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IEEE International Conference on robotics and Automation (ICRA)

作者： Juyeop Han Youngjae Min Hyeok-Joo Chae Byeong-Min Jeong Han-Lim Choi Department of Aerospace Engineering KAIST Institutes for Robotics Korea Advanced Institide of Science and Technology (KAIST) Daejeon South Korea Laboratory for Information and Decision Systems (LIDS) Massachusetts Institute of Technology Cambridge MA USA

Occupancy mapping has been widely utilized to represent the surroundings for autonomous robots to perform tasks such as navigation and manipulation. While occupancy mapping in 2-D environments has been well-studied, there have been few approaches suitable for 3-D dynamic occupancy mapping which is essential for aerial robots. This paper presents a novel 3-D dynamic occupancy mapping algorithm called DS-K3DOM. We first establish a Bayesian method to sequentially update occupancy maps for a stream of measurements based on the random finite set theory. Then, we approximate it with particles in the Dempster-Shafer domain to enable real-time computation. Moreover, the algorithm applies kernel-based inference with Dirichlet basic belief assignment to enable dense mapping from sparse measurements. The efficacy of the proposed algorithm is demonstrated through simulations and real experiments i i The code is available at: https://***/JuyeopHan/dsk3dom_public.

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SWhegPro: A Novel Robust Wheel-Leg Transformable Robot

SWhegPro: A Novel Robust Wheel-Leg Transformable Robot

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IEEE International Conference on robotics and Biomimetics

作者： Cunxi Dai Xiaohan Liu Jianxiang Zhou Zhengtao Liu Zheng Zhu Zhenzhong Jia Department of Mechanical and Energy Engineering The Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Southern University of Science and Technology (SUSTech) Shenzhen China Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities SUSTech Shenzhen China

ISBN: (纸本)9781665481106

This paper reports the design, implementation, and performance evaluation of SWhegPro, a swift and robust wheel-leg transformable robot that can operate under heavy payload. SWhegPro can shift wheel morphology between the wheel, e-shape leg, and S-shape leg, the corresponding gaits were developed and compared in simulation. The wheel/leg operation is driven by the same motor, so the actuation system and power can be utilized efficiently. Different from its predecessor which uses tendon-driven transformation mechanisms, SWhegPro utilizes self-locking electric push rods as transformation actuators. This makes it possible for SWhegPro to operate under heavy loads and is easier to repair. The robot was empirically built, and the design process, mechatronics infrastructure, and gait behavioral development were discussed. The performance of the robot was evaluated in various sce-narios, including driving and turning in wheeled mode, step crossing, and irregular terrain passing in legged mode.

关键词： Legged locomotion Performance evaluation Mechatronics Biomimetics Wheels Morphology Maintenance engineering

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AMG: A Depression Detection Model with Autoencoder and Multi-Head Graph Convolutional Network

AMG: A Depression Detection Model with Autoencoder and Multi...

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Chinese Control Conference (CCC)

作者： Han-Guang Wang Qing-Hao Meng Li-Cheng Jin Jian-Bang Wang Hui-Rang Hou Tianjin Key Laboratory of Process Measurement and Control Institute of Robotics and Autonomous Systems School of Electrical and Information Engineering Tianjin University Tianjin China China Southern Power Grid Company Limited Guangzhou China

Depression is a common chronic mental disorder characterized by high prevalence, recurrence, suicide rate, disability rate and heavy disease burden. Depression assessment based on questionnaires is subjective, therefore, a novel framework to is hereby designed to detect depression automatically and obj ectively. The framework first utilizes a two-way autoencoder to extract the hidden features from the original differential entropy features. The new features are used to generate the channel connectivity graph, using the multi-head attention mechanism. Next, the new features and graphs are input into the graph convolutional network (GCN) to aggregate spatial information. Finally, the output from GCN is passed to a fully connected layer and a soft layer to obtain the predicted label. Experiments are performed on Multimodal Open Dataset for Mental-disorder Analysis dataset. A final accuracy of 88.68% and a cross entropy loss of 2.4532 are obtained, when using ten-fold cross validation, outperforming other traditional machine learning methods including SVM, KNN, decision tree.

