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IEEE International Conference on robotics and Automation (ICRA)

作者： Yeonhee Chang Elan Z. Ahronovich Nabil Simaan Cheol Song Department of Robotics and Mechatronics Engineering DGIST Daegu South Korea Department of Mechanical Engineering Vanderbilt University Nashville TN USA

Optical Coherence Elastography (OCE) is a method that discerns local tissue stiffness using optical information. This method has recently been explored for laryngeal cancer tumor margin detection but has not been widely deployed clinically. Part of the challenge hindering such clinical deployment is the need for controlled high-precision mechanical probing of the tissue. This paper explores the concept of robot-assisted optical coherence elastography(OCE) and presents a preliminary system integration used to demonstrate the approach for stiffness mapping and discerning tumor margins. The approach is demonstrated on a custom Cartesian stage robot, and a custom-built OCE system comprised of an 830 nm broad-band laser with a vector-analysis method for phase gradient estimation and strain imaging. The paper illustrates one of the advantages of robot-controlled probing in terms of increasing the accuracy of the OCE system in a large range of displacement and strain. By leveraging motion information from the robot, online re-calibration of the OCE strain map may be achieved, thereby reducing OCE errors. After calibration, it is shown that the error in estimating the local Young's modulus is 0.485% in the silicon phantom and 0.531% in the agar phantom. These results suggest that future integration of optical coherence tomography(OCT) in clinically deployable robots may offer advantages in enabling local stiffness map estimation using OCE.

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Advancement in Smart Cane Technology: Enhancing Mobility for the Visually Impaired Using ROS and LiDAR

Advancement in Smart Cane Technology: Enhancing Mobility for...

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International Conference on robotics and Artificial Intelligence (ICRAI)

作者： Saqib Zafar Hafiz Farhan Maqbool Naveed Ahmad Arham Ali Abdul Moeizz Faizan Ali Juri Taborri Stefano Rossi Department of Economics Engineering Society and Business Organization University of Tuscia Viterbo VT Italy Department of Mechanical Mechatronics and Manufacturing Engineering University of Engineering and Technology Lahore (Faisalabad Campus) Pakistan Human-Centred Robotics Lab National Center of Robotics and Automation Pakistan

ISBN: (数字)9798350355703

ISBN: (纸本)9798350355710

Visual impairment affects the ability to navigate independently in an unknown environment due to reliance on human/dog assistance, potential miscommunication, and discomfort during mobility. To make the visually impaired (VI) individuals self-reliant and confident in their mobility the proposed system has been developed that contains a light detection and ranging (LiDAR) sensor for obstacle detection and two omni-wheels coupled with the DC gear encoder motors for precise movement in any direction without lifting the cane. Hector Simultaneous Localization and Mapping (SLAM), A *, and steering wheel algorithms have been implemented in the robot operating system (ROS) for real-time environment mapping, efficient path planning, and navigating in an unknown indoor static environment, respectively. The Raspberry Pi 3B+ and Arduino Mega 2560 are used in the master-slave configuration for decision-making on path planning and controlling the maneuverability of the system in real-time. The proposed system in the paper is successfully tested on one subject in two indoor environments. The results demonstrate that the system serves as an assistive mobile robot, helping the VI individual to navigate confidently in an unknown environment and reach the destination without assistance.

关键词： Simultaneous localization and mapping Laser radar Navigation Operating systems Decision making Visual impairment Wheels Real-time systems Path planning robotics and automation

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Road Signage and Road Obstacle Detection Using Deep Learning Method 1

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International Conference on Intelligent Manufacturing and robotics, ICIMR 2023

作者： Juen, Lee Cheng Khairuddin, Ismail Mohd Majeed, Anwar P. P. Abdul Abdullah, Muhammad Amirul Nasir, Ahmad Fakhri Ab Faculty of Manufacturing and Mechatronics Engineering Technology Universiti Malaysia Pahang Al-Sultan Abdullah Pahang26600 Malaysia School of Robotics Xi’an Jiaotong-Liverpool University Taicang Suzhou215400 China Faculty of Computing Universiti Malaysia Pahang Al-Sultan Abdullah Pekan Pahang26600 Malaysia

ISBN: (数字)9789819984985

ISBN: (纸本)9789819984978

This study presents a deep learning approach for road signage and road obstacle detection. The purpose of this research was to train a robust and efficient method for detecting road signs and obstacles in real time. This study aims to address the challenges and feasibility of deep learning on road signage and obstacles. A model is trained on YOLOv5 using transfer learning method and the performance of the proposed model was evaluated on a test set. The results showed the YOLOv5 achieved 93.5% mean average precision (mAP). The study concludes that deep learning is a promising method for road signage and road obstacle detection and has potential applications in the field of autonomous vehicles. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Object detection

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An Optimization-Based Planner with B-spline Parameterized Continuous-Time Reference Signals

An Optimization-Based Planner with B-spline Parameterized Co...

