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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Andrew L. Orekhov Garrison L. H. Johnston Nabil Simaan Department of Mechanical Engineering Vanderbilt University Nashville TN The Robotics Institute Carnegie Mellon University Pittsburgh PA

Continuum robots suffer large deflections due to internal and external forces. Accurate modeling of their passive compliance is necessary for accurate environmental interaction, especially in scenarios where direct force sensing is not practical. This paper focuses on deriving analytic formulations for the compliance of continuum robots that can be modeled as Kirchhoff rods. Compared to prior works, the approach presented herein is not subject to the constant-curvature assumptions to derive the configuration space compliance, and we do not rely on computationally-expensive finite difference approximations to obtain the task space compliance. Using modal approximations over curvature space and Lie group integration, we obtain closed-form expressions for the task and configuration space compliance matrices of continuum robots, thereby bridging the gap between constant-curvature analytic formulations of configuration space compliance and variable curvature task space compliance. We first present an analytic expression for the compliance of a single Kirchhoff rod. We then extend this formulation for computing both the task space and configuration space compliance of a tendon-actuated continuum robot. We then use our formulation to study the tradeoffs between computation cost and modeling accuracy as well as the loss in accuracy from neglecting the Jacobian derivative term in the compliance model. Finally, we experimentally validate the model on a tendon-actuated continuum segment, demonstrating the model's ability to predict passive deflections with error below 11.5% percent of total arc length.

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SonoTransformers: Ultrafast Transformable Wireless Microscale Machines

arXiv

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arXiv 2023年

作者： Zhang, Zhiyuan Shi, Zhan Ahmed, Daniel Acoustic Robotics Systems Lab Institute of Robotics and Intelligent Systems Department of Mechanical and Process Engineering ETH Zurich RüschlikonCH-8803 Switzerland

Shape transformation, a key mechanism for organismal survival and adaptation, has gained importance across fields as diverse as electronics and medicine. However, designing and controlling microscale shape-shifting materials remains a fundamental challenge in various actuation modalities. Here, we introduce "SonoTransformer," an acoustically activated micromachine that delivers ultrafast transformability using preprogrammed soft hinges. These hinges concentrate energy through intensified oscillation and provide the necessary torque for transformation. We have created new machine designs to predetermine the folding state, enabling tailoring and milliseconds transformation. Additionally, we have shown selective transformation by adjusting acoustic power, realizing high degrees of control and functional versatility. Our findings open new research avenues in acoustics, physics, and soft matter, offering new design paradigms and development opportunities in robotics, metamaterials, adaptive optics, and microtechnology. © 2023, CC BY.

关键词： Hinges

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Fuzzy Logic for Assessing the Health of a Corn Crop within Family Farming

Fuzzy Logic for Assessing the Health of a Corn Crop within F...

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Latin America Congress on Computational Intelligence (LA-CCI)

作者： Vanessa Mendonça Mikael Santos Daniel M. Muñoz Carlos Humberto Llanos Department of Computer Science Federal Institute of Brasilia Department of Mechanical Engineering Mechatronics Graduate Program Department of Agronomy Federal Institute of Brasilia Faculty of Gama Electronics Engineering Undergraduate Program University of Brasilia Brasilia DF Brazil

ISBN: (数字)9798350374575

ISBN: (纸本)9798350374582

Technological advancements are increasingly evident across various sectors, including automobiles, industry, and healthcare. In precision agriculture, significant progress has been made, with AgroTICs and Smart Agriculture gaining substantial traction in the market. However, a gap remains between cutting-edge technology and family farming, presenting a challenge from both social and applied research perspectives. However, there is still a gap between cutting-edge technology and family farming, which creates a challenge from a social and applied research point of view. In this context, this paper proposes a monitoring model based on Fuzzy Logic and sensor automation applied to estimate the health of a corn crop. The proposed Fuzzy inference system involves calculating an indicator of nutrients as well as the average color and area of corn plants. The nutrient indicator is automatically computed by an ESP32 microcontroller using sensor readings, while the average color and area inputs are manually entered via a mobile application. Additionally, the Fuzzy inference is integrated into the ESP32. The model underwent experimental validation on the health of the plantation, and the results were evaluated in four areas: one was designated for testing, and three were for validation. The model achieved an accuracy of 97.5% in Scenario 3, categorized as ’Very Favorable’, and an accuracy of 65% in Scenarios 2 and 4, categorized as ‘Unfavorable’. The implications of this research contribute to the advancement of AgroTICs among small producers, with the potential to enhance and automate the monitoring of their harvest production.

