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arXiv 2021年

作者： Zhu, Wenpei Lu, Chenghua Zheng, Qule Fang, Zhonggui Che, Haichuan Tang, Kailuan Zhu, Mingchao Liu, Sicong Wang, Zheng Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy Engineering Southern University of Science and Technology Shenzhen China Guangdong Provincial Key Laboratory of Human Augmentation and Rehabilitation Robotics in Universities Southern University of Science and Technology Shenzhen China Department of Mechanical and Energy Engineering Southern University of Science and Technology Shenzhen China Changchun Institute of Optics Fine Mechanics and Physics University of Chinese Academy of Sciences Beijing100049 China

Soft grippers are receiving growing attention due to their compliance-based interactive safety and dexterity. Hybrid gripper (soft actuators enhanced by rigid constraints) is a new trend in soft gripper design. With right structural components actuated by soft actuators, they could achieve excellent grasping adaptability and payload, while also being easy to model and control with conventional kinematics. However, existing works were mostly focused on achieving superior payload and perception with simple planar workspaces, resulting in far less dexterity compared with conventional grippers. In this work, we took inspiration from the human Metacarpophalangeal (MCP) joint and proposed a new hybrid gripper design with 8 independent muscles. It was shown that adding the MCP complexity was critical in enabling a range of novel features in the hybrid gripper, including in-hand manipulation, lateral passive compliance, as well as new control modes. A prototype gripper was fabricated and tested on our proprietary dual-arm robot platform with vision guided grasping. With very lightweight pneumatic bellows soft actuators, the gripper could grasp objects over 25 times its own weight with lateral compliance. Using the dual-arm platform, highly anthropomorphic dexterous manipulations were demonstrated using two hybrid grippers, from Tug-of-war on a rigid rod, to passing a soft towel between two grippers using in-hand manipulation. Matching with the novel features and performance specifications of the proposed hybrid gripper, the underlying modeling, actuation, control, and experimental validation details were also presented, offering a promising approach to achieving enhanced dexterity, strength, and compliance in robotic grippers. Copyright © 2021, The Authors. All rights reserved.

关键词： Grippers

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Holographic MIMO Communications with Arbitrary Surface Placements: Near-Field LoS Channel Model and Capacity Limit

arXiv

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arXiv 2023年

作者： Gong, Tierui Wei, Li Huang, Chongwen Yang, Zhijia He, Jiguang Debbah, Mérouane Yuen, Chau School of Electrical and Electronics Engineering Nanyang Technological University Singapore639798 Singapore College of Information Science and Electronic Engineering Zhejiang University Hangzhou310027 China Hangzhou310027 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China Technology Innovation Institute Masdar City Abu Dhabi9639 United Arab Emirates KU 6G Research Center Khalifa University of Science and Technology P O Box 127788 Abu Dhabi United Arab Emirates CentraleSupelec University Paris-Saclay Gif-sur-Yvette91192 France

Envisioned as one of the most promising technologies, holographic multiple-input multiple-output (H-MIMO) recently attracts notable research interests for its great potential in expanding wireless possibilities and achieving fundamental wireless limits. Empowered by the nearly continuous, large and energy-efficient surfaces with powerful electromagnetic (EM) wave control capabilities, H-MIMO opens up the opportunity for signal processing in a more fundamental EM-domain, paving the way for realizing holographic imaging level communications in supporting the extremely high spectral efficiency and energy efficiency in future networks. In this article, we propose a generalized EM-domain near-field channel modeling and study its capacity limit of point-to-point H-MIMO systems that equips arbitrarily placed surfaces in a line-of-sight (LoS) environment. Two effective and computational-efficient channel models are established from their integral counterpart, where one is with a sophisticated formula but showcases more accurate, and another is concise with a slight precision sacrifice. Furthermore, we unveil the capacity limit using our channel model, and derive a tight upper bound based upon an elaborately built analytical framework. Our result reveals that the capacity limit grows logarithmically with the product of transmit element area, receive element area, and the combined effects of 1/d2mn, 1/d4mn, and 1/d6mn over all transmit and receive antenna elements, where dmn indicates the distance between each transmit element n and receive element m. Particularly, 1/d6mn dominates in the near-field region whereas 1/d2mn dominates in the far-field region. Numerical evaluations validate the effectiveness of our channel models, and showcase the slight disparity between the upper bound and the exact capacity, which is beneficial for predicting practical system performance. Copyright © 2023, The Authors. All rights reserved.

关键词： MIMO systems

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Optimization of Simulation Parameters of Input Shaper Based on Genetic Algorithm

Optimization of Simulation Parameters of Input Shaper Based ...

