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Annual Conference of the IEEE Industrial Electronics Society

作者： Fernando da Fonseca Schneider Cesar Bastos da Silva Paulo Jefferson Dias de Oliveira Evald Rodrigo Sousa e Silva Rodrigo Zelir Azzolin Intelligent Robotics and Automation Group Computer Science Center Federal University of Rio Grande Rio Grande Brazil

In this work, it is presented a contribution for backlash compensation in robotic systems. For that, a direct model and a inverse model of the backlash are presented. The first model is used to simulate the system, while the second model is applied as the PID (Proportional-Integral-Derivative) control input for backlash compensation. A case study is presented to demonstrate the performance of the proposed control system using a linear welding robot BUGO MDS system. Simulations and experimental results are shown and discussed.

关键词： Gears Robots Mathematical model Computational modeling DC motors Welding Agricultural machinery

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Design of Muscle Reflex Control for Human Upright Standing Push- recovery based on Series Elastic Actuator

Design of Muscle Reflex Control for Human Upright Standing P...

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IEEE International Conference on Cyber Technology in automation, Control, and intelligent Systems

作者： Yuyang Cao Kui Xiang Biwei Tang Zhaojie Ju Muye Pang Intelligent System Research Institute School of Automation Wuhan University of Technology China and Intelligent System & Biomedical Robotics Group School of Computing University of Portsmouth UK Intelligent System Research Institute School of Automation Wuhan University of Technology China Intelligent System & Biomedical Robotics Group School of Computing University of Portsmouth UK

ISBN: (数字)9781728107707

ISBN: (纸本)9781728107714

Ankle joint muscle reflex control plays an important role in the human bipedal posture. With the neuromuscular control mechanism and muscle-tendon biomechanical dynamic properties, our joints exhibit excellent performance in external environment physical interaction. Researching and understanding the mechanism of muscle reflex not only helps to reveal human movement control rules, but also provides a useful tool for robotic system design. In this paper, an ankle joint muscle reflex control strategy for human upright standing push-recovery is proposed. In order to focus attention on muscle reflexes and exclude other control mechanisms from the central nervous system (CNS) as much as possible, only ankle joint strategy without foot tilting is evoked by a limited external disturbance. A proportional derivative-like (PD-like) muscle reflex control algorithm is presented to understand the action mechanism for human upright standing push-recovery. A series elastic actuator (SEA) based mechanical ankle joint is designed as a platform for testing activities. The experimental results show that the proposed reflex control method can help subjects maintain balance, without stepping, while receiving external disturbances. With the unique control mechanism, the ankle joint behaves like a spring-damping system. And, under such a simple and effective control strategy, it is practical to realize human upright standing push-recovery.

关键词： Muscles Springs Actuators intelligent systems automation Wheels Robots

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Semiotics Applied to Human-Robot Interaction in Welding Processes

Semiotics Applied to Human-Robot Interaction in Welding Proc...

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IEEE Latin American robotics Symposium, LARS

作者： Patrick Baldez Mateus Schot Danubia Espíndola Silvia S.C. Botelho Bruna Guterres Luciane B. Soares Intelligent Robotics and Automation Group - Nautec Federal University of Rio Grande - FURG Federal University of Rio Grande Rio Grande Brazil

ISBN: (数字)9781728142685

ISBN: (纸本)9781728142692

Teleoperation of robotic systems requires efficient and effective human-robot interactions. The present work presents the development of a semiotic-based human-robot interaction interface through the identification of the signs classes presented in the original interface of the robotic welding equipment BUG-O MDS-1005. Among the hardware equipments necessary to construct the proposed interface there are a Raspberry Pi 3 with a 7 inch touchscreen display, an Odroid XU4 and an Arduino Uno. In order to enable users to make use of an intuitive system that meets industry standards, HumanRobot Interaction (HRI) technologies are used. Furthermore, the proposed human-robot interaction interface provides new functionalities enhancing not only the system usability but also the operator productivity during welding processes.

