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International Conference on Information Fusion

作者： Teng Shao Zhangsheng Duan Uwe D. Hanebeck Center for Information Engineering Science Research Xi'an Jiaotong University Xi'an Shaanxi China Intelligent Sensor-Actuator-Systems Laboratory (ISAS) Institute for Anthropomatics and Robotics Karlsruhe Institute of Technology (KIT) Germany

ISBN: (数字)9780996452786

ISBN: (纸本)9781728118406

In this paper, we consider the extension of synchronous distributed filtering under randomized gossip strategy to multi-rate asynchronous sensor network. To deal with asynchronous measurements due to multi-rate sampling, two processing schemes are proposed, i.e., a batch one and a sequential one. In batch processing, the common fusion period is chosen as the least common multiple of the sampling periods of all sensors. Each measurement of a sensor is propagated to the nearest common fusion time and saved locally. At the common fusion time, multiple propagated measurements of a sensor are compressed to a single measurement and then exchanged with its neighbors. Whereas in sequential processing, the common fusion period is chosen as the greatest common divisor of the sampling periods of all sensors to sequentially process each measurement once it is received. Depending on whether a real measurement is available locally, three exchanging strategies are developed. It is found that unlike in the traditional distributed fusion with a common fusion center, the batch and sequential processing schemes are not equivalent. Pros and cons of these two schemes are analyzed. Numerical experimental results further verify the effectiveness of the proposed schemes.

关键词： Robot sensing systems Estimation Time measurement Extraterrestrial measurements Indexes Kalman filters Noise measurement

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Dense r-robust formations on lattices

Dense r-robust formations on lattices

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IEEE International Conference on robotics and Automation (ICRA)

作者： Luis Guerrero-Bonilla David Saldaña Vijay Kumar Division of Decision and Control Systems in the School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm Sweden Autonomous and Intelligent Robotics Laboratory (AIRLab) Lehigh University Bethlehem PA USA GRASP Laboratory University of Pennsylvania

ISBN: (数字)9781728173955

ISBN: (纸本)9781728173962

Robot networks are susceptible to fail under the presence of malicious or defective robots. Resilient networks in the literature require high connectivity and large communication ranges, leading to high energy consumption in the communication network. This paper presents robot formations with guaranteed resiliency that use smaller communication ranges than previous results in the literature. The formations can be built on triangular and square lattices in the plane, and cubic lattices in the three-dimensional space. We support our theoretical framework with simulations.

关键词： Lattices Robot kinematics Communication networks Robustness Robot sensing systems Energy consumption

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Selection of relevant mode of thin and soft parts measurements on machines with multisensor possibility 23

Selection of relevant mode of thin and soft parts measuremen...

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23rd International Conference of the European Society for Precision engineering and Nanotechnology, EUSPEN 2023

作者： Harmatys, Wiktor Gaska, Adam Gaska, Piotr Gruza, Maciej Marxer, Michael Cracow University of Technology Faculty of Mechanical Engineering Laboratory of Coordinate Metrology al. Jana Pawla II 37 Cracow31-864 Poland Department of Manufacturing Systems Faculty of Mechanical Engineering and Robotics AGH University of Science and Technology al. Mickiewicza 30 Krakow30-059 Poland Eastern Switzerland University of Applied Sciences Institute for Production Metrology Materials and Optics Werdenbergstrasse 4 SG BuchsCH-9471 Switzerland

ISBN: (纸本)9781998999132

This paper presents measurements of thin and soft parts that are easily deformable under contact force related to tactile measurement. Few types of such elements, widely used in practice, were chosen and measured on multisensor CMM using low force tactile probe, video probe and chromatic white light sensor. Measurement procedure included aligning of the workpiece based on points measured using different sensors and performing measurements according to multiple-measurement strategy method. Values of repeatability determined for measurement results from different sensors were compared. Differences in obtained repeatability values are significant. Discussion of aftermaths related to use of various types of sensors is also included in the paper. © 2023 Euspen Headquarters.

关键词： Probes

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Adjacency-hopping de Bruijn Sequences for Non-repetitive Coding

arXiv

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arXiv 2023年

作者： Chen, Bin Liang, Zhenglin Wu, Shiqian The Institute of Robotics and Intelligent Systems School of Information Science and Engineering Wuhan University of Science and Technology Wuhan430081 China The Hubei Province Key Laboratory of Intelligent Information Processing and Real-Time Industrial System Wuhan430072 China

A special type of cyclic sequences named adjacency-hopping de Bruijn sequences is introduced in this paper. It is theoretically proved the existence of such sequences, and the number of such sequences is derived. These sequences guarantee that all neighboring codes are different while retaining the uniqueness of subsequences, which is a significant characteristic of original de Bruijn sequences in coding and matching. At last, the adjacency-hopping de Bruijn sequences are applied to structured light coding, and a color fringe pattern coded by such a sequence is presented. In summary, the proposed sequences demonstrate significant advantages in structured light coding by virtue of the uniqueness of subsequences and the adjacency-hopping characteristic, and show potential for extension to other fields with similar requirements of non-repetitive coding and efficient matching. Copyright © 2023, The Authors. All rights reserved.

