检索结果-内蒙古大学图书馆

Performance Comparison of Teleoperation Interfaces for Ultra-Lightweight Anthropomorphic Arms

学校读者我要写书评

暂无评论

Performance Comparison of Teleoperation Interfaces for Ultra...

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

作者： Filip Zorić Alejandro Suarez Goran Vasiljević Matko Orsag Zdenko Kovačić Anibal Ollero Laboratory for Robotics and Intelligent Control Systems (LARICS) Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia GRVC Robotics Lab University of Seville Sevilla Spain

This paper presents a comparative performance evaluation of three different teleoperation interfaces for very low weight (<3 kg) anthropomorphic dual arms intended to conduct complex manipulation tasks involving a certain level of dexterity, accuracy and agility, either in ground service or in aerial manipulation applications. A visual human pose estimation system is developed to obtain the Cartesian and joint values of the user, which are mapped to the corresponding pose of the dual arm manipulator exploiting the equivalent human-robot kinematics. A leader-follower scheme is also presented, using a reduced scale dual arm that can replicate directly the joint positions of the leader arms to the follower arms. A 6-DOF (degrees of freedom) joystick is proposed to generate linear motions more accurately. A total of 60 ground tests were conducted involving 10 participants to determine the accuracy and time performance in two benchmarks (box edges and S contour tracking). Finally, the visual and leader-follower interfaces were evaluated with the dual arm aerial manipulator on flight tests, reporting several findings derived from the system evaluation.

关键词：

PADRE - Propeller Anomaly Data REpository for UAVs various rotor fault configurations

学校读者我要写书评

暂无评论

PADRE - Propeller Anomaly Data REpository for UAVs various r...

International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Radosław Puchalski Marek Kołodziejczak Adam Bondyra Jinjun Rao Wojciech Giernacki Institute of Robotics and Machine Intelligence Faculty of Control Robotics and Electrical Engineering Poznan University of Technology Poznań Poland Shanghai Key Laboratory of Intelligent Manufacturing and Robotics School of Mechatronic Engineering and Automation Shanghai University Shanghai China

The article presents a drone sensory database collected during flights with different types of propeller failures. Measurements from four accelerometers and four gyroscopes were collected during 20 flights with two types of faults occurring in different configurations in one, two, three or four rotors. The paper shows the architecture of the system and the procedure for acquiring and processing the data. Raw sensor outputs, pretreated data, and digitally processed signals were provided in a publicly available repository, the structure and purpose of which are discussed in the paper. The applicability and potential use of the shared data for other research are indicated. The provided repository should be helpful in developing methods for detecting and classifying faults in actuators of unmanned aerial vehicles (UAVs). It will be particularly useful for researchers working on data-driven methods. The default purpose of the dataset is to train artificial intelligence models that require large amounts of data.

关键词：

On Robust Output Based Finite-Time control of LTI systems using HOSMs

学校读者我要写书评

暂无评论

IFAC Proceedings Volumes 2009年第17期42卷 222-227页

作者： Marco Tulio Angulo Arie Levant Department of Control Engineering and Robotics Electrical Engineering Division Faculty of Engineering National Autonomous University of Mexico (UNAM) Mexico School of Mathematical Sciences Tel-Aviv University Ramat-Aviv 69978 Tel-Aviv Israel

Finite-Time stability of Linear Time Invariant systems with matched perturbations using dynamic output feedback is achieved under the assumptions of well-defined relative degree and a known bound of the perturbations. The approach is based on high order sliding modes, using global controllers and differentiator. A separation criteria that allows to detect the convergence of the differentiator and posterior gain adaptation is presented. Analysis of the performance under noise and sampling is presented.

关键词： Dynamic output feedback sliding-mode control

Enhancing Quality control of Steel Coils with Real-Time Edge Defect Detection Based on Computer Vision and Deep Learning

学校读者我要写书评

暂无评论

Enhancing Quality Control of Steel Coils with Real-Time Edge...

