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

作者： Nicolas Abboud Malak Sayour Imad H. Elhajj John Zelek Daniel Asmar Vision and Robotics Lab Maroun Semaan Faculty of Engineering and Architecture American University of Beirut Beirut Lebanon Department of System Design Engineering University of Waterloo Waterloo Canada

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

This paper presents an integrated approach to Visual SLAM, merging online sequential photometric calibration within a Hybrid direct-indirect visual SLAM (H-SLAM). Photometric calibration helps normalize pixel intensity values under different lighting conditions, and thereby improves the direct component of our H-SLAM. A tangential benefit also results to the indirect component of H-SLAM given that the detected features are more stable across variable lighting conditions. Our proposed photometrically calibrated H-SLAM is tested on several datasets, including the TUM monoVO as well as on a dataset we created. Calibrated H-SLAM outperforms other state of the art direct, indirect, and hybrid Visual SLAM systems in all the experiments. Furthermore, in online SLAM tested at our site, it also significantly outperformed the other SLAM Systems.

关键词： Visualization Simultaneous localization and mapping Measurement units Merging Lighting Inertial navigation Feature extraction Calibration Intelligent robots

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NURBS Curve Trajectory Tracking Control for Differential-Drive Mobile Robot by a Linear State Feedback Dynamic Controller

NURBS Curve Trajectory Tracking Control for Differential-Dri...

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AUN/SEED-Net Joint Regional Conference in Transportation, Energy, and Mechanical Manufacturing engineering, RCTEMME 2021

作者： Thai, Nguyen Hong Thien, Hoang Ly, Trinh Thi Khanh Department of Mechanical Design and Robotics School of Mechanical Engineering Hanoi University of Science and Technology Hanoi Viet Nam Faculty of Automation Technology Electric Power University Hanoi Viet Nam

ISBN: (纸本)9789811919671

In this paper, the authors present a method of designing a linear state feedback dynamic controller to control a differential-driven mobile robot to trajectory tracking with small error. The nonlinear dynamics model of the robot linearized around the working point. On that basis, design the controller according to the pole assignment method based on the position and velocity error model. Another difference with previous studies is that the coefficients of the controller vary with time. It depends on the travel velocity and the curvature radius of the desired motion trajectory. NURBS curve is applied to design the robot’s motion trajectory to avoid acceleration and deceleration to stabilize the robot’s motion. The research results have important implications in the design of dynamic controllers of the differential-drive AGV in the industry. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Differential-drive mobile robot Linear state feedback dynamic controller NURBS curve Trajectory tracking

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Cosmic Troubleshooting: Exploring Third-Person View for Error Handling in Telerobotic Planetary Infrastructure Maintenance

Cosmic Troubleshooting: Exploring Third-Person View for Erro...

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Space robotics (iSpaRo), International Conference on

作者： Liliane Filthaut Dave Murray-Rust Maria Luce Lupetti Neal Y. Lii Peter Schmaus Daniel Leidner Faculty of Industrial Design Engineering Delft University of Technology Delft The Netherlands German Aerospace Center (DLR) Robotics and Mechatronics Center (RMC) Weßling Germany

ISBN: (数字)9798350367232

ISBN: (纸本)9798350367249

This study investigates error handling intricacies in supervised autonomy orbit-to-ground teleoperation for space exploration robots, emphasizing scenarios with communication delays that render Earth-based ground control assistance unfeasible. In this setting, one major challenge lies in empowering the crew to independently mitigate robot errors that may occur as the robot plans its actions. To address this limitation of current supervised autonomy interfaces, we propose a third-person perspective and game design principles to improve environmental awareness in error situations. 16 experts with similar technical background as the target crew members tested the interface in a physical user study, while 42 people assessed it in an online study. We conclude that a third-person view brings significant improvements to mental workload, overall experience and the ability to identify and rectify planning errors.

关键词： Space vehicles Games Space exploration Planning Maintenance Delays Planetary orbits

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Automatic Anti-Swing Gantry Crane Based on Gradient Descent Optimization Proportional Integrated Derivative (PID): A Comparison Simulation and Real Experiment

Automatic Anti-Swing Gantry Crane Based on Gradient Descent ...