关键词： Fuzzy logic Accuracy Computational modeling Plantations Crops Production Color Nutrients Monitoring Fuzzy systems

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Optimizing Route Efficiency in Formula One (F1) Vehicles Using Reinforcement Learning Algorithms

Optimizing Route Efficiency in Formula One (F1) Vehicles Usi...

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AI in Cybersecurity (ICAIC), International Conference on

作者： Sanam Narejo Muhammad Taimoor Khan Muhammad Zakir Shaikh Lubna Luxmi Dhirani Bhawani Shankar Chowdhery Department of Computer Systems Mehran Univerity of Engineering and Technology Jamshoro Pakistan National Centre for Robotics Automation and Artificial Intelligence Mehran Univerity of Engineering and Technology Jamshoro Pakistan Mechanical Engineering and energy efficiency School of Industrial Engineering University of Malaga Malaga Spain Department of Electronic and Computer Engineering University of Limerick Limerick Ireland

ISBN: (数字)9798331518882

ISBN: (纸本)9798331518899

This research explores the application of reinforcement learning (RL) to enhance route efficiency and performance of a Formula One (F1) car within a simulation environment. The simulation is implemented using Python, NEAT (NeuroEvolution of Augmenting Topologies), and PyGame to create a dynamic system where neural networks control the car’s navigation. RL enables the F1 car, acting as an agent, to learn optimal decisions through a fitness-based reward mechanism by interacting with its environment. Equipped with radar sensors to detect obstacles and measure distances, the virtual car adjusts its speed and steering to avoid collisions and optimize movement. Over successive generations, the RL algorithm refines the car’s driving ability, improving speed and directional control to maximize distance covered and minimize lap times. A fitness-based evaluation system tracks progress, providing metrics such as best and average fitness scores, which highlight the car’s evolving performance. Results demonstrate the effectiveness of RL in enhancing autonomous driving capabilities, enabling the car to navigate complex environments and improve decision-making across generations.

关键词： Navigation Tracking Neural networks Decision making Reinforcement learning Radar tracking Topology Sensors Automobiles Vehicle dynamics

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Initial State Update-Based Position Control of Flexible Continuum Manipulators Utilizing Virtual Actuation Space

Initial State Update-Based Position Control of Flexible Cont...

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IEEE International Conference on robotics and Biomimetics

作者： Md Modassir Firdaus Smit Prajapati Madhu Vadali Department of Mechanical Engineering Indian Institute of Technology Gandhinagar India Research Intern at IITGN Robotics Lab Indian Institute of Technology Gandhinagar India

ISBN: (数字)9798331509644

ISBN: (纸本)9798331509651

Continuum manipulators have proven their importance in applications requiring high articulation and their use in confined space usability. However, their control continues to remain a challenge. This paper proposes a novel control method for tendon-driven flexible continuum manipulators (FCMs). The proposed kinematic control exploits the fact that any three-dimensional motion of the FCM can be transformed into planar motion along a bending plane. Thus, a virtual actuation space is proposed with a virtual tendon and the angle of the bending plane as inputs with continuous adjustment of the initial state of FCM. A detailed formulation of the control methodology in the virtual actuation space is discussed in the paper. The methodology is validated experimentally for multiple positions with errors around 5% to 10%.

关键词： Biological system modeling Position control Aerospace electronics Bending Manipulators Mathematical models Real-time systems Usability Tendons Load modeling

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Architecture of a Low-Cost Solution for ROVs to Improve Navigation and Data Collection 20th

Architecture of a Low-Cost Solution for ROVs to Improve Navi...

