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IEEE International Conference on robotics and automation (ICRA)

作者： Kyon-Mo Yang Kap-Ho Seo Sang Hoon Kang Yoonseob Lim Research Center for Human Robot Interaction Korea Institute of Robotics and Technology Convergence Pohang South Korea School of Mechanical Aerospace and Nuclear Engineering Ulsan National Institute of Science and Technology Ulsan South Korea School of Mechanical Aerospace and Nuclear Engineering UNIST Ulsan South Korea Research Center for Diagnosis Treatment and Care System of Dementia and the Center for Robotics Research Korea Institute of Science and Technology Seoul South Korea

ISBN: (数字)9781728173955

ISBN: (纸本)9781728173962

Verbal interaction between a human and a robot may play a key role in conveying suitable directions for a robot to achieve the goal of a user's request. However, a robot may need to correct task plans or make new decisions with human help, which would make the interaction inconvenient and also increase the interaction time. In this paper, we propose a new verbal interaction-based method that can generate plan models and execute proper actions without human involvement in the middle of performing a task by a robot. To understand the verbal behaviors of humans when giving instructions to a robot, we first conducted a brief user study and found that a human user does not explicitly express the required task. To handle such unclear instructions by a human, we propose two different algorithms that can generate a component of new plan models based on intents and entities parsed from natural language and can resolve the unclear entities existed in human instructions. An experimental scenario with a robot, Cozmo, was tried in the lab environment to test whether or not the proposed method could generate an appropriate plan model. As a result, we found that the robot could successfully accomplish the task following human instructions and also found that the number of interactions and components in the plan model could be reduced as opposed to the general reactive plan model. In the future, we are going to improve the automated process of generating plan models and apply various scenarios under different service environments and robots.

关键词： Task analysis Service robots Natural languages Human-robot interaction Robot sensing systems Planning

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A generalized model for predicting the optimal overlap rate and height of successive single-layer involved in laser metal deposition process based on the aspect ratio

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Optics & Laser Technology 2025年 191卷

作者： Enjie Dong Tingyu Chang Gan Li Ze Liu Liming Xia Linjie Zhao Junwen Lu Jiaxuan Chen Mingjun Chen Jian Cheng State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang 150001 China Department of Mechanical Engineering City University of Hong Kong Hong Kong China School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen Guangdong 518055 China State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang University Hangzhou 310027 China Aircraft Repair & Overhaul Plant/Sichuan Province Engineering Technology Research Center of General Aircraft Maintenance Civil Aviation Flight University of China Guanghan 618307 China Zhengzhou Research Institute Harbin Institute of Technology Zhengzhou 450000 China

The surface flatness of single-layer islands deposition is essential for high-quality multi-layer component deposition and the stability of the Laser metal deposition (LMD) manufacturing process. The aspect ratio of single-track deposition and the overlap rate are critical factors influencing the flatness of single-layer island deposition. Existing methods for determining the optimal overlap rate, whether through experimental approaches or simplified recursive overlap models, still suffer from long development cycles and limited accuracy. In this study, a generalized, efficient and reliable model for predicting the optimal overlap rate only using the aspect ratio of the single-track deposition as the input parameter was developed after fully understanding the influence of the aspect ratio and overlap rate on the morphology, stacking effect and flatness of single-layer islands. Besides, a prediction model for the height of the single-layer island, based on the input parameters of the aspect ratio and the overlap rate has also been developed. Further, verification datasets from different experimental batches and materials were used to validate the accuracy and generalizability of the island height prediction model. The validation results indicated that the relative error between the predicted and actual values was less than 10%. The single-track aspect ratio can be directly used to guide the LMD multi-layer component deposition, regardless of the combination of powder and substrate materials, using these reliable and generalized prediction models for the optimal overlap rate and the island height developed in current study. The single-layer island deposition stage was completely eliminated, thereby significantly shorten the development cycle and reduce the cost of LMD process parameter development.

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Bifurcation analysis of an opinion dynamics model coupled with an environmental dynamics

arXiv

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arXiv 2025年

作者： Couthures, Anthony Bizyaeva, Anastasia Varma, Vineeth S. Franci, Alessio Morărescu, Irinel-Constantin Université de Lorraine CNRS CRAN NancyF-54000 France Automation Department Technical University of Cluj-Napoca Memorandumului 28 Cluj-Napoca400114 Romania Sibley School of Mechanical and Aerospace Engineering Cornell University United States Department of Electrical Engineering and Computer Science University of Liege WEL Research Institute Wavre Belgium

We consider an opinion dynamics model coupled with an environmental dynamics. Based on a forward invariance argument, we can simplify the analysis of the asymptotic behavior to the case when all the opinions in the social network are synchronized. Our goal is to emphasize the role of the trust given to the environmental signal in the asymptotic behavior of the opinion dynamics and implicitly of the coupled system. To do that, we conduct a bifurcation analysis of the system around the origin when the trust parameter is varying. Specific conditions are presented for both pitchfork and Hopf bifurcation. Numerical illustration completes the theoretical findings. © 2025, CC BY-SA.

