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arXiv 2020年

作者： Ishikura, Tomoki Yuguchi, Akishige Kitamura, Yuki Cho, Sung-Gwi Ding, Ming Takamatsu, Jun Sato, Wataru Yoshikawa, Sakiko Ogasawara, Tsukasa Division of Information Science Nara Institute of Science and Technology 8916-5 Takayama IkomaNara630-0192 Japan Institutes of Innovation for Future Society Nagoya University Furo-cho NagoyaChikusa-ku464-8601 Japan Psychological Process Team BZP Robotics Project RIKEN 2-2-2 Hikaridai Seika-cho KyotoSoraku-gun619-0288 Japan Faculty of Art and Design Kyoto University of the Arts 2-116 Kitashirakawauryuzan-cho KyotoSakyo606-8271 Japan

Affective touch offers positive psychological and physiological benefits such as the mitigation of stress and pain. If a robot could realize human-like affective touch, it would open up new application areas, including supporting care work. In this research, we focused on the gentle stroking motion of a robot to evoke the same emotions that human touch would evoke: in other words, an affective touch robot. We propose a robot that is able to gently stroke the back of a human using our designed human-imitation hand. To evaluate the emotional effects of this affective touch, we compared the results of a combination of two agents (the human-imitation hand and the human hand), at two stroke speeds (3 and 30 cm/s). The results of the subjective and physiological evaluations highlighted the following three findings: 1) the subjects evaluated strokes similarly with regard to the stroke speed of the human and human-imitation hand, in both the subjective and physiological evaluations;2) the subjects felt greater pleasure and arousal at the faster stroke rate (30 cm/s rather than 3 cm/s);and 3) poorer fitting of the human-imitation hand due to the bending of the back had a negative emotional effect on the subjects. Copyright © 2020, The Authors. All rights reserved.

关键词： Physiology

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Analysis of gearbox and generator temperature data

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Diagnostyka 2018年第1期19卷 63-71页

作者： Dao, Phong Ba AGH University of Science and Technology Faculty of Mechanical Engineering and Robotics Department of Robotics and Mechatronics Aleja Mickiewicza 30 Krakow30-059 Poland

This paper presents a cointegration-based method for condition monitoring of wind turbines. Analysis of cointegration residuals – obtained from cointegration process of wind turbine data – is used for operational condition monitoring and fault detection. The method has been employed for on-line condition monitoring of a wind turbine drivetrain with a nominal power of 2 MW under varying environmental and operational conditions using only the temperature data of gearbox bearing and generator winding, which were collected by the Supervisory Control And Data Acquisition (SCADA) system. The results show that the proposed method can effectively monitor the wind turbine and reliably detect the gearbox fault.

关键词： Wind turbines

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Robotic Ankle Mechanism Capable of Kicking While Jumping and Running and Adaptable to Change in Running Speed

Robotic Ankle Mechanism Capable of Kicking While Jumping and...

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IEEE-RAS International Conference on Humanoid Robots

作者： H. Mineshita T. Otani K. Hashimoto M. Sakaguchi Y. Kawakami H.O. Lim A. Takanishi Graduate School of Modern Mechanical Engineering Waseda University #41-30417 Kikui-cho Shinjuku-ku Tokyo Japan Humanoid Robotics Institute (HRI) Waseda University School of Science and Technology Meiji University ASICS Corporation Institute of Sport Science Faculty of Sport Science Waseda University Faculty of Engineering Kanagawa University Waseda University

ISBN: (数字)9781538676301

ISBN: (纸本)9781538676318

When humanoid robots perform dynamic operations such as jumping and running, large outputs are required at each joint. It is known that humans save energy by using muscles and tendons effectively during dynamic motion. Therefore, we consider that energy saving and dynamic motion can be realized in robots by adding elements that replace such muscles and tendons. Based on this, we previously developed a robot with elasticity in the leg joints. However, its ankle joint mechanism did not have sufficient power to kick like a human while running. In addition, although the joint quasi-stiffness of the human leg changed according to the running speed, it could not handle high speeds nor simulate the required stiffness at low speeds. Therefore, we developed an ankle mechanism that is capable of kicking while jumping and running and adaptable to changes in running speed. By placing leaf springs in series, the mechanism achieved a joint stiffness of 250 to 350 Nm/rad, which is the ankle joint quasi-stiffness required for running at speeds of 2.0 to 5.0 m/s. By using a double motor, moreover, the mechanism succeeded at active kicking with a load torque of 110 Nm, equivalent to the value of active kicking while jumping.

