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International Conference on robotics and Artificial Intelligence (ICRAI)

作者： Muhammad Haris Bilal Ubaid Uzma Bibi Ameer Said Syed Najm us Saqib Shahbaz Khan Muhammad Tufail Advanced Robotics and Automation Lab National Center of Robotics and Automation Peshawar Pakistan Department of Mechatronics Engineering University of Engineering and Technology Peshawar Pakistan Institute of Manufacturing Engineering Management University of Engineering and Applied Sciences Swat Swat Pakistan

This paper presents the Design and Development of IoT Based Weather and Air Quality Monitoring stations that provide weather-related information for agriculture, and aviation climate forecasting purposes. The prototype is made up of an outdoor unit that consistently monitors numerous climatic variables such as temperature, humidity, barometric pressure, wind speed, wind direction, rainfall, and air quality using sensors with high accuracy. The air quality index(AQI) is also calculated using the sensors values which tell us whether the atmosphere is safe or polluted. ESP32(Microcontroller) which has a WiFi module is used to gather and send the sensor data through the Internet of things (IoT) to a ThingSpeak channel (IoT cloud), an internet platform where the data is saved, analyzed and read the data remotely. The weather station makes use of photovoltaic power and a rechargeable lead-acid battery to sustain the system. This paper also discusses the obvious strengths and shortcomings of the system and suggests plausible upgrades to assist the system in obtaining higher and long-term performance.

关键词： Temperature sensors Cloud computing Wind speed Transportation Air quality Sensors Internet of Things

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Nonlinear Modes as a Tool for Comparing the Mathematical Structure of Dynamic Models of Soft Robots

arXiv

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arXiv 2024年

作者： Pustina, Pietro Calzolari, Davide Albu-Schäffer, Alin De Luca, Alessandro Della Santina, Cosimo Department of Computer Control and Management Engineering Sapienza University of Rome Rome Italy Institute of Robotics and Mechatronics German Aerospace Center Oberpfaffenhofen82234 Germany Department of Informatics Technical University of Munich Garching85748 Germany Department of Cognitive Robotics Delft University of Technology Delft Netherlands

Continuum soft robots are nonlinear mechanical systems with theoretically infinite degrees of freedom (DoFs) that exhibit complex behaviors. Achieving motor intelligence under dynamic conditions necessitates the development of control-oriented reduced-order models (ROMs), which employ as few DoFs as possible while still accurately capturing the core characteristics of the theoretically infinite-dimensional dynamics. However, there is no quantitative way to measure if the ROM of a soft robot has succeeded in this task. In other fields, like structural dynamics or flexible link robotics, linear normal modes are routinely used to this end. Yet, this theory is not applicable to soft robots due to their nonlinearities. In this work, we propose to use the recent nonlinear extension in modal theory –called eigenmanifolds– as a means to evaluate control-oriented models for soft robots and compare them. To achieve this, we propose three similarity metrics relying on the projection of the nonlinear modes of the system into a task space of interest. We use this approach to compare quantitatively, for the first time, ROMs of increasing order generated under the piecewise constant curvature (PCC) hypothesis with a high-dimensional finite element (FE)-like model of a soft arm. Results show that by increasing the order of the discretization, the eigenmanifolds of the PCC model converge to those of the FE model. © 2024, CC BY.

关键词： Structural dynamics

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The Impact of Robots’ Facial Emotional Expressions on Light Physical Exercises

arXiv

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arXiv 2023年

作者： Abdulazeem, Nourhan Hu, Yue Active & Interactive Robotics Lab Department of Mechanical and Mechatronics Engineering University of Waterloo WaterlooONN2L3G1 Canada

To address the global challenge of population aging, our goal is to enhance successful aging through the introduction of robots capable of assisting in daily physical activities and promoting light exercises, which would enhance the cognitive and physical well-being of older adults. Previous studies have shown that facial expressions can increase engagement when interacting with robots. This study aims to investigate how older adults perceive and interact with a robot capable of displaying facial emotions while performing a physical exercise task together. We employed a collaborative robotic arm with a flat panel screen to encourage physical exercise across three different facial emotion conditions. We ran the experiment with older adults aged between 66 and 88. Our findings suggest that individuals perceive robots exhibiting facial expressions as less competent than those without such expressions. Additionally, the presence of facial expressions does not appear to significantly impact participants’ levels of engagement, unlike other state-of-the-art studies. This observation is likely linked to our study’s emphasis on collaborative physical human-robot interaction (pHRI) applications, as opposed to socially oriented pHRI applications. Additionally, we foresee a requirement for more suitable non-verbal social behavior to effectively enhance participants’ engagement levels. Copyright © 2023, The Authors. All rights reserved.

