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RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： Arshia Rezaei Faezeh Vahedi Amin Talaeizadeh Aria Alasty Department of Mechanical Engineering Advanced Research Lab for Control and Agricultural Robotics (Sharif AgRoLab) Sharif University of Technology

Multirotors have attracted much attention in recent years. During the design phase, both designers and users are often curious about whether an assembled multirotor can meet their expectations, including hover endurance, system efficiency, maximum load capacity, maximum pitch angle, and maximum flight distance. Traditionally, multirotor performance evaluation involves multiple flight tests or relying on experience, which can be time-consuming and expensive. To solve this challenge, this algorithm is proposed for extensive offline design and evaluation. This algorithm primarily focuses on performance metrics linked to the propulsion system, encompassing components such as motors, propellers, electronic speed controllers, and batteries. In the initial stage of our research, we establish models for these propulsion system components. Notably, the input for these models comprises technical specifications provided by manufacturers. Using these models and their interrelationships, equations were formulated to describe different performance indicators. Then these equations were solved to perform performance evaluation. The effectiveness of this evaluation method is shown through an example developed by a powerful and user-friendly software that enables users to access the performance evaluation approach presented in this article.

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BiRP: Learning Robot Generalized Bimanual Coordination using Relative Parameterization Method on Human Demonstration

arXiv

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arXiv 2023年

作者： Liu, Junjia Sim, Hengyi Li, Chenzui Chen, Fei The Department of Mechanical and Automation Engineering T-Stone Robotics Institute The Chinese University of Hong Kong Hong Kong

Human bimanual manipulation can perform more complex tasks than a simple combination of two single arms, which is credited to the spatio-temporal coordination between the arms. However, the description of bimanual coordination is still an open topic in robotics. This makes it difficult to give an explainable coordination paradigm, let alone applied to robotics. In this work, we divide the main bimanual tasks in human daily activities into two types: leader-follower and synergistic coordination. Then we propose a relative parameterization method to learn these types of coordination from human demonstration. It represents coordination as Gaussian mixture models from bimanual demonstration to describe the change in the importance of coordination throughout the motions by probability. The learned coordinated representation can be generalized to new task parameters while ensuring spatio-temporal coordination. We demonstrate the method using synthetic motions and human demonstration data and deploy it to a humanoid robot to perform a generalized bimanual coordination motion. We believe that this easy-to-use bimanual learning from demonstration (LfD) method has the potential to be used as a data augmentation plugin for robot large manipulation model training. The corresponding codes are open-sourced in https://***/Skylark0924/Rofunc. Copyright © 2023, The Authors. All rights reserved.

关键词： Anthropomorphic robots

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Unknown Object Retrieval in Confined Space through Reinforcement Learning with Tactile Exploration

Unknown Object Retrieval in Confined Space through Reinforce...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Xinyuan Zhao Wenyu Liang Xiaoshi Zhang Chee Meng Chew Yan Wu Robotics and Autonomous Systems Department Institute for Infocomm Research (I2R) A*STAR Singapore Department of Mechanical Engineering National University of Singapore Singapore

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

The potential of tactile sensing for dexterous robotic manipulation has been demonstrated by its ability to enable nuanced real-world interactions. In this study, the retrieval of unknown objects from confined spaces, which is unsuitable for conventional visual perception and gripper-based manipulation, is identified and addressed. Specifically, a tactile-sensorized tool stick that well fits in the narrow space is utilized to provide multi-point contact sensing for object manipulation. A reinforcement learning (RL) agent with a hybrid action space is then proposed to acquire the optimal policy for manipulating the objects without prior knowledge of their physical properties. To accelerate on-hardware training, a focused training strategy is adopted with the hypothesis that an agent trained on a small set of representative shapes can be generalized to a wide range of everyday objects. Additionally, a curriculum on terminal goals is designed to further accelerate the hardware-based training process. Comparative experiments and ablation studies have been conducted to evaluate the effectiveness and robustness of the proposed approach, which highlights the high success rate of our solution for retrieving everyday objects.

