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检索条件"机构=Mechatronics and robotics Engineering"

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Detecting End Effector Command Pose Error Using Perfect Bit Field Imaging

Detecting End Effector Command Pose Error Using Perfect Bit ...

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International Carpathian Control Conference (ICCC)

作者： Tomáš Buchta Jaroslav Hlava Tomáš Martinec Jaroslav Buchta Yegor Boyarchikov Department of Mechatronic Systems and Robotics Technical University of Liberec Liberec Czechia Institute of Mechatronics and Computer Engineering Technical University of Liberec Liberec Czechia

ISBN: (数字)9798331501273

ISBN: (纸本)9798331501280

This paper presents a novel approach to improving the precision of robotic arm operations in complex environments by using Perfect Bit Field Imaging (PBFI) for end effector command pose error detection. Accurate pose determination is essential for tasks such as manipulation, assembly, and autonomous navigation, particularly in space or hazardous settings where precision is critical. PBFI leverages high-resolution industrial cameras to capture detailed pixel-level information that can be used to correct the end effector’s position. The system’s key advantage is its low-cost nature, making it an attractive alternative to expensive sensor-based approaches. Advanced image processing techniques are used to interpret bit fields, allowing for quick and reliable pose corrections that reduce the need for recalibration and minimize the impact of external disturbances. Additionally, the approach is adaptable to various robotic arm configurations and operational conditions, making it suitable for a wide range of industrial and space-based applications. This research opens new avenues for enhancing robotic precision in challenging environments, contributing to the advancement of cost-effective autonomous systems.

关键词： Accuracy Service robots Image processing Robot vision systems Refining End effectors Real-time systems Error correction Robots Optimization

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Behavioral Algorithms for Mechatronic Systems: A Digital Twin Perspective

Behavioral Algorithms for Mechatronic Systems: A Digital Twi...

引用

International Carpathian Control Conference (ICCC)

作者： Gabriel Ion Manescu Andrei-Costin Trasculescu Florin-Alexandru Dita Daniela Coman Nicu George Bizdoaca Mechatronics and Robotics Department University of Craiova Craiova Romania Engineering and Management of Technological Systems Department University of Craiova Drobeta Turnu Severin Romania

ISBN: (数字)9798331501273

ISBN: (纸本)9798331501280

The behavioral modelling of mechatronic systems through the Digital Twin concept represents an advanced methodology for their design and optimization. A Digital Twin creates a dynamic virtual model that accurately reflects the real-time behavior of the physical system, enabling the analysis and simulation of various operational scenarios. Siemens NX is a comprehensive design and simulation tool, offering extensive capabilities for developing and testing mechanical, electronic, and software components in a virtual environment. This integration empowers designers to examine the complex interactions among subsystems, reducing risks and enhancing performance from the initial design stages. Digital models, empowered by the potential of Digital Twin technology, not only predict dynamic system behavior and identify potential defects but also enable real-time monitoring and continuous updates of the digital twin based on data collected from actual systems. This technology holds the promise of enhancing the energy efficiency, reliability, and longevity of mechatronic systems. The combination of Digital Twin technology and Siemens NX fosters the development of intelligent, customized solutions that address intricate requirements in fields such as advanced manufacturing, industrial automation, and autonomous transportation, inspiring a future of optimized and efficient systems. This article explores these capabilities by presenting two applications: integrating a robotic structure within a conveyor system and integrating a robot for servicing a machine tool. In conclusion, the synergy of these two technologies establishes a working algorithm that users must follow when designing and operating mechatronic systems while also outlining the advantages and disadvantages of this approach.

关键词： Electric potential mechatronics Service robots Virtual environments Transportation Real-time systems Software Digital twins Reliability Testing

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Balancing Worker Utility and Recruitment Cost in Spatial Crowdsensing: A Nash Game Approach 21

Balancing Worker Utility and Recruitment Cost in Spatial Cro...

引用

8th International Conference on Networking, Systems and Security, NSysS 2021

作者： Arafat, Md. Tanvir Emon, Mehedi Hasan Sarker, Sujan Razzaque, Md. Abdur Rahman, Md. Mustafizur Department of Robotics and Mechatronics Engineering University of Dhaka Bangladesh Department of Computer Science and Engineering University of Dhaka Bangladesh

