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6th Experiment at International Conference, exp.at 2023

作者： Rodrigues, Jose Carlos Restivo, Maria Teresa Menezes, Paulo University of Porto LAETA-INEGI Faculty of Engineering Porto Portugal University of Porto LAETA-INEGI Porto Portugal A3ES Lisbon Portugal University of Coimbra Institute of Systems and Robotics Department of Electrical and Computer Engineering Coimbra Portugal

ISBN: (纸本)9798350314403

This work looks at the potential use of a robotic arm and augmented reality application, with a head-mounted display, in an upper-limb rehabilitation context. A sample application using a robotic simulator and a cross-sectional study using a real robotic arm are shown. Results from the usability evaluation are positive and encourage further development, but some identified problems must be corrected before further evaluations. © 2023 IEEE.

关键词： Robotic arms

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Model heat source using actual distribution of laser power density for simulation of laser processing

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Journal of Central South University 2022年第10期29卷 3277-3293页

作者： WANG Gen-wang DING Ye GUAN Yan-chao WANG Yang YANG Li-jun State Key Laboratory of Robotics and Systems Harbin Institute of TechnologyHarbin 150001China School of Mechatronics Engineering Harbin Institute of TechnologyHarbin 150001China

The model of heat source(MHS) which reflects the thermal interaction between materials and laser during processing determines the accuracy of simulation results. To acquire desirable simulations results, although various modifications of heat sources in the aspect of absorption process of laser by materials have been purposed, the distribution of laser power density(DLPD) in MHS is still modeled theoretically. However, in the actual situations of laser processing, the DLPD is definitely different from the ideal models. So, it is indispensable to build MHS using actual DLPD to improve the accuracy of simulation results. Besides, an automatic modeling method will be benefit to simplify the tedious pre-processing of simulations. This paper presents a modeling method and corresponding algorithm to model heat source using measured DLPD. This algorithm automatically processes original data to get modeling parameters and provides a step MHS combining with absorption models. Simulations and experiments of heat transfer in steel plates irradiated by laser prove the mothed and the step MHS. Moreover, the investigations of laser induced thermal-crack propagation in glass highlight the signification of modeling heat source based on actual DLPD and demonstrate the enormous application of this method in the simulation of laser processing.

关键词： heat source laser processing distribution of power density digital images processing heat transfer

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Node Classification in CAD Data: A Graph Learning Approach for Machining Feature Localization 4

Node Classification in CAD Data: A Graph Learning Approach f...

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4th International Conference on Electrical, Computer, Communications and Mechatronics engineering, ICECCME 2024

作者： Bohm, Stefan Andreas Neumayer, Martin Song, Rui Rib, Fabian Knoll, Alois Technical University of Munich Chair of Robotics Artificial Intelligence and Real-Time Systems Munich Germany Rosenheim Technical University of Applied Sciences Research and Development Department Rosenheim Germany Fraunhofer Institute for Transportation and Infrastructure Systems Ingolstadt Germany Rosenheim Technical University of Applied Sciences Faculty of Engineering Sciences Rosenheim Germany

ISBN: (纸本)9798350391183

Pattern recognition is becoming increasingly important in many sectors, such as the manufacturing industry. With rising customer demands and advancing technology, product data, often represented as 3D meshes, is becoming highly complex. Therefore, intelligent approaches are needed to recognize and localize features in 3D meshes to determine complex manufacturing processes. However, previous approaches solely work on voxel-, pixel-or. STEP-based formats and not directly on mesh-based formats such as STL data. To overcome these issues, we present a configurable data generator and customize graph neural network architectures for the problem of localizing machining features directly in 3D meshes. After comparing the graph neural networks against each other, the best resulting network is compared to an existing state-of-The-Art approach, i.e., SsdNet. Our results indicate that the best-performing graph neural network exhibits superior classification accuracies on meshes with few machining features compared to SsdNet with an average F1 score of 80%. While the accuracy slightly falls behind SsdNet with more features, the graph neural network shows substantially better runtime performance results, which are, on average, 70 times faster. © 2024 IEEE.

关键词： Graph neural networks

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Modifying Gait: A Strategy for Joint Reaction Forces Reduction in Below-Knee Amputees

Modifying Gait: A Strategy for Joint Reaction Forces Reducti...

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International Conference on Mechatronics and Machine Vision in Practice (M2VIP)

作者： Haonan He Kaifeng Li Jie Zhang Shengquan Xie Zhi-Qiang Zhang Institute of Robotics Autonomous Systems and Sensing School of Electronic and Electrical Engineering University of Leeds

Compared to healthy people, people with transtibial amputation (TTA) are more prone to arthritis in their intact legs, especially in hip and knee joints. The main reason is that people with TTA typically depend more on their intact legs for generating forward movements, resulting in high joint reaction forces in the intact leg. Therefore, a new gait pattern with lower joint loads is essential to people with TTA to prevent arthritis. In this paper, we use predictive simulation to generate a new gait pattern that can decrease the joint reaction forces for people with TTA. The reflex-based controller is used to control muscle excitation, which is fed into Hill muscle-based forward dynamics to generate muscle forces and thus gait movement based on the motion of the equation. To find the optimal parameters in the reflex-based controller, we then propose a cost function to minimise effort, ground reaction force and joint reaction force together by covariance matrix adaptation evolution strategy. Experimental results have indicated the new gait pattern generated by our approach can reduce the joint reaction forces for people with TTA, while the energy consumption doesn't have a significant change, which demonstrates the effectiveness of this method.