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

作者： Chuyuan Tao Sheng Cheng Fanxin Wang Yang Zhao Naira Hovakimyan Department of Mechanical Science and Engineering University of Illinois at Urbana-Champaign USA Department of Department of Mechatronics and Robotics Xi’an Jiaotong-Liverpool University China

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

For the cascaded planning and control modules implemented for robot navigation, the frequency gap between the planner and controller has received limited attention. In this study, we introduce a novel B-spline parameterized optimization-based planner (BSPOP) designed to address the frequency gap challenge with limited onboard computational power in robots. The proposed planner generates continuous-time control inputs for low-level controllers running at arbitrary frequencies to track. Furthermore, when considering the convex control action sets, BSPOP uses the convex hull property to automatically constrain the continuous-time control inputs within the convex set. Consequently, compared with the discrete-time optimization-based planners, BSPOP reduces the number of decision variables and inequality constraints, which improves computational efficiency as a byproduct. Simulation results demonstrate that our approach can achieve a comparable planning performance to the high-frequency baseline optimization-based planners while demanding less computational power. Both simulation and experiment results show that the proposed method performs better in planning compared with baseline planners in the same frequency.

关键词： Convex hulls Navigation Simulation Linear programming Planning Computational efficiency Splines (mathematics) Optimization Frequency control Intelligent robots

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Steady-State Analysis of the Constant Power Region in Distributed Maximum Power Point Tracking Architecture with Photovoltaic Applications

Steady-State Analysis of the Constant Power Region in Distri...

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IEEE Energy Conversion Congress and Exposition, ECCE

作者： Guanying Chu Qinglei Bu Meilin Yang Department of Electrical Engineering Xi’an Jiaotong-Liverpool University Suzhou China Department of Mechatronics and Robotics Xi’an Jiaotong-Liverpool University Suzhou China

ISBN: (数字)9798350376067

ISBN: (纸本)9798350376074

This study analyzes the steady-state characteristics of distributed maximum power point tracking (DMPPT) architecture in photovoltaic systems, focusing on full power processing (FPP) with series-connected direct current power optimizers (DCPOs). The decentralization approach of the FPP structure utilizes the independent DCPO for each PV module to solve mismatch issues. However, each PV-to-DCPO unit is not truly independent, and it is necessary to connect the output terminals of DCPO in series or parallel to meet the grid-connected voltage of the string-level inverter. The research examines the constant power region (CPR) of DCPO outputs and string-level performance under various mismatch conditions for boost and buck converter topologies. Considering practical constraints like duty cycle limitations, the study reveals that the existence and optimal string-level CPR width depend on environmental conditions and converter type. Severe mismatches can eliminate the optimal CPR in boost-based systems, while buck-based DCPOs generally maintain a positive CPR width, though extreme shading can significantly impact performance. These findings provide crucial insights into FPP-based DMPPT architecture limitations and emphasize the importance of considering real-world constraints in system design and evaluation.

关键词： Maximum power point trackers Photovoltaic systems Buck converters Sensitivity Lighting Voltage Inverters Steady-state Topology System analysis and design

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3D-Printed Modified Pinch Valve for Controlling Pneumatic Artificial Muscles

3D-Printed Modified Pinch Valve for Controlling Pneumatic Ar...

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Automation, Control and robotics engineering (CACRE), International Conference on

作者： Mohamed Gaber David Branson Ian Ashcroft Khaled Goher Department of Mechanical Material and Manufacturing Engineering University of Nottingham Nottingham UK Mechatronics and Industrial Robotics Minia Egypt Mechanical and Industrial Engineering Sultan Qaboos University Oman

ISBN: (数字)9798350350302

ISBN: (纸本)9798350350319

Soft robotics is a rapidly growing fields in the past decade. Despite its compliant nature and low weight, which is suitable for human interaction applications, still suffering from the low-speed actuation compared to the rigid actuators. In this paper, a 3D printed modified pinch valve is presented to control a pneumatic artificial muscle. This valve can provide high flow rate which can increase the pneumatic muscles actuation speed. 3D printed artificial muscle is used to validate the controllability of the valve. The muscle frequency increased from 0.1 Hz to reach 3.5 Hz. A chain of five muscles is controlled and reach 1.5 Hz.