关键词： Robotic arms

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Unsupervised Myocontrol of a Virtual Hand Based on a Coadaptive Abstract Motor Mapping

Unsupervised Myocontrol of a Virtual Hand Based on a Coadapt...

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IEEE International Conference on Rehabilitation robotics (ICORR)

作者： Andrea Gigli Arjan Gijsberts Claudio Castellini Institute of Robotics and Mechatronics German Aerospace Center (DLR) WeBling Germany Chair of Medical Robotics Friedrich-Alexander University Erlangen-Nuremberg Erlangen Germany

ISBN: (数字)9781665488297

ISBN: (纸本)9781665488303

Applications of simultaneous and proportional control for upper-limb prostheses typically rely on supervised machine learning to map muscle activations to prosthesis movements. This scheme often poses problems for individuals with limb differences, as they may not be able to reliably reproduce the training activations required to construct a natural motor mapping. We propose an unsupervised myocontrol paradigm that eliminates the need for labeled data by mapping the most salient muscle synergies in arbitrary order to a number of predefined prosthesis actions. The paradigm is coadaptive, in the sense that while the user learns to control the system via interaction, the system continually refines the identification of the user’s muscular synergies. Our evaluation consisted of eight subjects without limb-loss performing target achievement control tasks of four actions of the hand and wrist. The subjects achieved comparable performance using the proposed unsupervised myocontrol paradigm and a supervised benchmark method, despite reporting increased mental load with the former.

关键词： Wrist Training Proportional control Training data Machine learning Muscles Benchmark testing

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Robustness Evaluation of Pre-trained vs. Fine-Tuned Computer Vision Models for Score Detection in Dynamic Sports Environments 14th

Robustness Evaluation of Pre-trained vs. Fine-Tuned Computer...

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14th International Conference on Information Society and Technology, ICIST 2024

作者： Ivačko, Nikola Ćirić, Ivan Dimitrijević, Nikola Mitić, Dimitrije Milošević, Maša Kitić, Ana Krstić, Dušan Department of Mechatronics and Control Faculty of Mechanical Engineering University of Niš Aleksandra Medvedeva 14 Niš18000 Serbia Faculty of Information Technologies Belgrade Metropolitan University Belgrade Serbia Faculty of Electrical Engineering University of Niš Aleksandra Medvedeva 14 Niš18000 Serbia NAIS ROBOTICS D.O.O Aleksandra Medvedeva bb Niš Serbia

ISBN: (纸本)9783031714184

This paper explores the efficacy of two distinct approaches in computer vision, particularly in intelligent sports training systems. Our focus is on the development and comparison of two methodologies for image recognition in a basketball score detection system, named "Koško." The first approach uses a pre-trained model with two combined datasets in the training phase. This method leverages diverse data to enhance the model’s ability to generalize and accurately recognize scores in basketball games. In contrast, the second approach fine-tunes a model initially trained on one dataset with a subsequent second dataset. Rooted in recent transfer learning studies, this method shows that selectively fine-tuning a subset of layers or customizing learning rates can significantly improve robustness to out-of-distribution (OOD) data. By enforcing weight projections, this approach aims to maintain the generalization capabilities of the pre-trained models while adapting to the new dataset. Our research balances precise score detection and pragmatic system development, contributing to intelligent sports training systems. This work highlights the feasibility of combining machine learning and vision-based methodologies to advance sports training systems. Research on basketball score detection using the YOLOv8n model shows the pre-trained model achieved 93.75% accuracy and a 3% false positive rate, outperforming the fine-tuned model’s 88.71% accuracy and 5% false positive rate. By evaluating both networks, this study aims to provide clear strategies for implementing computer vision systems in sports, particularly in the dynamic environment of basketball. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2024.

