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Network-aware Shared Autonomy in Bilateral Teleoperation 23

Network-aware Shared Autonomy in Bilateral Teleoperation

引用

23rd IEEE-RAS International Conference on Humanoid Robots, Humanoids 2024

作者： Chen, Xiao Michel, Youssef Sadeghian, Hamid Haddadin, Sami Technical University of Munich Human-centered Assistive Robotics Munich Germany Munich Institute of Robotics and Machine Intelligence Robotics Science and Systems Intelligence Technical University of Munich Munich Germany University of Isfahan Faculty of Engineering Isfahan*** Iran

ISBN: (纸本)9798350373578

In this paper, an autonomy allocation approach is proposed for bilateral teleoperation systems to improve user performance under suboptimal communication networks. To achieve this, time-varying communication quality metrics such as delay and jitter are continuously monitored on the teleoperated side, and the autonomy level is dynamically adjusted based on the communication network quality. An autonomous agent is also deployed on the teleoperated side, leveraging preexisting task knowledge for shared autonomy. Additionally, a time-domain passivity approach is employed to maintain communication channel passivity, mitigating the impact of adverse network behavior on task performance. The proposed approach is validated through extensive experiments and user studies, and the result shows our approach significantly improved the performance of the subjects (p © 2024 IEEE.

关键词： Teleconferencing

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A Multi-party Asymmetric Self-play Algorithm and Its Application in Multi-USV Adversarial Game Simulations 24

A Multi-party Asymmetric Self-play Algorithm and Its Applica...

引用

2024 International Conference on machine Learning, Pattern Recognition and Automation Engineering, MLPRAE 2024

作者： Rao, Jinjun Wang, Cong Liu, Mei Lei, Jingtao Giernacki, Wojciech Department of Precision Mechanical Engineering School of Mechatronic Engineering and Automation Shanghai University China Institute of Robotics and Machine Intelligence Faculty of Automatic Control Robotics and Electrical Engineering Poznan University of Technology Poland

ISBN: (纸本)9798400709876

Aiming at the problem that the combination of self-play (SP) and deep reinforcement learning (DRL) only involves two-party games and the policy learning of each party is limited, a multi-party asymmetric self-play algorithm (MASP) is proposed. Firstly, by improving the ELO scoring system, the ELO scoring takes into account each party of the unmanned surface vehicle (USV) clusters, and the imbalance of the number of USV clusters, so that the frequency of exchanging strategies of all USV clusters in the confrontation process is equal. Secondly, it ensures that USV clusters have a balanced combat ability, and at the same time ensures that the combat ability of all parties is strong and weak and the gap is not too wide. In addition, the parameters are dynamically set to reduce the update frequency of the policy of the stronger party. The experimental results show that the MASP can make the USV clusters learn more effective policies, have a shorter game time, and obtain higher rewards and ELO scores in the simple 2v2 adversarial game scenario and the three-party game scenario of a warship escort mission. © 2024 ACM.

关键词： Deep reinforcement learning

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Real-Time UAV Fault Detection and Classification Using Measurement Data from the PADRE Database

Real-Time UAV Fault Detection and Classification Using Measu...

引用

2024 IEEE/SICE International Symposium on System Integration, SII 2024

作者： Puchalski, Radoslaw Giernacki, Wojciech Ha, Quang Institute of Robotics and Machine Intelligence University of Technology Faculty of Control Robotics and Electrical Engineering of Poznan Poznan Poland School of Electrical and Data Engineering University of Technology Sydney Faculty of Engineering and Information Technology UltimoNSW2007 Australia

ISBN: (纸本)9798350312072

The growing number of applications for unmanned aerial vehicles operating in close proximity to humans calls for strict safety requirements. To ensure reliability and safety, fast and effective diagnosis of possible drone faults is needed. In this paper, a study on the detection of damage to the propellers of a multirotor using inertial sensors was conducted. Measurement data from the publicly available PADRE repository were used. Frequency features and raw measurement data applicability were tested. Two different approaches to data processing during fault detection and classification were tested. The first is to analyze the signals after collecting the entire set of data needed for treatment by the neural network. The second approach processes the data after every single acquisition of sensor measurements. The performance results and processing time of each solution are recorded for analysis. By effectively selecting parameters of the proposed approaches, the processing time and accuracy of UAV fault classification can be significantly improved, as verified over different classes of propeller defects. Early fault detection is essential for safe operations of multirotor drones. © 2024 IEEE.

关键词： Drones

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Toward improving tracking precision in motion capture systems

Toward improving tracking precision in motion capture system...