关键词： Training Shape Reinforcement learning Robot sensing systems Robustness Sensors Object recognition

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Autonomous Burrowing and Retrieval of Soft Robotic Anchors in Granular Media

Autonomous Burrowing and Retrieval of Soft Robotic Anchors i...

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IEEE International Conference on Soft robotics (RoboSoft)

作者： Dongting Li Michael T. Tolley Nick Gravish Department of Mechanical and Aerospace Engineering University of California San Diego (UCSD) CA USA Materials Science and Engineering Program University of California San Diego CA USA

ISBN: (数字)9798331520205

ISBN: (纸本)9798331520212

Vertical digging into and out of granular media is a challenging task for autonomous systems. Granular media present considerable resistance to vertical penetration due to the high friction forces and large pressure at depths. In this paper, we present a soft robot that is capable of digging into and out of granular media to depths over 10× its body length. Our robot incorporates a vibration motor to locally fluidize the granular media for burrowing, and a soft pneumatic actuator to adjust the volume and hence the density of the robot, allowing it to transition from digging down to digging up. To analyze the performance of the robot, we measure its weight and density, track its location using a motion capture system, and investigate the effect of local fluidization. When the robot is buried and inflated with vibration turned off, it can increase its passive anchoring force by 5.22× (up to 35 N) relative to when the robot is deflated with vibration on. By contrast, by inflating the soft pneumatic bladder and providing vibration the robot is able to actively unburrow.

关键词： Vibrations Weight measurement Pneumatic actuators Tracking Pneumatic systems Media Soft robotics Motors Motion capture Immune system

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Multi-modal jumping and crawling in an autonomous, springtail-inspired microrobot

Multi-modal jumping and crawling in an autonomous, springtai...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Shashwat Singh Zeynep Temel Ryan St. Pierre Department of Mechanical and Aerospace Engineering University at Buffalo Buffalo NY USA The Robotics Institute Carnegie Mellon University Pittsburgh PA USA Department of Computer Science and Engineering University at Buffalo Buffalo NY USA

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Springtails are tiny arthropods that crawl and jump. They jump by temporarily storing elastic energy in resilin elastic cuticular structures and releasing that energy to accelerate a tail, called a furca, propelling them in the air. This paper presents an autonomous, springtail-inspired microrobot that can crawl and jump. The microrobot has a mass of 980mg and stands 13mm tall, and has on-board sensing, computation, and power, enabling autonomy. The microrobot was designed with a super-elastic shape memory alloy (SMA) spring that is manually loaded to store elastic energy. The on-board sensing and computation triggers an actuator at the jump frequency range that unlatches the spring, launching the microrobot into the air at speeds up to 3.171ms −1 . At the same time, the microrobot is capable of crawling, when actuated at frequencies lower or higher than the jump frequency range, demonstrating autonomous multi-modal locomotion. This work opens up new pathways toward autonomy in multi-modal microrobots.

关键词： Time-frequency analysis Power system measurements Actuators Latches Shape memory alloys Density measurement Robot sensing systems

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MambaXCTrack: Mamba-based Tracker with SSM Cross-correlation and Motion Prompt for Ultrasound Needle Tracking

arXiv

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arXiv 2024年

作者： Zhang, Yuelin Ding, Qingpeng Lei, Long Shan, Jiwei Xie, Wenxuan Zhang, Tianyi Yan, Wanquan Tang, Raymond Shing-Yan Cheng, Shing Shin Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Hong Kong Department of Computer Science and Engineering The Chinese University of Hong Kong Hong Kong Medical Physics Graduate Program Duke Kunshan University Jiangsu Kunshan China Department of Medicine and Therapeutics Institute of Digestive Disease The Chinese University of Hong Kong Hong Kong Department of Mechanical and Automation Engineering T Stone Robotics Institute Shun Hing Institute of Advanced Engineering Multi-Scale Medical Robotics Center Institute of Medical Intelligence and XR The Chinese University of Hong Kong Hong Kong

