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检索条件"机构=Human and Robot Interaction Laboratory School of Computer Science"

共 192 条记录，以下是31-40 订阅

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From Bricks to Bots: Automated Collision-Aware Sequence Planning for LEGO Reconstruction with a Two-Finger Gripper

From Bricks to Bots: Automated Collision-Aware Sequence Plan...

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International Conference on Control, Instrumentation, and Automation

作者： Arman Barghi Navid Pasiar Mehdi Tale Masouleh Ahmad Kalhor Human and Robot Interaction Laboratory School of Electrical and Computer Engineering University of Tehran Tehran Iran

ISBN: (数字)9798331509972

ISBN: (纸本)9798331509989

An automated, vision-guided assembly method is proposed for reconstructing LEGO arrangements using a 3 DOF Delta Parallel robot with a two-finger gripper. Assembly sequence planning, an NP-complete problem, focuses on determining the optimal sequence of bricks for constructing a target structure. The complexity increases when robotic con-straints-such as avoiding collisions between the gripper and the partially constructed structure-are integrated into the planning. To address this, the Arrangement Planning Process is introduced, combining target arrangement identification with collision-aware sequence planning. This process includes precise detection techniques that merge instance segmentation with stud detection. Notable innovations include an assembly-by-disassembly algorithm for efficient planning and experimental techniques such as the Safe Approach and the Wiggling Technique for accurate brick placement. By implementing a homing method, positioning accuracy improved approximately twofold compared to previous work. The results demonstrate the feasibility and precision of the proposed method in automated LEGO reconstruction.

关键词： Instance segmentation Parallel robots Technological innovation Accuracy Three-dimensional displays Service robots Robustness Planning Grippers Assembly

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Autonomous Rearrangement Planning Using Object Similarity Learning

Autonomous Rearrangement Planning Using Object Similarity Le...

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

作者： Parmida Jabari Zeynab Ezzati Babi Hamed Ghasemi Mehdi Tale Masouleh Ahmad Kalhor Human and Robot Interaction Laboratory School of Electrical and Computer Engineering University of Tehran Tehran Iran

ISBN: (数字)9798331529734

ISBN: (纸本)9798331529741

This study investigates the integration of artificial intelligence in robotics assembly systems, focusing on enhancing flexibility and adaptability in dynamic environments where the robot might not be given the precise objects of the intended construction. To this end, a developed approach is presented which is based on object detection, similarity assessment, and sequence planning for autonomous construction tasks. The system utilizes a YOLOv8 model for object detection and a Siamese network architecture, which facilitates object replacement. It processes two input images, one representing the target structure and another showing the available objects, extracting attributes such as bounding boxes, centers, and orientations. An exact object-matching step is performed before a two-stage similarity assessment. The two-stage similarity assessment prioritizes single-object matches and employs a multi-object similarity network only when necessary. This multi-stage approach is designed to maintain high similarity to the intended design while minimizing possible object shortcomings. During the construction phase, motion planning is performed using a 3-degrees-of-freedom Delta parallel robot, and a 2-finger gripper is utilized for robotics grasping. The results of this study, conducted on wooden bricks of varying shapes and sizes, demonstrate the effectiveness of the YOLOv8 model for object detection, achieving over 80% accuracy across 18 classes with a classification loss of approximately 0.25. Additionally, the Siamese network performed robustly, with a loss of less than 0.01 for both single and multiple object comparisons.

关键词： robotic assembly Parallel robots Automation Autonomous systems robot vision systems Warehousing Object detection Cameras Planning Grippers

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Model-Free Dynamic Control of Five-bar Mechanism via Subchain Assembly and Reinforcement Learning

Model-Free Dynamic Control of Five-bar Mechanism via Subchai...

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

作者： Soheil Sedghi Mehdi Tale Masouleh Ahmad Kalhor Human and Robot Interaction Laboratory School of Electrical and Computer Engineering University of Tehran Tehran Iran

ISBN: (数字)9798331529734

ISBN: (纸本)9798331529741

Parallel robots are versatile but challenging to control due to their complex dynamics and the need for precise modeling. This research presents a novel approach to modular control of parallel robots, utilizing reinforcement learning to dynamically assemble and control complex arbitrary systems. By treating each sub chain of a parallel robot as an individual agent, the proposed method offers a flexible and adaptable framework for various control tasks. The study compares the learning performance of different RL algorithms and proposed decision modeling on the tracking control of a five-bar robot with a 55 cm link length, aiming to achieve an error of less than 5 cm in the PyBullet simulator. In single-agent reinforcement learning, three algorithms (DDPG, PPO, and SAC) were employed, with PPO and SAC effectively solving the problem. In multi-agent reinforcement learning, two algorithms (FACMAC and MAPPO) were utilized. While MAPPO successfully learned the problem, FACMAC exhibited difficulties in grasping the problem. The results obtained from comparing the proposed RL algorithms indicated that single-agent RL learns the control problem better and faster than multi-agent reinforcement learning. In short, the paper focuses on formulating an RL solution which can effectively control parallel robots and can potentially be used for pre-training subchains.

