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IEEE International Conference on Rehabilitation robotics (ICORR)

作者： A. Breuss N. Vonau C. Ungricht E. Schwarz M. Irion M. Bradicich F. A. Grewe S. Liechti S. Thiel M. Kohler R. Riener E. Wilhelm Department of Health Science and Technology Sensory-Motor Systems Lab Institute of Robotics and Intelligent Systems ETH Zurich Zurich Switzerland Sleep Disorders Centre of the Department of Pulmonology of the University Hospital Zurich University Hospital of Zurich (USZ) Zurich Switzerland Spinal Cord Injury Center University Hospital Balgrist Zurich Switzerland Engineering and Technology Institute Faculty of Science and Engineering University of Groningen The Netherlands

ISBN: (数字)9781665488297

ISBN: (纸本)9781665488303

Reliable detection of sleep positions is essential for the development of technical aids for patients with position-dependent sleep-related breathing disorders. We compare personalized and generalizable sleeping position classifiers using unobtrusive eight-channel pressure-sensing mats. Data of six male patients with confirmed position-dependent sleep apnea was recorded during three subsequent nights. Personalized position classifiers trained using leave-one-night-out cross-validation on average reached an F1-score of 61.3% for supine/non-supine and an F1-score of 46.2% for supine/lateral-left/lateral-right classification. The generalizable classifiers reached average F1-scores of 62.1% and 49.1% for supine/non-supine and supine/lateral-left/lateral-right classification, respectively. In-bed presence (“bed occupancy”) could be detected with an average F1-score of 98.1%. This work shows that personalized sleep-position classifiers trained with data from two nights have comparable performance to classifiers trained with large interpatient datasets. Simple eight-channel sensor mattresses can be used to accurately detect in-bed presence required for closed-loop systems but their use to classify sleep-positions is limited.

关键词： Pressure sensors Medical treatment Robot sensing systems Assistive robots Sleep apnea Robustness Real-time systems

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A study of wireless communications systems for robotic communications in underground pipes and ducts 18

A study of wireless communications systems for robotic commu...

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18th International Conference on Electrical Engineering/Electronics, Computer, Telecommunications and Information technology, ECTI-CON 2021

作者： Doychinov, V. Zaidi, S.A. Chudpooti, N. Akkaraekthalin, P. Somjit, N. Robertson, I.D. Horoshenkov, K.V. Wakeling, J. Institute of Robotics Autonomous Systems Sensing University of Leeds Leeds United Kingdom King Mongkut's University of Technology North Bangkok Faculty of Applied Science Bangkok Thailand University of Leeds School of Electronic and Electrical Engineering Leeds United Kingdom The University of Sheffield Department of Mechanical Engineering Sheffield United Kingdom Applied Research BT Ipswich United Kingdom

ISBN: (纸本)9780738111278

Both the water and telecommunications sectors in the UK have an extensive pipe and duct network that has evolved over the last hundred years. Any given section of these networks is likely to be made from vitrified clay, cast iron or different types of plastic. In the Pipebots project, we are investigating robots that can inspect and, where possible, unblock or repair the pipes in-situ, with the aim of dramatically reducing the need for excavation works. This would require robots with the ability to wirelessly communicate with one another, as well as with the outside world, to realise the vision of an autonomous, cooperative swarm that continuously monitors, reports on, and repairs the pipes and ducts from within. The pipe environments in which the robots will operate vary significantly and this requires a custom solution that incorporates more than one method of communication. This paper describes the results of a study of the trade-off between data transmission bandwidth and Size, Weight, and Power (SWaP) requirements for acoustic, RF and optical communications systems. © 2021 IEEE.

关键词： Economic and social effects

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通用最优轨迹规划——基于最小作用量原理实现自动驾驶（英文）

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Engineering 2024年第2期 63-76页

作者： Heye Huang Yicong Liu Jinxin Liu Qisong Yang Jianqiang Wang David Abbink Arkady Zgonnikov School of Vehicle and Mobility Tsinghua University Department of Cognitive Robotics Faculty of Mechanical Maritime and Materials Engineering (3mE) Delft University of Technology Department of Software Technology Faculty of Electrical Engineering Mathematics and Computer Science Delft University of Technology Xi'an Institute of High-Technology

