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Powering and Fabrication of Small-Scale robotics systems

Current robotics reports 2021年第4期2卷 427-440页

作者： Salvador Pané Pedro Wendel-Garcia Yonca Belce Xiang-Zhong Chen Josep Puigmartí-Luis Multi-Scale Robotics Lab (MSRL) Institute of Robotics and Intelligent Systems (IRIS) ETH Zurich CH-8092 Zurich Switzerland. Institute of Intensive Care Medicine University Hospital of Zürich Zürich Switzerland. Departament de Ciència Dels Materials I Química Física Institut de Química Teòrica I Computacional 08028 Barcelona Spain.

PURPOSE OF REVIEW:The increasing number of contributions in the field of small-scale robotics is significantly associated with the progress in material science and process engineering during the last half century. With the objective of integrating the most optimal materials for the propulsion of these motile micro- and nanosystems, several manufacturing strategies have been adopted or specifically developed. This brief review covers some recent advances in materials and fabrication of small-scale robots with a focus on the materials serving as components for their motion and actuation. RECENT FINDINGS:Integration of a wealth of materials is now possible in several micro- and nanorobotic designs owing to the advances in micro- and nanofabrication and chemical synthesis. Regarding light-driven swimmers, novel photocatalytic materials and deformable liquid crystal elastomers have been recently reported. Acoustic swimmers are also gaining attention, with several prominent examples of acoustic bubble-based 3D swimmers being recently reported. Magnetic micro- and nanorobots are increasingly investigated for their prospective use in biomedical applications. The adoption of different materials and novel fabrication strategies based on 3D printing, template-assisted electrodeposition, or electrospinning is briefly discussed. SUMMARY:A brief review on fabrication and powering of small-scale robotics is presented. First, a concise introduction to the world of small-scale robotics and their propulsion by means of magnetic fields, ultrasound, and light is provided. Recent examples of materials and fabrication methodologies for the realization of these devices follow thereafter.

关键词： Micro- and nanofabrication Micro- and nanoscale propulsion Mobile small-scale robotics

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A Deep Siamese Neural Network N-Shot Learning Approach for the Recognition of Chinese Calligraphy

SSRN

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SSRN 2022年

作者： Zhou, Zhaokun Wang, Weijun Ou, Yuhao Che, Qishu Feng, Wei Shenzhen Key Laboratory of Smart Sensing and Intelligent Systems Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Guangdong Shenzhen518055 China Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Guangdong Shenzhen518055 China CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Guangdong Shenzhen518055 China Guangzhou Institute of Advanced Technology Chinese Academy of Sciences Guangdong Guangzhou511458 China University of Chinese Academy of Sciences Guangdong Shenzhen518055 China

The forms of Chinese calligraphic characters vary considerably, posing a challenge even for a typical educated Chinese to read. The total number of characters is in the excess of ten thousand, many of which have small numbers of samples surviving to date. Thus, Chinese calligraphy recognition is a unique challenge for the state-of-the art deep-learning algorithms that require large training datasets to accurately categorize. Here we present a novel deep-convolutional Siamese Neural Network (SNN) based architecture that finishes training in one day on a single RTX 2080 Ti graphics card while reaching an accuracy of 95.0% on a vast set of more than 6000 Chinese characters. We found that, after image pre-processing and setting the optimized SNN parameters, our recognition algorithm (i) is light weight, (ii) trains with small numbers of samples, achieving few-/one-shot learning (iii) recognizes a new character that is not present in the training set and (iv) includes the new character in the dictionary so the dictionary is continually expanded. Further work on the improvement of our method is also proposed including the localization of multiple tokens in an image to further automate detections and word prediction with RNNs to boost categorization accuracy. © 2022, The Authors. All rights reserved.

关键词： Optical character recognition

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Automatic Context-Driven Inference of Engagement in HMI: A Survey

arXiv

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arXiv 2022年

作者： Salam, Hanan Celiktutan, Oya Gunes, Hatice Chetouani, Mohamed SMART Lab New York University Abu Dhabi United Arab Emirates Department of Engineering King’s College LondonWC2R 2LS United Kingdom Department of Computer Science and Technology University of Cambridge CB3 0FD United Kingdom Institute of Intelligent Systems and Robotics CNRS UMR7222 Sorbonne University Paris France

