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IEEE International Conference on Automation Science and engineering (CASE)

作者： Mustafa Adam Kangfeng Ye David A. Anisi Ana Cavalcanti Jim Woodcock Robert Morris Robotics Group Faculty of Science & Technology Norwegian University of Life Sciences (NMBU) Norway Dept. of Computer Science University of York UK Dept. of Mechatronics Faculty of Engineering and Science University of Agder (UiA) Norway Saga Robotics AS Norway

Continued adoption of agricultural robots postulates the farmer's trust in the reliability, robustness and safety of the new technology. This motivates our work on safety assurance of agricultural robots, particularly their ability to detect, track and avoid obstacles and humans. This paper considers a probabilistic modelling and risk analysis framework for use in the early development phases. Starting off with hazard identification and a risk assessment matrix, the behaviour of the mobile robot platform, sensor and perception system, and any humans present are captured using three state machines. An auto-generated probabilistic model is then solved and analysed using the probabilistic model checker PRISM. The result provides unique insight into fundamental development and engineering aspects by quantifying the effect of the risk mitigation actions and risk reduction associated with distinct design concepts. These include implications of adopting a higher performance and more expensive Object Detection System or opting for a more elaborate warning system to increase human awareness. Although this paper mainly focuses on the initial concept-development phase, the proposed safety-assurance framework can also be used during implementation, and subsequent deployment and operation phases.

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Development of Smart Orthosis with Real-time Corrective Feedback

Development of Smart Orthosis with Real-time Corrective Feed...

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International Conference on engineering of Modern Electric Systems (EMES)

作者： Alexandru Oarcea Florin Popister Paul Ciudin Michael Christian Salatioan Dept. of Mechatronics The Politechnic University of Timisoaora Timisoara Romania Dep. of Design Engineering and Robotics Technical University of Cluj-Napoca Cluj-Napoca Romania

In this paper we analyze the development process of a smart knee orthosis that can monitor the bearer's movements and provide real-time feedback to aid the bearer's proper recovery after an injury. The development process includes the 3D scanning of the patients knee joint, the 3D modeling of the orthosis, the 3D printing of the orthosis, the integration of IMU (Inertial Measurement Unit) sensors, the integration of the microcontroller and the implementation of the data acquisition and control. The implementation with the use of 3D printing parts will guarantee the best fit on the wearer's foot, offering increased comfort.

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Experimental Analysis of Gmapping SLAM Algorithm for Mobile Robot Indoor Navigation

Experimental Analysis of Gmapping SLAM Algorithm for Mobile ...

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Artificial Intelligence, robotics and Control (AIRC), International Conference on

作者： Mohamed Reda Ahmed Abdulbaky Haitham El-Hussieny Mahmoud Magdy Mechanical Engineering Dept. The British University in Egypt (BUE) Cairo Egypt InnoVision Systems Company Cairo Egypt Mechatronics and Robotics Engineering Dep. Egypt-Japan University of Science and Technology (E-JUST) Alexandria Egypt

ISBN: (数字)9798350385076

ISBN: (纸本)9798350385083

The main subject of this paper is the experimental analysis of LiDAR-SLAM-based indoor navigation for a mobile robot, considering the effect of the mobile robot's linear and angular velocities on the deviation that occurs in the resulting 2D map. Our objective in this paper is to utilize the robotics Operating System (ROS) and the Gmapping method, which rely solely on LiDAR and IMU for simultaneous localization and mapping (SLAM). It was observed that as the velocity increases, the deviation of the map decreases. After experimenting with various velocities, it was determined that the optimum velocity is 1.0 m/s. This velocity is optimal for indoor navigation within the scope of our experimental environment, exhibiting the minimum deviation from the ground truth map.

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A Study on the Perception of Digitalization and Use of Digital Technologies in Higher-Education Institutions 27

A Study on the Perception of Digitalization and Use of Digit...

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27th International Conference on System Theory, Control and Computing, ICSTCC 2023

作者： Marian, Marius Borcoși, Ilie Ganea, Eugen Borcoși, Corina-Ana Popescu, Dorin Cusman, Adelin Dept. of Computers and IT University of Craiova Craiova Romania Fac. of Engineering "Constantin Brâncuși" University Tg. Jiu Romania Institute of Rsch. Dev. and Innovation "Constantin Brâncuși" University Tg. Jiu Romania Dept. of Mechatronics and Robotics University of Craiova Craiova Romania CERT DIGITAL Centrul de Calcul S.A. Tg. Jiu Romania

ISBN: (纸本)9798350337983

Correlating the education and training system with the evolution of today's technologies is a complex but necessary process for training, improvement, and lifelong learning. Digital technologies are present today in all fields, and have become increasingly necessary in higher education institutions, not only to attract students, to bring them into a familiar environment, but also to initiate and improve their skills in what is an evolution in science. The digitalization of education services is necessary to have a more accessible, interactive, and personalized educational process and this also involves the use of digital technologies, elements that contribute to people's self-education, and education outside of schools' walls. In this paper we present aspects related to the digitalization of education, both from the perspective of educators and learners. It is a study carried out in two Romanian universities, the University of Craiova and the "Constantin Brâncuși" University of Târgu Jiu. The purpose of this work is to emphasize the necessity of digitalization, its importance, but also to emphasize the stage in which the two universities are now, in relation to what is meant by digitalization, who should be involved in the digitalization of the institution, what activities should be digitalized, knowledge of the digital signature concept or whether respondents use machine learning tools such as ChatGPT, or others. The results of this study reflect the opinion of the teachers and students of the two universities. © 2023 IEEE.