This study presents a general optimal trajectory planning(GOTP) framework for autonomous vehicles(AVs) that can effectively avoid obstacles and guide AVs to complete driving tasks safely and ***,we employ the fifth-order Bezier curve to generate and smooth the reference path along the road *** coordinates are then transformed to achieve the curvature continuity of the generated *** the road constraints and vehicle dynamics,limited polynomial candidate trajectories are generated and smoothed in a curvilinear coordinate ***,in selecting the optimal trajectory,we develop a unified and auto-tune objective function based on the principle of least action by employing AVs to simulate drivers' behavior and summarizing their manipulation characteristics of "seeking benefits and avoiding losses." Finally,by integrating the idea of receding-horizon optimization,the proposed framework is achieved by considering dynamic multi-performance objectives and selecting trajectories that satisfy feasibility,optimality,and *** simulations and experiments are performed,and the results demonstrate the framework's feasibility and effectiveness,which avoids both dynamic and static obstacles and applies to various scenarios with multisource interactive traffic ***,we prove that the proposed method can guarantee real-time planning and safety requirements compared to drivers' manipulation.

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Minimally-intrusive Navigation in Dense Crowds with Integrated Macro and Micro-level Dynamics

arXiv

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arXiv 2023年

作者： Zhou, Tong Qi, Senmao Cen, Guangdu Zha, Ziqi Lyu, Erli Wang, Jiaole Meng, Max Q.-H. Department of Electronic Engineering The Chinese University of Hong Kong Shatin Hong Kong Shenzhen518055 China Faculty of Applied Science Macao Polytechnic University China Shenzhen Key Laboratory of Robotics Perception and Intelligence the Department of Electronic and Electrical Engineering Southern University of Science and Technology Shenzhen518055 China Department of Electronic Engineering The Chinese University of Hong Kong Hong Kong Shenzhen Research Institute of The Chinese University of Hong Kong Shenzhen518057 China

In mobile robot navigation, despite advancements, the generation of optimal paths often disrupts pedestrian areas. To tackle this, we propose three key contributions to improve human-robot coexistence in shared spaces. Firstly, we have established a comprehensive framework to understand disturbances at individual and flow levels. Our framework provides specialized computational strategies for in-depth studies of human-robot interactions from both micro and macro perspectives. By employing novel penalty terms—Flow Disturbance Penalty (FDP) and Individual Disturbance Penalty (IDP)—our framework facilitates a more nuanced assessment and analysis of the robot navigation’s impact on pedestrians. Secondly, we introduce an innovative sampling-based navigation system that adeptly integrates a suite of safety measures with the predictability of robotic movements. This system not only accounts for traditional factors such as trajectory length and travel time but also actively incorporates pedestrian awareness. Our navigation system aims to minimize disturbances and promote harmonious coexistence by considering safety protocols, trajectory clarity, and pedestrian engagement. Lastly, we validate our algorithm’s effectiveness and real-time performance through simulations and real-world tests, demonstrating its ability to navigate with minimal pedestrian disturbance in various *** Codes 68T40 Copyright © 2023, The Authors. All rights reserved.

关键词： Navigation systems

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3Describe-Creating Tangible AR (Augmented Reality) Objects Using Depth Camera

3Describe-Creating Tangible AR (Augmented Reality) Objects U...

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International Conference on Computational science and Computational Intelligence (CSCI)

作者： Kevin Zhang Mike Tianci Ye Chris Cheng Zhang Rongdi Ni Yitong Liu Anqi Xing Faculty of Applied Science University of British Columbia Vancouver BC Canada Saint George's School Vancouver BC Canada Department of Research and Development Canada Youth Robotics Club Vancouver BC Canada Department of Human Resource Management Jilin International Studies University Changchun Jilin China Department of Engineering and Management Jiangsu University of Science and Technology Zhangjiagang Jiangsu China College of the Liberal Arts Pennsylvania State University State College PA USA

ISBN: (数字)9798350361513

ISBN: (纸本)9798350372304

The transition from in-person to online classes, accelerated by the global impact of Covid-19, has brought both accessibility and disengagement challenges. While online platforms facilitate learning for distant and international students, the loss of interactive elements diminishes the overall educational experience. This article proposes a novel solution inspired by MIT Professor Dr. Patrick Winston's concept of using “props” to enhance learning. Leveraging augmented reality (AR) technology, an application can be developed to introduce tangible AR elements into the online learning environment. The design and methodology outline the use of Python libraries, including OpenCV and Mediapipe, along with the Intel RealSense D435 depth camera. By employing hand-tracking techniques, real-world coordinates are deduced, allowing the creation of interactive AR objects. Trigonometry is utilized to convert 3D coordinates into 2D projections on the video screen, ensuring accurate representation. The visual perception of depth is achieved by subdividing lines, allowing for the dynamic interaction of virtual objects and real hands. The results and analysis section showcases the functionality of the developed application. A 3D cube or prism appears on-screen, responding to touch and rotation gestures. The collision detection algorithm, assuming a spherical bounding box, determines whether the cube is touched, altering its color and position accordingly. Limitations, such as the imprecise collision area for elongated shapes and potential aliasing issues, are discussed as sources of error. Looking forward, the discussion section explores future enhancements and applications. Incorporating advanced modeling tools like OpenGL or Wavefront could introduce more complex 3D models. Interactive features such as hand gestures for rotation or grabbing could further enrich the online learning experience. This project serves as a foundation for the development of interactive and engaging online

