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arXiv 2022年

作者： Hall, Benjamin Goeden, Andrew Reddy, Sahan Gallion, Timothy Koduru, Charles Tanveer, M. Hassan Robotics & Mechatronics Marietta United States Computer Science Marietta United States Electrical Engineering Marietta United States Robotics & Mechatronics Marietta United States

This paper proposes a perception and path planning pipeline for autonomous racing in an unknown bounded course. The pipeline was initially created for the 2021 evGrandPrix autonomous division and was further improved for the 2022 event, both of which resulting in first place finishes. Using a simple LiDAR-based perception pipeline feeding into an occupancy grid based expansion algorithm, we determine a goal point to drive. This pipeline successfully achieved reliable and consistent laps in addition with occupancy grid algorithm to know the ways around a cone-defined track with an averaging speeds of 6.85 m/s over a distance 434.2 meters for a total lap time of 63.4 seconds. © 2022, CC BY.

关键词： Autonomous vehicles

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Advancing Pedestrian Attribute Classification: A Multi-Head Deep Learning Paradigm 12

Advancing Pedestrian Attribute Classification: A Multi-Head ...

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2024 12th International Conference on Systems and Control, ICSC 2024

作者： Bekbolat, Amanali Kurokawa, Syuhei Tanveer, Muhammad Hassan Ali, Md. Hazrat Nazarbayev University SEDS Dept. of Mechanical and Aerospace Engineering Astana Kazakhstan Kyushu University Dept. of Mechanical Engineering Nishi-ku Fukuoka819-0395 Japan Kennesaw State University Dept. of Robotics and Mechatronics Engineering MariettaGA30067 United States

ISBN: (纸本)9798331531812

Evaluating pedestrians is critical when designing new systems for more sophisticated video monitoring and innovative computer vision-based security. Although convolutional neural networks successfully learn different features from images, modeling the pedestrians to the details needed for such tasks remains an issue. In this paper, we present a novel approach based on the multi-head deep learning model to identify the pedestrian attributes, which has merits in this method. Thus, the proposed approach yields better accuracy, robustness, and efficiency in comparison to state-of-the-art methods on a novel database consisting of pedestrian images. We also incorporate further pre-processing steps whereby data augmentation, transfer learning, and model ensembling are additional methods that are used to improve the generality and applicability of the approach proposed in this study. This framework empirically achieves promising accuracy and outperforms existing approaches, proving the usefulness and robustness of our idea in terms of pedestrian attribute recognition. © 2024 IEEE.

关键词： Contrastive Learning

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Continuous head-related transfer function representation based on hyperspherical harmonics

arXiv

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arXiv 2022年

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

Expressing head-related transfer functions (HRTFs) in spherical harmonic (SH) domain has been thoroughly studied as a method of obtaining continuity over space. However, HRTFs are functions not only of direction but also of frequency. This paper presents an extension of the SH-based method, utilizing hyperspherical harmonics (HSHs) to obtain an HRTF representation that is continuous over both space and frequency. The application of the HSH approximation results in a relatively small set of coefficients which can be decoded into HRTF values at any direction and frequency. The paper discusses results obtained by applying the method to magnitude spectra extracted from exemplary HRTF measurements. The HRTF representations based on SHs and HSHs exhibit similar reproduction accuracy, with the latter one featuring continuity over both space and frequency and requiring much lower number of coefficients. The developed HSH-based continuous functional model can serve multiple purposes, such as interpolation, compression or parametrization for machine-learning applications. © 2022, CC BY.

关键词： Harmonic analysis

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mechatronics Design and Flight Simulation of Hexacopter Aerial Robot Coupled with Visual Detection System for Crop Diseases

Mechatronics Design and Flight Simulation of Hexacopter Aeri...

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Recent Trends in Computer Science and Technology (ICRTCST), International Conference on

作者： Kevin A. Paucar Enzo M. Gallo Ruiz Ricardo Palomares José Cornejo Professional School of Mechatronics Engineering Universidad Ricardo Palma Lima Peru Research Group of Robotics and Mechatronics (GI-ROMA) Universidad Ricardo Palma Lima Peru Universidad Tecnológica del Perú Lima Peru

ISBN: (数字)9798350351378

ISBN: (纸本)9798350351385

The National Institute of Statistics and Informatics - INEI in the year 2021 indicated that the agricultural sector experienced a growth of 6.21%, with alfalfa production being one of the main drivers with 10.1%, positioning Peru as one of the countries with the highest growth in the region. In 2022, an exhaustive investigation was carried out in the Department of Moquegua, evidencing a deficiency in the agricultural sector in terms of the availability of technological tools and resources for the execution of innovative projects. In response to this, a hexacopter drone was designed and implemented using SolidWorks software and equipped with an artificial vision system. A detailed mechanical analysis was carried out to evaluate the materials used, carbon fiber, reaching a total mass of 08 kg for efficient flight. An electrical analysis was carried out to determine the power required by the drone, where, Tarot 4114/320KV motors, Hobbywing FlyFun variators, and a 10000 mAh LiPo battery that allows a flight autonomy of 25 minutes were used. It uses an Ardupilot APM 2.8 flight controller for programming the drone's flight paths using the Mission Planner software, likewise, Google Colab and Python were used for training neural networks and NVIDIA Jetson Nano for integrated processing applications of images, as well as, the KyAo application was implemented for the registration of the coordinates of the crops. By the end of 2023, the increased production of alfalfa will be validated through the early detection of pests and diseases in the Rinconada sector of the Moquegua Province in Peru with the participation of the farming community.