引用

Advanced Technologies in Intelligent Control, Environment, Computing & Communication engineering (ICATIECE), International Conference on

作者： Tao Yi Quanshen Pei Deying Li Shugong Wei Danping Jia Hualiang Zhang Hunan University of Information Changsha China School of Information Science and Engineering Shenyang University of Technology Shenyang China College of Physics and Electronic Engineering Guangxi Normal University for Nationalities Chongzuo China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China

ISBN: (纸本)9781665493970

In the motion control system, input shaper is often used to suppress the residual oscillation of high-precision positioning system, but the selection of input shaper parameters is difficult. In view of the difficulty of selecting input shaper parameters, this paper proposes to use genetic algorithm to select the parameters of input shaper. Firstly, the input shaper is designed in the light of the three-loop mathematical model of motor; Secondly, because the genetic algorithm directly optimizes the output of the motor and the algorithm can reduce the influence of the deviation of generator parameters on the parameter selection of the input shaper to a certain extent, the parameters of the input shaper are selected by the genetic algorithm to optimize the output of the motor; In the finish, a comparative experiment between a system with input shaper and a system with simple PID control is carried out. The results show that the optimized system can obtain higher robustness and smaller tracking deviation.

关键词： Vibrations Tracking Mathematical models Robustness Decoding Rigidity Motion control

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Control of Smart Buildings and Utility-Scale Batteries Enabling 24/7 Carbon-Free Energy*

Control of Smart Buildings and Utility-Scale Batteries Enabl...

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European Control Conference (ECC)

作者： Faran A. Qureshi Jeff S. Shamma Robotics Intelligent Systems and Control (RISC) Laboratory Computer Electrical and Mathematical Sciences and Engineering (CEMSE) Division King Abdullah University of Science and Technology (KAUST) Thuwal Saudi Arabia University of Illinois at Urbana-Champaign USA

Wind power is a clean and sustainable source of electricity, but its intermittent nature creates challenges for its grid integration. Utility-scale batteries are a popular and effective solution to make wind power dispatchable, however, batteries are expensive and increase the overall cost of operation. In this paper, we propose utilizing the flexibility in the consumption of smart buildings to reduce the size of the utility-scale batteries needed for the dispatchability of wind energy. A method based on stochastic optimization is proposed to compute the dispatch plan required to participate in the day-ahead energy market. A stochastic model predictive controller is proposed for the control of the buildings and batteries to track the dispatch plan in real-time. Simulations are carried out with realistic building models and real weather, wind power production, and forecast data. Results demonstrate that utilizing the flexibility of building thermodynamics can significantly reduce the size (and usage) of the required battery for making the wind power production dispatchable.

关键词： Smart buildings Computational modeling Stochastic processes Production Wind power generation Predictive models Data models

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EFaR 2023: Efficient Face Recognition Competition

arXiv

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arXiv 2023年

作者： Kolf, Jan Niklas Boutros, Fadi Elliesen, Jurek Theuerkauf, Markus Damer, Naser Alansari, Mohamad Hay, Oussama Abdul Alansari, Sara Javed, Sajid Werghi, Naoufel Grm, Klemen Štruc, Vitomir Alonso-Fernandez, Fernando Diaz, Kevin Hernandez Bigun, Josef George, Anjith Ecabert, Christophe Shahreza, Hatef Otroshi Kotwal, Ketan Marcel, Sébastien Medvedev, Iurii Jin, Bo Nunes, Diogo Hassanpour, Ahmad Khatiwada, Pankaj Toor, Aafan Ahmad Yang, Bian Fraunhofer Institute for Computer Graphics Research IGD Germany TU Darmstadt Germany Department of Electrical and Computer Engineering Khalifa University Abu Dhabi United Arab Emirates Laboratory for Machine Intelligence Faculty of Electrical Engineering University of Ljubljana Slovenia Halmstad University Sweden Idiap Research Institute Martigny Switzerland Lausanne Switzerland Lausanne Switzerland Institute of Systems and Robotics University of Coimbra Coimbra Portugal eHealth and Welfare Security Group Department of Information Security and Communication Technology Norwegian University of Science and Technology Norway

This paper presents the summary of the Efficient Face Recognition Competition (EFaR) held at the 2023 International Joint Conference on Biometrics (IJCB 2023). The competition received 17 submissions from 6 different teams. To drive further development of efficient face recognition models, the submitted solutions are ranked based on a weighted score of the achieved verification accuracies on a diverse set of benchmarks, as well as the deployability given by the number of floating-point operations and model size. The evaluation of submissions is extended to bias, cross-quality, and large-scale recognition benchmarks. Overall, the paper gives an overview of the achieved performance values of the submitted solutions as well as a diverse set of baselines. The submitted solutions use small, efficient network architectures to reduce the computational cost, some solutions apply model quantization. An outlook on possible techniques that are underrepresented in current solutions is given as well. © 2023, CC BY-NC-SA.

