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SICE International Symposium on Control systems (ISCS)

作者： Shawndy Michael Lee Jer Luen Chien Mario Josué Pérez Cruz Shaohui Foong Photchara Ratsamee Engineering Product Development Pillar Singapore University Technology and Design Singapore Department of Robotics and Systems Design Osaka Institute of Technology Osaka Japan

This paper presents an inverted perching mechanism designed for an unmanned aerial vehicle (UAV) intended for fluid spraying applications in the construction industry. The perching mechanism incorporates rotary and prismatic joints, enabling the UAV to change its body orientation while in a perched state. To ensure the effective operation of the inverted perching approach, several challenges including impact absorption, thrust control, and UAV body rotation need to be addressed. To tackle these challenges, the paper proposes the utilization of a Fuzzy Logic Control (FLC) thrust controller and an optimization-based UAV positioning strategy. The combined operation of these control strategies with the perching mechanism improves the UAV’s ceiling approach performance. Simulation and experimentation results demonstrate a relative increase in ±5° body rotation capability and a notable 17.65% improvement in impact absorption.

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Whole-body Stabilization of the REEM-C Humanoid on Actuated Balance Boards in Sagittal and Frontal Directions

Whole-body Stabilization of the REEM-C Humanoid on Actuated ...

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IEEE-RAS International Conference on Humanoid Robots

作者： Vidyasagar Rajendran Francisco Javier Andrade Chavez Katja Mombaur Department of Systems Design Engineering CERC Human-Centred Robotics and Machine Intelligence University Waterloo Canada Optimization and Biomechanics for Human-Centred Robotics Institute of Anthropomatics and Robotics (IAR) Karlsruhe Institute of Technology (KIT) Karlsruhe Canada

This paper explores stabilizer design for humanoid balancing on actuated balance boards. We qualitatively study how humans balance on balance boards to motivate our humanoid controller design. The developed approach combines various strategies from the literature including ankle admittance, CoM admittance, base pitch admittance, foot force difference admittance, contact wrench distribution and angular momentum regulation in a new integration to achieve stabilization on an actuated balance board. We explore the frontal and sagittal plane balance board problems along with pushes at the upper body and show that our approach works in simulation and on real hardware. This brings us one step closer to balancing on unactuated balance boards, other dynamic environments such as moving platforms and transportation devices, skills that will make humanoids more versatile.

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LLM-BT: Performing Robotic Adaptive Tasks based on Large Language Models and Behavior Trees

arXiv

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arXiv 2024年

作者： Zhou, Haotian Lin, Yunhan Yan, Longwu Zhu, Jihong Min, Huasong Institute of Robotics and Intelligent Systems Wuhan University of Science and Technology Wuhan China The School of Physics Engineering and Technology University of York United Kingdom

Large Language Models (LLMs) have been widely utilized to perform complex robotic tasks. However, handling external disturbances during tasks is still an open challenge. This paper proposes a novel method to achieve robotic adaptive tasks based on LLMs and Behavior Trees (BTs). It utilizes ChatGPT to reason the descriptive steps of tasks. In order to enable ChatGPT to understand the environment, semantic maps are constructed by an object recognition algorithm. Then, we design a Parser module based on Bidirectional Encoder Representations from Transformers (BERT) to parse these steps into initial BTs. Subsequently, a BTs Update algorithm is proposed to expand the initial BTs dynamically to control robots to perform adaptive tasks. Different from other LLM-based methods for complex robotic tasks, our method outputs variable BTs that can add and execute new actions according to environmental changes, which is robust to external disturbances. Our method is validated with simulation in different practical scenarios. Copyright © 2024, The Authors. All rights reserved.

关键词： robotics

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A Comprehensive Methodology for Assessing the Economic Viability of EV Charging Infrastructure in Brazil

A Comprehensive Methodology for Assessing the Economic Viabi...

