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IEEE International Conference on robotics and Automation (ICRA)

作者： Tyler Toner Vahidreza Molazadeh Miguel Saez Dawn M. Tilbury Kira Barton Department of Mechanical Engineering University of Michigan General Motors Research and Development Robotics Department University of Michigan

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Robotic manipulation of deformable linear objects (DLOs) is an active area of research, though emerging applications, like automotive wire harness installation, introduce constraints that have not been considered in prior work. Confined workspaces and limited visibility complicate prior assumptions of multi-robot manipulation and direct measurement of DLO configuration (state). This work focuses on single-arm manipulation of stiff DLOs (StDLOs) connected to form a DLO network (DLON), for which the measurements (output) are the endpoint poses of the DLON, which are subject to unknown dynamics during manipulation. To demonstrate feasibility of output-based control without state estimation, direct input-output dynamics are shown to exist by training neural network models on simulated trajectories. Output dynamics are then approximated with polynomials and found to contain well-known rigid body dynamics terms. A composite model consisting of a rigid body model and an online data-driven residual is developed, which predicts output dynamics more accurately than either model alone, and without prior experience with the system. An adaptive model predictive controller is developed with the composite model for DLON manipulation, which completes DLON installation tasks, both in simulation and with a physical automotive wire harness.

关键词： Training Adaptation models Predictive models Trajectory Wire Vehicle dynamics Task analysis

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RoboRover - A Jetson Nano Powered Robot Car for Object Following, Obstacle Avoidance, and Wall Following 14

RoboRover - A Jetson Nano Powered Robot Car for Object Follo...

引用

14th IEEE Annual Ubiquitous Computing, Electronics and Mobile Communication Conference, UEMCON 2023

作者： Huynh, Trinh Walter, James Aveta, Federica University of Michigan Robotics Department Ann ArborMI48109 United States Wentworth Insitute of Technology Electrical and Computer Engineering Program BostonMA02115 United States

ISBN: (纸本)9798350304138

An intelligent and self-sufficient robot is essential across a wide range of fields, including transportation, industry, space exploration, and defense. Mobile robots possess the capability to undertake diverse tasks such as handling materials, aiding in disaster scenarios, conducting patrols, and executing rescue operations. As a result, the development of an autonomous robot that can navigate through both unchanging and ever-changing surroundings has become important. The primary objective of mobile robot navigation revolves around ensuring the seamless and secure traversal of the robot through complex environments, starting from an initial position, and reaching a designated goal position. This paper presents the design and implementation of a Jetson Nano powered robot car which uses local sensors to interact with an unknown environment. Object following, obstacle avoidance, and wall following features are built for the car to navigate to reach its desired destinations. © 2023 IEEE.

关键词： Mobile robots

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Multi-Class Gait Phase Recognition using Machine Learning Models with Two Training Methods 15

Multi-Class Gait Phase Recognition using Machine Learning Mo...

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15th International Conference on Computing Communication and Networking Technologies, ICCCNT 2024

作者： Mekni, Amal Narayan, Jyotindra Gritli, Hassene Borj Cedria Tunis1164 Tunisia Indian Institute of Technology Guwahati Mechtronics and Robotics Laboratory Department of Mechanical Engineering Assam Guwahati781039 India University of Tunis El Manar le Belvédère Laboratory of Robotics Informatics and Complex Systems RISC Lab-LR16ES07 National Engineering School of Tunis Tunis1002 Tunisia

ISBN: (纸本)9798350370249

Walking is a fundamental human activity, yet understanding its intricacies is crucial for diagnosing and treating various gait abnormalities and musculoskeletal disorders. This study investigates the machine learning-based classification of gait phases into five subphases with two training methods. Using data from 100 individuals obtained from an open-source platform. The gait cycle was divided into the following subphases: Initial Contact, Loading Response, Mid Stance, Terminal Stance, and Pre-Swing. In the first approach, a stratified random sampling method was employed, allocating 80% of data from each subphase for training and 20% for testing. The second method involved training with data from 80% participants and testing with data from 20% participants. Out of different ML algorithms, the Random Forest (RF) achieves the highest performance (99.2%) with similar results across both methods. The k-Nearest Neighbors (k-NN), the Logistic Regression (LR), the Decision Tree (DT), and the Support Vector Machine (SVM) show comparable performance ( 91%) with marginal improvement with the second method. Naive Bayes (NB) has a significantly lower performance ( 77.7%). These findings suggest that RF is a robust and effective algorithm for this task. Furthermore, the study indicates that applying machine learning techniques to datasets divided by subjects presents promising opportunities for creating precise gait analysis systems. This can assist clinicians and researchers in enhancing patient care and gaining deeper insights into human locomotion. © 2024 IEEE.

