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检索条件"机构=Robotics Engineering Program"

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Modular Robot Arm Design for Physical Human-Robot Interaction

Modular Robot Arm Design for Physical Human-Robot Interactio...

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IEEE International Conference on Systems, Man and Cybernetics

作者： Ty Tremblay Taskin Padir Robotics Engineering Program Worcester Polytechnic Institute

This paper describes the design and implementation of the controls and power plant for a robotic arm for physical human-robot interaction on a cyber-physical wheelchair system. There are almost 50 million people in the US who have some degree of disability, and more than 6.5 million of them experience problems with self-care. The aim of this research is to develop a system to control a modular cable-driven arm which will allow locked-in individuals, who are unable to interact with the physical world through movement and speech, to perform activities of daily living (ADL). We present the design of a compact power plant for the 5DOF arm. The robot control is implemented using the Robot Operating System (ROS) framework.

关键词： Joints Wheelchairs Mobile robots Manipulators Robot sensing systems

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DeepCat: A Deep Learning Approach to Understand Your Cat's Body Language 11

DeepCat: A Deep Learning Approach to Understand Your Cat's B...

引用

11th International Japan-Africa Conference on Electronics, Communications, and Computations, JAC-ECC 2023

作者： Fawzy, Arwa Hassan, Ahmed Gad, Ahmed Zaky, Ahmed B. El-Hussieny, Haitham Alexandria Egypt program Alexandria Egypt Benha University Faculty of Engineering at Shoubra Electrical Engineering Department Egypt Egypt-Japan University of Science and Technology Department of Mechatronics and Robotics Engineering Alexandria Egypt

ISBN: (纸本)9798350369328

Pet owners experience difficulty in understanding their pets' body language and its implications for animal welfare, given that animals cannot utilize human speech to communicate their emotions and health conditions. However, previous experiments for analyzing cat behavior have demonstrated that cats are precisely expressive. DeepCat, a deep-learning approach developed in this study, translates cats' body language signals, enabling owners to discern their feline companions' intended messages and emotional states. Our DeepCat model was trained on a dataset comprising 10,000 cat images, implementing automatic labeling to track key features, including the tail, eyes, and mouth. Presented as a Flutter application, DeepCat can function everywhere, allowing owners to easily monitor their cats and make informed decisions in situations that require caution. This paper discusses the potential benefits and limitations of DeepCat and provides suggestions for future research in this domain. © 2023 IEEE.

关键词： Emotion Recognition

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Design and Experimental Validation of a Mobile Robot Platform for Analog Planetary Exploration

Design and Experimental Validation of a Mobile Robot Platfor...

引用

Annual Conference on IEEE Industrial Electronics Society

作者： Joseph L. Amato Jon J. Anderson Thomas J. Carlone Michael E. Fagan Kenneth A. Stafford Taskin Padir Robotics Engineering Program Worcester Polytechnic Institute

ISBN: (纸本)9781467324199

This paper presents the design and experimental validation of a modular robotic platform for planetary exploration. A rover, ORYX 2.0, is designed and developed to serve as a research platform that can transport payloads over rough terrain. Field testing is conducted to evaluate the mobility potential of ORYX 2.0's passive kinematic suspension. Data from field testing is analyzed to identify the wheel velocities over rough terrain when straight line trajectories are desired. A simulation tool is used to estimate the terrain profile, using the 3-axis orientation data and angle of the rocking suspension. The approach used in estimating terrain profiles can effectively be used to improve the rover performance for trajectory tracking control.

关键词： topographical profiles Space Exploration Rough terrain simulation tool field experimentation tracking control Payload Platform Mobile robots

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Inpatient Monitoring System: Temperature, Oxygen Saturation, Blood Pressure, Heart Rate, and Infusion Automation Based on ESP 32, IoT, and Mobile Application 7

Inpatient Monitoring System: Temperature, Oxygen Saturation,...

