This paper explores control aspects in a collab-orative robotic system designed to replicate human operators' drilling skills in deep- micro- hole tasks, focusing on the glass-container mould industry. To replicat...
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This work proposes the first derivation, implementation, and experimental validation of magnetic-based proprioceptive sensing method for soft robotic applications. In our proposed approach, the magnetic sensing system...
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ISBN:
(数字)9798331520205
ISBN:
(纸本)9798331520212
This work proposes the first derivation, implementation, and experimental validation of magnetic-based proprioceptive sensing method for soft robotic applications. In our proposed approach, the magnetic sensing system measures gradient tensor contractions that can be directly related to the shape of a deformable plastering tool. Custom-designed and 3D-printed plastering tool embeds two identical permanent magnets that generate a non-symmetric magnetic field tracked by the proposed sensor. Seamless real-time control is enabled with the sensor sampling rate of 1 kHz. Classical linear control is synthesized for the scraper bending angle and orientation control. The tool, sensor, and the proposed control system are validated on robotic plastering and painting tasks.
This paper presents a decentralized graph-based exploration and inspection framework for Multi-Robot systems, designed to address challenges in subterranean and largescale environments. Unlike prior works that focus s...
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ISBN:
(数字)9798331513283
ISBN:
(纸本)9798331513290
This paper presents a decentralized graph-based exploration and inspection framework for Multi-Robot systems, designed to address challenges in subterranean and largescale environments. Unlike prior works that focus solely on exploration or inspection, this framework integrates volumetric exploration, semantic inspection, and dynamic task allocation into a unified decentralized system. A key novelty of this work is the seamless integration of these modules in a multi-robot setting, allowing UAVs to autonomously coordinate their tasks without relying on centralized control. The framework employs a hierarchical graph structure, utilizing a dense local graph for immediate navigation and a sparse global graph for long-term planning and repositioning. Extensive simulations in large-scale complex-shaped environments demonstrate that the proposed approach improves the completeness of the generated maps, reduces inconsistencies in the constructed mesh, and accelerates the overall exploration-inspection process compared to existing decentralized strategies.
This paper explores control aspects in a collab-orative robotic system designed to replicate human operators' drilling skills in deep- micro- hole tasks, focusing on the glass-container mould industry. To replicat...
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ISBN:
(数字)9798350395440
ISBN:
(纸本)9798350395457
This paper explores control aspects in a collab-orative robotic system designed to replicate human operators' drilling skills in deep- micro- hole tasks, focusing on the glass-container mould industry. To replicate human performance, we develop a single-DOF Impedance-based drill controller for a standard industrial position-controlled robot, enhancing safe and smooth interactions between the drill bit and the mould. To address high feed rates observed in worker demonstrations and prevent bit breaks, we focus on minimizing non-axial motion during drilling on an off-the-shelf available industrial manipulator KUKA KR 10. This involves analyzing the impact of joint dynamics on drill motion and designing a control system for the robot's low-level control to achieve axial drill motion. We show that the proposed joint control system that takes into account relationship between joint and tool dynamics outperforms available robot low-level control in minimizing non-axial motion, leading to the robot being able to outperform the human in deep- micro- hole drilling.
Roads, bridges, tunnels, railways and canals are crucial for the transportation of goods and people in modern society. Modern infrastructure is subject to damage and requires therefore regular inspection and maintenan...
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ISBN:
(数字)9798350357882
ISBN:
(纸本)9798350357899
Roads, bridges, tunnels, railways and canals are crucial for the transportation of goods and people in modern society. Modern infrastructure is subject to damage and requires therefore regular inspection and maintenance to remain safe and functional. While this can be done manually, large parts of the mentioned infrastructure are hardly accessible, which is a main motivational factor for the use of multi-rotor aerial vehicles (MAV s) for inspection and maintenance tasks. MAV s, paired with novel deep learning computer vision techniques, such as instance segmentation, are emerging as an obvious choice for automating certain parts of structural health monitoring (SHM). In this manuscript, we provide an overview of available SHM datasets and how they can be utilized for the task of autonomous crack detection. We use available datasets to train and compare two neural network architectures for instance segmentation. The segmented crack instances are then localized in a global coordinate frame to perform autonomous mapping of the potentially dangerous infrastructure defects. Experimental studies demonstrate the effectiveness of the proposed SHM approach, which results in precisely localized infrastructure defects marked on the global map.
