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检索条件"机构=Mechatronics and Robotics"

共 5374 条记录，以下是231-240 订阅

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Resampling Strategies for Increasing Point Density in Narrow Passages for Probabilistic Roadmaps

Resampling Strategies for Increasing Point Density in Narrow...

引用

ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots, ReMAR

作者： Bartłomiej Bonar Tomasz Buratowski Department of Robotics and Mechatronics Faculty of Mechanical Engineering and Robotics AGH University of Krakow Kraków Poland

ISBN: (数字)9798350395969

ISBN: (纸本)9798350395976

This paper presents multiple point-sampling strategies for stochastic approach to path planning. Their main purpose is to increase points density in narrow corridors, which are often difficult areas to navigate using non-deterministic approach for path planning. At the same time, algorithms for distributing points over the area of narrow regions and reducing their number in open space are described as well as postprocessing algorithm distancing samples from obstacles. Simulation-based tests are performed to compare achieved results and estimate calculation times.

关键词： Navigation Gaussian distribution Probabilistic logic Vectors Path planning Computational efficiency Complexity theory

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Development of an Accelerometer-based Data Acquisition System for Hand Gesture Recognition

Development of an Accelerometer-based Data Acquisition Syste...

引用

robotics, Automation, Artificial-intelligence and Internet-of-Things (RAAICON), 2019 IEEE International Conference on

作者： Atique Tajwar Md. Ettashamul Haque Md Mehedi Hasan Department of Robotics and Mechatronics Engineering University of Dhaka Dhaka Bangladesh

ISBN: (数字)9798331534400

ISBN: (纸本)9798331534417

This study presents a novel approach to Human-Robot Interaction (HRI) by employing gesture recognition to control robotic systems, such as bionic arms or manipulators, through accelerometer-based data collection. Using a low-cost glove equipped with an ESP32 microcontroller and accelerometer, data was gathered from 22 participants performing five distinct gestures: a clockwise circle, square, triangle, double tap, and the letter S. After filtering, these gestures were translated into features that trained a small neural network model designed for low-storage microcontrollers like the ESP32. With a performance accuracy of 90.4%, the neural network outperformed existing ensemble learning models, demonstrating its suitability for real-time gesture recognition tasks in embedded robotic systems. This highly efficient model enables seamless and intuitive control of robotic devices by facilitating responsive and natural HRI through gesture recognition. Designed specifically for compact and resource-limited environments, the model addresses the challenges associated with limited computational resources and restricted hardware capabilities. It provides a robust and scalable solution that can be easily integrated into various robotics applications, where gesture-based control is advantageous.

关键词： Microcontrollers Computational modeling Neural networks Human-robot interaction Low-pass filters Gesture recognition Data collection Manipulators Feature extraction Data models

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Monte Carlo averaging for uncertainty estimation in neural networks

Monte Carlo averaging for uncertainty estimation in neural n...

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2022 International Joint Conference on robotics and Artificial Intelligence, JCRAI 2022

作者： Tassi, Cedrique Rovile Njieutcheu Börner, Anko Triebel, Rudolph German Aerospace Center Institute of Optical Sensor Systems Berlin Germany German Aerospace Center Institute of Robotics and Mechatronics Wessling Germany

Although convolutional neural networks (CNNs) are widely used in modern classifiers, they are affected by overfitting and lack robustness leading to overconfident false predictions (FPs). By preventing FPs, certain consequences (such as accidents and financial losses) can be avoided and the use of CNNs in safety- and/or mission-critical applications would be effective. In this work, we aim to improve the separability of true predictions (TPs) and FPs by enforcing the confidence determining uncertainty to be high for TPs and low for FPs. To achieve this, we must devise a suitable method. We proposed the use of Monte Carlo averaging (MCA) and thus compare it with related methods, such as baseline (single CNN), Monte Carlo dropout (MCD), ensemble, and mixture of Monte Carlo dropout (MMCD). This comparison is performed using the results of experiments conducted on four datasets with three different architectures. The results show that MCA performs as well as or even better than MMCD, which in turn performs better than baseline, ensemble, and MCD. Consequently, MCA could be used instead of MMCD for uncertainty estimation, especially because it does not require a predefined distribution and it is less expensive than MMCD. © Published under licence by IOP Publishing Ltd.

关键词： Forecasting

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Elasto-Plastic Robot Compliance in Human-Robot Interaction and Robot-Robot Cooperation 25

Elasto-Plastic Robot Compliance in Human-Robot Interaction a...

