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检索条件"机构=Mechatronics and Robotics"

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A probabilistic approach for learning and adapting shared control skills with the human in the loop

A probabilistic approach for learning and adapting shared co...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Gabriel Quere Freek Stulp David Filliat João Silvério Institute of Robotics and Mechatronics German Aerospace Center (DLR) U2IS ENSTA Paris IP Paris

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Assistive robots promise to be of great help to wheelchair users with motor impairments, for example for activities of daily living. Using shared control to provide task-specific assistance – for instance with the Shared Control Templates (SCT) framework – facilitates user control, even with low-dimensional input signals. However, designing SCTs is a laborious task requiring robotic expertise. To facilitate their design, we propose a method to learn one of their core components – active constraints – from demonstrated end-effector trajectories. We use a probabilistic model, Kernelized Movement Primitives, which additionally allows adaptation from user commands to improve the shared control skills, during both design and execution. We demonstrate that the SCTs so acquired can be successfully used to pick up an object, as well as adjusted for new environmental constraints, with our assistive robot EDAN.

关键词： Wheelchairs Null space Modulation Probabilistic logic Assistive robots Motors Trajectory

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Development of a Model for Texture Analysis of Machined Parts on CNC Machines

Development of a Model for Texture Analysis of Machined Part...

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2025 International Russian Smart Industry Conference, SmartIndustryCon 2025

作者： Kovalev, Ilya Malykh, David Kiselev, Alexander MSUT 'STANKIN' Department of Computer Control Systems Moscow Russia MSUT 'STANKIN' Department of Robotics and Mechatronics Moscow Russia

ISBN: (纸本)9798331511241

This work is devoted to the development of a software module for analyzing the textures of machined parts on CNC machines using computer vision methods. The main goal of the research is to create a tool capable of analyzing geometric parameters of products based on texture properties of materials, which is especially relevant in the conditions of high-volume production. The paper considers modern methods of texture analysis, as well as their robustness to various disturbances such as illumination changes, noise, blurring, rotation and image scaling. An analysis system that combines binocular and texture methods of image processing is proposed, which makes it possible to improve the accuracy of measuring distances to objects on the basis of binocular algorithm, by means of additional analysis of texture properties of surfaces of the processed part. © 2025 IEEE.

关键词： Photointerpretation

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Implementation of Some Non-Classical Mathematical Models of the Mechanics of a Deformable Body in the MathCad and MatLab System 6

Implementation of Some Non-Classical Mathematical Models of ...

引用

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

作者： Duishenaliev, Turatbek B. Dikarev, Daniil National Research University MPEI Dept. of Robotics Mechatronics and Dynamiics of Machines Moscow Russia National Research University MPEI Moscow Russia

ISBN: (纸本)9781665405775

On the basis of a non-classical approach to the solution of boundary value problems of statics, a mathematical model of deformation of elastic structures and their elements has been developed. This model is implemented in the MatLab system. It is shown that deformations can be determined by linear tensors of displacement gradients at any values of the latter.A mathematical model based on an equation expressing a quantitative relationship between the limiting values of the smallest and largest principal stresses is implemented in the MathCad system. The calculations performed showed that this equation determines all the stress states that lead to the destruction of the material. The envelope lines of the limiting stress circles of brittle and semi-brittle materials are *** the MathCad system, the consistency of the generalized Hooke's law was tested based on a new criterion (equation of deformation diagram) derived for axial tension and compression of solid cylinders without the influence of the hypothesis of uniaxial stress state. Calculations in MathCad showed that this equation well describes the results of experiments throughout its entire length with the same values of constants of structural materials (steel 45, aluminum, duralumin). © 2022 IEEE.

关键词： Young's modulus Boundary value problems Limiting Tensors Aluminum Mathematical models Steel

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An Uncertain Optimal Factorization of Cooperative Manipulators for Robust Optimal Control Schemes 30

An Uncertain Optimal Factorization of Cooperative Manipulato...

