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Real-time Path Planning Algorithm based on Ridge Detection for Solid-State LiDAR-based Autonomous Agricultural Robot

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Journal of Institute of Control, robotics and Systems 2022年第2期28卷 146-152页

作者： Baek, Seungbeom Kim, Bongsang Lee, Jaewook Moon, Heechang Industrial Convergence Interdepartmental Program Autonomous Vehicle·Intelligent Robotics The Graduate School of Hongik University Korea Republic of Mechanical & System Design Engineering Hongik University Korea Republic of

Autonomous robots driving in agricultural environments need to create accurate routes to prevent damaging farmland. Herein, a real-time path planning algorithm based on ridge detection using the Livox Mid70 LiDAR is proposed. The field has a steep slope between the furrow and the ridge, and we find data corresponding to this slope from the lidar data. Using two Mid70 LiDARs, we collect the left and right slope data and linearly fit the slope data using the RANSAC algorithm. Finally, the driving route is obtained from the average of the two straight lines. To verify the algorithm, the steering angle needed to follow the driving path was calculated, and an autonomous driving test was conducted in the actual field environment: it was observed that the robot drove stably. Additional tests will be conducted in more rugged terrain. © ICROS 2022.

关键词： Optical radar

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Modeling multi-legged robot locomotion with slipping and its experimental validation

arXiv

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arXiv 2023年

作者： Wu, Ziyou Zhao, Dan Revzen, Shai Robotics University of Michigan United States Mechanical Engineering University of Michigan United States Electrical Engineering and Computer Science University of Michigan United States Ecology and Evolutionary Biology University of Michigan United States Applied Physics Program University of Michigan United States

Multi-legged robots with six or more legs are not in common use, despite designs with superior stability, maneuverability, and a low number of actuators being available for over 20 years. This may be in part due to the difficulty in modeling multi-legged motion with slipping and producing reliable predictions of body velocity. Here we present a detailed measurement of the foot contact forces in a hexapedal robot with multiple sliding contacts, and provide an algorithm for predicting these contact forces and the body velocity. The algorithm relies on the recently published observation that even while slipping, multi-legged robots are principally kinematic, and employ a friction law ansatz that allows us to compute the shape-change to body-velocity connection and the foot contact forces. This results in the ability to simulate motion plans for a large number of contacts, each potentially with slipping. Furthermore, in homogeneous environments, this kind of simulation can run in (parallel) logarithmic time of the planning horizon. © 2023, CC BY.

关键词： Friction

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Development of Mobile Robot Education Kit Prototype for Elementary School Students

Development of Mobile Robot Education Kit Prototype for Elem...

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2021 International Conference on Computer System, Information Technology, and Electrical engineering, COSITE 2021

作者： Priandana, Karlisa Margaretha, Friska Sinaga, Doli Aryo Dani Kusumoputro, Benyamin Bogor Agricultural University Computer Science Department Bogor Indonesia Bogor Agricultural University Vocational School of Computer Engineering Program Bogor Indonesia Research Development Interactive Robotics Bogor Indonesia Universitas Indonesia Dept of Electrical Engineering Depok Indonesia

ISBN: (纸本)9781665425094

Electronic technologies are growing very rapidly, especially those related to automation and robotics. robotics technology is currently being developed and implemented in various fields including military, search and rescue, education, transportation, sports, and many other fields. Various researches on robotics technology continue to be carried out by various universities in the world including in Indonesia. To increase the interest of the young generation in the field of robotics, an attractive educational kit especially for elementary school level is necessary. This work aims to develop a robotics education kit in the form of a unique and interesting mobile robot as a learning media for elementary school students. The robot was developed using an Arduino microcontroller and can be operated by elementary school students using an easy and user-friendly blocks programming. The testing shows that the developed robotics education kit has been able to function properly, in accordance with the design and the specified requirements. © 2021 IEEE.

关键词： Mobile robots

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Distributed 3D-Map Matching and Merging on Resource-Limited Platforms Using Tomographic Features

Distributed 3D-Map Matching and Merging on Resource-Limited ...

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European Conference on Mobile Robots (ECMR)

作者： Halil Utku Unlu Anthony Tzes Prashanth Krishnamurthy Farshad Khorrami Electrical & Computer Engineering Department New York University Brooklyn NY USA Electrical Engineering Program New York University Abu Dhabi Abu Dhabi UAE Center for Artificial Intelligence and Robotics New York University Abu Dhabi Abu Dhabi UAE

A fast, robust, resource-efficient, and distributed 3D map matching and merging algorithm utilizing extracted tomographic features is studied. Instead of depending on 3D features and descriptors, 2D features are extracted from 2D projections of horizontal sections of gravity-aligned local maps and matched with slices from the other map at different height differences, enabling the estimation of four degrees of freedom. The proposed algorithm is observed to provide order-of-magnitude improvements in memory and time efficiency over state-of-the-art feature extraction and registration pipelines, rendering it useful for near real-time map merging tasks in resource-limited platforms (e.g. UAVs).

