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SENSORS AND INTERFACING IN robotics AND MANUFACTURING

robotics AND COMPUTER-INTEGRATED MANUFACTURING 1990年第3-4期7卷 243-253页

作者： JAMSHIDI, M CAD Laboratory for Systems/Robotics Department of Electrical and Computer Engineering University of New Mexico Albuquerque NM 87131 U.S.A.

Sensing is one of the most essential aspects of any robotic application, be it manufacturing or any automated process. Robotic sensors can be divided into two classes of " internal " and " external ". Examples of the first group are position or velocity, while the second group includes proximity, touch, or vision to name a few. The other important problem in manufacturing is interfacing with the environment within a cell. The object of this tutorial paper is to survey the two issues of "sensing" and "interfacing" in robotics and manufacturing.

关键词： Robots, Industrial

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ON ROBUST DECENTRALIZED CONTROL OF A 5-AXIS ROBOT

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robotics AND COMPUTER-INTEGRATED MANUFACTURING 1989年第4期6卷 309-316页

作者： JAMSHIDI, M TSENG, CS CAD Laboratory for Systems/Robotics Department of Electrical and Computer Engineering The University of New Mexico Albuquerque NM 87131 U.S.A.

In this paper, a dynamic model of a robot manipulator is first derived based on the Euler-Lagrange equation and a state-space representation is derived for it. A number of non-adaptive robot control schemes are then reviewed. A robust decentralized control is then proposed for a 5-axis robot manipulator. Numerical simulation results are presented to verify the theory.

关键词： Robots, Industrial

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Accelerating Visual Reinforcement Learning with Separate Primitive Policy for Peg-in-Hole Tasks

arXiv

引用

arXiv 2025年

作者： Xu, Zichun Wang, Zhaomin Li, Yuntao Zhuang, Lei Zhao, Zhiyuan Yang, Guocai Zhao, Jingdong State Key Laboratory of Robotics and Systems Harbin Institute of Technology Heilongjiang Province Harbin150001 China School of Mechanical Engineering Shandong University Jinan250061 China

For peg-in-hole tasks, humans rely on binocular visual perception to locate the peg above the hole surface and then proceed with insertion. This paper draws insights from this behavior to enable agents to learn efficient assembly strategies through visual reinforcement learning. Hence, we propose a Separate Primitive Policy (S2P) to simultaneously learn how to derive location and insertion actions. S2P is compatible with model-free reinforcement learning algorithms. Ten insertion tasks featuring different polygons are developed as benchmarks for evaluations. Simulation experiments show that S2P can boost the sample efficiency and success rate even with force constraints. Real-world experiments are also performed to verify the feasibility of S2P. Ablations are finally given to discuss the generalizability of S2P and some factors that affect its performance. Copyright © 2025, The Authors. All rights reserved.

关键词： Reinforcement learning

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Temporal-spatial cross-correlation analysis of non-stationary near-surface wind speed time series

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Journal of Central South University 2017年第3期24卷 692-698页

作者： ZENG Ming LI Jing-hai MENG Qing-hao ZHANG Xiao-nei Institute of Robotics and Autonomous Systems Tianjin Key Laboratory of Process Measurement and Control （School of Electrical Automation and Information Engineering Tianjin University） Tianjin 300072 China

Temporal-spatial cross-correlation analysis of non-stationary wind speed time series plays a crucial role in wind field reconstruction as well as in wind pattern ***,the near-surface wind speed time series recorded at different locations are studied using the detrended fluctuation analysis(DFA),and the corresponding scaling exponents are larger than *** indicates that all these wind speed time series have non-stationary ***,concerning this special feature( i.e.,non-stationarity)of wind signals,a cross-correlation analysis method,namely detrended cross-correlation analysis(DCCA) coefficient,is employed to evaluate the temporal-spatial cross-correlations between non-stationary time series of different anemometer ***,experiments on ten wind speed data synchronously collected by the ten anemometers with equidistant arrangement illustrate that the method of DCCA cross-correlation coefficient can accurately analyze full-scale temporal-spatial cross-correlation between non-stationary time series and also can easily identify the seasonal component,while three traditional cross-correlation techniques(i.e.,Pearson coefficient,cross-correlation function,and DCCA method) cannot give us these information directly.

