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IEEE International Conference on robotics and Automation (ICRA)

作者： Zhiyuan Zhang Michael Koch Daniel Ahmed Department of Mechanical and Process Engineering Acoustic Robotics Systems Laboratory Institute of Robotics and Intelligent Systems ETH Zurich Zurich Switzerland

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Acoustic techniques have been developed as multifunctional tools for various microscale manipulations. In prevalent design paradigms, a position-fixed piezoelectric transducer (PZT) is utilized to generate ultrasound waves. However, the immobility of the PZT restricts the modulation of the acoustic field's position and orientation, consequently diminishing the adaptability and effectiveness of subsequent acoustic micromanipulation tasks. Here, we proposed a miniaturized soft acoustic end-effector and demonstrated acoustic field modulation and microparticle manipulation by adjusting PZT position and orientation. The PZT is mounted on the end of a soft robotic arm that has three individual degrees of freedom and can be deformed in 3D space by inflating or deflating each chamber. Experiments showed that the soft acoustic end-effector can change the traveling direction of microparticles and modulate the location of a standing wave field. Our approach is simple, flexible, and controllable. We envision that the soft acoustic end-effector will facilitate multiscale acoustic manipulation in interdisciplinary applications, especially, for in vivo acoustic therapies.

关键词： Three-dimensional displays Ultrasonic imaging Modulation Medical treatment Soft robotics Acoustics End effectors

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Lessons learned:Symbiotic autonomous robot ecosystem for nuclear environments

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IET Cyber-systems and robotics 2023年第4期5卷 63-86页

作者： Daniel Mitchell Paul Dominick Emor Baniqued Abdul Zahid Andrew West Bahman Nouri Rahmat Abadi Barry Lennox Bin Liu Burak Kizilkaya David Flynn David John Francis Erwin Jose Lopez Pulgarin Guodong Zhao Hasan Kivrak Jamie Rowland Douglas Blanche Jennifer David Jingyan Wang Joseph Bolarinwa Kanzhong Yao Keir Groves Liyuan Qi Mahmoud A.Shawky Manuel Giuliani Melissa Sandison Olaoluwa Popoola Ognjen Marjanovic Paul Bremner Samuel Thomas Harper Shivoh Nandakumar Simon Watson Subham Agrawal Theodore Lim Thomas Johnson Wasim Ahmad Xiangmin Xu Zhen Meng Zhengyi Jiang James Watt School of Engineering Autonomous Systems and Connectivity DivisionUniversity of GlasgowGlasgowUK Department of Electrical and Electronic Engineering The University of ManchesterManchesterUK Bristol Robotics Laboratory University of the West of EnglandBristolUK Heriot-Watt University EdinburghUK

Nuclear facilities have a regulatory requirement to measure radiation levels within Post Operational Clean Out(POCO)around nuclear facilities each year,resulting in a trend towards robotic deployments to gain an improved understanding during nuclear decommissioning *** UK Nuclear Decommissioning Authority supports the view that human-in-the-loop(HITL)robotic deployments are a solution to improve procedures and reduce risks within radiation characterisation of nuclear *** authors present a novel implementation of a Cyber-Physical System(CPS)deployed in an analogue nuclear environment,comprised of a multi-robot(MR)team coordinated by a HITL operator through a digital twin *** development of the CPS created efficient partnerships across systems including robots,digital systems and *** was presented as a multi-staged mission within an inspection scenario for the hetero-geneous Symbiotic Multi-Robot Fleet(SMuRF).Symbiotic interactions were achieved across the SMuRF where robots utilised automated collaborative governance to work together,where a single robot would face challenges in full characterisation of *** contributions include the demonstration of symbiotic autonomy and query-based learning of an autonomous mission supporting scalable autonomy and autonomy as a *** coordination of the CPS was a success and displayed further challenges and improvements related to future MR fleets.

