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IEEE International Conference on Soft robotics (RoboSoft)

作者： Zhiwei Liu Seyed Amir Tafrishi Geometric Mechanics and Mechatronics in Robotics (gm2R) Lab the School of Engineering Cardiff University Cardiff United Kingdom

ISBN: (数字)9798331520205

ISBN: (纸本)9798331520212

Spherical rolling robots have garnered significant attention in the field of mobile robotics for applications such as inspection and space exploration. Designing underactuated rolling robots poses challenges in achieving multi-directional propulsion with high degrees of freedom while utilizing a limited number of actuators. This paper presents the MonoRollBot, a novel 3-degree-of-freedom (DOF) spherical robot that utilizes an underactuated mechanism driven by only a single springmotor system. Unlike conventional spherical robots, MonoRoll-Bot employs a minimalist actuation approach, relying on only one motor and a passive spring to control its locomotion. The robot achieves 3-DOF motion through an innovative coupling of spring dynamics and motor control. In this work, we detail the design of the MonoRollBot and evaluate its motion capabilities through design studies. We also study its locomotion behaviours based on changes in rotating mass and stiffness properties.

关键词： Actuators Dynamics 3-DOF Soft robotics Propulsion Motors Stability analysis Space exploration Springs Robots

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Control Simulation of Proportional-Integral and Sliding Mode Control for Precision Seed Planters

Control Simulation of Proportional-Integral and Sliding Mode...

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International Conference on robotics and Artificial Intelligence (ICRAI)

作者： Yasir Nawaz Muhammad Usman Qadir Muhammad Awais Khan Izhar Ul Haq Kamran Shah Tahir Khan Department of Mechatronics Advanced Robotics & Automation Lab University of Engineering and Technology Peshawar Pakistan

The desired development and design of an electric control system (ECS) for a precision planter is one of the most crucial elements in evaluating the efficacy of applicators for plant production. The seeds would be sown using this approach. Years have been invested in the continuous development of a range of application methods and metering systems, each of which offers specific advantages for applying the required system with a high degree of precision. Researchers worldwide have been trying to make electric-driven seed meters (EDSM) for planters, but they haven't succeeded. This study looks into the current state of installing seed metering systems for precision planters. Proportional-integral (PI) and sliding mode control (SMC) designs of the control system have been implemented to improve the planting quality of the planters. We want to highlight the electrically driven control system (EDCS) using these designs. An overview of the noteworthy features and limitations of past research is given. We also discuss several future directions for future research, concentrating on the knowledge gaps in this area.

关键词： Meters Industries PI control Automation System performance Production Robustness

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Deep Learning based acoustic measurement approach for robotic applications on orthopedics

Deep Learning based acoustic measurement approach for roboti...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Bangyu Lan Momen Abayazid Nico Verdonschot Stefano Stramigioli Kenan Niu Robotics and Mechatronics University of Twente Enschede The Netherlands Orthopaedic Research Lab Radboud University Medical Center Nijmegen The Netherlands

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

In Total Knee Replacement Arthroplasty (TKA), surgical robotics can provide image-guided navigation to fit implants with high precision. Its tracking approach highly relies on inserting bone pins into the bones tracked by the optical tracking system. This is normally done by invasive, radiative manners (implantable markers and CT scans), which introduce unnecessary trauma and prolong the preparation time for patients. To tackle this issue, ultrasound-based bone tracking could offer an alternative. In this study, we proposed a novel deep-learning structure to improve the accuracy of bone tracking by an A-mode ultrasound (US). We first obtained a set of ultrasound dataset from the cadaver experiment, where the ground truth locations of bones were calculated using bone pins. These data were used to train the proposed CasAtt-UNet to predict bone location automatically and robustly. The ground truth bone locations and those locations of US were recorded simultaneously. Therefore, we could label bone peaks in the raw US signals. As a result, our method achieved sub-millimeter precision across all eight bone areas with the only exception of one channel in the ankle. This method enables the robust measurement of lower extremity bone positions from 1D raw ultrasound signals. It shows great potential to apply A-mode ultrasound in orthopedic surgery from safe, convenient, and efficient perspectives.

关键词： Ultrasonic imaging Accuracy Ultrasonic variables measurement Orthopedic surgery Position measurement Bones Acoustic measurements

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Human-Centered Design and Development of an Elderly Care Robot

Human-Centered Design and Development of an Elderly Care Rob...

