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International Conference on Control, Automation and Systems ( ICCAS)

作者： Sung jin Kim Hyun Hee Sung min Yoon Min Cheol Lee School of Interdisciplinary Program in Robotics Pusan National University Busan SouthKorea School of Mechanical Engineering Pusan National University Busan SouthKorea

Scratch defects is occur due to impact drop and friction between the roller and slab in the conventional hot rolling method. The Flying Touch method is one of the proposed methods to improve the scratch defects. Flying Touch method is available to soft touch between the rollers and the slab. Because roller is unfixed and flexible. And Flying Touch method is proposed synchronization of the rollers' angular velocity and the slab's surface velocity. In this paper, a simulator was designed to apply and verify the Flying Touch method. After, the actual implementation was velocity synchronization of Flying Touch method in the designed simulator. Performance of scratch reduction evaluated comparative experiment to velocity de-synchronization and velocity synchronization of Flying Touch method.

关键词： Synchronization Slabs Control systems Frequency modulation

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A six-degree-of-freedom robotic system for lower extremity rehabilitation

A six-degree-of-freedom robotic system for lower extremity r...

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IEEE International Conference on Rehabilitation robotics (ICORR)

作者： Aaron Yurkewich S. Farokh Atashzar Ahmed Ayad Rajni V. Patel Canadian Surgical Technologies and Advanced Robotics (CSTAR) London ON Canada Department of Electrical & Computer Engineering The University of Western Ontario Mcchatronic Systems Engineering Program The University of Western Ontario

ISBN: (纸本)9781479918096

This paper describes the design, control and implementation of a sensorized robotic platform for versatile rehabilitation of stroke patients living with lower extremity neuromuscular deficit. The proposed device is composed of a six-degree-of-freedom actuation mechanism with a large workspace for lower extremity rehabilitation regimens. With a small footprint, lightweight, and low-cost design and a wireless interface this device is portable and well-suited for at-home and in-clinic use. A custom six-degree-of-freedom force/torque sensor was developed to measure real-time patient forces, and an admittance controller was implemented to provide assistive motion therapy. The results obtained show the suitability of this device for human-robot interaction for the implementation of lower extremity rehabilitation therapy.

关键词： Robot sensing systems Force Robot kinematics Medical treatment Extremities Torque

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Predicting human reaching motion in collaborative tasks using Inverse Optimal Control and iterative re-planning

Predicting human reaching motion in collaborative tasks usin...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Jim Mainprice Rafi Hayne Dmitry Berenson Autonomous Motion Department Max-Planck-Institute for Intelligent Systems Tbingen Germany Robotics Engineering Program Worcester Polytechnic Institute Worcester MA

To enable safe and efficient human-robot collaboration in shared workspaces, it is important for the robot to predict how a human will move when performing a task. While predicting human motion for tasks not known a priori is very challenging, we argue that single-arm reaching motions for known tasks in collaborative settings (which are especially relevant for manufacturing) are indeed predictable. Two hypotheses underlie our approach for predicting such motions: First, that the trajectory the human performs is optimal with respect to an unknown cost function, and second, that human adaptation to their partner's motion can be captured well through iterative replanning with the above cost function. The key to our approach is thus to learn a cost function which “explains” the motion of the human. To do this, we gather example trajectories from two participants performing a collaborative assembly task using motion capture. We then use Inverse Optimal Control to learn a cost function from these trajectories. Finally, we predict a human's motion for a given task by iteratively replanning a trajectory for a 23 DoF human kinematic model using the STOMP algorithm with the learned cost function in the presence of a moving collaborator. Our results suggest that our method outperforms baseline methods and generalizes well for tasks similar to those that were demonstrated.

关键词： Trajectory Collaboration Cost function Planning Optimal control Prediction algorithms Hidden Markov models

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Objects tracking of the mobile robot using the hybrid visual servoing

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Journal of Institute of Control, robotics and Systems 2015年第8期21卷 781-787页

作者： Park, Kang-I.L. Woo, Chang-Jun Lee, Jangmyung Department of Interdisciplinary Program in Robotics Pusan National University Korea Republic of Department of Electronic and Electric and Computer Engineering Pusan National University Korea Republic of Department of Electronic Engineering Pusan National University Korea Republic of

This paper proposes a hybrid visual servoing algorithm for the object tracking by a mobile robot with the stereo camera. The mobile robot with the stereo camera performs an object recognition and object tracking using the SIFT and CAMSHIFT algorithms for the hybrid visual servoing. The CAMSHIFT algorithm using stereo camera images has been used to obtain the three-dimensional position and orientation of the mobile robot. With the hybrid visual servoing, a stable balance control has been realized by a control system which calculates a desired angle of the center of gravity whose location depends on variations of link rotation angles of the manipulator. A PID controller algorithm has adopted in this research for the control of the manipulator since the algorithm is simple to design and it does not require unnecessary complex dynamics. To demonstrate the control performance of the hybrid visual servoing, real experiments are performed using the mobile manipulator system developed for this research. © ICROS 2015.

