检索结果-内蒙古大学图书馆

arXiv 2023年

作者： Wang, ZhuoLin Jiang, Zichao Zhang, Yi Yang, Gengchao Kwan, Trevor Hocksun Chen, Yuhui Yao, Qinghe Sun Yat-sen University School of Aeronautics and Astronautics Shenzhen China University of Twente Robotics and Mechatronics Enschede Netherlands

This paper presents a novel method for smoothed particle hydrodynamics (SPH) with thin-walled structures. Inspired by the direct forcing immersed boundary method, this method employs a moving least square method to guarantee the smoothness of velocity near the structure surface. It simplifies thin-walled structure simulations by eliminating the need for multiple layers of boundary particles, and improves computational accuracy and stability in three-dimensional scenarios. Supportive three-dimensional numerical results are provided, including the impulsively started plate and the flow past a cylinder. Results of the impulsively started test demonstrate that the proposed method obtains smooth velocity and pressure in the, as well as a good match to the references results of the vortex wake development. In addition, results of the flow past cylinder test show that the proposed method avoids mutual interference on both side of the boundary, remains stable for three-dimensional simulations while accurately calculating the forces acting on structure. © 2023, CC BY-NC-ND.

关键词： Thin walled structures

来源：评论

学校读者我要写书评

暂无评论

Learning-Based Real-Time Torque Prediction for Grasping Unknown Objects with a Multi-Fingered Hand

Learning-Based Real-Time Torque Prediction for Grasping Unkn...

引用

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

作者： Dominik Winkelbauer Berthold Bäuml Rudolph Triebel DLR Institute of Robotics & Mechatronics Germany Technical University of Munich (TUM) Germany Deggendorf Institute of Technology (DIT) Germany

When grasping objects with a multi-finger hand, it is crucial for the grasp stability to apply the correct torques at each joint so that external forces are countered. Most current systems use simple heuristics instead of modeling the required torque correctly. Instead, we propose a learning-based approach that is able to predict torques for grasps on unknown objects in real-time. The neural network, trained end-to-end using supervised learning, is shown to predict torques that are more efficient, and the objects are held with less involuntary movement compared to all tested heuristic baselines. Specifically, for 90 % of the grasps the translational deviation of the object is below 2.9 mm and the rotational below 3.1°. To generate training data, we formulate the analytical computation of torques as an optimization problem and handle the indeterminacy of multi-contacts using an elastic model. We further show that the network generalizes to predict torques for unknown objects on the real robot system with an inference time of 1.5 ms. Website: ***/grasping/

关键词：

来源：评论

学校读者我要写书评

暂无评论

Model Checking and Verification of Synchronisation Properties of Cobot Welding

arXiv

引用

arXiv 2024年

作者： Murray, Yvonne Nordlie, Henrik Anisi, David A. Ribeiro, Pedro Cavalcanti, Ana Pioneer Robotics AS Dept. of Mechatronics University of Agder Norway Norway Norway Norway Dept. of Computer Science University of York United Kingdom

This paper describes use of model checking to verify synchronisation properties of an industrial welding system consisting of a cobot arm and an external turntable. The robots must move synchronously, but sometimes get out of synchronisation, giving rise to unsatisfactory weld qualities in problem areas, such as around corners. These mistakes are costly, since time is lost both in the robotic welding and in manual repairs needed to improve the weld. Verification of the synchronisation properties has shown that they are fulfilled as long as assumptions of correctness made about parts outside the scope of the model hold, indicating limitations in the hardware. These results have indicated the source of the problem, and motivated a re-calibration of the real-life system. This has drastically improved the welding results, and is a demonstration of how formal methods can be useful in an industrial setting. © 2024, CC BY.

