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arXiv 2021年

作者： Kung, Pou-Chun Wang, Chieh-Chih Lin, Wen-Chieh Graduate Degree Program of Robotics National Chiao Tung University Hsinchu Taiwan Department of Electrical and Computer Engineering National Chiao Tung University The Mechanical and Mechatronics Systems Research Laboratories Industrial Technology Research Institute Hsinchu Taiwan Department of Computer Science National Chiao Tung University Hsinchu Taiwan

Existing radar sensors can be classified into automotive and scanning radars. While most radar odometry (RO) methods are only designed for a specific type of radar, our RO method adapts to both scanning and automotive radars. Our RO is simple yet effective, where the pipeline consists of thresholding, probabilistic submap building, and an NDT-based radar scan matching. The proposed RO has been tested on two public radar datasets: the Oxford Radar RobotCar dataset and the nuScenes dataset, which provide scanning and automotive radar data respectively. The results show that our approach surpasses state-of-the-art RO using either automotive or scanning radar by reducing translational error by 51% and 30%, respectively, and rotational error by 17% and 29%, respectively. Besides, we show that our RO achieves centimeter-level accuracy as lidar odometry, and automotive and scanning RO have similar accuracy. Copyright © 2021, The Authors. All rights reserved.

关键词： Optical radar

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Conventional control and fuzzy control algorithms for shape memory alloy based tendons robotic structure

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WSEAS Transactions on Systems and Control 2008年第2期3卷 115-124页

作者： Nicu-George, BîzdoacǍ Anca, Petrisor Elvira, BîzdoacǍ Faculty of Automation Computers and Electronics University of Craiova Blvd. Decebal no. 107 200440 Craiova Dolj Romania Faculty of Electromechanical Engineering University of Craiova Blvd. Decebal no. 107 200440 Craiova Dolj Romania Research Centre of Mechatronics and Robotics University of Craiova Blvd. Decebal no. 107 200440 Craiova Dolj Romania

Shape memory alloy offer an interesting solution, using the shape transformation of the wire/structure in the moment of applying a thermal type transformation able to offer the martensitic temperature. This thermal transformation can be inducted using electrical current and a suitable control strategy. In order to assure an efficient control of robotics SMA actuator, a mathematical model and numerical simulation of the resulting model is required. For an efficient study a Simulink block is developed (block for user configurable shape memory alloy material). Due a particular possibility SMA actuator connection, a modified dynamics for wire or tendon actuation is presented. The control possibilities are explored: PI, PD,PID and fuzzy logic controller are connected to the single link SMA actuation. Experimental results and numerical simulations are presented and observations are formulated.

关键词： Shape memory effect

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An EMG-Based Objective Function for Human-in-the-Loop Optimization

An EMG-Based Objective Function for Human-in-the-Loop Optimi...

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IEEE International Conference on Rehabilitation robotics (ICORR)

作者： María Alejandra Díaz Sander De Bock Philipp Beckerle Jan Babič Tom Verstraten Kevin De Pauw Human Physiology and Sports Physiotherapy Research Group Brussels Human Robotic Research Center Vrije Universiteit Brussel Brussels Belgium Department of Electrical Engineering and the Department of Artificial Intelligence in Biomedical Engineering Institute of Autonomous Systems and Mechatronics Friedrich-Alexander-Universität Erlangen-Nürnberg Erlangen Germany Department of Automation Biocybernetics and Robotics Laboratory for Neuromechanics and Biorobotics Jožef Stefan Institute Ljubljana Slovenia Faculty of Electrical Engineering University of Ljubljana Ljubljana Slovenia Robotics and Multibody Mechanics Research Group Vrije Universiteit Brussel and Flanders Make Brussels Belgium

