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IEEE/ASME (AIM) International Conference on Advanced intelligent Mechatronics

作者： Dario Stuhne Jelena Vuletić Marsela Car Matko Orsag LARICS Laboratory for Robotics and Intelligent Control Systems Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia

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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AI-Enhanced Structural Health Monitoring with a Multi-Rotor Aerial Vehicle

AI-Enhanced Structural Health Monitoring with a Multi-Rotor ...

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International Conference on Unmanned Aircraft systems (ICUAS)

作者： Filip Zorić Ana Milas Tamara Petrović Zdenko Kovačić Matko Orsag Faculty of Electrical Engineering and Computing LARICS Laboratory for Robotics and Intelligent Control Systems University of Zagreb Zagreb Croatia

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.

关键词： Instance segmentation Irrigation Structural panels Neural networks Transportation Inspection Rail transportation

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Fuzzy logic navigation in multi agent systems

Fuzzy logic navigation in multi agent systems

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IEEE International Symposium on intelligent control (ISIC)

作者： S. Bogdan I. Rigo D. Miklic LARICS-Laboratory for Advanced Robotics and Intelligent Control Systems Faculty of EE&C University of Zagreb Croatia

ISBN: (纸本)9781424422241

In this paper we present a methodology for decision making in multi agent system comprised of agents driven by repulsive force and attracting force. Navigation functions are expressed as a set of fuzzy rules obtained by fuzzy Lyapunov stability criteria, thus ensuring stability of the overall system. The goal of the proposed methodology is to create desired formations by moving agents from their initial positions to formation targets, while in the same time avoiding collisions. The destination targets are dynamically permutated as long as the required formation is achieved.

关键词： intelligent control control systems USA Councils

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A practical PID variable stiffness control and its enhancement for compliant force-tracking interactions with unknown environments

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Science China(Technological Sciences) 2023年第10期66卷 2882-2896页

作者： ZHANG Xin ZHOU Hao LIU JinGuo JU ZhaoJie LENG YuQuan YANG ChenGuang State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China University of Chinese Academy of Sciences Beijing 100049China School of Computing University of PortsmouthPortsmouth PO13HEUK Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy EngineeringSouthern University of Science and TechnologyShenzhen 518055China Key Laboratory of Autonomous Systems and Networked Control College of Automation Science and EngineeringSouth China University of TechnologyGuangzhou 510640China

Compliant interaction control is a key technology for robots performing contact-rich manipulation *** design of the compliant controller needs to consider the robot hardware because complex control algorithms may not be compatible with the hardware performance,especially for some industrial robots with low bandwidth *** paper focuses on effective and easy-to-use compliant control algorithms for position/velocity-controlled *** by human arm stiffness adaptation behavior,a novel variable target stiffness(NVTS)admittance control strategy is proposed for adaptive force tracking,in which a proportional integral derivative(PID)variable stiffness law is designed to update the stiffness coefficient of the admittance function by the force and position ***,its stability and force-tracking capability are theoretically *** addition,an impact compensator(Impc)is integrated into the NVTS controller to enhance its disturbance-suppression capability when the robot is subjected to strong vibration disturbances in complicated surface polishing *** proposed controllers are validated through four groups of experimental tests using different robots and the corresponding results demonstrate that they have high-accuracy tracking capability and strong adaptability in unknown environments.

关键词： compliant interaction control force tracking PID variable stiffness impact compensator unknown environments

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Towards Autonomous Navigation of a Mobile Robot in a Steep Slope Vineyard

Towards Autonomous Navigation of a Mobile Robot in a Steep S...

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Proceedings of the International Convention MIPRO

作者： I. Hrabar J. Goričanec Z. Kovačić University of Zagreb Faculty of Electrical Engineering and Computing Laboratory for Robotics and Intelligent Control Systems (LARICS) Zagreb Croatia

This paper explores potential applications of an autonomous all-terrain mobile manipulator (AMM) in the agricultural vineyard environment. A robotic arm mounted on a mobile base performs a spraying task while moving past vines and a bud rubbing task while stopping next to vines. We discuss the challenges of AMM navigation when performing tasks in steep vineyard terrain. The presented navigation approach is based on the use of a heterogeneous robotic system consisting of an unmanned aerial vehicle (UAV) and AMM. The navigation information provided by the UAV gives the waypoints for the AMM. We also present preliminary results from navigation simulation, based on digital elevation model (DEM). The model uses real-world data, acquired by UAV photogrammetric measurement campaign. We conclude by highlighting some open problems and related future research directions.

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A Largely Model Independent Solution for the Position control of a Typical Inverted Pendulum System 33

A Largely Model Independent Solution for the Position Contro...

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第三十三届中国控制会议

作者： GAO Qiang CHEN Shasha LI Yi LI Junfang Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems School of Electrical EngineeringTianjin University of Technology Tianjin Key Laboratory of Intelligent Robotics Nankai University

ISBN: (纸本)9781479947249

An Active Disturbance Rejection based solution is proposed for the position control of a standard inverted pendulum system, demonstrating a largely model independent design that is distinctly different from existing model-based designs from classical as well as modern control theory. The quality of the control loop is further improved with a unique double disturbance observer design, which rejects independently the disturbance and uncertainty in both the pendulum itself and the cart that carries it. This proposed approach offers a promising and practical solution because it's intuitive to understand and easy to tune, in addition to its strong performance and effectiveness shown in both simulation study and real time experimentation.

