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3rd International Conference on Power, Control and Computing Technologies, ICPC2T 2024

作者： Bouzid, Rania Narayan, Jyotindra Gritli, Hassene Borj Cedria Tunis1164 Tunisia Indian Institute of Technology Guwahati Mechatronics and Robotics Laboratory Department of Mechanical Engineering Assam Guwahati781039 India Tunis1002 Tunisia

ISBN: (纸本)9798350349207

This research delves into the evaluation of Artificial Neural Networks (ANNs) in tackling the intricate domain of inverse kinematics problems within the context of robotic systems. Compared to direct kinematics, inverse kinematics presents significant challenges, especially when dealing with different arm lengths, which can impact the system's overall functionality. In this study, we conduct a comprehensive comparative analysis to assess the performance of ANNs across various robotic arm lengths. Following the forward kinematics of a simple 2-DoF robotic manipulator, three distinct datasets (fixed step size, random step size, and sinusoidal step size) are generated for training, testing, and validation phases. For every dataset, three optimizers, namely Levenberg Marquardt, Bayesian Regularization, and Scaled Conjugate Gradient, are considered with different hyperparameters to investigate the performance of the ANN models. Based on the validation of MSE values, ANN models with different hyperparameters are found to be a promising approach in estimating the inverse kinematic solutions for different arm lengths with data complexities. Such solutions can be further extended to higher DoF robotic solutions and save the computational burden of evaluating analytical solutions. © 2024 IEEE.

关键词： Inverse kinematics

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Conceptual Design and Control of a Robotic System for Welding 24

Conceptual Design and Control of a Robotic System for Weldin...

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24th International Carpathian Control Conference, ICCC 2023

作者： Miatliuk, Kanstantsin Wolniakowski, Adam Quintana, Jose J. Bialystok University of Technology Dept. of Robotics and Mechatronics Bialystok Poland Bialystok University of Technology Dept. of Automation and Robotics Bialystok Poland University Las Palmas Gran Canaria IDeTIC Las Palmas Spain

ISBN: (纸本)9798350310221

The use of Hierarchical Systems (HS) method in design and control of a robotic system for welding (RSW) is suggested in the paper. Created conceptual model of the robotic system under consideration integrates connected systemic descriptions of the RSW mechatronic subsystems - IT, electronic, mechanic - which are given in the common HS theoretical basis. RSW structure and the motion planning task, RSW dynamic presentation in its environment, RSW control unit, and RSW learning by demonstration processes are also given in this basis. The examples of the RSW control processes, robot teaching and welding process simulation using Mimicking Kit and RobWork program system respectively are also described in the work. © 2023 IEEE.

关键词： Conceptual design

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QWriter: Technology-Enhanced Alphabet Acquisition based on Reinforcement Learning

QWriter: Technology-Enhanced Alphabet Acquisition based on R...

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Extended Abstracts of the 2023 CHI Conference on Human Factors in Computing Systems, CHI EA 2023

作者： Shakerimov, Aidar Sarmonov, Shamil Amirova, Aida Oralbayeva, Nurziya Zhanatkyzy, Aida Telisheva, Zhansaule Aimysheva, Arna Sandygulova, Anara Department of Robotics and Mechatronics School of Engineering and Digital Sciences Nazarbayev University Astana Kazakhstan Graduate School of Education Nazarbayev University Astana Kazakhstan

ISBN: (纸本)9781450394222

In Kazakhstan, the ongoing Cyrillic-to-Latin alphabet shift raises challenges for early literacy development and acquisition in the Kazakh language. This paper proposes the QWriter system to help young children learn the Latin-based Kazakh alphabet and its handwriting. The system consists of a humanoid robot NAO, a tablet with a stylus, and a Reinforcement Learning (RL) agent that learns a child's mistakes and progress to maximize alphabet learning in the shortest period of time by adapting the order of practice words according to the child's mistakes. To evaluate the effectiveness of the QWriter system, we conducted a between-subject design experiment with 59 Kazakh children aged 6-8 years old and compared their learning performance with a human tutor and the CoWriting Kazakh robot system. The results did not support our assumption, we found that the proposed system received significantly higher likability scores than the baseline human tutor. © 2023 Owner/Author.

关键词： Reinforcement learning

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Disturbance effects observed during micro-gravity experiments on the Astrobee free-flyer and mitigation measures

Disturbance effects observed during micro-gravity experiment...