引用

7th International Conference of Computer and Informatics engineering, IC2IE 2024

作者： Joseph, Irvanda Anthony, Patrick Astuti, Winda Lie, Zener Sukra Iwan Solihin, Mahmud Bina Nusantara University Binus Aso School of Engineering Automotive and Robotics Program Computer Engineering Department Jakarta11480 Indonesia Ucsi University Department of Mechanical and Mechatronics Engineering Kuala Lumpur Malaysia

ISBN: (纸本)9798331505530

The implementation of a patient monitoring system and infusion automation which aims to ensure regular and periodic monitoring of inpatient conditions are applied in this system. This embedded system is applied in hospitals and addresses the uneven distribution of healthcare workers in Indonesia, particularly in remote areas. Currently, manual checks by nurses can lead to errors and reduced patient comfort. The improvement supervision is developed in this work. The system monitored body temperature, oxygen saturation, blood pressure, heart rate, and automated infusions. All the embedded systems are connected to Internet of Things (IoT) and a real-time database accessible through an application and web. This system allows doctors and hospital authorities to make decisions based on patient condition history. The testing phase of the system shows four data acquisition devices (temperature, oxygen saturation, blood pressure, and heart rate), an ESP 32, and Firebase as a database, have ability to capture and send real-time data every five seconds and can be accessed by doctors, patients, and hospital authorities. © 2024 IEEE.

关键词： Remote patient monitoring

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programmable skins based on core-shell microsphere/nanotube/polymer composites

Programmable skins based on core-shell microsphere/nanotube/...

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2015 MRS Spring Meeting

作者： Panchapakesan, Balaji Onal, Cagdas Loomis, James Systems Laboratory Department of Mechanical Engineering Worcester Polytechnic Institute WorcesterMA01609 United States Soft Robotics Laboratory Department of Mechanical Engineering Robotics Engineering Program Worcester Polytechnic Institute WorcesterMA01609 United States Department of Mechanical Engineering Massachusetts Institute of Technology CambridgeMA02139 United States

ISBN: (纸本)9781510826533

In this paper, we describe unique thermally responsive polymer system based on nanotube-elastomers dispersed with core-shell expanding microspheres (phase-change material). Upon thermal or infrared stimuli, liquid hydrocarbon cores encapsulated within the microspheres vaporize, expanding the surrounding shells and stretching the matrix. Microsphere transfonnation resulted in visible dimensional changes associated with macroscopic volume increase (>500%), reduction in density (>80%), and increase in elastic modulus (>675%). Additionally, electrically conductive nanotubes allowed for expansion dependent electrical responses. We present our new findings on expansion dependent superhydrophobicity in these materials and present some outlook and comparison of our stimuli responsive polymers with other material systems for future origami based applications. © Materials Research Society 2015.

关键词： Microspheres

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Online 3D Bin Packing for Novel Objects Based on Deep Reinforcement Learning

Online 3D Bin Packing for Novel Objects Based on Deep Reinfo...

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2023 International Conference on Advanced robotics and Intelligent Systems, ARIS 2023

作者： Chien, Shao-Yu Wong, Ching-Chang Tamkang University College of Engineering Doctoral Program in Robotics New Taipei City25137 Taiwan Tamkang University Electrical and Computer Engineering Department New Taipei City25137 Taiwan

ISBN: (纸本)9798350302714

In this paper, a method using deep reinforcement learning is proposed to deal with the 3D online bin packing problem. The packing objects are not limited to several specific or fixed cuboid objects, but are composed of more than a thousand objects and randomly generated cuboids, which make the trained policy network can handle novel unknown objects. In addition, the posture of the object in the box can be any angle, not limited to horizontal and vertical. In the proposed method, four voxel maps are used as inputs, and a Soft Actor-Critic (SAC) algorithm is used to train a policy network. On the other hand, in order to deal with various objects with irregular shapes, a packing task simulator with physics engine enable the policy network to learn the state of falling and stacking objects. In terms of training environment of deep reinforcement learning, the proposed method can be applied to boxes of different sizes because of the scalable image information. Moreover, a reward function and a training strategy with gradually increasing difficulty are proposed to effectively improve the learning of policy network. In terms of experimental results, the results on a random object bin packing task in a simulator illustrate the effectiveness of the proposed method. © 2023 IEEE.

关键词： Reinforcement learning

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Actor-Critic Learning of Variable Damping Injection for Quadrotor Attitude Robust Control 20

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

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20th International Conference on Electrical engineering, Computing Science and Automatic Control, CCE 2023

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

ISBN: (纸本)9798350306767

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. © 2023 IEEE.

关键词： Robust control

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Design improvements and dynamic characterization on fluidic elastomer actuators for a soft robotic snake

Design improvements and dynamic characterization on fluidic ...