关键词： Model checking

来源：评论

学校读者我要写书评

暂无评论

Improved attitude stabilisation system augmented sounding rocket design, integration, Verification & launch ⁎

引用

IFAC-PapersOnLine 2024年第16期58卷 175-180页

作者： Alexandra Posta Alexandre Monk Antoine Durollet Oliver Martin Sam Bruton Jongrae Kim Mechatronics & Robotics University of Leeds Leeds LS2 9JT UK School of Mechanical Engineering University of Leeds Leeds LS2 9JT UK

A common barrier to maximising the altitude of a sounding rocket is the attitude deviation from the vertical fight induced by wind, known as weather cocking. An active stabilisation with canards, which was first proposed and implemented in the previous academic year (2022-23), is significantly improved as follows: a compact fight computer, a robust canard mechanical system, the linear quadratic regulator gain tuned and a new telemetry with extended data monitoring/analysis. The Verification process, which includes the fight mode detection, the wind tunnel experiment, the telemetry test and the attitude estimation test, has been performed. A successful launch in April 2024 shows the effectiveness of the integrated attitude control system and the ground data supporting system.

关键词： Sounding rocket weather cocking canard attitude control system integration

来源：评论

学校读者我要写书评

暂无评论

Hybrid Motion Planner for a Multi-Armed Robot Performing On-orbit Loco-manipulation Tasks

Hybrid Motion Planner for a Multi-Armed Robot Performing On-...

引用

IEEE Conference on Aerospace

作者： Ismael Rodríguez Sergio Quintero Jean-Pascal Lutze Peter Lehner Máximo A. Roa German Aerospace Center (DLR) Institute of Robotics and Mechatronics Weßling Germany Faculty of Informatics Technische Universität München Garching Germany

Large space infrastructure is gaining increasing attention in recent years, including e.g. solar power plants in space or space stations. However, these structures normally are not sent in one piece due to current launch vehicles’ size and load capacity limitations. An alternative is to send individual components and subassemblies and perform the final assembly of structures in orbit, mainly using robotic manipulators that execute simple manipulation tasks. However, fixed manipulator systems have limited reachability; therefore, new approaches are required to endow robotic systems with extended mobility and enhanced *** European projects have developed initial prototypes of robotic systems that could execute On-orbit services. In the MOSAR project, a 7 degrees of freedom (DoF) Walking Manipulator (WM) robot performed locomotion and manipulation (loco-manipulation) tasks for the assembly of modular satellites. In this project, the robot and the modules of the satellite were equipped with Standard Interconnects (SI), which provide mechanical, power, and data connectivity for the different components and also enable a straightforward way for their manipulation using a suitable SI as a robotic end effector. A ground scenario was developed to evaluate the system under laboratory conditions. To enhance the reachability and mobility of the WM, the project MIRROR, funded by ESA, pursued the development of a Multi-Armed Robot (MAR) capable of executing loco-manipulation tasks to assemble modular space structures. This system consists of three robotic subsystems, two 7-DoF arms attached to a torso with an extra DoF on its *** paper presents a hybrid motion planner for generating trajectories for loco-manipulation tasks using the MAR system. The developed hybrid planner combines a high-level layer that determines the necessary contact states between the robot and the structure, and a low-level layer that plans the joint trajectories among contiguous conta

关键词：

来源：评论

学校读者我要写书评

暂无评论

An Optical Interferometer-based Force Sensor System for Enhancing Precision in Epidural Injection Procedure

An Optical Interferometer-based Force Sensor System for Enha...

引用

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

作者： Gichan Cho Jintaek Im Hyunjung Kwon Cheol Song Department of Robotics and Mechatronics Engineering DGIST Daegu South Korea Department of Anesthesiology and Pain Medicine Seoul Asan Medical Center Seoul South Korea