关键词： Welding Inspection Semiotics Service robots Weaving Task analysis

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Infrared image stripe noise removal using wavelet analysis and parameter estimation

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Optica Acta: International Journal of Optics 2023年第3期70卷

作者： Ende Wang Zhiyuan Liu Bing Wang Zhiyu Cao Shiwei Zhang a Key Laboratory of Opto-Electronic Information Processing Chinese Academy of Sciences Shenyang People’s Republic of Chinab Shenyang Institute of Automation Chinese Academy of Sciences Shenyang People’s Republic of Chinac Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang People’s Republic of Chinad University of Chinese Academy of Sciences Beijing People's Republic of China a Key Laboratory of Opto-Electronic Information Processing Chinese Academy of Sciences Shenyang People’s Republic of Chinab Shenyang Institute of Automation Chinese Academy of Sciences Shenyang People’s Republic of Chinac Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang People’s Republic of Chinae School of Automation and Electrical Engineering Shenyang Ligong University Shenyang People's Republic of China f AVIC Hongdu Aviation Industry Group Nanchang People’s Republic of China a Key Laboratory of Opto-Electronic Information Processing Chinese Academy of Sciences Shenyang People’s Republic of Chinab Shenyang Institute of Automation Chinese Academy of Sciences Shenyang People’s Republic of Chinac Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang People’s Republic of Chinag College of Information Liaoning University Shenyang People’s Republic of China

Infrared image systems often generate stripe noise because of the non-uniformity of the focal plane array, which significantly reduces the visual quality of the image. To solve this problem, we proposed an effective single-frame denoising method in this paper. First, the wavelet function extracts the approximate and vertical components of the original image containing stripe noise. Then, the approximation component is denoised by parameter estimation, and the vertical component is denoised by guided filtering. Finally, wavelet reconstruction is performed to realize the denoising process of the original image. This method avoids the loss of details of other components of the image and achieves an excellent denoising effect. The experimental results on the public datasets indicate that our proposed method can effectively eliminate the stripe noise of infrared images compared with some advanced methods.

关键词： Infrared image stripe noise focal-plane array parameter estimation

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Underwater Sonar and Aerial Images Data Fusion for Robot Localization

Underwater Sonar and Aerial Images Data Fusion for Robot Loc...

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International Conference on Advanced robotics (ICAR)

作者： Matheus M. Dos Santos Giovanni G. De Giacomo Paulo L. J. Drews Silvia S. C. Botelho Intelligent Robotics and Automation Group NAUTEC Center for Computational Science C3 Universidade Federal do Rio Grande FURG Rio Grande Brazil

Autonomous underwater navigation is a challenging problem because of the limitations imposed by aquatic environments. Among them, the use of Global Positioning System (GPS) is severely limited. Thus, we propose the use of sensor fusion to improve underwater localization in partially structured environments. We sustain our proposal explores the benefits of aerial images, such as georeferencing, to improve underwater navigation with a multibeam forward looking sonar. Our methodology combines state-of-the-art approaches such as Deep Neural Networks and Adaptive Monte Carlo Localization to fuse data from different image domains. The obtained results show a significant improvement over traditional odometry for underwater localization.

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Relative Confidence Based Information Fusion for Semg-Based Pattern Recognition 17

Relative Confidence Based Information Fusion for Semg-Based ...

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17th International Conference on Machine Learning and Cybernetics, ICMLC 2018

作者： Li, Jinrong Fang, Yinfeng Ning, Yong Jie, Jing Tan, Ping Liu, Honghai School of Automation and Electric Engineering Zhejiang University of Science Technology Hangzhou China Intelligent Systems and Biomedical Robotics Group School of Computing University of Portsmouth Portsmouth United Kingdom

ISBN: (纸本)9781538652121

This study aims to establish a decision fusion scheme that synthesize the advantages of different classifiers and avoids uncertain decisions. Thus, relative confidence factors of each classifier was proposed to correct the classification decision made by each classifier, and the final classification result was derived by fusing all corrected decision based on the combination of Dempster-Shafer's rule. The novel fusion scheme is evaluated in the scenario of sEMG-based hand movement identification, in which five classffiers are adopted. The experimental results demonstrated that the novel scheme can obtain higher classification accuracy and stability than the other methods. © 2018 IEEE.