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30th International Conference on Electrical Engineering, ICEE 2022

作者： Nasiri, Neda Fakharian, Ahmad Menhaj, Mohammad Bagher Qazvin Branch Islamic Azad University Faculty of Electrical Biomedical and Mechatronics Engineering Qazvin Iran The Center of Excellence on Control and Robotics Tehran Iran

ISBN: (纸本)9781665480871

This paper presents two robust optimal controllers for Cooperative Manipulators (CoMans) holding an object on the basis of a modified factorization approach. Due to advantages such as: simplicity, flexibility, systematic procedure and not canceling nonlinearities, the State-Dependent Riccati Equation (SDRE) has been chosen as a basis for robust controllers design in the literature. For developing robust optimal controllers via SDRE, the first step is to obtain uncertain State-Dependent Coefficient (SDC) representation. To design robust optimal schemes for some systems such as CoMans, some terms such as gravity, friction and the external forces have been neglected in the uncertain SDC structure and added to the control input. This study, proposes two robust optimal controllers for CoMans carrying a load: Mixing SDRE-SMC (MiSS) and transformed robust to optimal controller where the pre-mentioned terms can be included in the uncertain SDC representation called uncertain optimal SDC. Simulation results are provided to easily verify the satisfactory performance of both schemes using uncertain optimal SDC and superiority of the transformed robust to optimal control versus MiSS in trajectory tracking of CoMans. © 2022 IEEE.

关键词： Sliding mode control

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Learning Time-Optimal and Speed-Adjustable Tactile In-Hand Manipulation

Learning Time-Optimal and Speed-Adjustable Tactile In-Hand M...

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IEEE-RAS International Conference on Humanoid Robots

作者： Johannes Pitz Lennart Röstel Leon Sievers Berthold Bäuml Dextrous Robots Lab Technical University of Munich Germany German Aerospace Center DLR Institute of Robotics & Mechatronics

ISBN: (数字)9798350373578

ISBN: (纸本)9798350373585

In-hand manipulation with multi-fingered hands is a challenging problem that recently became feasible with the advent of deep reinforcement learning methods. While most contributions to the task brought improvements in robustness and generalization, this paper addresses the critical performance measure of the speed at which an in-hand manipulation can be performed. We present reinforcement learning policies that can perform in-hand reorientation significantly faster than previous approaches for the complex setting of goal-conditioned reorientation in $\mathrm{SO}(3)$ with permanent force closure and tactile feedback only (i.e., using the hand’s torque and position sensors). Moreover, we show how policies can be trained to be speed-adjustable, allowing for setting the average orientation speed of the manipulated object during deployment. To this end, we present suitable and minimalistic reinforcement learning objectives for time-optimal and speed-adjustable in-hand manipulation, as well as an analysis based on extensive experiments in simulation. We also demonstrate the zero-shot transfer of the learned policies to the real DLR-Hand II with a wide range of target speeds and the fastest dextrous in-hand manipulation without visual inputs. Website: https://***/manipulation/humanoids24

关键词： Visualization Torque Force Humanoid robots Tactile sensors Deep reinforcement learning Robustness Sensors

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ECG Disease Classification Using 1D CNN

ECG Disease Classification Using 1D CNN

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Interdisciplinary Approaches in Technology and Management for Social Innovation (IATMSI), IEEE Conference on

作者： Agniva Dutta Manasi Das School of Mechatronics and Robotics IIEST Shibpur Kolkata India ECE Department Dream Institute of Technology Kolkata India

Recent improvements in the Artificial Intelligence and Machine Learning lead us to the automated models for detecting diseases based on ECGs. The previous models based on 2D CNNs had pretty good accuracy in ECG Classification, but these models requires us to create a 2D spatial representation from ECGs as ECGs are 1D temporal data. As these are typically done through CWT Scalogram it is computationally intensive. In this paper a model based on a 1D Convolutional Neural Network is proposed which can classify specific cardiac disease from ECG data. This model consists of four feature extracting Convolutional layers each succeeded by a Max Pooling layer and a dropout layer to prevent overfitting. This model is trained with ECGs of different types based on different cardiac disease like Cardiac Arrhythmia, Congestive Heart Failure and Normal Sinus Rhythm etc. and it can classify these diseases from ECGs. For training and evaluation MIT-BIH arrhythmia database have been used. It results in classification accuracy of 96.83% which is almost equal to the previous 2D CNN model with significant decrease in complexity.

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3D Printed Differential Drive Robot with LiDAR and 3D Depth Camera

3D Printed Differential Drive Robot with LiDAR and 3D Depth ...

