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IEEE International Conference on Soft robotics (RoboSoft)

作者： Nils Trümpler Ryo Kanno Niu David Anja Huch Pham Huy Nguyen Maksims Jurinovs Gustav Nyström Sergejs Gaidukovs Mirko Kovac Eidgenössische Technische Hochschule Zürich Zurich Switzerland Laboratory of Sustainability Robotics Empa - Swiss Federal Laboratories for Materials Science and Technology Dübendorf Switzerland École Polytechnique Fédérale de Lausanne Lausanne Switzerland Cellulose & Wood Materials Laboratory Empa - Swiss Federal Laboratories for Materials Science and Technology Duebendorf Switzerland Aerial Robotics Laboratory Imperial College London London United Kingdom Institute of Chemistry and Chemical Technology Faculty of Natural Sciences and Technology Riga Technical University Riga

ISBN: (数字)9798331520205

ISBN: (纸本)9798331520212

Ionic polymer actuators, in essence, consist of ion exchange polymers sandwiched between layers of electrodes. They have recently gained recognition as promising candidates for soft actuators due to their lightweight nature, noise-free operation, and low-driving voltages. However, the materials traditionally utilized to develop them are often not human/environmentally friendly. Thus, to address this issue, researchers have been focusing on developing biocompatible versions of this actuator. Despite this, such actuators still face challenges in achieving high performance, in payload capacity, bending capabilities, and response time. In this paper, we present a biocompatible ionic polymer actuator whose membrane is fully 3D printed utilizing a direct ink writing method. The structure of the printed membranes consists of biodegradable ionic fluid encapsulated within layers of activated carbon polymers. From the microscopic observations of its structure, we confirmed that the ionic polymer is well encapsulated. The actuators can achieve a bending performance of up to 124° (curvature of 0.82 cm −1 ), which, to our knowledge, is the highest curvature attained by any bending ionic polymer actuator to date. It can operate comfortably up to a 2 Hz driving frequency and can achieve blocked forces of up to 0.76 mN. Our results showcase a promising, high-performing biocompatible ionic polymer actuator, whose membrane can be easily manufactured in a single step using a standard FDM 3D printer. This approach paves the way for creating customized designs for functional soft robotic applications, including human-interactive devices, in the near future.

关键词： Actuators Soft robotics Bending Writing Three-dimensional printing Biomembranes Polymers Time factors Printers Standards

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Convolutional Neural Network and Adversarial Autoencoder in EEG images classification 5

Convolutional Neural Network and Adversarial Autoencoder in ...

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5th Scientific School on Dynamics of Complex Networks and their Applications, DCNA 2021

作者： Nasybullin, Albert Kurkin, Semen Faculty of Computer Science and Engineering Innopolis University Innopolis Russia Neuroscience and Cognitive Technology Laboratory Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia

ISBN: (纸本)9781665442824

In this paper, we consider applying computer vision algorithms for the classification problem one faces in neuroscience during EEG data analysis. Our approach is to apply a combination of computer vision and neural network methods to solve human brain activity classification problems during hand movement. We pre-processed raw EEG signals and generated 2D EEG topograms. Later, we developed supervised and semi-supervised neural networks to classify different motor cortex activities. © 2021 IEEE

关键词： Computer vision

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Factor Graph Fusion of Raw GNSS Sensing with IMU and Lidar for Precise Robot Localization without a Base Station

Factor Graph Fusion of Raw GNSS Sensing with IMU and Lidar f...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Jonas Beuchert Marco Camurri Maurice Fallon Dept. of Computer Science Univ. of Oxford UK Dept. of Eng. Science Oxford Robotics Inst. Univ. of Oxford UK Faculty of Science & Technology Free Univ. of Bozen-Bolzano Italy

Accurate localization is a core component of a robot's navigation system. To this end, global navigation satellite systems (GNSS) can provide absolute measurements outdoors and, therefore, eliminate long-term drift. However, fusing GNSS data with other sensor data is not trivial, especially when a robot moves between areas with and without sky view. We propose a robust approach that tightly fuses raw GNSS receiver data with inertial measurements and, optionally, lidar observations for precise and smooth mobile robot localization. A factor graph with two types of GNSS factors is proposed. First, factors based on pseudoranges, which allow for global localization on Earth. Second, factors based on carrier phases, which enable highly accurate relative localization, which is useful when other sensing modalities are challenged. Unlike traditional differential GNSS, this approach does not require a connection to a base station. On a public urban driving dataset, our approach achieves accuracy comparable to a state-of-the-art algorithm that fuses visual inertial odometry with GNSS data-despite our approach not using the camera, just inertial and GNSS data. We also demonstrate the robustness of our approach using data from a car and a quadruped robot moving in environments with little sky visibility, such as a forest. The accuracy in the global Earth frame is still 1–2 m, while the estimated trajectories are discontinuity-free and smooth. We also show how lidar measurements can be tightly integrated. We believe this is the first system that fuses raw GNSS observations (as opposed to fixes) with lidar in a factor graph.