关键词： Basketball

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Static Force-Based Modeling and Parameter Estimation for a Deformable Link Composed of Passive Spherical Joints With Preload Forces

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IEEE/CAA Journal of Automatica Sinica 2021年第11期8卷 1817-1826页

作者： Gaofeng Li Dezhen Song Lei Sun Shan Xu Hongpeng Wang Jingtai Liu Nankai University Tianjin 300350China Humanoids and Human Centered Mechatronics Research Line Italian Institute of Technology16163 GenovaItaly Department of Computer Science and Engineering Texas A&M UniversityCollege StationTexas 77843 USA Institute of Robotics and Automatic Information System Nankai UniversityTianjin 300350China Tianjin Key Laboratory of Intelligent Robotics Nankai UniversityTianjin 300350China

To balance the contradiction between higher flexibility and heavier load bearing capacity,we present a novel deformable manipulator which is composed of active rigid joints and deformable *** deformable link is composed of passive spherical joints with preload forces between socket-ball *** estimate the load bearing capacity of a deformable link,we present a static force-based model of spherical joint with preload force and analyze the static force propagation in the deformable *** yields an important result that the load bearing capacity of a spherical joint only depends on its radius,preload force,and static friction *** further develop a parameter estimation method to estimate the product of preload force and static friction *** experimental results validate our model.80.4%of percentage errors on the maximum payload mass prediction are below 15%.

关键词： Deformable link parameters identification spherical joint with preload force static force-based model

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High Performance Soft Electrochemical Actuators Based on Hierarchical Conductive Polymer Ionogels

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Journal of Bionic Engineering 2023年第6期20卷 2755-2763页

作者： Hongwei Hu Shengtao Zhang Yan Li Xinghao Hu Lin Xu Aixin Feng Guanggui Cheng Jianning Ding Zhejiang Provincial Key Laboratory of Laser Processing Robotics College of Mechanical and Electrical EngineeringWenzhou UniversityWenzhou325035China Institute of Intelligent Flexible Mechatronics Jiangsu UniversityZhenjiang212013China School of Mechanical Engineering Jiangsu University of Science and TechnologyZhenjiang212100China School of Mechanical Engineering Yangzhou UniversityYangzhou225127China Jiangsu Collaborative Innovation Center of Photovoltaic Science and Engineering Changzhou UniversityChangzhou213164China Ruian Graduate School of Wenzhou University Ruian325207ZhejiangChina

Electrochemical actuators based on conductive polymers are emerging as a strong competitive in the field of soft actuators because of their intrinsically conformable/elastic nature,low cost,low operating voltage and air-working *** development has shown that adding electroactive materials,such as CNT and graphene,can improve their actuation *** the complex material systems used,their output strains(one of the key factors)are generally lower than 1%,which limited further applications of them in multiple ***,we report soft electrochemical actuators based on conductive polymer ionogels by embedding polyaniline particles between the PEDOT:PSS *** show that such a hierarchical structure not only leads to a high conductivity(1250 S/cm)but also improved electrochemical *** a low operating voltage of 1 V,the maximum strain of these soft actuators reaches an exceptional value of 1.5%,with a high blocking force of 1.3 *** these high-performance electrochemical actuators,we demonstrate soft grippers for manipulating object and a bionic flower stimulated by an electrical *** work sets an important step towards enabling the enhanced performance of electrochemical actuators based on conductive polymers with designed microstructures.

关键词： Conductive polymer Soft actuator Polyaniline PEDOT:PSS Bioinspired actuator

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Toward Multi User Knowledge Driven Teleoperation of a Robotic Team with Scalable Autonomy

Toward Multi User Knowledge Driven Teleoperation of a Roboti...