关键词： cyber-systems field robotics hazardous inspection human robot interaction industrial robotics mobile robots multi-agent systems multi-robot systems robotics service robots

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Learning Rat-Like Behavioral Interaction Using a Small-Scale Robotic Rat

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Cyborg and Bionic systems 2023年第1期4卷 225-232页

作者： Hongzhao Xie Zihang Gao Guanglu Jia Shingo Shimoda Qing Shi Intelligent Robotics Institute School of Mechatronical EngineeringBeijing Institute of TechnologyBeijing 100081China Key Laboratory of Biomimetic Robots and Systems(Beijing Institute of Technology) Ministry of EducationBeijing 100081China Nagoya University Graduate School of Medicine NagoyaJapan

In this paper,we propose a novel method for emulating rat-like behavioral interactions in robots using reinforcement ***,we develop a state decision method to optimize the interaction process among 6 known behavior types that have been identified in previous research on rat *** novelty of our method lies in using the temporal difference(TD)algorithm to optimize the state decision process,which enables the robots to make informed decisions about their behavior *** assess the similarity between robot and rat behavior,we use Pearson *** then use TD-λto update the state value function and make state decisions based on *** robots execute these decisions using our dynamics-based *** results demonstrate that our method can generate rat-like behaviors on both short-and long-term timescales,with interaction information entropy comparable to that between real ***,our approach shows promise for controlling robots in robot-rat interactions and highlights the potential of using reinforcement learning to develop more sophisticated robotic systems.

关键词： robot enable similarity

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Crawling Gait Enables Stable Quadrupedal Locomotion in A Bioinspired Robotic Rat

Crawling Gait Enables Stable Quadrupedal Locomotion in A Bio...

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2024 IEEE International Conference on Real-Time Computing and robotics, RCAR 2024

作者： Wang, Ruochao Quan, Xiaolong Xiao, Hang Du, Rongjie Qin, Boyang Shi, Qing Beijing Institute of Technology Intelligent Robotics Institute School of Mechatronical Engineering Beijing China Key Laboratory of Biomimetic Robots and Systems Beijing Institute of Technology Ministry of Education Beijing China

ISBN: (纸本)9798350372601

Constrained by the performance of actuators and controllers, achieving stable walking in small-scale quadruped robots has been more challenging compared to larger ones. Rats, in their natural habitat, can achieve stable walking even in extreme environments like narrow spaces by utilizing crawling motion to lower their center of mass. Inspired by this, we conducted a comparative study of the walking stability between crawling and trot gaits on a ratinspired robot named SQuRo. Initially, we collected motion data for both crawling and trot gaits of SQuRo in a simulated environment. Subsequently, we analyzed the dynamic stability of the robot using Poincaré maps. The results indicate that SQuRo's phase trajectories converged into closed loops with periodicity under both gaits, demonstrating the presence of limit cycles. Moreover, fixed points were observed in the Poincaré maps for both gaits, suggesting the dynamic stability of quadrupedal locomotion. Compared to the trot gait, the convergence loops of the crawling gait phase trajectories were smaller, indicating more stable locomotion. We tested the performance of SQuRo's crawling gait in challenging outdoor environments, where SQuRo demonstrated stable walking consistently. This work provides a new approach for achieving stable walking in small-scale quadruped robots and can be readily applied to controller design across different sizes of legged robots. © 2024 IEEE.

关键词： Rats

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Brain over Brawn: Using a Stereo Camera to Detect, Track, and Intercept a Faster UAV by Reconstructing the Intruder's Trajectory

Field Robotics

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Field robotics 2025年 2卷 222-240页

作者： Antonella Barišić Frano Petric Stjepan Bogdan Laboratory for Robotics and Intelligent Control Systems Faculty of Electrical Engineering and Computing University of Zagreb Unska 3 Zagreb Croatia