关键词： Learning systems Solid modeling Three-dimensional displays Shape Scientific computing Image color analysis Cameras

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Optimizing Moving Target Defense For Cyber Anomaly Detection

Optimizing Moving Target Defense For Cyber Anomaly Detection

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

作者： M. Vubangsi Auwalu Saleh Mubarak Jameel Yayah Chadi Altrjman Manika Manwal Satya Prakash Yadav Fadi Al-Turjman AI Engineering Dep’t Research Center for AI and IoT AI and Robotics Institute Near East University Mersin Turkey Computational Materials Science Lab HTTTC Bambili University of Bamenda Bambili NWR Cameroon Waterloo University Canada Computer Science and Engineering GraphicEra Hill University Dehradun India Affiliated to AKTU G.L. Bajaj Institute of Technology and Management (GLBITM) Greater Noida India Faculty of Engineering University of Kyrenia Mersin Turkey

In this research, we evaluate the effectiveness of different MTD techniques on the transformer-based cyber anomaly detection models trained on the KDD Cup’99 Dataset, a publicly available dataset commonly used for evaluating intrusion detection systems. We explore the trade-offs between security and performance when using MTD techniques for cyber anomaly detection and investigate how MTD techniques can be combined with other cybersecurity techniques to improve the overall security of the system. We evaluate their performance using standard metrics such as accuracy and FI score, as well as measures of robustness against adversarial attacks. Our results show that MTD techniques can significantly improve the security of the anomaly detection model, with some techniques being more effective than others depending on the model architecture. We also find that there are trade-offs between security and performance, with some MTD techniques leading to a reduction in model accuracy or an increase in computation time. However, we demonstrate that these tradeoffs can be mitigated by optimizing the MTD parameters for the specific model architecture.

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Towards High Efficient Long-horizon Planning with Expert-guided Motion-encoding Tree Search

arXiv

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arXiv 2023年

作者： Zhou, Tong Lyu, Erli Wang, Jiaole Cen, Guangdu Zha, Ziqi Qi, Senmao Meng, Max Q.-H. Department of Electronic Engineering The Chinese University of Hong Kong Shatin Hong Kong Faculty of Applied Science Macao Polytechnic University China Shenzhen518055 China The Shenzhen Key Laboratory of Robotics Perception and Intelligence The Department of Electronic and Electrical Engineering Southern University of Science and Technology Shenzhen518055 China The Department of Electronic Engineering The Chinese University of Hong Kong Hong Kong The Shenzhen Research Institute of The Chinese University of Hong Kong Shenzhen518057 China

Autonomous driving holds promise for increased safety, optimized traffic management, and a new level of convenience in transportation. While model-based reinforcement learning approaches such as MuZero enables long-term planning, the exponentially increase of the number of search nodes as the tree goes deeper significantly effect the searching efficiency. To deal with this problem, in this paper we proposed the expert-guided motion-encoding tree search (EMTS) algorithm. EMTS extends the MuZero algorithm by representing possible motions with a comprehensive motion primitives latent space and incorporating expert policies to improve the searching efficiency. The comprehensive motion primitives latent space enables EMTS to sample arbitrary trajectories instead of raw action to reduce the depth of the search tree. And the incorporation of expert policies guided the search and training phases the EMTS algorithm to enable early convergence. In the experiment section, the EMTS algorithm is compared with other four algorithms in three challenging scenarios. The experiment result verifies the effectiveness and the searching efficiency of the proposed EMTS *** Codes 68T40 Copyright © 2023, The Authors. All rights reserved.

关键词： Efficiency

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Distributed formation control of networked mechanical systems

arXiv

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arXiv 2022年

作者： Javanmardi, Najmeh Borja, P. Yazdanpanah, M.J. Scherpen, J.M.A. Control and Intelligent Processing Center of Excellence School of Electrical and Computer Engineering University of Tehran Tehran Iran Department of Cognitive Robotics Delft University of Technology Delft Netherlands Jan C. Wilems Center for Systems and Control ENTEG Faculty of Science and Engineering University of Groningen Groningen Netherlands

This paper investigates a distributed formation tracking control law for large-scale networks of mechanical systems. In particular, the formation network is represented by a directed communication graph with leaders and followers, where each agent is described as a port-Hamiltonian system with a constant mass matrix. Moreover, we adopt a distributed parameter approach to prove the scalable asymptotic stability of the network formation, i.e., the scalability with respect to the network size and the specific formation preservation. A simulation case illustrates the effectiveness of the proposed control approach. © 2022, CC BY.