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International Conference on robotics and Artificial Intelligence (ICRAI)

作者： Ali Sajid Muhammad Noor Sultan Muhammad Muaviz Ishfaq Ali Raza Department of Mechatronics and Control Engineering Human Centered Robotics Lab of NCRA University of Engineering and Technology Lahore Lahore Pakistan

ISBN: (数字)9798350355703

ISBN: (纸本)9798350355710

Constituting to the demographic age shift in many regions of the world, technological advancement in the care sector, to deliver quality services to the elders, is now in more demand than ever. One such advancement is the evolution of socially assistive and care robots that promise sustainable, reliable, and safe human-robot interaction to meet geriatric needs. This paper presents the design and development of Silver Companion: a geriatric care robot for the elderly. The target audience chosen for the research phase is the socially isolated elderly community of East Asia and Central Europe which make up about 45% of their total elderly population. Considering the human-centered design paradigm, the technical and psychological aspects of the robot have been devised. The form and functions of the robot have been based on the product design principles. The whole development journey has been subjected to the identified elderly needs and the robot has been tested under multiple use-case scenarios, ideated for possibly fulfilling those needs. The robot has been equipped with assistive and interactive features like voice interaction, complementing micro-gestures and robot expressions, seamless navigation, and robot perception enhanced by a tilt-pan mechanism, all contributing towards making the robot capable of uplifting the well-being and quality of life of seniors.

关键词： Industries Silver Service robots Navigation Psychology Human-robot interaction Product design Reliability Older adults Geriatrics

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Semantic Segmentation in Unmanned Aerial Vehicle Surveillance for Detailed Urban Tree Mapping and Species Classification 6

Semantic Segmentation in Unmanned Aerial Vehicle Surveillanc...

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6th International Conference on Advancements in Computing, ICAC 2024

作者： Senanayake, S.M.R.B. Herath, H.M.K.K.M.B. Yasakethu, S.L.P. Madhusanka, B.G.D.A. Sri Lanka Technology Campus Department of Mechatronics Engineering Padukka Sri Lanka Sri Lanka Technology Campus Computational Intelligence and Robotics Research Lab Padukka Sri Lanka The Open University of Sri Lanka Department of Mechanical Engineering Nugegoda Sri Lanka

ISBN: (纸本)9798331517878

Urban greening is becoming increasingly important, which has increased interest in tracking and analyzing urban vegetation and highlighted the necessity for an accurate and practical evaluation of greenery inside cities. Unmanned Aerial Vehicles (UAVs) have become an essential tool for mapping vegetation at a broad scale, frequently using orthographic views to manage the heavy workload. This research examines semantic segmentation and a particular issue with tree species identification brought on by perspective views from different heights. The methodology involved the semantic segmentation methods used without orthorectification on a single low-altitude ( © 2024 IEEE.

关键词： Vegetation mapping

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Effect of the fatigue in the equilibrium training

Effect of the fatigue in the equilibrium training

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Saratov Fall Meeting 2021: Computational Biophysics and Nanobiophotonics

作者： Khorev, Vladimir S. Neuroscience and Cognitive Technology Lab. Center for Technologies in Robotics and Mechatronics Components Innopolis University 1 Universitetskaya Str. Innopolis 420500 Russia

ISBN: (数字)9781510653702

ISBN: (纸本)9781510653696

Maintaining an equilibrium of the human body in an upright position is crucial for the majority of motor activities. Numerous studies of physiologists, clinicians, scientific researchers show that the equilibrium function is very complex. In this work, we conducted an experiment involving equilibrium maintaining on a balance board to research different aspects of this process. The purpose of this study was to assess the dynamics of the movement of the platform movement associated with the equilibrium during the experiment and how muscle fatigue effects it. With the help of the statistical analysis we determine which muscles were affected by the fatigue more. © 2022 SPIE.

关键词： Signal analysis

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Development of a Lower Limb Gait Asymmetry Index with Cyclogram Analysis Using Image Processing 12

Development of a Lower Limb Gait Asymmetry Index with Cyclog...

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12th RSI International Conference on robotics and mechatronics, ICRoM 2024

作者： Etaati, Sepideh Javaherat, Fatemeh Delrobaei, Mehdi K. N. Toosi University of Technology Faculty of Electrical Engineering Department of Mechatronics Tehran Iran K. N. Toosi University of Technology Advanced Robotics and Automated Systems lab. Faculty of Mechanical Engineering Tehran Iran

ISBN: (纸本)9798331529734

Ahstract- This study focuses on developing a gait asymmetry index and applying image processing techniques to cyclogram analysis. We evaluated gait asymmetry under different walking conditions, specifically examining the effects of wearing a knee brace and holding a weight in hand. Using inertial measurement units (IMUs), we collected gait data to analyze knee, hip, and ankle angles in the sagittal plane. The joint kinematics data were assessed using our proposed asymmetry index, which combines image processing techniques and linear regression models. The proposed asymmetry index incorporates cyclogram area, trend symmetry, and the longest length of the cyclogram shape, effectively capturing variations in symmetry and providing a comprehensive measure. The results demonstrate that the proposed asymmetry index can effectively distinguish between different gait conditions. The findings potentially offer insights for researchers and clinicians in human biomechanics, aiding in the planning of interventions and the assessment of motion patterns, as well as for developers of bipedal walking robots in the field of robotic locomotion, enhancing their ability to design hardware and evaluate motion patterns. © 2024 IEEE.

