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6th International Conference on robotics, Control and Automation Engineering, RCAE 2023

作者： Chun, Carrington Kihei, Billy Chakravarty, Sumit Tanveer, M. Hassan Kennesaw State Univeristy Department of Robotics and Mechatronics Engineering MariettaGA United States Kennesaw State Univeristy Department of Electrical and Computer Engineering MariettaGA United States

ISBN: (纸本)9798350315301

To facilitate the development of accessible space-bound robotic explorers, this work demonstrates a novel communication architecture intended for scientific CanSats. As low-cost terrestrial simulation platforms for orbital satellites, CanSats provide a valuable proving ground for new technologies or techniques. CanSats are also a considerably more accessible technological frontier than orbital CubeSats, as CanSats are lower in cost to develop and retain fewer operational requirements. Multiple low-cost CanSats and a simple Base Station were developed using Commercial-Off-The-Shelf (COTS) components. The bimodal modulation technique utilizes Amplitude Shift Keying (ASK) as a means for transferring data packets between the devices, while the delay between multiple ASK trains modulates additional Pseudo Morse Code (PMC) information that is audibly decodable with a handheld amateur radio receiver or digitally with a Software Defined Radio (SDR). The presented framework could be a valuable addition to telemetry beacons for orbital satellites that are seeking to engage the open-source or amateur radio communities. © 2023 IEEE.

关键词： Costs

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Development and Control of an Autonomous User-Tracking Golf Caddie Robot

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Journal of Institute of Control, robotics and Systems 2022年第2期28卷 102-108页

作者： Kim, Byeong-Soo Choi, Jung Hyun Lee, Chan Oh, Sehoon Machinery & Robot Industry Promotion Team Daegu Mechatronics & Materials Institute Korea Republic of Department of Robotics Engineering DGIST Korea Republic of Department of Robot Engineering Yeungnam University Korea Republic of

This study proposes an autonomous caddie robot system that can automatically track a golf player. The caddie robot is designed to operate in two modes: an autonomous human-tracking mode, and a power-assisted manual driving mode. Mode conversion can be autonomously performed through the driving mode determination algorithm based on the distance and angle between a user and the robot, and angle of inclination. When the latter is too steep for the robot to track the user, the user can utilize a manual mode to guide the robot with minimal force. This study seeks to provide insight into how the high-level controller of the mobile platform should be configured to track users in flat and sloping environments. Experimental results obtained from tests in the golf course verify that the robot can be successfully utilized in golf games. © ICROS 2022.

关键词： Mobile robots

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Generating Realistic Sound with Prosthetic Hand: A Reinforcement Learning Approach 46

Generating Realistic Sound with Prosthetic Hand: A Reinforce...

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46th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2024

作者： Jeong, Taemoon Yamsani, Sankalp Hong, Jooyoung Park, Kyungseo Kim, Joohyung Choi, Sungjoon Korea University Department of Artificial Intelligence Seoul Korea Republic of University of Illinois Urbana-Champaign Department of Electrical and Computer Engineering ChampaignIL United States Department of Robotics and Mechatronics Engineering Daegu Korea Republic of

ISBN: (纸本)9798350371499

In this study, we tackle the complex task of enabling prosthetic hands to accurately reproduce sounds, a crucial aspect for distinguishing between different materials through auditory feedback. Sound identification, such as discerning a drywall tap from that on a brick wall, significantly enhances the functionality and user experience of prosthetic devices. However, achieving this level of auditory feedback in prosthetic hands poses considerable challenges. We utilize reinforcement learning (RL) techniques to train prosthetic hands in emulating human-like sound characteristics, focusing on key auditory signals like amplitude and onset timing. Our approach integrates a detailed analysis of these sound attributes to direct the prosthetic hand's movements for the sound generation that mimics natural human actions. We developed a tailored reward function incorporating amplitude, onset strength, and timing criteria to ensure the prosthetic hand's movements align closely with the intended human-like sound output. © 2024 IEEE.

关键词： Reinforcement learning

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Design and development an Agriculture robot for Seed sowing, Water spray and Fertigation 1

Design and development an Agriculture robot for Seed sowing,...