引用

International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Marek Retinger Jacek Michalski Piotr Kozierski Wojciech Giernacki Institute of Robotics and Machine Intelligence Faculty of Control Robotics and Electrical Engineering Poznan University of Technology Poznan Poland

Motion capture systems are a must-have part of a modern research laboratory. The system has a wide area of applications such as movie, sport, medicine or experiments validations. The system provides accurate pose (both position and orientation) data and allows tracking several objects at the same time. The calibration process is a crucial part of using the system, which determines the further accuracy of tracking. This paper presents research struggling with this problem and describes a new approach to the camera placement process for the OptiTrack system, using the dedicated application programming interface and its features. The document discusses the general concept, shows the benefits of using it and confirms its usefulness. It helps to improve camera placement to ensure detection and reduction or elimination of "low tracking zones". The working tool is also presented.

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1 kHz Behavior Tree for Self-adaptable Tactile Insertion

1 kHz Behavior Tree for Self-adaptable Tactile Insertion

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Yansong Wu Fan Wu Lingyun Chen Kejia Chen Samuel Schneider Lars Johannsmeier Zhenshan Bing Fares J. Abu-Dakka Alois Knoll Sami Haddadin Chair of Robotics and Systems Intelligence MIRMI - Munich Institute of Robotics and Machine Intelligence Technical University of Munich Germany Franka Robotics GmbH Germany Electronic and Informatics Department Faculty of Engineering Mondragon Unibertsitatea Bilbao Spain

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Insertion is an essential skill for robots in both modern manufacturing and services robotics. In our previous study, we proposed an insertion skill framework based on forcedomain wiggle motion. The main limitation of this method lies in the robot’s inability to adjust its behavior according to changing contact state during interaction. In this paper, we extend the skill formalism by incorporating a behavior tree-based primitive switching mechanism that leverages highfrequency tactile data for the estimation of contact state. The efficacy of our proposed framework is validated with a series of experiments that involve the execution of tightly constrained peg-in-hole tasks. The experiment results demonstrate a significant improvement in performance, characterized by reduced execution time, heightened robustness, and superior adaptability when confronted with unknown tasks. Moreover, in the context of transfer learning, our paper provides empirical evidence indicating that the proposed skill framework contributes to enhanced transferability across distinct operational contexts and tasks.

关键词： Service robots Transfer learning Switches Robustness Manufacturing Task analysis State estimation

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robotics in Modern Agriculture Applications Implemented by Inwebit in Cooperation with Scientific and Research Institutions - Robotisation of Hemp Growth and Apple Harvesting

Robotics in Modern Agriculture Applications Implemented by I...

引用

International Workshop on Robot Motion and Control (RoMoCo)

作者： Wojciech Bałtruszewicz Dominik Belter Michał Bidziński Jakub Codogni Krzysztof Ćwian Błażej Gawęcki Marcin Gendek Michael Grabowski Marek Kraft Adam Krawczyk Bartłomiej Krysiak Barłomiej Kulecki Tomasz Łukomski Mikołaj Łysakowski Kamil Młodzikowski Marcin Paradowski Mariusz Paszkiewicz Mateusz Piechocki Dominik Pieczyński Bartosz Ptak Krzysztof Stężała Karol Szychulski Eryk Wadyl Inwebit LLC Poznan Poland Faculty of Automatic Control Robotics and Electrical Engineering Institute of Robotics and Machine Intelligence Poznan University of Technology Poznan Poland

ISBN: (数字)9798350393965

ISBN: (纸本)9798350393972

The article presents the latest achievements of the Inwebit company obtained in cooperation with scientific and research entities in the field of implementation of robots in agriculture. The results of the research and implementation project on robotic support of hemp cultivation using a novel robotic system consisting of a mobile platform with a manipu-lator will be presented. In addition, the results of the first stage of a research and implementation project on automation of apple harvesting using cartesian manipulators will be discussed. In both cases, the main results of the research work will be covered, the robotic systems developed, and the results of the experimental work will be presented.

关键词： Robot motion Spraying Companies Production Programming Robot sensing systems Agriculture

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A Tactile Lightweight Exoskeleton for Teleoperation: Design and Control Performance

A Tactile Lightweight Exoskeleton for Teleoperation: Design ...