关键词： Students

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Robot Trajectron: Trajectory Prediction-based Shared Control for Robot Manipulation

Robot Trajectron: Trajectory Prediction-based Shared Control...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Pinhao Song Pengteng Li Erwin Aertbeliën Renaud Detry Dept. Mechanical Engineering Research Unit Robotics Automation and Mechatronics KU Leuven Leuven Belgium College of Computer Science and Software Engineering Shenzhen University Shenzhen China Flanders Make@KU Leuven Dept. Electrical Engineering Research Unit Processing Speech and Images KU Leuven Leuven Belgium

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

We address the problem of (a) predicting the trajectory of an arm reaching motion, based on a few seconds of the motion’s onset, and (b) leveraging this predictor to facilitate shared-control manipulation tasks, by reducing the operator’s cognitive load through assistance in their anticipated direction of motion. Our novel intent estimator, dubbed the Robot Trajectron (RT), produces a probabilistic representation of the robot’s anticipated trajectory based on its recent position, velocity and acceleration history. By taking arm dynamics into account, RT can capture the operator’s intent better than other SOTA models that only use the arm’s position, making it particularly well-suited to assist in tasks where the operator’s intent is susceptible to change. We derive a novel shared-control solution that combines RT’s predictive capacity to a representation of the locations of potential reaching targets. Our experiments demonstrate RT’s effectiveness in both intent estimation and shared-control tasks. We will make the code and data supporting our experiments publicly available at https://***/detry-lab/public/robot-trajectron

关键词： Codes Dynamics Estimation Grasping Probabilistic logic Cognitive load Trajectory

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Leader-follower irrigation system management with Shapley value

Leader-follower irrigation system management with Shapley va...

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2021 International Workshop on Automation, Control, and Communication engineering, IWACCE 2021

作者： Lee, Sanghyuk Yang, Youpeng Nayel, Mohamed Zhai, Yujia Dept. of Mechatronics and Robotics School of Advance Technology XJTLU SIP Suzhou 111 Ren’ai Road Jiangsu 215123 China Dept. Of Electrical Engineering Assiut University Assiut Egypt

ISBN: (数字)9781510647275

ISBN: (纸本)9781510647268

In this research, multi-agent networked system cooperation is considered based on the leader-follower model, and application to smart irrigation has been carried out. Leader-follower model is proposed by the consideration of IoT sensors at the irrigation area. For the watering areas, we adopt leader-follower networked system to save water resource and electrical power driving water pump. Selected area or electrical pump from all irrigation area, it has the role of leader over the neighborhood. In order to provide conservative water control, highest water level is chosen as the leader. Leader-Follower modelling has been derived and verified. In order to calculate the reward by applying Leader-Follower model, Shapley value is considered and compared with the conventional result. From the simulation result, we verified good performance by using Leader-Follower model. The obtained result can be linked with Internet of Things (IoT), it makes us to manage and control water with web application as well. © 2021 SPIE

关键词： Irrigation

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Development of a Fish Robot Equipped with Novel 3D Printed Soft Bending Actuators

Development of a Fish Robot Equipped with Novel 3D Printed S...

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IEEE Southeastcon

作者： Steven Steele Jorge Diaz Rodriguez Sharun Sripathy Turaj Ashuri Saleh Gharaie Yusun Chang Amir Ali Amiri Moghadam Dept. of Robotics & Mechatronics Engineering Kennesaw State University Atlanta Georgia Department of Mechanical Engineering Kennesaw State University Atlanta Georgia School of Engineering Faculty of Science Engineering and Built Environment Deakin University Australia

This paper reports on design and fabrication of a novel soft fish robot. Application of soft actuators for the fish tail will generates continuum bending motion which resembles the natural motion of the fish. However, most soft actuator mechanisms are complex and have low efficiency. Thus, to address this issue we have developed a 3D printed soft bending actuator which can be actuated with an electromotor. The basic design idea of the soft bending actuator is explained, and iteration of the design showed to create the desired motion for the soft tail. The soft actuator has been successfully integrated with fish body and it has been shown that the fish can swim.