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20th International Symposium on Distributed Computing and Artificial Intelligence, DCAI 2023

作者： Severino, Umberto Fortuna, Santina Lagudi, Antonio Bruno, Fabio Mišković, Nikola Djapic, Vladimir Department of Mechanical Energetic and Management Engineering University of Calabria Arcavacata di Rende87036 Italy Faculty of Electrical Engineering and Computing University of Zagreb Zagreb10 000 Croatia H2O Robotics Ltd Zagreb10 000 Croatia Institute for Artificial Intelligence Research and Development Novi Sad21000 Serbia

ISBN: (纸本)9783031383175

The documentation, conservation, and preservation of underwater archaeological sites is conventionally performed by divers in shallow waters. However, when dealing with significant depths, the sites can be inaccessible for humans, presenting significant challenges and risks, making these activities hazardous. Recently, the use of robotic platform such as remotely operated vehicles (ROVs) allows to overcome the difficulty of such a harsh environment. Nevertheless, professional-grade ROVs employed for this purpose are expensive and specifically designed with integrated advanced sensor systems for data acquisition and navigation. In the context of the MSCA-RISE H2020 Technological Consortium TO develop sustainability of underwater Cultural heritage (TECTONIC) project, a solution consisting of an optical payload and an acoustic localization system for low-cost ROV, was defined in order to support ROV pilots during documentation and monitoring activities. The project aims to preserve underwater cultural heritage (UCH) encompassing the selection of a commercially available ROV and the definition of a customized hardware/software (HW/SW) architecture. After market research, a suitable commercial off-the-shelf (COTS) low-cost ROV was defined and used as the foundation for integration. mechanical, electric, and data interface modules were designed to seamlessly integrate and manage the sensor suite. The results of the integration demonstrate the potential of the chosen algorithms and the sensor suite for improved navigation and data collection in challenging underwater environments, where high-grade and expensive sensors are not available, thereby making more accessible the field of underwater survey missions. © 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Costs

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Towards Biomechanical Evaluation of a Transformative Additively Manufactured Flexible Pedicle Screw for Robotic Spinal Fixation

Towards Biomechanical Evaluation of a Transformative Additiv...

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International Symposium on Medical robotics (ISMR)

作者： Yash Kulkarni Susheela Sharma Jordan P. Amadio Farshid Alambeigi Walker Department of Mechanical Engineering Texas Robotics at the University of Texas at Austin Austin TX USA Department of Neurosurgery The University of Texas Dell Medical School TX

ISBN: (数字)9798350377118

ISBN: (纸本)9798350377125

Vital for spinal fracture treatment, pedicle screw fixation is the gold standard for spinal fixation procedures. Nevertheless, due to the screw pullout and loosening issues, this surgery often fails to be effective for patients suffering from osteoporosis (i.e., having low bone mineral density). These failures can be attributed to the rigidity of existing drilling instruments and pedicle screws forcing clinicians to place these implants into the osteoporotic regions of the vertebral body. To address this critical issue, we have developed a steerable drilling robotic system and evaluated its performance in drilling various J- and U-shape trajectories. Complementary to this robotic system, in this paper, we propose design, additive manufacturing, and biomechanical evaluation of a transformative flexible pedicle screw (FPS) that can be placed in pre-drilled straight and curved trajectories. To evaluate the performance of the proposed flexible implant, we designed and fabricated two different types of FPSs using the direct metal laser sintering (DMLS) process. Utilizing our unique experimental setup and ASTM standards, we then performed various pullout experiments on these FPSs to evaluate and analyze their biomechanical performance implanted in straight trajectories.

