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International Conference on Automation, AUTOMATION 2021

作者： Bożko, Arkadiusz Ambroziak, Leszek Pawluszewicz, Ewa Department of Robotics and Mechatronics Bialystok University of Technology Bialystok Poland

ISBN: (纸本)9783030748920

The idea of adapting genetic algorithms for tuning of the formation flight multi stage control system parameters is presented. The results were conducted on the simulation model with the switching control of the leader-follower. The different configurations of the parameters selection were tested. The fitness function based on position error and with non constant coefficient parameters was introduced. The obtained results were compared with those of the classically tuned system. © 2021, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Genetic algorithms

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Cyber Physical System of robotics Training Set in Rajamangala University of Technology Tawan-ok Education and Training for Automation 4.0 in Thailand Smart Laboratory 7

Cyber Physical System of Robotics Training Set in Rajamangal...

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7th International Conference on Information Technology, InCIT 2023

作者： Singsri, Pongpat Kosiyanurak, Karin Thongtan, Woramet Panya-Isara, Chawalit Suwannatat, Tassaphan Phiromlap, Srichol Rajamangala University of Technology Tawan-ok Information and Communication Technology Department Cholburi Thailand Rajamangala University of Technology Tawan-ok Mechatronics and Robotics School of Engineer and Innovation Cholburi Thailand

ISBN: (纸本)9798350358698

The design and implementation of a robotics training set with a 'repeat system' concept. The system is built upon principles of signal exchange, collaboration among multiple devices, and integrated decision-making. Two independent robots operate within the system, with a focus on object selection and placement. The training set underwent initial design phases and equipment installation, with the transition from proximity sensors to a camera for improved object classification accuracy. The hardware inventory includes robots, conveyors, sensors, PLCs, and various auxiliary components, while software tools such as PLCnext Engineer, DobotStudio Pro, Node-RED, and CiRA-CORE facilitate programming and system control. The control system involves a series of signal exchanges and workflows, including object handling, image processing, and reporting. Real-time data visualization offers insight into system operations, including object processing. Overall, this robotics training set had average cycle time of 17, 18, and 20 seconds/cycle for detecting blue, black, and yellow objects, respectively. © 2023 IEEE.

关键词： Decision making

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Objective-oriented method for uniformation of various directivity representations 151

Objective-oriented method for uniformation of various direct...

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151st Audio Engineering Society Convention 2021

作者： Szwajcowski, Adam AGH Univeristy of Science and Technology Department of Robotics and Mechatronics Poland

ISBN: (纸本)9781713839453

Over recent years, numerous attempts were taken to provide efficient methods of directivity representation, either regarding sound sources or head-related transfer functions. Because of the wide variety of programming tools and scripts used by different researchers, the resulting representations are inconvevnient to reproduce and compare with each other, hampering the development of the subject. Within this paper, an objective-oriented method is proposed to deal with this issue. The suggested approach bases on defining classes for different directivity models that share some general properties of directivity functions, allowing for easy comparison between different representations. A basic Matlab toolbox utlizing this method is presented alongside exemplary implementations of directivity models based on spherical and hyperspherical harmonics. © 151st Audio Engineering Society Convention 2021.

关键词： MATLAB

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Design and Simulation for an Indoor Inspection Robot 1

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2nd International Scientific Conference on Innovation in Engineering, ICIE 2022

作者： Ottaviano, Erika Figliolini, Giorgio LARM Laboratory of Robotics and Mechatronics University of Cassino and Southern Lazio via Di Biasio 43 FR Cassino03043 Italy

ISBN: (数字)9783031093852

ISBN: (纸本)9783031093845

In this paper, we propose the design and simulation for an inspection robot that can be effective in indoor or outdoor surveys. robotics are traditionally employed wherever human limits are achieved. In the context of inspection of structures and infrastructure, automatic or semiautomatic solutions can be used for monitoring purposes for securing the access to the manholes and pipes. Indeed, the proposed robot can be effective for the survey of indoor sites, which are difficult or almost impossible to access, and for which tele-operated survey by mobile robots can be a solution. As an illustrative case of study, we refer to the inspection of box girder bridges, in which obstacles are represented by steps, longitudinal stiffeners, and debris. In this paper, we propose the design and simulation for a hybrid rover developed for indoor and outdoor inspections, and equipped with suitable sensors to detect defects, such as cracks, or corrosion, according to the nature of the inspected elements. © 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Mobile robots

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Temperature Regulating Autonomous Solar Shade (TRASS)

Temperature Regulating Autonomous Solar Shade (TRASS)

