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A Safe Control Architecture Based on Robust Model Predictive Control for Autonomous Driving

A Safe Control Architecture Based on Robust Model Predictive...

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2022 American Control Conference, ACC 2022

作者： Nezami, Maryam Nguyen, Ngoc Thinh Mannel, Georg Abbas, Hossam Seddik Schildbach, Georg University of Lübeck Institute for Electrical Engineering in Medicine Lübeck Germany University of Lübeck Institute for Robotics and Cognitive Systems Lübeck Germany Fraunhofer Imte Fraunhofer Research Institution for Individualized and CellBased Medical Engineering Lübeck Germany

ISBN: (数字)9781665451963

ISBN: (纸本)9781665451963

This paper proposes a Robust Safe Control Architecture (RSCA) for safe-decision making. The system to be controlled is a vehicle in the presence of bounded disturbances. The RSCA consists of two parts: a Supervisor MPC and a Controller MPC. Both the Supervisor and the Controller are tube MPCs (TMPCs). The Supervisor MPC provides a safety certificate for an operating controller and a backup control input in every step. After an unsafe action by the operating controller is predicted, the Controller MPC takes over the system. In this paper, a method for the computation of a terminal set is proposed, which is robust against changes in the road curvature and forces the vehicle to reach a safe reference. Moreover, two important proofs are provided in this paper. First, it is shown that the backup control input is safe to be applied to the system to lead the vehicle to a safe state. Next, the recursive feasibility of the RSCA is proven. By simulating some obstacle avoidance scenarios, the effectiveness of the proposed RSCA is confirmed. © 2022 American Automatic Control Council.

关键词： Controllers

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Zero-Shot Kidney Stone Segmentation Based on Segmentation Anything Model for Robotic-Assisted Endoscope Navigation 16th

Zero-Shot Kidney Stone Segmentation Based on Segmentation A...

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16th International Conference on Intelligent robotics and Applications, ICIRA 2023

作者： Meng, Hui Chen, Lingkai Zhu, Shiqiang Fei, Chentao Zhang, Yong Zheng, Miaojuan Han, Jianda Song, Wei School of Intelligent Science and Technology Hangzhou Institute for Advanced Study University of Chinese Academy of Sciences 1 Sub-lane Xiangshan Hangzhou310024 China Research Center for Intelligent Robotics Research Institute of Interdisciplinary Innovation Zhejiang Laboratory Hangzhou311100 China Hangzhou ElephantChain Network Technology Co. Ltd. Hangzhou China Faculty of Mechanical Engineering and Automation Zhejiang Sci-Tech University Hangzhou310018 China College of Artificial Intelligence and Tianjin Key Laboratory of Intelligent Robotics Institute of Robotics and Automatic Information Systems Nankai University Tianjin300350 China

ISBN: (纸本)9789819964888

Biomedical robotics has had a significant impact on flexible ureteroscopy (FURS) for the management of nephrolithiasis. The biomedical robots provide a suitable and safe platform for FURS. However, operating the robots expertly still represents a challenge for surgeons. Vision-based navigation is an effective means to simplify the operations of robots by surgeons, which has great potential to improve surgical efficiency. To achieve vision-based navigation, the localization of kidney stones in endoscopic images is the first step. In this paper, we propose a stone segmentation method (SSM) based on zero-shot learning, which consists of segmentation anything model (SAM), an image preprocessing module, and a mask postprocessing module. The SAM segments all objects in endoscopic images, which lack semantic information. The preprocessing module is designed to suppress interference of reflective area in endoscopic images, and the mask postprocessing module is used to filter noise masks. The experimental results on our collected endoscopic images indicate that our method achieves close accuracy on stone segmentation compared with supervised U-Net and VGG_U-Net, which significantly outperforms the Ostu and the SAM. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.