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1st International Conference on Computational Intelligence and Sustainable Engineering Solution, CISES 2022

作者： Fadhaeel, Taha Patel, H.C. Al Ahdal, Ahmed Rakhra, Manik Singh, Dalwinder LovelyProfessional University Department of Mechatronics Robotics Engineering Phagwara India Lovely Professional University School of CSE Phagwara India

ISBN: (数字)9781665480048

ISBN: (纸本)9781665480048

Agriculture is one of the oldest activities practiced by man. Due to its importance in our daily life and reliance on it, many technologists try to update a new development based on agricultural robots that perform well in a strict, efficient, and timely manner due to the tremendous development in the field of robotics, the solution to the main problems faced by the agricultural field those problems such as random sowing which cost more seeds that is costly, consumption more water and quantity of *** paper develop a robot that can solve such problem measure the distance between seeds that lead to save wastage of water, determined the plants needs of fertilization by using soil PH sensor. The motion of the robot controlled by Android Bluetooth connected to HC-05 Bluetooth module and raspberry pi 3 B+ for video streaming and detected the object. © 2022 IEEE.

关键词： Robots

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Dynamic Analysis of Systems with a Nonlinear Elastomeric Isolator in Simulink 6

Dynamic Analysis of Systems with a Nonlinear Elastomeric Iso...

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6th International Conference on Information Technologies in Engineering Education, Inforino 2022

作者： Poznyak, Elena V. Radin, Vladimir P. Novikova, Olga V. Chirkov, Victor P. Babin, Oleg A. Kuznetsov, Sergey F. National Research University Moscow Power Engineering Institute Department of Robotics Mechatronics Dynamics and Strength of Machines Moscow Russia

ISBN: (纸本)9781665405775

The paper presents Simulink models of nonlinear elastomeric isolator (EI) widely used in mechanical engineering and construction for vibration protection of structures. Models with a hysteretic bilinear deformation diagram and, for comparison, with a bilinear diagram without hysteresis are considered. Step and frequency responses are obtained and investigated;conclusions are given. The elements of the study will be helpful for the development of the professional skills and competencies of young engineers in the field of applied problems of vibration and shock protection;it can be a basis for the development of more complex multidimensional systems. © 2022 IEEE.

关键词： Vibrations Isolators Multidimensional systems Software packages Numerical analysis Electric shock Mathematical models

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Convergence Analysis for Delay Dependent LFC Scheme for Power Systems Networks Over Open Communication Networks with Disturbances

Convergence Analysis for Delay Dependent LFC Scheme for Powe...

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2023 IEEE International Conference on Industrial Technology, ICIT 2023

作者： Islam, Shafiqul Ncf 263 Xavier University of Louisiana Dual-Degree Computer Science and Engineering Intelligent Robotics Mechatronics and Autonomous Systems Lab New OrleansLA70125 United States

ISBN: (纸本)9798350336504

This paper presents a delay-dependent convergence criterion for load frequency control (LFC) for smart power grid networks with the presence of disturbances and time-varying delays. The LFC scheme comprises delayed remote measurement and control signals with local state feedback signals. The convergence criteria are developed by using Lyapunov-Krasovskii functional for both symmetrical and asymmetrical time-varying delays associated with remote measurement and control channel. First, the analysis shows that all the power system states are bounded and asymptotically stable without the presence of disturbances. Then, the convergence analysis proves that all the power systems states are bounded and their bounds guarantee the convergence property of the H∞ control with the presence of bounded disturbances. These convergence properties are achieved by using well know Linear Matrix Inequalities (LMIs). Compared with the existing design, the proposed analysis uses both symmetrical and asymmetrical time-varying delays in the measurement channel from RTU to the control center and in the control channel from the control center to the power generation unit. In contrast with reported designs, the proposed design and analysis uses the disturbances associated with the closed loop systems appearing from modeling errors and other external load disturbances and faults. © 2023 IEEE.

关键词： Closed loop systems

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Two-Stage Learning of Highly Dynamic Motions with Rigid and Articulated Soft Quadrupeds

Two-Stage Learning of Highly Dynamic Motions with Rigid and ...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Francecso Vezzi Jiatao Ding Antonin Raffin Jens Kober Cosimo Della Santina Department of Cognitive Robotics Delft University of Technology CD Delft Netherlands German Aerospace Center (DLR) Institute of Robotics and Mechatronics Wessling Germany

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Controlled execution of dynamic motions in quadrupedal robots, especially those with articulated soft bodies, presents a unique set of challenges that traditional methods struggle to address efficiently. In this study, we tackle these issues by relying on a simple yet effective two-stage learning framework to generate dynamic motions for quadrupedal robots. First, a gradient-free evolution strategy is employed to discover simply represented control policies, eliminating the need for a predefined reference motion. Then, we refine these policies using deep reinforcement learning. Our approach enables the acquisition of complex motions like pronking and back-flipping, effectively from scratch. Additionally, our method simplifies the traditionally labour-intensive task of reward shaping, boosting the efficiency of the learning process. Importantly, our framework proves particularly effective for articulated soft quadrupeds, whose inherent compliance and adaptability make them ideal for dynamic tasks but also introduce unique control challenges.

