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A nonlinear fractional order variational model for the robust estimation of optical flow

A nonlinear fractional order variational model for the robus...

2024 OPJU International Technology Conference on Smart Computing for Innovation and Advancement in Industry 4.0, OTCON 2024

作者： Kumar, Ankit Singh, Bhavana Khan, Muzammil Kumar, Pushpendra Maulana Azad National Institute of Technology Bioinformatics & Computer Applications Department of Mathematics Bhopal462003 India University of Twente Robotics and Mechatronics Group Netherlands

ISBN: (纸本)9798350373783

This paper introduces a nonlinear fractional order variational model for the robust estimation of optical flow. In particular, it can be used to generalize the existing models from integer to fractional order. The proposed model combines a nonlinear Geman-McClure norm based data term with a Marchaud fractional derivative based regularization term. It significantly offers robustness against outliers, efficiently handle discontinuous texture and edge information and provides a dense flow field. The numerical discretization of the variational functional is facilitated using the Gru' nwald-Letnikov fractional derivative. Through an outer fixed point iteration scheme, the discretized nonlinear system is transformed into a linear system of equations, which is further solved using iterative techniques. Experimental evaluations across diverse datasets assess the model performance using various error measures (AAE, AEE, AENG). The results are also compared with the state-of-the-art-techniques. © 2024 IEEE.

关键词： Iterative methods

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Novel Acceleration Estimation for Improving Stability and Performance in Impedance Control

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Journal of Institute of Control, robotics and Systems 2024年第11期30卷 1260-1265页

作者： Lee, Hyunwook Cheon, Dasol Oh, Sehoon Department of Mechatronics Engineering Gyeongsang National University Korea Republic of Department of Robotics and Mechatronics Engineering DGIST Korea Republic of

This article presents a novel approach to enhancing the stability and performance of impedance control in robotic systems through improved acceleration estimation. The focus is on Series Elastic Actuators (SEAs), which are vital for achieving precise force control and ensuring safe and efficient human-robot collaboration. Traditional cascade impedance control is limited by the passive nature of the system, particularly when rendering high stiffness values. To address these limitations, we introduce Elastic Structure Preserving (ESP) control, which retains the inherent elastic structure of the SEA while enabling high-performance impedance rendering. A key aspect of ESP is the accurate estimation of load-side acceleration, which is crucial for ensuring stability and maintaining control performance. To achieve this, we propose a new acceleration estimation technique that enhances impedance rendering. Experimental results demonstrate the effectiveness of the proposed method, which shows improved stability and precise impedance control. This approach offers a robust solution for advanced robotic applications requiring high stiffness and precise force control. © ICROS 2024.

关键词： Robot applications

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Matching Input and Output Devices and Physical Disabilities for Human-Robot Workstations

Matching Input and Output Devices and Physical Disabilities ...

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2024 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2024

作者： Weidemann, Carlo Mandischer, Nils Corves, Burkhard Institute of Mechanism Theory Machine Dynamics and Robotics Rwth Aachen University Aachen52062 Germany University of Augsburg Chair of Mechatronics Augsburg86159 Germany

ISBN: (纸本)9781665410205

As labor shortage is rising at an alarming rate, it is imperative to enable all people to work, particularly people with disabilities and elderly people. Robots are often used as universal tool to assist people with disabilities. However, for such human-robot workstations universal design fails. We mitigate the challenges of selecting an individualized set of input and output devices by matching devices required by the work process and individual disabilities adhering to the Convention on the Rights of Persons with Disabilities passed by the United Nations. The objective is to facilitate economically viable work-stations with just the required devices, hence, lowering overall cost of corporate inclusion and during redesign of workplaces. Our work focuses on developing an efficient approach to filter input and output devices based on a person's disabilities, resulting in a tailored list of usable devices. The methodology enables an automated assessment of devices compatible with specific disabilities defined in International Classification of Functioning, Disability and Health. In a mock-up, we showcase the synthesis of input and output devices from disabilities, thereby providing a practical tool for selecting devices for individuals with disabilities. © 2024 IEEE.

