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Vibration reduction control for redundant flexible robot manipulators

IFAC-PapersOnLine 2020年第2期53卷 8513-8518页

作者： Mohamed Amine Rahmouni Richard Bearee Mathieu Grossard Eric Lucet CEA Tech / LISPEN Laboratory Arts et Metiers Lille France LISPEN Laboratory Arts et Metiers Lille France Interactive Robotics Unit CEA List Gif sur Yvette France

In this paper, both vibration reduction and task accuracy improvement for flexible redundant manipulators, using the resolution of redundancy, is addressed. The exciting force of flexural motion, which is induced by the motion of the manipulator, causes undesired deflection at the end-effector. The null space inherent in redundancy feature is exploited to damp out the vibration while maintaining the end-effector posture. In order to exploit all the degrees of freedom in the null space, a feedback control design based on torque optimization has been introduced using analytical method for the redundancy resolution. The simulation analysis is presented to test the effectiveness of the proposed approach.

关键词： Vibration Suppression Redundancy Resolution Flexible Robot Manipulators Feedback Control Design

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The world seems different in a social context: a neural network analysis of human experimental data

arXiv

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arXiv 2022年

作者： Tsfasman, Maria Philippsen, Anja Mazzola, Carlo Thill, Serge Sciutti, Alessandra Nagai, Yukie Interactive Intelligence group Delft University of Technology Delft2628 XE Netherlands Artificial Intelligence department Radboud University Nijmegen6525 GD Netherlands The University of Tokyo Tokyo113-0033 Japan Robotics Brain and Cognitive Sciences Unit Istituto Italiano di Tecnologia Genova16152 Italy DIBRIS Università di Genova Genova16145 Italy Donders Institute for Brain Cognition and Behaviour Radboud University Nijmegen6525 GD Netherlands Cognitive Architecture for Collaborative Technologies Unit Istituto Italiano di Tecnologia Genova16152 Italy Institute for AI and Beyond The University of Tokyo Tokyo113-0033 Japan

Human perception and behavior are affected by the situational context, in particular during social interactions. A recent study demonstrated that humans perceive visual stimuli differently depending on whether they do the task by themselves or together with a robot. Specifically, it was found that the central tendency effect is stronger in social than in non-social task settings. The particular nature of such behavioral changes induced by social interaction, and their underlying cognitive processes in the human brain are, however, still not well understood. In this paper, we address this question by training an artificial neural network inspired by the predictive coding theory on the above behavioral data set. Using this computational model, we investigate whether the change in behavior that was caused by the situational context in the human experiment could be explained by continuous modifications of a parameter expressing how strongly sensory and prior information affect perception. We demonstrate that it is possible to replicate human behavioral data in both individual and social task settings by modifying the precision of prior and sensory signals, indicating that social and non-social task settings might in fact exist on a continuum. At the same time an analysis of the neural activation traces of the trained networks provides evidence that information is coded in fundamentally different ways in the network in the individual and in the social conditions. Our results emphasize the importance of computational replications of behavioral data for generating hypotheses on the underlying cognitive mechanisms of shared perception and may provide inspiration for follow-up studies in the field of neuroscience. © 2022, CC BY.

关键词： Neural networks

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Why is the Winner the Best?

Why is the Winner the Best?

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Conference on Computer Vision and Pattern Recognition (CVPR)

