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21st IEEE International Carpathian Control Conference, ICCC 2020

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

ISBN: (纸本)9781728119519

Industry 4.0 which a characteristic feature is disappearance of the barrier between humans and machines, the use of cloud computing and the dissemination of so-called 'Internet of Things' (IoT) enables global access to data and machines. An important pillar of Industry 4.0 is 'machine intelligence', which implies the autonomy of production processes, which can also include the organization of production and response to changes or prediction of the damages in demand for a product with specific parameters. This paper presents an intelligent diagnostic system, which is dedicated for implementation in Industry 4.0 ecosystem. The main feature of this solution is the Cloud communication enables Cloud computing of the predictive maintenance algorithms for the health monitoring of the construction under examination. © 2020 IEEE.

关键词： Industry 4.0

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Stabilization of Driving Velocity Constraints for Self-balanced Robot

Stabilization of Driving Velocity Constraints for Self-balan...

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International Conference on Control, Decision and Information Technologies (CoDIT)

作者： Ibrahim Abdel-Hady Mona A. Bayoumi Nader A. Mansour Ayman A. Nada Benha Faculty of Engineering Benha University Benha Egypt New Administrative Capital Egypt University of Informatics (EUI) Cairo Egypt Department of Robotics and Mechatronics Egypt-Japan University of Science and Technology E-JUST Alexandria Egypt

ISBN: (数字)9798350373974

ISBN: (纸本)9798350373981

Non-holonomic constraints impose restrictions on the allowable velocities or motions of the system. These constraints may arise from physical interactions or mechanical limitations. Stabilizing constraints in a non-holonomic multibody system often involves employing numerical methods due to the complexity of the constraints and the dynamic nature of the system. Moreover, for self-balancing robots, driving constraints may be introduced to the system in the velocity level, and proper management of these constraints is crucial in the design and analysis of mechanisms, vehicles, robotics, and other complex systems. In this paper, we present an approach for stabilizing the driving velocity constraints, along with other holonomic and non-holonomic constraints, of a self-balanced robot. The proposed approach is intended for use in the numerical integration process of the Differential Algebraic Equations of multibody system dynamics, and not for real-time control. Successful numerical integration enables the calculation of driving forces in an open-loop manner. The paper proves that fuzzy logic control can be utilized effectively for driving constraints stabilization at the velocity level.

关键词： Fuzzy logic System dynamics Differential algebraic equations Process control Real-time systems Stability analysis Vehicle dynamics Complex systems Robots Numerical stability

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Hybrid Image-Based Motion Tracking and Adaptive Polynomial Kalman Filter for a Bio-Inspired Dual-Sheath Needle System

Hybrid Image-Based Motion Tracking and Adaptive Polynomial K...

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IEEE International Conference on robotics and Biomimetics

作者： Dileep Sivaraman Cholatip Wiratkapun Branesh M. Pillai Jackrit Suthakorn Boriphat Methachan Sakol Nakdhamabhorn Songpol Ongwattanakul Department of Biomedical Engineering Center for Biomedical and Robotics Technology (BART LAB) Faculty of Engineering Mahidol University Thailand Department of Radiology Breast Diagnostic Center Division of Diagnostic Radiology Faculty of Medicine Ramathibodi Hospital Mahidol University Bangkok Thailand Functional Materials for Novel Engineering Applications National Science and Technology Development Agency Thailand

ISBN: (数字)9798331509644

ISBN: (纸本)9798331509651

This preliminary study investigated sensor-fusion methods for accurate motion estimation in a bio-inspired dual-sheath needle system designed for biopsy applications. The needle system draws inspiration from the segmented dual-sheath mechanism of ovipositors found in Hymenoptera species, which allows controlled and precise movement. The aim is to develop a reliable tracking system for both the needle tip and base, which is essential for accurate needle placement during biopsy procedures. A hybrid tracking approach was used to achieve this, combining image-based tracking of the needle tip with an Inertial Measurement Unit (IMU) sensor for needle-base tracking. An Adaptive Polynomial Kalman Filter (APKF) was applied to improve the motion estimation accuracy. Performance tests on a linear-rail system demonstrated the ability of the developed system to provide accurate and consistent motion estimates. The results suggest that this bio-inspired needle system using sensor fusion and advanced filtering holds promise for use in medical robotics, potentially improving the precision of biopsy procedures.

