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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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Density of eigenfrequencies of oscillations of flat orthotropic shells and plates

Density of eigenfrequencies of oscillations of flat orthotro...

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2022 International Conference on Dynamics and Vibroacoustics of Machines, DVM 2022

作者： Dogadina, T.N. Khromatov, V.Y. National Research University 'MPEI' Department of Robotics Mechatronics Dynamics and Machine Strength Moscow Russia

ISBN: (数字)9781665463140

ISBN: (纸本)9781665463140

Vibrations of flat orthotropic shells are considered. Expressions for the asymptotic frequency density are derived. The influence of shell parameters on the eigenfrequency distribution is investigated. Graphs of the asymptotic and empirical densities of the oscillation frequencies of flat shells are plotted. The study of the effect of the shift modulus on the value of the frequency density has shown that the frequency density increases slightly with a decrease of shift moduls, and, on the contrary, the frequency density decreases with an increase of shift moduls. The change in Poisson's ratio does not significantly affect the value of the frequency density. © 2022 IEEE.

关键词： Shells (structures)

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Analysis of the Exoskeleton Stability Walking Dynamic Model

Analysis of the Exoskeleton Stability Walking Dynamic Model

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International Russian Smart Industry Conference (SmartIndustryCon)

作者： Andrey Yatsun Mechatronics and Robotics Department South-West State University Kursk Russia

The article describes the problem of human stability research in an industrial exoskeleton. The task of ensuring safe walking and human stability in a robotic exoskeleton is relevant for the development of industry and industrial automation systems. A design scheme of a seven-branched exoskeleton of the lower extremities with controlled hinges is presented, and the equations of kinematics of the connections between the links are described. Special attention is paid to the description of the quasi-static walking mode, in which the projection of the center of mass of the exoskeleton moves along a separate smooth trajectory, which ensures stability at each moment of time. The description of walking modes in conditions of stability and gait modeling for various step parameters are given, numerical characteristics of the step parameters are established. An algorithm for numerical simulation of stable walking in an exoskeleton is proposed, and a promising direction in the field of studying dynamic gait is discussed.

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Theoretical Basis of the Mechanism of Synchronous Rotation in Reverse Phase 48th

Theoretical Basis of the Mechanism of Synchronous Rotation i...

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48th International Conference on Advanced Problems in Mechanics, 2020

作者： Dragunov, Sergey Department of Robotics Mechatronics Dynamics and Machine Strength National Research University MPEI Moscow Russia

ISBN: (纸本)9783030921439

The mechanism of synchronous rotation in reverse phase is one of the assemblies of a new type of gas distribution mechanism for an internal combustion engine. In this mechanism of gas distribution, instead of the intake and exhaust valves, a disc spool is used, which performs oscillatory movements synchronously with the speed of the crankshaft. During the compression stroke and during the working stroke, the spool is stationary. The oscillating movement of the spool occurs only at the exhaust stroke and at the intake stroke under the action of the return spring and two cams. The twisting of the spring and the initial opening of the outlet is carried out due to the kinematic connection of the spool with the crankshaft during the first half of the exhaust stroke. Thanks to the automatic control system, the spool closes both inlet and outlet when the piston is at top dead center. The mechanism of synchronous rotation in reverse phase changes the positions of the return spring stops when the crankshaft rotational speed changes, turning them in opposite directions. It contains two sections filled with steel balls that move along two tracks. The purpose of this study is to determine the design parameters of the mechanism that ensure the movement of balls from one section to another with acceptable friction losses. © 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Disk spool Gas distribution mechanism Internal combustion engine Synchronization of movement Track for balls

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Single-Leg Forward Hopping via Nonlinear Modes

Single-Leg Forward Hopping via Nonlinear Modes

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2022 American Control Conference, ACC 2022

作者： Calzolari, Davide Santina, Cosimo Della Giordano, Alessandro M. Albu-Schaffer, Alin Department of Informatics Garching85748 Germany Institute of Robotics and Mechatronics Weßling82234 Germany