Ultrasound (US)-guided needle insertion is widely employed in percutaneous interventions. However, providing feedback on the needle tip position via US image presents challenges due to noise, artifacts, and the thin imaging plane of US, which degrades needle features and leads to intermittent tip visibility. In this paper, a Mamba-based US needle tracker MambaXCTrack utilizing structured state space models crosscorrelation (SSMX-Corr) and implicit motion prompt is proposed, which is the first application of Mamba in US needle tracking. The SSMX-Corr enhances cross-correlation by longrange modeling and global searching of distant semantic features between template and search maps, benefiting the tracking under noise and artifacts by implicitly learning potential distant semantic cues. By combining with cross-map interleaved scan (CIS), local pixel-wise interaction with positional inductive bias can also be introduced to SSMX-Corr. The implicit lowlevel motion descriptor is proposed as a non-visual prompt to enhance tracking robustness, addressing the intermittent tip visibility problem. Extensive experiments on a dataset with motorized needle insertion in both phantom and tissue samples demonstrate that the proposed tracker outperforms other stateof- the-art trackers while ablation studies further highlight the effectiveness of each proposed tracking module. © 2024, CC BY.

关键词： Needles

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Proposition of water meter for buildings based on a thin-film resistive sensor: Electromechanical and thermal characterizations 11

Proposition of water meter for buildings based on a thin-fil...

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11th Brazilian Congress on Metrology, Metrologia 2021

作者： Gonçalves, L.S. Medeiros, K.A.R. Barbosa, C.R.H. Pontifical Catholic University of Rio de Janeiro Postgraduate Program Department of Chemical and Materials Engineering Rio de Janeiro Brazil Pontifical Catholic University of Rio de Janeiro Mechanical Engineering Department Optical Fiber Sensors Laboratory Rio de Janeiro Brazil Pontifical Catholic University of Rio de Janeiro Postgraduate Program in Metrology Rio de Janeiro Brazil

Notoriously, measurement proves to be essential to encourage water conservation. Thus, this work characterizes two thin-film resistive sensors (bend sensors) with different coatings aiming at their application to measure water consumption. For this, the individual water measurement system is presented and discussed briefly. Then, resistive sensor parameters and operating principles are detailed, as well as the mathematical formulation of the correlation of the sensor resistance with the flow velocity. Methodologically, the system developed for the electromechanical and thermal characterization of the sensor is presented. The results allowed obtaining a quadratic relationship between the sensor deflection angle and the resistance. Furthermore, it was observed that the polyester-coated sensor presented a low hysteresis value when subjected to temperature variation, obtaining a negative linear relationship between the sensor resistance and temperature. In turn, the polyimide-coated sensor did not show low hysteresis when exposed to temperature change and flexed at 50° and 70° angles. Finally, it is proposed for future work computer simulations and experimental tests to confirm the applicability of the sensor for water measurement. © Published under licence by IOP Publishing Ltd.

关键词： Water conservation

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A dexterous origami-inspired soft (DOIS) robot for objects reorientation and overturn

A dexterous origami-inspired soft (DOIS) robot for objects r...

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

作者： Chen, Zhi Siu, Shipan Tin, Sinyee Liu, Yukhei Cao, Hanwen Gao, Yuan Zhou, Jianshu Liu, Yunhui Chinese University of Hong Kong Department of Mechanical and Automation Engineering Hong Kong Center of Logistics Robotics

ISBN: (纸本)9781665436786

Soft robots have presented their potential for dexterous and smooth motion with inherent compliance, compact structure, and easy control over the traditional rigid robots. This paper presents a 3D printed origami-inspired soft robot (DOIS) robot, which is inspired by the zig-zag origami structure, capable of bi-lateral bending and linear extension/contraction in a compact structure. The motion range and dimension of DOIS robot are fully customizable. The actuation and control of DOIS robot are realized by two drive cables. Mounting a dedicated end-effector at the tip, the DOIS robot is capable of tackling challenges where robots need flexible motion such as object reorientation. We present two scenarios, egg reorientation and envelope flipping, to show the superiority of DOIS robot. The design, modeling, and control of DOIS robot are discussed in detail in this paper with related experimental validation. The proposed DOIS robot provides a practical solution for dexterous soft robot design. © 2021 IEEE.