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

In minimally invasive pain management procedures, precise needle positioning is paramount for effective treatment and patient safety. Traditional techniques like the loss-of-resistance (LOR) method may be insufficient, especially in patients with narrowed epidural spaces. The use of imaging tools such as C-arms carries risks due to radiation exposure for medical professionals. A new system for detecting the epidural space based on optical interferometry is proposed to tackle this issue. Prior research has focused on force measurement systems to identify tissue puncture or rupture. Although mechanical sensors have been utilized, they add bulk and complexity to systems. Optical sensors like Fiber Bragg grating (FBG) and Fabry-Pérot interferometer (FPI) offer stable, high-resolution measurements suitable for complex biological tissues. This study aims to develop a sensor and needle system for epidural injections, incorporating quantitative metrics for validation. An optical interferometer-based force measurement sensor was integrated into a commercial epidural needle, and calibration was performed to establish a correlation between system output and actual force. The system employs a graphical user interface (GUI) to identify puncture points based on abrupt force decreases. A user study involving interventionalists assessed the system’s performance by measuring invasive depth and success rates. The user study demonstrated that the proposed sensorized system could detect the puncture with an average success rate of 72.63 %. This study represents a significant advancement toward safer and more precise epidural procedures, addressing critical clinical considerations for practical applications.

关键词： Optical fibers Optical interferometry Optical fiber sensors Force measurement Force Optical variables measurement Robot sensing systems Needles Optical imaging Graphical user interfaces

来源：评论

学校读者我要写书评

暂无评论

Comparative Analysis of Reinforcement Learning Techniques in Simulated robotics Environments

Comparative Analysis of Reinforcement Learning Techniques in...

引用

IEEE International Conference of Intelligent Robotic and Control Engineering (IRCE)

作者： Abey Yoseph M. Hassan Tanveer Razvan Cristian Voicu M. Farrukh Shahid Department of Robotics & Mechatronics Engineering Kennesaw State University Marietta Department of AI and Data Science National University of Computer and Emerging Sciences Karachi Pakistan

ISBN: (数字)9798350352399

ISBN: (纸本)9798350352405

Machine learning is a critical component of artificial intelligence and computer science that uses data and algorithms to emulate the way that humans learn and predict. Reinforcement learning, one of the many forms of machine learning, trains an agent through trial and error, with successful outcomes being rewarded and unsuccessful outcomes being penalized. The implementation of three reinforcement learning algorithms, Qlearning, Deep Q-Learning, and Double Deep Q-Learning, was tested using a series of ROS (Robot Operating System) packages in the Gazebo simulation environment. The Python openai_ros package and Gym libraries were used to input a robot into a configurable environment and test out the performance of a specific reinforcement learning algorithm. The agent’s action space was discretized into three specific actions, move forward, turn left, or turn right, that the robot could take. The reward or punishment was given after each step based on if the current action moved the robot towards the goal state or away from it. For each algorithm, the agent was first pre-trained on an obstacle free environment for 200 episodes and then was placed in an environment with two box-shaped obstacles to avoid. The algorithm/neural network parameters from the pre-training environment were loaded prior to the agent being tested in the new environment. The goal state at each episode was randomly generated and the robot’s performance was evaluated using the cumulative reward achieved per episode and the number of times it reached the goal.

关键词： Training Measurement Q-learning Machine learning algorithms Operating systems Robot vision systems Turning Prediction algorithms Libraries Robots

来源：评论

学校读者我要写书评

暂无评论

Balancing Worker Utility and Recruitment Cost in Spatial Crowdsensing: A Nash Game Approach 21

Balancing Worker Utility and Recruitment Cost in Spatial Cro...

引用

8th International Conference on Networking, Systems and Security, NSysS 2021

作者： Arafat, Md. Tanvir Emon, Mehedi Hasan Sarker, Sujan Razzaque, Md. Abdur Rahman, Md. Mustafizur Department of Robotics and Mechatronics Engineering University of Dhaka Bangladesh Department of Computer Science and Engineering University of Dhaka Bangladesh

ISBN: (纸本)9781450387378

Leveraging the power of mobile crowdsensing (MCS) to achieve unparalleled coverage of tasks by utilizing the crucial spatiooral co-relation between the workers and tasks results in the distributed sensing system named spatiooral crowdsensing system (STCS). An STCS outsources sensing tasks to ubiquitous mobile computing devices to exploit their multi-modal sensing capabilities, collects the sensing results and process those to provide meaningful services. While realizing sustainable crowdsensing services, an STCS struggles with two conflicting objectives- maximizing the assignment quality and minimizing the recruitment cost. The first one requires assigning highly reputed workers in the spatiooral task blocks which results in higher recruitment costs. Thus a tradeoff between the aformentioned objectives is required. Existing works bring this tradeoff either by formulating a single objective as the linear weighted sum of both of the objectives or incorporating one of these as a constraint to another, yielding to an unfair and skewed tradeoff. In this work, we formulate the worker recruitment problem in STCS as a Nash game to attain fairness between the objectives while bringing this tradeoff. The performance of the proposed system is evaluated using MATLAB and results show its effectiveness compared to the state-of-the-art works in terms of fairness and per cost utility gain. © 2021 ACM.