关键词： temporal-spatial cross-correlation near-surface wind speed time series detrended cross-correlation analysis （DCCA） cross-correlation coefficient Pearson coefficient cross-correlation function

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Noise-Optimized Signal Processing for TENG-Based Touch Sensing Using I2C Integrated Circuits

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IEEE Sensors Journal 2025年

作者： Moger, Gourav Kakim, Alibek Mubarak, Assem Bushanov, Yersaiyn Kalimuldina, Gulnur Yeshmukhametov, Azamat Nazarbayev University Department of Robotics Engineering Astana Kazakhstan Nazarbayev University School of Engineering and Digital Sciences Department of Mechanical and Aerospace Engineering Astana Kazakhstan LLP MiraiTech Astana Kazakhstan Nazarbayev University Institute of Smart Systems and Artificial Intelligence Advanced Robotics and Mechatronics System laboratory Astana Kazakhstan

Triboelectric nanogenerator (TENG) sensors efficiently convert mechanical stimuli into electrical signals, making them well-suited for touch sensing due to their high sensitivity, durability, and self-powered operation. However, conventional signal acquisition methods introduce noise, affecting measurement accuracy. This paper presents a compact, Inter-Integrated Circuit (I2C)-based signal processing circuit designed to enhance signal fidelity while minimizing noise interference. The system’s performance was evaluated by analyzing sensor response across varying contact areas (50 mm² to 576 mm²) and drop heights, demonstrating a consistently high signal-to-noise ratio (SNR) across impact conditions. A high-frequency impact experiment further confirmed the PCB’s ability to distinguish sensor output from noise. Comparison with direct analog acquisition showed a significant enhancement in SNR, validating the PCB’s effectiveness in noise reduction. The system exhibited a rise time of 3.27 milliseconds, ensuring rapid detection of mechanical stimuli. Additionally, the measured latency of 88.9 ms between impact and signal detection falls within acceptable limits for realtime applications. These results establish the proposed PCB-based signal processing method as a practical solution for improving TENG sensor performance in touch-sensing applications requiring high accuracy and noise resilience. The compact, low-power design further enhances its suitability for integration into wearable electronics, interactive surfaces, and space-constrained systems where conventional bulky processing units are impractical. © 2001-2012 IEEE.

关键词： Network coding

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Calibrating a multi-manipulator robotic system (vol 4, pg 20, 1997)

引用

IEEE robotics & AUTOMATION MAGAZINE 1997年第2期4卷 44-44页

作者： Bonitz, RG Hsia, TC Jet Propulation Laboratory Pasadena CA USA Systems.Control and Robotics Laboratory Department of Electrical and Computer Engineering University of California Davis CA USA

A simple, but effective, method of calibrating a multimanipulator robotic system is introduced. The algorithm uses precisely machined calibration plates which are inexpensive to manufacture and require no measuring instrumentation. The method is tested on a dual-arm system which resulted in an order of magnitude reduction in the pose error. Coordinated dual-arm manipulation experiments are conducted using the calibrated kinematic model to validate the usefulness of the calibration process

关键词： Calibration Robot kinematics Manipulators robotics and automation Force control End effectors Acoustic measurements Testing Coordinate measuring machines Position measurement

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DDCM: Cracking Anonymized Facial Images Using Denoising Diffusion Cryptanalytic Model

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IEEE Transactions on Consumer Electronics 2025年

作者： Jiang, Donghua Ni, Jiangqun Alasbali, Nada Nafea, Ibtehal Liu, Qingliang Ahmad, Jawad Boulila, Wadii Sun Yat-sen University School of Computer Science and Engineering Guangzhou510006 China Sun Yat-sen University School of Cyber Science and Technology Shenzhen518107 China Peng Cheng Laboratory Department of New Networks Shenzhen518052 China King Khalid University College of Computer Science Department of Informatics and Computing Systems Abha61421 Saudi Arabia Taibah University College of Computer Science and Engineering Medina41477 Saudi Arabia Qingdao University of Science and Technology School of Mathematics and Physics Qingdao266061 China Prince Mohammad Bin Fahd University Cybersecurity Center Alkhobar Saudi Arabia Prince Sultan University Robotics and Internet-of-Things Laboratory Riyadh12435 Saudi Arabia

Currently, in consumer electronics industry, quite a number of E-healthcare products highly depend on consumers' facial biometrics for both disease diagnosis and identity authen-tication. In light of this, various facial privacy-preserving approa-ches oriented towards the internet of medical things have been proposed, including visual cryptography and desensitization tech-nique. Nevertheless, few attentions have been paid to investigating their countermeasure, i.e., facial privacy analysis, owning to significant distribution discrepancy between the original and anony-mized facial images. To this end, a general Denoising Diffusion Cryptanalytic Model (DDCM) is proposed in this paper to recon-struct the original facial images in a coarse-to-fine manner from their encrypted ones with diverse anonymous approaches. Spec-ifically, to accurately reconstruct the original facial image without any prior knowledge, a customized initial prediction module with an encoder-decoder structure is introduced by taking advantage of its leaked visual cues to generate the coarse face. Furthermore, the residual map between the original and coarse facial images is explicitly modeled with the output of the customized prediction module as a conditional prior, thereby obtaining a refined facial image. Finally, extensive experiments demonstrate that the propo-sed DDCM could not only effectively crack multiple handcrafted facial anonymization approaches, such as blurring, pixelation and thumbnail-preserving encryption, but also outperform the prev-ious works (e.g., Pix2Pix) in terms of image fidelity and attack success rate. © 1975-2011 IEEE.

