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IEEE International Conference on robotics and Automation (ICRA)

作者： Samuel Bustamante Gabriel Quere Daniel Leidner Jö rn Vogel Freek Stulp German Aerospace Center (DLR) Robotics and Mechatronics Center (RMC) We&#x00DF ling Germany

From robotic space assistance to healthcare robotics, there is increasing interest in robots that offer adaptable levels of autonomy. In this paper, we propose an action representation and planning framework that is able to generate plans that can be executed with both shared control and supervised autonomy, even switching between them during task execution. The action representation - Constraint Action Templates (CATs) - combine the advantages of Action Templates [1] and Shared Control Templates [2]. We demonstrate that CATs enable our planning framework to generate goal-directed plans for variations of a typical task of daily living, and that users can execute them on the wheelchair-robot EDAN in shared control or in autonomous mode.

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Uncertainty Estimation for Planetary Robotic Terrain Segmentation

Uncertainty Estimation for Planetary Robotic Terrain Segment...

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IEEE Conference on Aerospace

作者： Marcus G Müller Maximilian Durner Wout Boerdijk Hermann Blum Abel Gawel Wolfgang Stürzl Roland Siegwart Rudolph Triebel German Aerospace Center (DLR) Institute of Robotics and Mechatronics Weßling Germany Swiss Federal Institute of Technology (ETH) Zürich

Terrain Segmentation information is crucial input for current and future planetary robotic missions. Labeling training data for terrain segmentation is a difficult task and can often cause semantic ambiguity. As a result, large portion of an image usually remains unlabeled. Therefore, it is difficult to evaluate network performance on such regions. Worse is the problem of using such a network for inference, since the quality of predictions cannot be guaranteed if trained with a standard semantic segmentation network. This can be very dangerous for real autonomous robotic missions since the network could predict any of the classes in a particular region, and the robot does not know how much of the prediction to trust. To overcome this issue, we investigate the benefits of uncertainty estimation for terrain segmentation. Knowing how certain the network is about its prediction is an important element for a robust autonomous navigation. In this paper, we present neural networks, which not only give a terrain segmentation prediction, but also an uncertainty estimation. We compare the different methods on the publicly released real world Mars data from the MSL mission.

关键词： Uncertainty Semantic segmentation Semantics Neural networks Measurement uncertainty Estimation Training data

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A Non-parametric Skill Representation with Soft Null Space Projectors for Fast Generalization

A Non-parametric Skill Representation with Soft Null Space P...

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IEEE International Conference on robotics and Automation (ICRA)

作者： João Silvério Yanlong Huang German Aerospace Center (DLR) Robotics and Mechatronics Center (RMC) Weβling Germany School of Computing University of Leeds Leeds UK

Over the last two decades, the robotics community witnessed the emergence of various motion representations that have been used extensively, particularly in behavorial cloning, to compactly encode and generalize skills. Among these, probabilistic approaches have earned a relevant place, owing to their encoding of variations, correlations and adaptability to new task conditions. Modulating such primitives, however, is often cumbersome due to the need for parameter re-optimization which frequently entails computationally costly operations. In this paper we derive a non-parametric movement primitive formulation that contains a null space projector. We show that such formulation allows for fast and efficient motion generation and adaptation with computational complexity O(n 2 ) without involving matrix inversions, whose complexity is O(n 3 ). This is achieved by using the null space to track secondary targets, with a precision determined by the training dataset. Using a 2D example associated with time input we show that our non-parametric solution compares favourably with a state-of-the-art parametric approach. For demonstrated skills with high-dimensional inputs we show that it permits on-the-fly adaptation as well.