引用

ACM/IEEE International Conference on Human-Robot Interaction (HRI)

作者： Michael Panzirsch Harsimran Singh Thomas Hulin Robotics and Mechatronics Center German Aerospace Center (DLR) Wessling Germany

ISBN: (数字)9798350378931

ISBN: (纸本)9798350378948

Efficient Human-Robot Interaction requires flexible role switching and robust role distribution. Leader and follower agents are mostly recognized based on interaction forces. This often comes with the drawback of reduced robustness and the necessity of models of the robot's environment or human be-haviour. This video presents the recently proposed Elasto-Plastic Robot Compliance (EPRC) concept that, being power-based, additionally considers the robot velocity in role recognition. Thus, active environments can be detected inducing enhanced virtual plastic compliance of the robot. Such plastic compliance refers to evasive robot motions induced specifically by active environments, after which the robot is not pushed back to the initial point of contact in contrast to elastic compliance. The video further presents advantages as role distribution specific to different degrees-of-freedom, independence from model generation and unrestricted force application.

关键词： Robot motion Force Human-robot interaction Collaboration Switches Robot sensing systems Robustness End effectors Sensors Plastics

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Increasing the robustness of computer networks by using hybrid centralized-distributed topology 17

Increasing the robustness of computer networks by using hybr...

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17th IEEE International Conference on Computer Science and Information Technologies, CSIT 2022

作者： Skvorchevsky, Alexander Scientific Institution 'Research Center of Robotics Mechatronics and Production Informatization' LLC Kharkiv Ukraine

ISBN: (纸本)9798350334319

The paper presents the results of the structural synthesis of the hybrid centralized-distributed system of data generation, transferring, storing and restoration. A system of data generation, transferring, storing and restoration is proposed, which includes peripheral nodes made with the possibility of data generation and storing and their subsequent transferring via communication lines to a central node for storage. Each of the peripheral nodes is additionally connected with each other peripheral node by communication lines, and communication lines provide the ability to transfer data, generated in each of the peripheral nodes, for storage on one or several other peripheral nodes and the ability to transfer data to one of the peripheral nodes and to restore data on it in case of the central node loss. A method using the specified system is also proposed. The study objectives are to provide a stability high level of the system and method of generation, transferring, storing and restoration data to data loss, including possibly the holistic body of data, with data loss at the central and one or more peripheral nodes of the system while reducing risk of unauthorised access to data and level of energy consumption. The objectives of the study are achieved by the fact that the pairwise peripheral nodes connect with all other peripheral nodes via communication lines, while the simultaneous connection of all peripheral nodes with the central node via communication lines allows ensuring the integrity of data available in the data generation and storing system in case of complete data loss on the central node and one or more peripheral nodes with a limited number of data copies generated in each of the nodes. Research results can be used in database management systems, server network topology, cryptocurrencies, the financial and banking sectors' information systems, objects and processes automatic control systems, etc. In addition, the results of the study can be used in the

关键词： Data transfer

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Wireless Multihop Transmissions with Concurrent Forwarding without Collisions by Capture Effect

Wireless Multihop Transmissions with Concurrent Forwarding w...

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Parallel Computing and Distributed Systems (PCDS), International Symposium on

作者： Shintaro Okazaki Hiroaki Higaki Department of Robotics and Mechatronics Tokyo Denki University Tokyo Japan

ISBN: (数字)9798350349658

ISBN: (纸本)9798350349665

In wireless multihop transmissions of data messages, concurrent data message forwarding by 2-hop neighbor intermediate wireless nodes are prohibited due to collision avoidance between these data messages. However, depending on the distances between neighbor intermediate wireless nodes, no collision concurrent data message forwarding by 2-hop neighbor intermediate wireless nodes is realized due to the capture effects. Therefore, with more partial sequences of intermediate wireless nodes allowing the concurrent data message forwarding, shorter end-to-end transmission delay and higher throughput of data messages are expected. This paper proposes a more concurrent data message transmission method with collision avoidance in consideration of the capture effects and a routing protocol detecting a wireless multihop forwarding route allowing the concurrent data message transmissions. Results of simulation experiments suggest the improvement of end-to-end throughput of data messages due to the concurrent data message.

关键词： Wireless communication Parallel processing Throughput Ad hoc networks Routing protocols Delays Collision avoidance

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A Study of Output Voltage Control without Current Sensor for DC-DC Converters with Rapid Load Variation

A Study of Output Voltage Control without Current Sensor for...