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IEEE International Conference on Control and robotics Engineering (ICCRE)

作者： Ng Danny Wee-Kiat Kwan Ban-Hoe Chan Siow Cheng Choon-Hian Goh Netizen Robotics Selangor Malaysia Department of Mechatronics and BioMedical Engineering Universiti Tunku Abdul Rahman Kajang Malaysia

ISBN: (数字)9798350372694

ISBN: (纸本)9798350372700

This paper presents the design of a 3D printed mobile differential drive robot with LiDAR and 3D depth sensing. The robot is designed to be low cost and easy to build, making it suitable for educational and research purposes. All the main structures of the robot are 3D printed while the parts used in the robot are from off-the-shelf components. All the design files and source code used in this project is shared in the github repository. The robot is equipped with a LiDAR sensor for mapping and navigation, and a 3D depth sensing camera for object recognition. Robot Operating System (ROS) running on an Intel single board computer serves as the middleware for all robot control operations. The developed robot is able to run simultaneous localization and mapping (SLAM) and perform autonomous navigation. Design files and the software for the robot can be obtained from the github reposi-tory https://***/dannyngweekiat/3D-Printed-Differential-Drive-Bot.

关键词： Three-dimensional displays Laser radar Simultaneous localization and mapping Source coding Robot vision systems Robot sensing systems Cameras

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Prescribed Performance Sliding Mode Control and Estimation for Perturbed Double-Pendulum Cranes

Prescribed Performance Sliding Mode Control and Estimation f...

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Annual Conference of Industrial Electronics Society

作者： Ahmad Bala Alhassan Muhammad Auwal Shehu Ton Duc Do Dept. of Robotics and Mechatronics School of Engineering and Digital Science (SEDS) Nazarbayev University Astana Kazakhstan Dept. of Mechatronics Engineering Nigerian Defence Academy Kaduna Nigeria

ISBN: (数字)9781665464543

ISBN: (纸本)9781665464550

Cranes suffer significantly from parameter uncertainties, frictions, unknown dynamics, and disturbances. Besides, it may be necessary to design a state estimator for an effective feedback controller design. Furthermore, the performance quality and precision of model-based controllers and state estimators rely heavily on accurate models, which may be challenging to formulate. In this study, to address the highlighted control problems and also achieve a precise level of bogie tracking error, the sliding mode control (SMC) with a novel prescribed performance function-based sliding surface is designed. Simulations have shown that the proposed control technique achieved pre-specified transient and steady-state quality metrics on the bogie tracking error where the error converged to a pre-defined small vestigial set, with a decay rate no less than the pre-assigned rate, exhibiting overshoots and undershoots less than some small-enough pre-assigned values.

关键词： Measurement Industrial electronics Uncertain systems Cranes Friction Estimation Observers Steady-state Transient analysis Sliding mode control

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Mechanical Design Of Upper Limb Exoskeleton Intended To Be Used In A Human-Machine Interface

Mechanical Design Of Upper Limb Exoskeleton Intended To Be U...

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International Conference on Engineering of Modern Electric Systems (EMES)

作者： Horatiu Roibu Lidia-Cristina Bazavan Stefan-Irinel Cismaru Ionut-Cristian Resceanu Dorin Popescu Nicu-George Bizdoaca Mechatronics and Robotics Department Faculty of Automation Computers and Electronics University of Craiova Craiova Romania

An important aspect of robots' control highly depends on the type of interface which drives the interaction between humans and machines. In the present work, the authors propose a personal implementation of a control method for a mechanical structure using an exoskeleton interface. This work presents each stage of development, from concept design to implementation and testing. In the final part of the paper, the design and experiment results are shown, reflecting benefits and future improvement possibilities.

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Problem Solving E-learning Platform Using Algorithm Visualization and Supervised through Artificial Intelligence

Problem Solving E-learning Platform Using Algorithm Visualiz...

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International Conference on System Theory, Control, and Computing (ICSTCC)

作者： Ionut-Cristian Resceanu Cosmin-Florinel Despina Stefan-Irinel Cismaru Florina Petcu Mechatronics and Robotics Department University of Craiova Craiova Romania Automation and Electronics Department University of Craiova Craiova Romania

ISBN: (数字)9798350364293

ISBN: (纸本)9798350364309

As people tend to integrate technology more and more in their lives, one of the most evident aspects which has a great impact on their learning methods are the E-learning platforms which provide interactive means to develop new skills in problem-solving topics. The development of an E-learning platform that simplifies the way in which users engage with the information while simultaneously enhancing their level of comprehension is, without a question, the fastest and most effective strategy. Trend, in matter of learning techniques, has also brought new challenges and opportunities to enhance assimilation of information. Thus, during the process of learning, focus has to be actively maintained through a series of stimuli. Algorithm visualization blended with Artificial Intelligence is the solution that the paper intends to present as a reaction to the actual inclination.

关键词： Visualization Electronic learning Learning (artificial intelligence) Market research Control systems Encoding Problem-solving

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