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2024 International Russian automation Conference, RusAutoCon 2024

作者： Yukhimets, D.A. Naidanova, I.E. Andrukhovsky, N.V. Institute of Automation and Control processes Robotic Lab. Vladivostok Russia Marine State University Vladivostok Russia Marine State University Named after Admiral G.I. Nevelskoy Uav and Marine Aviation Lab Vladivostok Russia Far East Federal University Department of automation and robotics Vladivostok Russia

The report presents a method for constructing a navigation system for a mobile robot in indoor environments based on a network of beacons using Bluetooth Low Energy (BLE) technology. To determine the position of the mobile robot inside the premises, a network of ESP32 microcontrollers, located at predefined points within the space and operating in BLE beacon mode, is utilized. The position of the robot is calculated based on the analysis of the signal strength from these beacons. This strength is determined by a controller installed on the robot through sequential polling of beacons within its visibility range. To enhance the accuracy of the proposed system, a model was developed using experimental data and constructed with a neural network to describe the dependence of the signal strength (RSSI - received signal strength indicator) on the robot's position relative to the beacon. The resulting model is then used in the Levenberg-Marquardt method for optimal estimation of the robot's position. The main advantages of the system include high accuracy, low energy consumption, affordability, and scalab.lity to environments of various configurations. © 2024 IEEE.

关键词： Mobile robots

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CoaxHaptics-3RRR: A Novel Mechanically Overdetermined Haptic Interaction Device Based on a Spherical Parallel Mechanism 1

CoaxHaptics-3RRR: A Novel Mechanically Overdetermined Haptic...

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1st IEEE Conference on Telepresence, Telepresence 2024

作者： Dinc, Huseyin Tugcan Hulin, Thomas Rothammer, Michael Seong, HyeonSeok Willberg, Bertram Pleintinger, Benedikt Ryu, Jee-Hwan Ott, Christian IRiS Lab. Daejeon34141 Korea Republic of Institute of Robotics and Mechatronics Wessling82234 Germany United States Hapticslabs GmbH Dresden01067 Germany Tu Wien Automation and Control Institute Vienna1040 Austria

ISBN: (纸本)9798331528249

This paper presents the CoaxHaptics-3RRR, a novel concept for haptic interaction devices that is based on a 3-RRR spherical parallel mechanism (SPM). The novelty lies in its mechanical overdetermination through a central hollow shaft, which brings two advantages. First, the device can be built with high rigidity with regard to translational degrees of freedom (DoF). Second, it enables a lighter design with less rotational inertia, as the moving links do not need to withstand translational or gravitational forces. In order to fully exploit these advantages, an optimization process has been conducted that simultaneously optimized for workspace, manipulab.lity, inertia, and structural stiffness. The resulting functional demonstrator provides an unlimited workspace around the shaft axis and +/- 55 degrees in the other two rotational DoF, thus covering a large portion of the human wrist's rotational range. Tests confirm the validity and superiority of the concept over existing devices, making it a promising solution for the category of mechanically overdetermined haptic devices. © 2024 IEEE.

关键词： Haptic interfaces

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An improved Pearson coefficient based literature recommendation system for small research teams 13

An improved Pearson coefficient based literature recommendat...

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13th International Conference on Intelligent Human-Machine Systems and Cybernetics, IHMSC 2021

作者： Cai, Hongxia Wang, Cheng Liu, Zhishu Shanghai University Shanghai Key Lab. of Intelligent Mfg. and Robotics School of Mechatronic Engineering and Automation Shanghai China

ISBN: (纸本)9781665428361

Recommendation technologies can help users to solve the problem of information overload. In the academic and educational fields, the application of intelligent recommendation technology has largely improved the effective use of academic resources, especially for researchers whose research tasks are constantly updated by research teams. In this paper, we propose a recommendation method that takes into account the changing stages of researchers' tasks and the needs of researchers' tasks. The recommendation model first considers user task and demand changes over time, introduces the forgetting function based on the Ebbinghaus forgetting curve into user features to create a dynamic user preference matrix, then uses the improved TF-IDF algorithm to extract article features to correlate user task demands with article features to avoid the problem of irrelevance of literature and user tasks, and finally by linear combination of Finally, the similarity between users and the similarity between users and documents is linked to generate a list of document recommendations. The experimental results show that the proposed method can better take into account the phase change of researchers' tasks and the correlation between research tasks and articles, and it is confirmed through experiments that the method has higher recommendation quality than the traditional collab.rative filtering method. © 2021 IEEE.

关键词： Recommender systems

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Intelligent recommendation system based on knowledge graph for scientific research teams 13

Intelligent recommendation system based on knowledge graph f...