关键词： Legged locomotion Springs Torque Foot Humanoid robots Couplings

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Port-Hamiltonian Approach to Neural Network Training

Port-Hamiltonian Approach to Neural Network Training

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IEEE Annual Conference on Decision and Control

作者： Stefano Massaroli Michael Poli Federico Califano Angela Faragasso Jinkyoo Park Atsushi Yamashita Hajime Asama Department of Precision Engineering The University of Tokyo Tokyo Japan Department of Industrial and Systems Engineering Korea Advanced Institute of Science and Technology (KAIST) Daejeon South Korea Faculty of Electrical Engineering Mathematics & Computer Science (EWI) Robotics and Mechatronics (RAM) University of Twente Enschede The Netherlands

ISBN: (数字)9781728113982

ISBN: (纸本)9781728113999

Neural networks are discrete entities: subdivided into discrete layers and parametrized by weights which are iteratively optimized via difference equations. Recent work proposes networks with layer outputs which are no longer quantized but are solutions of an ordinary differential equation (ODE);however, these networks are still optimized via discrete methods (e.g. gradient descent). In this paper, we explore a different direction: namely, we propose a novel framework for learning in which the parameters themselves are solutions of ODEs. By viewing the optimization process as the evolution of a port-Hamiltonian system, we can ensure convergence to a minimum of the objective function. Numerical experiments have been performed to show the validity and effectiveness of the proposed methods.

关键词： Training Biological neural networks Convergence Mathematical model Optimization Linear programming

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Human-like Subconscious Behaviors for an Android when Telling a Lie 27

Human-like Subconscious Behaviors for an Android when Tellin...

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27th IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN 2018

作者： Iwamoto, Masahiro Yusuchi, Akishize Yoshikawa, Masahiro Garcia Ricardez, Gustavo Alfonso Takamatsu, Jun Ogasawara, Tsukasa Graduate School of Information Science Nara Institute of Science and Technology 8916-5 Takayama Ikoma Nara630-0192 Japan Faculty of Robotics and Design Osaka Institute of Technology 1-45 Chayamachi Kita-ku Osaka530-8568 Japan Division of Information Science Nara Institute of Science and Technology 8916-5 Takayama Ikoma Nara630-0192 Japan

ISBN: (纸本)9781538679807

Since the appearance of androids is very similar to the appearance of humans, androids are expected to perform human-like interactions. Among these interactions, telling a lie is especially interesting since such an interaction is not always malicious and is employed due to social politeness and to protect self-esteem of the person who tells a lie. In this paper, we develop and evaluate an android that performs humanlike subconscious behaviors when telling a lie in a simple game. For this purpose, we design a game to evaluate the effectiveness of such behaviors. Based on a literature review, we devise a strategy to implement such behaviors on the android. By observing the game being played between two subjects, we analyze and implement the behaviors obtained. The experimental results indicated that the android exhibiting the human-like subconscious behaviors gave users an impression of higher affinity, activity, and honesty. Finally, we concluded that playing games with the android was more amusing for subjects than simple interaction. © 2018 IEEE.

关键词： Games Robots Detectors Psychology Mouth Color Shape

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BenthicNet: A global compilation of seafloor images for deep learning applications

