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26th IEEE Signal Processing: Algorithms, Architectures, Arrangements, and Applications, SPA 2023

作者： Podbucki, Kacper Suder, Jakub Marciniak, Tomasz Darowski, Adam Poznan University of Technology Faculty of Automatic Control Robotics and Electrical Engineering Institute of Automatic Control and Robotics Division of Electronic Systems and Signal Processing Poznań60-965 Poland

ISBN: (纸本)9798350304985

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 I2C 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. © 2023 Division of Signal Processing and Electronic systems, Poznan University of Technology (DSPES PUT).

关键词： Lighting

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Modeling and Simulation of an Elastic Passive Joint for Non-flipping Jumping Robot

Modeling and Simulation of an Elastic Passive Joint for Non-...

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2024 IEEE International Conference on Real-Time Computing and robotics, RCAR 2024

作者： Li, Qi Peng, Liang Wu, Zhiyuan Ye, Pengda Zhang, Weitao Xu, Yi Shi, Qing Beijing Institute of Technology Intelligent Robotics Institute School of Mechatronical Engineering Beijing100081 China Beijing Institute of Technology Ministry of Education Key Laboratory of Biomimetic Robots and Systems Beijing100081 China

ISBN: (纸本)9798350372601

To enhance the environmental adaptability of small-sized robots, jumping is commonly employed to achieve high mobility and obstacle-clearing capabilities. However, the prevalent problem of flipping in jumping robots limits their practical applications. Instead of adding extra control mechanisms and actuators, we propose an elastic passive joint (EPJ) to mitigate flipping. By incorporating a revolute joint, a switch, and a spring at the base of the hindleg, the leg can rotate around the body during the take-off phase, with the spring absorbing angular kinetic energy to reduce excessive angular velocity. We conducted dynamic modeling and a series of simulations to optimize the EPJ's position and stiffness. The simulation results indicate that with the EPJ in operation, adjusting the axis position slightly results in a zero-point for angular velocity. Additionally, the optimal spring stiffness of 1566 N/m ensures a non-flipping jump, which decreases the jumping height but improves the jumping distance. © 2024 IEEE.

关键词： Kinetic energy

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Movement-Based Interaction: An Approach to Visual and Auditory Stimulus and Memory 6

Movement-Based Interaction: An Approach to Visual and Audito...

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6th Experiment at International Conference, exp.at 2023

作者： Nogueira, Maria Rita Menezes, Paulo Institute of Systems and Robotics University of Coimbra Coimbra Portugal University of Coimbra Dept. of Electrical and Computer Engineering Coimbra Portugal

ISBN: (纸本)9798350314403

Movement-based interaction design is an innovative field that leverages the body's natural movements to create intuitive and engaging interfaces. This approach takes a sensorial approach to visual and auditory memory, seeking to enhance user engagement and create more meaningful experiences. The use of movement-based interfaces has significant implications for senior citizens, who may have mobility limitations or cognitive impairments. Using movement-based interfaces, seniors can engage in physical activity and maintain cognitive function, essential aspects for healthy aging. Movement-based interfaces can also help children develop physical coordination, cognitive skills, and social interaction. Furthermore, movement-based interaction design can benefit everyone's physical well-being by promoting physical activity and reducing sedentary behavior. Studies have demonstrated that movement-based interfaces can enhance posture, physical activity levels, and general health. By combining movement with sensory experiences, movement-based interaction design can create a more engaging and enjoyable experience for users, which can motivate them to maintain physical and cognitive health. In this article, we present two case studies that research the effectiveness of movement-based interaction design in enhancing visual and auditory memory. Overall, the results of these case studies suggest that movement-based interaction design is an effective approach to enhancing visual and auditory memory. The introduction of movement-based interfaces can give participants a more enjoyable and memorable experience, improving user engagement and information retention. © 2023 IEEE.

关键词： Machine learning

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EfficientPPS: Part-aware Panoptic Segmentation of Transparent Objects for Robotic Manipulation 56

EfficientPPS: Part-aware Panoptic Segmentation of Transparen...

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56th International Symposium on robotics, ISR Europe 2023

作者： Alt, Benjamin Nguyen, Minh Dang Hermann, Andreas Katic, Darko Jäkel, Rainer Dillmann, Rüdiger Sax, Eric ArtiMinds Robotics Karlsruhe Germany Intelligent Systems and Production Engineering Forschungszentrum Informatik Karlsruhe Germany Karlsruhe Institute of Technology Germany

ISBN: (纸本)9783800761418

The use of autonomous robots for assistance tasks in hospitals has the potential to free up qualified staff and improve patient care. However, the ubiquity of deformable and transparent objects in hospital settings poses significant challenges to vision-based perception systems. We present EfficientPPS, a neural architecture for part-aware panoptic segmentation that provides robots with semantically rich visual information for grasping and manipulation tasks. We also present an unsupervised data collection and labelling method to reduce the need for human involvement in the training process. EfficientPPS is evaluated on a dataset containing real-world hospital objects and demonstrated to be robust and efficient in grasping transparent transfusion bags with a collaborative robot arm. © VDE VERLAG GMBH Berlin Offenbach.