关键词： Drilling Biomechanics Surgery Sintering Implants Fasteners Three-dimensional printing

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A Doughnut Shaped Soft Gripper Based on 4D Printed Hydrogels

A Doughnut Shaped Soft Gripper Based on 4D Printed Hydrogels

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

作者： Zhe Qiu Zaiyang Liu Yitong Xue Qinshang Xie Takuto Chihara Yuma Sakurai Tatsuya Kobayashi Tsubasa Honma Hidemitsu Furukawa Zhongkui Wang Research Organization of Science and Technology Ritsumeikan University Japan Graduate School of Science and Engineering Ritsumeikan University Japan Department of Mechanical Systems Engineering Yamagata University Japan Department of Robotics Ritsumeikan University Japan

ISBN: (数字)9798350372601

ISBN: (纸本)9798350372618

Soft grippers have recently been implemented to various applications due to their flexibility and compliance. They are conventionally actuated by electric and pneumatic systems. However, it is difficult to apply electric- and pneumatic-driven grippers to underwater applications thanks to the lack of waterproof ability. In this paper, we propose a doughnut shaped soft gripper based on four dimensional (4D) printing of hydrogels. The 4D printed hydrogels is capable of deforming when exposing to water stimuli. According to the property analysis of 4D printed hydrogels, such as deformation and force calibration, design parameters of the doughnut shaped gripper was determined. Underwater handling experiments were successfully conducted using the proposed soft gripper for grasping various objects with different shapes.

关键词： Printing Shape Deformation Hydrogels Force Grasping Pneumatic systems

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Data-Driven Identification of an Overhead Crane Using Grammar Guided Genetic programming with Sparse Regression

SSRN

引用

SSRN 2023年

作者： Kusznir, Tom Smoczek, Jaroslaw Department of Manufacturing Systems Faculty of Mechanical Engineering and Robotics AGH University of Science and Technology Kraków Poland

In this work a novel evolutionary based method, termed grammar guided genetic programming with sparse regression (G3P—SR) is presented and applied in order to identify the dynamics of an underactuated overhead crane system based on experimental data. The use of evolution in determining the model structure results in a gray-box model where there is no prior requirement of expert knowledge of the system and the obtained solution can give valuable insight into the system behavior. The space of searchable functions is constrained by a set of production rules which aids in convergence and can lead to more interpretable model terms, while a sparse regression based on the l0 penalty both computes the parameters and selects appropriate terms by thresholding insignificant model terms. The proposed method is compared with a NARX neural network and a Takagi-Sugeno fuzzy ARX model at different operating points. © 2023, The Authors. All rights reserved.

关键词： Genetic programming

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Financial Analysis of Cooling Systems for Environmental Conditioned Strawberry Cultivation in Semi-Closed Greenhouses in Chiang Mai, Thailand

Financial Analysis of Cooling Systems for Environmental Cond...

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Energy and Sustainable Development

作者： Chayanan Thanthong Napassawan Wongmongkol Chatchawan Chaichana Suwimon Wicharuck Department of Mechanical Engineering Graduate master's degree Program in Energy Engineering Faculty of Engineering Chiang Mai University Chiang Mai Thailand Department of Mechanical Engineering Faculty of Engineering Chiang Mai University Chiang Mai Thailand Energy Technology for Environment Research Center Faculty of Engineering Chiang Mai University Chiang Mai Thailand

ISBN: (数字)9798331517076

ISBN: (纸本)9798331517083

Strawberry production is an important crop in the northern region of Thailand that is only available in winter. Theoretically, strawberries can be grown in plant factories that can control the climate conditions strawberries need. Generally, the cooling load from lighting accounts for almost 80% of the total heat load in the plant factory. To reduce the cost of using light energy and the heat load in plant factories, this study was conducted on cultivation methods in semi-closed greenhouses that utilize natural light during the day. Coolness is generated by solar energy during the day and stored in cooling energy storage that stored coolness is used during the night. The total cooling load for year-round strawberry cultivation in the greenhouse was about 814 GJ, consisting of the stages of strawberry floral initiation, flowering, and fruiting at 17%, 17%, and 66%, respectively. In addition, the payback period is around 14.16 - 16.29 years.

关键词： Heating systems Costs Water storage Cooling Net zero Greenhouses Solar energy Flowering plants Machinery Meteorology

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