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International Conference on Methods and Models in Automation and robotics (MMAR)

作者： Rupam Singh Jan Steinbrener Stephan Weiss The Faculty of Engineering The Maersk Mc-Kinney Moller Institute SDU Robotics Odense Denmark Control of Networked Systems Institute for Intelligent System Technologies Alpen Adria Universität Klagenfurt Austria

The design of a continuous learning controller for quadrotors often entails some specific implementations that require significant system knowledge and are prone to experience catastrophic forgetting. To address these challenges, a deterministic approach is trained using a quadrotor on a relatively small amount of automatically generated data. The Twin Delayed Deep Deterministic Policy Gradient (TD3) algorithm is utilized to develop the policy for learning the maneuvers of a quadrotor and controlling it alongside the low-level controller. The algorithm outlined demonstrates proficiency in handling large state spaces and actions that are continuous. It integrates clipped double Q-learning, target policy smoothing, and delayed policy updates, all of which contribute to its effectiveness in training. The proposed control technique’s efficacy is evaluated through numerical simulations conducted on a quadrotor in both standard and windy conditions. The results identified that learning with TD3 reduced the overestimation bias, improved the convergence accuracy, and achieved efficient maneuver with less tracking error by using the dense reward structure.

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A Robust Surveillance System for AGV Using Forward-Downward Visual Measurements

A Robust Surveillance System for AGV Using Forward-Downward ...

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第35届中国控制与决策会议

作者： Sichao Zhang Wei Liang Xudong Yuan Haibo An Meng Zheng Yinlong Zhang State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of Sciences Key Laboratory of Networked Control Systems Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences University of Chinese Academy of Sciences Science and Technology on Information Systems Engineering Laboratory the 28th Research Institute of CETC

Automatic Guided Vehicle(AGV) has been widely used in the warehouse for transporting the bulky and heavy ***,the AGV may deviate the regular trajectories in presence of incorrect or untimely commands sent form the server due to,e.g.,cyber attacks,unexpected blocks of the wireless *** order to ensure AGV running safely,this paper presents a visual surveillance system by making full use of the measurements from the forward and downward ***,the forward camera estimates the AGV positions and attitudes by tracking the surrounding landmarks detected from the forward image ***,the downward camera is used to detect the QR codes fixed on the floor and estimate the AGV poses in the absolute reference *** from that,the AGV poses from the downward camera could correct scale and poses estimated the forward *** proposed method has been extensively performed on the developed *** results proves the effectiveness in using the complementary forwarddownward visual measurements for AGV security surveillance.

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Variation of sEMG with Muscle Fatigue for Lower Limb Stroke Patient During Walking

Variation of sEMG with Muscle Fatigue for Lower Limb Stroke ...

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2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Shang, Wenze Huang, Ruisen Liao, Wei-Hsin Wu, Xinyu Gao, Fei Southern University of Science and Technology Shenzhen518005 China Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Guangdong-Hong Kong-Macao Joint Laboratory of Human-Machine Intelligence-Synergy Systems Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen518055 China The Chinese University of Hong Kong Department of Mechanical and Automation Engineering Hong Kong999077 Hong Kong

ISBN: (纸本)9781665481090

SEMG signal is widely used and explored in control strategies of powered assistive human-robot interaction systems due to its non-invasive nature and ability to estimate motion intention well. However, prolonged use of the sEMG-based systems leads to muscle fatigue, contributing to unstable sEMG signals and regarding the performance of sEMG-based control strategies. In this study, three subjects, including two healthy subjects and one stroke subject, participated in our experiment, and the time domain, frequency domain, and complex features extracted from their sEMG signals were utilized to evaluate muscle fatigue. The results indicate that sEMG from the stroke side of the stroke subject contains more non-linear and chaotic parts, and the statistical differences between different trials are more significant, indicating that stroke has a more significant impact on the stroke side of the stroke subject. This study suggests that RMS in the stroke side of stroke subjects is less than that in others, whereas FuzzyEn in the stroke side of stroke subjects is greater than that in others, indicating that stroke leads to different motion patterns and more susceptibility to muscle fatigue. © 2024 IEEE.

关键词： Human robot interaction

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A Robust SLAM For Highly Dynamic Environments

A Robust SLAM For Highly Dynamic Environments

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IEEE Conference on Industrial Electronics and Applications (ICIEA)

作者： Yuansong Cai Shiqian Wu Institute of Robotics and Intelligent Systems School of Information Science and Engineering Wuhan University of Science and Technology Wuhan China

ISBN: (纸本)9781665409858

Simultaneous Localization and Mapping(SLAM) has broad applications such as driverless cars and indoor service robots. The SLAM techniques usually assume that environments are static, and it is difficult to obtain good accuracy in highly dynamic scenes. In this paper, we adopt the semantic segmentation method to filter out dynamic points according to prior knowledge. To avoid tracking failure due to insufficient feature points, epipolar geometry is used to retain potential dynamic points as much as possible. The proposed method is implemented based on the classical SLAM framework ORBSLAM2 and carried out experiments on the TUM RGBD datasets. Compared with ORBSLAM2, the localization accuracy of this algorithm is improved by 95% in highly dynamic environments.

