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International Conference on Advanced robotics (ICAR)

作者： Gorkem Anil AL Bilal El Achab Oussallam Uriel Martinez-Hernandez inte-R-action Lab the Centre for Autonomous Robotics (CENTAUR) Faculty of Engineering and Design University of Bath UK

Artificial tactile sensing is a required element to improve robot interaction with objects and their surrounding environment. This work presents a novel tactile sensor composed of one chip that can provide multimodal data including pressure, gyroscope and accelerometer. The chip is mounted on a printed circuit board (PCB), covered with a soft rectangular case made of silicone rubber and placed upside down on a plastic base forming a sandwich arrangement. When pressure is applied to the behind of the PCB board, the chip is pressed against the soft rubber case generating pressure changes. The spatial response, sensitivity and accelerometer and gyroscope data of the sensor are analysed. A three contact point soft tactile sensor is designed as a finger for the RobotiQ gripper to test the sensor capability for contact and slip detection and object grasping. First, pressure data is used for contact detection and object grasping. Second, gyroscope and accelerometer data are explored for human-to-robot and robot-to-human object handover task based on slip detection. Overall, results from the experiments show the proposed multimodal tactile sensor is suitable for robotic applications that required interaction with objects and humans.

关键词： Accelerometers Wiring Sensitivity Tactile sensors Grasping Handover Gyroscopes

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A Low-Cost Compact Soft Tactile Sensor with a Multimodal Chip

A Low-Cost Compact Soft Tactile Sensor with a Multimodal Chi...

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International Conference on Advanced robotics (ICAR)

作者： AL Gorkem Anil Uriel Martinez-Hernandez Faculty of Engineering and Design Inte-R-action Lab the Centre for Autonomous Robotics (CENTAUR) University of Bath UK

ISBN: (纸本)9781665436854

Research on tactile systems has increased in recent years using arrays of chips to measure data in multiple formats. This work presents an inexpensive tactile sensor capable of providing multimodal data including pressure, gyroscope and accelerometer using one chip only. Polyurethane rubber is used to build a soft rectangular case to cover the chip and trap the air inside the sensor. When the soft rubber is touched, the pressure changes inside the case are measured by the chip and provides the pressure output. The tactile sensor is also mounted on a soft base to measure changes in the orientation of the chip when force is applied on the rubber case. This design approach enlarges the sensitive area of the device and makes it suitable for interaction and control tasks. The response and sensitivity are validated with systematic experiments, which show that sensor can detect small contact forces of 0.02N. The contact detection is successfully tested with the movement control of the 2-finger RobotiQ gripper in real-time. Perception of contact location using a Universal Robot arm and a probabilistic approach is successfully validated in offline and real-time with accuracy of 100% and 95.8%, respectively. Overall, the results show that this multimodal tactile sensor, inexpensive and composed of one chip only, is suitable for integration in robotic grippers and arms, robot skin design and physical human-robot interaction.

关键词： Semiconductor device measurement Sensitivity Force Robot control Tactile sensors Manipulators Real-time systems

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Correction to: On the use of adjoint gradients for time-optimal control problems regarding a discrete control parameterization

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Multibody System Dynamics 2023年第3期59卷 335-336页

作者： Lichtenecker, Daniel Rixen, Daniel Eichmeir, Philipp Nachbagauer, Karin TUM School of Engineering and Design Department of Mechanical Engineering Chair of Applied Mechanics Munich Institute of Robotics and Machine Intelligence (MIRMI) Technical University of Munich Munich Germany Institute of Mechanics and Mechatronics Vienna University of Technology Wien Austria Faculty of Engineering and Environmental Sciences University of Applied Sciences Upper Austria Wels Austria Institute for Advanced Study Technical University of Munich Garching Germany

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Virtualization & Microservice Architecture for Software-Defined Vehicles: An Evaluation and Exploration

arXiv

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arXiv 2024年

作者： Wen, Long Rickert, Markus Pan, Fengjunjie Lin, Jianjie Zhang, Yu Betz, Tobias Knoll, Alois Robotics Artificial Intelligence and Real-Time Systems School of Computation Information and Technology Technical University of Munich Munich85748 Germany Multimodal Intelligent Interaction Faculty of Information Systems and Applied Computer Sciences University of Bamberg Bamberg96050 Germany Automotive Technology School of Engineering and Design Technical University of Munich Munich85748 Germany

