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IEEE International Conference on Autonomous Robot systems and Competitions (ICARSC)

作者： Jorge Ribeiro Marina Brilhante Diogo Miguel Matos Carlos A. Silva Héber Sobreira Pedro Costa CRIIS - Centre of Robotics in Industry and Intelligent Systems INESC TEC - Institute for Systems and Computer Engineering Technology and Science Porto Portugal Faculty of Engineering University of Porto Porto Portugal Flowbotic Mobile Systems S.A Viseu Portugal

ISBN: (数字)9798331538606

ISBN: (纸本)9798331538613

Multi-robot coordination aims to synchronize robots for optimized, collision-free paths in shared environments, addressing task allocation, collision avoidance, and path planning challenges. The Time Enhanced A* (TEA*) algorithm addresses multi-robot pathfinding offering a centralized and sequential approach. However, its sequential nature can lead to order-dependent variability in solutions. This study enhances TEA* through multi-threading, using thread pooling and parallelization techniques via OpenMP, and a sensitivity analysis enabling parallel exploration of robot-solving orders to improve robustness and the likelihood of finding efficient, feasible paths in complex environments. The results show that this approach improved coordination efficiency, reducing replanning needs and simulation time. Additionally, the sensitivity analysis assesses TEA*'s scalability across various graph sizes and number of robots, providing insights into how these factors influence the efficiency and performance of the algorithm.

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Evaluation of a Weather Plugin in Gazebo: A Case-Study of a Wind Influence on PX4-Based UAV Performance 9th

Evaluation of a Weather Plugin in Gazebo: A Case-Study of a ...

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9th International Conference on Interactive Collaborative robotics, ICR 2024

作者： Imamov, Niyaz Abbyasov, Bulat Tsoy, Tatyana Martínez-García, Edgar A. Magid, Evgeni Laboratory of Intelligent Robotic Systems Intelligent Robotics Department Institute of Information Technology and Intelligent Systems Kazan Federal University 35 Kremlyovskaya St. Kazan420111 Russia Tikhonov Moscow Institute of Electronics and Mathematics HSE University Tallinn Street 34 Moscow Russia Institute of Engineering and Technology Department of Industrial Engineering and Manufacturing Autonomous University of Ciudad Juarez Manuel Díaz H. No. 518-B Zona Pronaf Condominio Chihuahua Cuidad Juárez32315 Mexico

ISBN: (纸本)9783031713590

Unmanned aerial vehicles (UAVs) are utilized in a wide range of real-world applications including search and rescue missions, 3D mapping, building inspection and reconstruction. In a real-world environment, severe weather conditions significantly impact UAV operations. Wind is one of the most dangerous weather factors that can destabilize and even destroy a UAV. Preparing UAV flight algorithms for real-world conditions in order to minimize risks of damage and malfunctioning is a crucial part of a UAV system development. This paper analyses a wind influence on UAV virtual model performance within the Gazebo simulator. The paper focuses on gazebo_wind_plugin package used for creating a windy virtual environment. PX4-LIRS package is used for simulating a UAV within the Gazebo. Three types of experiments were run to evaluate capabilities of the plugin to simulate typical issues that arise in real-world scenarios: a UAV wind resistance, a wind effect on a UAV tilt angle and on a flight velocity. Virtual experiments demonstrated that gazebo_wind_plugin could serve for PX4 UAV flight scenarios modeling in Gazebo simulation with a satisfactory level of realism. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2024.

关键词： Unmanned aerial vehicles (UAV)

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AMG: A Depression Detection Model with Autoencoder and Multi-Head Graph Convolutional Network 42

AMG: A Depression Detection Model with Autoencoder and Multi...

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42nd Chinese Control Conference, CCC 2023

作者： Wang, Han-Guang Meng, Qing-Hao Jin, Li-Cheng Wang, Jian-Bang Hou, Hui-Rang Institute of Robotics and Autonomous Systems School of Electrical and Information Engineering Tianjin University Tianjin Key Laboratory of Process Measurement and Control Tianjin300072 China China Southern Power Grid Company Limited Guangzhou510623 China

ISBN: (纸本)9789887581543

Depression is a common chronic mental disorder characterized by high prevalence, recurrence, suicide rate, disability rate and heavy disease burden. Depression assessment based on questionnaires is subjective, therefore, a novel framework to is hereby designed to detect depression automatically and obj ectively. The framework first utilizes a two-way autoencoder to extract the hidden features from the original differential entropy features. The new features are used to generate the channel connectivity graph, using the multi-head attention mechanism. Next, the new features and graphs are input into the graph convolutional network (GCN) to aggregate spatial information. Finally, the output from GCN is passed to a fully connected layer and a soft layer to obtain the predicted label. Experiments are performed on Multimodal Open Dataset for Mental-disorder Analysis dataset. A final accuracy of 88.68% and a cross entropy loss of 2.4532 are obtained, when using ten-fold cross validation, outperforming other traditional machine learning methods including SVM, KNN, decision tree. © 2023 Technical Committee on Control Theory, Chinese Association of Automation.