关键词： Training Parallel robots Adaptation models Sensitivity Mechatronics Heuristic algorithms Transfer learning Neural networks Training data Reinforcement learning

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VTA-NAc neural pathways involved in the mechanism of depression-like behavior induced by chronic sleep deprivation in mice 24

VTA-NAc neural pathways involved in the mechanism of depress...

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11th International Conference on Biomedical and Bioinformatics Engineering, ICBBE 2024

作者： Li, Yaqing Mo, Weiyi Ren, Jing Sun, Tianyi Zheng, Chengguaang Wang, Ling Yang, Jiajia Ming, Dong Medical School Tianjin University Tianjin China ZhejiangLab Zhejiang Hangzhou China Tianjin Key Laboratory of Brain Science and Neuroengineering Tianjin China Haihe Laboratory of Brian-Computer Interaction and Human-Machine Integration Tianjin China

ISBN: (纸本)9798400718274

Sleep plays a crucial role in individual physical and mental health. Insufficient sleep leads to inattention, memory loss, cognitive dysfunction and emotional disorders. The mesolimbic pathway, ventral tegmental area (VTA) to nucleus accumbens (NAc) dopaminergic neural pathway has been shown to be associated with sleep-wake behavior and depression-like behavior. In this study, we investigated the relation between chronic sleep deprivation (CSD)-induced depression-like behaviors and the activity of VTA-NAc dopaminergic pathway. CSD caused weight loss and depression-like behaviors in the mice, including anhedonia and helplessness. CSD prominently reduced the change of mice' s DA signal when moving freely. Additionally, NAc DA release became less noticeable in rewarding event and retreat behavior after exposing to CSD. In conclusion, our findings indicated that VTA-NAc dopaminergic neural pathway is directly related to depressive-like behavior caused by chronic sleep deprivation. This study provides a theoretical basis for the in-depth understanding of the physiological function of sleep, and provides a potential target for clinical research on improving or treating sleep disorder-related depression. Copyright © 2024 held by the owner/author(s). Publication rights licensed to ACM.

关键词： Sleep research

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Enhancing Impulse Response-Based SSVEP Decoding Method by Incorporating Temporal Local Correlation 7

Enhancing Impulse Response-Based SSVEP Decoding Method by In...

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7th International Conference on Biological Information and Biomedical Engineering, BIBE 2024

作者： Huang, Jiayang Wang, Jiaxi Yang, Pengfei Xiong, Bang Zhang, Zhi-Qiang School of Computer Science and Technology The Key Laboratory of Smart Human-Computer Interaction Wearable Technology of Shaanxi Province Xidian University China School of Electronic and Electrical Engineering Institute of Robotics Autonomous Systems and Sensing University of Leeds United Kingdom

ISBN: (纸本)9783800762910

Various training-based spatial filtering methods have been proposed to classify steady-state visual evoked potential (SSVEP)-based brain-computer interfaces (BCIs). However, many overlook the temporal instability of SSVEPs, leading to decreased classification performance. Therefore, we propose an SSVEP decoding method that calculates template signals and spatial filters using the subject's impulse responses and periodic impulses, incorporating the temporally local correlation coefficient in the SSVEP decoding process. Then, we employ a combined correlation coefficient for SSVEP classification. The proposed method addresses the temporal instability of SSVEPs, with template signals that exhibit strong individual characteristics. Utilizing a public benchmark dataset, we achieved a classification accuracy of 87.43% and an ITR of 256.1 bits/min at 1s time window, demonstrating the performance of this method. Compared to other classical spatial filtering methods, the proposed method demonstrates superior classification performance, which can enhance the practical usability of SSVEP-BCI systems. © VDE VERLAG GMBH.

关键词： Wiener filtering

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Autonomous robotic Assembly and Sequence Planning Based on YOLOv8

Autonomous Robotic Assembly and Sequence Planning Based on Y...