IEEE Recent Advances in Intelligent Computational Systems (RAICS)

作者： Ankit Lalbahadur Yadav Mayankbhai Nevajbhai Mahla Kamal Singh Bhandari Ruchit Sanjivbhai Popat Junaid Saiyad Chandreshkumar Kanteelal Songara M.E. in Electrical Engineering (Automatic Control & Robotics) Faculty of Technology & Engineering MSU Baroda Gujarat India M.E. in Electrical Engineering (Industrial Electronics) Faculty of Technology & Engineering MSU Baroda Gujarat India

ISBN: (数字)9798350381689

ISBN: (纸本)9798350381696

Steel has emerged as a vital component in various industries, ranging from small tools to large-scale structures like ships and statues. With the increasing demand for steel, the steel manufacturing sector has witnessed significant growth and a corresponding rise in production. However, ensuring high-quality steel has become a paramount concern for producers. Defective steel can have severe consequences during downstream manufacturing processes, leading to accidents and product failures. Consequently, steel industry giants have recognized the need for real-time edge defect detection in steel coils at the strip producing mill, as early detection allows for timely corrective actions. To address this challenge, this research leverages computer vision and deep learning techniques, specifically custom-built defect datasets collected from the industry itself, sourced from AM/NS India. Considering the diverse range of AI-ML methodologies available, the proposed method adopts convolutional neural network (CNN) and advanced CNN-based models such as SSD, Mask RCNN, and Faster RCNN, aiming to identify the most optimal model for building a Real-time Edge Defect Detection System. This research tackles the limitations associated with manual inspection of steel coils by automating the process. By implementing this approach, disruptions in coil transportation can be eliminated, the occurrence of expensive product failures can be minimized, and overall production efficiency can be enhanced. The proposed computer vision-based deep learning approach, once trained and deployed with accurate datasets and dependencies, will introduce a new level of accuracy and advancement in the steel industry's defect detection capabilities.

关键词： Coils Deep learning Computer vision Accuracy Image edge detection Steel industry Quality control Real-time systems Steel Defect detection

Multi-variant scheduling of critical time-triggered communication in incremental development process: Application to FlexRay

学校读者我要写书评

暂无评论

arXiv 2019年

作者： Dvořák, Jan Hanzálek, Zdeněk Department of Control Engineering Faculty of Electrical Engineering CTU in Prague Industrial Informatics Research Center Czech Institute of Informatics Robotics and Cybernetics CTU in Prague

The portfolio of models offered by car manufacturing groups often includes many variants (i.e., different car models and their versions). With such diversity in car models, variant management becomes a formidable task. Thus, there is an effort to keep the variants as close as possible. This simple requirement forms a big challenge in the area of communication protocols. When several vehicle variants use the same signal, it is often required to simultaneously schedule such a signal in all vehicle variants. Furthermore, new vehicle variants are designed incrementally in such a way as to maintain backward compatibility with the older vehicles. Backward compatibility of time-triggered schedules reduces expenses relating to testing and fine-tuning of the components that interact with physical environment (e.g., electromagnetic compatibility issues). As this requirement provides for using the same platform, it simplifies signal traceability and diagnostics, across different vehicle variants, besides simplifying the reuse of components and tools. This paper proposes an efficient and robust heuristic algorithm, which creates the schedules for internal communication of new vehicle variants. The algorithm provides for variant management by ensuring compatibility among the new variants, besides preserving backward compatibility with the preceding vehicle variants. The proposed method can save about 20% of the bandwidth with respect to the schedule common to all variants. Based on the results of the proposed algorithm, the impact of maintaining compatibility among new variants and of preserving backward compatibility with the preceding variants on the scheduling procedure is examined and discussed. Thanks to the execution time of the algorithm, which is less than one second, the network parameters like the frame length and cycle duration are explored to find their best choice concerning the schedule feasibility. Finally, the algorithm is tested on benchmark sets and the concept

关键词： Scheduling

A Shadowcasting-Based Next-Best-View Planner for Autonomous 3D Exploration

学校读者我要写书评

暂无评论

arXiv 2021年

作者： Batinovic, Ana Ivanovic, Antun Petrovic, Tamara Bogdan, Stjepan University of Zagreb Faculty of Electrical Engineering and Computing LARICS Laboratory for Robotics and Intelligent Control Systems Unska 3 Zagreb10000 Croatia

—In this paper, we address the problem of autonomous exploration of unknown environments with an aerial robot equipped with a sensory set that produces large point clouds, such as LiDARs. The main goal is to gradually explore an area while planning paths and calculating information gain in short computation time, suitable for implementation on an on-board computer. To this end, we present a planner that randomly samples viewpoints in the environment map. It relies on a novel and efficient gain calculation based on the Recursive Shadowcasting algorithm. To determine the Next-Best-View (NBV), our planner uses a cuboid-based evaluation method that results in an enviably short computation time. To reduce the overall exploration time, we also use a dead end resolving strategy that allows us to quickly recover from dead ends in a challenging environment. Comparative experiments in simulation have shown that our approach outperforms the current state-of-the-art in terms of computational efficiency and total exploration time. The video of our approach can be found at https://***/playlist?list=PLC0C6uwoEQ8ZDhny1V dmFXLeTQOSBibQl. © 2021, CC BY-SA.