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Signal Processing for Acoustic Emission Signature Analysis and Defect Detection 26

Signal Processing for Acoustic Emission Signature Analysis a...

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26th International Conference on Digital Signal Processing and its Applications, DSPA 2024

作者： Altay, Yeldos A. Kuzivanov, Dmitry O. Altay, Dinara A. Fedorov, Alexey V. Satbayev University Department of Robotics and Technical Means of Automation Almaty Kazakhstan ITMO University Faculty of Control Systems and Robotics Saint-Petersburg Russia Military Engineering Institute of Radio Electronics and Communications Department of Natural Sciences Almaty Kazakhstan

ISBN: (纸本)9798350361728

This article presents the results of implementing a digital signal processing method for analyzing the acoustic emission (AE) signature and detecting defects such as cracks and pores. The signal processing method is based on a cascade connection of digital high-pass filters and ensures the selection of informative signals and increases the signal-to-interference ratio. In order to control the formation of defects in the process of selective laser melting, the paper presents the results of experimental testing of the cascade filtration method for detecting defects in the internal structure such as cracks and pores. The signal components recorded during the development of defects during the growth of additive manufacturing products were extracted. AE signatures were analyzed and statistical relationships were assessed. The relationship between the parameters of the AE signal and the values of laser radiation power has been identified, which characterizes the process of defect formation. © 2024 IEEE.

关键词： High pass filters

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Mechanical Properties Inside Origami-Inspired Structures: An Overview

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Applied Mechanics Reviews 2025年第1期77卷 011001页

作者： Yan, Peng Huang, Hailin Meloni, Marco Li, Bing Cai, Jianguo Department of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen518052 China Harbin Institute of Technology Shenzhen518052 China Key Laboratory of C & PC Structures of Ministry of Education National Prestress Engineering Research Center Southeast University Nanjing211189 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Harbin Institute of Technology Shenzhen518052 China Key University Laboratory of Mechanism Machine Theory and Intelligent Unmanned Systems of Guangdong Habin Institute of Technology Shenzhen518052 China

In recent decades, origami has transitioned from a traditional art form into a systematic field of scientific inquiry, characterized by attributes such as high foldability, lightweight frameworks, diverse deformation modes, and limited degrees-of-freedom. Despite the abundant literature on smart materials, actuation methods, design principles, and manufacturing techniques, comprehensive reviews focusing on the mechanical properties of origami-inspired structures are relatively rare and unsystematic. This review aims to fill this void by analyzing and summarizing the significant studies conducted on the mechanical properties of origami-inspired structures from 2013 to 2023. We begin with an overview that includes essential definitions of origami, classical origami patterns, and their associated tessellated or stacked structures. Following this, we delve into the principal dynamic modeling method for origami and conduct an in-depth analysis of the key mechanical properties of origami-inspired structures. These properties include tunable stiffness, bistability and multistability, metamechanical properties demonstrated by origami-based metamaterials, and bio-inspired mechanical properties. Finally, we conclude with a comprehensive summary that discusses the current challenges and future directions in the field of origami-inspired structures. Our review provides a thorough synthesis of both the mechanical properties and practical applications of origami-inspired structures, aiming to serve as a reference and stimulate further research. © 2025 American Society of Mechanical Engineers (ASME). All rights reserved.

关键词： Degrees of freedom (mechanics)

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Data-Driven Tracking Control of a Cushion Robot with Safe Autonomous Motion Considering Human-Machine Interaction Environment

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Journal of Dynamic systems, Measurement and Control 2025年第4期147卷 041003页

作者： Sun, Ping Shan, Rui Chang, Hongbin Wang, Shuoyu School of Artificial Intelligence Shenyang University of Technology Shenyang110870 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110169 China Department of Intelligent Mechanical Systems Engineering Kochi University of Technology Kochi7828502 Japan

This study proposes a data-driven safety controller with velocity constraints for a cushion robot. We constructed a mathematical description of the human-machine interaction environment by decomposing the generalized input force and coefficient matrix in the dynamic model. We established a new equivalent data model, which considered various human-machine interaction environments using a pseudo-Jacobian matrix. A stochastic configuration network (SCN) estimation method for variations in the human-machine interaction environment was proposed, with hidden layer nodes added at random. We designed a safe autonomous navigation path and proposed a data-driven control method that limited the actual velocity while stabilizing the tracking error system. In addition, the desired motion velocity of the robot was designed. This approach has the advantage of ensuring safety at a specified velocity. We also demonstrated and validated the effectiveness of the proposed data-driven algorithm using simulation-based comparative analysis and an experimental study. Copyright © 2024 by ASME.

