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113th Annual ASEE Conference and Exposition, 2006

作者： Lindsay, Euan Good, Malcolm Curtin University of Technology Australia Curtin University of Technology Perth Australia University of Melbourne Australia Department of Mechanical and Manufacturing Engineering Australian Robot Association International Advanced Robotics Program Australia Advanced Engineering Centre for Manufacturing

Remote and virtual access to laboratory classes are increasingly prevalent in undergraduate engineering courses, but as yet there have been few, if any, studies, that adequately evaluate the learning outcomes of these alternative access modes. The move to alternative access modes has been driven primarily by logistical imperatives such as increased flexibility of delivery, and potential cost reductions. This focus on the "how" of implementing the laboratories has come at the expensive of the "why" - the impact upon the students' learning has been largely overlooked. This paper reports a study into remote and virtual access to laboratory equipment, and shows that there are statistically significant differences between the students' achievement on a number of learning outcomes. In particular, it shows that certain types of learning outcomes are impacted differently in different modes. This fine-grained analysis avoids the common pitfall of simply comparing overall aggregated marks, and shows that rather than no effect upon outcomes, there are instead multiple changes in learning outcomes whose combined effects upon the students' marks cancel out. The transparency of the interface was found to be a key factor in determining the quality of learning outcomes in the remote mode;however, it was not found to be significant in the simulation mode. This finding, whilst surprising, is explained when the theory pertinent to separation is considered. The take home message of this paper is that moving to remote and virtual access to laboratory hardware leads to significant changes in the learning outcomes of the students who experience this laboratory. In the face of such changes, these alternative access modes must be considered pedagogical alternatives, rather than simply logistical conveniences. © American Society for engineering Education, 2006.

关键词： Virtual reality

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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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Reaction torque minimization method for keeping drilling direction of the hybrid rotary steerable system

Reaction torque minimization method for keeping drilling dir...

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International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)

作者： Jongheon Kim Sungwook Jung Suyoung Choi Hyun Myung Dept. of Civil and Environmental Engineering Urban Robotics Lab. Daejeon Korea Robotics Program Urban Robotics Lab. Daejeon Korea

The directional drilling system is one of the key technologies for developing unconventional resources such as shale gas and coal bed methane (CBM). There are several types of the directional drilling system such as the whipstock, bent-sub, and the rotary steerable system (RSS). Among these systems, the RSS is most advanced system. In this paper, the hybrid type RSS is developed and its experiment results of drilling cement blocks will be introduced. The experiment had a problem due to the reaction torque of the drilling system. A method of minimizing the effect of the reaction torque is proposed to solve this problem.

关键词： Torque Rotation measurement Bismuth

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Towards energy efficiency in micro hovering air vehicles

Towards energy efficiency in micro hovering air vehicles

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2011 IEEE Aerospace Conference, AERO 2011

作者： Ratti, Jayant Vachtsevanos, George Ph.D. Robotics Program School of Electrical and Computer Engineering Georgia Institute of Technology Atlanta GA 30332 United States School of Electrical and Computer Engineering Georgia Institute of Technology Atlanta GA 30332 United States

ISBN: (纸本)9781424473502

Micro Aerial Vehicles (MAVs) have gained a significant amount of research lately, with a number of universities and industry sponsors paving the way with micro flying robots to perform Intelligence, Surveillance and Reconnaissance (ISR) Missions. However, much of the work done in VTOL/Hover-Capable MAVs till date has not shown performance improvement in flight endurance and payload capacities. In this paper we introduce and detail the Energy Dynamics of a novel Quad-Wing MAV (QV) design and illustrate the improvement in-flight energy consumption, directed towards higher payload capacities and longer flight times. Additionally we show that independent wing control of the QV generates all 6 Degrees of Freedom (DoF) flight maneuvers. By the use of passive elastic elements, we can produce resonant flapping, generating lift and further improvements in energy savings. © 2011 IEEE.

