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International Conference on Military Communications and Information systems (ICMCIS)

作者： J. DeMarchi R. Rijken J. Melrose B. Madahar G. Fumera F. Roli E. Ledda M. Aktaş F. Kurth P. Baggenstoss B. Pelzer L. Kanestad Collaborative Engineering Systems & Aerospace Systems Information Supremacy Royal Netherlands Aerospace Centre NLR Amsterdam NLD Cyber & Information Systems Division Defence Science and Technology Laboratory Portondown GBR Department of Electrical and Electronic Engineering University of Cagliari Cagliari ITA Department of Informatics Bioengineering Robotics and Systems Engineering University of Genoa Genoa ITA Department of Computer Control and Management Engineering Sapienza University of Rome Rome ITA Defence Systems Technologies Division ASELSAN Ankara TUR Fraunhofer Institute for Communication Information Processing and Ergonomics Bonn DEU Swedish Defence Research Agency Cyber Defence and C2 Technology Division Stockholm SWE

In this paper we explore some of the potential applications of robustness criteria for machine learning (ML) systems by way of tangible “demonstrator” scenarios. In each demonstrator, ML robustness metrics are applied to real-world scenarios with military relevance, indicating how they might be used to help detect and handle possible adversarial attacks on ML systems. We conclude by sketching promising future avenues of research in order to: (1) help establish useful verification methodologies to facilitate ML robustness compliance assessment; (2) support development of ML accountability mechanisms; and (3) reliably detect, repel, and mitigate adversarial attack.

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A new hand exoskeleton device for rehabilitation using a three-layered sliding spring mechanism

A new hand exoskeleton device for rehabilitation using a thr...

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IEEE International Conference on robotics and Automation

作者： Jumpei Arata Keiichi Ohmoto Roger Gassert Olivier Lambercy Hideo Fujimoto Ikuo Wada Department of Computer Science and Engineering Graduate School of Engineering Nagoya Institute of Technology Gokiso-cho Showa-ku Nagoya 466-8555 Japan. Rehabilitation Engineering Laboratory Institute of Robotics and Intelligent Systems ETH Zurich 8092 Zurich Switzerland. Department of Rehabilitation Nagoya City University Hospital 1-Kawasumi MIzuho-cho Mizuho-ku Nagoya 467-8602 Japan.

ISBN: (纸本)9781467356404

In this paper, a new hand exoskeleton device using a three-layered sliding spring mechanism is presented. In contrast to state of the art hand exoskeleton mechanisms (typically link, wire or pneumatically driven), the proposed mechanism is driven through large deformations of the compliant mechanism body. The mechanism can be made compact and lightweight by adequately positioning the compliant elements. In addition, the mechanism is designed to distribute 1-DOF actuated linear motion into three rotational motions of the finger joints, which translate into natural finger flexion/extension. The primary applicatoin of the proposed mechanism is to provide robotic support during physical therapy at the hospital (e.g. Continuous Passive Motion). However, thanks to its light and wearable structure, the proposed device could also be used at home as an assistive/therapeutic device to support activities of daily living. We introduce the mechanical structure of the three-layered sliding spring mechanism, present a prototype implementation as a hand exoskeleton device, and provide a preliminary evaluation.

关键词： three-layered sliding spring mechanism art hand exoskeleton mechanisms compliant mechanism body

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Four path following controllers for rhombic like vehicles

Four path following controllers for rhombic like vehicles

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IEEE International Conference on robotics and Automation (ICRA)

作者： Nuno Silva Luca Baglivo Alberto Vale Mariolino De Cecco Instituto de Plasmas e Fusão Nuclear-Instituto Superior Técnico Universidade Técnica de Lisboa Lisboa Portugal Laboratory of Robotics and Systems in Engineering and Science (LARSyS)-Instituto Superior Técnico Universidade Técnica de Lisboa Lisboa Portugal DIMS-Mechanical and Structural Engineering Department University of Trento Trento Italy

ISBN: (纸本)9781467356404

This paper addresses the path following problem of a wheeled mobile robot with rhombic like kinematics (two drivable and steerable wheels) operating in cluttered environments. Four path following controllers are developed to steer the kinematic model of a rhombic like vehicle (RLV) along a desired path: three are based on feedback laws derived at a kinematic level with geometrical inspiration; the fourth is a nonlinear controller built upon a kinematic model of the vehicle using Lyapunov functions. By fully exploiting the kinematic capabilities of this type of vehicles, all the developed controllers are capable of performing under two situations: when both wheels follow the same path, or when each wheel follows a different path. Simulated and experimental results are presented in the paper to illustrate the performance of the controllers. The main conclusions of these controllers are summarized, leading to a possible application in the vehicles that will operate in the remote handling missions of the International Thermonuclear Experimental Reactor (ITER).