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2023 International Conference on Electrical engineering and Informatics, ICEEI 2023

作者： Qadri, Munzir Harjanto, Danang Karuna Miharja, Jonathan Astuti, Winda Mariana, Yosica Tan, Sofyan Solihin, Mahmud Iwan University of Muhammadiyah Jakarta Engineering Faculty Mechanical Engineering Department Jakarta10510 Indonesia Binus Aso School of Engineering Bina Nusantara University Automotive and Robotics Program Computer Engineering Department Jakarta11480 Indonesia Binus Aso School of Engineering Bina Nusantara University Product Design Program Industrial Engineering Department Jakarta11480 Indonesia Ucsi University Departement of Mechanical & Mechatronics Engineering Kuala Lumpur Malaysia

ISBN: (纸本)9798350381290

Transporting payload with precise swing angles and transfer times poses a challenging task in building construction, which is why gantry crane systems are extensively utilized. Various control strategies, including open-loop and closed-loop systems, have been proposed to tackle this issue. However, most of these controllers rely on a model and parameters specific to the crane system, making the process of modeling and parameter identification complex and time-consuming. To address this challenge, this work presents a practical and simulation control method for automatic gantry cranes, which is evaluated simulation and experimentally. The lab-scale Gantry crane is developed in this work, which consists of mechanical and electrical parts. Proportional Integral and Derivative (PID) and Proportional Derivative (PD) controllers which applied optimization method are implemented in the electrical part of the system. The PID and PD controller applied in controlled the position and swing angle, respectively. The Gradient Decent optimization method is the best optimization method in determining the parameter of the controller, since it has the best simulation performance in the output of the system. The experimental result is developed and compared between simulation and lab-scale Gantry crane hardware implementation part. The performance of experimental results is shown appropriately approaching the performance of the simulation result, with the approximately settling time. © 2023 IEEE.

关键词： Proportional control systems

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Effect of Magnetic Moments Towards Swimming Behavior and Performance of the Soft Milli-Robots

Effect of Magnetic Moments Towards Swimming Behavior and Per...

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

作者： Xiuzhen Tang Laliphat Manamanchaiyaporn Research Unit of Small-Scale Robotics Center of Excellence in Creative Engineering Design and Development Department of Mechanical Engineering Faculty of Engineering Thammasat School of Engineering Thammasat University Thailand

Remote controllability, real-time response, and small size are critically requirement of medical devices operated in blind, unstructured, and fluidic environments of biomedical regions. Untethered swimming soft milli-robots have been developed to fulfill treatment and therapy in such that region under magnetic navigation. The soft robot's motor-less mechanism with a high-DOF utilizes magnetic compliance of the deformable structure with a minimal control of oscillating magnetic field. Theoretically, magnetic property of the robots is defined by magnetic moments consisting of orientation and strength. Orientation can be programmed by magnetizing technique, and strength is defined by quantity of magnetic moments in the structure. Herein, this work investigates how orientation and quantity of magnetic moments affect swimming behavior and performance of the robots. The soft robots are designed into three distinguish types of magnetic property embedded in the deformable structure; the I-robot has non-uniform magnetic orientation and uniform magnetic strength, the II-robot has uniform magnetic orientation and non-uniform magnetic strength, and the III-robot has non-uniform magnetic orientation and non-uniform magnetic strength. The results interestingly report that each type of robot's property functions mechanism and benefits swimming performance differently under the same control parameters. The I-robot does not have any exceptional potential, but the II-robot can be operated at the higher control frequency even reaching the step-out point. The III-robot shows the greatest performance in swimming and maneuverability. These results are useful to design a swimming soft-robot capable of applying for various purposes, especially when the demand concerns non-harm, small-scale, soft-interface, and remote controllability.

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Development of an Attentive System that Connects the Elderly and Their Families

Development of an Attentive System that Connects the Elderly...

