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IEEE/ASME (AIM) International Conference on Advanced Intelligent mechatronics

作者： Tanmay Vilas Samak Chinmay Vilas Samak Venkat Narayan Krovi Department of Automotive Engineering Automation Robotics and Mechatronics Laboratory (ARMLab) Clemson University International Center for Automotive Research (CU-ICAR) Greenville SC USA

ISBN: (数字)9798350355369

ISBN: (纸本)9798350355376

Autonomous vehicle platforms of varying spatial scales are employed within the research and development spectrum based on space, safety and monetary constraints. However, deploying and validating autonomy algorithms across varying operational scales presents challenges due to scale-specific dynamics, sensor integration complexities, computational constraints, regulatory considerations, environmental variability, interaction with other traffic participants and scalability concerns. In such a milieu, this work focuses on developing a unified framework for modeling and simulating digital twins of autonomous vehicle platforms across different scales and operational design domains (ODDs) to help support the streamlined development and validation of autonomy software stacks. Particularly, this work discusses the development of digital twin representations of 4 autonomous ground vehicles, which span across 3 different scales and target 3 distinct ODDs. We study the adoption of these autonomy-oriented digital twins to deploy a common autonomy software stack with an aim of end-to-end map-based navigation to achieve the ODD-specific objective(s) for each vehicle. Finally, we also discuss the flexibility of the proposed framework to support virtual, hybrid as well as physical testing with seamless sim2real transfer.

关键词： Navigation Heuristic algorithms Ecosystems Full stack Aerodynamics Digital twins Vehicle dynamics

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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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Bio-Inspired Design and Additive Manufacturing Techniques for Aquatic Robot Development Based on the Locomotion of the Istiophorus (Sailfish)

Bio-Inspired Design and Additive Manufacturing Techniques fo...

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International Symposium on Multidisciplinary Studies and Innovative Technologies (ISMSIT)

作者： Bernabé Oscco Victor Cuyotupac Jose Mayorga Robert Castro Ricardo Palomares Jose Cornejo Professional School of Mechatronics Engineering Universidad Ricardo Palma Lima Peru Research Group of Advanced Robotics and Mechatronics (GI-ROMA) Universidad Ricardo Palma Lima Peru Universidad Tecnologica del Peru Lima Peru

ISBN: (数字)9798350354423

ISBN: (纸本)9798350354430

The goal of this project is to develop a robotic prototype capable of swimming at high speeds, intended for use un rescue operations and ocean research. The design focuses on replicating key characteristics of the sailfish's movement, particularly its dart-like shape during high-speed swimming, which is enhanced by its lack of scales, minimizing friction with water. The robotic prototype features degrees of freedom in its neck and fins, allowing vertical movement without human intervention, thereby providing added comfort and stability during deep-water rescue operations. Finally, the proposed bioinspired design of fish-morphology robots offered enhanced maneuverability, efficiency, adaptability, and stability for aquatic applications, while also presenting challenges that demand innovative solutions.

关键词： Aquatic robots Shape Prototypes Morphology Tail Propulsion Robot sensing systems Fish Stability analysis Sports

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Learning flatness-based controller using neural networks

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ASME Letters in Dynamic Systems and Control 2021年第2期1卷 021003页

作者： Ren, Hailin Qi, Jingyuan Ben-Tzvi, Pinhas Robotics and Mechatronics Lab Department of Mechanical Engineering Virginia Tech BlacksburgVA24060 United States Department of Physics Virginia Tech BlacksburgVA24060 United States

This paper presents a method to imitate flatness-based controllers for mobile robots using neural networks. Sample case studies for a unicycle mobile robot and an unmanned aerial vehicle (UAV) quadcopter are presented. The goals of this paper are to (1) train a neural network to approximate a previously designed flatness-based controller, which takes in the desired trajectories previously planned in the flatness space and robot states in a general state space, and (2) present a dynamic training approach to learn models with high-dimensional inputs. It is shown that a simple feedforward neural network could adequately compute the highly nonlinear state variables transformation from general state space to flatness space and replace the complicated designed heuristic to avoid singularities in the control law. This paper also presents a new dynamic training method for models with high-dimensional independent inputs, serving as a reference for learning models with a multitude of inputs. Training procedures and simulations are presented to show both the effectiveness of this novel training approach and the performance of the welltrained neural network. Copyright © 2021 by ASME.