This paper presents our approach to intercepting a faster intruder UAV, inspired by the MBZIRC 2020 Challenge 1. By utilizing a priori knowledge of the shape of the intruder's trajectory, we can calculate an interception point. Target tracking is based on image processing by a YOLOv3 Tiny convolutional neural network, combined with depth calculation using a gimbal-mounted ZED Mini stereo camera. We use RGB and depth data from the camera, devising a noise-reducing histogram-filter to extract the target's 3D position. Obtained 3D measurements of target's position are used to calculate the position, orientation, and size of a figure-eight shaped trajectory, which we approximate using a Bernoulli lemniscate. Once the approximation is deemed sufficiently precise, as measured by the distance between observations and estimate, we calculate an interception point to position the interceptor UAV directly on the intruder's path. Our method, which we have significantly improved based on the experience gathered during the MBZIRC competition, has been validated in simulation and through field experiments. Our results confirm that we have developed an efficient, visual-perception module that can extract information describing the intruder UAV's motion with precision sufficient to support interception planning. In a majority of our simulated encounters, we can track and intercept a target that moves 30% faster than the interceptor. Corresponding tests in an unstructured environment yielded 9 out of 12 successful results.

关键词： Autonomous aerial vehicles Trajectory Target tracking Cameras Three-dimensional displays Robots Radar tracking Image reconstruction Estimation Detectors

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Terrain Classification Based on Wheel-terrain Interaction Measurements using Aside-Wheel Camera

Terrain Classification Based on Wheel-terrain Interaction Me...

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2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Xue, Feng Hu, Longteng Yao, Chen Wei, Jin Li, Yunzhou Wang, Peichen Zhu, Zheng Jia, Zhenzhong 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 SUSTech Shenzhen518055 China Harbin150090 China

ISBN: (纸本)9798350325706

The scientific applications over a decade have demonstrated the robust practicality of wheeled rovers, which are capable of undertaking exploration tasks in various unstructured terrains. However, sinkage and slippage are extremely common on sandy terrains. Fortunately, these risks can be mitigated in a timely manner through the perception of terrain types. Thus, terrain classification technology has become a key solution to addressing these issues. In this paper, we propose a new terrain classification pipeline for a rover over sandy terrains. It exploits the aside-wheel sensor suite to measure sinkage, contact angle, slip ratio, and normal force. Due to the strong correlation between contact characteristics and terrain types form our experiments, we can infer terrain types based on wheel-terrain interaction parameters. We train various machine learning models and obtained classification results, which is evaluated using the record dataset form a singlewheel testbed. Through Experimental comparison, most models achieve high accuracy (over 90%), we analyze the reasons behind performance discrepancies among different models and recommend LGBM as the preferred approach. In the end, we transfer the models to use data collected from rover field tests and achieve a higher level of accuracy, which proves the effectiveness of our approach. © 2023 IEEE.

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Robotic arm controlled Acoustofluidic End-Effector for particle manipulation 26

Robotic arm controlled Acoustofluidic End-Effector for parti...

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26th International Conference on Miniaturized systems for Chemistry and Life Sciences, MicroTAS 2022

作者： Durrer, Jan Agrawal, Prajwal Ahmed, Daniel Acoustic Robotics Systems Laboratory Institute for Mechanical Systems Department of Mechanical and Process Engineering ETH Zurich Rushlikon8803 Switzerland

ISBN: (纸本)9781733419048

With the development of microfluidics, fluid manipulation is becoming an increasingly critical process. In the macroscale environment, numerous robotic systems are commercially available, however development of these systems at the microscale requires expensive equipment's and reagents, as well as sample preparation at the microscale is relatively difficult. This work integrates robotics and microfluidics in order to demonstrate a robot-assisted acoustofluidic microscale manipulation system (RAMS), incorporating an acoustofluidic end effector and a robotic arm. This RAMS device will open the door to new potential applications such as micromixing, pumping, particle manipulation, and transfection, for example. © 2022 MicroTAS 2022 - 26th International Conference on Miniaturized systems for Chemistry and Life Sciences. All rights reserved.