关键词： Location awareness Tracking loops Simultaneous localization and mapping Service robots Heuristic algorithms Semantic segmentation Semantics

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From Human Hand to Grasp Surface Detection, Tracking & Analysis

From Human Hand to Grasp Surface Detection, Tracking & Analy...

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Annual International Conference of the IEEE engineering in Medicine and Biology Society (EMBC)

作者： Diego Hidalgo-Carvajal Abdeldjallil Naceri Sami Haddadin Technical University of Munich Germany Department of Computer Engineering TUM School of Computation Information and Technology Chair of Robotics and Systems Intelligence (RSI) Munich Institute of Robotics and Machine Intelligence (MIRMI) Centre for Tactile Internet With Human-in-the-Loop (CeTI)

Hands are paramount for dexterous interactions that humans exhibit in daily life. Understanding the intricacies of human hand-object interactions is therefore necessary. Unfortunately, the limitations of state-of-the-art technologies make capturing the full hand-object complexity unfeasible, giving rise to the need for new technological means to achieve this aim. In this work, we propose an end-to-end framework in which individualized hand models are derived and used to capture quantitative personalized hand-object interaction information, precisely, hand shape, kinematics, and contact surfaces. The results of this study serve as a proof of concept that such a framework can significantly deepen personalized hand-object interaction analyses, providing, in perspective, insights for medical diagnoses and rehabilitation, among *** relevance— Our work showcases the need to incorporate bespoke human hand models in individualized hand function assessment technologies, as hand-object interaction information is subject-dependent.

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MTPA-based Haptic Feedback Controller for Master Manipulator in Minimally Invasive Surgery

MTPA-based Haptic Feedback Controller for Master Manipulator...

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2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Zhao, Wenda Chen, Jian Hong, Yilun Liu, Hongbin School of Artificial Intelligence University of Chinese Academy of Sciences Beijing China Institute of Automation Chinese Academy of Sciences State Key Laboratory of Multimodal Artificial Intelligence Systems Beijing China Hong Kong Institute of Science and Innovation Chinese Academy of Sciences Centre for Artificial Intelligence and Robotics Hong Kong Hong Kong School of Biomedical Engineering and Imaging Sciences King's College London LondonSE1 7EU United Kingdom

ISBN: (纸本)9781665481090

Haptic feedback is critical for teleoperation in surgical robots, particularly in Natural Orifice Transluminal Endoscopic Surgery (NOTES). This paper introduces a haptic controller designed to enhance force generation efficiency and resolution, surpassing traditional motor control frameworks. We propose a Maximum Torque Per Ampere (MTPA)-based Field-Oriented Control (FoC) strategy for haptic kinesthetic feedback controller, optimizing the performance of a master manipulator's joint with a brushless DC (BLDC) motor under stalled and ultra-slow conditions. This approach enables a master manipulator with three degrees of freedom (DoF) for force feedback. Its effectiveness is validated through simulator and surgical trials, demonstrating improved haptic feedback in surgical applications. © 2024 IEEE.

关键词： Brushless DC motors

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End-to-end Semantic Segmentation Network for Low-Light Scenes

End-to-end Semantic Segmentation Network for Low-Light Scene...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Hongmin Mu Gang Zhang MengChu Zhou Zhengcai Cao College of Information Science and Technology Beijing University of Chemical Technology Beijing China Department of Macao Institute of Systems Engineering Macau University of Science and Technology Macao China Helen and John C. Hartmann Department of Electrical and Computer Engineering New Jersey Institute of Technology Newark NJ USA State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

In the fields of robotic perception and computer vision, achieving accurate semantic segmentation of low-light or nighttime scenes is challenging. This is primarily due to the limited visibility of objects and the reduced texture and color contrasts among them. To address the issue of limited visibility, we propose a hierarchical gated convolution unit, which simultaneously expands the receptive field and restores edge texture. To address the issue of reduced texture among objects, we propose a dual closed-loop bipartite matching algorithm to establish a total loss function consisting of the unsupervised illumination enhancement loss and supervised intersection-over-union loss, thus enabling the joint minimization of both losses via the Hungarian algorithm. We thus achieve end-to-end training for a semantic segmentation network especially suitable for handling low-light scenes. Experimental results demonstrate that the proposed network surpasses existing methods on the Cityscapes dataset and notably outperforms state-of-the-art methods on both Dark Zurich and Nighttime Driving datasets.