ISBN: (数字)9781665451963

ISBN: (纸本)9781665451963

Implementing dynamic legged locomotion entails stabilizing oscillatory behaviors in complex mechanical systems. Whenever possible, locomotion algorithms should also exploit the improved capabilities of elastic elements added to the structure to improve efficiency and robustness. This work aims to shed some light on implementing generic dynamic locomotion by stabilizing nonlinear modes. The nonlinear modal analysis extends the linear modal theory to nonlinear systems and thus characterizes the oscillations that a robot can execute as autonomous evolutions. We execute forward hopping motions with a single segmented elastic leg as the first step towards generic modal locomotion. We propose a locomotion algorithm that exploits the modes of an extension of the SLIP model. We develop this strategy to generalize to other robotic systems, and we extensively validate it with experiments on an elastically actuated segmented leg. © 2022 American Automatic Control Council.

关键词： Modal analysis

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From AI to AGI - The Evolution of Real-Time Systems with GPT Integration

From AI to AGI - The Evolution of Real-Time Systems with GPT...

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IEEE Southeastcon

作者： Aarush Kaunteya Pande Preston Brantley Muhammad Hassan Tanveer Razvan Cristian Voicu Department of Robotics & Mechatronics Engineering Kennesaw State University Marietta Georgia

Generative artificial intelligence (AI), particularly ChatGPT, is revolutionizing various sectors, from exercise applications to accounting software, politics, and pharmaceuticals. As versatile aerial vehicles, drones have broad applications in videography, military operations, and surveying. However, their programming and optimal utilization often require extensive training. This research tackles these challenges by utilizing ChatGPT's sophisticated logic and prompt training features to enable drones to operate autonomously in various settings, ranging from everyday tasks to emergencies like search and rescue missions. Enhancing Microsoft Research's PromptCraft robotics, the project integrates innovative algorithms and GPT-4-Vision, improving command efficiency, speed, and accuracy. This integration also leverages additional sensor data feedback, allowing the drones to process user prompts with enhanced contextual understanding. Initial results show a significant improvement in command response times and accuracy, enabling the drones to interpret and execute complex voice commands in various environments. This paper presents a multimodal framework that enriches the capabilities of voice-controlled robotic systems and broadens the scope of AI applications in real-time systems, laying the groundwork for customized AI-driven systems, including robots tailored for diverse applications and the shift towards AGI.

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Modeling of Controlled Motion of a Rehabilitation Exoskeleton for the Lower Extremities

Modeling of Controlled Motion of a Rehabilitation Exoskeleto...

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

作者： Sergey Jatsun Oksana Emelyanova Gavriel Fursov Department of mechanics mechatronics and robotics Southwest State University Kursk Russian Federation

ISBN: (数字)9798331512194

ISBN: (纸本)9798331512200

Existing lower limb rehabilitation simulators are used for continuous passive or active development of one or more joints. In this case, additional excess axial effects occur in the joints, for example, on the knee and/or hip joints. The rehabilitation apparatus presented in the work in the form of a flat manipulator - an exoskeleton, is equipped with two drives, one of which is combined with the axis of the human hip joint. This arrangement allows compensating for the influence of active and reactive forces acting on the hip joint, which is especially important in the presence of contracture and spasticity. The developed mathematical model describing the interaction of the exoskeleton and the human leg takes into account not only the kinematic and dynamic features of the movement of the links of the rehabilitation device and the patient, but also the parameters characterizing their force interaction, which allows synthesizing the parameters of the control system. As a result, two problems were solved: the synthesis of parameters of electric drives of the rehabilitation exoskeleton and the second - the control moment $M(t)$ is calculated according to the given laws of change of generalized coordinates $\varphi_{1}(t)$ . The obtained dependences of the power of electric drives installed in the hinges of the manipulator on time will ensure the accuracy of movements of the exoskeleton links when performing medical manipulations.

关键词： Training Limbs Exoskeletons Force Dynamics Kinematics Manipulators Control systems Mathematical models Hip

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Analysis of the “Extended Kalman Filter – Adaptive Digital Filter” System Operation in Filtering of Non-Stationary Signals

Analysis of the “Extended Kalman Filter – Adaptive Digital...