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

作者： Zeynab Ezzati Babi Navid Asadi Khomami Mehdi Tale Masouleh Ahmad Kalhor Human and Robot Interaction Laboratory School of Electrical and Computer Engineering University of Tehran Tehran Iran Human and Robot Interaction Laboratory School of Mechanical Engineering Tehran Iran

This study contributes to autonomous assembly by introducing a robotic building system designed to observe its workspace, plan building sequences, determine appropriate grasps and manipulator motions, and operate hardware in real-time. This study involves the creation of a wooden brick dataset and employs a YOLOv8 deep learning model for object segmentation in two implemented real-time algorithms, namely, Desired Construction Object Detection (DCOD) and robot Current Frame Object Detection (RCFOD). The DCOD algorithm is designed for the desired structure, while the RCFOD algorithm is utilized for detecting objects within the operational environment of the robot. By comparing the outputs of these two algorithms, sequences of objects for assembly are formulated, and the appropriate grasp positions are determined. Subsequently, the robot’s motion planning for both grasping and construction tasks is executed. Due to the limitations of using a single RGB gripper-mounted camera, various issues, such as failing to recognize items with the same cross-section but varying heights, have been addressed in this study. The results of this study indicate the effective learning of the YOLOv8 model, as shown by a loss value below 0.2 and an accuracy over 90% for 17 out of the total 18 classes. Practical implementation is done by a common industrial Delta parallel robot, a 2-finger gripper, and a simple RGB camera. Overview of practical implementation system is shown in Fig. 1. The proposed robotic assembly method demonstrates its effectiveness in autonomously constructing structures utilizing a reduced and cost-efficient configuration.

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HUGGA: human-like Grasp Generation with Gripper’s Approach State Using Deep Learning

HUGGA: Human-like Grasp Generation with Gripper’s Approach ...

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

作者： Elnaz Balazadeh Mehdi Tale Masouleh Ahmad Kalhor Human and Robot Interaction Laboratory University of Tehran Tehran Iran Human and Robot Interaction Laboratory School of Electrical and Computer Engineering University of Tehran Tehran Iran

In this study, an attempt has been made to develop a new method for producing a successful grasp based on human behavior, by considering the gripper’s approach state in the final grasp of an object. The dataset collected for the purpose of this paper consists of 14 different daily usage objects with different orientations (In total 2526 images) which a human approaches and grasps them. Data collection has been done based on a protocol shown in TableI to cover all achievable states. From Fig1, it can be seen that the dataset includes one image from a single object without the user’s hand. The second image contains the human hand approach and its configuration regarding the object which is subject to be grasped and the third image represents the object which is grasped by the human hand and thus evidently contains both object and human hand grasp configuration. It is important to acknowledge that providing a static hand image does not suffice to facilitate the acquisition of human-like grasping capabilities by robot grippers, so, a mapping from hand fingers to a two-finger gripper should be implemented to fill this gap. In the collected dataset, all grasps are performed by the index finger and thumb to make it possible to map the coordinates of each finger on a gripper finger. Using MediaPipe, which operates a single shot detection network, with only an RGB image containing a human hand the index finger and thumb landmarks were extracted. Finally, a detailed human approach and grasp information were available, and with the collected data, a two-input and one-output deep neural network was trained. The designed model produced a grasp with a human pattern by receiving only the RGB image of the object and the approach vector to the object. Ultimately, through testing and evaluation based on existing criteria, the trained network successfully produced a grasp with 61% accuracy in grasp rectangle overlap, 97% in grasp angle and overall 60.5% met two established grasp crite

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Dynamic Modeling of Double Segment Redundant Gough-Stewart Hybrid Manipulator based on the Principle of Virtual Work

Dynamic Modeling of Double Segment Redundant Gough-Stewart H...

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

作者： Alireza Kamali Ardakani Hossein Akbari Parsa Namazian Mehdi Tale Masouleh Arash Bahrami Human and Robot Interaction Laboratory School of Mechanical Engineering University of Tehran Tehran Iran Human and Robot Interaction Laboratory School of Electrical and Computer Engineering University of Tehran Tehran Iran School of Mechanical Engineering University of Tehran Tehran Iran

ISBN: (数字)9798331529734

ISBN: (纸本)9798331529741

This paper presents the dynamic modeling and analysis of a hyper-redundant manipulator with two Gough-Stewart platforms. Initially, the kinematic model of the manipulator is reviewed and used, since it acts as a base component for the subsequent dynamic modeling. Then, the virtual work approach is introduced to establish a foundation for the dynamic modeling of a single Gough-Stewart platform. This modeling for a single segment is used to form the equation of motion for both segments. However, the external forces applied to the lower Gough-Stewart robot are different from the upper one, since the force and masses in the upper platform act on the lower one. By considering these effects on the lower platform, the dynamic equations for the whole have been formed and presented. The accuracy of the proposed model is validated through a detailed comparison with simulations performed using a Simscape environment. Notable challenges in aligning the results between the model and simulations are discussed, highlighting the complexities involved in ensuring consistency across different platforms. The comparisons show an average error of 1.537 percent per actuator.