关键词： Stochastic systems

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Instantaneous Center of Rotation Trajectory Tracking of A Novel Five-bar Robotic Exoskeleton for Knee Rehabilitation 30

Instantaneous Center of Rotation Trajectory Tracking of A No...

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30th International Conference on Mechatronics and Machine Vision in Practice, M2VIP 2024

作者： Abdullah, Ahmad Jayachandran, Jaideep Thattamparambil Quan Xie, Sheng Liu, Aiqin University of Leeds School of Biomedical Sciences Leeds United Kingdom University of Leeds Institute of Robotics and Autonomous Systems School of Electronic and Electrical Engineering Leeds United Kingdom

ISBN: (纸本)9798350391916

Knee Exoskeletons provide a way to restore the quality of life in people with knee disorders or after injury. One of the major limitations of these exoskeletons is to mimic the natural polycentric knee joint motion. The design and performance analysis of a novel five-bar mechanism is proposed in this study which can be used in a knee exoskeleton. The purpose of this study was to analyze the instantaneous center of rotation trajectory of the five-bar mechanism mimicking the natural knee center of rotation trajectory during sit to stand motion and compare it with similar existing mechanisms. The position analysis of the mechanism in a simplified configuration and the actual hardware configuration was performed for analyzing the center of rotation trajectory, both theoretically and using a dedicated tool respectively. The motion and the center of rotation trajectory of five-bar mechanism was validated, and the results of the study are presented which show the successful tracking of the reference Instantaneous center of rotation with an error as low as 0.14mm for the simplified configuration and 0.24mm for the actual configuration. These results were then compared with different bar mechanisms showing that our five-bar mechanism had better tracking performance among the available rigid mechanisms. © 2024 IEEE.

关键词： Exoskeleton (robotics)

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Parallel Bounded Search for the Maximum Clique Problem

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Journal of Computer Science & Technology 2023年第5期38卷 1187-1202页

作者：江华白珂刘海姣李初民 Felip Manya 付樟华 Engineering Research Center of Cyberspace Yunnan UniversityKunming 650500China School of Software Yunnan UniversityKunming 650500China Laboratory of Modeling Information and SystemsUniversity of Picardie Jules VerneAmiens 80039France Artificial Intelligence Research Institute Spanish National Research CouncilCatalonia 08193Spain Shenzhen Institute of Artificial Intelligence and Robotics for Society Shenzhen 518000China Institute of Robotics and Intelligent Manufacturing Chinese University of Hong KongShenzhen 518000China

Given an undirected graph,the Maximum Clique Problem(MCP)is to find a largest complete subgraph of the *** is NP-hard and has found many practical *** this paper,we propose a parallel Branch-and-Bound(BnB)algorithm to tackle this NP-hard problem,which carries out multiple bounded searches in *** search has its upper bound and shares a lower bound with the rest of the *** potential benefit of the proposed approach is that an active search terminates as soon as the best lower bound found so far reaches or exceeds its upper *** describe the implementation of our highly scalable and efficient parallel MCP algorithm,called PBS,which is based on a state-of-the-art sequential MCP *** proposed algorithm PBS is evaluated on hard DIMACS and BHOSLIB *** results show that PBS achieves a near-linear speedup on most DIMACS instances and a superlinear speedup on most BHOSLIB ***,we give a detailed analysis that explains the good speedups achieved for the tested instances.

关键词： Branch-and-Bound(BnB) maximum clique problem(MCP) parallel search

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SPARROW: Smart Precision Agriculture Robot for Ridding of Weeds 5

SPARROW: Smart Precision Agriculture Robot for Ridding of We...

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5th IEEE International Conference for Emerging Technology, INCET 2024

作者： Balasingham, Dhanushka Samarathunga, Sadeesha Arachchige, Gayantha Godakanda Bandara, Anuththara Wellalage, Sasini Pandithage, Dinithi Hansika, Mahaadikara M.D.J.T. de Silva, Rajitha Dept. of Computer Systems Engineering Sri Lanka Institute of Information Technology Sri Lanka Melbourne Australia Lincoln Agri-Robotics University of Lincoln United Kingdom

ISBN: (纸本)9798350361155

The advancements in precision agriculture are vital to support the increasing demand for global food supply. Precision spot spraying is a major step towards reducing chemical usage for pest and weed control in agriculture. A novel spot spraying algorithm that autonomously detects weeds and performs trajectory planning for the sprayer nozzle has been proposed. Furthermore, this research introduces a vision-based autonomous navigation system that operates through the detected crop row, effectively synchronizing with an autonomous spraying algorithm. This proposed system is characterized by its cost effectiveness that enable the autonomous spraying of herbicides onto detected weeds. © 2024 IEEE.

关键词： Computer vision

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