关键词： Machine design

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Anatomical Region Recognition and Real-time Bone Tracking Methods by Dynamically Decoding A-Mode Ultrasound Signals

arXiv

引用

arXiv 2024年

作者： Lan, Bangyu Stramigioli, Stefano Niu, Kenan Robotics and Mechatronics University of Twente EnschedeAE Netherlands

Accurate bone tracking is crucial for kinematic analysis in orthopedic surgery and prosthetic robotics. Traditional methods (e.g., skin markers) are subject to soft tissue artifacts, and the bone pins used in surgery introduce the risk of additional trauma and infection. For electromyography (EMG), its inability to directly measure joint angles requires complex algorithms for kinematic estimation. To address these issues, A-mode ultrasound-based tracking has been proposed as a non-invasive and safe alternative. However, this approach suffers from limited accuracy in peak detection when processing received ultrasound signals. To build a precise and real-time bone tracking approach, in this paper, a deep learning-based method was introduced for anatomical region recognition and bone tracking using A-mode ultrasound signals, specifically focused on the knee joint. The algorithm is capable of simultaneously performing bone tracking and identifying the anatomical regions where the A-mode ultrasound transducer was placed. It contains the fully connection between all encoding and decoding layers of the cascaded U-Nets to focus only on the signal region that is most likely to have the bone peak, thus pinpointing the exact location of the peak and classifying the anatomical region of the signal. The experiment showed a 97% accuracy in the classification of anatomical regions and a precision of around 0.5±1mm for tracking movements of the various anatomical areas surrounding the knee joint. In general, this approach shows great potential beyond the traditional method, in terms of the accuracy achieved and the recognition of the anatomical region where the ultrasound has been attached as an additional functionality. Copyright © 2024, The Authors. All rights reserved.

关键词： Kinematics

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Human Machine System Control for Persons with Operating Deficiencies

Human Machine System Control for Persons with Operating Defi...

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International Conference on System Theory, Control, and Computing (ICSTCC)

作者： Mircea Ivanescu Mircea Nitulescu Department of Mechatronics and Robotics University of Craiova Craiova Romania

ISBN: (数字)9798350364293

ISBN: (纸本)9798350364309

The paper focuses on the design of a control system for an operator with Parkinson's diseases driving an electric vehicle. The fractional order model of a person with Parkinson’s disease is discussed. The fractional model is extended to the dynamics of an electric car operated by a person with disabilities. The associated mathematical models are analyzed, insisting on the influence of dead times on driving performance. The effects generated by dead times on the visual perception of motion parameters as well as dead times on the generation of a control decision are discussed, times determined by the incapacity of the operator affected by Parkinson's disease. Methods for approximating the dead time dynamics are proposed and the stability of the human-machine system is investigated, as a hierarchical system, using vector Lyapunov techniques. The theoretical results are verified by numerical simulation.

关键词： Parkinson's disease Human-machine systems Dynamics Stability criteria Electric vehicles Control systems Mathematical models Vectors Vehicle dynamics Visual perception

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Control of the Switch-on Instant for a Shock Isolator that Protects an Object on a Movable Base from Impact Disturbances of Bounded Magnitude 16

Control of the Switch-on Instant for a Shock Isolator that P...

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16th International Conference on Stability and Oscillations of Nonlinear Control Systems (Pyatnitskiy's Conference), STAB 2022

作者： Bolotnik, N.N. Korneev, V.A. Ishlinsky Institute for Problems in Mechanics RAS Laboratory of Robotics and Mechatronics Moscow Russia

ISBN: (纸本)9781665465861

Guaranteeing control modes are constructed for a shock isolator that protects objects on a moving base from external shock disturbances applied to the base. A constraint is imposed on the disturbance magnitude. Parametric optimization is performed, the control starting time playing the role of the design parameter. The maximum of the absolute value of the displacement of the object to be protected relative to the base, provided that the absolute acceleration of the object does not exceed a prescribed value, is used as a performance index. The optimization is performed for two types of controls. © 2022 IEEE.

关键词： Shock absorbers

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A Novel Interleaving Method for High Power Integrated Electric Vehicle Charger with Three-Phase Permanent Magnet Synchronous Motor 14

A Novel Interleaving Method for High Power Integrated Electr...

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14th Annual IEEE Applied Power Electronics Conference and Exposition, APEC 2025

作者： Tanaka, Ryota Kai, Toshihiro Takishima, Kenta Nagai, Yoshiyuki Hayashi, Tetsuya Yoshimoto, Kantaro Nissan Motor Co. Ltd. Research Division Kanagawa Japan Tokyo Denki University Department of Robotics and Mechatronics Tokyo Japan

ISBN: (纸本)9798331516116

The voltage of electric vehicle (EV) batteries has shifted from the conventional 400 V class to the 800 V class, necessitating boost converters to enable charging 800 V class batteries with 400 V class chargers. To reduce the additional costs associated with these boost converters, integrated chargers utilizing a traction motor and inverter have been proposed. Interleaving strategies that employ three-phase windings or only two out of the three phases have been suggested to effectively suppress battery charging current ripple. However, these strategies face challenges such as increased magnetic losses due to interleaving and higher root-mean-square current per phase when conduction is restricted to two phases. These challenges result in temperature rises in permanent magnet synchronous motors, thereby limiting both output and the duration of fast charging. This paper proposes a new interleaving method that uses threephase windings while suppressing magnetic losses for high-power charging with permanent magnet synchronous motors. The effectiveness of this method is confirmed through finite element analysis and experimental results. © 2025 IEEE.

