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IEEE International Conference on Mechatronics and Automation

作者： Zhihui Xu Zongze Li Shoubin Liu 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 School of Mechanical and Electrical Engineering Harbin Institute of Technology Shenzhen China

Capsule robots have emerged as a promising tool for the early diagnosis of gastrointestinal diseases. Unlike conventional gastroscopy, they offer the potential for minimally invasive or even non-invasive treatment, and can alleviate discomfort and pain in patients. However, current capsule robots have some limitations. For instance, they lack stomach tissue biopsy and drug administration functions, and the capsule robot used for biopsy does not consider the tolerance of gastrointestinal tissue. Similarly, the capsule robot used for drug administration does not account for the outlet speed of drug administration. This paper proposes a new biopsy method using a magnetically manipulated capsule robot and analyzes the principles governing the robot's manipulation during the biopsy and drug administration processes. Furthermore, an ANSYS gastric model was established and used to simulate and experimentally analyze damage to the gastric tissue model from different types of biopsy needles and their moving speeds. The appropriate type of biopsy needle and moving speed were determined to prevent damage to the gastric tissue. The study also used FLUENT to determine the appropriate thrust at the entrance of the drug cavity and the impact of the drug density on the drug outlet velocity to ensure complete adherence of the drug to the lesion.

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Magnetically Driven Capsule Robot for Multi-Targeted Biopsy and Drug Delivery in Stomach

Magnetically Driven Capsule Robot for Multi-Targeted Biopsy ...

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IEEE International Conference on robotics and Biomimetics

作者： Zhihui Xu Tanyong Wei Zongze Li Ding Huang Shoubin Liu 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 School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen China

Capsule robots have emerged as a promising solution for non-invasive and painless screening of gastrointestinal diseases, offering significant advantages in patient comfort and reduced risk of cross-infection. Despite these advantages, existing capsule robots fall short in their ability to conduct targeted biopsies and deliver drugs to specific gastric lesions. To address this limitation, this paper presents the design and development of a magnetically driven capsule robot that leverages visual feedback to achieve accurate targeting for biopsy and drug administration in gastric lesions. Internal magnets, responsive to an external gradient magnetic field, enable the controlled propulsion of the capsule robot. A kinetic model of the capsule robot is analyzed, allowing it to recognize lesion contours through the endoscopic camera. This recognition determines the rotation angle or small adjustments required for the capsule robot's attitude and positioning. Experimental results in a simplified in vitro stomach model showcase the capability of the capsule robot to achieve targeted biopsy and drug delivery. These results highlight the potential feasibility of the proposed capsule robot in enhancing diagnostic accuracy and treatment efficacy with broader applications within the realm of gastric healthcare.

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Sample Efficient Dynamics Learning for Symmetrical Legged Robots: Leveraging Physics Invariance and Geometric Symmetries

Sample Efficient Dynamics Learning for Symmetrical Legged Ro...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Jee-eun Lee Jaemin Lee Tirthankar Bandyopadhyay Luis Sentis Department of Aerospace Engineering and Engineering Mechanics Human Centered Robotics Laboratory The University of Texas at Austin USA Department of Mechanical and Civil Engineering California Institute of Technology Pasadena CA USA Robotics and Autonomous Systems Group Data61 CSIRO QLD Australia Faculty of Department of Aerospace Engineering and Engineering Mechanics The University of Texas at Austin USA

Model generalization of the underlying dynamics is critical for achieving data efficiency when learning for robot control. This paper proposes a novel approach for learning dynamics leveraging the symmetry in the underlying robotic system, which allows for robust extrapolation from fewer samples. Existing frameworks that represent all data in vector space fail to consider the structured information of the robot, such as leg symmetry, rotational symmetry, and physics invariance. As a result, these schemes require vast amounts of training data to learn the system's redundant elements because they are learned independently. Instead, we propose considering the geometric prior by representing the system in symmetrical object groups and designing neural network architecture to assess invariance and equivariance between the objects. Finally, we demonstrate the effectiveness of our approach by comparing the generalization to unseen data of the proposed model and the existing models. We also implement a controller of a climbing robot based on learned inverse dynamics models. The results show that our method generates accurate control inputs that help the robot reach the desired state while requiring less training data than existing methods.

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A New Virtual Human Model Based on AR-601M Humanoid Robot for a Collaborative HRI Simulation in the Gazebo Environment

A New Virtual Human Model Based on AR-601M Humanoid Robot fo...