关键词： Accuracy Mechatronics robot kinematics Motion segmentation Dynamics Force Kinematics Mathematical models Complexity theory Manipulator dynamics

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Experimental Study on Motion Controller based on NN-ARX and ARMAX Actuator Identification for 3-DoF Delta Parallel robot 11

Experimental Study on Motion Controller based on NN-ARX and ...

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11th RSI International Conference on robotics and Mechatronics, ICRoM 2023

作者： Jalali, Hasan Damavandi, Hossein Kalhor, Ahmad Masouleh, Mehdi Tale University of Tehran Human and Robot Interaction Laboratory School of Electrical and Computer Engineering Tehran Iran Sadjad University Faculty of Computer Engineering and Information Technology Mashhad Iran University of Tehran Control and Intelligent Processing Center of Excellence School of Electrical and Computer Engineering Tehran Iran

ISBN: (纸本)9798350308105

Today, system identification plays a pivotal role in control science and offering a myriad of applications. This paper places its focus on the identification of actuator models within real-world delta robots for informing controller design. Two identification methods, namely NN-ARX and ARMAX, have been employed to extract the dynamic characteristics of the robot actuators, resulting in dynamic models of these integral components being derived. These dynamic models have been utilized in simulations for controller design, and due to the disparities in the identification models, distinct controllers have been realized. Subsequently, these controllers have been practically implemented on delta robots, and their performances have been subjected to a comprehensive comparative analysis. The results demonstrate that controllers integrating the identified actuator models outperformed those designed without the incorporation of the identification models. In practice, the implementation of controllers based on NN-ARX yielded the most favorable results among all the tested controllers. This research not only underscores the importance of accurate actuator models in control system design but also highlights the superior performance of neural network-based controllers in real-world robotic applications. In particular, the practical results of NN-ARX-based controllers were able to achieve significantly lower RMSE of 2.3562, 1.9531, and 2.1185 for the three motors, respectively, as opposed to the 4.1369, 3.0125, and 3.0363 achieved by the ARMAX-based controllers. © 2023 IEEE.

关键词： Controllers

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A Neural Architecture Search Method with Multi-Dimensional Correlation Representation for Fault Diagnosis 9

A Neural Architecture Search Method with Multi-Dimensional C...

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9th IEEE Smart World Congress, SWC 2023

作者： Liu, Yumeng Wang, Tingqi Zheng, Xu Tian, Ling Wang, Hongan Institute of Software Chinese Academy of Sciences Beijing Key Laboratory of Human-Computer Interaction Beijing China University of Chinese Academy of Sciences School of Computer Science and Technology Beijing China University of Electronic Science and Technology of China School of Computer Science and Engineering Chengdu China

ISBN: (纸本)9798350319804

As deep learning has become more widely used for fault diagnosis, the shortcomings of model transferability and human model design costs are growing increasingly evident. The current work has tackled each of these two issues. Domain adaptation methods can provide transportability by mapping data to a common domain. For the consumption of manually constructed networks, Neural Architecture Search (NAS) is an intelligent solution that automatically select the ideal network structure. Unfortunately, there is little work to connect these two methodologies in fault diagnosis. Furthermore, these approaches are incapable in extracting internal correlations from instrumental signal data. In this paper, we propose a transferrable NAS fault diagnosis method, which maximizes savings in manual costs. We also integrate graph neural networks (GNN) in a stepwise manner into the NAS and domain adaptation to provide a multi-dimension correlation representation. Firstly, we structure the signal data into graph based on temporal relationships. Then, NAS designs automatically for selecting the optimal network structure and useful features. In NAS, graph encoder of GNN is used to establish internal relationships. Finally, domain adaptation provides transferability. At the same time, GNN's weights in domain adaptation help to further mine data internal associations. We tested our method on two publicly available datasets and performed comparisons. The experimental results show the proposed method has superior performance. © 2023 IEEE.

关键词： Domain Adaptation Fault Diagnosis Graph Neural Network Neural Architecture Search

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