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Improvement of Localization Algorithm for Indoor and Outdoor Navigation of Autonomous Robots

Journal of Institute of Control, robotics and Systems 2025年第5期31卷 502-509页

作者： Cho, Joonhyuk Kim, Bongsang Moon, Heechang Industrial Convergence Interdepartmental Program Autonomous Vehicle Intelligent Robotics The Graduate School of Hongik University Korea Republic of Mechanical & System Design Engineering Hongik University Korea Republic of

Location estimation for waypoint-based autonomous driving robots primarily relies on SLAM (Simultaneous Localization and Mapping) and GNSS (Global Navigation Satellite System) technologies. GNSS performs well in open areas but struggles with signal issues, while SLAM offers high accuracy in feature-rich environments but faces challenges in open spaces. This study integrates SLAM and GNSS, enabling seamless switching between systems when one encounters difficulties. The combined system ensures consistency by aligning coordinate systems and directional data. Experiments in indoor, forest, and open environments demonstrate that the switching algorithm enables stable autonomous driving in diverse conditions, effectively leveraging the strengths of both systems. © ICROS 2025.

关键词： Global positioning system

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Mechanistic modeling of copper corrosions in data center environments

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Building Simulation 2024年第3期17卷 483-492页

作者： Rui Zhang Jianshun Zhang Roger Schmidt Jeremy L.Gilbert Department of Mechanical and Aerospace Engineering College of Engineering and Computer ScienceSyracuse UniversitySyracuseNY13244USA Buildings and Transportation Science Division Oak Ridge National LaboratoryOak RidgeTN37830USA SyracuseCoE-New York Center of Excellence in Environmental and Energy Systems Syracuse University727 E.Washington StreetSyracuseNY13244USA Department of Bioengineering Clemson UniversityClemson-Medical University of South Carolina Bioengineering ProgramCharlestonSC29425USA

Air-side economizers are increasingly used to take advantage of“free-cooling”in data centers with the intent of reducing the carbon footprint of ***,they can introduce outdoor pollutants to indoor environment of data centers and cause corrosion damage to the information technology *** evaluate the reliability of information technology equipment under various thermal and air-pollution conditions,a mechanistic model based on multi-ion transport and chemical reactions was *** model was used to predict Cu corrosion caused by Cl_(2)-containing pollutant *** also accounted for the effects of temperature(25℃and 28℃),relative humidity(50%,75%,and 95%),and *** also identified higher air temperature as a corrosion barrier and higher relative humidity as a corrosion accelerator,which agreed well with the experimental *** average root mean square error of the prediction was 13.7Å.The model can be used to evaluate the thermal guideline for data centers design and operation when Cl_(2)is present based on pre-established acceptable risk of corrosion in data centers’environment.

关键词： chloride pollutant mixture copper corrosion model data center temperature relative humidity synergistic effect

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Hanging a T-Shirt: A Step Towards Deformable Peg-in-Hole Manipulation with Multimodal Tactile Feedback

Hanging a T-Shirt: A Step Towards Deformable Peg-in-Hole Man...

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2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Du, Yipai Aslam, Shoaib Wang, Michael Yu Shi, Bertram E. The Hong Kong University of Science and Technology Hong Kong Hong Kong Hong Kong Center for Construction Robotics InnoHK center supported by HONG KONG ITC Hong Kong Hong Kong University of Engineering and Technology Lahore Department of Mechanical and Mechatronis Engineering Faisalabad Campus Pakistan School of Engineering Great Bay University Guangdong Dongguan China

ISBN: (纸本)9781665481090

Peg-in-hole manipulation has been a long-standing problem in robotics due to its broad application in both domestic and industrial domains. Due to advances in perception and modeling, deformable object manipulation is attracting increasing attention. This paper focuses on the intersection of these problems, where a hole must be deformed to allow peg entry. A common domestic application of this task is to pass a clothes hanger through a T-shirt's neckline to hang it. We demonstrate that the complexity of the problem can be reduced by using multimodal tactile feedback from a GelSight sensor. High-resolution contact detection helps to localize grasp to suitable locations on the T-shirt. Using tactile feedback to track a force trajectory, our algorithm can manipulate T-shirts of varying size and stiffness so that their neckline encloses the hanger. Our experimental results show consistency with the theoretical analysis. We anticipate that our proposed method will be more broadly applicable to other problems requiring simultaneous estimation and execution of force trajectory for elastic objects. © 2024 IEEE.