arXiv

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arXiv 2024年

作者： Lowe, Scott C. Misiuk, Benjamin Xu, Isaac Abdulazizov, Shakhboz Baroi, Amit R. Bastos, Alex C. Best, Merlin Ferrini, Vicki Friedman, Ariell Hart, Deborah Hoegh-Guldberg, Ove Ierodiaconou, Daniel Mackin-McLaughlin, Julia Markey, Kathryn Menandro, Pedro S. Monk, Jacquomo Nemani, Shreya O’Brien, John Oh, Elizabeth Reshitnyk, Luba Y. Robert, Katleen Roelfsema, Chris M. Sameoto, Jessica A. Schimel, Alexandre C.G. Thomson, Jordan A. Wilson, Brittany R. Wong, Melisa C. Brown, Craig J. Trappenberg, Thomas Vector Institute TorontoON Canada Memorial University of Newfoundland Department of Geography St. John’sNL Canada Memorial University of Newfoundland Department of Earth Sciences St. John’sNL Canada Dalhousie University Faculty of Computer Science HalifaxNS Canada Dalhousie University School for Resource and Environmental Studies HalifaxNS Canada Dalhousie University DeepSense HalifaxNS Canada Universidade Federal do Espírito Santo Departamento de Oceanografia e Ecologia Vitória Brazil Fisheries and Oceans Canada Marine Spatial Ecology and Analysis Section Institute of Ocean Sciences SidneyBC Canada Columbia University Lamont-Doherty Earth Observatory PalisadesNY United States University of Sydney Australian Centre for Field Robotics SydneyNSW Australia Greybits Engineering SydneyNSW Australia National Oceanic and Atmospheric Administration Northeast Fisheries Science Center Woods HoleMA United States University of Queensland School of the Environment BrisbaneQLD Australia Deakin University School of Life and Environmental Sciences WarrnamboolVIC Australia Oxy Occidental College Vantuna Research Group Los AngelesCA United States University of Tasmania Institute for Marine and Antarctic Studies HobartTAS Australia Fisheries and Marine Institute of Memorial University of Newfoundland School of Ocean Technology St. John’sNL Canada Fisheries and Oceans Canada Bedford Institute of Oceanography DartmouthNS Canada Hakai Institute Heriot Bay BC Canada Trondheim Norway Ecology Action Centre HalifaxNS Canada Dalhousie University Department of Oceanography HalifaxNS Canada

Advances in underwater imaging enable collection of extensive seafloor image datasets necessary for monitoring important benthic ecosystems. The ability to collect seafloor imagery has outpaced our capacity to analyze it, hindering mobilization of this crucial environmental information. Machine learning approaches provide opportunities to increase the efficiency with which seafloor imagery is analyzed, yet large and consistent datasets to support development of such approaches are scarce. Here we present BenthicNet: a global compilation of seafloor imagery designed to support the training and evaluation of large-scale image recognition models. An initial set of over 11.4 million images was collected and curated to represent a diversity of seafloor environments using a representative subset of 1.3 million images. These are accompanied by 3.1 million annotations translated to the CATAMI scheme, which span 190 000 of the images. A large deep learning model was trained on this compilation and preliminary results suggest it has utility for automating large and small-scale image analysis tasks. The compilation and model are made openly available for reuse at doi:10.20383/103.0614. © 2024, CC BY.

关键词： Underwater imaging

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Optimal control of hybrid systems with sliding modes 14th

Optimal control of hybrid systems with sliding modes

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14th International Conference on Dynamical Systems: Theory and Applications, DSTA 2017

作者： Pytlak, Radoslaw Suski, Damian Tarnawski, Tomasz Faculty of Mathematics and Information Science Warsaw University of Technology Warsaw00-665 Poland Institute of Automatic Control and Robotics Warsaw University of Technology Warsaw02-525 Poland Department of Quantitative Methods and Information Technology Kozminski University Warsaw03-301 Poland

ISBN: (纸本)9783319965970

This paper concerns the numerical procedure for solving hybrid optimal control problems with sliding modes. The proposed procedure has several features which distinguish it from the other procedures for the problem. First of all a sliding mode is coped with differential–algebraic equations (DAEs) and that guarantees accurate tracking of the sliding motion surface. The second important feature is the calculation of cost and constraints functions gradients with the help of adjoint equations. The adjoint equations presented in the paper take into account sliding motion. The third feature is the integration of the presented procedure with the Interactive Dynamic Optimization Server (IDOS) which is a computing environment dedicated to optimal control problems. IDOS user interface relies on Dynamic Optimization Modeling Language (DOML) which is an extension of Modelica language. In the paper we discuss the elements of DOML which help defining hybrid optimal control problems. The paper presents the application of the proposed procedure to an optimal control problem related to a mechanical system with dry friction. © Springer International Publishing AG, part of Springer Nature 2018.

关键词： Hybrid systems

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New 3D translational interconnected manipulator for industrial applications 15

New 3D translational interconnected manipulator for industri...