关键词： Printing Fabrication Actuators Three-dimensional displays Tail Bending Soft robotics

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Robot-Assisted Navigation for Visually Impaired through Adaptive Impedance and Path Planning

arXiv

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arXiv 2023年

作者： Balatti, Pietro Ozdamar, Idil Sirintuna, Doganay Fortini, Luca Leonori, Mattia Gandarias, Juan M. Ajoudani, Arash HRI2 Lab Istituto Italiano di Tecnologia Genoa Italy Dept. of Informatics Bioengineering Robotics and System Engineering University of Genoa Genoa Italy Robotics and Mechatronics lab Systems Engineering and Automation Department University of Malaga Malaga Spain

This paper presents a framework to navigate visually impaired people through unfamiliar environments by means of a mobile manipulator. The Human-Robot system consists of three key components: a mobile base, a robotic arm, and the human subject who gets guided by the robotic arm via physically coupling their hand with the cobot’s end-effector. These components, receiving a goal from the user, traverse a collision-free set of waypoints in a coordinated manner, while avoiding static and dynamic obstacles through an obstacle avoidance unit and a novel human guidance planner. With this aim, we also present a legs tracking algorithm that utilizes 2D LiDAR sensors integrated into the mobile base to monitor the human pose. Additionally, we introduce an adaptive pulling planner responsible for guiding the individual back to the intended path if they veer off course. This is achieved by establishing a target arm end-effector position and dynamically adjusting the impedance parameters in real-time through a impedance tuning unit. To validate the framework we present a set of experiments both in laboratory settings with 12 healthy blindfolded subjects and a proof-of-concept demonstration in a real-world scenario. Copyright © 2023, The Authors. All rights reserved.

关键词： Robotic arms

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Four-dimensional (4D) phase velocity optical coherence elastography 8

Four-dimensional (4D) phase velocity optical coherence elast...

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Optical Elastography and Tissue Biomechanics VIII 2021

作者： Liu, Hsiao-Chuan Kijanka, Piotr Urban, Matthew W. Dept. of Radiology Mayo Clinic RochesterMN55905 United States Dept. of Robotics and Mechatronics AGH University of Science and Technology Krakow30059 Poland Dept. of Physiology and Biomedical Engineering Mayo Clinic RochesterMN55905 United States

ISBN: (数字)9781510641266

ISBN: (纸本)9781510641259

Tissue mechanics have been widely studied for the past two decades because they are significantly associated with disease states. The variations of mechanical properties in soft tissues are considerable indicators used for clinical diagnosis and disease monitoring. Optical coherence elastography (OCE) has been extensively developed to characterize the mechanical properties of various tissues. However, these methods are generally based on time-domain data and measure the time-of-flight of the localized shear wave propagations. Here, we propose a method to evaluate phase velocity in four-dimensional (4D) space (x, y, z, f), called 4D-OCE phase velocity, and applied it to a heterogeneous phantom with a 4 mm diameter inclusion. A 7.5 MHz highly focused transducer transmitting a toneburst of 500 µs was used to provide an acoustic radiation force (ARF) for transient elastography. A customized 4D acquisition pattern was developed under Microsoft Visual C++ 2019 development environment. The 3D-OCE group velocity was reconstructed to compare with 4D-OCE phase velocity as cross-verification. The experimental result from the heterogeneous phantom showed that 4D-OCE phase velocity is capable of accurately reconstructing a 4D-OCE phase velocity map and provides good contrast between two gelatin materials with different concentrations, 7% versus 14%. The proposed 4D-OCE phase velocity can provide further information to better understand the delicate change of mechanical properties of various biological tissues in each voxel over a range of temporal frequencies. © 2021 SPIE

关键词： Tissue

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Methodology of Low Orbit Satellites Signal Processing in the Electromagnetically Noisy Environment

Methodology of Low Orbit Satellites Signal Processing in the...

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Electrical, Electronic and Information Sciences (eStream), Open Conference of

作者： Viktor Masalskyi Vytautas Bučinskas Andrius Dzedzickis Aramais Tyshchenko Oleksandr Masalskyi Dept. of Mechatronics Robotics and Digital Manufacturing Vilnius Gediminas Technical University Vilnius Lithuania Department of Engineering University of Warwick Coventry UK Department of Physics Vilnius Gediminas Technical University Vilnius Lithuania

This paper dedicated to the problematics of low orbit satellite data acquisition and processing. Efforts to improve the quality and reliability of receiving these signals in a noisy electromagnetic environment presented here as theoretical and practical solution. Paper defines the requirements for equipment, provides definition of required parameters and delivers experimental tests methodology and obtained results. The experimental results deliver a hope for reliable reception; there are necessary to use a receiver with a dynamic range of at least 70 dB. Test environment was performed on the campus of the university, where located near antennas of high power FM transmitters, digital television and other communication services. Solutions for signal acquisition in the mentioned environment described as means to improve the quality and reliability of reception. Here provided number of technological improvements performed in configuration of the receiving station: implemented high precision angle sensors, a low-noise amplifier, a high-gain antenna and RF filters. Proposed to use a complex filtering stage consisting of three filters: band pass, notch and high-pass filter. To compensate for receiver noise and losses in the antenna-feeder path, a low-noise amplifier installed nearby the antenna. The obtained test results confirmed efficiency of the receiving station upgrade. Finally, paper delivers some conclusions.

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