引用

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

作者： Moein Forouhar Hamid Sadeghian Daniel Perez Suay Abdeldjallil Naceri Sami Haddadin Munich Institute of Robotics and Machine Intelligence Technical University of Munich Munich Germany Faculty of Engineering University of Isfahan Isfahan

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

In this work, an upgraded exoskeleton design is presented with enhanced trajectory tracking and mechanical transparency. Compared to the first version, the design features a 3-DoF actuated shoulder joint and a mechanism to regulate the pretension of Bowden cables. Force/torque sensors are installed to directly measure the interaction forces between the human arm and the exoskeleton at the connecting points. Three control strategies were evaluated to follow a desired trajectory; A PD controller, a PD controller with friction observer, and an adaptive controller based on Radial Basis Function (RBF). These strategies also form the basis for an admittance control, aimed at improving the exoskeleton’s mechanical transparency during interaction with the human arm. Simulations and experimental results demonstrate that the PD control, supported by friction estimation via a momentum observer, achieves superior tracking performance. Moreover, the system’s mechanical transparency is enhanced using the admittance RBF-based controller, showing marginally superior results.

关键词： Mechatronics Trajectory tracking Friction Exoskeletons Shoulder Observers Systems modeling Trajectory PD control Cables

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A Force-Sensitive Exoskeleton for Teleoperation: An Application in Elderly Care robotics

A Force-Sensitive Exoskeleton for Teleoperation: An Applicat...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Alexander Toedtheide Xiao Chen Hamid Sadeghian Abdeldjallil Naceri Sami Haddadin Chair of Robotics and Systems Intelligence Munich School of Robotics and Machine Intelligence Technical University of Munich Munich Germany Faculty of Engineering University of Isfahan Isfahan Iran

With the increasing demand for new healthcare solutions and technologies, such as those resulting from the COVID-19 crisis, and the growing elderly population, exoskeletons for teleoperation are a promising solution for many future medical applications. In this context, we propose two force- sensitive upper-limb exoskeletons for teleoperation, that are characterized by: i) torque-controlled robotic actuators, ii) rigid-body model compensations, and iii) a lightweight design achieved through the use of Bowden cable transmissions and remotely placed actuators. Specifically, we present a semi-active upper-limb exoskeleton for which we demonstrate human- device interaction control and bilateral teleoperation with force- feedback, evaluated via simulation, in the lab and over the Internet. We also introduce a design for a future fully-active upper-limb exoskeleton with two contact force/torque sensors, for a dual-arm device, which features a novel 3-degrees-of- freedom exoskeleton shoulder design and a contact wrench mitigation controller, as demonstrated through simulation. With this work, we propose the essential technical steps towards a novel teleoperation system for elderly care.

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Network-aware Shared Autonomy in Bilateral Teleoperation

Network-aware Shared Autonomy in Bilateral Teleoperation

引用

IEEE-RAS International Conference on Humanoid Robots

作者： Xiao Chen Youssef Michel Hamid Sadeghian Sami Haddadin Munich Institute of Robotics and Machine Intelligence and the Chair of Robotics Science and Systems Intelligence Technical University of Munich Munich Germany Human-centered Assistive Robotics Technical University of Munich Munich Germany Faculty of Engineering University of Isfahan Isfahan Iran

ISBN: (数字)9798350373578

ISBN: (纸本)9798350373585

关键词： Damping Tracking Humanoid robots Communication channels Jitter Autonomous agents Delays Resource management Communication networks Monitoring

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On Rapid Parallel Tuning of Controllers of a Swarm of MAVs – Distribution Strategies of the Updated Gains

On Rapid Parallel Tuning of Controllers of a Swarm of MAVs ...

引用

International Conference on Control, Automation, robotics and Vision (ICARCV)

作者： Dariusz HorIa Wojciech Giernacki Vít Krátký Petr Štibinger Tomáš Báča Martin Saska Faculty of Automation Robotics and Electrical Engineering Institute of Robotics and Machine Intelligence Poznan University of Technology Poznan Poland Department of Cybernetics Faculty of Electrical Engineering Czech Technical University in Prague Prague Czechia

ISBN: (数字)9798331518493

ISBN: (纸本)9798331518509

In this paper, we present a reliable, scalable, time deterministic, model-free procedure to tune swarms of Micro Aerial Vehicles (MAVs) using basic sensory data. Two approaches to taking advantage of parallel tuning are presented. First, the tuning with averaging of the results on the basis of performance indices reported from the swarm with identical gains to decrease the negative effect of the noise in the measurements. Second, the tuning with parallel testing of varying set of gains across the swarm to reduce the tuning time. The presented methods were evaluated both in simulation and real-world experiments. The achieved results show the ability of the proposed approach to improve the results of the tuning while decreasing the tuning time, ensuring at the same time a reliable tuning mechanism.

关键词： Automation Distribution strategy Noise Gain measurement Robot sensing systems Data models Reliability Noise measurement Tuning Testing

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