关键词： Face recognition

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Experimental Study on the Correlation of Cutting Head Vibrations and Kerf Characteristics during Abrasive Waterjet Cutting of Titanium Alloy 9

Experimental Study on the Correlation of Cutting Head Vibrat...

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9th CIRP Conference on High Performance Cutting, HPC 2020

作者： Karmiris-Obratański, Panagiotis Karkalos, Nikolaos E. Kudelski, Rafal Papazoglou, Emmanouil L. Markopoulos, Angelos P. National Technical University of Athens School of Mechanical Engineering Laboratory of Manufacturing Technology Heroon Politechniou 9 Athens15780 Greece AGH University of Science and Technology Faculty of Mechanical Engineering and Robotics Department of Manufacturing Systems al. Mickiewicza 30 Cracow30-059 Poland

ISBN: (纸本)9781713835431

Processing of hard-to-cut materials is always challenging, justifying the need of the adoption of efficient non-conventional cutting processes, such as Abrasive Waterjet (AWJ) cutting. In the present study, an experimental work on AWJ cutting of a titanium alloy is performed and analysis of the results is conducted in two steps;after the correlation between process parameters and slot depth and width is established, the correlation between cutting head vibrations and kerf characteristics is investigated, in order to determine whether it is possible to use vibration values for the monitoring of the outcome of the AWJ cutting process. © 2020 The Authors. Published by Elsevier B.V.

关键词： Titanium alloys

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Surface topography of Ti 6Al 4V ELI after high power EDM 23

Surface topography of Ti 6Al 4V ELI after high power EDM

引用

23rd International Conference on Material Forming, ESAFORM 2020

作者： Karmiris-Obratański, Panagiotis Zagórski, Krzysztof Cieślik, Jacek Papazoglou, Emmanouil Lazaros Markopoulos, Angelos AGH University of Science and Technology Faculty of Mechanical Engineering and Robotics Department of Manufacturing Systems al. Mickiewicza 30 Cracow30-059 Poland National Technical University of Athens School of Mechanical Engineering Laboratory of Manufacturing Technology Heroon Polytechniou 9 Athens15780 Greece

Titanium alloys find extensive applications in the modern aerospace and offshore industry, as well in the field of biomedical implants. Nevertheless, the titanium inherent thermo-physical properties (low thermal conductivity and high chemical reactivity) make it a hard to machine material. For the efficient machining of titanium alloys, non-conventional machining processes are employed. Electrical Discharge Machining (EDM) is a non-contact machining process, in which the material removal occurs through repetitive electrical sparks. The capabilities of machining any electrically conductive material, regardless of its thermo-physical and other properties, render it as one of the most widely used non-conventional machining processes. As titanium alloys are used in high-quality parts and products, the integrity and texture of the machined surface constitute an essential parameter. The current study presents an experimental investigation of the surface texture and integrity of Ti6Al4V ELI after its machining with high power EDM. Namely, a full-scale experiment has been carried out, for pulse currents up to 65A and pulse-on time up to 200 μs, using graphite electrode. The surface texture (ST) and integrity has been estimated in terms of arithmetic mean height (Sa), the maximum height of scale-limited surface (Sz), maximum peak height (Sp), maximum pit height (Sv) and skewness of the scale-limited surface (Ssk). Additionally, through microscopy observation, the surface topography and integrity have been estimated, distinguishing and characterizing the surface cracks and micro-cracks. For all the above mentioned ST parameters, an Analysis of Variance (ANOVA) test has been performed. © 2020 The Authors. Published by Elsevier Ltd.

关键词： Titanium alloys

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Highly Selective Biomimetic Flexible Tactile Sensor for Neuroprosthetics

引用

Research 2020年第1期2020卷 1648-1658页

作者： Yue Li Zhiguang Cao Tie Li Fuqin Sun Yuanyuan Bai Qifeng Lu Shuqi Wang Xianqing Yang Manzhao Hao Ning Lan Ting Zhang i-Lab Key Laboratory of Multifunctional Nanomaterials and Smart SystemsSuzhou Institute of Nano-Tech and Nano-Bionics(SINANO)Chinese Academy of Sciences(CAS)398 Ruoshui RoadSuzhou 215123China School of Nano-Tech and Nano-Bionics University of Science and Technology of China96 Jinzhai RoadHefeiAnhui 230026China Laboratory of Neurorehabilitation Engineering School of Biomedical Engineering and Institute of Medical RoboticsShanghai Jiao Tong University1954 Huashan RoadShanghai 20030China Center for Excellence in Brain Science and Intelligence Technology Chinese Academy of SciencesShanghai 200031China