关键词： Law enforcement Dynamics Humanoid robots Soft robotics Deep reinforcement learning Trajectory Quadrupedal robots

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Multi-dimensional Gaussian Process-based Control for Compensation of Multi-state Dependent Disturbance

Multi-dimensional Gaussian Process-based Control for Compens...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent mechatronics

作者： Hoyeong Yeo Hanul Jung Sehoon Oh Department of Robotics and Mechatronics Engineering DGIST Daegu Korea Robotics · Mobility Research Section Electronics and Telecommunications Research Institute (ETRI) Daegu Korea

ISBN: (数字)9798350355369

ISBN: (纸本)9798350355376

High-precision linear motor stages have been widely used for their excellent positioning accuracy and speed. However, core-type linear motor stages have performance limitations because of various nonlinear factors including cogging force, friction, and geometrical imbalance. This paper analyzes disturbances in velocity and position domains and trains a Two-Input-Single-Output (TISO) nonlinear model using the Gaussian process for the disturbance. With this, two state-dependent disturbances are appropriately removed. As a result, the control performance with a proposed controller is enhanced. Ultimately, this paper introduces three contribution points: 1) analysis of disturbances based on position/velocity, 2) design of TISO Gaussian process model, and 3) validation of proposed controller performance through simulation.

关键词： Analytical models Forging mechatronics Accuracy Friction Force Process control

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Estimation of Multi-state Dependent Disturbance by Using Multi-dimensional Gaussian Process

Estimation of Multi-state Dependent Disturbance by Using Mul...

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IEEE International Symposium on Industrial Electronics (ISIE)

ISBN: (数字)9798350394085

ISBN: (纸本)9798350394092

High-precision linear motor stages have been widely used for their excellent positioning accuracy and speed. However, core-type linear motor stages have performance limitations because of various nonlinear factors including cogging force, friction, and geometrical imbalance. This paper analyzes disturbances in velocity and position domains and trains a Two-Input-Single-Output (TISO) nonlinear model using the Gaussian process for the disturbance. With this, two state-dependent disturbances are removed effectively. As a result, the control performance with a proposed controller is enhanced. Ultimately, this paper introduces three contribution points: 1) analysis of disturbances based on position/velocity, 2) design of TISO Gaussian process model, and 3) validation of estimation performance of proposed algorithm through simulation.

关键词： Industrial electronics Analytical models Forging Accuracy Friction Force Estimation

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Vlm-Nav: Mapless Uav-Navigation Using Monocular Vision Driven by Vision-Language Model

SSRN

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SSRN 2025年

作者： Sarker, Gobinda Chandra Azad, A.K.M. Rahman, Sejuti Hasan, Md. Mehedi Department of Robotics and Mechatronics Engineering University of Dhaka Dhaka1000 Bangladesh Riyadh13318 Saudi Arabia

Autonomous vehicles, such as Unmanned Aerial Vehicles (UAVs), have the potential to completely reshape various industries such as parcel delivery, agriculture, surveillance, and search-and-rescue missions. Consequently, the demand for safe, cost-effective, and intelligent navigation systems is crucial to ensure reliable performance in complex and dynamic environments. In this study, we propose a novel vision-based UAV navigation method that integrates depthmap estimation with a Vision-Language Model (VLM) for efficient obstacle avoidance and path planning. The system processes RGB images captured by the UAV, transforming them into depth maps using DepthAnythingV2, a powerful zero-shot depth estimator. These depth maps are then analyzed by the VLM, which detects nearby obstacles and plans avoidance maneuvers. We have explored Gemini-flash and GPT-4o model as VLM in our study. A fully connected network integrates the VLM output with the UAV’s relative heading angle to predict the optimal course of action, enabling the UAV to dynamically navigate complex environments toward its target. The system’s effectiveness is validated through simulations in AirSim using Blocks and Downtown West environment. The UAV consistently reaches its destination, avoiding obstacles and achieving a near perfect task completion rate of 0.98. By eliminating the need for costly sensors such as LiDAR and operating without pre-existing maps, our solution provides a cost-efficient, and generalizable approach to real-time UAV navigation, especially in unfamiliar or dynamic settings and highlights emerging trends in autonomous systems research utilizing VLMs. The navigation demonstration and the source code are openly available at (https://***/vlmnav/) to encourage further research. © 2025, The Authors. All rights reserved.

关键词： Drones

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