Advancements in wearable robots aim to improve the users' motion, performance, and comfort by optimizing, mainly, energetic cost (EC). However, EC is a noisy measurement with a physiological delayed response that requires long evaluation periods and wearing an uncomfortable mask. This study aims to estimate and minimize an EMG-based objective function that describes the natural energetic expenditure of individuals walking. This objective is assessed by combining multiple electromyography (EMG) variables from the EMG intensity and muscle synergies. To evaluate this objective function simply and repeatedly, we prescribed step frequency (SF) via a metronome and optimized this frequency to minimize muscle activity demands. Further, a linear mixed-effects model was fitted for EC, with the EMG variables as fixed-effects and a random intercept that varies by participant. After the model was fitted to the data, a cubic polynomial was used to identify the optimal SF that reduces the overall EMG-based objective function. Our analysis outlines that the proposed objective function is comparable to the EC during walking, the primary objective function used in human-in-the-loop optimization. Thus, this EMG-based objective function could be potentially used to optimize wearable robots and improve human-robot interaction.

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Optimal design of vibration power generator for low frequency

Solid State Phenomena

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Solid State Phenomena 2009年 147-149卷 426-431页

作者： Hadas, Zdenek Singule, Vladislav Ondrusek, Cestmir Institute of Solid Mechanics Mechatronics and Biomechanics Faculty of Mechanical Engineering Brno University of Technology Technicka 2 Brno616 69 Czech Republic Institute of Production Machines Systems and Robotics Faculty of Mechanical Engineering Brno University of Technology Technicka 2 Brno616 69 Czech Republic Department of Power Electrical and Electronic Engineering Faculty of Electrical Engineering and Communication Brno University of Technology Technicka 8 Brno61669 Czech Republic

This paper deals with an optimal design of an electromagnetic energy harvesting generator for supplying wireless sensors with energy. The developed device is complex mechatronic system which generates an electrical power from an ambient low frequency mechanical vibration by use of a suitable electromagnetic generator. This device is excited by ambient mechanical vibration and electrical energy is harvested due to Faraday’s law. The design of this vibration power generator results from development cycles and the final generator can provide sufficient electrical energy for wireless sensors. The vibration power generator is tuned up to frequency of vibration 17 Hz and harvested output power depends non-linearly on level of vibration. The vibration power generator operates in level of vibration 0.1 – 1 G peak and output power is in range 2 – 25 mW. © (2009) Trans Tech Publications, Switzerland.

关键词： Energy harvesting

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A Novel Fixed-time Observer-based Sliding Mode Controller for Nonlinear Underactuated Hovercraft

A Novel Fixed-time Observer-based Sliding Mode Controller fo...

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

作者： Ali Soltani Sharif Abadi Ayesha Hameed Andrew Ordys Krzysztof Kukielka Pooyan Alinaghi Hosseinabadi Barbara Pierscionek Institute of Automatic Control and Robotics Faculty of Mechatronics Warsaw University of Technology Warsaw Poland School of Engineering and Information University of New South Wales Technology Canberra ACT Australia Faculty of Health Education Medicine and Social Care Medical Technology Research Centre Anglia Ruskin University East Anglia United Kingdom

Using information from the state observer to the controller in real-time is an open field for research and fundamental for solving many problems in control theory. Control of underactuated systems is challenging since the degree of freedom (DOF) of these systems is more than their control inputs. In this paper, a fixed-time sliding mode controller for nonlinear underactuated hovercraft systems and a fixed-time sliding mode observer are described. The estimated states of the observer are used in the controller in real-time. The controller and observer work together to track the hovercraft's desired trajectory and estimate the states of the hovercraft. The observer and controller are chattering-free, fast-tracking, and smooth controlling. The Lyapunov theory is used to prove the controller's stability and the observer. The performance of the algorithm is demonstrated in a simulation example.

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A Fuzzy Logic Controller for a Photovoltaic System Relying on a Closed-Loop DC-DC Converter

A Fuzzy Logic Controller for a Photovoltaic System Relying o...