关键词： ADRC LESO Inverted pendulum Real-time control

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Experimental Research on the Ultrasound-guided Positioning System of Microwave Ablation Surgical Robot

Experimental Research on the Ultrasound-guided Positioning S...

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IEEE International Conference on Automation and Logistics (ICAL)

作者： Duan, Xing-guang Guo, Qing-bo Liu, Tian-bo Zhu, Xiang-yu Chen, Chao Yang, Yang Intelligent Robotics Institute State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Mechatronical Engineering Beijing Institute of Technology 5 Nandajie Zhongguancun Haidian 100081 China

ISBN: (纸本)9781467303644

Combined with modern imaging techniques and minimally invasive treatment techniques, microwave ablation surgeries have become one of the most effective methods in the modern comprehensive treatment of cancer. To solve the problems exist in traditional surgeries, microwave ablation surgical robot has been successfully developed. At first, this paper briefly introduces the robot auxiliary treatment process. Then analyzes the ultrasound-guided positioning system in detail. At last, the paper focuses on experimental research process such as robot localization experiment and precision experiment. The experimental results will verify the effectiveness of the robot system and the accuracy of the treatment. Meanwhile, the problems exist in the system are discussed and he future research direction is demonstrated.

关键词： Surgical Robot Ultrasound-guided localization system Microwave Ablation

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A Model of Collision-Detection for Maxillofacial Multi-arm Surgery Robot

A Model of Collision-Detection for Maxillofacial Multi-arm S...

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IEEE International Conference on Automation and Logistics (ICAL)

作者： Zhu, Xiang-yu Duan, Xing-guang Chen, Chao Liu, Tian-bo Guo, Qing-bo Intelligent Robotics Institute State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Mechatronical Engineering Beijing Institute of Technology 5 Nandajie Zhongguancun Haidian 100081 China

ISBN: (纸本)9781467303644

A maxillofacial Multi-arm surgery robot is employed to assisting maxillofacial surgery, which can improve surgical precision and reduce surgeons' strain. Thus, the safety during the processing of the surgery is necessary for protecting the patient and preventing the quality of the surgery. This paper presents the development of a collision and self-collision-detection scheme, for Maxillofacial Multi-arm Surgery Robot. The method is based on modeling the arm of Multi-arm robot and the obstacle in surgery environment by simple geometric primitives (cylinders and spheres). Methods of detecting collision about the cylinders and the spheres are introduced. By resorting to the pose of cylinder or sphere which presents in the workspace, many different types of collisions are introduced. The performance of the collision-avoidance scheme is demonstrated with Multi-arm robot via experiments.

关键词： Multi-arm robot Collision Avoidance Geometric Primitives Collision Detection

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Comparative Analysis of Programming by Demonstration Methods: Kinesthetic Teaching vs Human Demonstration

arXiv

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arXiv 2024年

作者： Maric, Bruno Zoric, Filip Petric, Frano Orsag, Matko The LARICS Laboratory for Robotics and Intelligent Control Systems University of Zagreb Faculty of Electrical Engineering and Computing Zagreb10000 Croatia

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. In this paper we present comparison of demonstration methods with comprehensive user study. Each participant had to demonstrate drawing simple pattern with human demonstration using virtual marker and kinesthetic teaching with robot manipulator. To evaluate differences between demonstration methods, we conducted user study with 24 participants which filled out NASA raw task load index (rTLX) and system usability scale (SUS). We also evaluated similarity of the executed trajectories to measure difference between demonstrated and ideal trajectory. We concluded study with finding that human demonstration using a virtual marker is on average 8 times faster, superior in terms of quality and imposes 2 times less overall workload than kinesthetic teaching. © 2024, CC BY.

关键词： Demonstrations

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Experimental Testing of a Traction control System with On-line Road Condition Estimation for Electric Vehicles

Experimental Testing of a Traction Control System with On-li...

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Mediterranean Conference on control & Automation

作者： Goran Vasiljevic Karlo Griparic Stjepan Bogdan LARICS - Laboratory for Robotics and Intelligent Control Systems Department of Control and Computer Engineering. Faculty of Electrical Engineering and Computing University of Zagreb

ISBN: (纸本)9781479909964

In this paper experimental results of testing slip-based traction control system (TCS) with an on-line road condition estimation are presented. TCS is designed for a car with in-wheel electric motors, so that estimation and control are implemented independently for each wheel thus enabling the optimal friction coefficient for every wheel, even if they are on different surfaces or have different tire characteristics. A road condition is approximated using a function which is estimated in the real-time and used as the input to the TCS. The design of the presented TCS is based on the wheel slip ratio, controlled to it's optimal value by a PI controller and with the addition of a feedforward branch for the transition response speed up. System is tested on a newly developed experimental setup consisting of the wheel with embedded (in-wheel) motor rolling on the metal drum loaded by the second motor simulating car behaviour.

关键词： Traction control systems Pavement condition Electric vehicles Wheels PI control coefficient of friction experimental test SLIP RATIO Cars Best value IN-LINE

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