关键词： nash bargaining mobile crowdsensing cost and quality fair trade-off

来源：评论

学校读者我要写书评

暂无评论

A survey on the visual perception of humanoid robot

引用

Biomimetic Intelligence & robotics 2025年第1期5卷 3-14页

作者： Teng Bin Hanming Yan Ning Wang Milutin N.Nikolić Jianming Yao Tianwei Zhang The Shenzhen Institute of Artificial Intelligence and Robotics for Society Shenzhen 518172China College of Intelligent Systems Science and Engineering Harbin Engineering UniversityHarbin 150001China College of Physics and Optoelectronic Engineering Shenzhen UniversityShenzhen 518060China College of Mechatronics Engineering Nanjing University of Aeronautics and AstronauticsNanjing 210016China Faculty of Technical Sciences University of Novi SadNovi Sad 21102Serbia Electronic science and technology Guangdong University of TechnologyGuangzhou 510006China

In recent years,humanoid robots have gained significant attention due to their potential to revolutionize various industries,from healthcare to manufacturing.A key factor driving this transformation is the advancement of visual perception systems,which are crucial for making humanoid robots more intelligent and *** the progress,the full potential of vision-based technologies in humanoid robots has yet to be fully *** review aims to provide a comprehensive overview of recent advancements in visual perception applied to humanoid robots,specifically focusing on applications in state estimation and environmental *** summarizing key developments and analyzing the challenges and opportunities in these areas,this paper seeks to inspire future research that can unlock new capabilities for humanoid robots,enabling them to better navigate complex environments,perform intricate tasks,and interact seamlessly with humans.

关键词： advanced technologies visual perception autonomous navigation human robot interaction environmental interaction state estimation humanoid robots advancement visual perception systemswhich

来源：评论

学校读者我要写书评

暂无评论

Ultimate Boundedness and Output Convergence of Prioritized Output Tracking Control Under Nonsmooth and Imperfect Feedback Linearization

引用

IEEE Transactions on Automatic Control 2025年

作者： An, Sang-Ik Lee, Dongheui Park, Gyunghoon University of Seoul School of Electrical and Computer Engineering Korea Republic of Tu Wien Autonomous Systems at Institute of Computer Technology Faculty of Electrical Engineering and Information Technology Austria Institute of Robotics and Mechatronics Germany

The concept of priority has been introduced to the robotic systems in 1980 s as an effort to overcome problems caused by singularity and it has attracted considerable attention from both the robotics and control societies. However, none of the previous works have successfully addressed two fundamental degenerate properties of singularity: nonsmoothness and imperfect inversion. This technical note proposes a prioritized output tracking control method that guarantees the ultimate boundedness and the convergence of higher priority outputs when the input-output feedback linearization becomes nonsmooth and imperfect by singularity. For that purpose, we firstly prioritize the input-output feedback linearization and discuss how two degenerate properties can occur when the system becomes singular. Then, we introduce the differential inclusion to deal with the nonsmooth internal dynamics and establish a condition using the upper Dini derivative for asymptotically stable zero dynamics. Also, we propose a strictly positive realness-based feedback gain design and find a condition related to an M-matrix in order to handle nonlinearities that appear in the imperfect feedback linearization. Finally, we combine these two results and show the ultimate boundedness and the output convergence. Additionally, we provide a motivational example with a planar four-link manipulator to illustrate the effectiveness and limitations of the proposed method. © 1963-2012 IEEE.

关键词： Feedback linearization

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：