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A Textile-Based Pneumatic Soft Suit for Elbow Joint Rehabilitation 14

A Textile-Based Pneumatic Soft Suit for Elbow Joint Rehabili...

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14th IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent systems, CYBER 2024

作者： Shen, Yan Dang, Yu Jiang, Tianyu Huo, Weiguang Yu, Ningbo Han, Jianda College of Artificial Intelligence Nankai University Tianjin300350 China Engineering Research Center of Trusted Behavior Intelligence Ministry of Education Nankai University Tianjin300350 China Tianjin Key Laboratory of Intelligent Robotics Nankai University Tianjin300350 China Institute of Intelligence Technology and Robotic Systems Shenzhen China Department of Rehabilitation Medicine The Second Medical Center Chinese PLA General Hospital Beijing100853 China National Clinical Research Center for Geriatric Diseases Beijing100853 China National Key Laboratory of Kidney Diseases Beijing100853 China

ISBN: (纸本)9798331506056

Stroke is a disease with a very high mortality rate, and most patients will experience upper limb dysfunction after the disease. Traditional solutions, commonly rigid exoskeletons, have been explored extensively but often fall short due to safety concerns, discomfort, and potential for skin damage owing to their hard attachment mechanisms. To overcome these limitations, this article proposes a textile pneumatic soft suit for elbow joint rehabilitation. This soft suit consists of a modular pneumatic actuator that can help patients with elbow joint flexion and extension rehabilitation training. The design principle is based on the deformation of the textile-based pneumatic bag. The actuator is made of flexible fabric sheets of woven nylon with thermoplastic polyurethane (TPU) coating and 3D printing technology. A mathematical model was developed to describe the relationship between flexion angle and cable length, which could guide the design of the actuator. Experimental validation involved both static and dynamic assessments, confirming the soft suit's capability to meet the requirements of torque and range of the motions. The actuator can provide a starting torque of 7.18 Nm under a pressure of 160 kPa. The suit can provide a range of flexion motion of over 100° for a 1650 g forearm. In the future, we will conduct modeling and further experimental verification of the robot system to complete its control. © 2024 IEEE.

关键词： Pneumatic actuators

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Kinematics Analysis of Leg Configuration of An Ostrich Bionic Biped Robot 2021

Kinematics Analysis of Leg Configuration of An Ostrich Bioni...

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2021 International Conference on robotics and Control engineering, RobCE 2021

作者： Che, Junjie Pan, Yang Yan, Wei Yu, Jiexian Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy Engineering Southern University of Science and Technology Shenzhen518055 China Guangdong Prov. Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and Technology Shenzhen518055 China Southern University of Science and Technology Shenzhen China

ISBN: (纸本)9781450389471

Bio-inspired biped robots require high level dynamic control when walking or jumping. Compared with 4 or 6 legged robots, mechanisms of biped robots are more complicated and have more DOFs, which means both kinematical and dynamic models are more complex. In this paper, we formulated the kinematic models of ostrich bionic biped robot, which apply serial-parallel hybrid mechanism with 13 joints (5 active, 8 passive) each leg. The mechanism topology patterns are analyzed during walking, jumping and standing. We defined the feet as 5-DOFs end-effectors and both forward and inverse kinematic models are formulated using screw theory. An ordinary walking gait based on inverted pendulum was used to test the models and the results show that the robot can walk very well in simulation environments. The research of this paper has obvious application significance for the design, iteration and control of ostrich bionic biped robot. © 2021 ACM.

关键词： Bionics

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A kinematic calibration method for robots based on the PGTF error model and Levenberg-Marquardt algorithm

A kinematic calibration method for robots based on the PGTF ...

