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

作者： Alejandro Tevera-Ruiz Rodolfo Garcia-Rodriguez Vicente Parra-Vega Robotics and Advanced Manufacture-CINVESTAV Saltillo Mexico Postgraduate Program in Aerospace Engineering Univ. Politécnica Metropolitana de Hidalgo Mexico

Reinforcement Learning (RL) is characterized by enforcing a reward collection mechanism that qualifies task performance aimed at optimizing a value function that tunes the action (control). In contrast to control theory, RL satisfies two metrics simultaneously: the task metric commonly, defined as the task error, and the temporal difference (TD) error. Thus, the RL has been empowered to learn how to fulfill control tasks based on a learning stage that collects rewards that evaluate a second metric of the robot’s performance. In this way, including RL in control systems is an advantageous scheme for some critical tasks nowadays. Consequently, the stability can be guaranteed, largely missing in the RL’s literature, to safe system operation.. In this paper, we propose an Actor-Critic (AC) scheme using the Critic Neural Network (C-NN) to approximate a value function using the TD error reduction, whereas the adaptive tuning of damping injection gain is provided by the Actor NN (A-NN) to enforce stability in closed-loop finally; achieving asymptotic stability with an underlying integral sliding mode loop. In this way, our proposal contributes to a novel model-free RL scheme that yields local exponential convergence with a smooth control action. Numeric simulations for a 2-DoF robot manipulator are presented and discussed under different conditions..

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RoboRover – A Jetson Nano Powered Robot Car for Object Following, Obstacle Avoidance, and Wall Following

RoboRover – A Jetson Nano Powered Robot Car for Object Foll...

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IEEE Annual Ubiquitous Computing, Electronics & Mobile Communication Conference (UEMCON)

作者： Trinh Huynh James Walter Federica Aveta Robotics Department University of Michigan Ann Arbor Michigan USA Electrical and Computer Engineering Program Wentworth Insitute of Technology Boston Massachusetts USA

An intelligent and self-sufficient robot is essential across a wide range of fields, including transportation, industry, space exploration, and defense. Mobile robots possess the capability to undertake diverse tasks such as handling materials, aiding in disaster scenarios, conducting patrols, and executing rescue operations. As a result, the development of an autonomous robot that can navigate through both unchanging and ever-changing surroundings has become important. The primary objective of mobile robot navigation revolves around ensuring the seamless and secure traversal of the robot through complex environments, starting from an initial position, and reaching a designated goal position. This paper presents the design and implementation of a Jetson Nano powered robot car which uses local sensors to interact with an unknown environment. Object following, obstacle avoidance, and wall following features are built for the car to navigate to reach its desired destinations.

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Analytical reference compensation for tracking dynamic target signals with linear robust MPC strategies

Analytical reference compensation for tracking dynamic targe...

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American Control Conference (ACC)

作者： Tito L. M. Santos Bruno S. S. Pereira Department of Electrical and Computer Engineering Federal University of Bahia Salvador Bahia Brazil Graduate Program on Electrical and Engineering Federal University of Bahia Salvador Bahia Brazil Department of Robotics SENAI-CIMATEC Salvador Bahia Brazil

ISBN: (数字)9798350382655

ISBN: (纸本)9798350382662

This paper proposes an analytical target modifi-cation for linear robust model predictive control strategies in order to deal with time-varying references defined by dynamic signal targets. The new approach can be directly integrated to linear robust model predictive control algorithms that achieve piecewise constant reference tracking if recursive feasibility is ensured for any set-point. The main contribution is to present a direct analytical approach that provides a potentially improved steady-state tracking error performance with the same computation complexity of the original MPC for tracking piecewise constant reference. A simulation case study based on the trajectory tracking control of a quadrotor is used to illustrate the usefulness of the new analytical target modification layer.

关键词： Sufficient conditions Target tracking Trajectory tracking Heuristic algorithms Prediction algorithms Steady-state Computational complexity

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Preliminary Characterization of a Plastic Piezoelectric Motor Stator Using High-Speed Digital Holographic Interferometry 1

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SEM Annual Conference and Exposition on Experimental and Applied Mechanics, 2020

作者： Zhao, Z. Carvalho, P.A. Tang, H. Pooladvand, K. Gandomi, K.Y. Nycz, C.J. Furlong, C. Fischer, G.S. Robotics Engineering Program Worcester Polytechnic Institute WorcesterMA United States Mechanical Engineering Department Worcester Polytechnic Institute WorcesterMA United States