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International Conference on Power Electronics and Motion Control (IPEMC)

作者： Taishi Nakajima Kantaro Yoshimoto Department of Robotics and Mechatronics Tokyo Denki University Tokyo Japan

ISBN: (数字)9798350351330

ISBN: (纸本)9798350351347

In this paper, In the case of a 14V DC-DC converter used for Electric Vehicles, the output load must be considered a current source as a controlled load, thus, the resistive component is quite small value in output circuit. Based on these studies, the output voltage was controlled by a PI controller and a disturbance observer through feedback control using a phase shift full-bridge system with the phase as the operation value. The voltage controller consists the PI controller using the output voltage sensor without current sensors from a cost point of view.

关键词： Robust control PI control Transfer functions DC-DC power converters Load management Disturbance observers Power electronics

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A Consideration of Power Distribution Controls for DC-Input Direct Electric-Power Converter D-EPC

A Consideration of Power Distribution Controls for DC-Input ...

引用

International Conference on Power Electronics and Motion Control (IPEMC)

作者： Seiryu Yoshii Kantaro Yoshimoto Department of Robotics and Mechatronics Tokyo Denki University Tokyo Japan

ISBN: (数字)9798350351330

ISBN: (纸本)9798350351347

An inverter dc input power converter (D-EPC) that can control the distribution of power from two sources suitable for fuel cell and hybrid vehicles is proposed [1] - [2] . Also a control method for two power supply inputs based on a 3-level inverter has also been proposed [3] - [4] . This paper compares these drive and control methods and describes the characteristics of each from the viewpoints of DC current ripple and power distribution control, based on simulation and experiments. From the results, D-EPC power distribution control has better controllability in power distribution and DC current ripples than 3-level inverter power control.

关键词： Power supplies Power control Asia Fuel cells Drives Controllability Inverters

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Control of Rigid Asymmetric Rotors Using Magnetorheological Squeeze Dampers

Control of Rigid Asymmetric Rotors Using Magnetorheological ...

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International Conference on Industrial Engineering, Applications and Manufacturing (ICIEAM)

作者： Alexander Fetisov Yuri Kazakov Maxim Litovchenko Department of Mechatronics Mechanics and Robotics Orel State University Orel Russia

ISBN: (数字)9798331512194

ISBN: (纸本)9798331512200

The article presents an analysis of the dynamic behavior of a rotor with imbalance and an asymmetric load distribution. The rotor system includes a rigid rotor, rolling bearings, and controlled squeeze dampers with magnetorheological fluid. Approximated dependencies of dynamic stiffness and damping coefficients on the relative eccentricity of the damper, rotor speed, and electromagnetic field strength are presented. The trajectories of the rotor system's motion during a scenario of rotor acceleration through the first critical frequency are shown for various variations of the dynamic stiffness and damping coefficients of the magnetorheological squeeze dampers. Waterfall diagrams of the rotor system are presented, illustrating the amplitude-frequency characteristics of the rotor and the main patterns of controlling an asymmetrically loaded rotor. The trajectories of the rotor's motion on magnetorheological squeeze dampers under the control of individual PID controllers are also presented.

关键词： Damping Vibrations Magnetomechanical effects Dynamics Rotors Rolling bearings Shock absorbers Magnetic analysis Trajectory Magnetic levitation

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Optimizing Base Placement of Surgical Robot: Kinematics Data-Driven Approach by Analyzing Working Pattern

Optimizing Base Placement of Surgical Robot: Kinematics Data...

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

作者： Jeonghyeon Yoon Junhyun Park Hyojae Park Hakyoon Lee Sangwon Lee Minho Hwang Department of Robotics and Mechatronics Engineering DGIST Daegu Republic of Korea

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

In robot-assisted minimally invasive surgery (RAMIS), optimal placement of the surgical robot base is crucial for successful surgery. Improper placement can hinder performance because of manipulator limitations and inaccessible workspaces. Conventional base placement relies on the experience of trained medical staff. This study proposes a novel method for determining the optimal base pose based on the surgeon’s working pattern. The proposed method analyzes recorded end-effector poses using a machine learning-based clustering technique to identify key positions and orientations preferred by the surgeon. We introduce two scoring metrics to address the joint limit and singularity issues: joint margin and manipulability scores. We then train a multi-layer perceptron regressor to predict the optimal base pose based on these scores. Evaluation in a simulated environment using the da Vinci Research Kit shows unique base pose score maps for four volunteers, highlighting the individuality of the working patterns. Results comparing with 20,000 randomly selected base poses suggest that the score obtained using the proposed method is 28.2% higher than that obtained by random base placement. These results emphasize the need for operator-specific optimization during base placement in RAMIS.

关键词： Measurement Medical robotics Minimally invasive surgery Accuracy Kinematics End effectors Optimization Intelligent robots

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