关键词： Feedback

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Evaluation of temperature dependent vortex pinning properties in strongly pinned YBa_(2)Cu_(3)O_(7-δ)thin films with Y_(2)BaCuO_(5)nanoinclusions

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Superconductivity 2024年第1期9卷 95-105页

作者： Alok K.Jha Kaname Matsumoto Tomoya Horide Shrikant Saini Ataru Ichinose Paolo Mele Yutaka Yoshida Satoshi Awaji Department of Materials Science and Engineering Kyushu Institute of TechnologyTobata-kuKitakyushu 804-8550Japan Department of Mechanical and Control Engineering Kyushu Institute of TechnologyTobata-kuKitakyushu 804-8550Japan Central Research Institute of Electrical Power Industry YokosukaKanagawa 240-0196Japan College of Engineering-Innovative Global Program Shibaura Institute of TechnologyMinuma-kuSaitama 337-8570Japan Department of Energy Engineering and Science Nagoya UniversityChikusa-kuNagoya 464-8603Japan Institute for Materials Research Tohoku UniversityAoba-kuSendai 980-8577Japan

The pinning of quantized magnetic vortices in superconducting YBa_(2)Cu_(3)O_(7-δ)(YBCO or Y123)thin films with Y_(2)BaCuO_(5)(Y211)nanoinclusions have been investigated over wide temperature range(4.2-77 K).The concentration of Y211 nanoinclusions has been systematically varied inside YBCO thin films prepared by laser ablation technique using surface modified target *** pinning force density values(Fp∼0.5 TNm^(−3)at 4.2 K,9 T)have been observed for the YBCO film with moderate concentration of Y211 nanoinclusions(3.6 area%on ablation target).In addition,uniform enhancement in critical current density(J_(c))was observed in the angular dependent J_(c)measurement of YBCO+Y211 nanocomposite films.Y211 nanoinclusions have been found to be very efficient in pinning the quantized vortices thereby enhancing the in‐field J_(c)values over a wide range of *** the concentration of Y211 secondary phase into Y123 film matrix results into agglomeration of Y211 phase and observed as increased Y211 nanoparticle *** larger secondary phase nanoparticles are not as efficient pinning centers at lower temperatures as they are at higher temperatures due to substantial reduction of the coherence length at lower *** of the temperature dependence of J_(c)for YBCO+Y211 nanocomposite films has been conducted and possible vortex pinning mechanism in these nanocomposite films has been discussed.

关键词： YBCO thin film Critical current Vortex pinning Nanoscale APCs

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Learning Goal-oriented Bimanual Dough Rolling Using Dynamic Heterogeneous Graph Based on Human Demonstration

Learning Goal-oriented Bimanual Dough Rolling Using Dynamic ...

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2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Liu, Junjia Li, Chenzui Wang, Shixiong Dong, Zhipeng Lam, Tin Lun Calinon, Sylvain Li, Miao Chen, Fei T-Stone Robotics Institute The Chinese University of Hong Kong Department of Mechanical and Automation Engineering Hong Kong Hong Kong School of Science and Engineering The Chinese University of Hong Kong Shenzhen Institute of Artificial Intelligence and Robotics for Society Shenzhen China Sylvain Calinon is with the Idiap Research Institute Martigny Switzerland School of Microelectronics Institute of Technological Sciences Wuhan University Wuhan China

ISBN: (纸本)9781665481090

Soft object manipulation poses significant chal-lenges for robots, requiring effective techniques for state representation and manipulation policy learning. State representation involves capturing the dynamic changes in the environment, while manipulation policy learning focuses on establishing the relationship between robot actions and state transformations to achieve specific goals. To address these challenges, this research paper introduces a novel approach: a dynamic heterogeneous graph-based model for learning goal-oriented soft object manipulation policies. The proposed model utilizes graphs as a unified representation for both states and policy learning. By leveraging the dynamic graph, we can extract crucial information regarding object dynamics and manipulation policies. Furthermore, the model facilitates the integration of demonstrations, enabling guided policy learning. To evaluate the efficacy of our approach, we designed a dough rolling task and conducted experiments using both a differentiable simulator and a real-world humanoid robot. Additionally, several ablation studies were performed to analyze the effect of our method, demonstrating its superiority in achieving human-like behavior. © 2024 IEEE.