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Deformation Analysis and Prediction of Drop-Stitch Reinforced Inflatable Robot Link for 1DOF and 2DOF Motion

Deformation Analysis and Prediction of Drop-Stitch Reinforce...

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IEEE/SICE International Symposium on System Integration

作者： Gangadhara Naga Sai Gubbala Masato Nagashima Hiroki Mori Young Ah Seong Hiroki Sato Ryuma Niiyama Yuki Suga Tetsuya Ogata Dept. of Intermedia Art and Science School of Fundamental Science and Eng. Waseda University Tokyo Japan Institute for AI and Robotics Future Robotics Organization Waseda University Tokyo Japan Dept. of System Design Faculty of Eng. and Design Hosei University Tokyo Japan School of Project Design Miyagi University Miyagi Japan School of Science and Technology Meiji University Tokyo Japan Waseda Research Institute for Science and Engineer- ing (WISE) Waseda University Tokyo Japan National Institute of Advanced Industrial Science and Technology (AIST) Tokyo Japan

ISBN: (数字)9798331531614

ISBN: (纸本)9798331531621

In this study, we observe the dynamic behavior of an inflatable robot arm with an internally reinforced drop-stitch structure. We examine the deformation during motion of 1 and 2 degrees of freedom (DOF) for an inflatable body. The inflatable robot arm has a soft inflatable body as links and rigid servo actuators as joints. We implemented a sinusoidal motion for inflatable links for various payload conditions and analyzed them using a Motion Capture system. To estimate the dynamic deformation of the balloon in motion, we have defined a Deformation Index (DI) metric. Angle, current of the actuator (servo), and DI are used as input to polynomial regression to predict the end effector position. With this analysis, we can understand the complexity of modeling the nonlinear behavior of inflatable links for multi-DOF motion. We observed DI helps improve the prediction of the end effector position by including deformation information. However, the results demonstrate the limitations of polynomial regression analysis of an internally reinforced inflatable robot arm link.

关键词： Actuators Deformation Dynamics System integration Arms Polynomials End effectors Regression analysis Servomotors Payloads

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Comparative numerical analysis of a piezoelectric harvester based on non-Auxetic and auxetic material 21

Comparative numerical analysis of a piezoelectric harvester ...

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21st IEEE International Carpathian Control Conference, ICCC 2020

作者： Grzybek, Dariusz Sikora, Wojciech Kata, Dariusz Micek, Piotr Agh University of Science and Technology Faculty of Mechanical Engineering and Robotics Cracow Poland

ISBN: (纸本)9781728119519

This study presents a comparison of energy harvesting capability of cantilever beam harvester based on non-Auxetic and auxetic material. The analysed harvester consisted of two layers: piezoelectric and carrying. Performed numerical calculations allowed to assess influence of an auxetic section in the carrying layer on stress distribution in the piezoelectric and amount of generated electric power. An analysis was conducted for two material variants of the carrying layer: steel and polymer. Presented results showed that energy harvesting efficiency can be increased by introducing auxetic region into the carrying layer of cantilever beam energy harvester. © 2020 IEEE.

关键词： Cantilever beams

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Evolutionary dynamics under periodic switching of update rules on regular networks

arXiv

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arXiv 2023年

作者： Wang, Shengxian Yao, Weijia Cao, Ming Chen, Xiaojie School of Mathematical Sciences University of Electronic Science and Technology of China Chengdu611731 China School of Robotics Hunan University Hunan China ENTEG Faculty of Science and Engineering University of Groningen Groningen9747 AG Netherlands

Microscopic strategy update rules play an important role in the evolutionary dynamics of cooperation among interacting agents on complex networks. Many previous related works only consider one fixed rule, while in the real world, individuals may switch, sometimes periodically, between rules. It is of particular theoretical interest to investigate under what conditions the periodic switching of strategy update rules facilitates the emergence of cooperation. To answer this question, we study the evolutionary prisoner’s dilemma game on regular networks where agents can periodically switch their strategy update rules. We accordingly develop a theoretical framework of this periodically switched system, where the replicator equation corresponding to each specific microscopic update rule is used for describing the subsystem, and all the subsystems are activated in sequence. By utilizing switched system theory, we identify the theoretical condition for the emergence of cooperative behavior. Under this condition, we have proved that the periodically switched system with different switching rules can converge to the full cooperation state. Finally, we consider an example where two strategy update rules, that is, the imitation and pairwise-comparison updating, are periodically switched, and find that our numerical calculations validate our theoretical results. Copyright © 2023, The Authors. All rights reserved.

