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2010 IEEE International Conference on robotics, Automation and Mechatronics, RAM 2010

作者： Petry, Marcelo R. Moreira, Antonio Paulo Braga, Rodrigo A. M. Reis, Luis Paulo Robotics and Intelligent Systems - INESCPorto Faculty of Engineering of the University of Porto - FEUP Porto Portugal Artificial Intelligence and Computer Science Laboratory Faculty of Engineering of the University of Porto - FEUP Porto Portugal

ISBN: (纸本)9781424465033

Intelligent wheelchairs operating in dynamic environments need to sense its neighborhood and adapt the control signal, in real-time, to avoid collisions and protect the user. In this paper we propose a robust, real-time obstacle avoidance extension of the classic potential field methodology. Our algorithm is specially adapted to share the wheelchair's control with the user avoiding risky situations. This method relies on the idea of virtual forces, generated by the user command (attractive force) and by the objects detected on each ultrasonic sensor (repulsive forces), acting on the wheelchair. The resultant wheelchair's behavior is obtained by the sum of the attractive force and all the repulsive forces at a given position. Experimental results from drive tests in a cluttered office environment provided statistical evidence that the proposed algorithm is effective to reduce the number of collisions and still improve the user's safety perception. ©2010 IEEE.

关键词： Wheelchairs

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Development of Autonomous Underwater Robot for Navigation through Narrow Passages

Development of Autonomous Underwater Robot for Navigation th...

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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Luo, Yang Zhu, Xiyu Zhou, Yuchuan Li, You Xu, Zhihui Wei, Yan Ke, Wende Hu, Chengzhi Southern University of Science and Technology Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy Engineering Shenzhen518055 China Southern University of Science and Technology Guangdong Prov. Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Shenzhen518055 China

ISBN: (纸本)9781665481090

Autonomous Underwater Vehicle (AUV), also called autonomous underwater robot, refers to an underwater robot that can independently complete tasks such as autonomous navigation, autonomous obstacle avoidance, and autonomous operation without human intervention. In some complex and narrow detection scenarios, autonomous underwater robots need to have a small volume, a high level of autonomy, and good maneuverability. Here, we design a miniature autonomous underwater robot driven by propellers, which integrates a high-performance processor, camera module, high-precision inertial measurement unit (IMU), etc. The attitude and position information of the robot is obtained in real-time through the IMU, and the processor controls the motion state of the six propellers, achieving the motion in six degrees of freedom in space. The highly integrated design ensures the maximum length of the whole machine within 15 cm, the 3-way PID controller design ensures an efficient and stable attitude control, and the high-performance processor provides more possibilities for target tracking and recognition. The developed AUV in this study shows superior navigation performance through narrow passages. © 2022 IEEE.

关键词： Autonomous underwater vehicles

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Real-time attitude tracking of capsule endoscope based on MEMS IMU and error analysis

Real-time attitude tracking of capsule endoscope based on ME...

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2021 IEEE International Conference on Real-Time Computing and robotics, RCAR 2021

作者： Huang, Zhuokang Hu, Chengzhi Southern University of Science and Technology Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy Engineering Shenzhen518055 China Guangdong Prov. Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and Technology Shenzhen518055 China

ISBN: (纸本)9781665436786

Wireless capsule endoscope (WCE) has been increasingly exploited for noninvasive screening and diagnosis of the entire esophagus, stomach, colon, and small intestine. WCE allows direct visualization of gastrointestinal tracts and causes less pain to the patients. Automated navigation of WCE during the medical procedure will significantly reduce the testing time and improve the usage and efficiency of medical infrastructure. Attitude tracking of WCE is of great importance for real-time tracking of the position and orientation of capsule endoscope. In this paper, a method for calculating the attitude of WCE based on MEMS IMU (Inertial Measurement Units) is implemented. The accuracy of attitude tracking is measured by a series of experiments. By reorientating the capsule endoscope with a high precision 3D rotary stage, the error from the proposed algorism is determined. The experimental results show that the attitude of WCE based on MEMS IMU can meet the diagnostic requirements in about six minutes, but the performance cannot be maintained due to error accumulation. Additionally, we propose a method to improve the attitude accuracy by reciprocating the rotational motion during the inspection process. © 2021 IEEE.

关键词： Endoscopy

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Development of a Vibration-driven Capsule Robot with Protruding Magnetic Bristles with Enhanced Adaptability in Wet and Dry Environments

Development of a Vibration-driven Capsule Robot with Protrud...