关键词： Training Visualization Crops Process control Production Programming Software

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A new active rehabilitation training mode for upper limbs based on Tai Chi Pushing Hands

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Biomimetic Intelligence & robotics 2024年第3期4卷 82-92页

作者： Xiangpan Li Liaoyuan Li Jianhai Han Bingjing Guo Ganqin Du School of Mechatronics Engineering Henan University of Science and TechnologyLuoyang 471003China Henan Provincial Key Laboratory of Robotics and Intelligent Systems Luoyang 471003China School of Automotive Engineering Hubei University of Automotive TechnologyShiyan 442002China Hubei Key Laboratory of Automotive Power Train and Electronic Control Shiyan 442002China The First Affiliated Hospital of Henan University of Science and Technology Luoyang 471003China

Robot-assisted rehabilitation is a crucial approach to restoring motor function in the ***,the current training trajectory lacks sufficient theoretical or practical support,and the monotony of single-mode training is a *** Chi Pushing Hands,a beneficial and effective daily exercise,has been shown to improve balance function,psychological state,and motor function of the upper extremities in patients recovering from *** address these issues,we propose a new active rehabilitation training that incorporates Tai Chi Pushing Hands movements and yin-yang balance *** training trajectory and direction are encoded by the velocity field and consist of two processes:yang(push)and yin(return).During yang,the limb actively pushes the robot to move,while during yin,the limb actively follows the robot’s *** provide necessary assistance,an admittance controller with self-adaptive parameters is *** addition,we introduce two indexes,the‘Intention Angle’(ϖ)and the time ratio(Γ),to evaluate motion perception *** experiment was conducted on a 4-degree-of-freedom upper limb rehabilitation robot platform,and the subjects were separated into a familiar group and an unfamiliar *** experiment results show that the training could be completed well no matter whether the subject is familiar with Tai Chi Pushing Hands or *** parameters and the movement of the robot can be adjusted based on the interactive force to adapt to the ability of the subject.

关键词： Tai Chi Push Hands Velocity field Self-adaptive admittance Upper limb rehabilitation Active training

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Towards an Action Recognition Framework for Endovascular Surgery

Towards an Action Recognition Framework for Endovascular Sur...

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Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)

作者： Jochem Bos Dennis Kundrat Giulio Dagnino Robotics and Mechatronics (RAM) Group Faculty of Electrical Engineering Mathematics and Computer Science (EEMCS) University of Twente The Netherlands

Objective knowledge about instrument manoeuvres in endovascular surgery is essential for evaluating surgical skills and developing advanced technologies for cathlab routines. To the recent day, endovascular navigation has been exclusively assessed in laboratory scenarios. By contrast, information contained in available fluoroscopy data from clinical cases has been disregarded. In this work, we pioneer a learning-based framework for motion activity recognition in fluoroscopy sequences. The architecture is composed of two networks for instrument segmentation and action recognition. In this preliminary study, we demonstrate feasibility of recognising instrument manoeuvres automatically in our ex vivo *** relevance—The proposed framework contributes to image-based and automated assessment of endovascular tasks. This facilitates robotic control development, surgical education, and smart clinical documentation.

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Investigating the Fretting of Steel Surfaces in the Presence of Hybrid Anti-Fretting Paste Containing Talc-Graphite-hBN-Molybdenum Disulfide Solid Lubricants

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Journal of Bio- and Tribo-Corrosion 2024年第4期10卷 1-11页

作者： Bhaumik, Shubrajit Krishna, Boddu Anurag Paleu, Viorel Choudhury, Nabajit Dev Department of Mechanical Engineering Amrita School of Engineering Amrita Vishwa Vidyapeetham Tamil Nadu Chennai601103 India Mechanical Engineering Mechatronics & ampRobotics Department Mechanical Engineering Department "Gheorghe Asachi" Technical University of Iași 43 Prof. D. Mangeron Bld Iasi700050 Romania Department of Energy Engineering Assam Science and Technology University Assam Jalukbari Guwahati781013 India

The present work proposes a novel combination of additives dispersed in mineral oil to form a paste that exhibited significant anti-fretting properties as compared to a molybdenum-di-sulfide-containing commercial paste. The proposed paste contained 20 wt% MoS2 apart from 20 wt% talc, 15 wt%. graphite to 10 wt% hBN as additives, and 65 wt% mineral oil. The average mass of the bearing raceway tested with the proposed paste was 0.0063 ± 0.0045 g thus, exhibiting 82% less average mass loss than the bearing raceways tested with commercial paste (0.0354 ± 0.0021 g). Additionally, the machine vision system exhibited 40% fewer false brinelling areas with the proposed paste (0.9400 ± 0.108 mm2) as compared to the commercial paste (1.605 ± 0.822 mm2). Optical microscope images of the false brinelling areas further indicated debris adhesion, plastic deformation, and crack formation during the fretting phenomenon. Furthermore, the Raman spectrograph indicated the deposition of the solid lubricants on the steel surfaces during the fretting tests. © The Author(s), under exclusive licence to Springer Nature Switzerland AG 2024.