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Obstacle- and Occlusion-Responsive Visual Tracking Control for Redundant Manipulators using Reachability Measure

arXiv

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arXiv 2023年

作者： Kang, Mincheul Ha, Junhyoung Mechatronics Research and Development Center Samsung Electronics Hwaseong-si18448 Korea Republic of The Center for Healthcare Robotics Artificial Intelligence and Robotics Institute Korea Institute of Science and Technology Seoul02792 Korea Republic of

A vision system attached to a manipulator excels at tracing a moving target object while effectively handling obstacles, overcoming limitations arising from the camera's confined field of view and occluded line of sight. Meanwhile, the manipulator may encounter certain challenges, including restricted motion due to kinematic constraints and the risk of colliding with external obstacles. These challenges are typically addressed by assigning multiple task objectives to the manipulator. However, doing so can cause an increased risk of driving the manipulator to its kinematic limits, leading to failures in object tracking or obstacle avoidance. To address this issue, we propose a novel visual tracking control method for a redundant manipulator that takes the kinematic constraints into account via a reachability measure. Our method employs an optimization-based controller that considers object tracking, occlusion avoidance, collision avoidance, and the kinematic constraints represented by the reachability measure. Subsequently, it determines a suitable joint configuration through real-time inverse kinematics, accounting for dynamic obstacle avoidance and the continuity of joint configurations. To validate our approach, we conducted simulations and hardware experiments involving a moving target and dynamic obstacles. The results of our evaluations highlight the significance of incorporating the reachability measure. © 2023, CC BY.

关键词： Redundant manipulators

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A Study of Stabilization and Swing-up Linear Control for a Single Link Rotary Pendulum

A Study of Stabilization and Swing-up Linear Control for a S...

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Theoretical and Applied Computer Science and Engineering (ICTASCE), International Conference on

作者： Zied Ben Hazem Zafer Bingül Department of Mechatronics Engineering Istanbul Gedik University Istanbul Turkey Department of Mechatronics Engineering Automation and Robotics Laboratory Kocaeli University Kocaeli Turkey

Single link rotary inverted pendulum (SLRIP) is a highly nonlinear control system that has complex dynamic behavior. This type of system requires a high-performance controller for its control. The rotary pendulum system is present as a control problem challenge because the system often moves to an uncontrolled state. The problem consists to balance one or more attached pendulums vertically in the upward position on a rotational arm which has a single degree of freedom and turns horizontally on only one axis. The aim is to find a control strategy that provides accurate performance with respect to the angles of the pendulums and the horizontal arm. This paper proposes a study of a PID, Linear Quadratic Regulator (LQR) stabilization control, and swing-up linear control based on LQR. The gains of the PID and LQR controllers are optimized by using the particle swarm optimization (PSO) algorithm to provide more robust controllers. A dynamic mechanical simulation study was conducted on MATLAB/SimMechanics obtained by the designed 3D-CAD models of the SLRIP. According to experimental results, the systems demonstrate the efficiency and robustness of all controllers.

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Improved Efficiency of Weakly Coupled Wireless High-Power Transfer Systems by Loss-Separation Strategy

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International Journal of Circuit Theory and Applications 2025年

作者： The Nguyen, Hoach Al-Sumaiti, Ameena Saad Alhassan, Ahmad Bala Do, Ton Duc Smart OR Lab Advanced Power and Energy Center Department of Electrical Engineering Khalifa University Abu Dhabi United Arab Emirates Department of Robotics and Mechatronics School of Engineering and Digital Sciences Nazarbayev University Astana Kazakhstan

In the equivalent T-model of the loosely coupled transformers, the small mutual inductance can lead to higher conducting currents, which cause high losses in the primary circuit and significantly reduce the overall transfer efficiency under weak-coupling states. To overcome this challenge, this paper proposes a strategy to separate the primary loss components from the weak-coupling stage. In the proposed strategy, a gyrator in the form of a double-resonance T-block is added just before the weak-coupling stage to improve the overall efficiency. Then, the strategy is realized by various topologies such as compensating circuits, added coils, isolated transformers, and integrated-/split- inductors/coils. Also, the optimized designs and component selection for resonance and the mathematical derivation for optimal load resistances were investigated. ANSYS comparative analyses of the topologies are presented by considering practical aspects, including component designs, power flows, transfer efficiency, resonance frequency shifting, and optimal loads. Finally, the analyses were validated using the fabricated experimental setups and demonstrated an efficiency improvement of about 5% for a case with a coupling factor of 0.1. The proposed strategy offers suggestions for industrial designs of high-power wireless battery charging systems using resonant inductive coils. © 2025 John Wiley & Sons Ltd.

