treatment. In order to train clinicians to compensate for the liver respiratory motion during intervention, and also test needle insertion robotics technologies, a realistic liver motion simulator is of great interest which can be used inside MRI scanner. In this study, an MR-compatible soft robotic platform is developed to simulate liver respiratory motion. Pneumatically actuated soft robotic actuators were developed and validated using finite element simulations. A feedforward controller was developed to control the input air pressures of the pneumatic actuators to simulate the respiratory motion. The evaluative experiments indicated that the developed soft robotics diaphragm could acceptably simulate liver respiratory motion in the two directions of motion: superior-inferior and anterior-posterior directions. © 2020 IEEE.

关键词： Diagnosis

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Future Communication Technology Using Huge Millimeter Waves—An Overview

Future Communication Technology Using Huge Millimeter Waves...

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Computational Intelligence, Communication Technology and Networking (CICTN), International Conference on

作者： Ramiz Salama Fadi Al-Turjman Preeti Chaudhary Latha Banda Department of Computer Engineering AI and Robotics Institute Research Center for AI and IoT Near East University Nicosia Turkey Artificial Intelligence Engineering Dept. AI and Robotics Institute Near East University Nicosia Turkey Research Center for AI and IoT Faculty of Engineering University of Kyrenia Kyrenia Turkey Computer Science and Engineering Graphic Era Hill University Dehradun ABES Engineering College Ghaziabad

Frequency selective surface (FSS) was first created by G. Marconi and C. S. Franklin in 1919 and is known as the "Reflector for Wireless Telegraph and Telephone," making a significant contribution to our way of life. In terms of the 1960s, it is impossible to overlook the success attained with the employment of regularly selective surfaces in military intelligence units. These structures, which were occasionally applied to land, air, and sea platforms, displayed low pass, high pass, band pass, or band stop characteristics for particular frequencies and served as electromagnetic filters. Many accomplishments have been made, particularly with platforms that are invisible to target detection systems. The geometry and arrangement of the unit cell in these structures, which are successfully used in many fields such as wireless communication systems, radars, and microwaves, allows for the reflection or transmission of the incoming electromagnetic wave. This is made possible by the advancement of technology. High-speed internet connectivity is possible using millimeter wave, a frequency spectrum between 30 GHz and 300 GHz. Its significance has grown in the fields of radio astronomy, radar, remote sensing, and wireless communications.

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Choosing a Suitable Requirement Prioritization Method: A Survey

arXiv

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arXiv 2024年

作者： Alhenawi, Esraa Awawdeh, Shatha Khurma, Ruba Abu García-Arenas, Maribel Castillo, Pedro A. Hudaib, Amjad Faculty of Information Technology Zarqa University Zarqa Jordan Applied Science Private University Amman Jordan MEU Research Unit Faculty of Information Technology Middle East University Amman11831 Jordan Department of Computer Engineering Automation and Robotics University of Granada Granada Spain King Abdullah II School for Information Technology The University of Jordan Amman Jordan

Software requirements prioritization plays a crucial role in software development. It can be viewed as the process of ordering requirements by determining which requirements must be done first and which can be done later. Powerful requirements prioritization techniques are of paramount importance to finish the implementation on time and within budget. Many factors affect requirement prioritization such as stakeholder expectations, complexity, dependency, scalability, risk, and cost. Therefore, finding the proper order of requirements is a challenging process. Hence, different types of requirements prioritization techniques have been developed to support this task. In this survey, we propose a novel classification that can classify the prioritization techniques under two major classes: relative and exact prioritization techniques class, where each class is divided into two subclasses. We depend in our classification on the way the value of ranking is given to the requirement, either explicitly as a specific value in the case of the exact prioritization techniques class, or implicitly in the case of the Relative prioritization technique class. An overview of fifteen different requirements prioritization techniques are presented and organized according to the proposed classification criteria’s. Moreover, we make a comparison between methods that are related to the same subclass to analyze their strengths and weaknesses. Based on the comparison results, the properties for each proposed subclass of techniques are identified. Depending on these properties, we present some recommendations to help project managers in the process of selecting the most suitable technique to prioritize requirements based on their project characteristics (number of requirements, time, cost, and accuracy). © 2024, CC BY.