关键词： Information fusion

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TRIDENT – Technology based impact assessment tool foR sustaInable, transparent Deep sEa miNing exploraTion and exploitation: A project overview

TRIDENT – Technology based impact assessment tool foR susta...

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OCEANS

作者： E. Silva D. Viegas A. Martins J. Almeida C. Almeida B. Neves P. Madureira A.J. Wheeler G. Salavasidis A. Phillips A. Schaap B. Murton A. Berry A. Weir G. Dooly E. Omerdic D. Toal P.C. Collins M. Miranda C. Petrioli C. Barrera Rodríguez D. Demoor C. Drouet G.El Serafy S.M. Jesus J. Dañobeitia V. Tegas S. Cusi L. Lopes B. Bodo L. Beguery S. VanDam J. Dumortier L. Neves V. Srivastava T.G. Dahlgren J. Thomassen Hestetun R. Eiras R. Caldeira C. Rossi J. Spearman L. Somoza F.J. González R. Bartolomé P. Bahurel INESC TEC Porto Portugal Instituto Superior Engenharia do Porto ISEP Portugal Portuguese Task Group for the Extension of the Continental Shelf EMEPC Portugal Department of Geosciences and Institute of Earth Sciences University of Évora Portugal SFI Centre for Research in Applied Geosciences School of Biological Earth & Environmental Sciences University College Cork Ireland Marine Autonomous and Robotic Systems National Oceanography Centre NOC United Kingdom Ocean Technology and Engineering NOC United Kingdom Ocean BioGeosciences NOC United Kingdom Marine Institute Ireland University of Limerick Centre for Robotics & Intelligent Systems CRIS Ireland School of Biological Science Queen’s University Belfast Northern Ireland Instituto Português do Mar e Atmosfera IPMA Portugal WSENSE Italy Head of Vehicle Base VIMAS Consortium for the Design Equipping and Exploitation of the Oceanic Platform of the Canary Islands Spain GREENOV-ITES France Unit of Coastal and Sea Systems Stichting Deltares& TU Delft The Netherlands LARSys University of Algarve Portugal EMSO-ERIC Italy Marine Technology Unit UTM-CSIC Spain La Palma Research Centre Spain Alseamar France Agora Partners Malha Technology Israel Timelex Belgium Gesi Belgium NORCE Norwegian Research Centre Norway Forum Oceano UPTEC POLO DO MAR Portugal ARDITI Portugal Center for Automation and Robotics UPM-CSIC Universidad Politécnica de Madrid Spain HRWallingford United Kingdom Geological Survey of Spain Marine Geology Resources and Extreme Environments IGME-CSIC Spain Institute for Marine Science ICM-CSIC Spain Mercator Ocean France

By creating a dependable, transparent, and cost-effective system for forecasting and ongoing environmental impact monitoring of exploration and exploitation activities in the deep sea, TRIDENT seeks to contribute to the sustainable exploitation of seabed mineral resources. In order to operate autonomously in remote locations under harsh conditions and send real-time data to authorities in charge of granting licenses and providing oversight, this system will create and integrate new technology and innovative solutions. The efficient monitoring and inspection system that will be created will abide by national and international legal frameworks. At the sea surface, mid-water, and the bottom, TRIDENT will identify all pertinent physical, chemical, geological, and biological characteristics that must be monitored. It will also look for data gaps and suggest procedures for addressing them. These are crucial actions to take in order to produce accurate indicators of excellent environmental status, statistically robust environmental baselines, and thresholds for significant impact, allowing for the standardization of methods and tools. In order to monitor environmental parameters on mining and reference areas at representative spatial and temporal scales, the project consortium will thereafter develop and test an integrated system of stationary and mobile observatory platforms outfitted with the most recent automatic sensors and samplers. The system will incorporate high-capacity data processing pipelines able to gather, transmit, process, and display monitoring data in close to real-time to facilitate prompt actions for preventing major harm to the environment. Last but not least, it will offer systemic and technological solutions for predicting probable impacts of applying the developed monitoring and mitigation techniques.