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International Wireless Communications and Mobile Computing Conference, IWCMC

作者： Steven Steele Jorge Diaz Rodriguez Amir Ali Amiri Moghadam Yusun Chang Razvan Cristian Voicu Department of Robotics & Mechatronics Engineering Kennesaw State University Atlanta Georgia

As the earth’s temperature increases, efficient heating, cooling, and lean building designs are critical to ensure environmental longevity for future generations. Reducing the usage of chemically involved mechanisms such as cooling units with hydrofluorocarbon refrigerants and improving natural absorption or reflection of sunlight is vital for sustainability and mandatory in any intelligent city design. This paper focuses on active temperature control utilizing novel intelligent window system designs that permit interior and external fixation. In addition to providing new smart home capabilities, the proposed system aims to reduce energy consumption, further providing benefits, including consumer cost savings and a reduction of fossil fuel usage. The paper provides the experimental test bed design and prototype of the intelligent system termed TRASS (Temperature Regulating Autonomous Solar Shade). TRASS is a self-sufficient product with communication capabilities and autonomous use. As the experimental results show, the autonomous control of the prototype allows accurate temperature regulation by managing the amount of sunlight. The model incorporates rechargeable batteries and alternative energy, allowing older generational homes and buildings to employ the system without needing external power. The system continuously maintains necessary environmental conditions indoors without user interaction. However, TRASS permits manual adjustments to ensure proper management at desired conditions.

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Global Minimum Energy State Estimation for Embedded Nonlinear Systems with Symmetry

Global Minimum Energy State Estimation for Embedded Nonlinea...

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IEEE Conference on Decision and Control

作者： Pieter Van Goor Robert Mahony Robotics and Mechatronics (RaM) Group EEMCS Faculty University of Twente Enschede Netherlands System Theory and Robotics Lab Australian National University Canberra Australia

ISBN: (数字)9798350316339

ISBN: (纸本)9798350316346

Choosing a nonlinear state estimator for an application often involves a trade-off between local optimality (such as provided by an extended Kalman filter) and (almost-/semi-) global asymptotic stability (such as provided by a constructive observer design based on Lyapunov principles). This paper proposes a filter design methodology that is both global and optimal for a class of nonlinear systems. In particular, systems for which there is an embedding of the state-manifold into Euclidean space for which the measurement function is linear in the embedding space and for which there is a synchronous error construction. A novel observer is derived using the minimum energy filter design paradigm and exploiting the embedding coordinates to solve for the globally optimal solution exactly. The observer is demonstrated through an application to the problem of unit quaternion attitude estimation, by embedding the 3dimensional nonlinear system into a 4 -dimensional Euclidean space. Simulation results demonstrate that the state estimate remains optimal for all time and converges even with a very large initial error.

关键词： Manifolds Simulation Quaternions Measurement uncertainty Estimation Observers Particle measurements Energy states Kalman filters Nonlinear systems

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Hybrid Planning to Minimize Platform Disturbances during In-orbit Assembly Tasks

Hybrid Planning to Minimize Platform Disturbances during In-...

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2022 IEEE Aerospace Conference, AERO 2022

作者： Rodriguez, Ismael Lutze, Jean-Pascal Mishra, Hrishik Lehner, Peter Roa, Maximo A. Institute of Robotics and Mechatronics Weßling82234 Germany Technische Universität München Faculty of Informatics Garching Germany

ISBN: (纸本)9781665437608

In-orbit space assembly has been proposed as a method to overcome the obstacles for deployment of large spatial structures. To make such assemblies economically feasible, they must rely on robotic arms to perform the required manipulation actions. The operations with the robotic arm inevitably affect the attitude and orientation of the spacecraft. This influence is well understood for simple trajectories;however, assembly sequences for full structures require multiple repetitive motions, with and without load, which significantly affect the attitude and orbital control of the satellite. This paper analyzes such perturbations for a complex assembly task, the construction of the primary mirror for a space telescope, using a hybrid planner with two levels: a low level that considers individual motions of the robotic arm, and a high level that generates the overall assembly sequence while minimizing the perturbations created on the attitude control system. The method effectively minimizes perturbations during orbital assembly tasks, therefore minimizing fuel or energy consumption in the spacecraft. © 2022 IEEE.

关键词： Robotic arms

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Exploration and mapping of an indoor environment using Multirotor Aerial Vehicle

Exploration and mapping of an indoor environment using Multi...

