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检索条件"机构=Program for Robotics"

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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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Multiview Attention for 3D Object Detection in Lidar Point Cloud 4

Multiview Attention for 3D Object Detection in Lidar Point C...

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4th International Conference on Artificial Intelligence in Information and Communication, ICAIIC 2022

作者： Wijaya, Kevin Tirta Paek, Donghee Kong, Seung-Hyun The Robotics Program KAIST Daejeon Korea Republic of The Cho Chun Shik Graduate School of Green Transportation KAIST Daejeon Korea Republic of The Cho Chun Shik Graduate School of Green Transportation KAIST Daejeon Korea Republic of

ISBN: (纸本)9781665458184

Prior works in voxel-based Lidar 3D object detection have demonstrated promising results in detecting a variety of road objects such as cars, pedestrians, and cyclists. However, these works generally reduce the feature space from a 3D volume into a 2D bird eye view (BEV) map before generating object proposals to speed up the inference runtime. As a result, the resolution of information in the z-axis is reduced significantly. In this work, we hypothesize that augmenting the BEV features with features obtained from a front view (FV) map may provide a way for the network to partially recover the high-resolution z-axis information. The augmentation allows object proposals to be inferred in the BEV, maintaining the fast runtime, and simultaneously improving the 3D detection performance. To support our hypothesis, we design a multi-view attention module that augments the BEV features with the FV features and conduct extensive experiments on the widely used KITTI dataset. Based on the experimental results, our method successfully improves various existing voxel-based 3D object detection networks by a significant margin. © 2022 IEEE.

关键词： Object detection

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Feature-Based Global Localization for Underwater Terrain Aided Navigation Using Bag of Words

Feature-Based Global Localization for Underwater Terrain Aid...

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OCEANS

作者： Qianyi Zhang Jinwhan Kim The Robotics Program Korea Advanced Institute of Science and Technology (KAIST) Daejeon Republic of Korea Department of Mechanical Engineering Korea Advanced Institute of Science and Technology (KAIST) Daejeon Republic of Korea

ISBN: (数字)9798350362077

ISBN: (纸本)9798350362084

This paper presents a novel feature-based global localization method for underwater terrain aided navigation (UTAN) using Bag of Words (BoW). Before the mission, the prior bathymetric map is segmented into submaps, and the handcrafted terrain gradient features are extracted from the submaps. Subsequently, a BoW is trained using these features, and the submaps are indexed accordingly. During the UTAN mission, place recognition is achieved by matching the index of the newly collected submap with the indexes of the submaps in the database, and the vehicle pose is determined using TEASER++ registration method. Experimental results using a sea trial dataset demonstrate that the proposed method can achieve a fast and robust global localization without requiring the prior initial vehicle pose information, offering robustness against substantial initial positioning and heading errors.

关键词： Location awareness Navigation Filtering Databases Oceans Feature extraction Robustness Indexes

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Development of a Mixed-Reality Dual-User Training System for Robot Laparoscopic Surgery

Development of a Mixed-Reality Dual-User Training System for...

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IEEE International Conference on Systems, Man and Cybernetics

作者： Ting-You Chen Kuu-Young Young Graduate Degree Program of Robotics National Yang Ming Chiao Tung University Hsinchu Taiwan Department of Electrical Engineering National Yang Ming Chiao Tung University Hsinchu Taiwan

ISBN: (数字)9781665410205

ISBN: (纸本)9781665410212

As robot surgery becomes more popular these days, it consequently solicits a high demand on its training system. Currently, most of the systems are intended for personal training, while it may be more effective if an experienced expert can also be involved. It thus motivates us to propose a dual-user robotic surgical training system that can closely link the mentor and trainee together. The system is developed in a mixed-reality environment that integrates the information from both the virtual and real worlds. The haptic feedback and virtual fixtures are employed for assistance during skill transfer. The proposed system can assess the proficiency level of the trainee for the mentor to provide proper assistance during training. The experimental results demonstrate that the proposed system is capable of enhancing the trainee's ability for surgery. Especially, similar effectiveness is observed during comparative studies with direct hands-on guidance frequently adopted for skill transfer during sport training.

关键词： Training Minimally invasive surgery Medical robotics Robot kinematics Fixtures Virtual reality Haptic interfaces Cybernetics Sports

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Adaptive Robot-Mediated Assessment using LLM for Enhanced Survey Quality in Older Adults Care programs 20

Adaptive Robot-Mediated Assessment using LLM for Enhanced Su...