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Smart Power & Internet Energy systems (SPIES), International Conference on

作者： Daywes Pinheiro Neto António Paulo Coimbra Aníbal T. De Almeida Tony R. Almeida Pedro Moura Letícia C. Ucker Raphael A. Gomes Alana S. Magalhães Center for Experimental and Technological Research and Studies Federal Institute of Goiás Brazil Dpt. of Electrical and Computer Engineering Institute of Systems and Robotics University of Coimbra Portugal

ISBN: (数字)9798350368864

ISBN: (纸本)9798350368871

This study proposes a comprehensive methodology to assess the economic viability of electric vehicle (EV) charging infrastructure projects in Brazil, specifically targeting connections with a capacity of up to 112.5 kW, which are subject to flat electricity tariffs. The methodology employs a novel EV energy consumption model, integrates the regulatory framework of net metering and relevant tax considerations, explores the potential cost-saving benefits of photovoltaic (PV) system integration, and utilizes key economic indicators like Net Present Value and Discounted Payback Time to quantify project profitability. By accounting for a set of EV demand scenarios (low, moderate, and high), the methodology provides a multifaceted assessment of project viability. A case study demonstrates the methodology's application, highlighting the potential economic benefits of such investments. The results suggest that the minimum charging service fee required for economic viability ranges from 0.17 to 0.29 USD/kWh, with a clear cost advantage associated with PV integration observed across all scenarios.

关键词： Economics Photovoltaic systems Costs Finance Transportation Tariffs System integration Charging stations Electric vehicle charging Sustainable development

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Fast Prototyping of In-Pavement Airport Navigation Lamp Prism Classification

Fast Prototyping of In-Pavement Airport Navigation Lamp Pris...

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

作者： Jakub Suder Tomasz Marciniak Division of Electronic Systems and Signal Processing Poznan University of Technology Faculty of Automatic Control Robotics and Electrical Engineering Institute of Automatic Control and Robotics Poznań Poland

The paper presents an analysis of fast selection of neural network for the purpose of visual analysis of mechanical wear on prism lenses of in-pavement airport navigational lighting systems. This issue is particularly important in terms of aviation safety and navigational lighting control, regulated by EASA and ICAO. The article is the next stage of the development of the system for the vision control of lamps, in which the concept of using a different neural network with an increased data set prepared by the authors is presented. The Deep Network Designer tool included in the Matlab 2022b environment was used. The solution using the GoogLeNet neural network allows for the classification of lamps with an accuracy of 88.37%.

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CUPREDS: Multi-sensor Point Cloud Mapping for Local Navigation

CUPREDS: Multi-sensor Point Cloud Mapping for Local Navigati...

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

作者： Carlos Tojal Luis Conde Bento Paulo Peixoto Institute of Systems and Robotics University of Coimbra Coimbra Portugal ESTG Polytechnic Institute of Leiria Leiria Portugal Department of Electrical and Computer Engineering University of Coimbra Coimbra Portugal

ISBN: (数字)9798350352344

ISBN: (纸本)9798350352351

Robot mapping usually benefits from the combination of several sensors. However, most algorithms for Simultaneous Localization And Mapping using point clouds only consider a single point cloud as input. There are also scenarios where SLAM is not needed and a simple local map representation without probabilities is preferred, for example due to throughput requirements. For these scenarios, software is needed that combines multiple point clouds into a unified, short-lived, robot-centric representation. Mapping software is only one tool in the software stack and should not compromise other components, which is why its performance-oriented design is of utmost importance. CUPREDS presents a ROS package for local mapping that prioritizes robustness and performance, with minimal overhead for its internal mechanisms.

关键词： Point cloud compression Simultaneous localization and mapping Navigation Software architecture Software algorithms Throughput Software

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Thermally-activated Biochemically-sustained Reactor for Soft Fluidic Actuation

Thermally-activated Biochemically-sustained Reactor for Soft...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Jialun Liu MennaAllah Soliman Dana D. Damian Automatic Control and Systems Engineering Department Sheffield Robotics University of Sheffield Sheffield UK Insigneo Institute for in Silico Medicine University of Sheffield UK

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Soft robots have shown remarkable distinct capabilities due to their high deformation. Recently increasing attention has been dedicated to developing fully soft robots to exploit their full potential, with a recognition that electronic powering may limit this achievement. Alternative powering sources compatible with soft robots have been identified such as combustion and chemical reactions. A further milestone to such systems would be to increase the controllability and responsiveness of their underlying reactions in order to achieve more complex behaviors for soft robots. In this paper, we present a thermally-activated reactor incorporating a biocompatible hydrogel valve that enables control of the biochemical reaction of sugar and yeast. The biochemical reaction is utilized to generate contained pressure, which in turn powers a fluidic soft actuator. Experiments were conducted to evaluate the response time of the hydrogel valves with three different crosslinker concentrations. Among the tested concentrations, we found that the lowest crosslinker concentration yielded the fastest response time of the valve at an ambient temperature of 50°C. We also evaluated the pressure generation capacity of the reactor, which can reach up to 0.22 bar, and demonstrated the thermoresponsive behavior of the reactor to trigger a biochemical reaction for powering a fluidic soft actuator. This work opens up the possibility to power and control tetherless and fully soft robots.

