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International Conference on Control, Automation and Systems ( ICCAS)

作者： Nosan Kwak Beom-Hee Lee Kazuhito Yokoi Joint Japanese-French Robotics Laboratory Intelligent Systems Research Institute National Institute for Advanced Industrial Science and Technology Tsukuba Japan School of Electrical Engineering and Computer Science Seoul National University Seoul South Korea

Recently, particle filters have been applying to many robotic problems including the simultaneous localization and mapping (SLAM). Specifically, SLAM approaches employing Rao-Blackwellized particle filter (RBPF) have shown good results. However, no research is conducted to analyze representation of the results of particle filtering. After finishing the particle filtering, the results such as a map and a path are stored in the separate particles. In most cases, the result of the particle that has the highest importance weight is represented as the result. However, this approach does not give the best result all the time. Thus, We provide the analysis of final representation of particle filtering. In this paper, we compares several methods to derive the final representation of the result after finishing RBPF-SLAM. According to the result, combining data of each particle provides the better result with high probability than using just data of a particle such as the highest weighted particle representation.

关键词： Filtering Simultaneous localization and mapping Particle filters intelligent robots robotics and automation Service robots Electronic mail Finishing Diversity reception Automatic control

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Fuzzy separation potential function based flocking control of multiple AUVs

Fuzzy separation potential function based flocking control o...

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Conference of the North American Fuzzy Information Processing Society - NAFIPS

作者： Basant Kumar Sahu Madan M. Gupta Bidyadhar Subudhi University of Saskatchewan Saskatoon SK CA Intelligent Systems Research Laboratory College of Engineering University of Saskatchewan Saskatoon SAS Canada Centre for Industrial Electronics and Robotics National Institute of Technology Rourkela Odisha India

ISBN: (纸本)9781479903467

In this paper, we present a flocking control algorithm for a group of autonomous underwater vehicles (AUVs) using the leader-follower concept. Leader vehicle have global knowledge of desired trajectory and other AUVs are chosen as followers which are mounted with sensors to estimate the positions of neighbor AUVs. The follower vehicles have no knowledge of desired path. There is a flocking center is estimated to keep all AUVs connected in group. This flocking center is a virtual point whose position can be calculated by applying consensus algorithm. The controller for the leader and follower AUVs are designed using fuzzy variable based artificial potential functions. The efficacy and accuracy of the developed controller is verified through simulation studies considering four AUVs flocking in a group.

关键词： Symmetric matrices Vehicles Lead Trajectory Vectors Integrated circuits Algorithm design and analysis

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CertainOdom: Uncertainty Weighted Multi-task Learning Model for LiDAR Odometry Estimation

CertainOdom: Uncertainty Weighted Multi-task Learning Model ...

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IEEE International Conference on robotics and Biomimetics

作者： Leyuan Sun Guanqun Ding Yusuke Yoshiyasu Fumio Kanehiro Department of Intelligent and Mechanical Interaction Systems Graduate School of Science and Technology University of Tsukuba Tsukuba Ibaraki Japan CNRS-AIST Joint Robotics Laboratory (JRL) IRL National Institute of Advanced Industrial Science and Technology (AIST). Digital Architecture Research Center (DARC) National Institute of Advanced Industrial Science and Technology (AIST) Tokyo Japan Computer Vision Research Team Artificial Intelligence Research Center (AIRC) National Institute of Advanced Industrial Science and Technology (AIST) Japan

ISBN: (纸本)9781665481106

As a basic and indispensable module, LiDAR odom-etry estimation is widely used in robotics. In recent years, learning-based modeling approaches for odometry estimation have been validated to be feasible. However, it is necessary to consider security factors as the highest priorities when we apply the learning-based model to certain high-risk real-world scenarios, such as autonomous driving. The odometry uncertainty estimation provides more valuable information for downstream tasks, such as route planning and navigation. In this paper, we propose an end-to-end neural network (namely CertainOdom) to solve odometry and uncertainty estimation tasks by applying multi-task learning. Instead of using the manually-tuned hyper-parameters, we employ the learnable uncertainties to weigh the balance between the error of translation and orientation in the loss function. We evaluate the estimated trajectory and uncertainty on KITTI dataset. We also compare the robustness against the traditional geometry-based methods on our artificially degraded KITTI LiDAR dataset. Extensive experimental results show that our model with uncertainty weighted loss achieves competitive performance in LiDAR odometry estimation. We also explain our uncertainties qualitatively and quantitatively.