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20th Annual ACM/IEEE International Conference on Human-Robot Interaction, HRI 2025

作者： Park, Cheonshu Cho, Miyoung Shin, Minjung Ryu, Jeh-Kwang Jang, Minsu Social Robotics Research Lab Daejeon Korea Republic of Seoul National University Interdisciplinary Program in Cognitive Science Seoul Korea Republic of Dongguk University Department of Physical Education Seoul Korea Republic of

ISBN: (纸本)9798350378931

This study presents an adaptive human-robot interaction (HRI) system that evaluates older adult participants' satisfaction with personalized health care programs. By integrating the CLOi robot with a large language model (LLM), the system conducts satisfaction surveys that adapt in real-time to participant responses. The system was applied to evaluate healthcare programs that include physical health measurements, exercise assessments, and virtual reality (VR) experiences. The system utilizes the CLOi robot and Claude API to analyze response clarity in real-time, automatically generating contextually appropriate follow-up questions when responses are deemed ambiguous. This adaptive questioning strategy ensures comprehensive response quality before proceeding to subsequent survey items. We conducted a preliminary feasibility study with five older adult participants to evaluate our approach. The system leverages LLM prompts to analyze gaps between question intent and participant responses, generating targeted follow-up questions as needed. Results demonstrate that our LLM-enhanced robotic interview system effectively reduced response ambiguity through dynamic follow-up questioning, achieving an 85% response resolution rate. This adaptive approach improved the clarity and specificity of healthcare satisfaction assessments for older adults. © 2025 IEEE.

关键词： Industrial robots

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Designing an End-to-End UAV System for Insulator Inspection Under Transmission Tower Environments

Designing an End-to-End UAV System for Insulator Inspection ...

引用

International Conference on Electronics, Information and Communications (ICEIC)

作者： Jinyeong Jeong Seongsu Park Sanghoon Lee Donghyeon Youn Min Jun Kim School of Electrical Engineering KAIST Daejeon Republic of Korea Robotics Program KAIST Daejeon Republic of Korea KEPCO Research Institute Korea Electric Power Corporation Daejeon Republic of Korea

This paper proposes an unmanned aerial vehicle (UAV) equipped with a rigid contact module and two supplementary forward-direction motors, designed for the contact-based inspection of porcelain insulators. During the free-flight, this aerial robot is controlled by a geometric tracking controller. When approaching and contacting the insulators, the impedance controller generates enough force to sustain contact by using two forward-direction motors, while the geometric tracking controller maintains its orientation. This platform is validated through simulations, demonstrating its effectiveness in performing contact-based inspection tasks.

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Actor-Critic Learning of Variable Damping Injection for Quadrotor Attitude Robust Control

Actor-Critic Learning of Variable Damping Injection for Quad...

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International Conference on Electrical Engineering, Computing Science and Automatic Control (CCE)

作者： Alejandro Tevera-Ruiz Sergio E. Urzúa-Correa Vicente Parra-Vega Anand Sanchez-Orta Rodolfo Garcia-Rodriguez Robotics and Adv. Manufacturing CINVESTAV Saltillo Mexico Postgraduate Program in Aerospace Engineering Univ. Politécnica Metropolitana de Hidalgo Mexico

On the one hand, a class of model-free integral sliding modes requires damping injection to stabilize the closed-loop system to a certain bound, [1]. This technique has been extended to a variety of robots, including quadrotors. However, the damping matrix K value is difficult to calculate precisely. Henceforth, it is customary to overestimate it in practice, which is ritical for airborne robots, such as a lightweight quadrotor, which leads to a higher rate of dissipation with higher energy expenditure, which is highly inefficient. On the other hand, novel Reinforcement Learning (RL) schemes have also been developed for autotuning feedback gains, mainly using Actor-Critic (AC)-RL architectures. In this paper, we synergistically blend both schemes to learn the necessary K that enables the enforcement of integral sliding modes to control of the attitude of the quadrotors. Local robust exponential tracking is achieved without any pre-training of neural networks neither of adaptive parameters nor any knowledge of dynamics. A representative comparative simulation study is presented that shows the effectiveness of our scheme versus the fixed-gain case. The results show how critical it is K to complete the flight mission without wasting energy, then less battery consumption, an essential by-product of our formulation. As a future work, an experimental testbed is under development to test it in soft real-time, including its extension to position tracking.

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Using Robot-Assisting Personalized Learning for Children with Autism: A Pilot Study of Robot's Actions 15

Using Robot-Assisting Personalized Learning for Children wit...

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15th Biomedical Engineering International Conference, BMEiCON 2023

作者： Paengkumhag, Chatchai Jutharee, Wisanu Limpornchitwilai, Warissara Chamnongthai, Kosin Keawkamnerdpong, Boonserm King Mongkut's University of Technology Thonburi Faculty of Engineering Biological Engineering Program Bangkok Thailand King Mongkut's University of Technology Thonburi Institute of Field Robotics Bangkok Thailand King Mongkut's University of Technology Thonburi Faculty of Engineering Department of Electronics and Telecommunication Engineering Bangkok Thailand

ISBN: (纸本)9798350345247

There are a variety of symptoms of autism spectrum disorders. The appropriate interventions are selected according to the symptoms. Moreover, the key to successful intervention is to provide suitable therapy continuously. Unfortunately, the number of autism specialists is insufficient for the growing demands. Thus, for better intervention outcomes, the collaboration of parents/caregivers who help continue the intervention at home is crucial to the success of the intervention. However, it is not easy for inexperienced parents/caregivers. This study aimed to help parents/caregivers by using a robot to assist personalized learning for children with autism. We developed an artificial intelligence-based program to choose actions appropriate to the child user's learning style or preference so that the child user stays attended to the activities the robot offers. In this pilot study, we tested using a robot to assist personalized learning with six participants in the special education needs school. The result of this study revealed the possibility of using a robot to assist in personalized learning for children with autism, from the perspective of the participants' teacher. While interacting with the robot, the participants achieved a high average accuracy percentage of 83.36% and demonstrated a positive learning trend. © 2023 IEEE.