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2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Zhang, Yujie Wei, Tanyong He, Shujing Hong, Yuying Hu, Chengzhi Southern University of Science and Technology Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy Engineering Shenzhen518055 China Guangdong Prov. Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and Technology Shenzhen518055 China

ISBN: (纸本)9798350325706

Colonoscopy is a widely used method for diagnosing bowel cancers, requiring coordinated efforts from medical professionals due to its invasive nature. In contrast, miniature capsule robots, measuring just a few centimeters, offer a less invasive diagnostic option by integrating multiple functions. However, current capsule robots face challenges with complex designs, limited mobility, size, and cost, which hinder their adoption and reduce gastrointestinal disorder screening rates. To address these issues, we introduce the vibration-driven capsule robot (VCR) with magnetic protruding bristle structures. Four simple components (shell structure, electronic components, permanent magnet, and magnetic soft bristles) are designed to improve the robot's mobility in dry and wet environments. The magnetic bristle structures are inspired by flexible organisms and enhance the robot's adaptability. The robot is propelled by centrifugal force from a vibration motor, allowing efficient movement along the intestinal tract while protecting the patient's lining. The fabrication process of the magnetic soft bristles has been refined to optimize material ratios and enhance the robot's performance. The vibration motor's output is analyzed using load cells to ensure efficiency. For precise path planning, an external permanent magnet (EPM) is applied to guide the capsule's direction. Experiments confirm the VCR's versatility, performing fluid linear and curved motions in different environments. These findings underscore the feasibility of the VCR as a potent tool for non-invasive, timely screening of gastrointestinal disorders. © 2023 IEEE.

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A behavior-based architecture for realistic autonomous ship control

A behavior-based architecture for realistic autonomous ship ...

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2006 IEEE Symposium on Computational Intelligence and Games, CIG'06

作者： Olenderski, Adam Nicolescu, Monica Louis, Sushil J. Robotics Research Laboratory Dept. of Computer Science and Engineering University of Nevada Reno United States Evolutionary Computing Systems Lab Dept. of Computer Science and Engineering University of Nevada Reno United States

ISBN: (纸本)1424404649

Game environments provide a good domain for serious simulations such as those used in training Navy conning officers. Currently, a typical training scenario requires multiple personnel to play each of the boats and thus is expensive. We propose an approach to addressing this issue by developing intelligent, autonomous controllers for each boat. Significant challenges toward achieving these goals are the realism of behavior exhibited by the automated boats and their real-time response to change. In this paper we describe a control architecture that enables the real-time response of boats and the repertoire of realistic behaviors we developed for this application. We demonstrate the capabilities of our system with experimental results.

关键词： Personnel training

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A spatial motion control to transfer an object between a pair of air jet 15

A spatial motion control to transfer an object between a pai...

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15th International Conference on Informatics in Control, Automation and robotics, ICINCO 2018

作者： Yoshinaga, Kazuki Iwaki, Satoshi Tsuchihashi, Naoki Abe, Nobukado Ikeda, Tetsushi Kosaku, Toshiharu Takaki, Takeshi Systems Engineering Robotics Laboratory Graduate School of Information Science and Technology Hiroshima City University Asaminami Hiroshima Hiroshima Prefecture Japan Hiroshima University Graduate school of Engineering Hiroshima Japan

ISBN: (纸本)9789897583216

We propose a method in which multiple nozzles are arranged consecutively along a conveying line and an object can be relayed one after another. In this paper, as a most essential technology for such a conveyor, we focus on the transferring control of the object between a pair of air jet on a vertical plane. We propose a relaying control method based on some natural behaviours of an object in a fluid field where two air jet streams collide. Some successful experiment results are shown. Copyright © 2018 by SCITEPRESS – science and Technology Publications, Lda. All rights reserved

关键词： Conveying

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Cooperative Motion Control Using Hybrid Acoustic-Optical Communication Networks ⁎

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IFAC-PapersOnLine 2021年第16期54卷 232-237页

作者： Rodrigo Rego Nguyen Hung Antonio Pascoal Laboratory of Robotics and Systems in Engineering and Science(LARSyS) ISR/IST University of Lisbon Lisbon Portugal

There is currently widespread interest in the development of groups of autonomous underwater vehicles for ocean exploration. This calls for the deployment of robots that can act in cooperation by exchanging data over communication networks. For this purpose, acoustic networks have been so far the choice par excellence. However, for operations involving vehicles operating at close range, there is currently a flurry of activity on the use of optical-based communication systems, capable of higher transmission rates. As a result, the goal of this work is to make optical communications viable and to use both communication technologies during underwater cooperative missions. Motivated by this goal, the first part of this work is dedicated to design a coordination controller with an event-based communication strategy for the coordination of the vehicles over the acoustic network. The second part of this work proposes an algorithm to make optical communications viable, which ultimately boils down to achieving optical beam alignment between a pair of cooperative agents. The proposed algorithm is illustrated by simulation results that show optical beam alignment being reached for a pair of vehicles in a cooperative formation.