关键词： Vehicles Wheels Kinematics Trajectory Feedback control Mobile robots Vectors

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BTI Aging Monitoring based on SRAM Start-up Behavior

BTI Aging Monitoring based on SRAM Start-up Behavior

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Asian Test Symposium (ATS)

作者： Shengyu Duan Peng Wang Gaole Sai School of Computer Engineering and Science Shanghai University Shanghai China State Key Laboratory of Computer Architecture Institute of Computing Technology Chinese Academy of Sciences China State Key Laboratory of Mathematical Engineering and Advanced Computing Wuxi China Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences China CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institutes of Advanced Technology China

ISBN: (数字)9781728174679

ISBN: (纸本)9781728174686

Bias Temperature Instability (BTI) is one of the dominant CMOS aging mechanisms. It causes time-dependent variation, threatening circuit lifetime reliability. BTI-induced circuit errors are not detectable at the fabrication stage. On-line monitoring schemes are therefore necessary to capture the degradations during the operational time. Traditional aging monitoring techniques exhibit high implementation complexity and low stability. In this paper, we propose a BTI monitoring approach by simply tracking the start-up behavior of SRAM cells. SRAM is a widely used on-chip device in many applications. We study the impact of BTI for SRAM start-up values and age some cells in a manipulated manner. The BTI degradation is evaluated based on the number of SRAM cells starting with a certain value. This technique can be used to estimate the degradation for on-chip logic circuits without introducing additional circuitry, and thus has very low implementation complexity. We use an SRAM array with 1024 cells to estimate the degradations for multiple logic circuits, and show the average mean absolute percentage error as 8.48%. In addition, this technique is robust considering process, voltage and temperature variations.

关键词： Degradation Monitoring Logic circuits Transistors SRAM cells Aging System-on-chip

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Highly Efficient and Persistent Removal of Cd(II) in Aqueous Solution by Attapulgite-Loaded Amorphous Zero-Valent Iron

SSRN

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SSRN 2022年

作者： Lin, Zishen Liu, Fobang Zheng, Chunli Zhu, Aibin Li, Haijian Wang, Zhenxing He, Chi Department of Environmental Science and Engineering Xi’an Jiaotong University Xi’an710049 China Key Laboratory of Thermo-Fluid Science and Engineering School of Energy and Power Engineering Xi'an Jiaotong University Xi’an710049 China Institute of Robotics & Intelligent Systems Xi'an Jiaotong University Xi’an710049 China National Key Lab of Science and Technology on Combustion and Explosion Xi'an Modern Chemistry Research Institute Xi'An710065 China Environmental Protection Key Laboratory of Environmental Pollution Health Risk Assessment South China Institute of Environmental Sciences MEE Guangzhou510275 China

Amorphous zero-valent iron (AZVI) is a promising material for the treatment of heavy metal pollution due to its special crystal structure. However, little was known about their electron transport properties, and the issue of AZVI agglomeration effects was unresolved. In this study, AZVI and crystalline zero-valent iron (CZVI) were synthesized. AZVI had better electron-donating ability by in detail characterization with radial distribution function, electrochemical test, ultraviolet photo-electron spectroscopy and electronic density of states simulation. In order to alleviate the agglomeration effect of AZVI, AZVI was loaded onto attapulgite (ATP) to form ATP@AZVI composite. The results showed that when the initial concentration of Cd(II) was 30 mg/L with 30 min reaction time, the residual concentration of Cd(II) was only 0.08 mg/L, and the removal efficiency was improved by 275% compared to AZVI. The mechanism of Cd(II) removal was further investigated using XRD, XPS, and Raman spectroscopy. ATP@AZVI mainly reacted with Cd(II) through surface bound Fe(II), and then Cd(II) was removed from aqueous solution by *** was found ATP@AZVI was stable and its anti-oxidation ability was strong. After 12 months of aging in air, ATP@AZVI could still remove 86.4% of Cd(II) in 30 min. When the reaction time was extended to 100 min, the residual concentration of Cd(II) was 0.07 mg/L. Simultaneously, ATP@AZVI after 12 months of aging reacted with Cr(VI) wastewater for 90 min to meet with the emission standard (GB8978-1996, China). These findings suggested ATP@AZVI is an efficient adsorbent for heavy metal pollution control. © 2022, The Authors. All rights reserved.