关键词： Inductive power transmission

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Designing Optimal Parameters for Single-Axis Solar-Tracker through Analysis of Sun-Path and Tracking Vector Dynamics 6

Designing Optimal Parameters for Single-Axis Solar-Tracker t...

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6th International Conference on Electrical Engineering and Information and Communication Technology, ICEEICT 2024

作者： Akhtaruzzaman, M. Islam, Md Shofiqul Shahryer, Fahim Arif, Muammer Din Mollik, Md. Sazib Rahman, Muhammad Towfiqur Rahman, Md. Mahbubur Hasan, Mohammad Kamrul Ahmed, Shugata Ashrafuzzaman, Md. Department of Computer Science and Engineering Dhaka1216 Bangladesh Department of Mechanical Engineering Dhaka1216 Bangladesh Department of Electrical and Electronic Engineering Dhaka Bangladesh Department of Computer Science and Engineering Dhaka Bangladesh Faculty of Information Science and Technology Bangi Malaysia Department of Robotics and Mechatronics Engineering Bangladesh Sdn. Bhd. Cyberjaya Malaysia

ISBN: (纸本)9798350385779

The persistent challenges faced by sun-tracking systems include inefficient power production, wastage of energy, ineffective control, and high costs. Most of the existing systems are either static or dual-axis tracking which lead to inefficient output or increasing energy wastage and cost overheads. Though, single-axis tracking system has some benefits over the static or dual-axis tracking, most of the systems do not analyze the selection of optimal sun-path which again leads to inefficient and inadequate absorption of sunlight. Addressing the issues, this article presents a design of optimal parameters for single-axis solar-tracking by analyzing the sun-path and tracking vector dynamics. The study mainly focuses on analyzing solar-tracking dynamics, variations in sunray angles, Azimuth and Elevation dynamics throughout the day for the twelve months, Sun-vector calculation for local coordinates, joint rotational-axis, and joint motion control using a Proportional-Derivative controller. Additionally, the article outlines a conceptual architecture for automated control, monitoring, and power distribution for the potential development of a sustainable smart city. The proposed strategy addresses the issues of the optimal design of a single-axis solar-tracker, thus ensuring the reduction of cost overhead and energy wastage. © 2024 IEEE.

关键词： Dynamics

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Intuitive Arm Motion Transmission for Tele-Surgery based on Computer Vision and the Sawyer Robot

Intuitive Arm Motion Transmission for Tele-Surgery based on ...

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International Conference on Autonomous Robots and Agents, ICARA

作者： Pedro Arteta-Flores Sergio Aranda-Egusquiza Jhedmar Callupe-Luna Department of Electronics and Mechatronics Universidad de Ingenieria y Tecnologia Lima Peru Research Group in Robotics Intelligence and Advanced Control Universidad de Ingenieria y Tecnologia Lima Peru

ISBN: (数字)9798331509231

ISBN: (纸本)9798331509248

The global shortage of specialized surgeons poses a significant challenge to providing equitable surgical care, particularly in underserved regions where geographic and professional barriers limit access. This study introduces an intuitive computer vision-based telesurgery system utilizing a standard webcam, enabling surgeons to perform remote operations without the need for bulky or high-cost equipment. Additionally, a motion transmission system for the Sawyer robot was developed to accurately replicate human movement trajectories. Experiments were developed based on basic surgical movements. The results demonstrated an absolute mean error of 2.36 mm horizontally and 2.49 mm vertically for linear motions, and 3.93 mm for circular trajectories. These values fall within the operational range of 2.2 mm to 5.5 mm established by prior studies. Compared to existing systems with high implementation costs, the proposed method offers a more accessible and cost-efficient solution, making telesurgery more viable in resource-constrained environments. These findings highlight the potential of the system to reduce training time and enhance movement accuracy, thereby fostering the adoption of robotic-assisted telesurgery in underserved areas.