An integral part of seamless human-human communication is engagement, the process by which two or more participants establish, maintain, and end their perceived connection. Therefore, to develop successful human-centered human-machine interaction applications, automatic engagement inference is one of the tasks required to achieve engaging interactions between humans and machines, and to make machines attuned to their users, hence enhancing user satisfaction and technology acceptance. Several factors contribute to engagement state inference, which include the interaction context and interactants’ behaviours and identity. Indeed, engagement is a multi-faceted and multi-modal construct that requires high accuracy in the analysis and interpretation of contextual, verbal and non-verbal cues. Thus, the development of an automated and intelligent system that accomplishes this task has been proven to be challenging so far. This paper presents a comprehensive survey on previous work in engagement inference for human-machine interaction, entailing interdisciplinary definition, engagement components and factors, publicly available datasets, ground truth assessment, and most commonly used features and methods, serving as a guide for the development of future human-machine interaction interfaces with reliable context-aware engagement inference capability. An in-depth review across embodied and disembodied interaction modes, and an emphasis on the interaction context of which engagement perception modules are integrated sets apart the presented survey from existing surveys. Copyright © 2022, The Authors. All rights reserved.

关键词： Surveys

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Enhanced Visual Feedback with Decoupled Viewpoint Control in Immersive Humanoid Robot Teleoperation using SLAM

Enhanced Visual Feedback with Decoupled Viewpoint Control in...

引用

IEEE-RAS International Conference on Humanoid Robots

作者： Yang Chen Leyuan Sun Mehdi Benallegue Rafael Cisneros-Limón Rohan P. Singh Kenji Kaneko Arnaud Tanguy Guillaume Caron Kenji Suzuki Abderrahmane Kheddar Fumio Kanehiro School of Integrative and Global Majors (SIGMA) University of Tsukuba Japan CNRS-AIST JRL (Joint Robotics Laboratory) IRL National Institute of Advanced Industrial Science and Technology (AIST) Department of Intelligent and Mechanical Interaction Systems Graduate School of Science and Technology University of Tsukuba Japan MIS lab Universite de Picardie Jules Verne Amiens France Faculty of Engineering and Center for Cybernetics Research University of Tsukuba Japan

ISBN: (数字)9798350309799

ISBN: (纸本)9798350309805

In immersive humanoid robot teleoperation, there are three main shortcomings that can alter the transparency of the visual feedback: (i) the lag between the motion of the operator's and robot's head due to network communication delays or slow robot joint motion. This latency could cause a noticeable delay in the visual feedback, which jeopardizes the embodiment quality, can cause dizziness, and affects the interactivity resulting in operator frequent motion pauses for the visual feedback to settle; (ii) the mismatch between the camera's and the headset's field-of-views (FOV), the former having generally a lower FOV; and (iii) a mismatch between human's and robot's range of motions of the neck, the latter being also generally lower. In order to leverage these draw-backs, we developed a decoupled viewpoint control solution for a humanoid platform which allows visual feedback with low-latency and artificially increases the camera's FOV range to match that of the operator's headset. Our novel solution uses SLAM technology to enhance the visual feedback from a reconstructed mesh, complementing the areas that are not covered by the visual feedback from the robot. The visual feedback is presented as a point cloud in real-time to the operator. As a result, the operator is fed with real-time vision from the robot's head orientation by observing the pose of the point cloud. Balancing this kind of awareness and immersion is important in virtual reality based teleoperation, considering the safety and robustness of the control system. An experiment shows that the effectiveness of our solution.

关键词： Point cloud compression Visualization Simultaneous localization and mapping Humanoid robots Virtual reality Real-time systems Robustness

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Detect-and-Segment: A deep learning approach to automate wound image segmentation

arXiv

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arXiv 2021年

作者： Scebba, Gaetano Zhang, Jia Catanzaro, Sabrina Mihai, Carina Distler, Oliver Berli, Martin Karlen, Walter Mobile Health Systems Lab Institute of Robotics and Intelligent Systems Department of Health Sciences and Technology ETH Zurich Switzerland Unit for Clinical and Applied Research Balgrist University Hospital Zurich Switzerland Department of Rheumatology University Hospital Zurich University of Zurich Switzerland Division of Technical Orthopedics Department of Orthopedic Surgery Balgrist University Hospital Zurich Switzerland