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2021 International Conference "Nonlinearity, Information and robotics", NIR 2021

作者： Hassan, Mohamed Ahmed Kulathunga, Geesara Klimchik, Alexandr Innopolis University Center for Technologies in Robotics and Mechatronics Components Russia

ISBN: (纸本)9781665424066

Self-exploration of unknown environments using mobile robots is an important aspect in order to achieve complete automation of the tasks done by robots. The key idea of the exploration is to find a pose at which the robot will gain more information about the environment. By moving from such a pose to another the robot builds a map using the information gained during motion. A frontier based exploration algorithm for 3D spaces is introduced. The algorithm is an extension of the classic frontier exploration algorithm. The space is represented in an octree structure for faster access and efficient memory management. At every iteration of the exploration algorithm, the Multirotor Aerial Vehicle (MAV) performs a 360° rotation to increase the information gain about the environment, this rotation is dependent on the sensor's field of view. If a rotating sensor which can cover a 360° of the environment is used, the 360° rotation can be skipped without affecting the methodology. The distance moved by the MAV is specified at each iteration of the exploration process depending on the environment. Simulations were conducted to compare the effect of different parameters in the algorithm. © 2021 IEEE.

关键词： Robots

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Inherently integrated microfiber-based flexible proprioceptive sensor for feedback-controlled soft actuators

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npj Flexible Electronics 2024年第1期8卷 803-816页

作者： Hwajoong Kim Hyunbin Na Seungbeom Noh Shinwon Chang Jinho Kim Taejune Kong Gyowook Shin Chankyu Lee Seonggyu Lee Yong-Lae Park Sehoon Oh Jaehong Lee Department of Robotics and Mechatronics Engineering Daegu Gyeongbuk Institute of Science and Technology(DGIST)333 Techno jungang-daeroHyeonpung-eupDalseong-gunDaeguRepublic of Korea Department of Mechanical Engineering Seoul National University1 Gwanak-roGwanak-guSeoulRepublic of Korea University of California BerkeleyCAUSA

For the accurate and continuous control of soft actuators in dynamic environments,the movements of the soft actuators must be monitored in *** this end,various soft actuators capable of selfmonitoring have been developed by separately integrating sensing devices into ***,integrating such heterogeneous sensing components into soft actuators results in structural complexity,high manufacturing costs,and poor interfacial ***,we report on intelligent pneumatic fiber-reinforced soft actuators with an inherent flexible proprioceptive sensor that uses only the essential components of typical fiber-reinforced soft *** inherent flexible proprioceptive sensor is achieved by leveraging two parallel conductive microfibers around an elastomeric chamber of the soft actuator,which simultaneously acts as both a capacitive bending sensor and radial expansion limiting fibers of typical fiber-reinforced soft *** proprioceptive soft actuator exhibits excellent mechanical actuation up to 240°bending motion and proprioceptive sensing performance with high sensitivity of 1.2 pF rad^(−1).Mathematical analysis and simulations of the soft actuator can effectively predict the bending actuation and capacitive responses against input *** that proprioceptive soft actuators can be used to construct a soft gripping system and prosthetic hand which express various hand gestures and perform dexterous manipulation with real-time proprioceptive sensing capability.

关键词： prop integrating sensor

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Implicit Grasp Diffusion: Bridging the Gap between Dense Prediction and Sampling-based Grasping 8

Implicit Grasp Diffusion: Bridging the Gap between Dense Pre...

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8th Conference on Robot Learning, CoRL 2024

作者： Song, Pinhao Li, Pengteng Detry, Renaud KU Leuven Dept. Mechanical Engineering Research Unit Robotics Automation and Mechatronics Belgium KU Leuven Dept. Electrical Engineering Research Unit Processing Speech and Images Belgium AI Thrust Hong Kong

There are two dominant approaches in modern robot grasp planning: dense prediction and sampling-based methods. Dense prediction calculates viable grasps across the robot's view but is limited to predicting a fixed number of grasps per voxel. Sampling-based methods, on the other hand, encode multi-modal grasp distributions, allowing for different grasp approaches at a point. However, these methods rely on a global latent representation, which struggles to represent the entire field of view, resulting in coarse grasps. To address this, we introduce Implicit Grasp Diffusion (IGD), which combines the strengths of both methods by using implicit neural representations to extract detailed local features and sampling grasps from diffusion models conditioned on these features. Evaluations on clutter removal tasks in both simulated and real-world environments show that IGD delivers high accuracy, noise resilience, and multi-modal grasp pose capabilities. Our code is freely available at https://***/detry-lab/public/***. © 2024 Proceedings of Machine Learning Research.

关键词： Robot programming

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