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IEEE Conference on Aerospace

作者： Marco Sewtz Hannah Lehner Yunis Fanger Jan Eberle Martin Wudenka Marcus G. Mü ller Tim Bodenmü ller Martin J. Schuster German Aerospace Center (DLR) Institut of Robotics and Mechatronics We&#x00DF ling Germany

ISBN: (数字)9781665437608

ISBN: (纸本)9781665437615

We present URSim, a complete Software-in-the-Loop simulation of robotic systems, specially designed to meet the needs of testing platforms for planetary exploration. By simulating the sensors of a robotic system and providing similar interfaces to the real system, URSim enables developing and continuous testing of high-level software components in various scenarios. URSim is based on the Unreal Engine 4, which offers photo-realistic visual and physics support in real-time. A generic robot interface allows the integration of different robotic systems with various sensors that are simulated in real-time. Its modern and adaptable system architectures make it possible to customize URSim for different setups, frameworks, and modules. To demonstrate URSim and its advances, we simulate different robotic systems, including the Lightweight Rover Unit (LRU), the hexacopter ARDEA and the humanoid robot Rollin’ Justin. We integrate the complete navigation and mapping pipeline of the LRU in URSim and conduct an exploration mission in a simulated Martian and Lunar environment.

关键词： Visualization Pipelines Systems architecture Robot sensing systems Sensor systems Real-time systems Software

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Macroscopic dynamics prediction by reservoir computing 6

Macroscopic dynamics prediction by reservoir computing

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6th Scientific School "Dynamics of Complex Networks and their Applications", DCNA 2022

作者： Andreev, Andrey Neuroscience and Cognitive Technology Laboratory Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia Baltic Center for Neurotechnology and Artificial Intelligence Immanuel Kant Baltic Federal University Kaliningrad Russia

ISBN: (数字)9781665461740

ISBN: (纸本)9781665461740

Nowadays, the problem of forecasting complex signals is significant and has many applications in real life. One of such applications is the prediction of neurophysiological signals, like EEG. Such signals are macroscopic signals of a group of neurons, and the connections between them adapt in time. Here, we investigate the possibility of forecasting the dynamics of the modulated adaptive network, which topology changes in time, using Reservoir Computing (RC). We show that the dynamics of the signal is chaotic, and RC cannot predict it, but reconstruction of the phase space by adding the delays improves the quality of the signal's prediction. © 2022 IEEE.

关键词： Complex networks

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Path Following Control of a Tendon-Actuated Snake Robot with Rolling Joints

Path Following Control of a Tendon-Actuated Snake Robot with...

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Control Technology and Applications (CCTA),

作者： Gianluca D’Antuono Kristin Y. Pettersen Luca R. Buonocore Jan Tommy Gravdahl Mario Di Castro Department of Engineering Cybernetics Norwegian University of Science and Technology (NTNU) Trondheim Norway Mechatronics Robotics and Operation Section European Organization for Nuclear Research (CERN) Switzerland

ISBN: (数字)9798350370942

ISBN: (纸本)9798350370959

This paper presents a novel application of Path Following and Nonlinear Model Predictive Control techniques to a tendon-actuated snake robot with rolling joints. The study investigates the efficacy of NMPC in guiding the robot’s end-effector along predefined trajectories in the robot output space, emphasizing its relevance for inspection and maintenance tasks in cluttered environments where traditional manipulators may be impractical or ineffective. The particular mechanical design of the snake robot presents unique challenges, necessitating nonlinear control strategies that take into account constraints in both state and input spaces. The simulation results will demonstrate the effectiveness of NMPC in achieving an accurate convergence to the reference path, and will evaluate its potential, in terms of computational burden, for future development into real-world scenarios.

关键词： Accuracy Simulation Snake robots Aerospace electronics Inspection End effectors Trajectory

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Design, Characterization, Prototyping and Digital Twin of a Stewart Platform

Design, Characterization, Prototyping and Digital Twin of a ...

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Technologies Applied to Electronics Teaching (TAEE)

作者： Alba Correal Olmo Francisco J. Ríos Gómez BSc. Electronics Robotics and Mechatronics University of Málaga Málaga Spain Electronics Dept. University of Málaga Málaga Spain

ISBN: (数字)9798350348675

ISBN: (纸本)9798350348682

This article aims to show the results of a Final Degree Project where electronics combines with other fields for the development of precision positioning systems. Thus, electronics, mechanics, computation and control come together in real time for innovation in these cutting-edge devices, whose development is a revolution for today's industry. This transversal methodology as the axis of electronics engineering is in line with the philosophy of the development of practices for students within the Department of Electronics of University of Málaga.