关键词： Training Computer vision Webcams Refining Surgery Trajectory Usability Motion control Robots Standards

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Estimation of the Effective Range of PZT Sensors for Damage Detection Based on Full Wavefield Measurements 11

Estimation of the Effective Range of PZT Sensors for Damage ...

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11th European Workshop on Structural Health Monitoring, EWSHM 2024

作者： Dziendzikowski, Michal Kowalczyk, Kamil Niedbala, Patryk Dragan, Krzysztof Dworakowski, Ziemowit Instytut Techniczny Wojsk Lotniczych ul. Ksiecia Boleslawa 6 Warszawa01-494 Poland Warsaw University of Technology Faculty of Materials Science and Engineering ul. Woloska 141 Warsaw02-507 Poland AGH University of Science and Technology Department of Robotics and Mechatronics al. Reymonta 9 Krakow30-059 Poland

Optimal location of sensors for enhanced damage detection capability is one of the key factors which needs to be considered when designing SHM system based on PZT sensors. However the sensitivity of a sensor to damage is not only dependent on its relative location with respect to elastic waves source and damage, but can also depend on structure geometry as well as particular signal features which are used for structure assessment. In this paper, results of structure evaluation based on guided waves excited by PZT transducers and full wavefield measurements obtained by laser scanning vibrometer will be presented. The measurements were acquired for pristine state of test structure and with introduced damage, therefore it is possible to calculate spatial distribution of various signal characteristics and estimate effective range of PZT sensors for damage detection based on a given damage index. Various parameters affecting the damage detection range will be compared, in particular: type and the extent of damage, type of signal characteristic used, parameters of the excitation signal (e.g. frequency, duration), as well time interval used for damage index calculation. The obtained results may be useful for refining algorithms for sensor placement optimization as well as damage localization techniques, e.g. based on RAPID imaging algorithm. © 2024 11th European Workshop on Structural Health Monitoring, EWSHM 2024. All rights reserved.

关键词： Structural health monitoring

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Photopolymerization-based additive manufacturing of ceramics:A systematic review

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Journal of Advanced Ceramics 2021年第3期10卷 442-471页

作者： Sefiu Abolaji RASAKI Dingyu XIONG Shufeng XIONG Fang SU Muhammad IDREES Zhangwei CHEN Additive Manufacturing Institute Shenzhen UniversityShenzhen 518060China Institute of Microscale Optoelectronics Shenzhen UniversityShenzhen 518060China Guangdong Key Laboratory of Electromagnetic Control and Intelligent Robotics College of Mechatronics and Control EngineeringShenzhen UniversityShenzhen 518060China

Conversion of inorganic-organic frameworks (ceramic precursors and ceramic-polymer mixtures) into solid mass ceramic structures based on photopolymerization process is currently receiving plentiful attention in the field of additive manufacturing (3D printing).Various techniques(e.g.,stereolithography,digital light processing,and two-photon polymerization) that are compatible with this strategy have so far been widely *** is due to their cost-viability,flexibility,and ability to design and manufacture complex geometric *** platforms related to these techniques have been developed too,in order to meet up with modem technology *** relevant to this review are the challenges faced by the researchers in using these 3D printing techniques for the fabrication of ceramic *** challenges often range from shape shrinkage,mass loss,poor densification,cracking,weak mechanical performance to undesirable surface roughness of the final ceramic *** is due to the brittle nature of ceramic *** on the summary and discussion on the current progress of material-technique correlation available,here we show the significance of material composition and printing processes in addressing these *** use of appropriate solid loading,solvent,and preceramic polymers in forming slurries is suggested as steps in the right *** are indicated as another factor playing vital roles and their selection and development are suggested as plausible ways to remove these barriers.

关键词： ceramics photopolymerization stereolithography additive manufacturing 3D printing polymer-derived ceramics

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