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International Conference on Science Technology engineering and Management (ICONSTEM)

作者： B. Chandrashekar Jayarama Pradeep Muthukumaran. M M. Sivasubramanian K. Lakshmi Khandan Joshuva Arockia Dhanraj Department of Computer Science Engineering St Martin's Engineering College Hyderabad Telangana India Department of Electrical and Electronics Engineering St. Joseph's College of Engineering Chennai Tamil Nadu India Department of Electrical and Electronics Engineering Karpagam college of Engineering Coimbatore Tamil Nadu Department of Electrical and Electronics Engineering Srivenkateswara College of Engineering and Technology Thiruvallur Tamil Nadu India Department of Electrical and Electronics Engineering Madanapalle Institute of Technology and Science Madanapalle Andhra Pradesh India Department of Mechatronics Engineering Centre for Automation and Robotics (ANRO) Hindustan Institute of Technology and Science Chennai Tamil Nadu India

ISBN: (数字)9798350365092

ISBN: (纸本)9798350365108

A DC-DC converter that can handle a lot of different power changes. The experts in this study discovered that adding a fuzzy logic circuit helped the system work better. It makes a big difference in how well and consistently the PV system works that the FLC controls the output power of the converter. Because the FLC works with Microsoft Excel, more people can use this powerful tool for less money and with less trouble. The FLC cuts down on “overshoot,” “settling time,” and steady-state error, as shown in simulations that test how well the controller works. This study may have made it easier for people to start making “fuzzy logic controllers” and make them better. This will have a big effect on how far we get in making energy systems that work better and are more stable. Further investigation could be conducted to determine whether or not these concepts are feasible and how they would enhance the FLC in different types. These DC-DC converters have closed loops in their circuitry.

关键词： Fuzzy logic Photovoltaic systems DC-DC power converters Control systems Energy efficiency Steady-state Spreadsheet programs

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Coordinated Multi-Robot Trajectory Tracking Control over Sampled Communication

arXiv

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arXiv 2021年

作者： Rossi, Enrica Tognon, Marco Ballotta, Luca Carli, Ruggero Cortés, Juan Franchi, Antonio Schenato, Luca Mas Automazioni S.r.l. Torre di Mosto Italy Inria Université de Rennes CNRS IRISA Rennes France Department of Information Engineering University of Padova Italy LAAS-CNRS Université de Toulouse CNRS Toulouse France Robotics and Mechatronics Lab University of Twente Enschede Netherlands

In this paper, we propose an inverse-kinematics controller for a class of multi-robot systems in the scenario of sampled communication. The goal is to make a group of robots perform trajectory tracking in a coordinated way when the sampling time of communications is much larger than the sampling time of low-level controllers, disrupting theoretical convergence guarantees of standard control design in continuous time. Given a desired trajectory in configuration space which is precomputed offline, the proposed controller receives configuration measurements, possibly via wireless, to re-compute velocity references for the robots, which are tracked by a low-level controller. We propose joint design of a sampled proportional feedback plus a novel continuous-time feedforward that linearizes the dynamics around the reference trajectory: this method is amenable to distributed communication implementation where only one broadcast transmission is needed per sample. Also, we provide closed-form expressions for instability and stability regions and convergence rate in terms of proportional gain k and sampling period T. We test the proposed control strategy via numerical simulations in the scenario of cooperative aerial manipulation of a cable-suspended load using a realistic simulator (Fly-Crane). Finally, we compare our proposed controller with centralized approaches that adapt the feedback gain online through smart heuristics, and show that it achieves comparable *** Codes 70B15, 70E60, 70Q05, 93C85, 93A16 Copyright © 2021, The Authors. All rights reserved.

关键词： Multipurpose robots

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BEYOND GRAPHS: CAN LARGE LANGUAGE MODELS COMPREHEND HYPERGRAPHS?

arXiv

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arXiv 2024年

作者： Feng, Yifan Yang, Chengwu Hou, Xingliang Du, Shaoyi Ying, Shihui Wu, Zongze Gao, Yue School of Software BNRist THUIBCS BLBCI Tsinghua University China Institute of Artificial Intelligence and Robotics College of Artificial Intelligence Xi’an Jiaotong University China School of Software Xi’an Jiaotong University China Department of Mathematics School of Science Shanghai University China College of Mechatronics and Control Engineering Shenzhen University China