关键词： Technological innovation Philosophical considerations mechatronics Decentralized control Kinematics Software systems Real-time systems

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RaNDT SLAM: Radar SLAM Based on Intensity-Augmented Normal Distributions Transform

RaNDT SLAM: Radar SLAM Based on Intensity-Augmented Normal D...

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

作者： Maximilian Hilger Nils Mandischer Burkhard Corves Institute of Mechanism Theory Machine Dynamics and Robotics RWTH Aachen University Aachen Germany Chair of Perception for Intelligent Systems Munich Institute of Robotics and Machine Intelligence Technical University of Munich Munich Germany Chair of Mechatronics University of Augsburg Augsburg Germany

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

Rescue robotics sets high requirements to perception algorithms due to the unstructured and potentially vision-denied environments. Pivoting Frequency-Modulated Continuous Wave radars are an emerging sensing modality for SLAM in this kind of environment. However, the complex noise characteristics of radar SLAM makes, particularly indoor, applications computationally demanding and slow. In this work, we introduce a novel radar SLAM framework, RaNDT SLAM, that operates fast and generates accurate robot trajectories. The method is based on the Normal Distributions Transform augmented by radar intensity measures. Motion estimation is based on fusion of motion model, IMU data, and registration of the intensity-augmented Normal Distributions Transform. We evaluate RaNDT SLAM in a new benchmark dataset and the Oxford Radar RobotCar dataset. The new dataset contains indoor and outdoor environments besides multiple sensing modalities (LiDAR, radar, and IMU).

关键词： Simultaneous localization and mapping Laser radar Radar measurements Motion estimation Noise Radar Transforms Gaussian distribution Sensors Trajectory

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Use Case: Design, Characterization, Prototyping and Digital Twin of a Stewart Platform.

Use Case: Design, Characterization, Prototyping and Digital ...

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Technologies Applied to Electronics Teaching (TAEE)

作者： Alba Correal Olmo Francisco J. Ríos Gómez BSc. Electronics Robotics and Mechatronics University of Málaga Málaga Spain Electronics Dept. University of Málaga Málaga Spain

ISBN: (数字)9798350348675

ISBN: (纸本)9798350348682

This paper aims to highlight the outcomes of a demonstrator where a Stewart platform and its Digital Twin are developed within the scope of a Final Degree Project. First, an exhaustive charaterization of the sensors and actuators was performed, followed by the assembly of both the mechanical and electronic elements of the Stewart Platform. Afterwards, the Hexapod was programmed, set up and calibrated and, finally, a user interface that combines the digital twin animation with other dynamic inputs and outputs is developed to interact with the real prototype. This cross-disciplinary methodology, as the core of electronic engineering, aligns with the philosophy of laboratory practices for students in the Electronics Department at University of Málaga.

关键词： Mechanical sensors Philosophical considerations mechatronics Decentralized control Prototypes Process control User interfaces

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Real-Time FTM-Based Victim Positioning System Using Heterogeneous Robots in Remote and Outdoor Scenarios

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IEEE Access 2025年 13卷 86949-86967页

作者： Bravo-Arrabal, Juan Simón Álvarez-Merino, Carlos Toscano-Moreno, Manuel Serón-Barba, Javier Fernandez-Lozano, J.J. Antonio Gómez-Ruiz, Jose Khatib, Emil J. Barco, Raquel Garcia-Cerezo, Alfonso University of Malaga Robotics and Mechatronics Group Málaga29071 Spain Universidad de Málaga E. T. S. I. de Telecomunicación Málaga29010 Spain

Accurate victim localization in Remote, Outdoor, Unstructured, and Disaster (ROUD) scenarios remains a significant challenge due to limited infrastructure, complex terrains, and time constraints inherent in Search and Rescue (SAR) operations. This article introduces an innovative real-time positioning system that leverages Fine Time Measurement (FTM), a feature of the IEEE 802.11mc amendment, to detect WiFi-enabled devices typically carried by potential victims. The system integrates a Hybrid Wireless Sensor Network (H-WSN) composed of static and mobile anchors mounted on Uncrewed Ground and Aerial Vehicles (UGVs and UAVs), within a Robot Operating System (ROS)-based architecture. A centralized Feedback Information System (FIS) processes real-time RTT data from the field, executes a multilateration algorithm, and provides live geolocation updates to SAR coordinators. The system was validated during a large-scale SAR drill, successfully locating two types of victims—a semi-hidden surface victim and a buried victim—within a 2000 m2 area in under 7 minutes, without any filtering or post-processing. The maximum positioning error was 22.87 m for the buried victim and 17.14 m for the surface one. The complete system, including source code, dataset, and a containerized environment, is openly available to support reproducibility and further research, highlighting the potential of robotic and wireless technologies to enhance disaster response through accurate, real-time localization in complex environments. © 2013 IEEE.