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A Soft Gripper Driven by Bellow Actuators and Twist Actuators for Dexterous Grasping

A Soft Gripper Driven by Bellow Actuators and Twist Actuator...

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IEEE International Conference on robotics and Biomimetics

作者： Diancheng Li Liangmin Zhou Renjie Zhu Jintao Yin Zhengbai Liu Han Yuan Hongqiang Wang Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems 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 Innovation and Entrepreneurship College Southern University of Science and Technology Shenzhen China School of Mechanical Engineering and Automation Harbin Institute of Technology (Shenzhen) Shenzhen China

ISBN: (纸本)9781665405362

Human hands are dexterous and capable of grasping objects of various shapes and manipulating the objects within the hands. Conventional soft grippers are able to grasp, but few can manipulate objects within the grippers. To fill this gap, this work designs a soft gripper with soft bellow actuators and soft twisting actuators, which can adaptively clutch objects and handle them in different postures in the gripper. Compared with the previous rigid grippers, this soft gripper possesses a higher adaption to complex shapes and fragile objects and greater reliability against a strong impact due to its compliance. We demonstrate its successful grasping on more than 15 daily items of different profiles and surface textures, rolling and picking up a piece of thin plastic film, and reversing the posture of a ball within the gripper. It has also survived brutal hammer attacks and robustly grabbed an object while experiencing strong impacts.

关键词： Actuators Bellows Torque Shape Grasping End effectors Robustness

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A unified leader-follower scheme for mobile robots with uncalibrated on-board camera

A unified leader-follower scheme for mobile robots with unca...

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2017 IEEE International Conference on robotics and Automation, ICRA 2017

作者： Guo, Dejun Wang, Hesheng Chen, Weidong Liu, Ming Xia, Zeyang Leang, Kam K. Lab University of Utah Robotics Center Salt Lake CityUT84112 United States Department of Automation Shanghai Jiao Tong University Shanghai200240 China Department of Electronics and Computer Engineering Hong Kong University of Science and Technology Hong Kong Hong Kong Institute of Biomedical and Health Engineering Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen China

ISBN: (纸本)9781509046331

This paper studies the problem of image-based leader-follower formation control for mobile robots, where the controller is designed independently of the leader's motion. An adaptive control scheme, which is suitable for both omnidirectional and perspective cameras, is proposed. The proposed approach avoids the need for accurate calibration of the extrinsic parameters of the omnidirectional camera as well as the intrinsic and extrinsic parameters of perspective camera. Additionally, the coefficients of the plane where the feature point moves relative to the camera frame can be uncertain. These uncertain constant parameters are estimated using an adaptive estimator. Uniform Semi-global Practical Asymptotic Stability (USPAS) of the system is shown using the Lyapunov approach. Experimental results are presented to demonstrate the effectiveness of the proposed control scheme. © 2017 IEEE.

关键词： Mobile robots

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AFM measurement of the mechanical properties of single adherent cells based on vibration

AFM measurement of the mechanical properties of single adher...

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IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Chuang Zhang Jialin Shi Wenxue Wang Ning Xi Yuechao Wang Lianqing Liu State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences 110016 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Science 10016 China Emerging Technologies Institute Department of Industrial & Manufacturing Systems Engineering University of Hong Kong Pokfulam Hong Kong

ISBN: (纸本)9781509037636

Cellular mechanical properties as the main physical performance characteristics have been actively studied in the past years for the study of cytobiology and the development of medicine. In this study, by combining Hertz model, a novel strategy is proposed to simultaneously measure the cellular mechanical properties including cellular mass, elasticity and viscosity, based on the principle of forced vibration stimulated by simple harmonic force, with piezoelectric transducer (PZT) as vibrator and Atomic Force Microscope (AFM) as detector. The corresponding theoretical model was derived and the simulation was realized based on the proposed model. The experiments of indentations and vibrations with myoblasts and myotubes were implemented to calculate the three mechanical parameters of cells according to the proposed strategy. The results validated the proposed approach. This work would be useful for the development of cytology, medicine, previously diagnose, specific therapy and so on.