关键词： Adversarial machine learning

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ISLR101: an Iranian Word-Level Sign Language Recognition Dataset

arXiv

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arXiv 2025年

作者： Ranjbar, Hossein Taheri, Alireza Social and Cognitive Robotics Lab. Department of Mechanical Engineering Sharif University of Technology Tehran Iran

Sign language recognition involves modeling complex multichannel information, such as hand shapes and movements while relying on sufficient sign language-specific data. However, sign languages are often under-resourced, posing a significant challenge for research and development in this field. To address this gap, we introduce ISLR101, the first publicly available1 Iranian Sign Language dataset for isolated sign language recognition. This comprehensive dataset includes 4,614 videos covering 101 distinct signs, recorded from 10 different signers (3 deaf individuals, 2 sign language interpreters, and 5 L2 learners2) against varied backgrounds, with a resolution of 800×600 pixels and a frame rate of 25 frames per second. It also includes skeleton pose information extracted using OpenPose. We establish both a visual appearance-based and a skeleton-based framework as baseline models, thoroughly training and evaluating them on ISLR101. These models achieve 97.01% and 94.02% accuracy on the test set, respectively. Additionally, we publish the train, validation, and test splits to facilitate fair comparisons. © 2025, CC BY-NC-ND.

关键词： Musculoskeletal system

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Using Robot-Assisting Personalized Learning for Children with Autism: A Pilot Study of Robot's Actions 15

Using Robot-Assisting Personalized Learning for Children wit...

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15th Biomedical engineering International Conference, BMEiCON 2023

作者： Paengkumhag, Chatchai Jutharee, Wisanu Limpornchitwilai, Warissara Chamnongthai, Kosin Keawkamnerdpong, Boonserm King Mongkut's University of Technology Thonburi Faculty of Engineering Biological Engineering Program Bangkok Thailand King Mongkut's University of Technology Thonburi Institute of Field Robotics Bangkok Thailand King Mongkut's University of Technology Thonburi Faculty of Engineering Department of Electronics and Telecommunication Engineering Bangkok Thailand

ISBN: (纸本)9798350345247

There are a variety of symptoms of autism spectrum disorders. The appropriate interventions are selected according to the symptoms. Moreover, the key to successful intervention is to provide suitable therapy continuously. Unfortunately, the number of autism specialists is insufficient for the growing demands. Thus, for better intervention outcomes, the collaboration of parents/caregivers who help continue the intervention at home is crucial to the success of the intervention. However, it is not easy for inexperienced parents/caregivers. This study aimed to help parents/caregivers by using a robot to assist personalized learning for children with autism. We developed an artificial intelligence-based program to choose actions appropriate to the child user's learning style or preference so that the child user stays attended to the activities the robot offers. In this pilot study, we tested using a robot to assist personalized learning with six participants in the special education needs school. The result of this study revealed the possibility of using a robot to assist in personalized learning for children with autism, from the perspective of the participants' teacher. While interacting with the robot, the participants achieved a high average accuracy percentage of 83.36% and demonstrated a positive learning trend. © 2023 IEEE.

关键词： Human robot interaction

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Design of an Automatic Price Tag System for Web-Based Retail Business

Design of an Automatic Price Tag System for Web-Based Retail...