关键词： Human robot interaction

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Enhancing Localized Surface Plasmon Resonance Response for Albumin Detection by Optimizing the Lateral Size of Hexagonal Gold Nanoparticles

Enhancing Localized Surface Plasmon Resonance Response for A...

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IEEE International Conference on Semiconductor Electronics (ICSE)

作者： Silva Nurfasha Chandra Wulandari Lilik Hasanah Ahmad Aminuddin Yanurita Dwi Hapsari Mohammad Arifin Roer Eka Pawinanto Budi Mulyanti Study Program of Physics Universitas Pendidikan Indonesia Bandung Indonesia Study Program of Physics Institut Teknologi Bandung Bandung Indonesia Department of Physics Faculty of Science and Data Analytics Institut Teknologi Sepuluh Nopember Surabaya Indonesia Study Program of Industrial Automation and Robotics Engineering Education Universitas Pendidikan Indonesia Bandung Indonesia Study Program of Electrical Engineering Universitas Pendidikan Indonesia Bandung Indonesia

ISBN: (数字)9798350378313

ISBN: (纸本)9798350378320

The kidney is a human organ with numerous vital functions, mainly for blood filtration. Damage to the kidneys can be detected from albumin levels in urine, higher levels of albumin in urine indicate the kidney's filtration function is impaired. The latest breakthrough in the medical field is the use of localized sensor plasma resonance (LSPR) in the field of biosensors to detect albumin protein in urine. Using Finite-Difference Time-Domain (FDTD) simulation, the lateral size of hexagonal gold nanoparticles (AuNPs) is varied to increase the optimal LSPR. AuNPs are well-known as the most promising material for plasmonic applications. In several studies, the hexagonal geometry was reported to increase the surface area of nanoparticles as well as enhance the LSPR signal. Varying the geometry of the hexagonal AuNPs will affect their sensitivity and optical properties. In this study, the lateral size of the hexagonal AuNPs varied from 10 nm to 60 nm, with a controlled thickness of 30 nm. The absorption graph blue shifts with the peak decreasing until the graph has almost no peak as the lateral size decreases. The lateral size of 40 nm at a thickness of 30 nm was found to have the highest shifting response towards the change of refractive index, indicating good sensitivity for sensors. Simulation of hexagonal AuNPs-based LSPR detection of albumin concentrations of 0.35 –5.71 mM produces a sensitivity of 2.59 nm/mM, equivalent to 245.96 nm/RIU. The competitive performance and ease of detection procedures in real applications show the potential of the hexagonal AuNPs-based LSPR sensor to be further explored in developing alternative albumin detection techniques.

关键词： Nanoparticles Geometry Gold Sensitivity Filtration Absorption Refractive index

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Robust Sliding Mode Based Finite-time Bilateral Shared Teleoperation System with Unsymmetrical Time-Varying Delay* 48

Robust Sliding Mode Based Finite-time Bilateral Shared Teleo...

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48th Annual Conference of the IEEE Industrial Electronics Society, IECON 2022

作者： Islam, Shafiqul Sunda-Meya, Anderson Xavier University of Louisiana Dual Degree Engineering Program Intelligent Robotics Mechatronics & Autonomous Systems Lab New Orleans70125 United States Xavier University of Louisiana College of Arts & Sciences New Orleans70125 United States

ISBN: (数字)9781665480253

ISBN: (纸本)9781665480253

This paper presents sliding mode-based finite-time synchronization algorithms for bilateral shared teleoperation systems under unsymmetrical time-varying delay and uncertainty. The synchronization algorithms are designed by using Lyapunov and sliding mode control theory. First, the model-based finite-time synchronization algorithms are designed by using sliding mode control theory with the presence of time-varying delays and uncertainty. Then, robust adaptive finite-time synchronization algorithms are designed for bilateral shared teleoperation systems with the presence of time-varying delays. Adaptive learning algorithms learn and adapt with uncertainty associated with the unmodeled dynamics and external disturbances. Lyapunov analysis shows that the tracking errors between master and slave manipulators converge to the sliding surface in finite time. It also shows that the tracking errors asymptotically converge to zero on the sliding surface. The design provides finite-time convergence of the states to reach the sliding surface as opposed to asymptotic convergence-based bilateral shared teleoperation systems. The design and analysis do not use the exact bound of the uncertainty. In contrast with asymptotic design, finite-time convergence can ensure faster and more robust tracking in the presence of uncertainty and time-varying delays. Unlike reported designs, the proposed algorithms can ensure convergence with the presence of unsymmetrical time-varying delays. © 2022 IEEE.

关键词： Time delay

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