Existing benchmarks like NLGraph and GraphQA evaluate LLMs on graphs by focusing mainly on pairwise relationships, overlooking the high-order correlations found in real-world data. Hypergraphs, which can model complex beyond-pairwise relationships, offer a more robust framework but are still underexplored in the context of LLMs. To address this gap, we introduce LLM4Hypergraph, the first comprehensive benchmark comprising 21,500 problems across eight low-order, five high-order, and two isomorphism tasks, utilizing both synthetic and real-world hypergraphs from citation networks and protein structures. We evaluate six prominent LLMs, including GPT-4o, demonstrating our benchmark’s effectiveness in identifying model strengths and weaknesses. Our specialized prompting framework incorporates seven hypergraph languages and introduces two novel techniques, Hyper-BAG and Hyper-COT, which enhance high-order reasoning and achieve an average 4% (up to 9%) performance improvement on structure classification tasks. This work establishes a foundational testbed for integrating hypergraph computational capabilities into LLMs, advancing their comprehension. The source codes are at https://***/iMoonLab/LLM4Hypergraph. Copyright © 2024, The Authors. All rights reserved.

关键词： Benchmarking

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ELECTRIC GENERATION USING ELECTRIC ORGANS OF ELECTRIC RAYS BY CHEMICAL STIMULATION

ELECTRIC GENERATION USING ELECTRIC ORGANS OF ELECTRIC RAYS B...

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International Conference on Solid-State Sensors, Actuators and Microsystems

作者： Y. Tanaka Y. Nishizawa N. Kamamichi M. Nishinaka T. Kitamori Quantitative Biology Center (QBiC) RIKEN 1-3 Yamadaoka Suita Osaka Japan Department of Robotics and Mechatronics Tokyo Denki University 5 Senju-asahi-cho Adachi-ku Tokyo Japan Department of Applied Chemistry School of Engineering University of Tokyo 7-3-1 Bunkyo-ku Tokyo Japan

ISBN: (纸本)9781479989560

An electric ray is a kind of electric fish generating strong pulse currency using electric organs which are serially integrated electrocytes converting chemical energy (ATP) into electric energy using ion pumps and ion channels on the cells. We here present a power generation method using this electric organ by chemical stimuli and injecting systems. Firstly, we have confirmed pulse generation by physical stimuli to an electric ray itself. Secondly, we investigated the electrical response of electric organs against chemical injection, and demonstrated power generation by this method. Finally, we have constructed a power generation device based on this result using fluidic control systems, and achieved about 400 mV voltage generation. This is extremely higher than single cell level generation of neurons or muscle cells against chemical stimuli (about μV order). This is because of the use of natural multi-layered organ for generation. The most important advantage of this system is just using biological energy and easy to be controlled.

关键词： Electric ray Electric organ Power generator Membrane protein

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Un deep VO: Monocular visual odometry through unsupervised deep learning

arXiv

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arXiv 2017年

作者： Li, Ruihao Wang, Sen Long, Zhiqiang Gu, Dongbing School of Computer Science and Electronic Engineering University of Essex ColchesterCO4 3SQ United Kingdom Edinburgh Centre for Robotics Heriot-Watt University EdinburghEH14 4AS United Kingdom College of Mechatronics and Automation National University of Defense Technology Changsha China

We propose a novel monocular visual odometry (VO) system called UnDeepVO in this paper. UnDeepVO is able to estimate the 6-DoF pose of a monocular camera and the depth of its view by using deep neural networks. There are two salient features of the proposed UnDeepVO: one is the unsupervised deep learning scheme, and the other is the absolute scale recovery. Specifically, we train UnDeepVO by using stereo image pairs to recover the scale but test it by using consecutive monocular images. Thus, UnDeepVO is a monocular system. The loss function defined for training the networks is based on spatial and temporal dense information. A system overview is shown in Fig. 1. The experiments on KITTI dataset show our UnDeepVO achieves good performance in terms of pose accuracy. Copyright © 2017, The Authors. All rights reserved.

关键词： Computer vision

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