关键词： Actuators Electric potential Deformation Hydrogels Soft robotics Valves Time factors

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Crawling Gait Enables Stable Quadrupedal Locomotion in A Bioinspired Robotic Rat

Crawling Gait Enables Stable Quadrupedal Locomotion in A Bio...

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IEEE International Conference on Real-time Computing and robotics (RCAR)

作者： Ruochao Wang Xiaolong Quan Hang Xiao Rongjie Du Boyang Qin Qing Shi Intelligent Robotics Institute School of Mechatronical Engineering Beijing Institute of Technology Beijing China Ministry of Education Key Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology) Beijing China

ISBN: (数字)9798350372601

ISBN: (纸本)9798350372618

Constrained by the performance of actuators and controllers, achieving stable walking in small-scale quadruped robots has been more challenging compared to larger ones. Rats, in their natural habitat, can achieve stable walking even in extreme environments like narrow spaces by utilizing crawling motion to lower their center of mass. Inspired by this, we conducted a comparative study of the walking stability between crawling and trot gaits on a ratinspired robot named SQuRo. Initially, we collected motion data for both crawling and trot gaits of SQuRo in a simulated environment. Subsequently, we analyzed the dynamic stability of the robot using Poincaré maps. The results indicate that SQuRo’s phase trajectories converged into closed loops with periodicity under both gaits, demonstrating the presence of limit cycles. Moreover, fixed points were observed in the Poincaré maps for both gaits, suggesting the dynamic stability of quadrupedal locomotion. Compared to the trot gait, the convergence loops of the crawling gait phase trajectories were smaller, indicating more stable locomotion. We tested the performance of SQuRo’s crawling gait in challenging outdoor environments, where SQuRo demonstrated stable walking consistently. This work provides a new approach for achieving stable walking in small-scale quadruped robots and can be readily applied to controller design across different sizes of legged robots.

关键词： Legged locomotion Limit-cycles Aerospace electronics Robot sensing systems Stability analysis Trajectory Sensors

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Influence of power supply on airport navigation lamps photometric test accuracy

Influence of power supply on airport navigation lamps photom...

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

作者： Kacper Podbucki Jakub Suder Tomasz Marciniak Adam Dąrowski Faculty of Automatic Control Robotics and Electrical Engineering Institute of Automatic Control and Robotics Division of Electronic Systems and Signal Processing Poznan University of Technology Poznań Poland

The paper presents research on the accuracy of measuring illuminance and chromaticity of airport lamps. The impact of the type of DC and AC power supply on measurement was assessed with the use of electronic sensors. BH1750 and BH1745 type sensors in a microprocessor system with an I 2 C interface were used for the measurements. A professional luxmeter was used for comparison purposes. Experimental tests were carried out under laboratory conditions for three types of halogen lamps: approach system lamps, runway centerline lamps, and touchdown zone lamps.

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Approaching Test Time Augmentation in the Context of Uncertainty Calibration for Deep Neural Networks

arXiv

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arXiv 2023年

作者： Conde, Pedro Barros, Tiago Lopes, Rui L. Premebida, Cristiano Nunes, Urbano J. The Institute of Systems and Robotics Department of Electrical and Computer Engineering University of Coimbra Portugal Critical Software South Africa

With the rise of Deep Neural Networks, machine learning systems are nowadays ubiquitous in a number of real-world applications, which bears the need for highly reliable models. This requires a thorough look not only at the accuracy of such systems, but also at their predictive uncertainty. Hence, we propose a novel technique (with two different variations, named M-ATTA and V-ATTA) based on test time augmentation, to improve the uncertainty calibration of deep models for image classification. By leveraging an adaptive weighting system, M/V-ATTA improves uncertainty calibration without affecting the model’s accuracy. The performance of these techniques is evaluated by considering diverse metrics related to uncertainty calibration, demonstrating their robustness. Empirical results, obtained on CIFAR-10, CIFAR-100, Aerial Image Dataset, as well as in two different scenarios under distribution-shift, indicate that the proposed methods outperform several state-of-the-art post-hoc calibration techniques. Furthermore, the methods proposed also show improvements in terms of predictive entropy on out-of-distribution samples. Code for M/V-ATTA available at: https://***/pedrormconde/MV-ATTA Copyright © 2023, The Authors. All rights reserved.

关键词： Calibration

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