The emergence of Software-Defined Vehicles (SDVs) signifies a shift from a distributed network of electronic control units (ECUs) to a centralized computing architecture within the vehicle’s electrical and electronic (E/E) systems. This transition addresses the growing complexity and demand for enhanced functionality in traditional E/E architectures, with containerization and virtualization streamlining software development and updates within the SDV framework. While widely used in cloud computing, their performance and suitability for intelligent vehicles have yet to be thoroughly evaluated. In this work, we conduct a comprehensive performance evaluation of containerization and virtualization on embedded and high-performance AMD64 and ARM64 systems, focusing on CPU, memory, network, and disk metrics. In addition, we assess their impact on real-world automotive applications using the Autoware framework and further integrate a microservice-based architecture to evaluate its start-up time and resource consumption. Our extensive experiments reveal a slight 0-5% performance decline in CPU, memory, and network usage for both containerization and virtualization compared to bare-metal setups, with more significant reductions in disk operations—5-15% for containerized environments and up to 35% for virtualized setups. Despite these declines, experiments with actual vehicle applications demonstrate minimal impact on the Autoware framework, and in some cases, a microservice architecture integration improves start-up time by up to 18%. Copyright © 2024, The Authors. All rights reserved.

关键词： Virtualization

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A Light-weight Hand-waving Gesture Recognition Method Using Kinect V2 and Frequency Analysis

A Light-weight Hand-waving Gesture Recognition Method Using ...

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IEEE/SICE International Symposium on System Integration

作者： Yuki Misaki Yutaka Hiroi Akinori Ito Faculty of Robotics and Design Osaka Institute of Technology Osaka Japan Graduate School of Engineering Tohoku University Sendai Japan

ISBN: (数字)9781728176581

ISBN: (纸本)9781728176598

This paper describes a light-weight method for hand-waving gesture detection. Gesture recognition is actively researched as a user interface of robots. Conventional gesture recognition methods need to employ complicated pattern matching algorithms, such as DTW, HMM, and DNN, which require a powerful computing platform such as fast CPU or GPU that consumes much energy. We propose a gesture recognition/detection method specially designed for the recognition of hand-waving gesture. This method uses Kinect V2 as the sensor and detects the waving gesture using only a simple signal processing. The recognition experiment suggested that the proposed method gave sufficiently high accuracy, and the processing speed was much faster than real-time.

关键词： Training data Gesture recognition System integration Signal processing User interfaces Real-time systems Wearable sensors

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Age-dependent degradation estimation focusing on dynamic features of head motion in daily conversation 9

Age-dependent degradation estimation focusing on dynamic fea...

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9th IEEE Global Conference on Consumer Electronics, GCCE 2020

作者： Natsumi, Kana Wakita, Yumi Matsuda, Chitose Osaka Institute of Technology Engineering Osaka Japan Osaka Institute of Technology Robotics Design Osaka Japan Setsunan University Faculty of Nursing Osaka Japan

ISBN: (纸本)9781728198026

We are developing a system that can estimate the degrees of decline for the elderly from daily conversation and inform them when the estimated result indicates a decline. In the paper, we discuss the effectiveness of the dynamic features of gestures during conversations to identify age-dependent degradation. By focusing on the head motion when a speaker responds to a partner while talking, we compare the optical flow values of images between independent elderly speakers and facility elderly speakers. The results of identification experiments using Support Vector Machine (SVM) indicate the average of correct rate is 83.3%. This result suggests that the dynamic feature of head motion has a tendency to be effective for age-dependent degradation estimation. © 2020 IEEE.

关键词： Optical flows

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New High Boost DC-DC Converter for Renewable Energy Conversion

New High Boost DC-DC Converter for Renewable Energy Conversi...

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International Conference on Communications and Electronics, ICCE

作者： Dinh-Tuyen Nguyen Truong-Khang Duong Truong-Duy Duong Trong-Nha Quang Ton Duc Do Faculty of Electrical and Electronics Engineering Ho Chi Minh City University of TechnologyVNU-HCM Ho Chi Minh City Vietnam Dept. Electrical and Computer Engineering Wayne State University Detroit MI USA High Volume Power Design Advanced Energy Industries Inc Eden Prairie MN USA Dept. Robotics and Mechatronics School of Science and Technology Nazarbayev University Kazakhstan

ISBN: (数字)9798350379792

ISBN: (纸本)9798350379808

This paper proposes a high-boost power converter for renewable energy systems. The suggested converter exhibits a simplified structure by replacing a diode in the switched-inductor cell with an active power switch to reduce the total voltage stress on the semiconductor device, get cost reduction, and improve efficiency. Additionally, the common ground feature inherent in the introduced topology expands its potential for renewable energy applications. Finally, the simulation verifications are performed using PSIM software to confirm the effectiveness of the suggested approach, and a detailed comparison study between the basic switched-inductor converter and the suggested converter is also presented.