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International Conference on Information Management and Technology (ICIMTech)

作者： Suryadiputra Liawatimena Devina Gunawan Automotive & Robotics Program Computer Engineering Department BINUS ASO School of Engineering Computer Science Deparment BINUS Graduate Program Master of Computer Science Bina Nusantara University Jakarta Indonesia Automotive & Robotics Program Computer Engineering Department BINUS ASO School of Engineering Bina Nusantara University Jakarta Indonesia

ISBN: (数字)9798350390025

ISBN: (纸本)9798350390032

Modern retail businesses face a significant challenge with the inefficiency of manually changing price labels on shelves. This manual process not only consumes valuable time and resources but also increases the likelihood of errors, leading to potential inaccuracies in pricing and a less streamlined shopping experience for customers. The proposed solution is the implementation of an Electronic Shelf Label (ESL) system that automatically displays the prices of goods on retail business shelves. This system connects a website (front end and back end) to e-paper via a Wi-Fi network and microcontroller, allowing retail business owners to update prices more easily. Additionally, buyers can search for desired items through the website. The results are the time to send data from the website to the e-paper, namely, to know the performance of the e-paper used. The average time required from 10 attempts to send data from the website to the e-paper is 20.935 seconds. Since the data is connected to the server and will be updated automatically, using this system will be more efficient than manually changing the price label, although it takes time to transfer data from the website to the e-paper.

关键词： Electric potential Microcontrollers Pricing Manuals Information management Servers Wireless fidelity Faces Business

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Implementation and Manufacturing of DT Sensor Ecosystem for Real-Time Monitoring of Virtual 3D Printers

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SN Computer Science 2023年第5期4卷 556页

作者： Reddy, K. Shyam Sunder Rajesh, R. Raj, P. Anantha Christu Arya, Namita Bhaskaran, R. Prasad, J. Laxmi Department of Information Technology Vasavi College of Engineering Hyderabad India School of Computer Science and Engineering Vellore Institute of Technology Tamil Nadu Chennai India Department of Robotics Engineering Karunya Institute of Technology and Sciences Karunya Nagar Tamil Nadu Coimbatore India Galgotias University Gautam Buddha Nagar Uttar Pradesh Greater Noida India Department of IT PSNA College of Engineering and Technology Tamil Nadu Dindigul India Department of Mechanical Engineering MLR Institute of Technology Telangana Hyderabad India

A full-featured digital representation of all the characteristics of a physical system or object is known as a Digital Twin (DT) and smart manufacturing is made possible in large part by our relationship to the environment. A DT system is simulated in real time and with high accuracy. While, maintaining constant synchronization provides a comprehensive system with physical system management. The use of a DT for a 3D printer is covered in this article which presents the 3D printer’s settings and relevant warnings in real time and uses a lightweight Augmented Reality (AR) model to let users control the basic printer functions that encourage communication between two parties. The tri-model simulates actual physical behavior while operating simultaneously and digital model features. To verify the architecture and method that have been proposed, further investigation is done using a case study of a DT facility using open-source 3D printing. Additionally, future research and conclusions are highlighted to offer illuminating information finally to the two industries and the academic world. We have an economical DT ecosystem, robust and reproducible, thereby allowing the addition of DT capabilities to legacy equipment;creating analytics using historical data that have been collected. © 2023, The Author(s), under exclusive licence to Springer Nature Singapore Pte Ltd.

关键词： 3D printing Cost-efficient Digital model DT Smart manufacturing

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Distributed Optimal Control Framework for High-Speed Convoys: Theory and Hardware Results

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IFAC-PapersOnLine 2023年第2期56卷 2127-2133页

作者： Namya Bagree Charles Noren Damanpreet Singh Matthew Travers Bhaskar Vundurthy Department of Mechanical Engineering Carnegie Mellon University USA The Robotics Institute Carnegie Mellon University USA

Practical deployments of coordinated fleets of mobile robots in different environments have revealed the benefits of maintaining small distances between robots, especially as they move at higher speeds. However, this is counter-intuitive in that as speed increases, reducing the amount of space between robots also reduces the time available to the robots to respond to sudden motion variations in surrounding robots. However, in certain examples, the benefits in performance due to traveling at closer distances can outweigh the potential instability issues, for instance, autonomous trucks on highways that optimize energy by vehicle “drafting” or smaller robots in cluttered environments that need to maintain close, line of sight communication, etc. To achieve this kind of closely coordinated fleet behavior, this work introduces a model predictive optimal control framework that directly takes non-linear dynamics of the vehicles in the fleet into account while planning motions for each robot. The robots are able to follow each other closely at high speeds by proactively making predictions and reactively biasing their responses based on state information from the adjacent robots. This control framework is naturally decentralized and, as such, is able to apply to an arbitrary number of robots without any additional computational burden. We show that our approach is able to achieve lower inter-robot distances at higher speeds compared to existing controllers. We demonstrate the success of our approach through simulated and hardware results on mobile ground robots.