关键词： Machine learning

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Enhanced Guidance for Endovascular robotics

Enhanced Guidance for Endovascular Robotics

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Annual International Conference of the IEEE engineering in Medicine and Biology Society (EMBC)

作者： Dennis Kundrat Alfred Schell Jelle Bijlsma Giulio Dagnino Robotics and Mechatronics University of Twente Enschede The Netherlands Fraunhofer IMTE Fraunhofer Research Institution for Individualized and Cell-Based Medical Engineering Lübeck Germany

ISBN: (数字)9798350371499

ISBN: (纸本)9798350371505

Increasing interest surrounds the use of robotic and computer technologies for precise endovascular interventions. However, a limitation in current robotic procedures is the reliance on 2D fluoroscopy for surgical navigation and lack of haptic guidance. In addressing this, we present an improved guidance framework for CathBot, our MR-compatible endovascular robot. This includes visual guidance through fluoroscopy and MRI, along with vision-based haptic guidance. The framework enables real-time acquisition and processing of fluoroscopy and MRI images, integrated into the robotic platform’s control architecture for enhanced guidance. Assessment experiments show the potential of this approach, also marking a crucial step towards MR-guided robot-assisted interventions, aiming to reduce ionizing radiation exposure, enabling functional imaging and enhance the overall intervention workflow.

关键词： Visualization Three-dimensional displays Magnetic resonance imaging Pose estimation Process control Software Real-time systems Haptic interfaces Robots Remote control

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Automatic Anti-Swing Gantry Crane Based on Gradient Descent Optimization Proportional Integrated Derivative (PID): A Comparison Simulation and Real Experiment

Automatic Anti-Swing Gantry Crane Based on Gradient Descent ...

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2023 International Conference on Electrical engineering and Informatics, ICEEI 2023

作者： Qadri, Munzir Harjanto, Danang Karuna Miharja, Jonathan Astuti, Winda Mariana, Yosica Tan, Sofyan Solihin, Mahmud Iwan University of Muhammadiyah Jakarta Engineering Faculty Mechanical Engineering Department Jakarta10510 Indonesia Binus Aso School of Engineering Bina Nusantara University Automotive and Robotics Program Computer Engineering Department Jakarta11480 Indonesia Binus Aso School of Engineering Bina Nusantara University Product Design Program Industrial Engineering Department Jakarta11480 Indonesia Ucsi University Departement of Mechanical & Mechatronics Engineering Kuala Lumpur Malaysia

ISBN: (纸本)9798350381290

Transporting payload with precise swing angles and transfer times poses a challenging task in building construction, which is why gantry crane systems are extensively utilized. Various control strategies, including open-loop and closed-loop systems, have been proposed to tackle this issue. However, most of these controllers rely on a model and parameters specific to the crane system, making the process of modeling and parameter identification complex and time-consuming. To address this challenge, this work presents a practical and simulation control method for automatic gantry cranes, which is evaluated simulation and experimentally. The lab-scale Gantry crane is developed in this work, which consists of mechanical and electrical parts. Proportional Integral and Derivative (PID) and Proportional Derivative (PD) controllers which applied optimization method are implemented in the electrical part of the system. The PID and PD controller applied in controlled the position and swing angle, respectively. The Gradient Decent optimization method is the best optimization method in determining the parameter of the controller, since it has the best simulation performance in the output of the system. The experimental result is developed and compared between simulation and lab-scale Gantry crane hardware implementation part. The performance of experimental results is shown appropriately approaching the performance of the simulation result, with the approximately settling time. © 2023 IEEE.

关键词： Proportional control systems

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Comparison of Facial Expression and Cerebral Blood Flow Sensors for Emotion Estimation Using Communication Robots 23

Comparison of Facial Expression and Cerebral Blood Flow Sens...

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23rd International Conference on Control, Automation and Systems, ICCAS 2023

作者： Hasegawa, Naoya Hirahara, Rin Kurokawa, Shohei Takahashi, Yoshihiko Kindai University Technical College Department of Comprehensive Engineering - Mechanical Systems Course 7-1 Kasugaoka Mie Nabari518-0459 Japan Kanagawa Institute of Technology Department of Robotics and Mechatronics 1030 Shimo-Ogino Kanagawa Atsugi243-0292 Japan

ISBN: (纸本)9788993215274

In this study, a communication system that quantifies human emotions and provides feedback control was fabricated for a communication robot. The robot can provide suggestions to users and relay transmissions during human-to-human communication. Based on the emotions of the listener;the speed, words, and tone of the speaker are selected. Furthermore, the sensor was adopted to estimate emotions using facial expressions. To investigate its reliability, the results were compared with those from cerebral blood flow sensors which have been reported in numerous studies. There are several methods for measuring cerebral blood flow;however near-infrared spectroscopy (NIRS) sensors are used by placing them on either side of the subject's forehead to determine the right and left brains activity based on the flow rate of hemoglobin in the blood. The right-brain is dominant in spatial cognition, including visual and auditory perception, whereas the left-brain is dominant in language comprehension, reasoning, and relating information to knowledge in memory. The experimental results of the face sensors and the NIRS sensors are determined when a soap bubble robot ejects bubbles at the subject. © 2023 ICROS.

