检索结果-内蒙古大学图书馆

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

作者： Pouya P. Niaz Engin Erzin Cagatay Basdogan Robotics and Mechatronics Laboratory (RML) and the KUIS AI Center Koc University Istanbul Turkey Multimedia Vision and Graphics Laboratory and the KUIS AI Center Koc University Istanbul Turkey

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

This paper proposes an adaptive admittance controller for improving efficiency and safety in physical human-robot interaction (pHRI) tasks in small-batch manufacturing that involve contact with stiff environments, such as drilling, polishing, cutting, etc. We aim to minimize human effort and task completion time while maximizing precision and stability during the contact of the machine tool attached to the robot’s end-effector with the workpiece. To this end, a two-layered learning-based human intention recognition mechanism is proposed, utilizing only the kinematic and kinetic data from the robot and two force sensors. A "subtask detector" recognizes the human intent by estimating which phase of the task is being performed, e.g., Idle, Tool-Attachment, Driving, and Contact. Simultaneously, a "motion estimator" continuously quantifies intent more precisely during the Driving to predict when Contact will begin. The controller is adapted online according to the subtask while allowing early adaptation before the Contact to maximize precision and safety and prevent potential instabilities. Three sets of pHRI experiments were performed with multiple subjects under various conditions. Spring compression experiments were performed in virtual environments to train the data-driven models and validate the proposed adaptive system, and drilling experiments were performed in the physical world to test the proposed methods’ efficacy in real-life scenarios. Experimental results show subtask classification accuracy of 84% and motion estimation R 2 score of 0.96. Furthermore, 57% lower human effort was achieved during Driving as well as 53% lower oscillation amplitude at Contact as a result of the proposed system.

关键词： Drilling Adaptive systems Virtual environments Robot sensing systems Stability analysis Manufacturing Safety Admittance Springs Oscillators

来源：评论

学校读者我要写书评

暂无评论

Conceptual Design and Control of a Robotic System for Welding

Conceptual Design and Control of a Robotic System for Weldin...

引用

International Carpathian Control Conference (ICCC)

作者： Kanstantsin Miatliuk Adam Wolniakowski Jose J. Quintana Dept. of Robotics and Mechatronics Bialystok University of Technology Bialystok Poland Dept. of Automation and Robotics Bialystok University of Technology Bialystok Poland IDeTIC University Las Palmas Gran Canaria Las Palmas Spain

The use of Hierarchical Systems (HS) method in design and control of a robotic system for welding (RSW) is suggested in the paper. Created conceptual model of the robotic system under consideration integrates connected systemic descriptions of the RSW mechatronic subsystems – IT, electronic, mechanic – which are given in the common HS theoretical basis. RSW structure and the motion planning task, RSW dynamic presentation in its environment, RSW control unit, and RSW learning by demonstration processes are also given in this basis. The examples of the RSW control processes, robot teaching and welding process simulation using Mimicking Kit and RobWork program system respectively are also described in the work.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Extensible Hook System for Rendesvouz and Docking of a Cubesat Swarm

arXiv

引用

arXiv 2024年

作者： Pérez-Del-Pulgar, Carlos J. Palomeque, Antonio López Juli, Jesús Madi, Matteo The Space Robotics Laboratory Mechatronics and Cyber-physical systems research institute Universidad de Malaga Malaga29070 Spain Sirin Orbital Systems AG Zürich Switzerland

The use of cubesat swarms is being proposed for different missions where cooperation between satellites is required. Commonly, the cube swarm requires formation flight and even rendezvous and docking, which are very challenging tasks since they required more energy and the use of advanced guidance, navigation and control techniques. In this paper, we propose the use of an extensible hook system to mitigate these drawbacks,i.e. it allows to save fuel and reduce the system complexity by including techniques that have been previously demonstrated on Earth. This system is based on a scissor boom structure, which could reach up to five meters for a 4U dimension, including three degrees of freedom to place the end effector at any pose within the system workspace. We simulated the dynamic behaviour of a cubesat with the proposed system, demonstrating the required power for a 16U cubesat equipped with one extensible hook system is considered acceptable according to the current state of the art actuators. © 2024, CC BY.