关键词： Crystal structure

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Behavior model of humanoid robots based on operant conditioning

Behavior model of humanoid robots based on operant condition...

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IEEE-RAS International Conference on Humanoid Robots

作者： K. Itoh H. Miwa M. Matsumoto M. Zecca H. Takanobu S. Roccella M.C. Carrozza P. Dario A. Takanishi Department of Mechanical Engineering Waseda University Tokyo Japan Institute for Biomedical Engineering ASMew Waseda University Tokyo Japan Digital Human Research Center National Institute for Advanced Industrial Science and Technology Tokyo Japan Graduate School of Science and Engineering Waseda University Tokyo Japan Scuola Superiore Sant'Anna ARTS Laboratory Pontedera Italy Humanoid Robotics Institute (HRI) Waseda University Tokyo Japan Department of Mechanical Systems Engineering Kogakuin University Tokyo Japan Advanced Research Institute for Science and Engineering Waseda University Shinjuku Tokyo Japan

Personal robots, which are expected to become popular in the near future, are required to be active in work and community life alongside humans. Therefore, we have been developing new mechanisms and functions in order to realize natural bilateral interaction by expressing emotions, behaviors and personality in a human-like manner. We have proposed a mental model with emotion, mood, personality and needs. However, the robot behavior was very simple since the robot shows just a single kind of behavior in response to a robot mental state. In this paper, we present a new behavior model for humanoid robots based on operant conditioning, which is a well-known psychological behavior model. We implemented this new behavior model into the emotion expression humanoid robot WE-4RII (Waseda Eye No.4 Refined II), developed in 2004. Through the experimental evaluations, we confirmed that the robot with the new behavior model could autonomously select suitable behavior for the situation within a predefined behavior list

关键词： Humanoid robots Robot kinematics Humans Service robots Biomedical engineering Cognitive science Psychology Orbital robotics Mood Robotic assembly

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Mapping Surgeons Hand/Finger Movements to Surgical Tool Motion during Conventional Microsurgery Using Machine Learning

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Journal of Medical robotics Research 2021年第3-4期6卷

作者： Fattahi Sani, Mohammad Ascione, Raimondo Dogramadzi, Sanja Bristol Robotics Laboratory University of the West of England Bristol United Kingdom Bristol Heart Institute and Translational Biomedical Research Centre Faculty of Health Science University of Bristol Bristol United Kingdom Department of Automatic Control and Systems Engineering University of Sheffield Sheffiled United Kingdom

Purpose: Recent developments in robotics and artificial intelligence (AI) have led to significant advances in healthcare technologies enhancing robot-Assisted minimally invasive surgery (RAMIS) in some surgical specialties. However, current human-robot interfaces lack intuitive teleoperation and cannot mimic surgeon's hand/finger sensing required for fine motion micro-surgeries. These limitations make teleoperated robotic surgery not less suitable for, e.g. cardiac surgery and it can be difficult to learn for established surgeons. We report a pilot study showing an intuitive way of recording and mapping surgeon's gross hand motion and the fine synergic motion during cardiac micro-surgery as a way to enhance future intuitive teleoperation. Methods: We set to develop a prototype system able to train a Deep Neural Network (DNN) by mapping wrist, hand and surgical tool real-Time data acquisition (RTDA) inputs during mock-up heart micro-surgery procedures. The trained network was used to estimate the tools poses from refined hand joint angles. Outputs of the network were surgical tool orientation and jaw angle acquired by an optical motion capture system. Results: Based on surgeon's feedback during mock micro-surgery, the developed wearable system with light-weight sensors for motion tracking did not interfere with the surgery and instrument handling. The wearable motion tracking system used 12 finger/thumb/wrist joint angle sensors to generate meaningful datasets representing inputs of the DNN network with new hand joint angles added as necessary based on comparing the estimated tool poses against measured tool pose. The DNN architecture was optimized for the highest estimation accuracy and the ability to determine the tool pose with the least mean squared error. This novel approach showed that the surgical instrument's pose, an essential requirement for teleoperation, can be accurately estimated from recorded surgeon's hand/finger movements with a mean squared error (M

关键词： feature extraction hand tracking machine learning minimally invasive surgery real-Time low-cost hand tracking Robot-Assisted surgery

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Efficient Random Subspace Decision Forests with A Simple Probability Dimensionality Setting Scheme