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International Russian Smart Industry Conference (SmartIndustryCon)

作者： Petr Bezmen Department of mechanics mechatronics and robotics Southwest State University Kursk Russian Federation

ISBN: (数字)9798331511241

ISBN: (纸本)9798331511258

Processing of various origin non-stationary signals in control systems for robotic devices is an urgent problem. The use of the extended Kalman filter (EKF) for working with non-stationary signals, including signal filtering, is limited by the precise settings of the filter — the observed system model and the covariance matrices of the EKF algorithm, which requires the adaptability of the filter algorithm under conditions of an input rapidly changing noised non-stationary signal. In this regard, the paper proposes to use the system “extended Kalman filter — adaptive digital filter” (EKF-ADF system) for filtering of non-stationary signals, which is the EKF augmented with an adaptive digital filter with the NLMS (normalized least mean squares) adaptation algorithm in order to compensate for the error in the operation of the EKF when non-stationary signal filtering is performing. The study of the operation of the EKF-ADF system as a filter for non-stationary signals shows that under conditions of a significant noise applied on a non-stationary signal, the algorithm of the EKF-ADF system, in comparison with the EKF algorithm, which has settings similar to the EKF settings in the EKF-ADF system, possesses the highest values of the “signal-to-noise ratio” evaluation of filtering results. The EKF-ADF system can be used as a state observer of robotic devices, which is capable of operating under conditions of non-stationary processes.

关键词： Adaptation models Adaptive systems Filtering Service robots Systems operation Filtering algorithms Kalman filters Digital filters Convergence Signal to noise ratio

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Humanoid robotics Powered by Vision-Based LLM Zero Shot Interactions

Humanoid Robotics Powered by Vision-Based LLM Zero Shot Inte...

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IEEE Southeastcon

作者： Gabriel David Smith Kwasi Debrah-Pinamang Razvan Cristian Voicu Department of Robotics & Mechatronics Engineering Kennesaw State University Marietta Georgia USA

ISBN: (数字)9798331504847

ISBN: (纸本)9798331504854

Advancements in artificial intelligence (AI) have transformed robotics by enabling systems to autonomously execute complex tasks with minimal human involvement. Traditional methods, however, often depend on costly hardware, continuous monitoring, and intricate software integration, which constrain scalability and widespread implementation. This research presents an innovative approach that combines vision-based large language models (LLMs) with zero-shot prompting to autonomously program robotic systems, including a humanoid robot equipped with dual manipulators. The proposed system harnesses contextual image data to efficiently generate task-specific code, eliminating the need for iterative corrections. Training is conducted through OpenAI's Assistant feature, utilizing documents predominantly comprising images, while continuous operation is facilitated by a self-looping mechanism. Experimental results highlight the system's capability to perform manipulator tasks with notable accuracy, paving the way for scalable, adaptive, and dynamic automation. This study addresses both practical and theoretical challenges in automation, providing a cost-effective framework for next-generation robotic systems.

关键词： Training Accuracy Automation Large language models Scalability Humanoid robots Software Stereo vision Sensors Manipulator dynamics

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Comparative Analysis of Connection Interfaces for Space Applications

Comparative Analysis of Connection Interfaces for Space Appl...

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Space robotics (iSpaRo), International Conference on

作者： Kosuke Fujii Ismael Rodriguez Ferdinand Elhardt Gerhard Grunwald Maximo A. Roa Institute of Robotics and Mechatronics German Aerospace Center (DLR) Wessling Germany

ISBN: (数字)9798350367232

ISBN: (纸本)9798350367249

Orbital services are becoming increasingly important. One of the fundamental engineering challenges to enable such services is to provide mechanical, data, power, thermal, and fluid connectivity for activities such as capture, repairing, upgrading, refueling, life extension, or deorbiting of space assets. This paper provides an overview of the elements used for connectivity, generically referred to as a "standard interface". An overview of interfaces defined for applications in grabbing, mechanical docking, fluid transfer for refueling, and multi-purpose interfaces is provided. A comparative analysis of the interfaces using mechanical criteria and performance characteristics helps to identify the current status and future challenges in this domain.

关键词： Space vehicles Fluids Thermal engineering Orbits Standards Robots

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