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13th International Conference on Intelligent Human-Machine Systems and Cybernetics, IHMSC 2021

作者： Cai, Hongxia Liu, Zhishu Wang, Cheng Shanghai University Shanghai Key Lab. of Intelligent Mfg. and Robotics School of Mechatronic Engineering and Automation Shanghai China

ISBN: (纸本)9781665428361

With the continuous penetration of information technology into scientific research work, information resources with diverse structures have gathered into the scientific research team. Facing the needs of scientific research workers to manage and utilize scientific research resources, we provide a knowledge recommendation platform for university scientific research teams. In the face of multi-source heterogeneous resources in the scientific research field (such as literature data and work record data), we have established a resource knowledge base based on knowledge graph descriptions. In order to realize the effective recommendation of resources, we use the graph neural network model to design a personalized recommendation module while constantly updating our knowledge resources. After actual testing, our resource platform can better knowledge resources and push knowledge content. © 2021 IEEE.

关键词： Knowledge graph

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Local Navigation System for a Robot Based on a Network of BLE Beacons

Local Navigation System for a Robot Based on a Network of BL...

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International Russian automation Conference (RusAutoCon)

作者： D. A. Yukhimets I. E. Naidanova N. V. Andrukhovsky Robotic Lab. Institute of Automation and Control processes Vladivostok Russia Marine State University Vladivostok Russia UAV and Marine Aviation Lab Marine State University Named after Admiral G.I. Nevelskoy Vladivostok Russia Department of automation and robotics Far East Federal University Vladivostok Russia

ISBN: (数字)9798350349818

ISBN: (纸本)9798350349825

关键词： Accuracy Navigation Transmitters Microcontrollers Scalab.lity Neural networks Receivers Indoor environment Received signal strength indicator Mobile robots

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PolyRoom: Room-aware Transformer for Floorplan Reconstruction

arXiv

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arXiv 2024年

作者： Liu, Yuzhou Zhu, Lingjie Ma, Xiaodong Ye, Hanqiao Gao, Xiang Zheng, Xianwei Shen, Shuhan Institute of Automation Chinese Academy of Sciences China School of Artificial Intelligence University of Chinese Academy of Sciences China CASIA-SenseTime Research Group Cenozoic Robotics Singapore Ocean University of China China The State Key Lab. LIESMARS Wuhan University China

Reconstructing geometry and topology structures from raw unstructured data has always been an important research topic in indoor mapping research. In this paper, we aim to reconstruct the floorplan with a vectorized representation from point clouds. Despite significant advancements achieved in recent years, current methods still encounter several challenges, such as missing corners or edges, inaccuracies in corner positions or angles, self-intersecting or overlapping polygons, and potentially implausible topology. To tackle these challenges, we present PolyRoom, a room-aware Transformer that leverages uniform sampling representation, room-aware query initialization, and room-aware self-attention for floorplan reconstruction. Specifically, we adopt a uniform sampling floorplan representation to enable dense supervision during training and effective utilization of angle information. Additionally, we propose a room-aware query initialization scheme to prevent non-polygonal sequences and introduce room-aware self-attention to enhance memory efficiency and model performance. Experimental results on two widely used datasets demonstrate that PolyRoom surpasses current state-of-the-art methods both quantitatively and qualitatively. Our code is availab.e at: https://***/3dv-casia/PolyRoom/. Copyright © 2024, The Authors. All rights reserved.

关键词： Topology

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Learning Stable Robotic Skills on Riemannian Manifolds

arXiv

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arXiv 2022年

作者： Saveriano, Matteo Abu-Dakka, Fares J. Kyrki, Ville Automatic Control Lab. Department of Industrial Engineering University of Trento Trento Italy Intelligent Robotics Group Department of Electrical Engineering and Automation Aalto University Finland

In this paper, we propose an approach to learn stable dynamical systems evolving on Riemannian manifolds. The approach leverages a data-efficient procedure to learn a diffeomorphic transformation that maps simple stable dynamical systems onto complex robotic skills. By exploiting mathematical tools from differential geometry, the method ensures that the learned skills fulfill the geometric constraints imposed by the underlying manifolds, such as unit quaternion (UQ) for orientation and symmetric positive definite (SPD) matrices for impedance, while preserving the convergence to a given target. The proposed approach is firstly tested in simulation on a public benchmark, obtained by projecting Cartesian data into UQ and SPD manifolds, and compared with existing approaches. Apart from evaluating the approach on a public benchmark, several experiments were performed on a real robot performing bottle stacking in different conditions and a drilling task in cooperation with a human operator. The evaluation shows promising results in terms of learning accuracy and task adaptation capabilities. Copyright © 2022, The Authors. All rights reserved.

关键词： robotics

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CoaxHaptics-3RRR: A Novel Mechanically Overdetermined Haptic Interaction Device Based on a Spherical Parallel Mechanism

CoaxHaptics-3RRR: A Novel Mechanically Overdetermined Haptic...