关键词： Vibrations Force Substrates Cells (biology) Force measurement

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A Track-based Colon Endoscopic Robot with Depth Perception Stereo Cameras for Haustral Fold Detection during Colonic Navigation

A Track-based Colon Endoscopic Robot with Depth Perception S...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Shujing He Yujie Zhang Baoyi Huang Jie Lin Chaoyang Shi Chengzhi Hu Department of Mechanical and Energy Engineering Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems 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 Guangzhou University of Chinese Medicine Shenzhen China Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education School of Mechanical Engineering Tianjin University Tianjin China

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Colon endoscopic robots represent a promising screening modality for the visualization of colon cancers with high sensitivity. However, current colonoscopy robots are often characterized by intricate and bulky mechanical structures, which pose practical challenges when moving through the complex and narrow environment of the colon. Moreover, these robots are typically equipped with a single camera, limiting their ability to accurately estimate the depth of haustral folds in the colon, which is of great importance for the active colonic navigation of the robots. To address these challenges, we develop a track-based stereoscopic endoscopic robot (TSER) which is equipped with four tracks positioned at the corners of its body. This innovative design maximizes the contact between the tracks and the colon wall, enhancing maneuverability. The tracks are constructed from de-molded polydimethylsiloxane (PDMS) and incorporate micro-patterns on their outer surfaces. We have proposed a straightforward strategy for detecting haustral folds using TSER’s stereo camera, which allows for precise identification of their position and depth. The TSER achieves an average motion speed of 9.8 mm/s in a bellows tube that contains silicone oil and a speed of 5.2 mm/s in an exvivo porcine intestinal segment. Impressively, the TSER boasts an 88.11% accuracy rate in haustral fold depth estimation, surpassing the performance of existing geometric shape fitting methods. These results demonstrate that the TSER holds great potential for effective and efficient movement and inspection within the colon, offering a promising solution for improved colon cancer screening.

关键词： Visualization Sensitivity Tracking Navigation Shape Stereo image processing Oils

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Multiple Model Adaptive Dynamic Positioning

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IFAC Proceedings Volumes 2012年第27期45卷 55-60页

作者： Vahid Hassani Asgeir J. Sørensen António M. Pascoal Nguyen Trong Dong Laboratory of Robotics and Systems in Engineering and Science (LARSyS) Instituto Superior Técnico (IST) Tech. Univ. Lisbon Portugal Centre for Ships and Ocean Structures (CeSOS) and Dept. of Marine Technology Norwegian Univ. of Science and Technology Trondheim Norway Marine Cybernetics Trondheim Norway

This paper describes a procedure to design multiple model adaptive controllers for Dynamic Positioning (DP) of ships and offshore rigs subjected to the influence of sea waves, currents, and wind loads. To this effect, a linear design model is obtained, based on practical assumptions, describing the dynamics of the vessel. Four Linear Quadratic Gaussian (LQG) DP controllers (with the same structure) are designed, covering the different sea conditions from calm to extreme seas. Tools from multiple model adaptive control (MMAC) theory are used to exploit the information provided by the different observers (models) in order to select the appropriate controller. Numerical simulations carried out using a high fidelity nonlinear DP simulator illustrate the efficiency of the MMAC techniques proposed. To bridge the gap between theory and practice, the results of the simulations were experimentally verified by model testing with a DP operated ship, the Cybership III, under different simulated sea conditions in a towing tank equipped with a hydraulic wave maker.

关键词： Adaptive Dynamic Positioning Multiple Model Adaptive Control LQG Dynamic Positioning Controllers

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Four-Quadrant Propeller Modeling: A Low-Order Harmonic Approximation

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IFAC Proceedings Volumes 2013年第33期46卷 161-166页

作者： Andreas J. Häusler Alessandro Saccon John Hauser António M. Pascoal A. Pedro Aguiar Laboratory of Robotics and Systems in Engineering and Science (LARSyS) Instituto Superior Técnico (IST) University of Lisbon Portugal Eindhoven University of Technology The Netherlands University of Colorado at Boulder USA Adjunct Scientist National Institute of Oceanography (NIO) Goa India Faculty of Engineering of the University of Porto (FEUP) Porto Portugal

We propose a four-quadrant propeller model suitable for energy-efficient motion planning of autonomous marine vehicles. The model can be used to capture the main features of experimental thrust and torque curves by using a small number of parameters. We explore the connection between the propeller thrust, torque, and efficiency curves and the lift and drag curves of the propeller blades. The model originates from a well-known four-quadrant model, based on a sinusoidal approximation of the propeller curves, nontrivially modified in this paper to account for the typical drop off in the efficiency curve in correspondence to thrust inversion. Connections with the standard first-quadrant open-water model are drawn.

关键词： Propeller Modeling Four-Quadrant Propeller Model Open-Water Propeller Model Open-Water Efficiency Harmonic Approximation

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