关键词： Bifurcation (mathematics)

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Trajectory Planning with Safety Guaranty for a Multirotor based on the Forward and Backward Reachability Analysis

Trajectory Planning with Safety Guaranty for a Multirotor ba...

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IEEE International Conference on robotics and automation (ICRA)

作者： Hoseong Seo Clark Youngdong Son Dongjae Lee H. Jin Kim Automation and Systems Research Institute Seoul National University Seoul South Korea Department of Mechanical and Aerospace Engineering Seoul National University Seoul South Korea Institute of Engineering Research Seoul National University Seoul South Korea

ISBN: (数字)9781728173955

ISBN: (纸本)9781728173962

Planning a trajectory with guaranteed safety is a core part for a risk-free flight of a multirotor. If a trajectory planner only aims to ensure safety, it may generate trajectories which overly bypass risky regions and prevent the system from achieving specific missions. This work presents a robust trajectory planning algorithm which simultaneously guarantees the safety and reachability to the target state in the presence of unknown disturbances. We first characterize how the forward and backward reachable sets (FRSs and BRSs) are constructed by using Hamilton-Jacobi reachability analysis. Based on the analysis, we present analytic expressions for the reachable sets and then propose minimal ellipsoids which closely approximate the reachable sets. In the planning process, we optimize the reference trajectory to connect the FRSs and BRSs, while avoiding obstacles. By combining the FRSs and BRSs, we can guarantee that any state inside of the initial set reaches the target set. We validate the proposed algorithm through a simulation of traversing a narrow gap.

关键词： Trajectory Planning Safety Reachability analysis Robustness Optimization aerospace engineering

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Autonomous Base Station Placement for Localization of the GNSS Interference Source

Autonomous Base Station Placement for Localization of the GN...

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2018 International Symposium on Global Navigation Satellite System, ISGNSS 2018

作者： Kim, Sun Young Kang, Chang Ho Park, Chan Gook Mechanical and Aerospace Engineering and Automation and System Research Institute Seoul National University Gawnak-Gu Seoul08826 Korea Republic of BK21+ Transformative Training Program for Creative Mechanical and Aerospace Engineers Seoul National University Gawnak-Gu Seoul08826 Korea Republic of Mechanical and Aerospace Engineering and the Institute of Advanced Aerospace Technology Seoul National University Gawnak-Gu Seoul08826 Korea Republic of

This paper presents the control strategy of autonomous base station placement for localization of the GNSS interference source. The proposed algorithm deals with the optimization of the base station trajectory for target motion analysis based on bearing only tracking problem. The control strategy of the proposed algorithm is designed to maximize a cost function which is generally a functional of the Fisher information matrix. Compared to the optimal control methods, the proposed algorithm is easy to be designed and implemented, and constraints of multiple base stations' trajectories can be effectively included. In addition, the proposed algorithm also considered target's dynamics that is both uncertain and random, and there are multiple base stations for observing the target. In order to verify the performance of the proposed algorithm, simulation was performed with dynamic target case in the 2D scenario. It is assumed that the base stations' networks have non-fully connected topology. According to the simulation results, it was confirmed that the proposed algorithm presents a flexible control strategy of autonomous multiple base stations' placement for bearing only target tracking system. © The Authors, published by EDP Sciences, 2019.

关键词： Base stations

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Online support for research activities by high school and junior high school students 38

Online support for research activities by high school and ju...

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38th International Cosmic Ray Conference, ICRC 2023