ISBN: (数字)9783030597733

ISBN: (纸本)9783030597726

Precise surgical procedures such as deep brain tumor ablation may benefit from intra-operative image guidance using magnetic resonance imaging (MRI). However, the MRI’s strong magnetic fields and constrained space pose the need for robotic devices to assist the surgeon. Piezoelectric motors are often used to actuate these robots. The piezoelectric resonant motor (PRM) is a class of such motors that consist of a bonded piezoelectric ring stator and a frictionally coupled rotor. Steady-state excitation at certain frequencies leads to specific mode shapes on the stator with surface waves having both in-plane and out-of-plane displacement components that cause the coupled rotor to spin. High-speed digital holography (HDH) can be used to measure time variant displacements with nanometer and microsecond resolution. We present initial measurements acquired at 67 k frame per second (fps) of two custom-designed plastic stator components operating at drive frequencies of 6.788 kHz and 6.980 kHz, respectively. Circumferential motion of the traveling surface waves with out-of-plane peak-to-peak displacement of approximately 100 nm peak-to-peak amplitude and a settling time of 2.99 ms was observed. Results demonstrate that plastic stators may be a promising alternative to metallic stators for use in the MRI environment. © 2021, The Society for Experimental Mechanics, Inc.

关键词： Stators

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Smart Shopping and Cart Billing System Using Deep Learning

Smart Shopping and Cart Billing System Using Deep Learning

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Intelligent Cyber Physical Systems and Internet of Things (ICoICI), International Conference on

作者： Ramkumar S Saravanan R Kanagaraj Venusamy Rani Jabbar N. Jeevitha Department of Robotics and Automation Rajalakshmi Engineering College Thandalam Chennai India Department of Mechatronics Engineering Rajalakshmi Engineering College Chennai India EDICT Department Electrical Engineering Program Bahrain polytechnic Isa town Kingdom of Bahrain Department of Electrical and Electronics Engineering Roever Engineering College Perambalur India

ISBN: (数字)9798331540661

ISBN: (纸本)9798331540678

There are many problems faced by people who stand for hours at billing counter after shopping, even though crowds are avoided everywhere, shopping mall billing queue isn't reducing since ages. Since the world relies on automation today, everyone has to automate processes which consumes time, money and efforts wherever possible. The technique related with the use of Raspberry Pi, LCD display and Webcam helps the people to bill the groceries within the shopping cart. It reduces consumption of time and their energy can be conserved which can't happen when they stand in a queue for billing process. User have to scan the object in front of webcam and LCD display allows them to add purchased items along with their price and quantity. They can also remove the product fromthe cart and it will be automatically removed. At the end of process, payment can be made online using a QR code or UPI. The Bill will be generated to their respective mail or it will be sent as SMS. User have to register or Log in when they start shopping. Automatic detection is possible without any inspection behind. The model is much portable and does not face any problem in its operation. When compared with the existing methods the processor, display along with its webcam accuracy is much better, it does not require complete continuous guidance and maintenance upon its usage. The need to push the cart has been eliminated as the cart can move along/follow the user autonomously.

关键词： Deep learning Webcams QR codes Inspection Liquid crystal displays Registers Maintenance Internet of Things Faces Postal services

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Resilient Navigation Based on Multimodal Measurements and Degradation Identification for High-Speed Autonomous Race Cars

Resilient Navigation Based on Multimodal Measurements and De...

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IEEE Symposium on Intelligent Vehicle

作者： Daegyu Lee Hyunwoo Nam Chanhoe Ryu Sungwon Nah D. Hyunchul Shim Department of Electrical Engineering Korea Advanced Institute of Science and Technologies (KAIST) Daejeon Republic of Korea Robotics Program KAIST Daejeon Republic of Korea

This paper presents a localization system robust against unreliable measurements and a resilient navigation system recovering from localization failures for Indy autonomous challenge (IAC). The IAC is a competition with full-scale autonomous race cars that drive at speeds up to 300 kph. Owing to high-speed and heavy vibration in the car, a GPS/INS system is prone to degrade causing critical localization errors, which leads to catastrophic *** order to address this issue, we propose a robust localization system that probabilistically evaluates the credibility of multi-modal measurements. At a correction step of the Kalman filter, a degradation identification method with a novel hyper-parameter derived from Bayesian decision theory is introduced to choose the most credible measurement values in real-time. Since the racing condition is so harsh that even our robust localization method can fail for a short period of time, we present a resilient navigation system that enables the race car to continue to follow the race track in the event of a localization failure. Our system uses direct perception information in planning and execution until the completion of localization *** proposed localization system is first validated in a simulation with real measurement data contaminated by large artificial noises. The experimental validation during an actual race is also presented. The last part of our paper shows the results from the real-world tests where our system recovers from failures and prevents accidents in real-time, which proves the resilience of the proposed navigation system.

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MOSFET Based Active Rectifier Design in Wireless Capacitive Power Transfer for Electric Vehicles

MOSFET Based Active Rectifier Design in Wireless Capacitive ...