关键词： Accuracy Tracking Motion segmentation Motion estimation Biopsy Needles Robot sensing systems Polynomials Kalman filters Biomedical imaging

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Application of PLC Controller for a Deflection Control of a Piezoelectric Cantilever Actuator 21

Application of PLC Controller for a Deflection Control of a ...

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21st IEEE International Carpathian Control Conference, ICCC 2020

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

ISBN: (纸本)9781728119519

Article presents the experimental investigation on application of programmable logic controller (PLC) for a deflection control of a piezoelectric cantilever actuator. The piezoelectric actuator contained a composite cantilever beam and a voltage amplifier. The cantilever beam was built by gluing of Macro Fiber Composite patch and a rectangular carrying material. A deflection of beam tip of this cantilever beam was an controlled variable in tested piezoelectric actuator. On the basis of laboratory experiments results, it can be concluded, PLC controller enabled an effective control of deflection of the piezoelectric cantilever actuator, which was used in laboratory experiments. Standard PLC controller can be used in industry for a deflection control of piezoelectric cantilever actuator instead of some real-Time device. PLC controller can be also used in scientific laboratory experiments. © 2020 IEEE.

关键词： Controllers

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A Robot based Hybrid Lower-Limb System for Assist-As-Needed Rehabilitation of Stroke Patients: Technical Evaluation and Clinical Feasibility

TechRxiv

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TechRxiv 2023年

作者： Leerskov, Kasper S. Rikhof, Cindy J.H. Spaich, Erika G. Dosen, Strahinja Prange-Lasonder, Gerdienke B. Prinsen, Erik C. Rietman, Johan S. Andreasen Struijk, Lotte N.S. The Neurorehabilitation Robotics and Engineering Group Center for Rehabilitation Robotics Department of Health Science and Technology Aalborg University Gistrup9260 Denmark Roessingh Research and Development Enschede7522AH Netherlands Faculty of Engineering Technology Department of Biomechanical Engineering University of Twente Enschede7500AE Netherlands The Neurorehabilitation Systems Group Department of Health Science and Technology Aalborg University Gistrup9260 Denmark

Background: Although early rehabilitation is important following a stroke, severely affected patients have limited options for intensive rehabilitation as they are often bedridden. To create a system for early rehabilitation of lower extremities in severely affected patients, we have combined the robotic manipulator ROBERT® and EMG-triggered FES and developed a novel user-driven Assist-As-Needed (AAN) control approach. The method is based on a state machine that can detect user movement capability and provide different levels of assistance, as required by the patient (no support, FES only, and simultaneous FES and mechanical support). Methods: To technically validate the system, we tested 10 able-bodied participants who were instructed to perform specific behaviors to trigger the desired system states while conducting knee extension and ankle dorsal flexion exercise. In addition, the system was tested on two stroke patients to establish the clinical feasibility. Results: The technical validation showed that the state machine correctly detected the participants’ behavior and activated the target AAN state in more than 96% of the exercise repetitions. The clinical feasibility test showed that the system successfully recognized the patients’ movement capacity and activated assistive states according to their needs, providing the minimal level of support required to perform the exercise successfully. Conclusions: The system was technically validated and preliminarily proven clinically feasible. The present study shows that the novel system can be used to deliver exercises with a high number of repetitions while engaging the participants’ residual capabilities through an effective AAN strategy. © 2023, CC BY.