作者： M. Eisenmann A. Reinke V. Weru M. D. Tizabi F. Isensee T. J. Adler S. Ali V. Andrearczyk M. Aubreville U. Baid S. Bakas N. Balu S. Bano J. Bernal S. Bodenstedt A. Casella V. Cheplygina M. Daum M. De Bruijne A. Depeursinge R. Dorent J. Egger D. G. Ellis S. Engelhardt M. Ganz N. Ghatwary G. Girard P. Godau A. Gupta L. Hansen K. Harada M. Heinrich N. Heller A. Hering A. Huaulmé P. Jannin A. E. Kavur O. Kodym M. Kozubek J. Li H. Li J. Ma C. Martín-Isla B. Menze A. Noble V. Oreiller N. Padoy S. Pati K. Payette T. Rädsch J. Rafael-Patiño V. Singh Bawa S. Speidel C. H. Sudre K. Van Wijnen M. Wagner D. Wei A. Yamlahi M. H. Yap C. Yuan M. Zenk A. Zia D. Zimmerer D. Aydogan B. Bhattarai L. Bloch R. Brüngel J. Cho C. Choi Q. Dou I. Ezhov C. M. Friedrich C. Fuller R. R. Gaire A. Galdran Á. García Faura M. Grammatikopoulou S. Hong M. Jahanifar I. Jang A. Kadkhodamohammadi I. Kang F. Kofler S. Kondo H. Kuijf M. Li M. Luu T. Martinčič P. Morais M. A. Naser B. Oliveira D. Owen S. Pang J. Park S. Park S. Płotka E. Puybareau N. Rajpoot K. Ryu N. Saeed A. Shephard P. Shi D. Štepec R. Subedi G. Tochon H. R. Torres H. Urien J. L. Vilaça K. A. Wahid H. Wang J. Wang L. Wang X. Wang B. Wiestler M. Wodzinski F. Xia J. Xie Z. Xiong S. Yang Y. Yang Z. Zhao K. Maier-Hein P. F. Jäger A. Kopp-Schneider L. Maier-Hein Division of Intelligent Medical Systems German Cancer Research Center (DKFZ) Heidelberg Germany Helmholtz Imaging German Cancer Research Center (DKFZ) Heidelberg Germany Faculty of Mathematics and Computer Science Heidelberg University Heidelberg Germany Division of Biostatistics German Cancer Research Center (DKFZ) Heidelberg Germany Division of Medical Image Computing German Cancer Research Center (DKFZ) Heidelberg Germany Faculty of Engineering and Physical Sciences School of Computing University of Leeds Leeds UK Institute of Informatics School of Management HES-SO Valais-Wallis University of Applied Sciences and Arts Western Switzerland Sierre Switzerland Department of Nuclear Medicine and Molecular Imaging Lausanne University Hospital Lausanne Switzerland Technische Hochschule Ingolstadt Ingolstadt Germany Center for Artificial Intelligence and Data Science for Integrated Diagnostics (AI2D) and Center for Biomedical Image Computing and Analytics (CBICA) University of Pennsylvania Philadelphia PA USA Department of Pathology and Laboratory Medicine Perelman School of Medicine University of Pennsylvania Philadelphia PA USA Department of Radiology Perelman School of Medicine University of Pennsylvania Philadelphia PA USA Department of Radiology University of Washington Seattle WA USA Department of Computer Science Wellcome/EPSRC Centre for Interventional and Surgical Sciences (WEISS) University College London London UK Universitat Autònoma de Barcelona & Computer Vision Center Barcelona Spain Division of Translational Surgical Oncology National Center for Tumor Diseases (NCT/UCC) Dresden Dresden Germany Department of Advanced Robotics Istituto Italiano di Tecnologia Italy Department of Electronics Information and Bioengineering Politecnico di Milano Milan Italy IT University of Copenhagen Copenhagen Denmark Department of General Visceral and Transplantation Surgery Heidelberg University Hospital Heidelberg Germany Department of Radiology and Nuc

International benchmarking competitions have become fundamental for the comparative performance assessment of image analysis methods. However, little attention has been given to investigating what can be learnt from these competitions. Do they really generate scientific progress? What are common and successful participation strategies? What makes a solution superior to a competing method? To address this gap in the literature, we performed a multicenter study with all 80 competitions that were conducted in the scope of IEEE ISBI 2021 and MICCAI 2021. Statistical analyses performed based on comprehensive descriptions of the submitted algorithms linked to their rank as well as the underlying participation strategies revealed common characteristics of winning solutions. These typically include the use of multi-task learning (63%) and/or multi-stage pipelines (61%), and a focus on augmentation (100%), image preprocessing (97%), data curation (79%), and post-processing (66%). The “typical” lead of a winning team is a computer scientist with a doctoral degree, five years of experience in biomedical image analysis, and four years of experience in deep learning. Two core general development strategies stood out for highly-ranked teams: the reflection of the metrics in the method design and the focus on analyzing and handling failure cases. According to the organizers, 43% of the winning algorithms exceeded the state of the art but only 11% completely solved the respective domain problem. The insights of our study could help researchers (1) improve algorithm development strategies when approaching new problems, and (2) focus on open research questions revealed by this work.