ISBN: (纸本)9781450387378

Leveraging the power of mobile crowdsensing (MCS) to achieve unparalleled coverage of tasks by utilizing the crucial spatiooral co-relation between the workers and tasks results in the distributed sensing system named spatiooral crowdsensing system (STCS). An STCS outsources sensing tasks to ubiquitous mobile computing devices to exploit their multi-modal sensing capabilities, collects the sensing results and process those to provide meaningful services. While realizing sustainable crowdsensing services, an STCS struggles with two conflicting objectives- maximizing the assignment quality and minimizing the recruitment cost. The first one requires assigning highly reputed workers in the spatiooral task blocks which results in higher recruitment costs. Thus a tradeoff between the aformentioned objectives is required. Existing works bring this tradeoff either by formulating a single objective as the linear weighted sum of both of the objectives or incorporating one of these as a constraint to another, yielding to an unfair and skewed tradeoff. In this work, we formulate the worker recruitment problem in STCS as a Nash game to attain fairness between the objectives while bringing this tradeoff. The performance of the proposed system is evaluated using MATLAB and results show its effectiveness compared to the state-of-the-art works in terms of fairness and per cost utility gain. © 2021 ACM.

关键词： nash bargaining mobile crowdsensing cost and quality fair trade-off

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Multi-class Traffic Sign Recognition System Using One-Stage Detector YOLOv5s

Multi-class Traffic Sign Recognition System Using One-Stage ...

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International Conference on Vision Towards Emerging Trends in Communication and Networking (ViTECoN)

作者： Sachin Dhyani Vijay Kumar Robotics and Mechatronics Research Lab Chitkara University Institute of Engineering and Technology Chitkara University Punjab India

One of the crucial software elements in the upcoming generation of autonomous vehicles is image recognition. Traditional approaches to image recognition using computer vision and machine learning typically have a lengthy response time. Modern artificial neural network-based methods and designs, including the YOLOv5s algorithm, are able to tackle this issue without suffering precision losses. In this study, we demonstrate how to use the most recent YOLOv5s algorithm to identify traffic signs. We showed the reliability of the method by training the network for 4 traffic sign classes (speed limit, traffic light, crosswalks, stop,).

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Target Tracking Control of Space-Manipulators on Lie Groups

Target Tracking Control of Space-Manipulators on Lie Groups

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IEEE International Conference on Systems, Man and Cybernetics

作者： Borna Monazzah Moghaddam Robin Chhabra Mechanical and Aerospace Engineering Department Autonomous Space Robotics and Mechatronics Laboratory Carleton University Ottawa ON Canada

We present a full-pose end-effector control approach on Lie groups for free-floating space manipulators with non-zero momentum while tracking a moving target during proximity operations. We model space-manipulators as open-chain multi-body systems with 1-degree-of-freedom joints where the configuration space of the spacecraft is isomorphic to the Special Euclidean group SE(3). We formulate the dynamics of the spacecraft-manipulator via the Lagrange-Poincare equations and the dynamics of its target via Euler-Poincare equations to avoid kinematic singularities associated with parametrization of their poses. This model reduces the phase space of the space-manipulator by exploiting its inherent independence of the spacecraft's pose. We consider the full pose of the end-effector relative to the target as the system output, which transforms the output-tracking control problem into an output-regulation problem. To avoid parametrization singularities of this output, we perform feedback linearization on the matrix Lie group SE (3) in the reduced phase space of the space-manipulator. We then propose a feedback/feedforward proportional-integral-derivative workspace controller, based on coordinate-free pose and velocity error functions defined on the matrix Lie group associated with the target's relative pose. We provide analytical proof of the almost-global stability of the presented controller when regulating the end-effector's pose relative to the target towards identity.

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Towards Semi-automatic Sign Language Annotation Tool: SLAN-tool 10

Towards Semi-automatic Sign Language Annotation Tool: SLAN-t...

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10th Workshop on the Representation and Processing of Sign Languages: Multilingual Sign Language Resources, sign-lang 2022

作者： Mukushev, Medet Sabyrov, Arman Sultanova, Madina Kimmelman, Vadim Sandygulova, Anara Department of Robotics and Mechatronics School of Engineering and Digital Sciences Nazarbayev University Nur-Sultan Kazakhstan Department of Linguistic Literary and Aesthetic Studies University of Bergen Bergen Norway

ISBN: (纸本)9791095546863

This paper presents a semi-automatic annotation tool for sign languages namely SLAN-tool. The SLAN-tool provides a web-based service for the annotation of sign language videos. Researchers can use the SLAN-tool web service to annotate new and existing sign language datasets with different types of annotations, such as gloss, handshape configurations, and signing regions. This is allowed using a custom tier adding functionality. A unique feature of the tool is its automatic annotation functionality which uses several neural network models in order to recognize signing segments from videos and classify handshapes according to HamNoSys handshape inventory. Furthermore, SLAN-tool users can export annotations and import them into ELAN. The SLAN-tool is publicly available at https://***. © European Language Resources Association (ELRA), licensed under CC-BY-NC 4.0.

关键词： Web services

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Real-Time License Plate Detection and Recognition System using YOLOv7x and EasyOCR

Real-Time License Plate Detection and Recognition System usi...