关键词： Talc

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IMU Based Pose Reconstruction and Closed-loop Control for Soft Robotic Arms

IMU Based Pose Reconstruction and Closed-loop Control for So...

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

作者： Guanran Pei Francesco Stella Omar Meebed Zhenshan Bing Cosimo Della Santina Josie Hughes CREATE Lab EPFL Lausanne Switzerland Technical University of Munich Munich Germany Department of Cognitive Robotics Delft University of Technology Delft The Netherlands Institute of Robotics and Mechatronics German Aerospace Center (DLR) Wessling Germany

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

Soft continuum manipulators are celebrated for their versatility and physical robustness to external forces and perturbations. However, this feature comes at a cost. The many degrees of freedom and compliance pose challenges for accurate pose reconstruction, both in terms of distributed sensing and pose reconstruction algorithms. Moreover, soft arms are inherently susceptible to deformation from external forces or loads, meaning that closed-loop control is essential for robust task performance. In this article, we propose the integration of multiple Inertial Measurement Units (IMUs) of a soft robot arm, Helix, for reconstruction of pose under internal and external forces. Furthermore, we integrate this dynamic pose reconstruction for kinematic-based closed-loop control strategies. By serially integrating sensing in the body of the Helix soft manipulator, we provide the system with high-frequency pose reconstruction and demonstrate improvements in end effector position with comparison to open-loop performance.

关键词： Measurement units Perturbation methods Inertial navigation Soft robotics Reconstruction algorithms Robot sensing systems Robustness Sensors Manipulator dynamics Intelligent robots

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Bio-Inspired Design and Additive Manufacturing Techniques for Aquatic Robot Development Based on the Locomotion of the Istiophorus (Sailfish)

Bio-Inspired Design and Additive Manufacturing Techniques fo...

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International Symposium on Multidisciplinary Studies and Innovative Technologies (ISMSIT)

作者： Bernabé Oscco Victor Cuyotupac Jose Mayorga Robert Castro Ricardo Palomares Jose Cornejo Professional School of Mechatronics Engineering Universidad Ricardo Palma Lima Peru Research Group of Advanced Robotics and Mechatronics (GI-ROMA) Universidad Ricardo Palma Lima Peru Universidad Tecnologica del Peru Lima Peru

ISBN: (数字)9798350354423

ISBN: (纸本)9798350354430

The goal of this project is to develop a robotic prototype capable of swimming at high speeds, intended for use un rescue operations and ocean research. The design focuses on replicating key characteristics of the sailfish's movement, particularly its dart-like shape during high-speed swimming, which is enhanced by its lack of scales, minimizing friction with water. The robotic prototype features degrees of freedom in its neck and fins, allowing vertical movement without human intervention, thereby providing added comfort and stability during deep-water rescue operations. Finally, the proposed bioinspired design of fish-morphology robots offered enhanced maneuverability, efficiency, adaptability, and stability for aquatic applications, while also presenting challenges that demand innovative solutions.

关键词： Aquatic robots Shape Prototypes Morphology Tail Propulsion Robot sensing systems Fish Stability analysis Sports

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Motion Planning for Multirotor Aerial Vehicles in Plan-based Control Paradigm: a Review

arXiv

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arXiv 2022年

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

In general, optimal motion planning can be performed both locally and globally. In such a planning, the choice in favour of either local or global planning technique mainly depends on whether the environmental conditions are dynamic or static. Hence, the most adequate choice is to use local planning or local planning alongside global planning. When designing optimal motion planning both local and global, the key metrics to bear in mind are execution time, asymptotic optimality, and quick reaction to dynamic obstacles. Such planning approaches can address the aforesaid target metrics more efficiently compared to other approaches such as path planning followed by smoothing. Thus, the foremost objective of this study is to analyse related literature in order to understand how the motion planning, especially trajectory planning, problem is formulated, when being applied for generating optimal trajectories in real-time for Multirotor Aerial Vehicles (MAVs), impacts the listed metrics. As a result of the research, the trajectory planning problem was broken down into a set of subproblems, and the lists of methods for addressing each of the problems were identified and described in detail. Subsequently, the most prominent results from 2010 to 2022 were summarized and presented in the form of a timeline. © 2022, CC BY.

关键词： Model predictive control

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