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Information, Control, and Communication Technologies (ICCT), International Conference on

作者： Aidar Zagirov Elvira Chebotareva Tatyana Tsoy Edgar A. Martínez-García Laboratory of Intelligent Robotics Systems (LIRS) Institute of Information Technologies and Intelligent Systems Kazan Federal University Kazan Russian Federation Institute of Engineering and Technology Universidad Autonoma de Ciudad Juárez Chihuahua Mexico

Human-robot collaboration (HRC) involves a cooperative and combined work of humans and robots to achieve specific goals. Collaborative robots provide additional support to humans by automating arduous tasks. This enhances efficiency, quality, and optimization of production processes. Prior to conducting real-world experiments, it is crucial to verify a collaboration safety through a simulation. In this paper, we explore a potential of simulating HRC in the Gazebo simulator by using an anthropomorphic robot AR-601M model as a human model and propose key requirements for a human virtual model. Our findings contribute to the development of safe and efficient HRC systems.

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Learning to Turn: Deformation Control of a Novel Flexible Fishtail Actuated by Artificial Muscles

Learning to Turn: Deformation Control of a Novel Flexible Fi...

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IEEE International Conference on Cyborg and Bionic systems (CBS)

作者： Junwen Gu Yukai Feng Zhengxing Wu Jian Wang Junzhi Yu Key Laboratory of Cognition and Decision Intelligence for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China School of Artificial Intelligence University of Chinese Academy of Sciences Beijing China Department of Advanced Manufacturing and Robotics State Key Laboratory for Turbulence and Complex Systems College of Engineering Peking University Beijing China

ISBN: (数字)9798350388039

ISBN: (纸本)9798350388046

Achieving agile, fish-like turning remains a critical challenge in the development of robotic fish. The flexible deformation of a fish’s body significantly contributes to its turning ability. Consequently, researchers have devoted substantial efforts to enhancing the compliance and agility of robotic fish. This paper presents a novel flexible fishtail, inspired by the musculoskeletal structure of real fish, which can control the deformation of its flexible components during turns, improving the turning performance of robotic fish. The fishtail primarily consists of a carbon fiber plate with attached artificial muscles. These muscles can contract and stretch, causing the carbon fiber tail to bend and deform. To enable precise deformation control, a dynamic model of the fishtail is established based on Hamilton’s principle. Subsequently, deep reinforcement learning methods such as deep deterministic policy gradient and soft actor-critic are employed to develop a deformation controller under joint deflection. Cross-validation ensures the controller’s accuracy and robustness. The experimental results demonstrate that this controller facilitates the deformation control of the flexible tail across various turning amplitudes and speeds, allowing the fishtail to exhibit adjustable compliance or resistance to fluids during turning motion. Consequently, this enhances the agility of the robotic fish.

关键词： Artificial muscles Deformation Tail Learning (artificial intelligence) Muscles Turning Fish Robustness Carbon Robots

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Autonomous, Mobile Manipulation in a Wall-building Scenario: Team LARICS at MBZIRC 2020

arXiv

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arXiv 2022年

作者： Vatavuk, Ivo Polic, Marsela Hrabar, Ivan Petric, Frano Orsag, Matko Bogdan, Stjepan Laboratory for Robotics and Intelligent Control Systems University of Zagreb Faculty of Electrical Engineering and Computing Unska 3 Zagreb Croatia

In this paper we present our hardware design and control approaches for a mobile manipulation platform used in Challenge 2 of the MBZIRC 2020 competition. In this challenge, a team of UAVs and a single UGV collaborate in an autonomous, wall-building scenario, motivated by construction automation and large-scale robotic 3D printing. The robots must be able, autonomously, to detect, manipulate, and transport bricks in an unstructured, outdoor environment. Our control approach is based on a state machine that dictates which controllers are active at each stage of the Challenge. In the first stage our UGV uses visual servoing and local controllers to approach the target object without considering its orientation. The second stage consists of detecting the object’s global pose using OpenCV-based processing of RGB-D image and point-cloud data, and calculating an alignment goal within a global map. The map is built with Google Cartographer and is based on onboard LIDAR, IMU, and GPS data. Motion control in the second stage is realized using the ROS Move Base package with Time-Elastic Band trajectory optimization. Visual servo algorithms guide the vehicle in local object-approach movement and the arm in manipulating bricks. To ensure a stable grasp of the brick’s magnetic patch, we developed a passively-compliant, electromagnetic gripper with tactile feedback. Our fully-autonomous UGV performed well in Challenge 2 and in post-competition evaluations of its brick pick-and-place algorithms. © 2022, CC BY-SA.

关键词： Brick

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Flapping-Wing Robot Achieves Multi-Domain Locomotion Using Transformable Wheel Mechanism

Flapping-Wing Robot Achieves Multi-Domain Locomotion Using T...