作者： Enomoto, H. Abe, H. Hoashi, R. Kimura, M. Kita, R. Kobayashi, N. Kono, R. Kumagai, K. Maruta, K. Nakagawa, R. Nose, C. Saito, R.J. Sasaki, M. Takanashi, M. Tanaka, K.S. Accel Kitchen LLC 6-3 Aramaki Aza-Aoba Aoba-ku Sendai Japan Tokyo Institute of Technology Department of Earth and Planetary Science 2-12-1 Ookayama Meguro-ku Tokyo Japan Tohoku University Department of Mechanical and Aerospace Engineering 6-3 Aramaki Aza-Aoba Aoba-ku Sendai Japan Tohoku University Department of Earth Science 6-3 Aramaki Aza-Aoba Aoba-ku Sendai Japan Tokyo Denki University Department of Robotics and Mechatronics 5 Senju Asahi-cho Adachi-ku Tokyo Japan University of Tokyo Natural Sciences I 3-8-1 Komaba Meguro-ku Tokyo Japan Tohoku University Department of Quantum Science and Energy Engineering 6-3 Aramaki Aza-Aoba Aoba-ku Sendai Japan Tohoku University Department of Chemistry 6-3 Aramaki Aza-Aoba Aoba-ku Sendai Japan Tohoku University Planetary Plasma and Atmospheric Research Center 6-3 Aramaki Aza-Aoba Aoba-ku Sendai Japan Tohoku University Department of Physics 6-3 Aramaki Aza-Aoba Aoba-ku Sendai Japan Tohoku University Department of Health Sciences 2-1 Seiryo-machi Aoba-ku Miyagi Sendai Japan 1-5-1 Chofugaoka Chofu Tokyo Japan Waseda University Faculty of Science and Engineering 3-4-1 Okubo Shinjuku-ku Tokyo Japan

Accel Kitchen LLC has launched Japan largest cosmic-ray outreach network providing handy cosmic-ray detectors to more than 100 high school and junior high school students and supporting their research activities remotely with online communication tools. There are over 30 various and unique research topics conducted by students e.g. measurement of the cosmic-ray flux at Japan’s highest mountain Mt. Fuji to investigate the relationship with altitude, comparison of cosmic-ray flux with sunspot counts observed by the school’s telescope, collaboration with students in Argentina to compare the cosmic-ray flux between Japan and Argentina to observe the effect of the South Atlantic Anomaly. Online research support by undergraduate and graduate students enables them to conduct scientific research and some of their progress has been published in peer-review *** this presentation, we will introduce their research activities. © Copyright owned by the author(s) under the terms of the Creative Commons.

关键词： Cosmic ray detectors

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Radiation detectors fabricated by secondary students 38

Radiation detectors fabricated by secondary students

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38th International Cosmic Ray Conference, ICRC 2023

作者： Tanaka, K.S. Abe, H. Enomoto, H. Hoashi, R. Kimura, M. Kita, R. Kobayashi, N. Kono, R. Kumagai, K. Maruta, K. Nakagawa, R. Nose, C. Saito, R.J. Sasaki, M. Takanashi, M. Accel Kitchen LLC 6-3 Aramaki Aza-Aoba Aoba-ku Sendai Japan Waseda University Faculty of Science and Engineering 3-4-1 Okubo Shinjuku-ku Tokyo Japan Tohoku University Department of Mechanical and Aerospace Engineering 6-3 Aramaki Aza-Aoba Aoba-ku Sendai Japan Tokyo Institute of Technology Department of Earth and Planetary Science 2-12-1 Ookayama Meguro-ku Tokyo Japan Tohoku University Department of Physics 6-3 Aramaki Aza-Aoba Aoba-ku Sendai Japan Tokyo Denki University Department of Robotics and Mechatronics 5 Senju Asahi-cho Adachi-ku Tokyo Japan University of Tokyo Natural Sciences I 3-8-1 Komaba Meguro-ku Tokyo Japan Tohoku University Department of Quantum Science and Energy Engineering 6-3 Aramaki Aza-Aoba Aoba-ku Sendai Japan Tohoku University Department of Chemistry 6-3 Aramaki Aza-Aoba Aoba-ku Sendai Japan Tohoku University Department of Earth Sciences 6-3 Aramaki Aza-Aoba Aoba-ku Sendai Japan Tohoku University Planetary Plasma and Atmospheric Research Center 6-3 Aramaki Aza-Aoba Aoba-ku Sendai Japan Tohoku University Department of Health Sciences 2-1 Seiryo-machi Aoba-ku Miyagi Sendai Japan 1-5-1 Chofugaoka Chofu Tokyo Japan

Accel Kitchen LLC offers online support to over 150 high school and junior high school students in their personal radiation research. Many of these students have fabricated original detectors, such as a depth of interaction (DOI) detector comprising multiple scintillator layers for particle identification and positional sensitivity measurement, a Cherenkov detector made from an acrylic block and Silicon photomultiplier, and a time-of-flight detector capable of sub-nanosecond resolution using a Red Pitaya ADC board. Thus, students not only conduct their measurements with given detectors but also assemble and modify them for their own research purposes. © Copyright owned by the author(s) under the terms of the Creative Commons.