关键词： End effectors

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Development of an Experimental Protocol to Study the Neural Control of Force and Impedance in Wrist Movements with robotics and fMRI

Development of an Experimental Protocol to Study the Neural ...

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IEEE/RAS-EMBS International Conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Kristin Schmidt Bastien Berret Fabrizio Sergi Department of Biomedical Human Robotics Laboratory University of Delaware Newark DE USA Department of Mechanical Engineering Human Robotics Laboratory University of Delaware Newark DE USA CIAMS Université Paris-Saclay Orsay France

ISBN: (数字)9798350386523

ISBN: (纸本)9798350386530

Robotic exoskeletons have emerged as beneficial tools in the field of rehabilitation, yet their full potential is impeded by our limited knowledge of the neural control of movements during human-robot interaction. To personalize exoskeleton protocols and improve individuals' motor recovery, we must advance our understanding of how the brain commands movements in physical interaction tasks. However, interpreting the neural function associated with these movements is complex due to the simultaneous expression of at least two control policies: force and impedance control. This hinders our ability to isolate these control mechanisms and pinpoint their neural origins. In this study, we evaluate the capacity of externally applied forces to decouple the expression of force and impedance in a wrist-pointing task, a necessary step in isolating their neural substrates via neuroimaging. We first conducted simulations using a neuromuscular model to examine how both force and impedance commands are updated when participants are asked to perform reaching movements in the presence of an externally applied force. Then, we recruited seven participants to perform a wrist-pointing task with the MR-SoftWrist, an MRI-compatible wrist robot. The task included four different force conditions - no force, positive constant force, negative constant force, and divergent force, each carefully selected to decouple expression of force and impedance control. Furthermore, we evaluated the efficacy of our proposed conditions for a neuroimaging experiment through simulations of neural activity. We show that these applied forces elicit distinct and predictable torque and stiffness expression, laying the groundwork for reliably identifying their associated neural activity in a future neuroimaging study.

关键词： Wrist Neuroimaging Protocols Torque Force Neural activity Exoskeletons Impedance Robots Substrates

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Improving Control Theory Education Through Face-to-Face Implementation of a Mobile robotics Methodology

Improving Control Theory Education Through Face-to-Face Impl...

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2024 Brazilian Symposium on robotics (SBR), and 2024 Workshop on robotics in Education (WRE)

作者： M. A. Pastrana William Humberto Cuéllar Sánchez Jose Mendoza-Peñaloza M. S. Santana Daniel M. Muñoz Department of Mechanical Engineering Mechatronics Graduate Program University of Federal District UDF Brasilia DF Brazil Faculty of Gama Electronics Engineering Undergraduate Program University of Brasilia Brasilia DF Brazil

ISBN: (数字)9798350391084

ISBN: (纸本)9798350391091

Advances in information and communication technologies have significantly transformed engineering education. Virtual laboratories are increasingly adopted to enhance student interaction with control system simulations. The improved visualization and interaction capabilities of modern computers offer a more organic way to teach theoretical foundations. This paper describes the implementation of a methodology for teaching control theory that until now was entirely online in a face-to-face environment at the University of the Federal District in Brasilia, Brazil. This methodology utilizes virtual laboratories with CoppeliaSim, MATLAB, and the EVA mobile robot to teach control theory focused on single-input, single-output (SISO) systems for mobile robot tracking and obstacle avoidance applications. The results of the face-to-face implementation are compared to those of the fully online methodology, revealing that in-person teaching significantly enhances the quality of instruction.

关键词： Visualization Mechatronics Educational robots SISO Education Laboratories Software Control theory Mobile robots MATLAB

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