关键词： Emergency services

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Efficient and Feasible Robotic Assembly Sequence Planning via Graph Representation Learning

Efficient and Feasible Robotic Assembly Sequence Planning vi...

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

作者： Matan Atad Jianxiang Feng Ismael Rodríguez Maximilian Durner Rudolph Triebel Department of Informatics Technical University of Munich Garching Germany German Aerospace Center (DLR) Institute of Robotics and Mechatronics Wessling Germany

Automatic Robotic Assembly Sequence Planning (RASP) can significantly improve productivity and resilience in modern manufacturing along with the growing need for greater product customization. One of the main challenges in realizing such automation resides in efficiently finding solutions from a growing number of potential sequences for increasingly complex assemblies. Besides, costly feasibility checks are always required for the robotic system. To address this, we propose a holistic graphical approach including a graph representation called Assembly Graph for product assemblies and a policy architecture, Graph Assembly Processing Network, dubbed GRACE for assembly sequence generation. With GRACE, we are able to extract meaningful information from the graph input and predict assembly sequences in a step-by-step manner. In experiments, we show that our approach can predict feasible assembly sequences across product variants of aluminum profiles based on data collected in simulation of a dual-armed robotic system. We further demonstrate that our method is capable of detecting infeasible assemblies, substantially alleviating the undesirable impacts from false predictions, and hence facilitating real-world deployment soon. Code and training data are available at https://***/DLR-RM/GRACE.

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Rapid Maintenance based improved design for omnidirectional controlled wheels for VirtuSphere system 29

Rapid Maintenance based improved design for omnidirectional ...

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29th IEEE International Symposium for Design and Technology in Electronic Packaging, SIITME 2023

作者： Bazavan, Lidia Cristina Roibu, Horatiu Coman, Daniela Cismaru, Stefan Irinel Petrisor, Anca Bizdoaca, Nicu George University of Craiova Faculty of Automation Computers and Electronics Mechatronics and Robotics Department Craiova Romania University of Craiova Faculty of Mechanics Engineering and Management of the Technological Systems Department Craiova Romania University of Craiova Faculty of Electrical Engineering Electrical Energy and Aerospace Engineering Department Craiova Romania

ISBN: (纸本)9798350344110

Designing for rapid maintenance requires an approach whereby the replacement of rapidly wearing sub-assemblies can be easily replaced while ensuring that the degree of wear can be tracked in real-time if possible. The redesign of the movement system of the Virtusfera platform by the authors previously led to an omnidirectional platform with increased integration facilities in virtual environments. The article presents two solutions for redesigning some subsystems that make up the new experimentally validated solution, presenting at the same time the study based on which the subsystems with the lowest reliability were identified and a proposal for a real-time tracking solution for those subsystems. Numerical simulations of the two solutions are presented, and conclusions and directions are formulated regarding the practical implementation of these subsystems based on the concept of design based on rapid maintenance. © 2023 IEEE.

关键词： Maintenance

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Applying Radio Frequency Attenuators to Reduce the Impact of U-NII-4 Interference on DSRC Channel 180

Applying Radio Frequency Attenuators to Reduce the Impact of...

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2025 IEEE SoutheastCon, SoutheastCon 2025

作者： Hatcher, Grayson Tello, Marco Kirkwood, Nathan Kihei, Billy Kennesaw State University Department of Electrical and Computer Engineering MariettaGA United States Kennesaw State University Department of Robotics and Mechatronics Engineering MariettaGA United States

ISBN: (纸本)9798331504847

In recent years, competition within Radio Frequency (RF) communication bands has led to an overlap between the U-NII-4 band used by low-cost consumer devices, and the Dedicated Short Communication Band (DSRC) used by the Georgia Department of Transportation. Past research confirmed that this interference leads to drastic reduction in Packet Reception Rate (PRR) for Roadside Units (RSUs) and On-Board Units (OBUs) throughout the country, resulting in a reduction of stability between different components of the Intelligent Transportation System (ITS). Our research team set a goal to prove that a low-cost and simple modification can be made to RSUs currently in use that could increase PRR, by developing and testing RF technologies, primarily attenuators available on the market currently. These solutions could be easily adapted to infrastructure systems, and only require they run in-line with the stock antennas already in use. We were able to accomplish this goal, as well as made findings that may be beneficial within the world of RF communications for RSU devices. © 2025 IEEE.

关键词： Advanced driver assistance systems

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