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IEEE International Conference on robotics and Biomimetics

作者： Xiangxiao Chai Shihua Wang Erzhen Pan Wenfu Xu School of Mechanical Engineering and Automation Harbin Institute of Technology (Shenzhen) Shenzhen China Key University Laboratory of Mechanism & Machine Theory and Intelligent Unmanned Systems of Guangdong Shenzhen China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (数字)9798331509644

ISBN: (纸本)9798331509651

The difficulty of moving from aquatic to aerial environment is one of the major challenges limiting the development of trans-medium multi-domain locomotion vehicles. In this paper, the concept of the transformable wheel, a feature commonly found in autonomous land vehicles (AL V s), is introduced into the design. Additionally, a flapping-wing robot equipped with multi-domain locomotion capability, which can not only realize aerial flight and surface navigation on water, but also ascend from water to land for subsequent takeoff is presented. The paper first introduces the system design of the robot and proposes the corresponding multi-domain locomotion strategy. Subsequently, the design of the transformable wheel mechanism is described in detail and the force analysis for the water-exit is conducted. The feasibility of the proposed strategy is experimentally validated, confirming the prototype's multi-domain locomotion performance finally. This research explores the feasibility of introducing the transformable wheel mechanism into trans-medium multi-domain vehicle platforms and provides a design example.

关键词： Legged locomotion Torque Limiting Navigation Propellers Roads Wheels Prototypes Motors System analysis and design

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Autonomous Environmental Exploration and Target Tracking Control for Unmanned Surface Vehicles in Uncertain Environment

Autonomous Environmental Exploration and Target Tracking Con...

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IEEE International Conference on Real-time Computing and robotics (RCAR)

作者： Kaiwei Zhu Shihan Kong Fang Wu Jinan Sun Junzhi Yu Department of Advanced Manufacturing and Robotics State Key Laboratory for Turbulence and Complex Systems College of Engineering Peking University Beijing China SPIC Nuclear Energy Co. Ltd. China National Engineering Research Center for Software Engineering Peking University Beijing China

ISBN: (数字)9798350372601

ISBN: (纸本)9798350372618

In this paper, a set of methods of autonomous obstacle exploration, avoiding, and target-tracking control in the uncertain environment is proposed. First, a secure and reliable obstacle exploration framework via multi-sensors information fusion is developed for USV to autonomously perceive obstacles in unknown environments. Second, a modified dynamic artificial potential field-based path planning method is proposed to dynamically generate a safe and feasible path even without complete prior obstacle position information. Third, a robust sliding mode control law with extended state observer is designed to track expectational target in the dynamical and uncertain environment. Finally, the target-tracking control law has been validated through the simulation experiments. Besides, the proposed methods of obstacle exploration, path planning, and target-tracking control are comprehensively evaluated through the simulation experiments in WEBOTS software, which is closer to the real world.

关键词： Target tracking Observers Path planning Software Real-time systems Reliability Vehicle dynamics

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An Improved Dual Quaternion-based Dynamic Movement Primitives Formulation for Obstacle Avoidance Kinematics in Human- Robot Collaboration System of systems

An Improved Dual Quaternion-based Dynamic Movement Primitive...

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IEEE International Conference on System of systems engineering (SoSE)

作者： Freddy Liendo Alessandro Bozzi Camilo Hernández Christine Galez Roberto Sacile José Jiménez Laboratory System And Materials For Mechatronics (SYMME) Université Savoie Mont Blanc Annecy France Department of Informatics Bioengineering Robotics and Systems Engineering (DIBRIS) University of Genoa Genoa Italy

In the context of Human-Robot Collaboration (HRC) as System of systems (SoS), motion planning and learning are a highly important subsystem. Dynamic Movement Primitives (DMP) are an elegant and efficient method for learning complex behaviours and representing them as stable, well understood dynamical systems. When applied for encoding a task by considering the behaviour of the end-effector of a robotic manipulator in Cartesian space, the common solution is to represent and to encode the pose separately as position and orientation using different but phase-coupled DMP formulations; resulting mathematically and algorithmically inefficient. Dual Quaternions are a mathematical tool capable of representing pose in a unified variable. Literature shows the interest of such a representation for rigid body kinematics, given its mathematical flexibility, efficiency and robustness. This article presents an existing formulation for Dual Quaternion Dynamic Movement Primitives based on screw theory. Then, we expand on our proposed improved formulation which considers obstacle avoidance as a contribution for the layer of Awareness and Intelligence in the context of Human-Robot Collaboration as a System of systems.

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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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