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Joint Conference of the Asian Council on Ergonomics and design and Southeast Asian Network of Ergonomics Societies, ACED SEANES 2020

作者： Fujioka, Sho Ohsuga, Mieko Graduate School of Robotics and Design Osaka Institute of Technology Soft Robotics Course Osaka Japan Faculty of Robotics and Engineering Osaka Institute of Technology Osaka Japan

ISBN: (纸本)9783030633349

In Japan, 47% of all elderly people live alone or with their elderly spouse. We conducted a questionnaire and an interview and found they have some problems when they try to communicate with people outside of the household. There are two important factors to be considered for comfortable communication between elderly and their family. One is the content of communication, such as negotiation, consultation, simple communication, or chat. This factor includes the level of urgency. The other is the situation of the opponent;where and what they are doing and how busy they are. In this study, we mainly focus on the latter factor. Elderly people want to keep in touch with their families, but they are hesitant to make contact because they do not know the situation of their family. On the other hand, the family is also concerned about their elderly family members, but they may be too busy to receive contact and often feel guilty for they cannot respond. In this study, we try to give a solution using a smart speaker. We chose Amazon Alexa because it has a screen and a development environment. The function configuration of the first prototype is as follows: when elderly people want to contact their family, they talk to Alexa. Alexa checks the family’s schedule and judge availability referring to the Google calendar entered in advance and suggests the best contact method. After we tested the first prototype with a family, we made some improvement. The second prototype was accepted by another family and some usefulness was recognized. © 2021, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Surveys

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3D Multimedia Packaging design Based on Agile Software Development and IoT Platform

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Journal of Mobile Multimedia 2022年第3期18卷 475-494页

作者： Sang-Aroon, Patinya Prongnuch, Sethakarn Sitjongsataporn, Suchada Branch of Packaging Design Department of Design and Packaging Faculty of Industrial Technology Suan Sunandha Rajabhat University 1 U-Thong Nok Rd. Dusit Bangkok Thailand Department of Robotics Engineering Faculty of Industrial Technology Suan Sunandha Rajabhat University 1 U-Thong Nok Rd. Dusit Bangkok Thailand Department of Electronic Engineering Mahanakorn Institute of Innovation (MII) Faculty of Engineering and Technology Mahanakorn University of Technology 140 Cheumsamphan Rd. Nongchok Bangkok Thailand

This paper aims to present the three-dimensional (3D) packaging structure design based on the agile software development and internet of things (IoT) platform, which an efficiency validation of IoT platform is required. The objective of this research is to investigate the model development of 3D multimedia-based packaging structure using the webserver design and agile software development applied in the design and implementation process. This model development methodology comprises how the IoT platform as the client-server architecture that is used to develop and support the orthographic projection techniques, information sheet, worksheet and multimedia presentation in the modern product design. The empirical results show the creative thinking of the group of young designers that can be achieved efficiently. The proposed model development can increase significantly the fundamental knowledge and interactive design ideas of young designers combining from the two-dimension to three-dimension packaging structure model. © 2022 River Publishers.

关键词： 3D packaging model development Agile software development IoT platform

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Distributed Cascade Force Control of Soft-Tactile-Based Multi-robot System for Object Transportation

Distributed Cascade Force Control of Soft-Tactile-Based Mult...

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

作者： Nguyen, Duy Anh Dinh Le, Nhat Minh Nguyen, Nhan Huu Hung, Pham Duy Ho, Van Anh Ngo, Trung Dung University of Prince Edward Island More-Than-One Robotics Laboratory Faculty of Sustainable Design Engineering Charlottetown Canada University of Engineering and Technology Viet Nam School of Materials Science Japan Advanced Institute of Science and Technology Soft Haptics Lab. Asahidai 1-1 Ishikawa Nomi923-1292 Japan Presto Japan Science and Technology Agency Saitama Kawaguchi332-0012 Japan

ISBN: (纸本)9798350312072

In this paper, we present a distributed cascade force control system (DCFC) for multiple robots with the aim of pushing a rigid object towards a desired moving target without their inter-robot communication. These mobile robots are equipped with 360-degree vision-based soft tactile sensors utilized to determine contact location and resultant impact force. By investigating the dynamics of moving rigid objects on the flat, we proposed a distributed cascade control. The inner loop control incorporates contact force and positioning, ensuring the robots' pushing contact and applying the desired force to the object. The outer loop control coordinates the robots to push the object in a desired direction without inter-robot communication, regardless of unknown object mass and friction uncertainty. The stability and convergence of the control system are verified using the Lyapunov stability theory. We also conducted simulation and real-world experiments to validate the performance of the proposed control method, and the experimental results showcase the successful coordination of multiple robots in pushing an object towards a moving desired direction. © 2024 IEEE.