关键词： Endoscopy

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How to Price Fresh Data with Strategic Users 21

How to Price Fresh Data with Strategic Users

引用

21st International Symposium on Modeling and Optimization in Mobile, Ad Hoc, and Wireless Networks, WiOpt 2023

作者： He, Junyi Zhang, Meng Ma, Qian Huang, Jianwei School of Science and Engineering The Chinese University of HongKong Guangdong Shenzhen China Zhejiang University University of Illinois Urbana-Champaign Institute Zhejiang University Haining314400 China School of Intelligent Systems Engineering Sun Yat-sen University Guangdong Shenzhen518107 China School of Science and Engineering Shenzhen Institute of Artificial Intelligence and Robotics for Society The Chinese University of HongKong Shenzhen518172 China

ISBN: (纸本)9783903176553

The interests in obtaining fresh data in real-time applications have facilitated fresh data markets. However, existing works on designing fresh data markets have ignored strategic users. Being strategic means that users can optimally time their data purchases, which affects markets’ profit. In this paper, we study a fresh data market, where strategic users with heterogeneous data valuations stochastically arrive over time. The strategic users decide the time of data purchase, considering the evolution of data freshness and prices, while the platform decides the data pricing policy over time to maximize its profit. We first consider a dynamic pricing policy, where the platform offers a price menu to each arrival user. The analysis is technically challenging, as heterogeneous users face different integer programming problems in optimizing their data purchase time, making direct optimization of data prices infeasible. To tackle the challenge, we adopt a mechanism design approach. We show that the direct mechanism design problem relax the original problem and obtain the optimal pricing policy analytically. Next, to reduce the implementation complexity, we study a single pricing policy, where the price is fixed over time. We derive the optimal single price analytically in a two-period refreshing model. Perhaps surprisingly, although strategic users have more purchasing options than non-strategic users, users who behave strategically may be worse off. Simulation results show that, although a platform refreshes the data less frequently in the presence of strategic users than facing myopic users, it can earn up to 5 times higher profit. © 2023 IFIP.

关键词： Profitability

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The MONITOR Robot with UHF-RFID Rotating Antennas enhancing Indoor Tag Localization 8

The MONITOR Robot with UHF-RFID Rotating Antennas enhancing ...

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8th International Conference on Smart and Sustainable Technologies, SpliTech 2023

作者： Cecchi, Glauco Motroni, Andrea Buffi, Alice Nepa, Paolo D'Avella, Salvatore Tripicchio, Paolo Unetti, Matteo Col, Luca Del Salvatore, Alfredo University of Pisa Department of Information Engineering Pisa Italy University of Pisa Department of Energy Systems Territory and Construction Engineering Pisa Italy Institute Scuola Superiore Sant'Anna Department of Excellence in Robotics and AI Mechanical Intelligence Pisa Italy Partitalia Srl Milan Italy Sensorid Srl Campobasso Italy

ISBN: (纸本)9789532901283

The MONITOR Project is born to respond to the increasing demand for highly accurate and quick inventorying operations. For this purpose, an automatic Ultra-High-Frequency (UHF) Radio Frequency IDentification (RFID) system consisting of a mobile robot is conceived. Particularly, the robot is equipped with rotating arms allowing an antenna motion able to improve tag localization when Synthetic Aperture Radar (SAR) methods are applied. In this paper, the proof-of-concept of the mobile robot with rotating arms is firstly presented. Localization performance is shown in a realistic warehouse/store environment where RFID tags are attached to clothes arranged on dress racks. Also stray tags are considered in the indoor scenario, to make the environment more challenging. The experimental analysis demonstrates the system capability in improving localization performance thanks to rotating antennas. © 2023 University of Split, FESB.

关键词： Synthetic aperture radar

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Non-Rigid Point Set Registration Based on Global Prior and Local Structural Constraint 2

Non-Rigid Point Set Registration Based on Global Prior and L...

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2nd International Conference on Computer engineering and Application, ICCEA 2021

作者： Chang, Xin Fang, Shun Wu, Shiqian School of Information Science and Engineering Wuhan University of Science and Technology Institute of Robotics and Intelligent Systems Wuhan China

ISBN: (纸本)9781665426169

Coherent point drift (CPD) is a classic non-rigid point set registration algorithm. Inspired by the CPD idea, an improved CPD method is proposed in this paper. Firstly, we establish a global prior based on the graph feature to dynamically allocate Gaussian components. Secondly, a new neighborhood is defined to flexibly adjust the range of unevenly distributed points. Finally, a local structure constraint based on local neighborhood is proposed, which ensures the structure stability of the point sets. Experimental results on synthetic and real data sets show that the proposed method achieves good performance in degraded data, such as deformation, rotation, and noise. © 2021 IEEE.

关键词： Gaussian distribution

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Robot Embodied Dynamic Tactile Perception of Liquid in Containers 23

Robot Embodied Dynamic Tactile Perception of Liquid in Conta...