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IEEE Conference on Industrial Electronics and Applications (ICIEA)

作者： Zhi Zheng Jin Wang Jun Zhu Luan Liu Haiyun Zhang Guodong Lu State Key Laboratory of Fluid Power and Mechatronic Systems School of Mechanical Engineering Zhejiang University Hangzhou China Robotics Research Center of Yuyao City Ningbo China Robotics Institute of Zhejiang University Hangzhou China School of Robotics Ningbo University of Technology Ningbo China Zhejiang Qiantang Robot and Intelligent Equipment Research Co. LTD Hangzhou China

Robots use motors for power output and realize joint motion through reducers and mechanical transmissions, which affect the absolute positioning accuracy. In view of this problem, an error model based on Preprocessing-Geometric-Transmission-Flexibility (PGTF) is proposed and solved by Levenberg-Marquardt algorithm. First, the theoretical kinematic model is established by MD-H model method. Second, the data was pre-processed in dimension upgrade and the robot error identification model was established for geometric error, transmission error and flexible error. Third, Levenberg-Marquardt algorithm was used to find the global convergence solution to realize the identification of error parameters, and the actual robot kinematic model was compensated. Finally, the experiment is carried out on the real robot machine. Through theoretical analysis and verification of real machine data, the average error of kenbei-5kg robot is reduced from 6.8787 mm to 0.1267 mm, the positioning accuracy is improved by 98.16%, the accuracy compensation algorithm is accurate, and the compensation effect is remarkable.

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Unprecedented Smart Algorithm for Uninterrupted SDN Services During DDoS Attack

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Computers, Materials & Continua 2022年第1期70卷 875-894页

作者： Muhammad Reazul Haque Saw Chin Tan Zulfadzli Yusoff Kashif Nisar Rizaludin Kaspin Iram Haider Sana Nisar J.P.C.Rodrigues Bhawani Shankar Chowdhry Muhammad AslamUqaili Satya Prasad Majumder Danda B.Rawat Richard Etengu Rajkumar Buyya Faculty of Computing&Informatics Multimedia UniversityPersiaranMultimediaCyberjaya63100SelangorMalaysia Faculty of Engineering Multimedia UniversityPersiaran MultimediaCyberjaya63100SelangorMalaysia Faculty of Computing and Informatics University Malaysia SabahJalan UMSKota Kinabalu Sabah88400Malaysia Telekom Malaysia Research&Development TM Innovation Centre63000CyberjayaSelangorMalaysia Federal University of Piauí(UFPI) TeresinaPIBrazil Instituto de Telecomunica珲es 6201-001Covilh?Portugal National Center of Robotics and Automation-Condition Monitoring Systems Lab MUETJamshoroPakistan Department of Electrical and Electronic Engineering BUETDhaka1205Bangladesh Department of Electrical Engineering and Computer Science Data Science and Cybersecurity CenterHoward UniversityWashingtonDCUSA Cloud Computing and Distributed Systems(CLOUDS)Laboratory School of Computing and Information SystemsThe University of MelbourneMelbourneVIC 3053Australia

In the design and planning of next-generation Internet of Things(IoT),telecommunication,and satellite communication systems,controller placement is crucial in software-defined networking(SDN).The programmability of the SDN controller is sophisticated for the centralized control system of the entire ***,it creates a significant loophole for the manifestation of a distributed denial of service(DDoS)attack ***,recently a Distributed Reflected Denial of Service(DRDoS)attack,an unusual DDoS attack,has been ***,minimal deliberation has given to this forthcoming single point of SDN infrastructure failure ***,recently the high frequencies of DDoS attacks have increased *** this paper,a smart algorithm for planning SDN smart backup controllers under DDoS attack scenarios has *** proposed smart algorithm can recommend single or multiple smart backup controllers in the event of DDoS *** obtained simulated results demonstrate that the validation of the proposed algorithm and the performance analysis achieved 99.99%accuracy in placing the smart backup controller under DDoS attacks within 0.125 to 46508.7 s in SDN.

关键词： SDN smart algorithm RTZLK-DAASCP DDoS attack DRDoS

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Posture Estimation and Trajectory Tracking for SQuRo: a Small-sized Quadruped Robotic Rat

Posture Estimation and Trajectory Tracking for SQuRo: a Smal...