关键词： Decision trees

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Global Trajectory Optimization for Autonomous Driving using Nonlinear Programming with Topology Classes*

Global Trajectory Optimization for Autonomous Driving using ...

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IEEE International Conference on Automation Science and engineering (CASE)

作者： Maryam Nezami Ngoc Thinh Nguyen Georg Schildbach Institute for Electrical Engineering in Medicine University of Lübeck (UzL) Lübeck Germany Institute for Robotics and Cognitive Systems UzL Lübeck Germany

ISBN: (数字)9798350358513

ISBN: (纸本)9798350358520

Obstacle avoidance is an essential characteristic of autonomous driving cars. This paper presents a new method for efficiently determining possible routes that a vehicle can follow for overtaking obstacles and classifying them into different topology classes of paths. Impossible routes are eliminated based on the physical constraints of the vehicle. To evaluate each topology class and pick the one with the lowest cost as the globally optimal path, we run several topology-aided Nonlinear Programming (NLP) problems. For each topology-aided NLP problem to overtake the obstacles from the prespecified side determined by the topology class, corresponding auxiliary halfspace constraints are activated in the optimization problem. Through simulation results and comparisons with a standard NLP planner, we show that the overall computation time for solving several topology-aided NLP problems is faster than that of the standard NLP planner. Additionally, in complex driving scenarios, where the standard planner gets stuck in a sub-optimal solution due to internal faults or a local optimum, our proposed topology-aided planner can still find the globally optimal path.

关键词： Costs Simulation Roads Programming Topology Planning Collision avoidance Standards Autonomous vehicles Trajectory optimization

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RADAR: robotics Assembly by Demonstration via Augmented Reality

RADAR: Robotics Assembly by Demonstration via Augmented Real...

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

作者： Wenhao Yang Shi Bai Yunbo Zhang Department of Industrial and Systems Engineering Lamar University Beaumont TX USA iServe Robotics Sunnyvale CA USA Department of Industrial and Systems Engineering Rochester Institute of Technology Rochester NY USA

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

With the widespread adoption of robots in high-mix, low-volume manufacturing, and the challenges posed by long-horizon assembly tasks, we introduce the RADAR system—an integrated human-robot collaboration system for Robotic Assembly by Demonstration via Augmented Reality. Existing frameworks lack a comprehensive, cross-task framework for effective assembly collaboration, limiting their applicability in complex tasks. We designed the RADAR system’s conceptual model, detailing its workflow and components. The system integrates human input into robotic metal beam assembly through augmented reality interactions and interfaces. We also developed a task planner that dynamically adjusts human-robot assembly tasks at coarse-fine resolutions. Validating through practical scenarios, particularly the RAMP assembly benchmark, showed that human involvement significantly enhances assembly precision and success rates, proving RADAR’s effectiveness and efficiency in human-robot collaborative assembly.

关键词： Robotic assembly Sequential analysis Systematics Collaboration Radar Production Benchmark testing Planning Assembly Augmented reality

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Latent Action Priors for Locomotion with Deep Reinforcement Learning

arXiv

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arXiv 2024年

作者： Hausdörfer, Oliver von Rohr, Alexander Lefort, Éric Schoellig, Angela P. The Technical University of Munich Germany TUM School of Computation Information and Technology Department of Computer Engineering Learning Systems and Robotics Lab Germany Munich Institute of Robotics and Machine Intelligence Germany

Deep Reinforcement Learning (DRL) enables robots to learn complex behaviors through interaction with the environment. However, due to the unrestricted nature of the learning algorithms, the resulting solutions are often brittle and appear unnatural. This is especially true for learning direct joint-level torque control, as inductive biases are difficult to integrate into the learning process. We propose an inductive bias for learning locomotion that is especially useful for torque control: latent actions learned from a small dataset of expert demonstrations. This prior allows the policy to directly leverage knowledge contained in the expert’s actions and facilitates more efficient exploration. We observe that the agent is not restricted to the reward levels of the demonstration, and performance in transfer tasks is improved significantly. Latent action priors combined with style rewards for imitation leads to a closer replication of the expert’s behavior. Videos and code are available at https://***/view/ latent-action-priors. Copyright © 2024, The Authors. All rights reserved.

关键词： Deep reinforcement learning

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A Look-Up Table Based Inverter Nonlinearity Compensation Method Considering Parameter Inconsistency of Upper and Lower Bridge Arms

A Look-Up Table Based Inverter Nonlinearity Compensation Met...