关键词： Uncertainty Laser radar Biological system modeling Estimation Multitasking Robustness Trajectory

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Application for Airport Tenant Selection Using Weighted Product-based Decision Support System

Application for Airport Tenant Selection Using Weighted Prod...

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Electrical and Information technology (IEIT), International Conference on

作者： Arwin Datumaya Wahyudi Sumari Muhamad Andika Saputra Astika Ayuningtyas Catur Sudarmadi Aerospace Intelligent System and Data Engineering Research Group Adisutjipto Institute of Aerospace Technology Yogyakarta Indonesia Cognitive Artificial Intelligence Research Group Politeknik Negeri Malang Malang Indonesia Informatics Study Program Faculty of Industrial Technology Adisutjipto Institute of Aerospace Technology Yogyakarta Indonesia Aerospace Health Informatics Research Group Faculty of Industrial Technology Adisutjipto Institute of Aerospace Technology Yogyakarta Indonesia

This research aims to develop an application for selecting the best new tenant at PT Angkasa Pura II Sultan Thaha Jambi Airport Branch by utilizing Weighted Product (WP) method as the decision support system. Our approach is descriptive research with data analysis technique using four prospective tenants coded A_1 to A_4. The data was collected through observation, interviews, documentation, and literature study. The steps for selecting the best new tenant using the WP method include determining the criteria, sorting the suitability of alternatives and criteria, determining the weight of each criterion and its normalization, calculating the score, S value as an alternative preference, and calculating the ranking, V value as the final alternative preference. Based on the final calculation results, the new tenant coded A_4 is the best alternative based on the data collected from the Financial Management (FHFM) Unit and the Commercial Unit, with a value of V_4 is 0.294.

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Electrolyte Effect on Photoetching of Gallium Nitride

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Nanomanufacturing and Metrology 2024年第1期7卷 61-74页

作者： Huiqiang Liang Zhenghao Wei Jiongchong Fang Yanming Li Changli Li Zhirun Xie Yun Hau Ng Guosong Zeng Shenzhen Key Laboratory of Intelligent Robotics and Flexible Manufacturing Systems Southern University of Science and TechnologyShenzhen 518055People’s Republic of China Department of Mechanical and Energy Engineering Southern University of Science and TechnologyShenzhen 518055People’s Republic of China School of Materials Sun Yat-Sen UniversityGuangzhou 510275People’s Republic of China School of Energy and Environment City University of Hong KongKowloon 999077Hong Kong SARPeople’s Republic of China City University of Hong Kong Shenzhen Research Institute Shenzhen Hi-Tech Industrial ParkNanshan DistrictShenzhen 518000People’s Republic of China SUSTech Energy Institute for Carbon Neutrality Southern University of Science and TechnologyShenzhen 518055People’s Republic of China

The limited material removal rate of conventional chemical mechanical polishing(CMP)significantly hinders the fabrica-tion efficiency and surface quality,thereby preventing the development of gallium nitride(GaN)-based ***,the incorporation of photoelectrochemistry in CMP has garnered increasing attention because of its potential to enhance the quality and efficiency of the GaN ***,a considerable gap still exists in the comprehensive understanding of the specific photoelectrochemical(PEC)behavior of ***,we report the influence of the electrolyte on the PEC etching of *** acids and bases were tested,with their pH being carefully *** concentrations of the cations and anions were also *** results showed that photocorrosion/photoetching was more pronounced in sulfuric acid,phosphoric acid,and nitric acid environments than in alkaline environments,but it was less pronounced in hydrochloric ***,the effects of pH and anion concentration on photoetching were investigated,and the results revealed that pho-toetching in acidic environments weakened with increasing pH levels and diminished with increasing sulfate *** underlying reasons contributing to this observation were *** findings provide ideas for improving the pho-toetching efficiency of GaN,thereby enriching the photoelectrochemical mechanical polishing(PECMP)technology of GaN.