关键词： Degrees of freedom (mechanics)

来源：评论

学校读者我要写书评

暂无评论

Performance Evaluation of Machine Learning Classifiers for Sudden Cardiac Arrest Detection

引用

Journal of The Institution of Engineers (India): Series B 2022年 1-7页

作者： Banerjee, Prakash Bhattacherjee, Saptak Dasgupta, Kousik Sen, Shibaprasad Department of Electrical and Electronics Engineering University of Engineering and Management Kolkata India School of Mechatronics and Robotics Indian Institute of Engineering Science and Technology Shibpur Howrah India Department of Computer Science and Engineering Kalyani Government Engineering College Kalyani India Department of Computer Science and Engineering University of Engineering and Management Kolkata India

Sudden cardiac arrest (SCA) is a type of cardiovascular disease which attacks a person so promptly that it gives minimum time for hospitalization and may also lead to the patient death. In order to save the patient from death, rapid detection of SCA just after the onset of symptoms with a high accuracy is very critical. Although numerous approaches of SCA detection based on electrocardiogram have been carried out, there is still need of standard method for SCA detection with high precession and fast detection. Hence, the present work proposes the use of four machine learning classifiers for detection of SCA based on temporal features extracted from ECG. Performance analysis of the classifiers used in this study on 19 SCA and 20 normal, i.e., healthy subjects, yields classification accuracies of 97.4%, 94.8%, 97.4% and 97.4% for SVM, decision tree, Naïve Bayes and KNN, respectively. Experimental results thus obtained demonstrate the potential of the proposed method as a promising alternative for SCA detection. © 2022, The Institution of Engineers (India).

关键词： Electrocardiograms

来源：评论

学校读者我要写书评

暂无评论

A Study of the Magnetically Active Objects Motion in a Closed Channel Under the Influence of Magnetic Force

A Study of the Magnetically Active Objects Motion in a Close...

引用

International Russian Automation Conference (RusAutoCon)

作者： Andrei Malchikov Petr Ryapolov Department of Mechanics Mechatronics and Robotics South-West State University Kursk Russia Department of Nanotechnologies Microelectronics General and Applied Physics South-West State University Kursk Russia

ISBN: (数字)9798350349818

ISBN: (纸本)9798350349825

The paper examines various models of the motion of magnetically active micro objects under the influence of a magnetic field generated by a moving permanent magnet. A mathematical model is proposed that describes the controlled motion of a spherical microrobot within a closed channel that simulates a vessel cavity. A key feature of the model is its ability to simulate the complex magnetic interactions between the permanent magnet and the investigated object, leading to intricate motions of the microrobot. The results of studying various motion modes are presented, and a comparative analysis is performed with the results of full-scale experiments conducted on a laboratory bench.

关键词： Biological system modeling Friction Force Magnetic forces Mathematical models Permanent magnets Object recognition Magnetic fields Robots Magnetic properties

来源：评论

学校读者我要写书评

暂无评论

Design and Characterization of an e-Textile Sensor for Shape Sensing of Soft Continuum Robots

Design and Characterization of an e-Textile Sensor for Shape...

引用

SICE Annual Conference

作者： Eric Vincent Galeta Sabah Ahmed Victor Parque Haitham El-Hussieny Department of Mechatronics and Robotics Egypt-Japan University of Science and Technology Alexandria Egypt Department of Modern Mechanical Engineering Waseda University Tokyo Japan

Shape sensing in continuum robots is a crucial aspect of their operation as it enables the robots to accurately perceive and respond to their environment. However, traditional sensors such as encoders or potentiometers are not well suited for these types of robots as they cannot conform to the robot’s shape and are prone to damage. In this research, we investigate the problem of shape sensing in continuum robots using a new approach of a soft e-textile resistive sensor with multiple stacked layers. The e-textile, which can conform to the shape of the continuum robot body, employs a resistive material that changes its resistance in response to any deflection in the continuum robot. The characterization of the sensor, including hysteresis analysis and time response, is first presented. This is followed by an examination of the application of this e-textile sensor in estimating the curvature of a continuum robot using a feed-forward artificial neural network (ANN) to contribute to developing more robust and efficient shape sensing techniques for continuum robots.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Mixed Reality Application in Robot Navigation and Control

Mixed Reality Application in Robot Navigation and Control

引用

International Conference on Applied and Theoretical Electricity (ICATE)

作者： Stefan-Irinel Cismaru Florina-Luminita Petcu Ionut-Cristian Resceanu Horatiu Roibu Andrei-Costin Trasculescu Cristina-Floriana Pana Nicu-George Bizdoaca Mechatronics and Robotics Department Faculty of Automation Computers and Electronics University of Craiova Craiova Romania Computer Science Department Faculty of Automation Computers and Electronics University of Craiova Craiova Romania