关键词： Artificial muscles Three-dimensional displays Automation Wearable robots Muscles Soft robotics Valves

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Balance Control of an Inverted Pendulum on a Quadruped Robot by Reinforcement Learning

Balance Control of an Inverted Pendulum on a Quadruped Robot...

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2021 International Conference on Advanced Manufacturing Technology and Electronic Information, AMTEI 2021

作者： Wu, Shangyu Lei, Xianqing Ye, Linqi School of Mechatronics Engineering Henan University of Science and Technology Luoyang471003 China Center for Artificial Intelligence and Robotics Graduate School of Shenzhen of Tsinghua University Shenzhen518055 China

When a quadruped robot crosses some uneven terrain, its stability is a very important consideration. In practical applications, it is often difficult for researchers to obtain accurate models of quadruped robot systems and need quadruped robots to complete high-stability tasks. Balancing an inverted pendulum on a quadruped robot is a good way to test their balancing ability, which is of great research and practical value. According to the nonlinear, uncertain, and strong coupling characteristics of the quadruped robot inverted pendulum system, this paper proposes a quadruped robot balancing inverted pendulum algorithm based on reinforcement learning, the Q-learning algorithm. The advantage of this algorithm is that it can learn effective balancing policy directly from experience, and it does not depend on the accurate model of the quadruped robot. It has the characteristics of high efficiency and flexibility. Through a lot of training, it can break through the performance limit brought by model error to traditional methods. In this paper, a comparative experiment of a set of balanced inverted pendulums of quadruped robots with different sizes is completed in the V-REP simulation software. The experimental results show that the algorithm can effectively improve the balance ability of quadruped robots, and it also shows that the algorithm has good adaptability. © Published under licence by IOP Publishing Ltd.

关键词： Inverted pendulum

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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年第0期

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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An Advanced System for Automatically Segregating Bolts using Thread Detection and Dot Matrix Marking.

An Advanced System for Automatically Segregating Bolts using...

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Global Conference for Advancement in Technology (GCAT)

作者： S Ramkumar M Sridharan G Nareshbabu R Giri Kanagaraj Venusamy R Priyadharshini Department of Robotics and Automation Rajalakshmi Engineering College Thandalam Chennai India Department of Mechatronics Engineering Rajalakshmi Engineering College Thandalam Chennai India

Packaging is a crucial stage in the mass production of components, especially when it comes to threaded components fabrication. Currently, the process of segregating bolts based on their length and thread presence is done manually, leading to numerous errors during packaging. To address this issue and achieve greater accuracy and perfection, we propose a digital segregation method using an electronic control module. By placing this module along the assembly line, it can automatically divide bolts according to their lengths and the presence of threads, eliminating the need for manual intervention and reducing human errors. Implementing this mechatronics system allows for more precise and accurate punching of bolts based on their size, resulting in high-quality packaging that takes into account various segregation factors.

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Keypoints Estimation on Partial Point Clouds

Keypoints Estimation on Partial Point Clouds

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International Conference on robotics and Artificial Intelligence (ICRAI)

作者： Maryam Saleem Mohammad Zohaib Syed Abbas Zilqurnain Naqvi Department of Mechatronics & Control Engineering Human Centered Robotics Lab UET Lahore Pakistan SIGMA Clermont University of Clermont Auvergne Aubiere France

ISBN: (数字)9798350355703

ISBN: (纸本)9798350355710

Estimating 3D keypoints of an object has achieved considerable interest, especially in computer graphics and ma-chine vision. The complexity of the problem increases when the object is noisy, decimated, or partially occluded. To this end, we present an approach to estimate 3D keypoints from the partial PCDs such that they also highlight the object's missing parts. It is based on two modules: shape completion and keypoints estimation. The first module computes the object's missing parts and generates a dense shape which is used by the second module to estimate semantically and geometrically consistent keypoints. The approach also estimates confidence scores that allow the selection of valid keypoint considering the object's structure. We evaluate the proposed method for four different backbones and observe that we get better results using PointNet. Furthermore, the presented results show that the Percentage of Correct Keypoints (PCK) and Dual Alignment Score (DAS) for the keypoints estimated from the dense shapes (36.61 and 76.29) are 23.51 % and 12.14% higher, respectively, compared to those estimated from the partial objects (13.10 and 64.15).

关键词： Point cloud compression Industries Three-dimensional displays Accuracy Shape Estimation Computer graphics Complexity theory Noise measurement robotics and automation

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