关键词： GaN Photoelectrochemistry Photoetching pH

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A Study on Trajectory Tracking of an ROV for Underwater Glider Recovery Based on Adaptive Backstepping Control Using a Command Filter

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Journal of institute of Control, robotics and Systems 2024年第11期30卷 1266-1276页

作者： Lee, Mun Haeng Kim, Sung Jae Lee, Jung Woo Suh, Jin Ho Department of Intelligent Robot Engineering Pukyong National University Korea Republic of The Industrial Science Technology Research Center Pukyong National University Korea Republic of Korea Institute of Robotics & Technology Convergence Korea Republic of Department of Mechanical System Engineering Pukyong National University Korea Republic of

This paper presents a path for a remotely operated vehicle (ROV) to retrieve an underwater glider and proposes a backstepping-based control method that utilizes a command filter and an adaptive term for trajectory tracking. The ROV path, which consists of diving, approaching, and ascending to reach the underwater glider while minimizing wave disturbances, is generated using a fifth-order polynomial trajectory generation method. To address the complexity of the backstepping method, the virtual control signal is replaced with a command filter signal. Additionally, a compensation mechanism is configured to suppress filter errors. An adaptive term based on Lyapunov stability is incorporated to compensate for lumped disturbances to enhance system control performance. The stability of the entire control system is proven through Lyapunov stability theory. To verify the performance of the proposed controller, simulations are conducted to track the configured path in a marine environment. This environment includes waves and ocean currents, with wave disturbances modeled based on the movement of water particles in waves. The simulation results demonstrate that the proposed controller achieves superior tracking performance and resilience against disturbances compared with the proportional-integral-differential controller. © 2024, institute of Control, robotics and Systems. All rights reserved.

关键词： Remotely operated vehicles

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Humanoid motion planning for dynamic tasks

Humanoid motion planning for dynamic tasks

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IEEE-RAS International Conference on Humanoid Robots

作者： E. Yoshida I. Belousov C. Esteves J.-P. Laumond Intelligent Systems Research Institute National Institute of Advanced Industrial Science and Technology (AIST) AIST/ISRI-CNRS/STIC Joint French-Japanese Robotics Laboratory Tsukuba Ibaraki Japan AIST/ISRI-CNRS/STIC Joint French-Japanese Robotics Laboratory (JRL) LAAS CNRS Toulouse France

This paper addresses an integrated humanoid motion planning scheme including both advanced algorithmic motion planning technique and dynamic pattern generator so that the humanoid robot achieve tasks including dynamic motions. A two-stage approach is proposed for this goal. First, geometric and kinematic motion planner first computes collision-free paths for the humanoid robot. Then the dynamic pattern generator provides dynamically feasible humanoid motion including both locomotion and task execution such as object transportation or manipulation. If the generated dynamic motion causes collision due to dynamic movements, the planner go back to the planning stage to remove the collision by path reshaping. This iterative planning scheme enables robust planning against variation of task dynamics. Simulation results are provided to validate the proposed planning method

关键词： Motion planning Humanoid robots Kinematics Legged locomotion Transportation Robustness intelligent robots Manipulator dynamics Motion control Humans

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Contrastive Domain Adaptation: A Self-Supervised Learning Framework for sEMG-Based Gesture Recognition

Contrastive Domain Adaptation: A Self-Supervised Learning Fr...