关键词： Adversarial machine learning

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Comparative Analysis of Uncertainty Characterization Methods in Urban Building Energy Models in Hot-Arid Regions 18

Comparative Analysis of Uncertainty Characterization Methods...

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18th IBPSA Conference on Building Simulation, BS 2023

作者： Zhan, Dongxue Sezer, Nurettin Hassan, Ibrahim Galal Wang, Liangzhu Centre for Zero Energy Building Studies Department of Building Civil and Environmental Engineering Concordia University MontrealQC Canada Mechanical Engineering Program Texas A&M University at Qatar Engineering Building Education City Doha Qatar

The development of reliable building energy models at the urban scale is crucial for analyzing and optimizing the energy efficiency of cities. The bottom-up physics-based approach has been widely employed in Urban Building Energy Models (UBEMs). However, the uncertainty of input parameters can impact the reliability of UBEM simulation outputs, and very limited studies considered the uncertainty when developing archetype models for UBEMs. While UBEMs typically rely on a traditional deterministic approach, incorporating probabilistic methods can significantly enhance simulation accuracy by accounting for uncertain variables. Probabilistic methods involve characterizing key uncertainties in input data using Probability Distribution Functions (PDFs). Yet, the effect of using different PDF types on UBEM results is not adequately understood, and the literature often assumes uniform distribution. In this study, UBEM is characterized based on three methods. The deterministic approach is used to serve as a baseline, and two different PDF types are used to examine how PDFs impact simulation results when uncertain parameters are present in UBEMs. Latin Hypercube Sampling (LHS) is employed to propagate uncertainty in input parameters in UBEM. The study is conducted on a case study area of the Marina district of Lusail City, Qatar, characterized by a hot and arid climate. © 2023 *** rights reserved.

关键词： Energy efficiency

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Control Contraction Metrics on Submanifolds 63

Control Contraction Metrics on Submanifolds

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63rd IEEE Conference on Decision and Control, CDC 2024

作者： Wu, Dongjun Yi, Bowen Manchester, Ian R. Lund University Department of Automatic Control Box 118 LundSE-221 00 Sweden Polytechnique Montreal Department of Electrical Engineering & Gerad QCH3T 1J4 Canada The University of Sydney Australian Centre for Robotics School of Aerospace Mechanical and Mechatronic Engineering Australia

ISBN: (纸本)9798350316339

In this paper, we extend the control contraction metrics (CCM) approach, which was originally proposed for the universal tracking control of nonlinear systems, to those that evolves on submanifolds. We demonstrate that the search for CCM on submanifolds can be reformulated as convex conditions. In particular, since Lie groups can be viewed as submanifolds in Euclidean space, the results are directly applicable to this setting. © 2024 IEEE.

关键词： Nonlinear simulations

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A Multi-Objective Simulation-Optimization Framework for the Design of a Compliant Gravity Balancing Orthosis

A Multi-Objective Simulation-Optimization Framework for the ...