关键词： Training Computer vision Accuracy Convolution Semantic segmentation Lighting Logic gates

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Design and Control for WLR-3P:A Hydraulic Wheel-Legged Robot

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Cyborg and Bionic systems 2023年第1期4卷 243-259页

作者： Xu Li Haoyang Yu Haibo Feng Songyuan Zhang Yili Fu State Key Laboratory of Robotics and System College of Mechatronics EngineeringHarbin Institute of TechnologyHarbin 150001China State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang UniversityHangzhou 310027China Intelligent Robot Research Center Zhejiang LaboratoryHangzhou 311100China

The robot used for disaster rescue or field exploration requires the ability of fast moving on flat road and adaptability on complex *** hybrid wheel-legged robot(WLR-3P,prototype of the third-generation hydraulic wheel-legged robot)has the characteristics of fast and efficient mobility on flat surfaces and high environmental adaptability on rough *** this paper,3 design requirements are proposed to improve the mobility and environmental adaptability of the *** meet these 3 requirements,2 design principles for each requirement are put ***,for light weight and low inertia with high stiffness,3-dimensional printing technology and lightweight material are ***,the integrated hydraulically driven unit is used for high power density and fast response ***,the microhydraulic power unit achieves power autonomy,adopting the hoseless design to strengthen the reliability of the hydraulic *** is more,the control system including hierarchical distributed electrical system and control strategy is *** mobility and adaptability of WLR-3P are demonstrated with a series of ***,the robot can achieve a speed of 13.6 km/h and a jumping height of 0.2 m.

关键词： robot Robot terrain

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Changed Extended State Observer based Position Control for Autonomous Underwater Vehicle

Changed Extended State Observer based Position Control for A...

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Data Driven Control and Learning systems (DDCLS)

作者： Wanping Song Chen Zheng Zengqiang Chen Mingwei Sun Qinglin Sun College of Artificial Intelligence Nankai University Tianjin China Beijing Institute of Astronautical Systems Engineering Beijing China Key Laboratory of Intelligent Robotics of Tianjin Tianjin China

Extended state observer (ESO) has been used to estimate the unknown nonlinear function of the system using input and output data. Recently, a new observer, the compensation function observer (CFO), has a significant improvement over ESO in estimating accuracy. This paper refers to the theory of CFO of fully using the available information and the innovation of the new definition of disturbance, designs a new observer, and verifies the availability of the new observer on the depth control simulation of the autonomous underwater vehicle (AUV). The simulation results demonstrate that the new observer is capable of estimating the unknown nonlinear function more quickly and accurately.

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Comparison of Monocular ROS-Based Visual SLAM Methods 1

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7th International Conference on Interactive Collaborative robotics, ICR 2022

作者： Safarova, Liaisan Abbyasov, Bulat Tsoy, Tatyana Li, Hongbing Magid, Evgeni Laboratory of Intelligent Robotic Systems Intelligent Robotics Department Institute of Information Technology and Intelligent Systems Kazan Federal University Kremlyovskaya Str. 35 Kazan420111 Russia Department of Instrument Science and Engineering Shanghai Jiao Tong University Shanghai China Tikhonov Moscow Institute of Electronics and Mathematics HSE University Tallinn Str 34 Moscow123592 Russia

ISBN: (数字)9783031236099

ISBN: (纸本)9783031236082

Simultaneous Localization and Mapping (SLAM) is a robot navigation approach used to estimate a movement of a sensor in an unknown environment. SLAM application examples include urban search and rescue operations in high-risk environments, visual surveillance and service robotics. Compared to laser-range finders, visual sensors are more light weight, have less power consumption and provide more vast amount of environmental information. Visual SLAM methods are based on visual information only and employ monocular, stereo or RGD-D cameras as input sensors. Monocular SLAM methods are often preferred for a robotic platform when cost, energy and system weight requirements are limited. Calculation of errors and testing on ready-made datasets allow to check applicability of an algorithm in real-world scenarios with less efforts than experiments with a real robot. Verification of a sensor position and robot trajectory estimation accuracy is achieved by measuring Absolute Trajectory Error (ATE), Relative Pose Error (RPE) and Root Mean Square Error (RMSE). This article presents analysis and comparison of the most widely used Visual SLAM monocular algorithms built for Robot Operating System (ROS): ORB-SLAM2, ORB-SLAM3, DSO and LDSO. The KITTI and Euroc MAV datasets were selected to evaluate the algorithms’ performance. © 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Robot Operating System

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