关键词： Requirements engineering

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A Robust Adaptive Terminal Sliding Mode Control for Lane-keeping in Road Vehicles

A Robust Adaptive Terminal Sliding Mode Control for Lane-kee...

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International Conference on Advanced Mechatronic Systems (ICAMechS)

作者： Zhikang Ge Zhuo Wang Xiaoping Bai Xiaoxiong Wang Zhihong Man Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China School of Computer Science and Technology University of Chinese Academy of Sciences Beijing China Faculty of Science Engineering and Technology Swinburne University of Technology Melbourne Australia

In this paper, a novel adaptive terminal sliding-mode control (ATSMC) method is developed for road vehicles with uncertain dynamics. It is shown that the designed adaptive laws can recursively update the controller parameters based on the estimation values of the unknown parameter bound in the Lyapunov sense, and then the lateral position error can be driven to zero in a finite time. In comparison to the conventional sliding-mode-based vehicle lateral control method, the proposed ATSMC not only ensures fast error convergence, but also eliminates the requirement for known bounded information in controller design. Simulation results are presented to demonstrate the good performance of the proposed ATSMC scheme.

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A loading path planning method for co-loading in automatic harvesting system

A loading path planning method for co-loading in automatic h...

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International Conference on Advanced Mechatronic Systems (ICAMechS)

作者： Xiaoxiong Wang Zhuo Wang Xiaoping Bai Zhikang Ge Jian Wang Zhihong Man Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China School of Computer Science and Technology University of Chinese Academy of Sciences Beijing China Faculty of Science Engineering and Technology Swinburne University of Technology Melbourne Australia

In this paper, a path planning method is developed for co-loading in master-slave automatic harvesting. It is shown that, the adjustment of the unloading port position relative to the grain tank can be performed jointly by the longitudinal relative position between the vehicles and the angle of the unloading arm. Then the loading path based on the Hamiltonian circuit is designed to guide the motion of the unloading port during the loading process. By improving the loading uniformity, the loading path proposed can maximize the capacity utilization of grain tank which can reduce the round-trip frequency of the transport vehicle and improve the energy and time efficiency of the harvesting operation. Simulation results are provided to validate the excellent performance of presented path planning method.

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Defining, measuring, and modeling passenger's in-vehicle experience and acceptance of automated vehicles

arXiv

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arXiv 2023年

作者： Bhide, Neeraja Hashimoto, Nanami Dokurno, Kazimierz Van der Hoorn, Chris Hoogendoorn-Lanser, Sascha Nordhoff, Sina Delft Center for Systems and Control Delft University of Technology Netherlands Department of Cognitive Robotics Delft University of Technology Netherlands Faculty of Electrical Engineering Mathematics and Computer Science University of Twente Netherlands Department Transport & Planning Delft University of Technology Netherlands

Automated vehicle acceptance (AVA) has been measured mostly subjectively by questionnaires and interviews, with a main focus on drivers inside automated vehicles (AVs). To ensure that AVs are widely accepted by the public, ensuring the acceptance by both drivers and passengers is key. The in-vehicle experience of passengers will determine the extent to which AVs will be accepted by passengers. A comprehensive understanding of potential assessment methods to measure the passenger experience in AVs is needed to improve the in-vehicle experience of passengers and thereby the acceptance. The present work provides an overview of assessment methods that were used to measure a driver's behavior, and cognitive and emotional states during (automated) driving. The results of the review have shown that these assessment methods can be classified by type of data-collection method (e.g., questionnaires, interviews, direct input devices, sensors), object of their measurement (i.e., perception, behavior, state), time of measurement, and degree of objectivity of the data collected. A conceptual model synthesizes the results of the literature review, formulating relationships between the factors constituting the in-vehicle experience and AVA acceptance. It is theorized that the in-vehicle experience influences the intention to use, with intention to use serving as predictor of actual use. The model also formulates relationships between actual use and well-being. A combined approach of using both subjective and objective assessment methods is needed to provide more accurate estimates for AVA, and advance the uptake and use of AVs. © 2023, CC BY.

关键词： Vehicles

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