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UAV- Navigation Using Map Slicing and Safe Path Computation

UAV- Navigation Using Map Slicing and Safe Path Computation

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International Conference on Autonomous Robots and Agents, ICARA

作者： Halil Utku Unlu Dimitris Chaikalis Athanasios Tsoukalas Anthony Tzes Electrical & Computer Engineering Department New York University Brooklyn NY USA Electrical Engineering Program New York University Abu Dhabi Abu Dhabi UAE Center for Artificial Intelligence and Robotics New York University Abu Dhabi Abu Dhabi UAE

This paper is concerned with the safe path planning of a drone while exploring an unknown space. The drone is localized by fusing measurements from sensors including an IMU, RGB-D sensor, and an optical flow system, while executing an RTAB-Map SLAM algorithm. The 3D-occupancy Octomap is generated online and a slicing algorithm is employed to compute 2D-maps. The maps' traversible coordinates are identified and used as potential points for the drone intermediate navigation to the destination. The final segment corresponds to a shortest Chebyshev-length path between all frontier pixels and the endpoint over the unexplored map region. The drone's path is computed using a skeletal path between the identified map boundaries so that the drone moves from its current location through the free map coordinates to the destination point. Simulation studies using within the interior of an apartment indicate the efficiency and effectiveness of the proposed method.

关键词： Simultaneous localization and mapping Target tracking Navigation Robot kinematics Chebyshev approximation Sensor systems Space exploration

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Development of Fish Separator Conveyor based on Fish Identification System 3

Development of Fish Separator Conveyor based on Fish Identif...

引用

3rd International Conference on Eco engineering Development, ICEED 2019

作者： Dzulfiqar Agung, Muhammad Rangga Elian, Adrian Adhe Astuti, Winda Puji, Muhammad Nurul Automotive and Robotics Program Computer Engineering Department BINUS ASO School of Engineering Bina Nusantara University Jakarta11480 Indonesia

Indonesia as the largest archipelago and maritime country in the world has a very large marine resources. Fish is one of the marine wealthties (marine biota), which have large numbers in Indonesia. Fishermen is an important role in the process of fishing, however fish caught by fishermen are often mixed with other types of fish. Currently, the process of fist separation is done manually, which takes longer time and many error occur due to fatigue. In this work the conveyer separator based on the fish identification system is developed. The fish conveyer separator is designed and developed. The fish identification system is based on Fast Fourier Transform (FTT) technique and Artificial Neural Network (ANN). The system is working properly, since it resulting the training and testing accuracy of 80% and 66%, respectively. © 2020 Published under licence by IOP Publishing Ltd.

关键词： Fast Fourier transforms

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Development and Functional Evaluation of The PrHand V3 Soft-robotics Prosthetic Hand

Development and Functional Evaluation of The PrHand V3 Soft-...

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

作者： Orion Ramos Laura De Arco Marcela Múnera Jorge Robledo Mehran Moazen Helge Wurdemann Carlos A. Cifuentes School of Engineering Science and Technology Universidad del Rosario Bogota Colombia Graduate Program of Electrical Engineering Federal University of Espírito Santo Vitoria Brazil Bristol Robotics Laboratory University of the West of England Bristol UK Colombian School of Engineering Bogotá D.C. Colombia Prótesis Avanzadas SAS Medellin Colombia Department of Mechanical Engineering University College London London UK

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

The affordability and functionality of hand prosthetics in developing countries are still very limited. This work aims to present and evaluate the new version of the PrHand affordable robotic prosthesis (PrHand V3), built with soft robotics and compliant mechanisms. PrHand V3 implements a new frictionless tendon unification system, the degree of freedom of thumb opposition was removed, and the finger flexion was improved to the previous version, PrHand V2. The study contributes by evaluating these mechanical changes and conducting the first functional assessment of PrHand V3 with an amputee user. The Anthropomorphic Hand Assessment Protocol (AHAP) dexterity test was the first evaluation in this work; it evaluated how the prosthesis performs eight different grips. PrHand V3 was compared with a PrHand V2 and a commercial robotic prosthesis A3D from Prótesis Avanzadas SAS. PrHand V3’s score on the AHAP test was 80%. This result is higher than the 69% obtained by the PrHand V2 and the 79% obtained by A3D. The Activities Measure for Upper Limb Amputees (AM-ULA) test was the second evaluation in this work; An A3D amputee user performed 23 Activities of Daily Living with PrHand V3 and an A3D. PrHand V3 obtained an average of 2.86/4 and A3D obtained an average of 2.96/4 without significant differences between the two tests. The soft actuation of PrHand V3 as an affordable prosthesis performs similarly to a commercial robotic prosthesis with the advantage of being more flexible to assist a trans-radial hand amputee.