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15th IEEE International Conference on Mechatronics and Automation, ICMA 2018

作者： Sameh, Ahmed Fanni, Mohamed Mohamed, Abdelfatah M. Mechatronics and Robotics Eng. Dept. Egypt-Japan University of Science and Technology Alexandria Egypt Production Engineering Dept. Faculty of Engineering Mansoura University Mansoura Egypt Electrical Engineering Department Faculty of Engineering Assiut University Egypt

ISBN: (纸本)9781538660720

A new interconnected manipulator whose end-effector can carry out 3 translational motions in the 3D space with constant orientation is presented in this paper. It is the only interconnected manipulator in the world that produces such motion, which is needed for many industrial applications, using solely rotary actuators and joints. Practically, rotary actuators and joints are preferable than linear actuators and joints because of their cheaper cost, smaller installation size and better reliability. The unconventional interconnected structure of the proposed manipulator enables it to possess, to some extent, the combined advantages of serial and parallel manipulators such as light weight, high speed, rigidity and accuracy as well as large workspace to size ratio. The mechanism description, mobility analysis, kinematic analysis and workspace analysis are presented in details. Finally, an accurate simulation using ***© software is carried out to demonstrate the feasibility of the proposed manipulator's design. © 2018 IEEE.

关键词： Kinematics

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Improvement of vibration and acoustic properties of woven jute/polyester composites by surface modification of fibers with various chemicals

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Scientific Reports 2025年第1期15卷 1-13页

作者： Senthilrajan, S. Venkateshwaran, N. Ismail, S.O. Nagarajan, Rajini Ayrilmis, Nadir Krishnan, Kumar Mohammad, Faruq Al-Lohedan, Hamad A. Department of Robotics and Automation Rajalakshmi Engineering College Chennai India Centre for Digital Manufacturing Department of Mechanical Engineering Rajalakshmi Engineering College Chennai India Centre for Engineering Research Department of Engineering University of Hertfordshire Hatfield England Hertfordshire AL10 9AB United Kingdom Department of Mechanical Engineering Kalasalingam Academy of Research and Education Tamilnadu Krishnankoil India Department of Wood Mechanics and Technology Faculty of Forestry Istanbul University-Cerrahpasa Sariyer Istanbul 34473 Turkey INTI International University Persiaran Perdana BBN Negeri Sembilan Nilai 71800 Malaysia Department of Chemistry College of Science King Saud University P.O. Box 2455 Riyadh 11451 Saudi Arabia

In response to the growing demand for lightweight and sustainable materials, the integration of natural fibers into polymer matrix composites has become very important. To improve the compatibility between hydrophilic natural fibers and matrices, surface modification has proven to be a crucial step. Therefore, this study advanced this technique by modifying the surfaces of woven jute mats with 1% of sodium hydroxide (NaOH), chromium sulphate (Cr2SO4), and sodium bicarbonate (NaHCO3). The composite, containing 56% by volume of the fibers, was produced by compression moulding. Extensive testing was carried out, including three-point bending, free vibration mode and acoustic analysis. The Brüel and Kjær two-microphone impedance tube with a frequency range of 25–6400 Hz was used. Various properties such as bending strength, vibration behaviour, damping and sound absorption were evaluated. It was comparatively evident that the NaHCO3-treated composite samples exhibited the highest natural frequency of 61.04 Hz and the highest sound absorption coefficient of 0.67 at about 2000 Hz, which was 69% higher than that of the untreated composite samples and about 29–72% higher than that of other treated counterparts. In addition, other test results of the surface modified composites were better than the untreated counterparts. There was good agreement between the experimental data and the results obtained from the theoretical models, which is another significant contribution to the field of composite technology.

关键词： Green product Jute fiber Mechanical properties Sound absorption Surface modification Vibration damping

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Experimental implementation of a new non-redundant 6-DOF quadrotor manipulation system

arXiv

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arXiv 2019年

作者： Khalifa, Ahmed Fanni, Mohamed Department of Industrial Electronics and Control Engineering Faculty of Electronic Engineering Menofia University Egypt Department of Mechatronics and Robotics Engineering Egypt-Japan University of Science and Technology Egypt Department of Production Engineering and Mechanical Design Mansoura University Egypt

This paper presents an experimental validation of a new quadrotor-based aerial manipulator. A quadrotor is equipped with a 2-DOF robotic arm that is designed with a new topology to enable the end-effector of the whole system to track a 6-DOF trajectory. An identification experiment is carried out to find out the system parameters. The mathematical model of the whole system is presented. A measurement scheme is proposed to get the accurate pose of the vehicle considering the motion of the manipulator below the quadrotor. The system controller is designed and implemented based on PID with a gravity compensation algorithm. System simulation is implemented in the MATLAB/SIMULINK environment with real system parameters, to better emulate a realistic setup. Real-time Experiments are conducted. Both simulation and experimental results show the feasibility and a satisfactory efficiency of the proposed system in achieving the position holding and transferring an object to a specific target position. Copyright © 2019, The Authors. All rights reserved.

关键词： Manipulators

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