关键词： Permanent magnets

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Magnetically Actuated Capsule with Multiple Sampling Capability for Gut Microbiome Research

Magnetically Actuated Capsule with Multiple Sampling Capabil...

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International Conference on Control, Automation and Systems ( ICCAS)

作者： Sanghyeon Park Sukho Park Department of Robotics and Mechatronics Engineering DGIST Daegu Korea

ISBN: (数字)9788993215380

ISBN: (纸本)9798331517939

Understanding the relationship between gut microbiota and gastrointestinal (GI) diseases through longitudinal analysis is vital for advancing diagnosis and treatment methods. To achieve this, ingestible devices capable of multipoint gut microbiota sampling are necessary. Conventional devices move passively through the GI tract, relying on physiological factors and are unable to perform multipoint sampling. This study introduces a novel magnetically actuated capsule robot designed to collect gut microbiota from various GI tract locations while minimizing cross-contamination. The capsule includes a body, a driving unit, six sampling tools, a central rod, and two heads. It uses electromagnetic field control for precise orientation and position of the capsule, ensuring the sampling channel faces downward for accurate collection. The capsule can collect six distinct microbiota samples, protecting the tools from contamination throughout the process. Its active locomotion and sampling capabilities were tested through ex-vivo tests. The feasibility of clinical application was demonstrated in preclinical trials using a porcine model, confirming the capsule's potential for integration and use in medical settings.

关键词： Wireless communication Performance evaluation Microorganisms Magnetic heads Physiology Magnetic fields Robots Surface treatment Medical diagnostic imaging Diseases

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SLIP Embodied Robust Quadruped Robot Control

SLIP Embodied Robust Quadruped Robot Control

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

作者： Jinsong Hong Changmin Yeo Sangjin Bae Jeongwoo Hong Sehoon Oh Department of Robotics and Mechatronics Engineering DGIST Daegu Korea

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

Recent research on quadruped robots has been achieving high-performance motion control based on optimization and reinforcement learning (RL). However, there is still ongoing research aimed at demonstrating that implementing high-performance motion based on simple and dominant dynamic principles is possible. In this paper, we proposed a novel control approach that projects Spring-Loaded Inverted Pendulum (SLIP) dynamics to articulated legs, utilizing admittance control based force observer within a rotating workspace (RWFOB). Unlike other legged robots that depend on sensor-based estimation of external forces, the proposed method presents an alternative approach that reduces the reliance on sensors. Additionally, we introduce a comprehensive control framework for quadruped robot motion control, establishing the connection between trunk and SLIP-realized leg movements using Jacobian. Through comparative analysis with Virtual Model Control (VMC) in simulations, we illustrate the effectiveness of the proposed framework as a robust and reliable trunk feedback controller.

关键词： Legged locomotion Jacobian matrices Robot motion Analytical models Dynamics Robot sensing systems Quadrupedal robots Reliability Motion control Admittance control

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Control of the Active-Passive Ankle Mechanotherapy Device

Control of the Active-Passive Ankle Mechanotherapy Device

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2022 International Russian Automation Conference, RusAutoCon 2022

作者： Jatsun, Sergey Knyazev, Andrey Fedorov, Andrey South-West State University Department of Mechanics Mechatronics and Robotics Kursk Russia

ISBN: (数字)9781665466554

ISBN: (纸本)9781665466554

This article discusses the device for active-passive mechanotherapy of the ankle joint. The device is based on a controlled mobile platform on which the patient's foot is placed using special cuffs equipped with force meters, while the rotation angles of the platform are controlled by special sensors. Structurally the platform of the device is installed so that the rotation of the platform is always coincided with the center of the ankle joint, for which the parallel kinematics mechanism based on three linear electric drives is used. The control system of the device provides both active and passive movement of the platform. For realization of algorithm of controlling movement of mobile platform, the mathematical model is developed, it allows to establish connections between angular motions of mobile platform and linear drives of parallel mechanism. The algorithms for controlling the platform are considered. © 2022 IEEE.

关键词： Electric drives

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