关键词： Hands Protocols Manufacturing processes Thumb Grasping Soft robotics Synthetic aperture sonar Prosthetic hand Prosthetics Tendons

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License plate recognition system based on principal component analysis and one-against-one multi-class support vector machine 3

License plate recognition system based on principal componen...

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3rd International Conference on Eco engineering Development, ICEED 2019

作者： Kosasih, Kevin Kristofer Astuti, Winda Oey, Endra Automotive and Robotics Program Computer Engineering Department BINUS ASO School of Engineering Bina Nusantara University Jakarta11480 Indonesia

The license plate number which identifies the original registered place of the vehicle, as well as the usage of each vehicle which belongs to a private entity, a government vehicle, and a commercial vehicle, is identified in this work. Vehicle plate detection by a camera that mounted on parking gate. Detection process starts with collecting data using the camera. This work consists two important parts, namely image processing and classification system, respectively. In the image processing, the plate image capture by the camera is extracted to the feature space which will use as the input to the classification system. The classification system is then will identify the extracted input to the plat recognition identification. The Fast Fourier Transform (FFT) and Support Vector Machine (SVM) are applied as feature extraction technique and classification methods, respectively. The results of the training and testing phase are 80% and 66%, respectively. © 2020 Published under licence by IOP Publishing Ltd.

关键词： Fast Fourier transforms

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Fiber-Optic and IMU Sensors for Muscle Fatigue Detection in Work Settings

Fiber-Optic and IMU Sensors for Muscle Fatigue Detection in ...

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SBMO/IEEE MTT-S International Conference on Microwave and Optoelectronics (IMOC)

作者： Sophia Otálora Marcelo Eduardo Vieira Segatto Maxwell E. Monteiro Carlos A. Cifuentes Camilo A.R. Diaz Graduate Program of Electrical Engineering Federal University of Espirito Santo Vitoria Brazil Campus Serra Instituto Federal do Espirito Santo (IFES) Serra Brazil Bristol Robotics Laboratory University of the West of England Bristol UK

Detection of muscle fatigue is essential in industrial environments to prevent work-related disorders and improve worker safety. Also, measuring elbow position is essential in human motion analysis. This paper proposes a novel approach for detecting muscle fatigue using an Optical Fiber (OF) sensor and Inertial Measurement Unit sensors (IMU). Ten healthy subjects performed a repetitive lifting activity using the IMU and OF sensor until reaching muscle fatigue. The study evaluates four machine learning algorithms, including Ensemble Classifiers (EC), Support Vector Machine (SVM), k Nearest Neighbour (kNN), and Neural Networks (NN). Results of detecting muscle fatigue using the OF and IMU sensors obtained an accuracy of 98.4%. This setup can be easily used by workers and be relevant to identify workers' fatigue during long working shifts.

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Roborueda: Python-Based GUI to Control a Wheelchair and Monitor User Posture

SSRN

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SSRN 2023年

作者： Gonzalez-Cely, Aura Ximena Blanco-Diaz, Cristian Felipe Diaz, Camilo A.R. Bastos-Filho, Teodiano Freire Robotics and Assistive Technology Laboratory Graduate Program in Electrical Engineering Federal University of Espirito Santo Av. Fernando Ferrari 514 Espirito Santo Vitoria29075-910 Brazil Telecommunications Laboratory Graduate Program in Electrical Engineering Federal University of Espirito Santo Av. Fernando Ferrari 514 Espirito Santo Vitoria29075-910 Brazil

The increasing development of Optical Fiber Sensors (OFS) and inertial sensors applied into the health area. The use of neck and/or head motion for people with physical impairments in their limbs allows achieving independence and improve their mobility. This paper addresses a gap based on the development of Human-Machine Interfaces by introducing Roborueda, a robust Graphical User Interface (GUI) designed to facilitate interaction of electric wheelchair users, with a primary focus on enhancing mobility and preventing future illnesses. The main objective of the system is to monitor the body posture and control the wheelchair using neck and head motion, through the GUI. The interface incorporates machine learning and fuzzy logic techniques and a robust communication system using the Python programming language. The GUI was developed using PyQt, and data exchange between Python libraries was facilitated through dataframes and multithreading. Furthermore, the classification model was loaded, while Wi-Fi communication employ sockets and User Datagram Protocol. The user-friendly GUI offers a range of functionalities, including the ability to adjust controllers, and gather system information, among others. The implementation of this interface marks a significant step towards integrating OFS, which is a contribution to the advancement of assistive technologies. To ensure the effectiveness and practicality of Roborueda, future work will focus on validating the system through extensive testing with wheelchair users, thereby obtaining valuable feedback and making further improvements. © 2023, The Authors. All rights reserved.

关键词： Fuzzy logic

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