关键词： Anonymity

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EndoMamba: An Efficient Foundation Model for Endoscopic Videos via Hierarchical Pre-training

arXiv

引用

arXiv 2025年

作者： Tian, Qingyao Liao, Huai Huang, Xinyan Yang, Bingyu Lei, Dongdong Ourselin, Sebastien Liu, Hongbin State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences Beijing China School of Artificial Intelligence University of Chinese Academy of Sciences Beijing China Dept. of Radiology The First Affiliated Hospital Sun Yat-sen University Guangzhou China Centre for Artificial Intelligence and Robotics Chinese Academy of Sciences Hong Kong School of Engineering and Imaging Sciences King’s College London United Kingdom

Endoscopic video-based tasks, such as visual navigation and surgical phase recognition, play a crucial role in minimally invasive surgeries by providing real-time assistance. While recent video foundation models have shown promise, their applications are hindered by (1) computational inefficiencies and (2) suboptimal performance caused by limited data for pre-training in endoscopy. To address these issues, we present EndoMamba, a foundation model designed for real-time inference while learning generalized spatiotemporal representations. First, to mitigate computational inefficiencies, we propose the EndoMamba backbone, optimized for real-time inference. Inspired by recent advancements in state space models, EndoMamba integrates Bidirectional Mamba blocks for spatial modeling within individual frames and vanilla Mamba blocks for past-to-present reasoning across the temporal domain. This design enables both strong spatiotemporal modeling and efficient inference in online video streams. Second, we propose a self-supervised hierarchical pre-training diagram to enhance EndoMamba’s representation learning using endoscopic videos and incorporating general video domain knowledge. Specifically, our approach combines masked reconstruction with auxiliary supervision, leveraging low-level reconstruction to capture spatial-temporal structures and high-level alignment to transfer broader knowledge from a pretrained general-video domain foundation model. Extensive experiments on four downstream tasks—classification, segmentation, surgical phase recognition, and localization—demonstrate that EndoMamba outperforms existing foundation models and task-specific methods while maintaining real-time inference speed. The source code will be released upon acceptance. Copyright © 2025, The Authors. All rights reserved.

关键词： Endoscopy

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Design of an autonomous amphibious robot for surf zone operation: Part I mechanical design for multi-mode mobility

Design of an autonomous amphibious robot for surf zone opera...

引用

Proceedings of the 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2005

作者： Boxerbaum, Alexander S. Werk, Philip Quinn, Roger D. Vaidyanathan, Ravi Biologically Inspired Robotics Laboratory Department of Mechanical and Acrospace Engineering Case Western Reserve University Autonomous Robotics and Systems Laboratory Department of Systems Engineering Naval Postgraduate School

The capability of autonomous and semiautonomous platforms to fraction in the shallow water surf zone is critical for a wide range of military and civilian operations. Of particular importance is die ability to transition between locomotion modes in aquatic and terrestrial settings. The study of animal locomotion mechanisms can provide specific inspiration to address these demands. In this work, we summarize on-going efferts to create an autonomous, highly mobile amphibious robot A water-resistant amphibious prototype design, based on the biologically-inspired Whegs™ platform, has been completed. Through, extensive field-testing, mechanisms have been Isolated to improve the implementation of die Whegs™ concept and make it more suited for amphibious operation. Specific design improvements include wheel-leg propellers enabling swimming locomotion, an active, compliant, water resistant, non-backdrtvable body joint, and improved feet for advanced mobility. These design innovations will allow Whegs™ IV to navigate on rough terrain and underwater, and accomplish tasks with little or no low-level control, thus greatly simplifying autonomous control system implementation. Complementary work is presently underway for autonomous control. We believe these results will lay the foundation for the development of a generation of amphibious robots with an unprecedented versatility and mobility. © 2005 IEEE.

关键词： Mobile robots

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Sonification of Sleep EEG 2017

Sonification of Sleep EEG

引用

8th International Conference on Digital Arts, ARTECH 2017

作者： Fernandes, Carlos M. Migotina, Daria Rosa, Agostinho C. LARSyS: Laboratory for Robotics and Systems in Engineering and Science University of Lisbon Portugal

ISBN: (纸本)9781450352734

This paper introduces a new methodology for converting sleep Electroencephalogram (EEG) signals into sound. The main goal is to investigate the possibility of encoding sleep events into sequences of notes and breaks, generating musical sound that is consistent and audible, while allowing a global appraisal of sleep dynamics. © 2017 Copyright is held by the owner/author(s).

关键词： Electroencephalography

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