关键词： Infrared devices

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Low Power Coherent Ising Machine Based on Mechanical Kerr Nonlinearity

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Physical Review Letters 2023年第7期130卷 073802-073802页

作者： Yoonhyuk Rah Youngjae Jeong Sangyoon Han Kyoungsik Yu School of Electrical Engineering Korea Advanced Institute of Science and Technology KAIST Daejeon 34141 Republic of Korea Robotics and Mechatronics Engineering Daegu-Gyeongbuk Institute of Science and Technology DGIST Daegu 42988 Republic of Korea

Finding a reliable Ising machine for solving nondeterministic polynomial-class problems has attracted great attention in recent years, where an authentic system can be expanded with polynomial-scaled resources to find the ground state Ising Hamiltonian. In this Letter, we propose an extremely low power optomechanical coherent Ising machine based on a new enhanced symmetry breaking mechanism and highly nonlinear mechanical Kerr effect. The mechanical movement of an optomechanical actuator induced by the optical gradient force greatly increases the nonlinearity by a few orders and significantly reduces the power threshold using conventional structures capable of fabrication via photonic integrated circuit platforms. With the simple but strong bifurcation mechanism and remarkably low power requirement, our optomechanical spin model opens a path for chip-scale integration of large-size Ising machine implementations with great stability.

关键词： Kerr effect Nanophotonics Nonlinear optics

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Improved attitude stabilisation system augmented sounding rocket design, integration, Verification & launch ⁎

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IFAC-PapersOnLine 2024年第16期58卷 175-180页

作者： Alexandra Posta Alexandre Monk Antoine Durollet Oliver Martin Sam Bruton Jongrae Kim Mechatronics & Robotics University of Leeds Leeds LS2 9JT UK School of Mechanical Engineering University of Leeds Leeds LS2 9JT UK

A common barrier to maximising the altitude of a sounding rocket is the attitude deviation from the vertical fight induced by wind, known as weather cocking. An active stabilisation with canards, which was first proposed and implemented in the previous academic year (2022-23), is significantly improved as follows: a compact fight computer, a robust canard mechanical system, the linear quadratic regulator gain tuned and a new telemetry with extended data monitoring/analysis. The Verification process, which includes the fight mode detection, the wind tunnel experiment, the telemetry test and the attitude estimation test, has been performed. A successful launch in April 2024 shows the effectiveness of the integrated attitude control system and the ground data supporting system.

关键词： Sounding rocket weather cocking canard attitude control system integration

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An Optical Interferometer-based Force Sensor System for Enhancing Precision in Epidural Injection Procedure

An Optical Interferometer-based Force Sensor System for Enha...

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

作者： Gichan Cho Jintaek Im Hyunjung Kwon Cheol Song Department of Robotics and Mechatronics Engineering DGIST Daegu South Korea Department of Anesthesiology and Pain Medicine Seoul Asan Medical Center Seoul South Korea

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

In minimally invasive pain management procedures, precise needle positioning is paramount for effective treatment and patient safety. Traditional techniques like the loss-of-resistance (LOR) method may be insufficient, especially in patients with narrowed epidural spaces. The use of imaging tools such as C-arms carries risks due to radiation exposure for medical professionals. A new system for detecting the epidural space based on optical interferometry is proposed to tackle this issue. Prior research has focused on force measurement systems to identify tissue puncture or rupture. Although mechanical sensors have been utilized, they add bulk and complexity to systems. Optical sensors like Fiber Bragg grating (FBG) and Fabry-Pérot interferometer (FPI) offer stable, high-resolution measurements suitable for complex biological tissues. This study aims to develop a sensor and needle system for epidural injections, incorporating quantitative metrics for validation. An optical interferometer-based force measurement sensor was integrated into a commercial epidural needle, and calibration was performed to establish a correlation between system output and actual force. The system employs a graphical user interface (GUI) to identify puncture points based on abrupt force decreases. A user study involving interventionalists assessed the system’s performance by measuring invasive depth and success rates. The user study demonstrated that the proposed sensorized system could detect the puncture with an average success rate of 72.63 %. This study represents a significant advancement toward safer and more precise epidural procedures, addressing critical clinical considerations for practical applications.

关键词： Optical fibers Optical interferometry Optical fiber sensors Force measurement Force Optical variables measurement Robot sensing systems Needles Optical imaging Graphical user interfaces

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