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： Yonghe Huang Dianguo Xu Yan Xu Yong Yu Junyu Zhao Xubo Gong School of Electrical Engineering and Automation Harbin Institute of Technology Harbin China The State key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China

ISBN: (数字)9798350394085

ISBN: (纸本)9798350394092

In motor drive systems, voltage source inverter (VSI) nonlinearity will produce voltage error, cause current harmonics, and affect the control performance. Among the VSI nonlinearity factors, the parasitic capacitance is the fundamental cause of the nonlinear relationship between voltage error and phase current. If the parameter inconsistency of the upper and lower bridge arm is not considered, the voltage error is an odd function. However, in practical applications, the parameters of the upper and lower bridge arms are usually slightly different, and the voltage error will no longer be an odd function. Considering the influence of parameter inconsistency, this article proposes an accurate look-up table (LUT) based method for VSI nonlinearity compensation. By injecting positive staircase current and negative staircase current separately in self-commissioning process, an accurate voltage error LUT is obtained through numerical fitting methods. The proposed method does not require any parameter of power devices. Experimental results verify the effectiveness of the proposed method.

关键词： Industrial electronics Motor drives Accuracy Voltage source inverters Fitting Bridge circuits Table lookup

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Basis change, projection, and relative linear algebra tricks in signal and image processing

Basis change, projection, and relative linear algebra tricks...

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Signal Processing Algorithms, Architectures, Arrangements and Applications (SPA)

作者： Adam Dąbrowski Faculty of Control Robotics and Electrical Engineering Institute of Automatic Control and Robotics Division of Signal Processing and Electronic Systems Jana Pawła II 24 Poznań University of Technology Poznań Poland

ISBN: (数字)9788362065486

ISBN: (纸本)9798350373806

In this tutorial some basic linear algebra problems: basis change and projection, are discussed together with examples of their applications in signal and image processing. In typical linear algebra university courses perpendicular projections are only discussed. However, in image processing, for defining various color spaces, we need non-perpendicular projections. That is why this is the key problem in this tutorial.

关键词： Vectors Null space Gray-scale Image color analysis Symmetric matrices Color Tutorials Transforms Robot kinematics Transducers

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User Perception and Evaluation of a Portrait Drawn by KUKA KR3 AGILUS Manipulator 9th

User Perception and Evaluation of a Portrait Drawn by KUKA K...

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9th International Conference on Interactive Collaborative robotics, ICR 2024

作者： Zagirov, Aidar Chebotareva, Elvira Osokin, Sergey Li, Hongbing Magid, Evgeni Intelligent Robotics Department Institute of Information Technology and Intelligent Systems Kazan Federal University 35 Kremlevskaya St. Kazan420008 Russia Department of Instrument Science and Engineering Shanghai Jiao Tong University Minhang Shanghai200240 China School of Electronic Engineering Tikhonov Moscow Institute of Electronics and Mathematics HSE University 34 Tallinskaya St. Moscow Russia

ISBN: (纸本)9783031713590

Creating an artistic portrait is considered one of the most complex areas of a generative art. Currently, generative artificial intelligence (AI) has made significant advancements in generating portraits of people based on photographic images. This has opened up new opportunities for utilizing AI achievements in robotic artistry. However, questions related to evaluation and human perception of such works, including their artistic value, remain open. In our work, we present experimental results of integrating the processing of human photographs using the generative model InstantID with a drawing robot and studying users’ reactions to the obtained images. In our experiments, we generated graphic portraits of people and constructed their images using KUKA KR3 AGILUS robot. We then asked participants to rate the resulting portraits based on three parameters: similarity/recognition, beauty/aesthetics, and evoked emotions. The results of the experiments can be used in social robotics, including art therapy that involves social robots and human-robot interaction. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2024.

关键词： Social robots

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Cardiac Surgery Equipment - Operation Principles and Maintenance Procedures

Cardiac Surgery Equipment - Operation Principles and Mainten...

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Bioengineering (ENBENG), Portuguese Meeting in

作者： Lívia Pinto Fernanda Coutinho João Silva Polytechnic Institute of Coimbra Coimbra Institute of Engineering Coimbra Portugal Polytechnic Institute of Coimbra Coimbra Institute of Engineering Institute of Systems and Robotics University of Coimbra Coimbra Portugal

Cardiac surgery equipment assists healthcare professionals in the surgical treatment of pathologies of the heart and blood vessels. This equipment is considered critical as the patient's life depends on it. Therefore, it is crucial that the equipment manager ensures it is always in the best operating conditions and in compliance with the applicable regulatory requirements (e.g., electrical safety requirements). Three of the most used cardiac surgery devices are the intra-aortic balloon pump, the extracorporeal circulation machine and the heat exchanger. This paper presents a compilation of relevant information about this equipment, including maintenance procedures and enumeration of the most common malfunctions, based on the analysis of maintenance reports covering the lifecycle of these devices.

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