关键词： Networked control systems

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Enhanced Visual Feedback with Decoupled Viewpoint Control in Immersive Humanoid Robot Teleoperation using SLAM

Enhanced Visual Feedback with Decoupled Viewpoint Control in...

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IEEE-RAS International Conference on Humanoid Robots

作者： Yang Chen Leyuan Sun Mehdi Benallegue Rafael Cisneros-Limón Rohan P. Singh Kenji Kaneko Arnaud Tanguy Guillaume Caron Kenji Suzuki Abderrahmane Kheddar Fumio Kanehiro School of Integrative and Global Majors (SIGMA) University of Tsukuba Japan CNRS-AIST JRL (Joint Robotics Laboratory) IRL National Institute of Advanced Industrial Science and Technology (AIST) Department of Intelligent and Mechanical Interaction Systems Graduate School of Science and Technology University of Tsukuba Japan MIS lab Universite de Picardie Jules Verne Amiens France Faculty of Engineering and Center for Cybernetics Research University of Tsukuba Japan

ISBN: (数字)9798350309799

ISBN: (纸本)9798350309805

In immersive humanoid robot teleoperation, there are three main shortcomings that can alter the transparency of the visual feedback: (i) the lag between the motion of the operator's and robot's head due to network communication delays or slow robot joint motion. This latency could cause a noticeable delay in the visual feedback, which jeopardizes the embodiment quality, can cause dizziness, and affects the interactivity resulting in operator frequent motion pauses for the visual feedback to settle; (ii) the mismatch between the camera's and the headset's field-of-views (FOV), the former having generally a lower FOV; and (iii) a mismatch between human's and robot's range of motions of the neck, the latter being also generally lower. In order to leverage these draw-backs, we developed a decoupled viewpoint control solution for a humanoid platform which allows visual feedback with low-latency and artificially increases the camera's FOV range to match that of the operator's headset. Our novel solution uses SLAM technology to enhance the visual feedback from a reconstructed mesh, complementing the areas that are not covered by the visual feedback from the robot. The visual feedback is presented as a point cloud in real-time to the operator. As a result, the operator is fed with real-time vision from the robot's head orientation by observing the pose of the point cloud. Balancing this kind of awareness and immersion is important in virtual reality based teleoperation, considering the safety and robustness of the control system. An experiment shows that the effectiveness of our solution.

关键词： Point cloud compression Visualization Simultaneous localization and mapping Humanoid robots Virtual reality Real-time systems Robustness

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Nonlinear combined SMC-SDRE control versus SMC and SDRE approaches for electrical flexible-joint robots based on optimal observer

Nonlinear combined SMC-SDRE control versus SMC and SDRE appr...

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RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： Neda Nasiri Naeim Yousefi Lademakhi Faculty of Electrical Biomedical and Mechatronics Engineering Islamic Azad University Qazvin Branch Qazvin Iran Robotics Research Laboratory School of Mechanical Engineering Iran University of Science and Technology Tehran Iran

ISBN: (纸本)9781665420952

This paper is concerned with the problem of designing and comparing three observer-based control schemes for Electrical Flexible-Joint Robots (EFJRs). Considering electrical subsystem of the actuator as well as its mechanical subsystem in the Flexible- Joint Robot’s (FJR’s) dynamic model leads to a more complete and realistic model. However, due to extremely nonlinear complicated multivariable nature of the system, controller design becomes a non-trivial challenge. Moreover, the manipulator works in the presence of uncertainty in the parameters and external disturbances in the workspace. To cope with these problems, a Sliding Mode Controller (SMC) and a State-Dependent Riccati Equation (SDRE)-based controller are designed both in conjunction with an SDRE-observer. However, SMC suffers from chattering and SDRE needs to improvement in robustness characteristic. Hence, in order to benefit from both of these methods and compensate their weaknesses, a combination of SDRE and SMC is applied to EFJR in such a way that SDRE is employed to design the sliding surface. Simulation results verified the superiority of the observer-based combined SDRE-SMC versus the other two methods in terms of error reduction, improved robustness and smooth small control input.

关键词： Uncertainty Mechatronics Simulation Riccati equations Measurement uncertainty Observers Robustness

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