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IEEE International Conference on Systems, Man and Cybernetics

作者： P. Schmaus N. Batti A. Bauer J. Beck T. Chupin E. Den Exter N. Grabner A. Köpken F. Lay M. Sewtz D. Leidner T. Krüger N. Y. Lii Institute of Robotics and Mechatronics German Aerospace Center (DLR) Wessling Germany Human Robot Interaction Lab European Space Agency (ESA) Noordwijk The Netherlands

This paper proposes a knowledge-driven teleoperation framework that enables multiple operators to command a team of robots to execute complex tasks in an efficient and intuitive manner. The framework leverages a shared knowledge base that captures domain-specific information and procedural knowledge about the task at hand. This knowledge base is used by a hybrid planner to generate context-specifically relevant commands for supervised autonomy robot command as well as direct teleoperation modes. By filtering the available commands, the operators are guided in their decision-making towards efficient task completion. This paper further extends our knowledge driven approach to address the switching between multiple operators and robotic assets, with the aim to be able scale up human-robot team for space exploration. Overall, this work represents a step towards more intelligent and collaborative teleoperation systems. The described system will be used in the Surface Avatar ISS-to-ground experiments slated for July 2023.

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Graphene Oxide Integrated Surface Acoustic Wave Humidity Sensor with Simultaneous Multi-Frequency Operation

Graphene Oxide Integrated Surface Acoustic Wave Humidity Sen...

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International Conference on Solid State Sensors and Actuators (TRANSDUCERS)

作者： Il Ryu Jang Soon In Jung Chaehyun Ryu Jeonhyung Park Aneeta Padhan Jaesok Yu Hohyun Keum Hoe Joon Kim Department of Robotics and Mechatronics Engineering DGIST Korea Digital Health Care R&D Department Korea Institute of Industrial Technology (KITECH) Korea

Humidity is crucial in agriculture, electronic device fabrication, and climate change. In particular, as the coronavirus outbreak globally spreads, airborne water moisture has been considered the carrier of airborne viruses. Therefore, there is much need to develop accurate and precise humidity sensors to predict and prevent coronavirus transmission. This paper presents the multi-frequency surface acoustic wave (SAW) platform with graphene oxide (GO) decoration for humidity sensing. The novel claims include (1) the localized integration of GO with ng-resolution using an electrospray deposition (ESD) system, (2) highly sensitive and stable sensing performances by selecting proper operating resonant frequency depending on relative humidity (RH) levels, and (3) use of the developed sensor for face mask inspection. Our findings suggest that the multi-frequency SAW ensures high measurement sensitivity over a large RH range, further improving the current state of the resonator-based humidity sensors.

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Machine Vision based automated 3-DOF Articulated Robot for fruit defect Identification and Segregation 14

Machine Vision based automated 3-DOF Articulated Robot for f...

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14th International Conference on Computing Communication and Networking Technologies, ICCCNT 2023

作者： Ramkumar, S. Venusamy, Kanagaraj Eswaran, A. Jeevitha, N. Ramyapriya, G. Kannadhasan, S. Rajalakshmi Engineering College Department of Robotics and Automation Thandalam Chennai India Rajalakshmi Engineering College Department of Mechatronics Engineering thandalam Chennai India Roever Engineering College Department of Electrical and Electronics Engineering Perambalur India Study World College of Engineering Department of Electronics and Communication Engineering Coimbatore Chennai India

ISBN: (纸本)9798350335095

The automation scenario in the current industrial as well as domestic applications has seen an exponential growth over the decade. Robot plays an important role in industrial automation but in some cases, it needs some extent of human intervention in quality inspection. This paper focuses on solving problems related to defect identification and segregation of fruits using 3-DOF articulated robot configuration with the integration of machine vision system and deep learning algorithms. To perceive the features of object, A USB camera is utilized. The machine vision algorithm will next use a variety of methods for processing digital images to extract the relevant data and decide whether to continue processing the product, redirect it to a different stage of production, or just throw it away. In recent days, the advancement in deep learning leads to the phenomenal growth in computer vision. There are many state-of-the-art object detection algorithms available in deep learning technology and we are using Inception-V3 algorithm that can be used for the machine vision operation in our solution. Based on the results from the algorithm, segregation operation is carried out successfully. © 2023 IEEE.

关键词： Fruits

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