关键词： Multipurpose robots

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designing User Interfaces for Partially Automated Vehicles: Effects of Information and Modality on Trust and Acceptance

SSRN

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SSRN 2023年

作者： Kim, Soyeon He, Xiaolin van Egmond, René Happee, Riender Department of Human-Centered Design Faculty of Industrial Design Engineering Delft University of Technology Landbergstraat 15 Delft2628 CE Netherlands Department of Cognitive Robotics Faculty of Mechanical Maritime and Materials Engineering Delft University of Technology Mekelweg 2 Delft2628 CD Netherlands

Trust and perceived safety are pivotal in the acceptance of automated vehicles and can be enhanced by providing users with automation information on the (safe) operation of the vehicle. This study aims to identify how user interfaces (UI) can enhance drivers' trust and acceptance and reduce perceived risk. Four interfaces were designed with different levels of complexity. These levels were achieved by combining automation information (surrounding information vs surrounding and manoeuvre information) and modality (visual vs visual and auditory). These interfaces were evaluated in a driving simulator in which a partially automated vehicle reacted to an event of a merging and braking vehicle in its front. The criticality of the events was manipulated by the factors merging gap (in meters) and deceleration (m/s2) of the vehicle in front. This reaction of the automation was either to brake or to change lanes. The results show that an optimal combination of automation information and modality enhances drivers' trust, communication with automation, perceived ease of use, and perceived usefulness. More specifically, the most complex UI, which provided surrounding and manoeuvre information via the visual and auditory modalities, was associated with the highest trust and acceptance ranking and the lowest perceived risk. Manoeuvre information delivered through the auditory modality was particularly effective in enhancing trust and acceptance. The benefits of the UIs were consistent over events. However, in the most critical events, drivers did not feel entirely safe and did not trust the automation completely. This study shows that the design of UIs for partially automated vehicles should include surrounding and manoeuvre information combining visual and auditory modalities. © 2023, The Authors. All rights reserved.

关键词： User interfaces

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Prototype of Turbine Propulsion System with Controllable Thrust Vector for Long-Range Unmanned VTOL Aircraft 21st

Prototype of Turbine Propulsion System with Controllable Thr...

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21st Polish Control Conference, PCC 2023

作者： Czyba, Roman Lemanowicz, Marcin Domin, Jaroslaw Grzybowski, Jacek Stępień, Izabela Ungier, Lukasz Rosiek, Radoslaw Bialas, Piotr Niemiec, Michal Department of Automatic Control and Robotics Faculty of Automatic Control Electronics and Computer Science Silesian University of Technology ul. Akademicka 16 Gliwice44-100 Poland Department of Chemical Engineering and Process Design Faculty of Chemistry Silesian University of Technology ul. Ks. M. Strzody 7 Gliwice44-100 Poland Department of Mechatronics Faculty of Electrical Engineering Silesian University of Technology ul. Akademicka 10a Gliwice44-100 Poland

ISBN: (纸本)9783031351723

The aim of the project was to build a prototype of a turbine drive with a controllable thrust vector for a long-range vertical take-off and landing (VTOL) aircraft. The construction of the prototype required the development of a vectoring system for the tail propulsion system and a dedicated VTOL aircraft stabilization and control system. The prototype of the turbine drive system was based on energy-efficient electric motors. Research also involved modeling the turbine propulsion aerodynamics with usage of computational fluid dynamics (CFD) analysis. As a result of the design stage, a prototype of the propulsion system was created, on which flight tests were carried out. © 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Computational fluid dynamics

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