Chronic wounds significantly impact quality of life. If not properly managed, they can severely deteriorate. Image-based wound analysis could aid in objectively assessing the wound status by quantifying important features that are related to healing. However, the high heterogeneity of the wound types, image background composition, and capturing conditions challenge the robust segmentation of wound images. We present Detect-and-Segment (DS), a deep learning approach to produce wound segmentation maps with high generalization capabilities. In our approach, dedicated deep neural networks detected the wound position, isolated the wound from the uninformative background, and computed the wound segmentation map. We evaluated this approach using one data set with images of diabetic foot ulcers. For further testing, 4 supplemental independent data sets with larger variety of wound types from different body locations were used. The Matthews’ correlation coefficient (MCC) improved from 0.29 when computing the segmentation on the full image to 0.85 when combining detection and segmentation in the same approach. When tested on the wound images drawn from the supplemental data sets, the DS approach increased the mean MCC from 0.17 to 0.85. Furthermore, the DS approach enabled the training of segmentation models with up to 90% less training data while maintaining the segmentation performance. © 2021, CC BY-NC-ND.

关键词： Diseases

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Robust Task and Motion Planning for Long-Horizon Architectural Construction Planning

Robust Task and Motion Planning for Long-Horizon Architectur...

引用

2020 IEEE/RSJ International Conference on intelligent Robots and systems (IROS)

作者： Valentin N. Hartmann Ozgur S. Oguz Danny Driess Marc Toussaint Achim Menges Machine Learning & Robotics Lab University of Stuttgart Germany Max Planck Institute for Intelligent Systems Germany Institute for Computational Design and Construction University of Stuttgart Germany

ISBN: (数字)9781728162126

ISBN: (纸本)9781728162133

Integrating robotic systems in architectural and construction processes is of core interest to increase the efficiency of the building industry. Automated planning for such systems enables design analysis tools and facilitates faster design iteration cycles for designers and engineers. However, generic task-and-motion planning (TAMP) for long-horizon construction processes is beyond the capabilities of current approaches. In this paper, we develop a multi-agent TAMP framework for long horizon problems such as constructing a full-scale building. To this end we extend the Logic-Geometric Programming framework by sampling-based motion planning, a limited horizon approach, and a task-specific structural stability optimization that allow an effective decomposition of the task. We show that our framework is capable of constructing a large pavilion built from several hundred geometrically unique building elements from start to end autonomously.

关键词： Buildings Tools Stability analysis Planning Structural engineering Task analysis Optimization

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Towards an Interaction Architecture for the iCub Robot: Social Gaze Space Model Adaptation for Social Interaction

Towards an Interaction Architecture for the iCub Robot: Soci...

引用

IEEE-RAS International Conference on Humanoid Robots

作者： Sahand Shaghaghi Pourya Aliasghari Bryan Tripp Britt Anderson Kerstin Dautenhahn Chrystopher L. Nehaniv Social & Intelligent Robotics Research Lab University of Waterloo 200 University Ave. W. Waterloo Ontario Canada Dept. of Systems Design Enginering University of Waterloo 200 University Ave. W. Waterloo Ontario Canada Dept. of Electrical & Computer Engineering University of Waterloo 200 University Ave. W. Waterloo Ontario Canada Centre for Theoretical Neuroscience University of Waterloo 200 University Ave. W. Waterloo Ontario Canada Dept. of Psychology University of Waterloo 200 University Ave. W. Waterloo Ontario Canada

ISBN: (数字)9798350373578

ISBN: (纸本)9798350373585

Gaze behaviour plays a crucial role in social interactions extending to Human-Robot Interactions. Humanoid robots equipped with anthropomorphic vision systems may be expected to employ natural gaze behaviour in interactions with humans. Here, we implemented a novel first-person human gaze state detection tool on the iCub robot and assessed its gaze detection accuracy. Using this tool, we then developed two social gaze interaction architectures for the iCub robot. The Social Gaze Space theory (SGS) of Jording and colleagues was the theoretical framework for building our first architecture, SGS Base (SGS-B). Our second architecture, SGS Interaction Architecture (SGS-IA), is the extended version of SGS Base that lets the robot take on different higher-level goals in an interaction, including being attentive to the interaction partner or attempting to direct their attention to an object. These architectures support dyadic social interactions involving initiating and responding to joint attention towards objects of interest, and are expected to allow the robot to interact in a more human-like manner in social interactions. The gaze detection accuracy of the iCub robot equipped with our choice of algorithms exceeded that of previously implemented methods. System validation trials confirmed that the robot detects the social gaze states correctly in the majority of the instances, allowing for behavioural control according to the Social Gaze Space theory. Validation tests presented in this article demonstrate the functionality of the SGS Interaction Architecture and also highlight the differences in personal interaction dynamics when the humanoid robot has no particular goals as opposed to when it has interactional goals appropriate to a teaching scenario.