Programming by demonstration (PbD) is a simple and efficient way to program robots without explicit robot programming. PbD enables unskilled operators to easily demonstrate and guide different robots to execute task. ...
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Ultra-wideband（UWB） positioning technology has absolute advantages due to its centimeter-level accurate positioning ***,the positioning accuracy is greatly reduced because of the inability to completely solve the er...
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ISBN:
(数字)9789887581536
ISBN:
(纸本)9781665482561
Ultra-wideband（UWB） positioning technology has absolute advantages due to its centimeter-level accurate positioning ***,the positioning accuracy is greatly reduced because of the inability to completely solve the error caused by non-line-of-sight（NLOS） and multi-path *** present,the Chan-Taylor（C-T） combination algorithm proposed by scholars can achieve a good positioning effect in the line-of-sight（LOS） environment,but in the NLOS environment,positioning deviation of this algorithm is large .Aiming at the problem of low localization accuracy in NLOS environment,this paper presents a Chan-Taylor-Kalman（CTK） joint positioning algorithm based on UWB and adapted to NLOS *** basic idea of CTK joint positioning algorithm is to introduce weight coefficients on the basis of C-T combination algorithm to reduce the situation of non-convergence of positioning results;then combined with the improved Kalman filter to eliminate outliers and eliminate the influence of the non-line-of-sight *** show that under the same NLOS environment,the probability of the positioning error of the C-T combination positioning algorithm greater than 20 cm is about 60%,while the probability of the positioning error of the CTK joint positioning algorithm greater than 10 cm is only about 10%.
At present,rehabilitation robots usually work together with patients and train them to achieve therapeutic effects by assisting them to complete movement within a certain *** this paper,it analyzes the average length ...
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ISBN:
(数字)9789887581536
ISBN:
(纸本)9781665482561
At present,rehabilitation robots usually work together with patients and train them to achieve therapeutic effects by assisting them to complete movement within a certain *** this paper,it analyzes the average length and proportion of Chinese human lower limbs,as well as the range of extreme motion and comfortable motion of each joint of human lower *** on the error transfer matrix of rigid body connecting rod,the three-DOF lower limb rehabilitation robot human lower limb static pose error model and human/machine integration model are *** D-H method was used to solve the kinematic function between the angle of each joint and the position of the end of human lower *** analysis of the kinematics of human lower limbs is to calculate its inverse kinematics *** the motion control of rehabilitation robots,the inverse kinematics is more important than the forward kinematics,which is the basis for rehabilitation robot to realize trajectory planning under the training mode of passive trajectory traction,as well as the basis for compliant ***,a simulation model is established with Matlab software,and the simulation results show the feasibility and safety of the rehabilitation training process.
Drones are increasingly operating autonomously, and the need for extending drone power autonomy is rapidly increasing. One of the most promising solutions to extend drone power autonomy is the use of docking stations ...
Drones are increasingly operating autonomously, and the need for extending drone power autonomy is rapidly increasing. One of the most promising solutions to extend drone power autonomy is the use of docking stations to support both landing and recharging of the drone. To this end, we introduce a novel wireless drone docking station with three commercial wireless charging modules. We have developed two independent units, both in mechanical and electrical aspects: the energy transmitting unit and the energy receiving unit. We have also studied the efficiency of wireless power transfer and demonstrated the advantages of connecting three receiver modules connected in series and parallel. We have achieved maximum output power of 96.5 W with a power transfer efficiency of 56.6% for the series connection of coils. Finally, we implemented the system in practice on a drone and tested both energy transfer and landing.
This paper presents a serial chain hinge support, a rigid yet flexible structure that improves the mechanical performance and robustness of soft-fingered grippers. Gravity can reduce the integrity of soft fingers in h...
This paper presents a serial chain hinge support, a rigid yet flexible structure that improves the mechanical performance and robustness of soft-fingered grippers. Gravity can reduce the integrity of soft fingers in horizontal approach, resulting in lower maximum payload caused by a large deflection of fingers. To substantiate our claim we performed multiple experiments on the payload and deflection of the SofIA gripper under both horizontal and vertical approaches. In addition, we show that this reinforcement does not impede the original compliant behavior of the gripper, maintaining the original kinematic model functionality. Also, we showcase the proprioceptive and exteroceptive capabilities for two opposing manipulation problems: grasping small and large objects. Finally, we validated the improved SofIA gripper in agricultural and everyday activities.
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