ISBN: (数字)9798350388107

ISBN: (纸本)9798350388114

Among the emerging technologies, Mixed Reality (MR) has provided the means to interact with holograms. A very distant future is now near and accessible, which allows for the replacement of classic controllers for robots and is driven by MR. Holograms involve dynamic 3D elements that are integrated into the environment, enhancing control means for the user. These elements may be visually attended to and interacted with via eye concentration or hand gestures, and they have the capability to execute a variety of activities. This emerging technology enables interactions that are otherwise unattainable in alternative settings or contexts, such as the presence of an avatar inside the program. Furthermore, it has the potential to be expanded to govern other mechatronic devices, including robots. The purpose of this work is to offer an improved and interactive method of controlling a mechatronic platform by using holograms, such that the adaptability of this technology may be shown in the context of operating real systems. Important for the authors of this paper is the broadening of the spectrum in which the application lies, thus contributing to the process followed for the development and applicability of the solution in key areas such as industry, training, and medicine.

关键词： Training mechatronics Three-dimensional displays Navigation Service robots Mixed reality Virtual reality Resists Control systems Software

来源：评论

学校读者我要写书评

暂无评论

QWriter System for Robot-Assisted Alphabet Acquisition

QWriter System for Robot-Assisted Alphabet Acquisition

引用

IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Aida Amirova Nurziya Oralbayeva Zhansaule Telisheva Aida Zhanatkyzy Aidar Shakerimov Shamil Sarmonov Arna Aimysheva Anara Sandygulova Graduate School of Education Nazarbayev University Astana Kazakhstan Department of Robotics and Mechatronics School of Engineering and Digital Sciences Nazarbayev University Astana Kazakhstan

The present study applies a novel Reinforcement Learning-based (RL) alphabet learning system named QWriter for the acquisition of the Kazakh Latin alphabet. We conducted a between-subject design experiment with 108 Kazakh children aged 6-8 years old in a public school and compared their learning rates across the two conditions: an RL-based QWriter robot and a human tutor (HT) as a baseline. The results show that children learned significantly more letters with the HT compared to the QWriter robot, showing that the RL-based robot is not effective for learning in the short term. Yet, we observe some interesting results by children’s age and gender. The results need further investigation comparing the QWriter with other robot baselines with different roles and across various learning tasks.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Obstacle Identification Based on Deep Learning for Inspection Robot of FAST Wire Rope

Obstacle Identification Based on Deep Learning for Inspectio...

引用

Automation, robotics and Computer Engineering (ICARCE), International Conference on

作者： Chengxu Yang Xiangyu Sun Gangfeng Liu School of Mechatronics Engineering Harbin Institute of Technology Harbin China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

In this paper, for the requirements of image recognition and localization of the obstacles existing on the moving path in the inspection task of FAST cable inspection robot, the deep learning method is used to realize the recognition of multi-kind and multi-scale obstacles. The obstacles on FAST wire rope have not been identified before. By enhancing the data set and improving the network model, the recognition accuracy and speed are both improved, which meets the efficiency and accuracy requirements of obstacle detection on the wire rope, and provides help for the subsequent robot pace planning and overhaul tasks.

关键词：

来源：评论

学校读者我要写书评

暂无评论

6D Object Pose Estimation from Approximate 3D Models for Orbital robotics

6D Object Pose Estimation from Approximate 3D Models for Orb...

引用

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

作者： Maximilian Ulmer Maximilian Durner Martin Sundermeyer Manuel Stoiber Rudolph Triebel Institute of Robotics and Mechatronics German Aerospace Center (DLR) Wessling Germany Department of Computer Science Technical University of Munich (TUM) Garching Germany

We present a novel technique to estimate the 6D pose of objects from single images where the 3D geometry of the object is only given approximately and not as a precise 3D model. To achieve this, we employ a dense 2D-to-3D correspondence predictor that regresses 3D model coordinates for every pixel. In addition to the 3D coordinates, our model also estimates the pixel-wise coordinate error to discard correspondences that are likely wrong. This allows us to generate multiple 6D pose hypotheses of the object, which we then refine iteratively using a highly efficient region-based approach. We also introduce a novel pixel-wise posterior formulation by which we can estimate the probability for each hypothesis and select the most likely one. As we show in experiments, our approach is capable of dealing with extreme visual conditions including overexposure, high contrast, or low signal-to-noise ratio. This makes it a powerful technique for the particularly challenging task of estimating the pose of tumbling satellites for in-orbit robotic applications. Our method achieves state-of-the-art performance on the SPEED+ dataset and has won the SPEC2021 post-mortem competition. Code, trained models, and the used satellite model will be made publicly available.

关键词：

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：