关键词： Accuracy Architecture Education Humanoid robots Human-robot interaction Modulation Aerospace electronics Visual systems System validation Standards

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Practical fractional-order variable-gain super-twisting control with application to wafer stages of photolithography systems

arXiv

引用

arXiv 2021年

作者： Kuang, Zhian Sun, Liting Gao, Huijun Tomizuka, Masayoshi Research Institute of Intelligent Control and Systems Harbin Institute of Technology Harbin150001 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China Mechanical Control System Lab Mechanical Engineering Department University of California BerkeleyCA94720 United States

In this paper, a practical fractional-order variable-gain super-twisting algorithm (PFVSTA) is proposed to improve the tracking performance of wafer stages for semiconductor manufacturing. Based on the sliding mode control (SMC), the proposed PFVSTA enhances the tracking performance from three aspects: 1) alleviating the chattering phenomenon via super-twisting algorithm and a novel fractional-order sliding surface (FSS) design, 2) improving the dynamics of states on the sliding surface with fast response and small overshoots via the designed novel FSS and 3) compensating for disturbances via variable-gain control law. Based on practical conditions, this paper analyzes the stability of the controller and illustrates the theoretical principle to compensate for the uncertainties caused by accelerations. Moreover, numerical simulations prove the effectiveness of the proposed sliding surface and control scheme, and they are in agreement with the theoretical analysis. Finally, practice-based comparative experiments are conducted. The results show that the proposed PFVSTA can achieve much better tracking performance than the conventional methods from various perspectives. Copyright © 2021, The Authors. All rights reserved.

关键词： Sliding mode control

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Next-Generation Prosthetic Hand:from Biomimetic to Biorealistic

引用

Research 2021年第1期2021卷 222-225页

作者： Ning Lan Manzhao Hao Chuanxin MNiu He Cui Yu Wang Ting Zhang Peng Fang Chih-hong Chou Institute of Medical Robotics Shanghai Jiao Tong UniversityShanghaiChina Laboratory of Neurorehabilitation Engineering School of Biomedical EngineeringShanghai Jiao Tong UniversityShanghaiChina Department of Rehabilitation Medicine Ruijin HospitalSchool of MedicineShanghai Jiao Tong UniversityShanghaiChina Center for Excellence in Brain Science and Intelligent Technology Chinese Academy of SciencesShanghaiChina School of Biological Science and Medical Engineering Beihang UniversityBeijingChina Beijing Advanced Innovation Center for Biomedical Engineering School of Biological Science and Medical EngineeringBeihang UniversityBeijingChina i-lab Key Laboratory of Multifunctional Nanomaterials and Smart SystemsSuzhou Institute of Nano-Tech and Nano-BionicsChinese Academy of SciencesSuzhouChina Shenzhen Institute of Advanced Technology Chinese Academy of SciencesShenzhenChina

Integrating a prosthetic hand to amputees with seamless neural compatibility presents a grand challenge to neuroscientists and neural engineers for more than half *** anatomical structure or appearance of human hand does not lead to improved neural connectivity to the sensorimotor system of *** functions of modern prosthetic hands do not match the dexterity of human hand due primarily to lack of sensory awareness and compliant ***,progress in restoring sensory feedback has marked a significant step forward in improving neural continuity of sensory information from prosthetic hands to ***,little effort has been made to replicate the compliant property of biological muscle when actuating prosthetic ***,a full-fledged biorealistic approach to designing prosthetic hands has not been contemplated in neuroprosthetic *** this perspective article,we advance a novel view that a prosthetic hand can be integrated harmoniously with amputees only if neural compatibility to the sensorimotor system is *** ongoing research supports that the next-generation prosthetic hand must incorporate biologically realistic actuation,sensing,and reflex functions in order to fully attain neural compatibility.

关键词： neural compatibility primarily

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Robust task and motion planning for long-horizon architectural construction planning

arXiv

引用

arXiv 2020年

作者： Hartmann, Valentin N. Oguz, Ozgur S. Driess, Danny Toussaint, Marc Menges, Achim Machine Learning & Robotics Lab. University of Stuttgart Germany Max Planck Institute for Intelligent Systems Germany Institute for Computational Design and Construction University of Stuttgart Germany

关键词： Motion planning

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