关键词： End effectors

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

Field Robotics

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Field robotics 2025年 2卷 201-221页

作者： Ivo Vatavuk Marsela Polic Ivan Hrabar Frano Petric Matko Orsag Stjepan Bogdan 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.

关键词： Robots Robot kinematics Navigation Manipulators Cameras Buildings Grippers Automation Service robots Laser radar

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A Microrobot with an Attached Microforce Sensor for Transurethral Access to the Bladder Interior Wall

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Journal of engineering and Science in Medical Diagnostics and Therapy 2023年第3期6卷 031001页

作者： Adejokun, Samson A. Kumat, Shashank S. Shiakolas, Panos S. MARS Lab Mechanical and Aerospace Engineering The University of Texas at Arlington ArlingtonTX76019 United States Micro Medical Manufacturing Automation Robotics Systems Laboratory Mechanical and Aerospace Engineering The University of Texas at Arlington ArlingtonTX United States

We present the conceptual design and limited functionality prototype and characterization of a system for application in transurethral palpation of any targeted area of the bladder interior wall tissue consisting of a robotic manipulator and a microforce sensor attached at its tip all less than 3.5 mm in diameter. A hyper-redundant ten-joint six degrees-of-freedom (6DOF) manipulator (5DOF rigid and five-joint continuum segments) is presented along with the forward and inverse kinematics analyses based on a Jacobian formulation to prevent configuration singularities. Simulated motion studies demonstrate the ability of the proposed manipulator to attain a desired pose (normal to the tissue) with any area in the bladder including the difficult to reach trigone area. A strain gauge-based microforce sensor is designed using finite element analysis (safety factor > 3), prototyped using additive manufacturing, and characterized. The characterized sensor was used to acquire in vivo measurements to evaluate human palm tissue viscoelastic properties. A single module of the continuum segment is designed and prototyped using additive manufacturing, and used to characterize its tension-bend angle behavior. Finite element analysis is used to improve structurally weak regions of the vertebra. A three-joint four-vertebrae prototype was successfully actuated to reach a bend state using tendons. The developed robot and sensor prototypes demonstrate capabilities of the proposed concept which could be a possible solution to quantitatively evaluate localized biomechanical properties of the bladder tissue to improve treatment and provide better patient care. Copyright © 2023 by ASME.

关键词： Inverse kinematics

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Towards Developing a Framework for Autonomous Electric Vehicles Using CARLA: A Validation Using the Deep Deterministic Policy Gradient Algorithm 32

Towards Developing a Framework for Autonomous Electric Vehic...

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32nd Mediterranean Conference on Control and Automation, MED 2024

作者： Matsioris, Georgios Theocharous, Alexandros Tsourveloudis, Nikos Doitsidis, Lefteris School of Production Engineering and Management Technical University of Crete Intelligent Systems and Robotics Laboratory Chania Crete73100 Greece School of Production Engineering and Management Technical University of Crete Chania Crete73100 Greece TUDelft Netherlands

ISBN: (纸本)9798350395440

As the world of transportation goes towards fundamental transformations, the urban mobility experiences the dawn of autonomous electric vehicles. Motivated by this upcoming future, we aim to develop a framework which will facilitate research around digital twins, autonomous agents and efficient electrified transportation. This effort is build around a two seat compact electric vehicle, which is currently getting modified to act as an autonomous platform. The current work has a twofold purpose. Initially to describe the simulated approach towards building a realistic model of the proposed vehicle, which will allow realistic experimentation. Subsequently, we validate our approach by implementing a two step procedure towards an autonomous agent, which will be able to follow a predefined path in an urban environment. Initially we use a standard path planner, namely the A∗ algorithm, and once we have the desired trajectory we train an autonomous agent to perform the navigation task. The whole process is integrated in CARLA simulator by using a tailored GYM environment. © 2024 IEEE.

关键词： Autonomous agents

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