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12th International Conference on Environmental Engineering, ICEE 2023

作者： Klemenčič, Mitja Španer, Marijan Lep, Marjan Moharić, Matej Department of Transportation Engineering Faculty of Civil Engineering Transportation Engineering and Architecture University of Maribor Smetanova 17 Maribor Slovenia Laboratory for Power Electronics Institute of Robotics Faculty of Electrical Engineering and Computer Science University of Maribor Koroška cesta 46 Maribor Slovenia

This paper presents a study of the energy consumption of a full electric bus charged at a fast-charging station with pantographs in the city of Maribor. The results of simulated and real tests on the PT line 6 are compared and analysed. The partly electrified PT line 6 provides insights on comparison between simulated energy consumption and re-al-life energy consumption, charging time and reliability of charging. The results reveal that the simulation considered several important factors like real life turnaround time, driving cycle, regenerative braking, charging time, peak hour charging time, heating/cooling systems, full passenger load as important and critical to identify the appropriate concept for charging. Technical and operational errors were identified in real world, due to connectivity failures or driver errors in positioning the vehicle, which were not considered in the simulation. The real-world data and procedure for selection of the most appropriate charging technology represent a good basis for full electrified Public Transport in Maribor. © 2023 The Author(s). Published by Vilnius Gediminas Technical University.

关键词： Electric buses

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GV-Bench: Benchmarking Local Feature Matching for Geometric Verification of Long-term Loop Closure Detection

GV-Bench: Benchmarking Local Feature Matching for Geometric ...

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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Jingwen Yu Hanjing Ye Jianhao Jiao Ping Tan Hong Zhang The Hong Kong University of Science and Technology Hong Kong SAR China Shenzhen Key Laboratory of Robotics and Computer Vision Southern University of Science and Technology Shenzhen China Department of Computer Science University College London London The United Kingdom

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

Visual loop closure detection is an important module in visual simultaneous localization and mapping (SLAM), which associates current camera observation with previously visited places. Loop closures correct drifts in trajectory estimation to build a globally consistent map. However, a false loop closure can be fatal, so verification is required as an additional step to ensure robustness by rejecting the false positive loops. Geometric verification has been a well-acknowledged solution that leverages spatial clues provided by local feature matching to find true positives. Existing feature matching methods focus on homography and pose estimation in long-term visual localization, lacking references for geometric verification. To fill the gap, this paper proposes a unified benchmark targeting geometric verification of loop closure detection under long-term conditional variations. Furthermore, we evaluate six representative local feature matching methods (handcrafted and learning-based) under the benchmark, with in-depth analysis for limitations and future directions.

关键词： Location awareness Visualization Simultaneous localization and mapping Pose estimation Benchmark testing Feature extraction Cameras Robustness Trajectory Intelligent robots

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Mixed Reality Based Teleoperation of Surgical robotics

Mixed Reality Based Teleoperation of Surgical Robotics

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International Symposium on Medical robotics (ISMR)

作者： An Chi Chen Muhammad Hadi Peter Kazanzides Ehsan Azimi Laboratory for Computational Sensing and Robotics Johns Hopkins University Baltimore MD USA Computer Science Department Laboratory for Computational Sensing and Robotics Johns Hopkins University Baltimore MD USA Computer Science Department Malone Center for Engineering in Healthcare Johns Hopkins University Baltimore MD USA

Many surgical robotic systems are controlled by mechanical based devices that require the operator to remain at a fixed location away from the robot. This restriction in mobility and physical barrier between the surgeon and the robot may reduce procedural efficiency. Thus, we propose an alternative teleoperation approach and mixed reality based system that uses the surgeon's tracked hand poses to control the robot through the use of an untethered head mounted display. We conducted a controlled user study to assess the efficacy of our system. Our experimental results indicate that, for the ring-wire task we tested, there is not a considerable difference in the performance of users compared to existing mechanical based teleoperation devices.

关键词： Performance evaluation Medical robotics Head Surgery Mixed reality Control systems Task analysis

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Design and Control of Modular Soft-Rigid Hybrid Manipulators with Self-Contact

arXiv

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arXiv 2024年

作者： Patterson, Zach J. Sologuren, Emily Della Santina, Cosimo Rus, Daniela Computer Science and Artificial Intelligence Laboratory MIT CambridgeMA United States Department of Cognitive Robotics Delft University of Technology Delft Netherlands Wessling Germany

Soft robotics focuses on designing robots with highly deformable materials, allowing them to adapt and operate safely and reliably in unstructured and variable environments. While soft robots offer increased compliance over rigid body robots, their payloads are limited, and they consume significant energy when operating against gravity in terrestrial environments. To address the carrying capacity limitation, we introduce a novel class of soft-rigid hybrid robot manipulators (SRH) that incorporates both soft continuum modules and rigid joints in a serial configuration. The SRH manipulators can seamlessly transition between being compliant and delicate to rigid and strong, achieving this through dynamic shape modulation and employing self-contact among rigid components to effectively form solid structures. We discuss the design and fabrication of SRH robots, and present a class of novel control algorithms for SRH systems. We propose a configuration space PD+ shape controller and a Cartesian impedance controller, both of which are provably stable, endowing the soft robot with the necessary low-level capabilities. We validate the controllers on SRH hardware and demonstrate the robot performing several tasks. Our results highlight the potential for the soft-rigid hybrid paradigm to produce robots that are both physically safe and effective at task performance. © 2024, CC BY.