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IEEE International Conference on Cyborg and Bionic systems (CBS)

作者： Junhui Gao Rongjie Du Xiaolong Quan Guanglu Jia Qiang Huang Toshio Fukuda Qing Shi School of Mechatronical Engineering Intelligent Robotics InstituteBeijing Institute of Technology Beijing China Ministry of Education >Laboratory of Biomimetic Robots and Systems(Beijing Institute of Technology) Beijing China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of Technology Beijing China Ministry of Education Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology) Beijing China

Large quadruped robots have shown high environmental adaptability and promising applications. However, due to the difficulty of integrating multiple sensors or highperformance CPU in such a limited dimension, which strongly hindered the perception and calculation ability, quadruped robots in small scale haven’t shown equally performance. To overcome this limitation, we integrated the inertial measurement unit (IMU) into the small-sized robotic rat SQuRo, and proposed simplified control strategies to enhance its robustness. The improvements includes three parts: 1) A posture control strategy is proposed and verified by posture adjustment in a slope test; 2) Straight line tracking was achieved by detecting and controlling the yaw angle of SQuRo; 3) The autonomous fall recovery was achieved by detecting the fall and executed a predefined fall recovery strategy.

关键词： Measurement units Trajectory tracking Kinematics Inertial navigation Rats Robot sensing systems Robustness

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Correction of measurement accuracy for optical measuring machines depending on the direction vector of the point

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Measurement: Sensors 2025年 38卷

作者： Harmatys, Wiktor Gąska, Adam Gąska, Piotr Gruza, Maciej Laboratory of Coordinate Metrology Cracow University of Technology al. Jana Pawla II 37 Cracow31-864 Poland Department of Manufacturing Systems Faculty of Mechanical Engineering and Robotics AGH University of Krakow al. Mickiewicza 30 Krakow30-059 Poland

Optical measurement techniques are one of the most frequently used coordinate measurement systems in factory conditions. Due to their continuous development and miniaturization, this allowed them to be installed in various types of coordinate measuring machines, as a result of which, the machine equipped with a classic contact head and an optical head enables multi-sensor measurement. The growing popularity of optical heads is due to the fact that they enable non-contact measurement of even small and sensitive objects, which in many cases is impossible to do with a contact head. In addition, they owe their popularity to the fact that a significantly smaller number of precise mechanical and electronic elements are used in their construction. Another advantage is that they enable collecting a large number of points in a short time, which is more difficult with traditional contact systems, and with the development of these techniques, optical heads offer increasingly higher accuracy. However, the disadvantage of this method is that the stability and accuracy of measurements using this method depend on a large number of factors, including: lighting conditions, quality of measured surface and its reflectivity. Another problem that has not been fully solved is the lack of direct correlation between contact and non-contact measurements due to the fact that it is very difficult to obtain a measurement of exactly the same point using these two measurement techniques. Another problem related to the measurement accuracy of this type of measuring heads, especially for the end user, is that the metrological software of most manufacturers is closed software, i.e. no one other than the manufacturer has access to the source code and therefore the techniques and algorithms for detecting a point in the image are known only to the manufacturer. Due to the fact that different algorithms may detect a point in the image in a different way, especially if the direction vector is not fully

关键词： Coordinate measuring machines

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Scarefusion:Side Channel Analysis Data Restoration with Diffusion Model

SSRN

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SSRN 2024年

作者： Lu, Zeng Longde, Yan Fei, Wan Ning, Yang Xiang, Li Aidong, Chen Jiancheng, Zhang YanLong, Zhang Shuo, Wang Jing, Zhou Beijing Key Laboratory of Information Service Engineering Beijing Union University Beijing100101 China College of Robotics Beijing Union University Beijing100101 China Research Centre for Multi-Intelligent Systems Beijing100101 China Beijing Union University China

Side-channel analysis based on deep learning is sensitive to data quality. We propose SCARefusion, a latent diffusion model using U-Net, to address data imbalance in power consumption traces. SCARefusion retains high-resolution information through Conditional Nonlinear Activation Free Blocks (CNAFBlocks), downsampling, and upsampling modules. This model generates balanced class data, mitigating dataset imbalance and avoiding GAN instability. Using Correlation Power Analysis (CPA), we compare correlation coefficients between hypothetical and measured traces. The generated traces' effectiveness is validated using CNN attacks. Experimental results on the ASCADf dataset show that SCARefusion generates traces consistent with original leakage points and successfully extracts the correct key. We also discuss strategies to reduce learning rate and optimize network architecture to address loss oscillation, enhancing the performance and robustness of deep learning in side-channel analysis. © 2024, The Authors. All rights reserved.

关键词： Network architecture

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