关键词： Energy utilization

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Dynamic hypergames for synthesis of deceptive strategies with temporal logic objectives

arXiv

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arXiv 2020年

作者： Li, Lening Ma, Haoxiang Kulkarni, Abhishek N. Fu, Jie Robotics Engineering Program Worcester Polytechnic Institute WorcesterMA01609 United States Faculty of Electrical and Computer Engineering Robotics Engineering Program Worcester Polytechnic Institute WorcesterMA01609 United States

In this paper, we study the use of deception for strategic planning in adversarial environments. We model the interaction between the agent (player 1) and the adversary (player 2) as a two-player concurrent game in which the adversary has incomplete information about the agent’s task specification in temporal logic. During the online interaction, the adversary can infer the agent’s intention from observations and adapt its strategy so as to prevent the agent from satisfying the task. To plan against such an adaptive opponent, the agent must leverage its knowledge about the adversary’s incomplete information to influence the behavior of the opponent, and thereby being deceptive. To synthesize a deceptive strategy, we introduce a class of hypergame models that capture the interaction between the agent and its adversary given asymmetric, incomplete information. A hypergame is a hierarchy of games, perceived differently by the agent and its adversary. We develop the solution concept of this class of hypergames and show that the subjectively rationalizable strategy for the agent is deceptive and maximizes the probability of satisfying the task in temporal logic. This deceptive strategy is obtained by modeling the opponent evolving perception of the interaction and integrating the opponent model into proactive planning. Following the deceptive strategy, the agent chooses actions to influence the game history as well as to manipulate the adversary’s perception so that it takes actions that benefit the goal of the agent. We demonstrate the correctness of our deceptive planning algorithm using robot motion planning examples with temporal logic objectives and design a detection mechanism to notify the agent of potential errors in modeling of the adversary’s behavior. Copyright © 2020, The Authors. All rights reserved.

关键词： Markov processes

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Opportunistic synthesis in reactive games under information asymmetry

arXiv

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arXiv 2019年

作者： Kulkarni, Abhishek N. Fu, Jie Robotics Engineering Program Worcester Polytechnic Institute WorcesterMA01604 United States Department of Electrical and Computer Engineering Robotics Engineering Program Worcester Polytechnic Institute WorcesterMA01604 United States

Reactive synthesis is a class of methods to construct a provably-correct control system, referred to as a robot, with respect to a temporal logic specification in the presence of a dynamic and uncontrollable environment. This is achieved by modeling the interaction between the robot and its environment as a two-player zero-sum game. However, existing reactive synthesis methods assume both players to have complete information, which is not the case in many strategic interactions. In this paper, we use a variant of hypergames to model the interaction between the robot and its environment;which has incomplete information about the specification of the robot. This model allows us to identify a subset of game states from where the robot can leverage the asymmetrical information to achieve a better outcome, which is not possible if both players have symmetrical and complete information. We then introduce a novel method of opportunistic synthesis by defining a Markov Decision Process (MDP) using the hypergame under temporal logic specifications. When the environment plays some stochastic strategy in its perceived sure-winning and sure-losing regions of the game, we show that by following the opportunistic strategy, the robot is ensured to only improve the outcome of the game—measured by satisfaction of sub-specifications—whenever an opportunity becomes available. We demonstrate the correctness and optimality of this method using a robot motion planning example in the presence of an adversary. Copyright © 2019, The Authors. All rights reserved.

关键词： Specifications

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A sensor-zone hierarchical topology for multi-robot exploration

A sensor-zone hierarchical topology for multi-robot explorat...

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IEEE/ASME International Conference on Mechtronic and Embedded Systems and Applications, MESA

作者： Nicholas Alunni Richard Goloski Andrew Haggerty Eric Jones Gregory S. Fischer Stephen S. Nestinger Department of Mechanical Engineering Robotics Engineering Program Worcester Polytechnic Institute Worcester MA USA

Distributed computing is becoming more prevalent in engineering today. Multi-robot systems are simply an extension of that, not only dividing the computing power, but also the physical capabilities among multiple robots. This paper serves as a proof of concept investigation into a sensor-zone hierarchical topology by assessing its ability to autonomously explore an unknown area. This goal was approached by designing a three-tier robotic hierarchy as well as developing the concept of abstract robot sensor zones. Experiments were conducted by modifying the total number of robots in the system using a custom built simulation and experimentally verified using custom fabricated mobile robots. Results showed that different combinations of robots can yield positive results for heterogeneous multi-robot systems, allowing computational and physical resources to be tailored to specific scenarios.

关键词： Robot sensing systems Topology Robot kinematics Multirobot systems Abstracts Hardware

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A Composite Soft Bending Actuation Module with Integrated Curvature Sensing

A Composite Soft Bending Actuation Module with Integrated Cu...