关键词： Antennas

Sim2Air - Synthetic Aerial Dataset for UAV Monitoring

学校读者我要写书评

暂无评论

arXiv 2021年

作者： Barisic, Antonella Petric, Frano Bogdan, Stjepan The University of Zagreb Faculty of Electrical Engineering and Computing LARICS Laboratory for Robotics and Intelligent Control Systems Unska 3 Zagreb10000 Croatia

In this paper we propose a novel approach to generate a synthetic aerial dataset for application in UAV monitoring. We propose to accentuate shape-based object representation by applying texture randomization. A diverse dataset with photo-realism in all parameters such as shape, pose, lighting, scale, viewpoint, etc. except for atypical textures is created in a 3D modelling software Blender. Our approach specifically targets two conditions in aerial images where texture of objects is difficult to detect, namely challenging illumination and objects occupying only a small portion of the image. Experimental evaluation of YOLO and Faster R-CNN detectors trained on synthetic data with randomized textures confirmed our approach by increasing the mAP value (17 and 3.7 percentage points for YOLO;20 and 1.1 percentage points for Faster R-CNN) on two test datasets of real images, both containing UAV-to-UAV images with motion blur. Testing on different domains, we conclude that the more the generalisation ability is put to the test, the more apparent are the advantages of the shape-based representation. © 2021, CC BY-NC-SA.

关键词： robotics

Serial Chain Hinge Support for Soft, Robust and Effective Grasp

学校读者我要写书评

暂无评论

arXiv 2022年

作者： Stuhne, Dario Vuletić, Jelena Car, Marsela Orsag, Matko LARICS Laboratory for Robotics and Intelligent Control Systems University of Zagreb Faculty of Electrical Engineering and Computing Unska 3 Zagreb10000 Croatia

This paper presents a serial chain hinge support, a rigid but flexible structure that improves the mechanical performance and robustness of soft-fingered grippers. Gravity can reduce the integrity of soft fingers in horizontal approach, resulting in lower maximum payload caused by a large deflection of fingers. To substantiate our claim we performed several experiments on payload and deflection of the SofIA gripper under both horizontal and vertical approach. In addition, we show that this reinforcement does not impede the original compliant behavior of the gripper, maintaining the original kinematic model functionality. We showcase the proprioceptive and exteroceptive capabilities (RGB-D camera and flex sensor) for two opposing manipulation problems: grasping small and large objects. Finally, we validated the improved SofIA gripper in agricultural and everyday activities. © 2022, CC BY.

关键词： Grippers

Design and Validation of a Wireless Drone Docking Station

学校读者我要写书评

暂无评论

arXiv 2023年

作者： Stuhne, Dario Vasiljević, Goran Bogdan, Stjepan Kovačić, Zdenko LARICS Laboratory for Robotics and Intelligent Control Systems University of Zagreb Faculty of Electrical Engineering and Computing Unska 3 Zagreb10000 Croatia

Drones are increasingly operating autonomously, and the need for extending drone power autonomy is rapidly increasing. One of the most promising solutions to extend drone power autonomy is the use of docking stations to support both landing and recharging of the drone. To this end, we introduce a novel wireless drone docking station with three commercial wireless charging modules. We have developed two independent units, both in mechanical and electrical aspects: the energy transmitting unit and the energy receiving unit. We have also studied the efficiency of wireless power transfer and demonstrated the advantages of connecting three receiver modules connected in series and parallel. We have achieved maximum output power of 96.5 W with a power transfer efficiency of 56.6% for the series connection of coils. Finally, we implemented the system in practice on a drone and tested both energy transfer and landing. Copyright © 2023, The Authors. All rights reserved.

关键词： Drones