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IEEE International Joint Conference on Biometrics (IJCB)

作者： Zhiping Lai Xiaoyang Kang Hongbo Wang Xueze Zhang Weiqi Zhang Fuhao Wang Institute of AI and Robotics Academy for Engineering & Technology Fudan University China Engineering Research Center of AI & Robotics Ministry of Education China Shanghai Engineering Research Center of AI & Robotics China MOE Frontiers Center for Brain Science China State Key Laboratory of Medical Neurobiology China Yiwu Research Institute of Fudan University China Ji Hua Laboratory China Research Center for Intelligent Sensing Zhejiang Lab China Shanghai Robot Industrial Technology Research Institute China Shanghai Clinical Research Center for Aging and Medicine China

ISBN: (纸本)9781665463959

Gesture recognition using surface electromyography (sEMG) shows its great potential in the field of human-computer interaction (HCI). Previous works achieve relatively good performance based on the assumption of invariant statistic distribution. However, the practical application effect is unsatisfactory due to the problem of domain shift. Existing approaches need plenty of labeled sEMG samples from target scenarios for calibration, which is burdensome for experimenters and users. In this work, we present a contrastive self-supervised learning framework (ConSSL) for sEMG-based gesture recognition to realize domain adaptation in target domains. After pretraining on a bunch of unlabeled samples, only a small number of labeled samples are needed for calibration and domain adaptation. Experimental results indicate that the proposed framework out-performs other approaches even $if\leq 50\%$ labeled samples in target scenarios are available and achieves the state-of-the-art.

关键词： Human computer interaction Electric potential Biometrics (access control) Gesture recognition Self-supervised learning Electromyography Calibration

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Mechanical property characterization of the zebrafish embryo chorion

Mechanical property characterization of the zebrafish embryo...

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

作者： Deok-Ho Kim Yu Sun Seok Yun Byungkyu Kim Chang Nam Hwang Sang Ho Lee B.J. Nelson Microsystem Research Center Korea Institute of Science and Technology Seoul South Korea Institute of Robotics and Intelligent Systems Swiss Federal Institute of Technology Zurich Switzerland Department of Mechanical and Industrial Engineering University of Toronto Canada School of Life Sciences and Biotechnology Korea University Seoul South Korea

A microrobotic force sensing system is used to characterize the mechanical properties of the chorion of zebrafish embryos and quantitate the mechanical property differences of the chorion at different developmental stages. Quantitative relationships between applied forces and chorion structural deformations are established for various developmental stages. The measured penetration forces for puncturing chorion at the blastula stage are 1.3 times as large as those at the pre-hatching stage. Through the use of an analytical biomembrane elastic model, chorion elastic modulus values are determined. The modulus at the blastula stage is 1.66 times as large as that at the pre-hatching stage. The experimental results quantitatively describe "chorion softening," which is mostly due to the proteolytic activity at the pre-hatching stage. This study also reveals the effect of pronase treatment on zebrafish chorion, which produces an "artificial chorion softening" effect. This draws an analogy between pronase treatment and proteolytic activities at the pre-hatching stage.

关键词： Mechanical factors Embryo Biomembranes Force measurement Biochemistry Analytical models Organisms intelligent robots Softening Cells (biology)

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Predictive Inverse Kinematics: optimizing Future Trajectory through Implicit Time Integration and Future Jacobian Estimation

Predictive Inverse Kinematics: optimizing Future Trajectory ...

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2019 IEEE/RSJ International Conference on intelligent Robots and Systems (IROS)

作者： Ko Ayusawa Wael Suleiman Eiichi Yoshida CNRS-AIST JRL (Joint Robotics Laboratory) UMI13218/RL Intelligent Systems Research Institute National Institute of Advanced Industrial Science and Technology (IS-AIST) Japan Electrical and Computer Engineering Department Faculty of Engineering University of Sherbrooke Canada

This paper presents an inverse kinematics (IK) method which can control future velocities and accelerations for multi-body systems. The proposed IK method is formulated as a quadratic programing (QP) that optimizes future joint trajectories. The features of the proposed IK are: (1) the evaluation of accelerations at future time instances, (2) the trajectory representation that can implicitly integrate the time integral formula into QP, (3) the computation of future Jacobian matrices based on the comprehensive theory of differential kinematics proposed in our previous work. Those features enable a stable and fast IK computation while evaluating the future accelerations. We also conducted thorough numerical studies to show the efficiency of the proposed method.

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