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23rd IEEE-RAS International Conference on Humanoid Robots, Humanoids 2024

作者： Xu, Yingtian Ma, Yichen Lin, Waner Sun, Zhenglong Zhang, Tianwei Wang, Ziya The Chinese Univ of Hong Kong School of Science and Engineering Shenzhen518172 China Shenzhen University Key Laboratory of Optoelectronic Devices and Systems Ministry of Education School of Physics and Optoelectronic Engineering Shenzhen518060 China Shanghai Jiao Tong University School of Electronic Information and Electrical Engineering Department of Micro-Nano Electronics Shanghai200240 China Shenzhen Institute of Artificial Intelligence and Robotics for Society Shenzhen518129 China

ISBN: (纸本)9798350373578

Humans perceive objects and environments actively and dynamically using tactile sensing facilitated by the skin. However, due to the gap in sensing capabilities between electronic skin and human skin, it remains a challenge for robots to achieve intricate tactile perception. For example, the task of liquid properties estimation within containers, demands sensing and comprehension of complex dynamic tactile signals during contact. This paper introduces a novel tactile fingertip inspired by human skin enabling both static tactile sensing facilitated by a layer of porous piezoresistive elastomer and dynamic tactile sensing enabled by condenser microphones. A data-driven methodology is employed to analyze liquids through multimodal signals devoid of physical modelling. The proposed robotic system engages in shaking various bottles filled with different volumes of water, allowing the tactile fingertip to detect changes in grasping force caused by shaking and small vibrations caused by the collision of the container with liquid. Five machine learning models trained on these tactile signals are analyzed and compared. Experimental results demonstrate the proficiency of the tactile system in distinguishing liquid fill percentages across bottles of different shapes and capacities with a remarkable accuracy of 98%. This paper holds promise for advancing the embodied intelligence of robots, enhancing their ability to perceive mixed tactile signals dynamically, thereby facilitating tasks such as liquid estimation and other intricate tactile operations in environments like kitchens and hospitals. © 2024 IEEE.

关键词： Bottles

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Rock-Climbing Fish Inspired Skeleton-Embedded Rigid-Flexible Coupling Suction Disc Design for Adhesion Enhancement 16th

Rock-Climbing Fish Inspired Skeleton-Embedded Rigid-Flexible...

引用

16th International Conference on Intelligent robotics and Applications, ICIRA 2023

作者： Tan, Wenjun Qin, Hengshen Zhang, Chuang Wang, Ruiqian Zhang, Yiwei Yang, Lianchao Chen, Qin Wang, Feifei Xi, Ning Liu, Lianqing State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China University of Chinese Academy of Sciences Beijing100049 China Chengdu Institute of Biology Chinese Academy of Sciences Sichuan Chengdu610042 China Department of Electrical and Electronic Engineering University of Hong Kong 999077 Hong Kong Emerging Technologies Institute Department of Industrial and Manufacturing Systems Engineering University of Hong Kong Pokfulam999077 Hong Kong

ISBN: (纸本)9789819964888

Underwater high-performance biological adhesion systems have attracted increasing research interest to inspire engineered adhesion systems. Switchable underwater adhesion systems typically employ suction adhesion. However, achieving low pre-pressure negative pressure adhesion is still a challenge. An inspiring nature mode is provided by the rock-climbing fish, which needs little preload and can resist a pull-off force of 1000 times its own body weight. The pectoral and abdominal fins of rock-climbing fish have evolved to almost a flat suction cup. Through micro CT, we found that a unique skeletal network is embedded in the suction cup. This unique structure increases the stiffness of the suction cup and enhances its adhesion performance. Through numerical simulation, it was revealed that this rigid, flexible coupling structure enhances the ability of the suction cup to resist lateral pressure and increases the energy dissipation of the edge detachment of the suction cup. This work can shed light on the design of novel underwater adhesion systems and inspire underwater adhesion crawling robots. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.