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Information Technologies and Communications (GCITC), Global Conference on

作者： Sachin Dhyani Vijay Kumar Robotics and Mechatronics Research Lab Chitkara University Institute of Engineering and Technology Chitkara University Punjab India

Automated license plate detection system is used for recognition and locating of license plates on vehicles using image processing and computer vision methods. Automated license plate detection is an important area of research in computer vision with far-reaching applications in the industrial sector. It has the potential to increase productivity and accuracy in numerous industrial applications. The procedure entails utilizing a camera to take a photo of a vehicle's license plate, processing the photo to identify the plate, and extracting the characters from the plate. This paper provides implementation of the YOLOv7x algorithm to detect license plate on vehicles. EasyOCR is applied to the detected license plate to recognize the text. The model is trained on a customized dataset consisting of only Indian vehicles license plate. The proposed work achieves a high accuracy of 99% and outperforms old techniques like Yolov3, darknet, CNN.

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Anthropomorphic robot hand using the principle of sweat and fingerprints of human hands

Anthropomorphic robot hand using the principle of sweat and ...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Donghyun Kim Junmo Yang Dongwon Yun Department of Robotics and Mechatronics Engineering Daegu Gyeongbuk Institute of Science and Technology (DGIST) Daegu South Korea

In our daily life, when a small amount of sweat or water forms on a person's hand, we can empirically feel that the friction force of the hand increases, and the objects are gripped well. However, if sweat or water forms heavily, we can feel the friction decrease when holding an object. In this study, we analyzed the degree to which fingerprints and sweat present on a person's hand can affect the friction force between the hand and the gripping object. We fabricated an anthropomorphic robot hand with a fingerprint structure to set up an environment similar to that of the human hand, and performed object-holding and friction-change experiments by changing the amount of sweat to verify that this phenomenon can be applied to a robot hand. Furthermore, we for the first time proposed and developed a variable friction system using fluids and microstructures to solve the difficulty of anthropomorphic robot hand force control. By applying the manufactured variable friction system and performing an active friction control performance test and an object grip test of the robot hand, we validated that the fingerprint and sweat of a human hand can affect the grip of an actual object.

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Comparison of Facial Expression Sensors and Skin Potential Response Sensors for Emotion Estimation by Communication Robots 23

Comparison of Facial Expression Sensors and Skin Potential R...

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

作者： Hasegawa, Naoya Hirahara, Rin 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 Kanagawa Atsugi243-0292 Japan

ISBN: (纸本)9788993215274

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. For instance, if the user is excited, the robot can calm them down, and if the user is sad, the robot can cheer them up. The reliability in estimating emotions from facial expressions of a proposed sensor was compared with that of galvanic skin reflex (GSR) and skin potential response (SPR) sensors, which have been reported in several papers. A GSR sensor can measure tension and agitation in humans. The sensor estimating emotions from facial expressions can measure five facial expressions: 'Happiness', 'Surprise', 'Anger', 'Sadness', and 'Neutrality'. Furthermore, the method is non-contact and suitable for practical use because it uses images. As the emotion-estimated values are output, they can be used without any privacy issues. The changes in emotions toward subjects using an entertainment robot that can eject soap bubbles were evaluated. An experimental chamber was created to prevent disturbances and measure only the effects of the soap bubble ejection and cessation events. This study reports that SPR sensors and emotion estimation sensors can be handled similarly. © 2023 ICROS.

关键词： Electrophysiology

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Workspace Force/Acceleration Disturbance Observer for Precise and Safe Motion Control

Workspace Force/Acceleration Disturbance Observer for Precis...

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

作者： Wooseok Han Wonbum Yun Sehoon Oh Department of Robotics and Mechatronics Engineering DGIST (Daegu Gyeongbuk Institute of Science and Technology) Daegu Republic of Korea

The use of impedance control has become widespread in applications requiring simultaneous position tracking and compliance in contact. However, disturbances such as friction and model uncertainties can adversely affect the performance of impedance-based motion control. The disturbance observer (DOB) has been proposed to address this issue, which is a widely-utilized robust controller that eliminates observed disturbances with the nominal model. However, current DOB applications fail to consider the aspect of interactive force control properly. This study proposes a novel Workspace Force/Acceleration Disturbance Observer (WFADOB) controller, which utilizes both interaction force and acceleration to design a disturbance observer loop, enabling precise motion tracking even with low-impedance gain settings. Additionally, the proposed controller offers fine impedance rendering performance, offering safe contact while maintaining low impedance. This paper discusses the problem of motion tracking performance due to friction and the interaction force that arises during contact. The proposed controller is theoretically analyzed and experimentally verified, demonstrating its performance compared to conventional methods.

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