关键词： Robot programming

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A Temporal Perspective n-Point Problem with Model Uncertainties for Cooperative Pose Estimation in a Heterogeneous Robot Team

A Temporal Perspective n-Point Problem with Model Uncertaint...

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European Conference on Mobile Robots (ECMR)

作者： Florian Steidle Simon Boche Wolfgang Stürzl Rudolph Triebel DLR German Aerospace Center Institute of Robotics and Mechatronics Smart Robotics Lab Technical University of Munich School of Computation Information and Technology

Many solutions exist for estimating the pose of an object with respect to a camera, where perfect knowledge of the object is assumed. In this work we lift the assumption of a perfectly known model and introduce uncertainties for the 3d points, which are retrieved from a dynamically created model. The positions of model points can either be uncorrelated or correlated. The latter is typically the case for mobile robots navigating based on results of visual-inertial pose estimation in unknown and GNSS-denied environments. In our approach, a selection of poses estimated by one robot is used as a dynamical 3d model and combined with 2d points from tracking the robot over time with the camera of another robot. In addition, selection criteria for adding and deleting 3d model points in an optimal way are proposed. Weighted residuals in the tangent space are used in a generalized least-squares problem to calculate the transformation between the tracking camera and an object. Measurement errors are projected into tangential planes of the unit sphere. The proposed method allows to estimate the relative pose of members of a robotic team with high accuracy. The benefits of our approach are shown in simulation and also during real-world experiments using visual odometry measurements from a multicopter that is tracked by the camera of a rover.

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Kinematic and Dynamic Analysis of a 3-■US Spatial Parallel Manipulator

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Chinese Journal of Mechanical Engineering 2020年第1期33卷 114-130页

作者： Mervin Joe Thomas M.L.Joy A.P.Sudheer Mechatronics/Robotics Lab Department of Mechanical EngineeringNational Institute of Technology CalicutKozhikodeIndia

Parallel Kinematic Machines(PKMs)are being widely used for precise applications to achieve complex motions and variable poses for the end effector *** are found in medical,assembly and manufacturing industries where accuracy is *** is often desired to have a compact and simple architecture for the robotic *** this paper,the kinematic and dynamic analysis of a novel 3-PRUS(P:prismatic joint,R:revolute joint,U:universal joint,S:spherical joint)parallel manipulator with a mobile platform having 6 Degree of Freedom(Do F)is *** kinematic equations for the proposed spatial parallel mechanism are formulated using the Modified Denavit-Hartenberg(DH)technique considering both active and passive *** kinematic equations are used to derive the Jacobian matrix of the mechanism to identify the singular points within the workspace.A Jacobian based sti ness analysis is done to understand the variations in sti ness for different poses of the mobile platform and further,it is used to decide trajectories for the end effector within the singularity free *** analytical model of the robot dynamics is presented using the Euler-Lagrangian approach with Lagrangian multipliers to include the system *** gravity and inertial forces of all links are considered in the mathematical *** analytical results of the dynamic model are compared with ADAMS simulation results for a pre-defined trajectory of the end effector.

关键词： Parallel manipulator Kinematic modelling Workspace analysis Euler-Lagrangian modelling Singularity analysis Stiffness analysis

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Fine Manipulation Using a Tactile Skin: Learning in Simulation and Sim-to-Real Transfer

Fine Manipulation Using a Tactile Skin: Learning in Simulati...

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

作者： Ulf Kasolowsky Berthold Bäuml Learning AI for Dextrous Robots Lab (***) Technical University of Munich Germany DLR Institute of Robotics and Mechatronics German Aerospace Center

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

We want to enable fine manipulation with a multi-fingered robotic hand by using modern deep reinforcement learning methods. Key for fine manipulation is a spatially resolved tactile sensor. Here, we present a novel model of a tactile skin that can be used together with rigid-body (hence fast) physics simulators. The model considers the softness of the real fingertips such that a contact can spread across multiple taxels of the sensor depending on the contact geometry. We calibrate the model parameters to allow for an accurate simulation of the real-world sensor. For this, we present a self-contained calibration method without external tools or sensors. To demonstrate the validity of our approach, we learn two challenging fine manipulation tasks: Rolling a marble and a bolt between two fingers. We show in simulation experiments that tactile feedback is crucial for precise manipulation and reaching sub-taxel resolution of <1 mm (despite a taxel spacing of 4 mm). Moreover, we demonstrate that all policies successfully transfer from the simulation to the real robotic ***: ***/skin/iros24

关键词： Hands Geometry Tactile sensors Fasteners Skin Calibration Spatial resolution Robots Physics Intelligent robots

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