关键词： Silicon detectors

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Untethered miniature robots for minimally invasive thrombus treatment: From bench to clinical trials

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Innovation 2025年第6期6卷 100874页

作者： Wang, Qinglong Zhao, Fangling Wang, Ben Chan, Kai Fung Ip, Bonaventure Yiu Ming Leung, Thomas Wai Hong Song, Xin Zhang, Li Xie, Jue Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Hong Kong SAR Shatin N.T.999077 China Department of Blood Transfusion The First Affiliated Hospital Zhejiang University School of Medicine Hangzhou310003 China Shenzhen Research Institute The Chinese University of Hong Kong Shenzhen518000 China College of Chemistry and Environmental Engineering Shenzhen University Shenzhen518055 China Li Ka Shing Institute of Health Sciences The Chinese University of Hong Kong Hong Kong SAR Shatin N.T.999077 China Chow Yuk Ho Technology Centre for Innovative Medicine The Chinese University of Hong Kong Hong Kong SAR Shatin N.T.999077 China Department of Medicine and Therapeutics Faculty of Medicine The Chinese University of Hong Kong Hong Kong SAR Shatin N.T.999077 China Department of Biomedical Engineering City University of Hong Kong Kowloon Tong Hong Kong SAR Kowloon999077 China T Stone Robotics Institute The Chinese University of Hong Kong Hong Kong SAR Shatin N.T.999077 China Department of Surgery CUHK Hong Kong SAR Shatin N.T.999077 China

Untethered miniature robots (MRs) offer a minimally invasive way to address adverse vascular blockages, such as cerebrovascular thromboembolism, myocardial infarction, and pulmonary embolism. This review explores three key questions: what are the design principles of MRs from both engineering and clinical perspectives? How can visible intervention of MRs in three-dimensional (3D) branched vessels be achieved? What is the clinical procedure for treating thrombus using designed MRs? Recent progress in MRs for thrombus removal is summarized, and, more importantly, the pros and cons of MRs are discussed. We also evaluate the challenges that may hinder their clinical deployment and propose future research directions, bridging the gap between the bench and the bedside. © 2025 The Author(s)

关键词： miniature robots thrombus treatment clinical trial minimally invasive intervention

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RETRACTED ARTICLE: Parametric analysis of MQL-based sustainable machining using nano alumina mixed coconut oil-based cutting fluid: a computing approach

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International Journal on Interactive Design and Manufacturing (IJIDeM) 2023年 1-1页

作者： Kamble, Nitin Kundlik Sankarasubramanian, R. S. Kumar, P. S. Satheesh Pattanaik, Balachandra Subbiah, Ram Seetharaman, Suresh Satishkumar, P. Department of Robotics and Automation Engineering D Y Patil College of Engineering Akurdi Pune India Department of Mathematics PSG Institute of Technology and Applied Research Coimbatore India Department of Physics NPR College of Engineering and Technology Natham Dindigul India Saveetha School of Engineering Saveetha Institute of Medical and Technical Sciences Chennai India Department of Mechanical Engineering Gokaraju Rangaraju Institute of Engineering and Technology Hyderabad India Department of Electrical and Electronics Engineering KIT-Kalaignar Karunanidhi Institute of Technology Coimbatore India Department of Mechanical Engineering Rathinam Technical Campus Coimbatore India

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Error Analysis of PDR System Using Dual Foot-mounted IMU

Error Analysis of PDR System Using Dual Foot-mounted IMU

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2018 International Symposium on Global Navigation Satellite System, ISGNSS 2018

作者： Lee, Jae Hong Ju, Hojin Park, Chan Gook Dept. of Mechanical and Aerospace Engineering Seoul National University Seoul08826 Korea Republic of Automation and Systems Research Institute Seoul National University Seoul08826 Korea Republic of

In this paper, we analyze the position errors of the pedestrian dead reckoning (PDR) system using foot-mounted IMU attached to each foot, and implement PDR system using dual foot-mounted IMU to reduce the analyzed error. The PDR system using foot-mounted IMU is generally based on an inertial navigation system (INS). To reduce bias and white noise errors, INS is combined with zero velocity update (ZUPT), which assumes that the pedestrian shoe velocity is zero at the stance phase. Although ZUPT could compensate the velocity and position, the heading drift still occurs. When analyzing the characteristics of the position error, the error shows a symmetrical characteristic. In order to reduce this error, the previous researches compensate for both positions by applying feet position constraints. The algorithm consists of applying a conventional PDR system to each foot and fusion algorithm combining both. The PDR system using foot-mounted IMU, one on each foot, is based on integration approach separately. The positions of both feet should be in a circle with a radius as step length during walking. The designed filter is constrained so that the position of both feet are in a circular boundary. The heading error that is symmetrically drifted is corrected by the position constraint when the pedestrian moves straight. Experimental results show the performance and usability of each previous algorithm to compensate for symmetric heading errors. © The Authors, published by EDP Sciences, 2019.

关键词： Inertial navigation systems

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