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Design of Capsule Robot for Magnetic Gastric Biopsy and Drug Administration 20

Design of Capsule Robot for Magnetic Gastric Biopsy and Drug...

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20th IEEE International Conference on Mechatronics and Automation, ICMA 2023

作者： Xu, Zhihui Li, Zongze Liu, Shoubin Hu, Chengzhi Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy Engineering Southern University of Science and Technology Shenzhen China Guangdong Prov. Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and Technology Shenzhen China Harbin Institute of Technology School of Mechanical and Electrical Engineering Shenzhen China

ISBN: (纸本)9798350320831

Capsule robots have emerged as a promising tool for the early diagnosis of gastrointestinal diseases. Unlike conventional gastroscopy, they offer the potential for minimally invasive or even non-invasive treatment, and can alleviate discomfort and pain in patients. However, current capsule robots have some limitations. For instance, they lack stomach tissue biopsy and drug administration functions, and the capsule robot used for biopsy does not consider the tolerance of gastrointestinal tissue. Similarly, the capsule robot used for drug administration does not account for the outlet speed of drug administration. This paper proposes a new biopsy method using a magnetically manipulated capsule robot and analyzes the principles governing the robot's manipulation during the biopsy and drug administration processes. Furthermore, an ANSYS gastric model was established and used to simulate and experimentally analyze damage to the gastric tissue model from different types of biopsy needles and their moving speeds. The appropriate type of biopsy needle and moving speed were determined to prevent damage to the gastric tissue. The study also used FLUENT to determine the appropriate thrust at the entrance of the drug cavity and the impact of the drug density on the drug outlet velocity to ensure complete adherence of the drug to the lesion. © 2023 IEEE.

关键词： Biopsy

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A Novel Information-Theoretic Metric for Evaluating LiDAR Setups of Autonomous Vehicles

A Novel Information-Theoretic Metric for Evaluating LiDAR Se...

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IEEE International Conference on systems, Man and Cybernetics

作者： Philipp Hafemann Xulin Song David Brecht Technical University of Munich Germany Department of Mobility Systems Engineering School of Engineering & Design Institute of Automotive Technology and Munich Institute of Robotics and Machine Intelligence (MIRMI)

ISBN: (数字)9781665410205

ISBN: (纸本)9781665410212

The sensor configuration of an autonomous vehicle (AV) is determined in the early development phase when specific perception algorithms are not yet available. Therefore, approaches based on synthetic raw data are necessary to evaluate different configurations. One sensor type used in AV is LiDAR, but developers should carefully consider the amount and placement of the sensors due to their high costs. In this contribution, we propose the Omni-Lidar Evaluation Score (OLES), a novel metric to evaluate different LiDAR configurations based on their simulated raw data. Our OLES metric combines information-theoretic quantities with coverage-based metrics, considering both the spatial coverage and the uniformity of a LiDAR point cloud distribution. We show the need for a new metric and provide details on implementing OLES using the open-source simulator CARLA. We demonstrate the effectiveness of our new metric in a simulation study and highlight its usefulness in the early phases of vehicle development. This research provides a means to evaluate the quality of LiDAR configurations and provides a basis for further optimizing sensor setups for AVs.

关键词： Measurement Point cloud compression Laser radar Costs Autonomous vehicles Cybernetics Information theory

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Path Tracking Control for Helical Microrobots Based on Fusion of Geometric and Model-Free Methods 13

Path Tracking Control for Helical Microrobots Based on Fusio...

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13th IEEE International Conference on CYBER Technology in Automation, Control, and Intelligent systems, CYBER 2023

作者： Zhong, Shihao Wang, Huaping Shi, Qing Hou, Yaozhen Qiu, Yukang Sun, Tao Huang, Qiang Fukuda, Toshio School of Medical Technology Beijing Institute of Technology Beijing100081 China Key Laboratory of Biomimetic Robots and Systems Beijing Institute of Technology Ministry of Education Beijing100081 China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of Technology Beijing100081 China Intelligent Robotics Institute School of Mechatronical Engineering Beijing Institute of Technology Beijing100081 China

ISBN: (纸本)9798350315196

Helical micron-sized robots driven by magnetic fields have garnered significant interest, particularly in the field of tracking control. However, at the microscale, time-varying uncertain perturbations in both the environment and electromagnetic system can cause these robots to deviate from their preset state. Here, we propose a novel control method that combines geometric and model-free controllers in a complementary manner to achieve accurate path-tracking of a helical microrobot on underwater unstructured surfaces. The geometric controller acts as a feedforward controller handling path information and formulating guidance law, while the model-free controller responds directly to the lateral error. To compensate for unmodeled nonlinear dynamics and unknown disturbances and achieve system dynamic linearization, we employ an extended state observer. To validate the proposed method and determine suitable ranges for input parameters of the controllers, simulations were carried out. The effectiveness of our path-tracking control method is validated through experimental results. The control technique provides an initial investigation into addressing the effects of uncertainties and perturbation on the control capabilities of magnetic microrobots. © 2023 IEEE.