关键词： Complex networks

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Utilization of deep learning for wear analysis of mechanical components using self-oscillating vibroacoustic systems 21

Utilization of deep learning for wear analysis of mechanical...

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21st IEEE International Carpathian Control Conference, ICCC 2020

作者： Lalik, Krzysztof Watorek, Filip Agh University of Science and Technology Faculty of Mechanical Engineering and Robotics Krakow Poland

ISBN: (纸本)9781728119519

A common method of conducting non-destructive testing of the technical condition of mechanical components is to use the measurement of acoustic waves generated during the operation of machines and devices. The analysis of the frequency spectrum of the signal allows you to estimate the degree of wear of elements such as shafts, bearings or tools used in machine tools. In traditional applications, it is required to make a measurement during the work of the tested element, which is often associated with a time-consuming process of placing measuring devices with the risk of damage to the sensors used, or the health and life of the person carrying out the measurement. For this reason, modern methods of vibroacoustic wear analysis are based on acoustic wave generation systems that allow to obtain accurate measurements without having to take measurements in machinery and equipment operating *** solution to this problem is the use of self-excited systems, which are characterized by lower requirements of measuring equipment and very high sensitivity. The amplitude and frequency of vibrations excited in the system can be constant for a long period of time, which significantly facilitates the collection of measurements. Based on the analysis of the amplitude and frequency of modulated signals generated by the system, it is possible to determine changes in the structure of materials caused by stress or fatigue wear. © 2020 IEEE.

关键词： Nondestructive examination

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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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Distributed Task Assignment Method for Multiple Robots Based on Dynamic Auction Rules

Distributed Task Assignment Method for Multiple Robots Based...

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Consumer Electronics and Computer Engineering (ICCECE), 2021 IEEE International Conference on

作者： Jiajie Xu Chinyin Chen Silu Chen Qiang Liu Faculty of Electrical Engineering and Computer Science Ningbo University Ningbo China Zhejiang Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology Ningbo Institute of Materials Technology & Engineering Chinese Academy of Sciences Ningbo China

Existing researchs on multi-robots task assignment focus on improving the task assignment efficiency without considering the task execution time and ignoring the overall task completion efficiency, which leads to its low computational efficiency in dynamic task assignment scenarios. In addition, the use of a centralized control structure requires high communication quality between robots. To address the above issues, we propose a distributed task assignment method for multiple robots based on dynamic auction rules. The method uses distributed control of robot swarms to share and dynamically update each other's task sets, employs dynamic auction rules for task bidding, adds links to adjust the task execution order, and considers the overall task completion efficiency. Finally, relevant experiments are designed, and the experimental results show that the algorithm is more efficient in terms of distribution and stability, balancing higher execution efficiency and lower motion cost.

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Robust Finite Control-Set Model Predictive Control for Power Quality Enhancement of a Wind System Based on the DFIG Generator

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Energies 2023年第3期16卷 1422页

作者： Alami, Houda El Bossoufi, Badre Mahfoud, Mohammed El Bouderbala, Manale Majout, Btissam Skruch, Pawel Mobayen, Saleh Faculty of Sciences Dhar El Mahraz Sidi Mohammed Ben Abdellah University Fez30070 Morocco Department of Automatic Control and Robotics AGH University of Science and Technology Kraków30-059 Poland Graduate School of Intelligent Data Science National Yunlin University of Science and Technology University Road Section 3 Douliou640301 Taiwan

For many academics, it has proven difficult to operate a wind energy conversion system (WECS) under changeable wind speed while also enhancing the quality of the electricity delivered to the grid. In order to increase the effectiveness and performance of the DFIG-based Wind Energy Conversion System, this research suggests an updated model predictive control technique. This study intends to regulate the generator in two ways: first, to follow the reference wind speed with high precision using the rotor side and grid side converters;second, to reduce system error. The suggested approach optimizes a value function with current magnitude errors based on the discrete mathematical model to forecast the converter’s switching state. In this system, the converter switching states are used directly as control inputs. Thus, the converter may be immediately subjected to improved control action. The key advantage of the suggested strategy over current FCS-MPC methods is error reduction. The originality of this research is in the proposal of a cost function that allows for both successful results and computation time minimization. To achieve this, the system is first presented, followed by a description of the predictive control, and then this method is applied to the rotor side control and grid side control. To demonstrate the efficacy and robustness of the suggested technique, a random wind profile was used to examine the system’s performance with a unitary power factor. This was done in order to compare the results with other controls that have been reported in the literature. The simulation results, which were conducted using a 1.5 kW DFIG in the MATLAB/Simulink environment, demonstrate that the FCS-MPC technique is highly effective in terms of speed, accuracy, stability, and output current ripple. © 2023 by the authors.

关键词： Model predictive control

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