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IEEE International Conference on robotics and Automation

作者： Selim Ozel Erik H. Skorina Ming Luo Weijia Tao Fuchen Chen Yixiao Pan Cagdas D. Onal Mechanical Engineering Department and Robotics Engineering Program Worcester Polytechnic Institute MA 01609 USA

ISBN: (纸本)9781467380270

Soft robotics carries the promise of making robots as capable and adaptable as biological creatures, but this will not be possible without the ability to perform self-sensing and control with precision and repeatability. In this paper, we seek to address this need with the development of a new pneumatically-actuated soft bending actuation module with integrated curvature sensing. We designed and fabricated two different versions of this module: One with a commercially available resistive flex sensor and the other with a magnetic curvature sensor of our own design, and used an external motion capture system to calibrate and validate these two approaches. In addition, we used an iterative sliding mode controller to drive the modules through step curvature references to demonstrate the controllability of the modules as well as compare the usability of the two sensors. We found that the magnetic sensor returned noisy but accurate data, while the flex sensor had minor inaccuracies and it was subject to overshoot but did not exhibit notable noise. Experimental results show that this phenomenon of overshoot from the flex sensor causes active feedback control of the bending actuator to exhibit significant positioning errors. This work demonstrates that our soft bending actuator can be controlled with repeatability and precision, and that our magnetic curvature sensor represents an improvement for use in proprioception and closed-loop control of soft robotic devices.

关键词： Module Integrated Curvature

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Motion Control of a Soft-Actuated Modular Manipulator

Motion Control of a Soft-Actuated Modular Manipulator

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IEEE International Conference on robotics and Automation

作者： Erik H. Skorina Weijia Tao Fuchen Chen Ming Luo Cagdas D. Onal Mechanical Engineering Department and Robotics Engineering Program Worcester Polytechnic Institute MA 01609 USA

ISBN: (纸本)9781467380270

Soft pneumatic actuators can allow robotic manipulators to interact safely in complex environments in close proximity to humans, but work still needs to be done controlling them more effectively. We explore this area by introducing a 2-degree of freedom (DoF) universal joint module actuated by three reverse Pneumatic Artificial Muscles (rPAMs) and an associated geometric Jacobian-enhanced iterative sliding mode controller. After demonstrating the effectiveness of this controller, we combine two of these modules to form a 4-DoF soft actuated manipulator. To control this modular manipulation system, we propose two controllers: a direct inverse kinematic (IK) controller and an end-effector geometric Jacobian controller. Though both controllers were validated to function effectively, the Jacobian controller was more precise (especially under payload) while the IK controller was more accurate.

关键词： Control Soft-Actuated Modular

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Cognitive TransFuser: Semantics-Guided Transformer-Based Sensor Fusion for Improved Waypoint Prediction 11th

Cognitive TransFuser: Semantics-Guided Transformer-Based Sen...

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11th International Conference on Robot Intelligence Technology and Applications, RiTA 2023

作者： Choi, Hwan-Soo Jeong, Jongoh Hoo Cho, Young Yoon, Kuk-Jin Kim, Jong-Hwan Robot Intelligence Technology Lab. School of Engineering KAIST Daejeon Korea Republic of dSPECTER Seoul Korea Republic of Visual Intelligence Lab. Robotics Program and Dept. of Mechanical Engineering KAIST Daejeon Korea Republic of

ISBN: (纸本)9783031706868

Sensor fusion approaches for intelligent self-driving agents remain key to driving scene understanding given visual global contexts acquired from input sensors. Specifically, for the local waypoint prediction task, single-modality networks are still limited by strong dependency on the sensitivity of the input sensor, and thus recent works therefore promote the use of multiple sensors in fusion in feature level in practice. While it is well known that multiple data modalities encourage mutual contextual exchange, it requires global 3D scene understanding in real-time with minimal computation upon deployment to practical driving scenarios, thereby placing greater significance on the training strategy given a limited number of practically usable sensors. In this light, we exploit carefully selected auxiliary tasks that are highly correlated with the target task of interest (e.g., traffic light recognition and semantic segmentation) by fusing auxiliary task features and also using auxiliary heads for waypoint prediction based on imitation learning. Our RGB-LIDAR-based multi-task feature fusion network, coined Cognitive TransFuser, augments and exceeds the baseline network by a significant margin for safer and more complete road navigation in the CARLA simulator. We validate the proposed network on the Town05 Short and Town05 Long Benchmark through extensive experiments, achieving up to 44.2 FPS real-time inference time. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2024.

关键词： Semantic Segmentation

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