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Dismantling with the hydraulic force feedback telerobot maestro

Dismantling with the hydraulic force feedback telerobot maes...

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3rd Int. Joint Topical Meeting on Emergency Preparedness and Response and robotics and Remote Systems 2011, EPRRSD, 13th robotics and Remote Systems for Hazardous Environments and 11th Emergency Preparedness and Response

作者： Méasson, Y. David, O. Russotto, F.X. Idasiak, J.M. Facheris, L. Interactive Robotics Unit CEA-LIST Route du Panorama 92265 Cedex Fontenay aux Roses France CEA DEN SDTC 30207 Bagnols-sur-Cèze France Cybernétix 306 rue Albert Einstein 13387 Marseille France

ISBN: (纸本)9781618392008

The common characteristic of dismantling applications is that none of the nuclear plants are similar. Unpredictability of terrain and conditions prohibiting human access (heat, dust or radiological contamination) are demanding working conditions. Telerobots with a high payload and a low encumbrance are very good candidates to perform the type of work to be effectuated. In these complex environments and with a poor quality of indirect vision, force feedback is an indispensable complement for the operator to perform the tasks with a high productivity and reliability. The CEA, together with Cybernétix®, have met these exigent specifications to develop a system based on a powerful force reflecting hydraulic arm called MAESTRO. Initially developed for offshore applications, this system has been enhanced with tools, rad hardened embedded control unit, embedded power engine and peripherals, to reach the required technological readiness level to operate real dismantling. This paper introduces the MAESTRO system and the basic concepts of telerobotics and concludes with a review of the qualification trials performed for comparison with alternate control modes and an overview of the configurations of the first plant scheduled to be soon dismantled.

关键词： Hydraulic actuators

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A vision-based method for estimating vibrations of a flexible arm using on-line sinusoidal regression

A vision-based method for estimating vibrations of a flexibl...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Dubus, Gregory David, Olivier Measson, Yvan CEA LIST Interactive Robotics Unit Fontenay-aux-Roses F-92265 France

ISBN: (纸本)9781424450404

A vision-based vibration suppression scheme has previously been proposed to control the vibrational behaviour of long-reach arms operating in fusion reactors. In this paper we describe a new method to reconstruct the vibration using sinusoidal regression. This change makes the overall scheme more efficient since it enables the estimation of the tip oscillation whatever its origin may be. Both an exact solution and a simplified method are proposed to solve the regression problem. To limit the trade-off between good tracking capability and quality of the vibration reconstruction, these regression algorithms are performed over a variable-length sliding window. Consequently this paper also describes the change detection scheme used to automatically adjust the window length. Experimental results validate the proposed method.

关键词： Regression analysis

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Design of an anthropomorphic upper limb exoskeleton actuated by ball-screws and cables

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UPB Scientific Bulletin, Series D: Mechanical Engineering 2010年第2期72卷 23-34页

作者： Garrec, Philippe CEA-LIST Interactive Robotics Unit CEA Fontenay-aux-Roses France

This paper presents the design of ABLE, an anthropomorphic upper limb exoskeleton integrally actuated by highly reversible ball-screw and cable (SCS standing for Screw-and-Cable-System) allowing true joint torque control without force sensor. Their unique kinematics allows their integration in the structure thanks to dedicated mechanical innovations such as the shoulder articulation and the forearm-wrist. The result is an anthropomorphic, lightweight, open architecture which avoids imprisoning the human limb. Applicative projects are briefly presented in: medical rehabilitation, teleoperation and haptics (VR).