关键词： robotics

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A Sensing Platform to Monitor Sleep Efficiency 11th

A Sensing Platform to Monitor Sleep Efficiency

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11th Italian Forum on Ambient Assisted Living, ForItAAL 2020

作者： Crivello, Antonino La Rosa, Davide Wilhelm, Elisabeth Palumbo, Filippo 1 Via G. Moruzzi Pisa56124 Italy Department of Health Sciences and Technology Istitute of Robotics and Intelligent Systems Sensory Motor Systems Lab ETH Zurich Zurich8092 Switzerland Engineering and Technology Institute Groningen Faculty of Science and Engineering University of Groningen Nijenborgh 4 Groningen9747 AG Netherlands

ISBN: (纸本)9783031088377

Sleep plays a fundamental role in the human life. Sleep research is mainly focused on the understanding of the sleep patterns, stages and duration. An accurate sleep monitoring can detect early signs of sleep deprivation and insomnia consequentially implementing mechanisms for preventing and overcoming these problems. Recently, sleep monitoring has been achieved using wearable technologies, able to analyse also the body movements, but old people can encounter some difficulties in using and maintaining these devices. In this paper, we propose an unobtrusive sensing platform able to analyze body movements, infer sleep duration and awakenings occurred along the night, and evaluating the sleep efficiency index. To prove the feasibility of the suggested method we did a pilot trial in which several healthy users have been involved. The sensors were installed within the bed and, on each day, each user was administered with the Groningen Sleep Quality Scale questionnaire to evaluate the user’s perceived sleep quality. Finally, we show potential correlation between a perceived evaluation with an objective index as the sleep efficiency. © 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Sleep research

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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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Fast Dynamic Walking with RH5 Humanoid Robot

Fast Dynamic Walking with RH5 Humanoid Robot

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IEEE-RAS International Conference on Humanoid Robots

作者： Ivan Bergonzani Mihaela Popescu Shivesh Kumar Frank Kirchner Robotics Innovation Center German Research Center for Artificial Intelligence (DFKI GmbH) Bremen Germany Robotics Group Faculty of Mathematics and Computer Science University of Bremen Bremen Germany Department of Mechanics & Maritime Sciences Division of Dynamics Chalmers University of Technology Gothenburg Sweden

Humanoid robots have the potential of becoming general purpose robots augmenting the human work-force in industries. However, they must match the agility and versatility of humans. It is particularly challenging for humanoids actuated with electric drives to achieve that as one must strive for the right balance between mass-inertial distribution in the robot as well as velocity and force transmissions in its actuation concept. In addition to optimal design of the robot, the control system must be designed to exploit the full potential of the robot. In this paper, we perform experimental investigations on the dynamic walking capabilities of a series-parallel hybrid humanoid named RH5. We demonstrate that it is possible to walk up to speeds of 0.43 m/s with a position controlled robot without full state feedback which makes it one of the fastest walking humanoids with similar size and actuation modalities. Video of the experiments is available at: https://***/39GL2vPedGY

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CITR: A Coordinate-Invariant Task Representation for Robotic Manipulation

CITR: A Coordinate-Invariant Task Representation for Robotic...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Peter So Rafael I. Cabral Muchacho Robin Jeanne Kirschner Abdalla Swikir Luis Figueredo Fares J. Abu-Dakka Sami Haddadin Munich Institute of Robotics and Machine Intelligence TUM Germany Division of Robotics Perception and Learning KTH Royal Institute of Technology Sweden Department of Electrical and Electronic Engineering Omar Al-Mukhtar University (OMU) Libya School of Computer Science University of Nottingham UK Electronic and Informatics Department Faculty of Engineering Mondragon Unibertsitatea Spain

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

The basis for robotics skill learning is an adequate representation of manipulation tasks based on their physical properties. As manipulation tasks are inherently invariant to the choice of reference frame, an ideal task representation would also exhibit this property. Nevertheless, most robotic learning approaches use unprocessed, coordinate-dependent robot state data for learning new skills, thus inducing challenges regarding the interpretability and transferability of the learned *** this paper, we propose a transformation from spatial measurements to a coordinate-invariant feature space, based on the pairwise inner product of the input measurements. We describe and mathematically deduce the concept, establish the task fingerprints as an intuitive image-based representation, experimentally collect task fingerprints, and demonstrate the usage of the representation for task classification. This representation motivates further research on data-efficient and transferable learning methods for online manipulation task classification and task-level perception.

关键词： Learning systems Coordinate measuring machines Robot kinematics Taxonomy Fingerprint recognition Mathematical models Libraries

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