关键词： Controllers

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Camera-LiDAR Inconsistency Analysis for Active Learning in Object Detection

Camera-LiDAR Inconsistency Analysis for Active Learning in O...

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IEEE Symposium on Intelligent Vehicle

作者： Esteban Rivera Ana Clara Serra Do Nascimento Markus Lienkamp Technical University of Munich Germany Department of Mobility Systems Engineering School of Engineering and Design Institute of Automotive Technology Munich Institute of Robotics and Machine Intelligence (MIRMI)

ISBN: (数字)9798350348811

ISBN: (纸本)9798350348828

Today, deep learning detectors for autonomous driving are delivering impressive results on public datasets and in real-world applications. However, these detectors require large amounts of data, especially labeled data, to achieve the performance needed to ensure safe driving. The process of collecting and tagging data is expensive and cumbersome. Therefore, the recent focus of the industry has been on how to achieve similar performance while limiting the amount of labeled data required to train such models. Within the cross-modal active learning paradigm, we propose and analyze new strategies to exploit the inconsistencies between camera and LiDAR detectors to improve sampling efficiency and label only the samples that promise improvements for model training. For this, we leverage the 2D projection of the bounding boxes to equalize the output quality of camera and LiDAR detections. Finally, we achieve up to 0.6% AP improvement for camera and 2% improvement for LiDAR over random sampling on the KITTI dataset using a sampling strategy based on the number of detected objects.

关键词： Training Industries Laser radar Three-dimensional displays Limiting Detectors Object detection

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Monocular Visual-Inertial and Robotic-Arm Calibration in a Unifying Framework

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IEEE/CAA Journal of Automatica Sinica 2022年第1期9卷 146-159页

作者： Yinlong Zhang Wei Liang Mingze Yuan Hongsheng He Jindong Tan Zhibo Pang Key Laboratory of Networked Control Systems Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016 State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016 Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China School of Computing Wichita State UniversityWichita 67260 USA Department of Mechanical Aerospace and Biomedical EngineeringUniversity of TennesseeTN 37996 USA Department of Automation Technology ABB Corporate Research SwedenVasteras 72178Sweden Department of Intelligent Systems Royal Institute of Technology(KTH)Stockholm 11428Sweden

Reliable and accurate calibration for camera,inertial measurement unit(IMU)and robot is a critical prerequisite for visual-inertial based robot pose estimation and surrounding environment ***,traditional calibrations suffer inaccuracy and *** address these problems,this paper proposes a monocular visual-inertial and robotic-arm calibration in a unifying *** our method,the spatial relationship is geometrically correlated between the sensing units and robotic *** decoupled estimations on rotation and translation could reduce the coupled errors during the ***,the robotic calibration moving trajectory has been designed in a spiral pattern that enables full excitations on 6 DOF motions repeatably and *** calibration has been evaluated on our developed *** the experiments,the calibration achieves the accuracy with rotation and translation RMSEs less than 0.7°and 0.01 m,*** comparisons with state-of-the-art results prove our calibration consistency,accuracy and effectiveness.

关键词： Calibration inertial measurement unit(IMU) monocular camera robotic arm spiral moving trajectory

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Predictor-Based Time Delay Control of A Hex-Jet Unmanned Aerial Vehicle

arXiv

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arXiv 2025年

作者： Liang, Junning Zheng, Haowen Zhang, Yuying Gao, Yongzhuo Dong, Wei Lyu, Ximin School of Intelligent Systems Engineering Sun Yat-sen University Guangzhou China State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China

Turbojet-powered VTOL UAVs have garnered increased attention in heavy-load transport and emergency services, due to their superior power density and thrust-to-weight ratio compared to existing electronic propulsion systems. The main challenge with jet-powered UAVs lies in the complexity of thrust vectoring mechanical systems, which aim to mitigate the slow dynamics of the turbojet. In this letter, we introduce a novel turbojet-powered UAV platform named Hex-Jet. Our concept integrates thrust vectoring and differential thrust for comprehensive attitude control. This approach notably simplifies the thrust vectoring mechanism. We utilize a predictor-based time delay control method based on the frequency domain model in our Hex-Jet controller design to mitigate the delay in roll attitude control caused by turbojet dynamics. Our comparative studies provide valuable insights for the UAV community, and flight tests on the scaled prototype demonstrate the successful implementation and verification of the proposed predictor-based time delay control technique. Copyright © 2025, The Authors. All rights reserved.

关键词： Unmanned aerial vehicles (UAV)

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