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Telepresence, IEEE Conference on

作者： Huseyin Tugcan Dinc Thomas Hulin Michael Rothammer HyeonSeok Seong Bertram Willberg Benedikt Pleintinger Jee-Hwan Ryu Christian Ott IRiS Lab. Korea Advanced Institute of Science and Technology (KAIST) Daejeon South Korea Institute of Robotics and Mechatronics German Aerospace Center (DLR) Wessling Germany Centre for Tactile Internet with Human-in-the-Loop (CeTI) Hapticslabs GmbH Dresden Germany Automation and Control Institute TU Wien Vienna Austria

ISBN: (数字)9798331528249

ISBN: (纸本)9798331528256

This paper presents the CoaxHaptics-3RRR, a novel concept for haptic interaction devices that is based on a 3-RRR spherical parallel mechanism (SPM). The novelty lies in its mechanical overdetermination through a central hollow shaft, which brings two advantages. First, the device can be built with high rigidity with regard to translational degrees of freedom (DoF). Second, it enables a lighter design with less rotational inertia, as the moving links do not need to withstand translational or gravitational forces. In order to fully exploit these advantages, an optimization process has been conducted that simultaneously optimized for workspace, manipulab.lity, inertia, and structural stiffness. The resulting functional demonstrator provides an unlimited workspace around the shaft axis and +/− 55 degrees in the other two rotational DoF, thus covering a large portion of the human wrist’s rotational range. Tests confirm the validity and superiority of the concept over existing devices, making it a promising solution for the category of mechanically overdetermined haptic devices.

关键词： Shafts Telepresence Haptic interfaces Rigidity Optimization

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Dynamics Analysis of a Novel Underwater Vectored Thruster Based on 3-PPS Parallel Mechanism 3

Dynamics Analysis of a Novel Underwater Vectored Thruster Ba...

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3rd International Symposium on robotics and Intelligent Manufacturing Technology, ISRIMT 2021

作者： Jiang, Dexin Zheng, Tianjiang Tian, Yingzhong Li, Huamin Zhang, Chi Yang, Guilin Shanghai University School of Mechatronic Engineering and Automation Shanghai China Ningbo Institute of Materials Technology and Engineering Chinese Academy of Sciences Ningbo China Zhejiang Key Lab. of Robotics and Intelligent Manufacturing Equipment Technology and Engineering Ningbo China

ISBN: (纸本)9781665437189

Underwater vectored thrusters can effectively improve the maneuverability and agility of underwater vehicles, which have already become one of the preferences for underwater vehicles. This paper presents a novel underwater vectored thruster based on a 3-PPS parallel mechanism, taking advantage of low inertial, high stiffness, compact structure, and good dynamic performance. Focused on the design and analysis of the presented novel thruster, an inverse kinematics solution was studied, and a closed-form dynamics model including partial hydrodynamics elements utilizing D'Alembert's principle was also constructed. The dynamic model was verified by the method of simulation experiments. The dynamics results show that the maximum value of the driving force of each limb is less than 500N under a given test trajectory and a rated thrust, which helps for the system actuators' selection, optimization of mechanical structure, and design of a highly reliable control. © 2021 IEEE.

关键词： Maneuverability

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Autonomous Water Sampling System and Experiment Based on the Unmanned Surface Vehicle

Autonomous Water Sampling System and Experiment Based on the...

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2021 IEEE International Conference on Unmanned Systems, ICUS 2021

作者： Zhang, Mengwei Li, Decai He, Yuqing Xiong, Junfeng Li, Zhi Xiong, Chunhong Shenyang Institute of Automation Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China Guangzhou Institute of Industrial Intelligence Shenyang Institute of Automation Guangzhou Chinese Academy of Sciences Academicians Experts Workstation Guangzhou China Co. Ltd Natl. Eng. Lab. of Advanced Technology and Equipment for Water Environmental Pollution Monitoring Changsha China Co. Ltd Natl. Eng. Lab. of Advanced Technology and Equipment for Water Environmental Pollution Monitoring Changsha China

ISBN: (纸本)9780738146577

Water pollution is always the worldwide key problem. For the problem of complex, frequent and dangerous water sampling and monitoring missions in the various water areas, this paper designs an autonomous water sampling system based on the unmanned surface vehicle (USV), and it introduces the experimental application of the water sampling system. According to the water sampling missions, the ground station sets up the desired water sampling position, and then, the USV goes fleetly to the target position carrying the autonomous water sampling equipment to complete the mission by water sampling and control modules. This autonomous water sampling system based on the USV can long-periodic execute water sampling and monitoring missions precisely, safely and effectively. © 2021 IEEE.

关键词： Unmanned surface vehicles

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