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SSRN 2022年

作者： Wang, Quan Wang, Fei Li, Zhongheng Jiang, Peilin Ren, Fuji Nie, Feiping Institute of Artificial Intelligence and Robotics Xi’an Jiaotong University Shaanxi Xi’an710049 China Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing Institute of Spacecraft System Engineering Beijing100094 China School of Software Engineering Xi’an Jiaotong University Shaanxi Xi’an710049 China School of Computer Science and Engineering University of Electronic Science and Technology of China Sichuan Chengdu611731 China Northwestern Polytechnical University Shaanxi Xi’an710072 China

The random subspace concept is widely used in decision forests. However, there is not a reasonable approach to specify the appropriate number of randomly selected features. Previous random subspace decision forests simply specify the random subspace dimensionality d s to a preset function value such as [log 2 d ] or [√ d ] where d is the number of the total feature dimensions. Actually, this preset value may be a relatively poor choice for high dimensional data sets. In this paper, a novel framework named Efficient Random Subspace decision forest (ERS) is proposed which pays attention to how to set the random subspace dimensionality for each decision tree of decision forests. Specifically, a simple discrete uniform distribution is employed to set with probability the number of randomly selected features for each tree in random subspace decision forests. The proposed Half Range Discrete Uniform distribution-based Varied Dimensionality setting (HRDUVD) method removes the hesitation of how to preset an appropriate d s for different data sets but also results in good enough classification performance along with relatively short running time. Plenty of experiments on public benchmark data sets have demonstrated the effectiveness and the efficiency of the proposed ERS. © 2022, The Authors. All rights reserved.

关键词： Decision trees

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A Tendon-Driven Actuator with Cantilever Initiated Variable Stiffness Used for Robotic Fingers

SSRN

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SSRN 2024年

作者： Li, Chenning Yang, Shangkui Branson, David T. Song, Zhibin Sun, Tao Dai, Jiansheng Kang, Rongjie Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education School of Mechanical Engineering Tianjin University Tianjin300072 China Advanced Manufacturing Technology Research Group Faculty of Engineering University of Nottingham NottinghamNG7 2RD United Kingdom Beijing Institute of Technology China Shenzhen Key Laboratory of Intelligent Robotics and Flexible Manufacturing Systems Southern University of Science and Technology Shenzhen518055 China

Variable stiffness actuators (VSAs) have emerged as a key actuation technology known for their bionic performance and task adaptability. However, current VSAs often exhibit relatively large sizes, making them possible for use in robotic arms and legs but less convenient for integrations into robotic hands. This paper introduces a compact design of a tendon-driven variable stiffness actuator (TVSA) based on an adjustable cantilever mechanism, which can be embedded into a robotic finger. This implementation endows the robotic finger with the decoupled regulation of joint position and stiffness. A concise and computationally efficient stiffness mapping model from the TVSA to the finger joints is then established, providing a theoretical foundation for the stiffness regulation of the tendon-driven fingers. A prototype of a robotic hand equipped with the presented TVSA demonstrates safe interactions with various objects with diverse shapes, weights and stiffness. © 2024, The Authors. All rights reserved.

关键词： Stiffness

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Control Strategies for a Humanoid Robot to Drive and then Egress a Utility Vehicle for Remote Approach

Control Strategies for a Humanoid Robot to Drive and then Eg...

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IEEE-RAS International Conference on Humanoid Robots

作者： Hyobin Jeong Jaesung Oh Mingeuk Kim Kyungdon Joo In So Kweon Jun-Ho Oh Humanoid Research Center School of Mechanical Aerospace & Systems Engineering Department of Mechanical Engineering Korea Advanced Institute of Science and Technology Robotics and Computer Vision Laboratory School of Mechanical Aerospace & Systems Engineering Department of Electrical Engineering Korea Advanced Institute of Science and Technology Department of Electrical Engineering KAIST

ISBN: (纸本)9781479968862

This paper proposes strategies for the driving and egress of a vehicle with a humanoid robot. To drive the vehicle, the RANSAC method was used to detect obstacles, and the Wagon model was used to control the steering and velocity of the vehicle with only a limited number of sensors which were installed on the humanoid robot. Additionally, a manual teleoperating method was used with the lane projection technique. For the egress motion, gain override and the Cartesian position/force control technique were used to interact with the vehicle structure. To overcome the disadvantages of a highly geared manipulator, a special technique was used that included modelled friction compensation and a non-complementary switching mode. DRC-HUBO+ used the proposed method to perform a vehicle driving and egress task in the DRC finals 2015.

关键词： Humanoid robots EGRESS vehicle Vehicle driving Automobile driving UTILITY VEHICLES control strategy friction compensation DRIVES Steering

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