关键词： Machine design

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GV-Bench: Benchmarking Local Feature Matching for Geometric Verification of Long-term Loop Closure Detection

arXiv

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arXiv 2024年

作者： Yu, Jingwen Ye, Hanjing Jiao, Jianhao Tan, Ping Zhang, Hong The Hong Kong University of Science and Technology Hong Kong Hong Kong Shenzhen Key Laboratory of Robotics and Computer Vision Southern University of Science and Technology Shenzhen China Department of Computer Science University College London London United Kingdom

关键词： Geometry

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Modeling and Control of Intrinsically Elasticity Coupled Soft-Rigid Robots

arXiv

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arXiv 2023年

作者： Patterson, Zach J. Della Santina, Cosimo Rus, Daniela Computer Science and Artificial Intelligence Laboratory MIT United States Department of Cognitive Robotics Delft University of Technology Netherlands Germany

While much work has been done recently in the realm of model-based control of soft robots and soft-rigid hybrids, most works examine robots that have an inherently serial structure. While these systems have been prevalent in the literature, there is an increasing trend toward designing soft-rigid hybrids with intrinsically coupled elasticity between various degrees of freedom. In this work, we seek to address the issues of modeling and controlling such structures, particularly when underactuated. We introduce several simple models for elastic coupling, typical of those seen in these systems. We then propose a controller that compensates for the elasticity, and we prove its stability with Lyapunov methods without relying on the elastic dominance assumption. This controller is applicable to the general class of underactuated soft robots. After evaluating the controller in simulated cases, we then develop a simple hardware platform to evaluate both the models and the controller. Finally, using the hardware, we demonstrate a novel use case for underactuated, elastically coupled systems in "sensorless" force control. Copyright © 2023, The Authors. All rights reserved.

关键词： Controllers

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Deep Learning-Based Prediction of Subsurface Oil Reservoir Pressure Using Spatio-Temporal Data 49

Deep Learning-Based Prediction of Subsurface Oil Reservoir P...

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49th Annual Conference of the IEEE Industrial Electronics Society, IECON 2023

作者： Cheng, Haibo He, Yunpeng Zeng, Peng Li, Shichao Vyatkin, Valeriy Shenyang Institute of Automation Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang China Chinese Academy of Sciences Key Laboratory of Networked Control Systems Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China University of Chinese Academy of Sciences Beijing China Luleå University of Technology Department of Computer Science Electrical and Space Engineering Luleå Sweden Aalto University Department of Electrical Engineering and Automation Helsinki Finland

ISBN: (纸本)9798350331820

Prediction of subsurface oil reservoir pressure are critical to hydrocarbon production. However, the accurate pressure estimation faces great challenges due to the complexity and uncertainty of reservoir. The underground seepage flow and petrophysical parameters (permeability and porosity) are important but difficult to measure in oilfield. Deep learning methods have been successfully used in reservoir engineering and oil & gas production process. In this study, the effective but inaccessible subsurface seepage fields are not used, only the spatial coordinates and temporal information are selected as model input to predict reservoir pressure. A stacked GRU-based deep learning model is proposed to map the relationship between spatio-temporal data and reservoir pressure. The proposed deep learning method is verified by using a three-dimensional reservoir model, and compared with commonly-used methods. The results show that the stacked GRU model has a better performance and higher accuracy than other deep learning or machine learning methods in pressure prediction. © 2023 IEEE.