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Smart Mechatronics (ICSMech), IEEE International Conference on

作者： Klemens Raphael Dragon Zener Sukra Lie Aam Muharam Juan Luciano Ika Muhamad Arjuna Perdana Amin Abdul Hapid Computer Engineering Department Automotive and Robotics Program BINUS ASO School of Engineering Bina Nusantara University Jakarta Indonesia Research Center for Transportation Technology Badan Riset dan Inovasi Nasional Bandung Jawa Barat Indonesia

ISBN: (数字)9798350368918

ISBN: (纸本)9798350368925

While the rise of electric vehicles reflects a push for clean energy as envisioned by international agreements like the Paris Agreement, wireless charging's convenience can overcome limitations and hasten their adoption, making it a strategic step alongside regulations such Permenhub No. 15/2022 and SDG 9 “Industry, Innovation, and Infrastructure” for cleaner air and sustainable transportation. The aim is to convert the high frequency AC voltage from the coupling capacitor into a stable DC voltage. Further increase the system sensitivity to the load variations, by designing a MOSFET based active rectifier. By changing load parameters, the accuracy of PFC adaptation to the battery State of Charge (SOC) obtained is at 98% with 2% tolerance for errors. It is concluded that the research is said to be successful because it has met the parameters of general research hypothesis where the system is able to convert high frequency AC voltage into a stable DC voltage.

关键词： Wireless communication MOSFET Wireless sensor networks Rectifiers High-voltage techniques Electric vehicles Batteries State of charge High frequency Voltage control

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Applying CNN Models with Stereo Camera for Object Detection and Distance Estimation in Automatic Micro Electric Vehicle (MEVi)

Applying CNN Models with Stereo Camera for Object Detection ...

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Smart Mechatronics (ICSMech), IEEE International Conference on

作者： Farrell Putra Harimanto Nurul Hasanah Muhammad Khristamto Aditya Pradana Muhammad Nurul Puji Computer Engineering Department Automotive & Robotics Program BINUS ASO School of Engineering Bina Nusantara University Jakarta Indonesia Research Center for Smart Mechatronics National Research and Innovation Agency KST Samaun Samadikun Bandung Indonesia

ISBN: (数字)9798350368918

ISBN: (纸本)9798350368925

Technological advancements in the automotive industry are currently focused on autonomous driving systems or driver assistance systems. Depth estimation is also an important feature of the autonomous driving system as it can accurately estimate the distance to the detected objects. In current developments technologies such as stereo cameras are more popular for a more accurate depth estimation. The process for object detection consists of a combination of classification, localization, and segmentation. Deep convolutional neural networks are the basis of object detection. The methods for object detection are divided into two categories namely the Region Proposal-based method such as RCNN, and the Classification-based method which provides for methods such as YOLO and MobileNet. As a part of the research conducted by the National Research and Innovation Agency (BRIN) on Automatic Micro Electric Vehicles or MEVi, this paper analyzed and compared the performance of several CNN models for object detection as well as the performance of depth sensing using ZED stereo camera which was used for the autonomous system in MEVi. Among several models that had been compared, YOLO v8 model demonstrates high accuracy and moderate speed as indicated by its high mAP (0.50) and FPS (38.46). Based on depth sensing results, the accuracy of distance measurement also depended on brightness and environment with the average of accuracy achieved indoors was 98.2% and outdoors was 96.3%.

关键词： YOLO Accuracy Depth measurement Brightness Cameras Electric vehicles Distance measurement Sensors Convolutional neural networks Autonomous vehicles

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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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In-hand manipulation of a circular dynamic object by soft fingertips without angle measurement

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Science China(Information Sciences) 2021年第5期64卷 193-208页

作者： R.GARCIA-RODRIGUEZ V.PARRA-VEGA Aeronautical Engineering Program and Postgraduate Program in Aerospacial Engineering Universidad Politecnica Metropolitana de Hidalgo Robotics and Advanced Manufacturing Department Research Center for Advanced Studies (CINVESTAV)

A multi-fingered robotic hand with curved fingertips enables contact re-positioning without reattaching at the expense of fingertip rolling. This rolling stands for a characteristic that facilitates dexterous manipulation but results in an algebraically complex dynamic model subject to such constraints. The hemispherical shape of fingertips allows a dexterous manipulation when controlling the tangent forces, which are essential to rotate object. However, the measurement of the object angle in practice requires tactile-optical sensing. In this paper, considering robotic fingers with curved soft tips, we propose a feedback control that ensures optimal dynamical grasping of a circular rigid object. It is shown that the collaboration of the contact forces, to get a minimum pose of internal forces, and the tangential forces, to induce the conditions for assuring the grasp closure, is necessary to get a skillful manipulation. In this case, the orientation control of a circular object to the desired angle while avoiding direct measurement of the object angle is presented. Stability conditions of the system are presented in the sense of stability-in-the-manifold. Finally, representative simulations are shown and discussed.

关键词： optimal grasping manipulation soft-fingertips circular object stability-in-the-manifold

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