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Space robotics (iSpaRo), International Conference on

作者： Monica Ekal Rodrigo Ventura Institute for Systems and Robotics Instituto Superior Técnico Robotics and Mechatronics Center German Aerospace Center (DLR)

ISBN: (数字)9798350367232

ISBN: (纸本)9798350367249

Assistive free-flyer platforms have been deployed on board the International Space Station to demonstrate, test and validate autonomy algorithms. Prior to in-space execution, these algorithms are first tested in simulation or at a ground-testing facility. However, certain effects and disturbances unique to the microgravity test-facility can significantly impact the outcome of the experiments. Accounting for these effects is therefore crucial, given the limited access to micro-gravity. This paper presents the effects observed on NASA’s Astrobee freeflyer during the microgravity demonstration of the RATTLE online information-aware model-learning method and discusses the solutions implemented to address them. Through these findings, this article aims to enhance preparedness for future experiments aboard Astrobee and similar testing platforms.

关键词： Accuracy Uncertainty Trajectory tracking Prevention and mitigation International Space Station Extraterrestrial measurements Time measurement

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Target Tracking Control of Space-Manipulators on Lie Groups

Target Tracking Control of Space-Manipulators on Lie Groups

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2023 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2023

作者： Moghaddam, Borna Monazzah Chhabra, Robin Carleton University Autonomous Space Robotics and Mechatronics Laboratory Mechanical and Aerospace Engineering Department OttawaONKIS 5B6 Canada

ISBN: (纸本)9798350337020

We present a full-pose end-effector control approach on Lie groups for free-floating space manipulators with non-zero momentum while tracking a moving target during proximity operations. We model space-manipulators as open-chain multi-body systems with 1-degree-of-freedom joints where the configuration space of the spacecraft is isomorphic to the Special Euclidean group SE(3). We formulate the dynamics of the spacecraft-manipulator via the Lagrange-Poincare equations and the dynamics of its target via Euler-Poincare equations to avoid kinematic singularities associated with parametrization of their poses. This model reduces the phase space of the space-manipulator by exploiting its inherent independence of the spacecraft's pose. We consider the full pose of the end-effector relative to the target as the system output, which transforms the output-tracking control problem into an output-regulation problem. To avoid parametrization singularities of this output, we perform feedback linearization on the matrix Lie group SE (3) in the reduced phase space of the space-manipulator. We then propose a feedback/feedforward proportional-integral-derivative workspace controller, based on coordinate-free pose and velocity error functions defined on the matrix Lie group associated with the target's relative pose. We provide analytical proof of the almost-global stability of the presented controller when regulating the end-effector's pose relative to the target towards identity. © 2023 IEEE.

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Development of Ceiling Board Opening Robot for Installing Electric Light and Air Conditioning Equipment

Development of Ceiling Board Opening Robot for Installing El...

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18th IEEE International Conference on Advanced Motion Control, AMC 2024

作者： Omura, Issa Oyori, Ryo Iwase, Masami School of Science and Technology for Future Life Tokyo Denki University Department of Robotics and Mechatronics 5 Senju-Asahicho Adachi Tokyo120-8551 Japan

ISBN: (纸本)9798350342819

The purpose of this research is to develop a robot that automates opening work of ceiling board for installing electric lights and air conditioning equipment. The opening operation requires that the error margin be kept within 2 mm of the drawing's indication. To ensure accuracy, a total station-based robot self-position estimation system is constructed. The cutting accuracy by the robot is ensured by using coordinate transformations to absorb the robot's movement error. Subsequently, each subsystem of the robot is integrated to achieve continuous opening work. © 2024 IEEE.

关键词： Robots

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Algorithms for Robotic Intelligent Systems for Predicting Fire Hazardous Situations at an Early Stage

Algorithms for Robotic Intelligent Systems for Predicting Fi...

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2023 International Russian Smart Industry Conference, SmartIndustryCon 2023

作者： Emelyanova, Oksana Efimov, Sergey Jatsun, Sergey Southwest State University Department of Mechanics Mechatronics and Robotics Kursk Russia Voronezh Institute of High Technologies Department of Educational Work Voronezh Russia

ISBN: (纸本)9781665464291

There is a problem of promptly obtaining sufficient information about the chemical situation in the workplace and the territories adjacent to it, necessary and sufficient for taking appropriate measures. A possible solution to this problem, capable of implementing effective and continuous control over the concentration of harmful substances in the air over the entire territory of industrial facilities and adjacent territories, is the creation of a system for monitoring extreme situations using unmanned aerial vehicles. This solution involves the installation of a portable multi-channel gas analyzer on one or more autonomous unmanned aerial vehicles (UAVs) that move in the monitoring zone, controlling the level of pollution at given points and transmitting information to the decision-making center. Purpose of the study: development of algorithms for searching for the source of atmospheric pollution by the concentration of toxic gas measured by an onboard gas analyzer installed on a mobile instrument platform. An algorithm has been developed to control the autonomous movement of a mobile instrument platform to a source of toxic gas, taking into account the change in concentration and the choice of the type of a given trajectory of movement, which makes it possible to track the change in the dynamics of the concentration of toxic gases in the vicinity of the object of observation. © 2023 IEEE.