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

作者： Haider A. Chishty Fabrizio Sergi Department of Biomedical and Mechanical Engineering Human Robotics Laboratory University of Delaware Newark DE USA

ISBN: (数字)9798350386523

ISBN: (纸本)9798350386530

Flexion-synergy is a stereotypical movement pattern that inhibits independent joint control for those who have been affected by stroke; this abnormal co-activation of elbow flexors with shoulder abductors significantly reduces range of motion when reaching against gravity. While wearable orthoses based around compliant mechanisms have been shown to accurately compensate for the arm at the shoulder, it is unclear if accurate compensation can also be achieved while minimizing device bulk. In this work, we present a novel, multi-objective simulation-optimization framework towards the goal of designing practical gravity-balancing orthoses for the upper-limb. Our framework includes a custom built *** application to run nonlinear finite element simulations in SolidWorks, and interfaces with a MATLAB-based particle swarm optimizer modified for mul-tiple objectives. The framework is able to identify a set of Pareto-optimal compliant mechanism designs, confirming that compensation accuracy and protrusion minimization are indeed conflicting design objectives. This Pareto set is compared to an approximation of the current state-of-the-art. The execution of the simulation-optimization framework demonstrates a capability of achieving designs that compensate for more than 90% of the arm's gravity, as well as those that exhibit an average protrusion of 15 % of the arm length if not lower, with different trade-offs between these two objectives.

关键词： Solid modeling Manufacturing processes Accuracy Shoulder Minimization Object recognition Particle swarm optimization Motion control Robots Gravity

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A Player Position Tracking Method Based on a Wide-Area Pan-Tilt-Zoom Video 12

A Player Position Tracking Method Based on a Wide-Area Pan-T...

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Proceedings of the 12th International Conference on Sport Sciences Research and Technology Support, icSPORTS 2024

作者： Yamagishi, Shunzo Xie, Chun Shishido, Hidehiko Kitahara, Itaru Master's and Doctoral Program in Intelligent Mechanical Interaction Systems University of Tsukuba Ibaraki Japan Center for Computational Sciences University of Tsukuba Ibaraki Japan Faculty of Science and Engineering Department of Information Systems Engineering Soka University Tokyo Japan

ISBN: (纸本)9789897587191

This paper proposes a method to estimate the posture of an athlete moving on a vast field in a sporting event using a pan-tilt-zoom camera. In order to estimate the posture of an athlete on a sports field from a dynamic video sequence, our method extracts image features to search correspondence points among successive frames and computes the homography transformation matrix that compensates for changes the camera parameters (e.g., angle of view and posture). The effectiveness of this method is qualitatively verified using MLB TV broadcast video. The accuracy and error factors are also quantitatively verified by CG simulation. Copyright © 2024 by SCITEPRESS - Science and Technology Publications, Lda.

关键词： Pan-Tilt-Zoom Camera Player Tracking Sports Analytics Video Processing Wide-Area

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A Unified MPC Strategy for a Tilt-rotor VTOL UAV Towards Seamless Mode Transitioning

arXiv

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arXiv 2024年

作者： Chen, Qizhao Hu, Ziqi Geng, Junyi Bai, Dongwei Mousaei, Mohammad Scherer, Sebastian Carnegie Mellon University PittsburghPA15213 United States Pennsylvania State University University ParkPA16802 United States Department of Mechanical Engineering United States Department of Mechanical Engineering United States Department of Aerospace Engineering United States Department of Mechanical Engineering United States The Robotics Institute United States The Robotics Institute United States

Capabilities of long-range flight and vertical take-off and landing (VTOL) are essential for Urban Air Mobility (UAM). Tiltrotor VTOLs have the advantage of balancing control simplicity and system complexity due to their redundant control authority. Prior work on controlling these aircraft either requires separate controllers and switching modes for different vehicle configurations or performs the control allocation on separate actuator sets, which cannot fully use the potential of the redundancy of tiltrotor. This paper introduces a unified MPC-based control strategy for a customized tiltrotor VTOL Unmanned Aerial Vehicle (UAV), which does not require mode-switching and can perform the control allocation in a consistent way. The incorporation of four independently controllable rotors in VTOL design offers an extra level of redundancy, allowing the VTOL to accommodate actuator failures. The result shows that our approach outperforms PID controllers while maintaining unified control. It allows the VTOL to perform smooth acceleration/deceleration, and precise coordinated turns. In addition, the independently controlled tilts enable the vehicle to handle actuator failures, ensuring that the aircraft remains operational even in the event of a servo or motor malfunction. © 2024, CC BY-NC-ND.

关键词： Redundancy

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