Biomimetic flexible tactile sensors endow prosthetics with the ability to manipulate objects,similar to human ***,it is still a great challenge to selectively respond to static and sliding friction forces,which is crucial tactile information relevant to the perception of weight and slippage during ***,inspired by the structure of fingerprints and the selective response of Ruffini endings to friction forces,we developed a biomimetic flexible capacitive sensor to selectively detect static and sliding friction *** sensor is designed as a novel plane-parallel capacitor,in which silver nanowire-3D polydimethylsiloxane(PDMS)electrodes are placed in a spiral configuration and set perpendicular to the *** nanowires are uniformly distributed on the surfaces of 3D polydimethylsiloxane microcolumns,and silicon rubber(Ecoflex^(■))acts as the dielectric *** capacitance of the sensor remains nearly constant under different applied normal forces but increases with the static friction force and decreases when sliding ***,aiming at the slippage perception of neuroprosthetics,a custom-designed signal encoding circuit was designed to transform the capacitance signal into a bionic pulsed signal modulated by the applied sliding friction *** results demonstrate the great potential of the novel biomimetic flexible sensors with directional and dynamic sensitivity of haptic force for smart neuroprosthetics.

关键词： friction capacitance Highly

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MRPB 1.0: A Unified Benchmark for the Evaluation of Mobile Robot Local Planning Approaches

MRPB 1.0: A Unified Benchmark for the Evaluation of Mobile R...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Jian Wen Xuebo Zhang Qingchen Bi Zhangchao Pan Yanghe Feng Jing Yuan Yongchun Fang Institute of Robotics and Automatic Information System College of Artificial Intelligence Nankai University Tianjin China Tianjin Key Laboratory of Intelligent Robotics Nankai University Tianjin China School of Marine Science and Technology Northwestern Polytechnical University Xi’an China Faculty of Robot Science and Engineering Northeastern University Shenyang China College of Systems Engineering National University of Defense Technology Changsha China

Local planning is one of the key technologies for mobile robots to achieve full autonomy and has been widely investigated. To evaluate mobile robot local planning approaches in a unified and comprehensive way, a mobile robot local planning benchmark called MRPB 1.0 is newly proposed in this paper. The benchmark facilitates both motion planning researchers who want to compare the performance of a new local planner relative to many other state-of-the-art approaches as well as end users in the mobile robotics industry who want to select a local planner that performs best on some problems of interest. We elaborately design various simulation scenarios to challenge the applicability of local planners, including large-scale, partially unknown, and dynamic complex environments. Furthermore, three types of principled evaluation metrics are carefully designed to quantitatively evaluate the performance of local planners, wherein the safety, efficiency, and smoothness of motions are comprehensively considered. We present the application of the proposed benchmark in two popular open-source local planners to show the practicality of the benchmark. In addition, some insights and guidelines about the design and selection of local planners are also provided. The benchmark website [1] contains all data of the designed simulation scenarios, detailed descriptions of these scenarios, and example code.

关键词： Measurement Industries Service robots Dynamics Benchmark testing Planning Safety

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Optimal Estimator Design and Properties Analysis for Interconnected systems with Asymmetric Information Structure

arXiv

引用

arXiv 2021年

作者： Wang, Yan Xiong, Junlin Yang, Zaiyue Su, Rong School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen Shenzhen518055 China School of Electrical and Electronic Engineering Nanyang Technological University Nanyang Avenue 50 Singapore Department of Automation University of Science and Technology of China Hefei230026 China Department of Mechanical and Energy Engineering Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and Technology Shenzhen China

This paper studies the optimal state estimation problem for interconnected systems. Each subsystem can obtain its own measurement in real time, while, the measurements transmitted between the subsystems suffer from random delay. The optimal estimator is analytically designed for minimizing the conditional error covariance. The boundedness of the expected error covariance (EEC) is analyzed. In particular, a new condition that is easy to verify is established for the boundedness of EEC. Further, the properties of EEC with respect to the delay probability are studied. We found that there exists a critical probability such that the EEC is bounded if the delay probability is below the critical probability. Also, a lower and upper bound of the critical probability is derived. Finally, the proposed results are applied to a power system, and the effectiveness of the designed methods is illustrated by simulations. © 2021, CC BY-SA.

关键词： Errors

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