引用

IEEE International Conference on Technologies for Practical Robot Applications (TePRA)

作者： Ming Luo Weijia Tao Fuchen Chen Tri K. Khuu Selim Ozel Cagdas D. Onal Robotics Engineering Program Worcester Polytechnic Institute MA USA Mechanical Engineering Department and Robotics Engineering Program Worcester Polytechnic Institute MA USA

This paper addresses the design and dynamic analysis of a new generation of fluidic elastomer actuators (FEAs) that offer bidirectional bending developed as motion segments of a pressure-operated soft robotic snake. Our prior work on FEAs has identified a number of limitations, namely a high center of gravity, narrow base, slow dynamics, and a small range of pressure inputs. We developed two versions of FEAs based on an improved design concept with different geometric parameters and characterized their dynamic response under a custom visual tracking system. Compared with the previous actuators, the FEAs developed in this work offer robust operation, safety at larger input pressure values, faster response, lower center of gravity and a flat bottom for better compatibility for snake-like undulatory locomotion.

关键词： Actuators Robot kinematics Rubber Pneumatic systems Fabrication Valves

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Multimode locomotion via SuperBot reconfigurable robots

Multimode locomotion via SuperBot reconfigurable robots

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作者： Shen, Wei-Min Krivokon, Maks Chiu, Harris Everist, Jacob Rubenstein, Michael Venkatesh, Jagadesh Information Sciences Institute Computer Science Department University of Southern California University of Southern California Polymorphic Robotics Laboratory Information Science Institute Polymorphic Robotics Laboratory Product Development Engineering Program University of Southern California

One of the most challenging issues for a self-sustaining robotic system is how to use its limited resources to accomplish a large variety of tasks. The scope of such tasks could include transportation, exploration, construction, inspection, maintenance, in-situ resource utilization, and support for astronauts. This paper proposes a modular and reconfigurable solution for this challenge by allowing a robot to support multiple modes of locomotion and select the appropriate mode for the task at hand. This solution relies on robots that are made of reconfigurable modules. Each locomotion mode consists of a set of characteristics for the environment type, speed, turning-ability, energy-efficiency, and recoverability from failures. This paper demonstrates a solution using the SuperBot robot that combines advantages from M-TRAN, CONRO, ATRON, and other chain-based and lattice-based robots. At the present, a single real SuperBot module can move, turn, sidewind, maneuver, and travel on batteries up to 500 m on carpet in an office environment. In physics-based simulation, SuperBot modules can perform multimodal locomotions such as snake, caterpillar, insect, spider, rolling track, H-walker, etc. It can move at speeds of up to 1.0 m/s on flat terrain using less than 6 W per module, and climb slopes of no less 40 degrees.

关键词： Robots

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Incremental Displacement Estimation (IDE) for Structural Health Monitoring Robot

Incremental Displacement Estimation (IDE) for Structural Hea...

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International Conference on Control, Automation and Systems

作者： Haemin Jeon Jae-Uk Shin Wancheol Myeong Hyun Myung Dept. of Civil and Environmental Engineering KAIST Robotics Program KAIST Dept. of Civil and Environmental Engineering Robotics Program KAIST

ISBN: (纸本)9781467322478

To measure 6-DOF displacement, a visually servoed paired structured light system (ViSP) has been introduced which is composed of two sides facing with each other, each with one or two lasers, a camera, a screen, and a 2-DOF manipulator. In the system, the lasers on both two sides project their parallel beams to the screen on the opposite side and 6-DOF relative displacement between two sides can be calculated using the positions of the three projected laser beams and the rotation angles of the manipulators. In the estimation process, extended Kalman filter (EKF) or Newton-Raphson method have been used. However, these aforementioned iterative methods have a drawback that the computation time is relatively long due to the multiple iterations. Therefore, in this paper, incremental displacement estimation (IDE) algorithm which updates the previously estimated displacement using the difference of the previous and the current observed data is introduced. To validate the performance of the newly proposed algorithm, various experimental tests have been performed. The results show that the ViSP with the IDE algorithm estimates the 6-DOF relative displacement between two sides with the same level of accuracy of EKF with multiple iterations in significantly reduced time.

关键词： Visually servoed paired structured light robot (ViSP) Incremental Displacement Estimation (IDE) Displacement Laser Vision

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