关键词： Exoskeleton (robotics)

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A vision-based method for estimating vibrations of a flexible arm using on-line sinusoidal regression

A vision-based method for estimating vibrations of a flexibl...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Gregory Dubus Olivier David Yvan Measson France LIST Interactive Robotics Unit CEA Fontenay-aux-Roses France

关键词： Vibration control Inductors Arm Change detection algorithms Neutrons Electromagnetic radiation Electromagnetic interference Cameras robotics and automation USA Councils

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Micro systems for the mechanical characterization of isolated biological cells: State-of-the-art

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作者： Desmaële, Denis Boukallel, Mehdi Régnier, Stéphane CEA LIST Interactive Robotics Unit 18 Route du Panorama 92265 Fontenay-aux-Roses France Institute of Intelligent System and Robotics University of Pierre and Marie Curie CNRS UMR 7222 4 Place Jussieu 75005 Paris France

ISBN: (纸本)9783642156861

Historically, biological cells tended to be considered as entities governed exclusively by biochemical reactions. Nonetheless, physical constraints are ubiquitous in the cell environment, and it is nowadays widely recognized that mechanical factors also play a vital role in the regulation of the cell state. Indeed, early studies conducted on muscular tissues already showed few decades ago that an applied mechanical stress was able to alter the structure and functions of cells. However, one criticism usually granted about such historical investigations was that the properties of a particular cell could not be easily decoupled from the properties of the entire population. Furthermore, by probing such multicellular organisms, the heterogeneity among cell properties was largely ignored, even though this cellular heterogeneity rapidly appeared crucial to thoroughly grasp various cellular mechanisms. Accordingly, the research community has mainly focused on the study of individual microbial cells in the course of the last years. In particular, the constant progress made in the manufacturing of sophisticated micro devices have spawn very promising methods for probing the mechanical properties of single cells. In this chapter, the authors review theMicro Electro Mechanical Systems (MEMS) that have been recently reported in literature for the mechanical testing of individual cells. © 2010 Springer-Verlag.

关键词： Cells

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Using multiple hypothesis in model-based tracking

Using multiple hypothesis in model-based tracking

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IEEE International Conference on robotics and Automation (ICRA)

作者： Céline Teulière Eric Marchand Laurent Eck CEA Interactive Robotics Unit Fontenay aux Roses France IRISA Université de Rennes 1 Rennes France

Classic registration methods for model-based tracking try to align the projected edges of a 3D model with the edges of the image. However, wrong matches at low level can make these methods fail. This paper presents a new approach allowing to retrieve multiple hypothesis on the camera pose from multiple low-level hypothesis. These hypothesis are integrated into a particle filtering framework to guide the particle set toward the peaks of the distribution. Experiments on simulated and real video sequences show the improvement in robustness of the resulting tracker.

关键词： Cameras Robustness Image edge detection Filtering Predictive models Particle tracking robotics and automation USA Councils Video sequences Robot vision systems

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3D model-based tracking for UAV position control

3D model-based tracking for UAV position control

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2010 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Céline Teulière Laurent Eck Eric Marchand Nicolas Guénard CEA LIST Interactive Robotics Unit Fontenay-aux-Roses France LIST Interactive Robotics Unit CEA Fontenay-aux-roses France IRISA Université de Rennes 1 Rennes France IRISA INRIA Lagadic Project Université de Rennes Rennes France

This paper presents a 3D model-based tracking suitable for indoor position control of an unmanned aerial vehicle (UAV). Given a 3D model of the edges of its environment, the UAV locates itself thanks to a robust multiple hypothesis tracker. The pose estimation is then fused to inertial data to provide the translational velocity required for the control. A hierarchical control is used to achieve positioning tasks. Experiments on a quad-rotor aerial vehicle validate the proposed approach.

关键词： Unmanned aerial vehicles Solid modeling Cameras Mathematical model Image edge detection Robustness

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