关键词： Forecasting

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Cooperative vs. Teleoperation Control of the Steady Hand Eye Robot with Adaptive Sclera Force Control: A Comparative Study

Cooperative vs. Teleoperation Control of the Steady Hand Eye...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Mojtaba Esfandiari Ji Woong Kim Botao Zhao Golchehr Amirkhani Muhammad Hadi Peter Gehlbach Russell H. Taylor Iulian Iordachita Department of Mechanical Engineering Laboratory for Computational Sensing and Robotics Johns Hopkins University Baltimore MD USA Johns Hopkins Hospital Wilmer Eye Institute Baltimore MD USA Department of Computer Science Laboratory for Computational Sensing and Robotics Johns Hopkins University Baltimore MD USA

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

A surgeon’s physiological hand tremor can significantly impact the outcome of delicate and precise retinal surgery, such as retinal vein cannulation (RVC) and epiretinal membrane peeling. Robot-assisted eye surgery technology provides ophthalmologists with advanced capabilities such as hand tremor cancellation, hand motion scaling, and safety constraints that enable them to perform these otherwise challenging and high-risk surgeries with high precision and safety. Steady-Hand Eye Robot (SHER) with cooperative control mode can filter out surgeon’s hand tremor, yet another important safety feature, that is, minimizing the contact force between the surgical instrument and sclera surface for avoiding tissue damage cannot be met in this control mode. Also, other capabilities, such as hand motion scaling and haptic feedback, require a teleoperation control framework. In this work, for the first time, we implemented a teleoperation control mode incorporated with an adaptive sclera force control algorithm using a PHANTOM Omni haptic device and a force-sensing surgical instrument equipped with Fiber Bragg Grating (FBG) sensors attached to the SHER 2.1 end-effector. This adaptive sclera force control algorithm allows the robot to dynamically minimize the toolsclera contact force. Moreover, for the first time, we compared the performance of the proposed adaptive teleoperation mode with the cooperative mode by conducting a vessel-following experiment inside an eye phantom under a microscope.

关键词： Tissue damage Heuristic algorithms Veins Force Surgery Phantoms Retina

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Embodied-AI Wheelchair Framework with Hands-free Interface and Manipulation

Embodied-AI Wheelchair Framework with Hands-free Interface a...

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2022 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2022

作者： Leaman, Jesse F. Yang, Zongming Elglaly, Yasmine N. La, Hung Li, Bing Automotive Engineering Department GreenvilleSC United States Gryphon Foundation for People with Disadvantages Western Washington University Computer Science Department United States University of Nevada Advanced Robotics and Automation Laboratory Reno United States

ISBN: (数字)9781665452588

ISBN: (纸本)9781665452588

Assistive robots can be found in hospitals and rehabilitation clinics, where they help patients maintain a positive disposition. Our proposed robotic mobility solution combines state of the art hardware and software to provide a safer, more independent, and more productive lifestyle for people with some of the most severe disabilities. New hardware includes, a retractable roof, manipulator arm, a hard backpack, a number of sensors that collect environmental data and processors that generate 3D maps for a hands-free human-machine *** proposed new system receives input from the user via head tracking or voice command, and displays information through augmented reality into the user's field of view. The software algorithm will use a novel cycle of self-learning artificial intelligence that achieves autonomous navigation while avoiding collisions with stationary and dynamic objects. The prototype will be assembled and tested over the next three years and a publicly available version could be ready two years thereafter. © 2022 IEEE.

关键词： Wheelchairs

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Dynamic Subgoal Based Path Formation and Task Allocation: A NeuroFleets Approach to Scalable Swarm robotics

Dynamic Subgoal Based Path Formation and Task Allocation: A ...

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IEEE International Conference on Systems, Man and Cybernetics

作者： Robinroy Peter Lavanya Ratnabala Eugene Yugarajah Andrew Charles Dzmitry Tsetserukou NeuroFleets (PVT) LTD Jaffna Sri Lanka Intelligent Space Robotics Laboratory Skolkovo Institute of Science and Technology Moscow Russia Department of Computer Science University of Jaffna Jaffna Sri Lanka

ISBN: (数字)9781665410205

ISBN: (纸本)9781665410212

This paper addresses the challenges of exploration and navigation in unknown environments from the perspective of evolutionary swarm robotics. A key focus is on path formation, which is essential for enabling cooperative swarm robots to navigate effectively. We designed the task allocation and path formation process based on a finite state machine, ensuring systematic decision-making and efficient state transitions. The approach is decentralized, allowing each robot to make decisions independently based on local information, which enhances scalability and robustness. We present a novel subgoal-based path formation method that establishes paths between locations by leveraging visually connected subgoals. Simulation experiments conducted in the Argos simulator show that this method successfully forms paths in the majority of trials. However, inter-collision (traffic) among numerous robots during path formation can negatively impact performance. To address this issue, we propose a task allocation strategy that uses local communication protocols and light signal-based communication to manage robot deployment. This strategy assesses the distance between points and determines the optimal number of robots needed for the path formation task, thereby reducing unnecessary exploration and traffic congestion. The performance of both the subgoal-based path formation method and the task allocation strategy is evaluated by comparing the path length, time, and resource usage against the A * algorithm. Simulation results demonstrate the effectiveness of our approach, highlighting its scalability, robustness, and fault tolerance.

关键词： Systematics Protocols Navigation Scalability Simulation Heuristic algorithms Swarm robotics Robustness Resource management Traffic congestion

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