关键词： Adhesion

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Hazard Analysis of Collaborative Automation systems: A Two-layer Approach based on Supervisory Control and Simulation

Hazard Analysis of Collaborative Automation Systems: A Two-l...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Tom P. Huck Yuvaraj Selvaraj Constantin Cronrath Christoph Ledermann Martin Fabian Bengt Lennartson Torsten Kröger Intelligent Process Automation and Robotics Lab Institute of Anthropomatics and Robotics (IAR-IPR) Karlsruhe Institute of Technology India Department of Electrical Engineering Division of Systems and Control Chalmers University of Technology Gothenburg Sweden

Safety critical systems are typically subjected to hazard analysis before commissioning to identify and analyse potentially hazardous system states that may arise during operation. Currently, hazard analysis is mainly based on human reasoning, past experiences, and simple tools such as checklists and spreadsheets. Increasing system complexity makes such approaches decreasingly suitable. Furthermore, testing-based hazard analysis is often not suitable due to high costs or dangers of physical faults. A remedy for this are model-based hazard analysis methods, which either rely on formal models or on simulation models, each with their own benefits and drawbacks. This paper proposes a two-layer approach that combines the benefits of exhaustive analysis using formal methods with detailed analysis using simulation. Unsafe behaviours that lead to unsafe states are first synthesised from a formal model of the system using Supervisory Control Theory. The result is then input to the simulation where detailed analyses using domain-specific risk metrics are performed. Though the presented approach is generally applicable, this paper demonstrates the benefits of the approach on an industrial human-robot collaboration system.

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Probing Local Cellular Mechanics by Atomic Force Microscopy with Modified Spherical Tip

Probing Local Cellular Mechanics by Atomic Force Microscopy ...

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IEEE International Conference on Cyborg and Bionic systems (CBS)

作者： Zhaofeng Zuo Xiaoming Liu Xiaoqing Tang Fengyu Liu Dan Liu Yuyang Li Qiang Huang Tatsuo Arai Beijing Advanced Innovation Center for Intelligent Robots and Systems and the Intelligent Robotics Institute School of Mechatronical Engineering Beijing Institute of Technology Beijing China

Abstract-The mechanical characterization of cell is important for knowing the physiological state and studying diseases of organism. While many approaches are available for measuring cellular elasticity, distinguishing the stiffness variation among different cellular areas is still a challenge. In this paper, we reported a method to modify spherical atomic force microscopy (AFM) tip for accurate measurement of Young’s modulus in several areas on single adherent living cancer cells (Hela cells). The micrometer size spheres were transported to an AFM probe tip by dual micropipettes and fixed by ultraviolet (UV) curable glue, which is reproducible and nondestructive to the cantilever. The force-displacement curves were measured along major axis of cells with the modified AFM probe in indentation experiments. The results demonstrate that the modulus value increased with the detected point approaching the nucleus center, and areas closed to nucleus showed have higher stiffness. Our study provides a quantitative method for static measurement of different locations of cell, and the result has the potential to reveal how intracellular structures have effect on the cell mechanical characterization.

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Development of a Bilateral Control Teleoperation System for Bipedal Humanoid Robot Utilizing Foot Sole Haptics Feedback *

Development of a Bilateral Control Teleoperation System for ...

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

作者： Yang Shen Masanobu Kanazawa Kazuki Mori Ryu Isono Yuri Nakazawa Atsuo Takanishi Takuya Otani Faculty of Science and Engineering Waseda University Tokyo Japan Faculty of Science and Engineering Waseda University The Humanoid Robotics Institute (HRI) Waseda University College of Systems Engineering and Science Shibaura Institute of Technology Saitama Japan The Waseda Research Institute for Science and Engineering Waseda University

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

Teleoperating bipedal humanoid robots presents unique challenges, including decreased stability and reduced operator presence. This paper addresses these challenges by proposing a method that leverages the operator’s inherent sense of stability by feedback from a sole haptics display to operate a bipedal humanoid robot. We developed a bilateral control system that integrates a device replicating sole haptics feedback and provides the operator with feedback on changes in the robot’s center of gravity. We conducted operating experiments in the forward-backward direction to evaluate its effectiveness and investigate the effectiveness of sole haptics on robot operation. The results demonstrate that operating with both vision and sole haptics feedback significantly reduces the robot’s fall rate by over 56% when disturbances are applied, compared to using only vision feedback. Moreover, operators reported a 21% higher sense of presence with both vision and sole haptics feedback compared to using only vision feedback.

关键词： Sensitivity Operating systems Humanoid robots Robot sensing systems Control systems Prediction algorithms Haptic interfaces Timing Intelligent robots Gravity

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