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Comparative analysis of control strategies for the reduction of tracking error in CPV systems

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AIP Conference Proceedings 2023年第1期2841卷

作者： Sergio I. Palomino-Resendiz Víctor Cadix-Martín Basil Mohammed Al-Hadithi Diego A. Flores-Hernández Instituto Politécnico Nacional – ESIME-ZAC Departamento de Control y Automatización Mexico City 07738 Mexico Escuela Técnica Superior de Ingeniería y Diseño Industrial Departamento de Ingeniería Eléctrica Automática y Física Aplicada Universidad Politécnica de Madrid Madrid 28012 Spain Intelligent Control Group Universidad Politécnica de Madrid Centre for Automation and Robotics UPM-CSIC Madrid 28006 Spain Instituto Politécnico Nacional – UPIITA Applied Dynamic Systems Laboratory Mexico City 07340 Mexico

In this work, an experimental methodology is shown that allows selecting the best controller alternative to govern a two-axis solar tracking system in trajectory tracking tasks. This, based on the comparison of the performance of different controllers during the tracking of a solar trajectory (obtained offline with the help of a numerical method) using a prototype solar tracking system in a simulation environment. The selection of the controllers is based on the performance reported in the literature and commercially for other alternatives based on parameters such as: tracking error and energy consumption, computational cost, ease of implementation, ease of tuning, among others. However, for the final validation and selection of the controller, a brief analysis of the numerical results obtained during the follow-up tests is provided.

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Towards Orientation Learning and Adaptation in Cartesian Space

arXiv

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arXiv 2019年

作者： Huang, Yanlong Abu-Dakka, Fares J. Silvério, João Caldwell, Darwin G. School of Computing University of Leeds LeedsLS29JT United Kingdom Intelligent Robotics Group The Department of Electrical Engineering and Automation Aalto University Finland Idiap Research Institute MartignyCH-1920 Switzerland Department of Advanced Robotics Istituto Italiano di Tecnologia Via Morego 30 Genoa16163 Italy

As a promising branch of robotics, imitation learning emerges as an important way to transfer human skills to robots, where human demonstrations represented in Cartesian or joint spaces are utilized to estimate task/skill models that can be subsequently generalized to new situations. While learning Cartesian positions suffices for many applications, the end-effector orientation is required in many others. Despite recent advances in learning orientations from demonstrations, several crucial issues have not been adequately addressed yet. For instance, how can demonstrated orientations be adapted to pass through arbitrary desired points that comprise orientations and angular velocities? In this paper, we propose an approach that is capable of learning multiple orientation trajectories and adapting learned orientation skills to new situations (e.g., via-points and end-points), where both orientation and angular velocity are considered. Specifically, we introduce a kernelized treatment to alleviate explicit basis functions when learning orientations, which allows for learning orientation trajectories associated with high-dimensional inputs. In addition, we extend our approach to the learning of quaternions with angular acceleration or jerk constraints, which allows for generating smoother orientation profiles for robots. Several examples including experiments with real 7-DoF robot arms are provided to verify the effectiveness of our method. Copyright © 2019, The Authors. All rights reserved.

关键词： Angular velocity

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Hands-on Experience with Gaussian Processes (GPs): Implementing GPs in Python - I

arXiv

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arXiv 2018年

作者： Tiwari, Kshitij Intelligent Robotics Group Department of Electrical Engg. & Automation Aalto University Espoo02150 Finland

This document serves to complement our website which was developed with the aim of exposing the students to Gaussian Processes (GPs). GPs are non-parametric bayesian regression models that are largely used by statisticians and geospatial data scientists for modeling spatial data. Several open source libraries spanning from Matlab [1], Python [2], R [3] etc. are already available for simple plug-and-use. The objective of this handout and in turn the website was to allow the users to develop stand-alone GPs in Python by relying on minimal external dependencies. To this end, we only use the default python modules and assist the users in developing their own GPs from scratch giving them an in-depth knowledge of what goes on under the hood. The module covers GP inference using maximum likelihood estimation (MLE) and gives examples for 1D (dummy) spatial data. Copyright © 2018, The Authors. All rights reserved.

关键词： Python

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