关键词： Motion Control Cooperative Path Following Autonomous Underwater Vehicles Acoustic Optical Communication Event-Triggered Communications

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Dynamical balance optimization and control of quadruped robots under perturbing external force

Dynamical balance optimization and control of quadruped robo...

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3rd IFAC Conference on Intelligent Control and Automation science, ICONS 2013

作者： Li, Zhijun Yu, Sijia Liu, Sibang Key Laboratory of Autonomous Systems and Networked Control College of Automation Science and Engineering South China University of Technology Guangzhou China Robotics Institute School of Mechanical Engineering University of Electronic Science and Technology of China Chengdu 610054 China Robotics Institute University of Electronic Science and Technology of China Chengdu 610054 China

ISBN: (纸本)9783902823458

This paper investigates the optimal feet forces distribution and control of quadruped robots under external disturbance forces. First, we formulate a constrained dynamic model of quadruped robots and derive a reduced order dynamical model of motion/force. Consider an external wrench on quadruped robots, the distribution of required forces and moments on the supporting legs of a quadruped robot is handled as a tip-point force distribution and used to equilibrate the external wrench. Then, a gradient neural network is adopted to minimize the optimized objective function with linear equality and inequality constraints, and hybrid motion/force control based on adaptive neural network is used to compensate for the external perturbation in the environment and approximate feedforward force and impedance of the leg joints on line. The verification of the proposed control is conducted using the extensive simulations. Copyright © 2013 IFAC.

关键词： Adaptive control systems

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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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Automated Disassembly Sequence Prediction for Industry 4.0 Using Enhanced Genetic Algorithm

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Computers, Materials & Continua 2021年第11期69卷 2531-2548页

作者： Anil Kumar Gulivindala M.V.A.Raju Bahubalendruni R.Chandrasekar Ejaz Ahmed Mustufa Haider Abidi Abdulrahman Al-Ahmari Department of Mechanical Engineering Industrial Robotics and Manufacturing Automation LaboratoryNational Institute of TechnologyKariakal609609India Department of Computer Science Engineering National Institute of TechnologyKariakal609609India Raytheon Chair for Systems Engineering Advanced Manufacturing InstituteKing Saud UniversityRiyadh11421Saudi Arabia Industrial Engineering Department College of EngineeringKing Saud UniversityRiyadh11421Saudi Arabia

The evolution of Industry 4.0 made it essential to adopt the Internet of Things(IoT)and Cloud Computing(CC)technologies to perform activities in the new age of *** technologies enable collecting,storing,and retrieving essential information from the manufacturing *** collected at sites are shared with others where execution automatedly *** obtained information must be validated at manufacturing to avoid undesirable data losses during the de-manufacturing ***,information sharing from the assembly level at the manufacturing stage to disassembly at the product end-of-life state is a major *** current research validates the information optimally to offer a minimum set of activities to complete the disassembly *** optimal disassembly sequence plan(DSP)can possess valid information to organize the necessary actions in ***,finding an optimal DSP is complex because of its combinatorial *** genetic algorithm(GA)is a widely preferred artificial intelligence(AI)algorithm to obtain a near-optimal solution for the DSP *** converging nature at local optima is a limitation in the traditional *** study improvised the GA workability by integrating with the proposed priori crossover *** optimality function is defined to reduce disassembly effort by considering directional changes as *** enhanced GA method is tested on a real-time product to evaluate the *** obtained results reveal that diversity control depends on the operators employed in the disassembly *** proposed method’s solution can be stored in the cloud and shared through IoT devices for effective resource allocation and disassembly for maximum recovery of the *** effectiveness of the proposed enhanced GA method is determined by making a comparative assessment with traditional GA and other AI methods at different population sizes.

关键词： Automation internet of things disassembly sequence planning priori cross over operator enhanced GA disassembly predicates

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