关键词： Renewable energy sources Costs Simulation Prototypes Voltage Switches Software

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Evaluating the Effect of Speed and Acceleration on Human Factors During an Assembly Task in Human-Robot Collaboration

SSRN

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SSRN 2023年

作者： Apraiz Iriarte, Ainhoa Lasa, Ganix Mazmela, Maitane Arana-Arexolaleiba, Nestor Serrano, Antonio Elguea, Íñigo Etxabe, Amaia Design Innovation Centre Faculty of Engineering Mechanical and Industrial Production Mondragon Unibertsitatea Arrasate20500 Spain Robotics and Automation Electronics and Computer Science Department Mondragon Unibertsitatea Arrasate20500 Spain Research & Development Department Electrotécnica Alavesa S.L. Vitoria-Gasteiz1010 Spain

In Industry 5.0, the workers' well-being is the central pillar. Therefore, research on methods and technics to improve the workers' user experience in a human-robot collaborative environment is necessary. While the effects of dynamic variables, such as speed and acceleration, on human safety have been extensively studied, their impact on human perception has not been fully explored. This study investigates the effects of the robot's speed and acceleration on humans. An experimental research approach was used, where 20 participants (10 women and 10 men) performed an assembly task collaborating with a robot. Two experiments were defined, and the participants were evenly distributed: in the first experiment, the participants started by performing the task at a slow robot speed and then performed the same task at a faster speed. In the second experiment, the other half followed the opposite procedure. Key Performance Indicators (KPIs), physiological values (via EEG and GSR), and perceptual values (using the standardised UEQ-S questionnaire) were collected. The results showed that the robot's speed and acceleration impact the task's completion time and participants' emotional responses. Our results lead to a new concept, "HRI speed bell", which indicates that it is necessary to investigate the optimal speed and acceleration to ensure good trust and perceived safety. Furthermore, the task sequence also influences participants' expectations and performance. Finally, gender-differentiated results were also observed. © 2023, The Authors. All rights reserved.

关键词： Robots

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Monocular Visual-inertial Localization in a Point Cloud Map Using Feature-to-Distribution Registration

Monocular Visual-inertial Localization in a Point Cloud Map ...

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IEEE/SICE International Symposium on System Integration

作者： Su Wang Ankit A. Ravankar Abhijeet Ravankar Takanori Emaru Yukinori Kobayashi Research group of Biomechanics and Robotics Division of Human Mechanical Systems and Design Faculty and Graduate School of Engineering Hokkaido University Sapporo Hokkaido Japan School of Regional Innovation and Social Design Engineering Faculty of Engineering Kitami Institute of Technology Kitami Hokkaido Japan

ISBN: (数字)9781728176581

ISBN: (纸本)9781728176598

In this paper, a visual-inertial localization system that reuses a prior map built by Lidar is proposed. Relying exclusively on a monocular camera and an IMU, the point and line features detected in the images are reconstructed and utilized for geometrically estimating the relative pose of the robot with respect to the prior 3D point cloud map. To leverage the alignment between the body frame and the map frame, a modified normal distribution transformation(NDT) algorithm is tightly coupled into the bundle adjustment(BA). We extract dual layered grid cell map from the raw Lidar-built map for both the point-to-distribution and line-to-distribution registration. By utilizing line features, the proposed method can achieve competitive performance in low textured environments. Evaluations on different real-world environments, including tests on both the benchmark dataset and the self-collected one are presented.

关键词： Location awareness Visualization Laser radar Benchmark testing Feature extraction Image reconstruction Visual odometry

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A Tendon-Driven Actuator with Cantilever Initiated Variable Stiffness Used for Robotic Fingers

SSRN

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SSRN 2024年

作者： Li, Chenning Yang, Shangkui Branson, David T. Song, Zhibin Sun, Tao Dai, Jiansheng Kang, Rongjie Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education School of Mechanical Engineering Tianjin University Tianjin300072 China Advanced Manufacturing Technology Research Group Faculty of Engineering University of Nottingham NottinghamNG7 2RD United Kingdom Beijing Institute of Technology China Shenzhen Key Laboratory of Intelligent Robotics and Flexible Manufacturing Systems Southern University of Science and Technology Shenzhen518055 China

Variable stiffness actuators (VSAs) have emerged as a key actuation technology known for their bionic performance and task adaptability. However, current VSAs often exhibit relatively large sizes, making them possible for use in robotic arms and legs but less convenient for integrations into robotic hands. This paper introduces a compact design of a tendon-driven variable stiffness actuator (TVSA) based on an adjustable cantilever mechanism, which can be embedded into a robotic finger. This implementation endows the robotic finger with the decoupled regulation of joint position and stiffness. A concise and computationally efficient stiffness mapping model from the TVSA to the finger joints is then established, providing a theoretical foundation for the stiffness regulation of the tendon-driven fingers. A prototype of a robotic hand equipped with the presented TVSA demonstrates safe interactions with various objects with diverse shapes, weights and stiffness. © 2024, The Authors. All rights reserved.

关键词： Stiffness

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