关键词： Mobile robots Autonomous robotic systems Decentralized control Nonlinear predictive control Field robotics Convoy Platooning Multi-agent systems

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A Kinetic Theory for the Mechanics and Remodeling of Transient Anisotropic Networks

SSRN

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SSRN 2024年

作者： Vernerey, Franck J. Rezai, Behnam Lamont, Samuel C. Department of Mechanical Engineering Program of Materials Science and Engineering University of Colorado Boulder United States

We present a statistically-based theoretical framework to describe the mechanical response of dynamically cross-linked semi-flexible polymer networks undergoing finite deformation. The theory starts from a statistical description, via a distribution function, of the chain conformation and orientation. Assuming a so-called tangent affine deformation of the chains, this distribution is then allowed to evolve in time due to a combination of elastic network distortion and a permanent chain reconfiguration enabled by dynamic cross-links. After presenting the evolution law for the chain distribution function, we reduce the theory to the evolution of the network conformation tensor in both its natural and current state. With this model, we use classical thermodynamics to determine how the stored elastic energy, energy dissipation, and true stress evolve in terms of the network conformation. We show that the model degenerates to classical anisotropic hyperelastic models when cross-links are permanent, while we recover the classical form of the transient network theory (that describes hyper-viscoelasticity) when chains are fully flexible. Theoretical predictions are then illustrated and compared to the literature for both basic model problems and biomechanically relevant situations. © 2024, The Authors. All rights reserved.

关键词： Statistical mechanics

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Efficiently catalyzing photo-oxidation of water by surface engineering of bismuth vanadate with nickel molybdenum oxide coverages

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International Journal of Hydrogen Energy 2024年 51卷 613-622页

作者： Kuo, Tsung-Rong Huang, Hsiao-Wen Kongvarhodom, Chutima Saukani, Muhammad Yougbaré, Sibidou Chen, Hung-Ming Lin, Lu-Yin International PhD Program in Biomedical Engineering College of Biomedical Engineering Taipei Medical University Taipei11031 Taiwan Graduate Institute of Nanomedicine and Medical Engineering College of Biomedical Engineering Taipei Medical University Taipei11031 Taiwan Department of Chemical Engineering and Biotechnology National Taipei University of Technology Taipei Taiwan Department of Chemical Engineering King Mongkut's University of Technology Thonburi 126 Pracha-u-thit Toong-kru Bangkok10140 Thailand Department of Mechanical Engineering Faculty of Engineering Universitas Islam Kalimantan MAB Jl. Adhyaksa No. 2 Banjarmasin70124 Indonesia /Nanoro 03 B.P 7192 Ouagadougou 03 Burkina Faso Gingen Technology Co. LTD. Rm. 7 10F. No.189 Sec. 2 Keelung Rd. Xinyi Dist. Taipei11054 Taiwan

Bismuth vanadate with suitable band edges is one of the efficient photocatalysts for water oxidation. Establishing heterojunction can improve electron diffusion lengths and photocatalytic ability of BiVO4. In this work, nickel molybdenum oxide (Ni–Mo–O) and BiVO4 heterojunction is established by the hydrothermal process with different nickel to molybdenum precursor ratios. The Ni–Mo–O/BiVO4 electrode is applied as photoanodes for water oxidation. The growth mechanism of Ni–Mo–O on BiVO4 surface is proposed. The Ni–Mo–O deposition amount is optimized regarding to light absorbance and charger transportation. The largest photocurrent density of 1.72 mA/cm2 at 1.23 VRHE is obtained for the optimal NiMoO4/BiVO4 electrode (NM12) in the electrolyte without hole scavenger, while the pure BiVO4 electrode only shows a photocurrent density of 0.90 mA/cm2. The NM12 electrode even presented an impressive photocurrent density of 5.39 mA/cm2 at 1.23 VRHE in the electrolyte with the hole scavenger, owing to the abundant active sites and higher light absorbance as well as the favorable synergistic effects from its suitable Ni to Mo ratio. The NM12 electrode also shows excellent long-term stability with the photocurrent retention of 83% after illumination for 6500 s. This work opens a blueprint for establishing a novel heterojunction with the adjustable metal ratio and coverage on BiVO4. © 2023 Hydrogen Energy Publications LLC

关键词： Heterojunctions

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