关键词： Carbon monoxide

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Perception-aware Full Body Trajectory Planning for Autonomous Systems using Motion Primitives

Perception-aware Full Body Trajectory Planning for Autonomou...

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

作者： Moritz Kuhne Riccardo Giubilato Martin J. Schuster Maximo A. Roa Institute of Robotics and Mechatronics German Aerospace Center (DLR) Wessling Germany

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

Many robotic systems rely on visual sensing to accomplish simultaneously the tasks of state estimation, mapping, and path planning. One one hand, the usage of camera sensors represents a power-efficient and lightweight option for solving this problem. On the other hand, these tasks pose requirements on the quality of the visual input (e.g. number of tracked features for Visual Odometry) that are often in contrast to the optimal viewpoint planning for local mapping and obstacle avoidance. Dealing with this constraint is actively researched in the field of perception-aware planning. The approaches delivered by this field mostly concern Micro air vehicles (MAVs), but could be applied to a larger group of robotic systems. We propose a perception-aware trajectory planner for a class of robotic systems that can orient their cameras independently from their direction of travel. By using motion primitives, our planner does not require differentiable models for motion and perception objectives. We evaluate our method in simulation, showing increased capabilities in localization-aware motions around obstacles, and demonstrate its run-time capability on a real planetary rover. The code is released publicly under ***/DLR-RM/palp.

关键词： Space vehicles Visualization Costs Tracking Robot vision systems Cameras Trajectory Planning State estimation Robots

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Full-state Physical Mirroring Method of Space Manipulator Based on the Multiple Decoupling Principles 2

Full-state Physical Mirroring Method of Space Manipulator Ba...

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2nd International Conference on Artificial Intelligence, Human-Computer Interaction and robotics, AIHCIR 2023

作者： Yang, Tao Qin, Shize Xu, Fang Deng, Songbo Zhang, Hao Shi, Yan Shenyang Institute of Automation Institutes for Robotics and Intelligent Manufacturing University of Chinese Academy of Sciences Beijing Institute of Precision Mechatronics Controls Laboratory of Aerospace Servo Actuation and Transmission State Key Laboratory of Robotics Chinese Academy of Sciences Beijing China Beijing Institute of Precision Mechatronics and Controls Laboratory of Aerospace Servo Actuation and Transmission PR Beijing China Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences State Key Laboratory of Robotics PR Shenyang China

ISBN: (纸本)9798350360363

To achieve the goal of an efficient full-state ground test of a 7DOF space manipulator, the kinematic and dynamical coupling characteristics of space manipulator are investigated, and a mirror test method based on the principle of multiple decoupling is proposed to solve the problem of highly dynamic three-dimensional motion conditions of space manipulator that are difficult to verify by ground simulation. It firstly decouples the space manipulator into a 3dof unit,1dof unit and another 3dof unit combination. It achieves joint load reduction through inter-joint dynamics coupling. Afterwards, it designs an air-floating support device to realize the joint space 7DOF motion, and proposes a constant damping joint dynamics compensation control algorithm to eliminate the dynamics disturbances introduced by inter-joint decoupling. Then, an industrial mirror robot arm with consistent kinematic parameters and a highly dynamic mirror control algorithm are designed to map the joint motion states of the space manipulator to the ground robotic arm, and a ground simulation of the Cartesian space motion state of the space robot arm is realized by decoupling the joint space from the Cartesian space motion. Finally, the ground experiment of target grasping based on the physical mirroring method is designed to realize the high-speed full-state ground experiment verification of complex tasks of space manipulator. © 2023 IEEE.

关键词： Robotic arms

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

arXiv

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arXiv 2024年

作者： Yoon, Jeonghyeon Park, Junhyun Park, Hyojae Lee, Hakyoon Lee, Sangwon Hwang, Minho The Department of Robotics and Mechatronics Engineering DGIST Daegu42988 Korea Republic of

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. Copyright © 2024, The Authors. All rights reserved.

关键词： Robotic surgery

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