关键词： Mobile robots

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Zero-voltage switching implementation of a virtual infinite capacitor

Zero-voltage switching implementation of a virtual infinite ...

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International Conference on Power engineering, Energy and Electrical Drives, POWERENG

作者： Guy Yona George Weiss Program of Autonomous Systems and Robotics Technion - Israel Institute of Technology Haifa Israel School of Electrical Engineering Tel-Aviv University Tel-Aviv Israel

We define the virtual infinite capacitor (VIC) as a nonlinear capacitor that has the property that for an interval of the charge Q (the operating range), the voltage V remains constant. We propose a lossless zero-voltage switching realization for the VIC using a switched power converter and capacitors. This circuit is simple but it requires a complex control algorithm that we describe. There are two controllers needed to operate a VIC: the voltage controller acts fast to maintain the desired terminal voltage, while the charge controller acts more slowly and maintains the charge Q in the desired operating range by influencing the incoming current. The VIC is useful as a filter capacitor for various applications, for example power factor compensators (PFC), as we describe. In spite of using small capacitors, the VIC can replace a very large capacitor in applications that do not require substantial energy storage. We give simulation results for a PFC working in critical conduction mode with a VIC for output voltage filtering.

关键词： Capacitors Switches Mathematical model Capacitance Zero voltage switching Voltage control Energy storage

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Propositional Temporal Logic for planning in an embedded Concurrent Autonomous Agent

Propositional Temporal Logic for planning in an embedded Con...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Diego Stéfano F. Ferreira Priscila S. Martins André Gustavo S. Conceição Augusto Loureiro da Costa Universidade Federal da Bahia Salvador BA BR Robotics Laboratory of the Postgraduate Program in Electrical Engineering Federal University of Bahia Salvador Bahia Brazil

In this paper, a Propositional Temporal Logic (PTL) inference engine is implemented in the cognitive level of a Concurrent Autonomous Agent (CAA). The hardware architecture of the system is an embedded microcontrollers network designed to fit the concurrency requirements of the cognitive model of the aforementioned agent. The architecture of the agent comprises three levels, namely, the reactive level, instinctive level and the cognitive level, which runs concurrently. The reactive level is embedded in a PSoC 5LP, consisting of behaviours created over a embedded kinematic controller. The instinctive level runs in an ARM mbed, which receives perceptions from and sends the active behaviour to the reactive level through a CAN bus. This level uses a Knowledge Based System (KBS) with First Order Logic (FOL) as automatic reasoning mechanism. The cognitive level runs an implementation of the METATEM algorithm on a DNP/2486 which, in turn, receives symbolic information from the instinctive level to update its logical world model. It also sends new local goals to instinctive level through an Ethernet network. Finally, the architecture used in the experiments is presented, followed by the results.

关键词： Planning Microcontrollers Robots Semantics Inference algorithms Autonomous agents Cognition

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BioTIME 2.0: Expanding and Improving a Database of Biodiversity Time Series

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Global Ecology and Biogeography 2025年第5期34卷

作者： Maria Dornelas Laura H. Antão Amanda E. Bates Viviana Brambilla Jonathan M. Chase Cher F. Y. Chow Ada Fontrodona-Eslava Anne E. Magurran Inês S. Martins Faye Moyes Alban Sagouis Samuel Adu-Acheampong Daniel Acquah-Lamptey Dušan Adam Penelope A. Ajani Aitor Albaina Pablo Almaraz Jeongseop An Roger Sigismund Anderson Madelaine Jean Robertson Anderson Alexsander Z. Antunes Ivan Arismendi Linda Armbrecht Pedro Aros-Mardones Sreejith Kalpuzha Ashtamoorthy Narayanan Ayyappan Gal Badihi Joseph J. Bailey Andrew H. Baird Mark Edward Baird Sreekumar Vadakkethil Balakrishnan José António L. Barão-Nóbrega Adi Barash Miguel Barbosa Jos Barlow Claus Bässler Matthieu Beaumont Natalie Beenaerts Tiago Octavio Begot Wallace Beiroz Ricardo Beldade David M. Bell Alecia Bellgrove Jonathan Belmaker Lisandro Benedetti-Cecchi Cassandra E. Benkwitt Pamela Medina-van Berkum Brandon T. Bestelmeyer Matthew G. Betts Maxwell Kelvin Billah Anne D. Bjorkman Magdalena Błażewicz Christopher P. Bloch Shane A. Blowes Antonio Bode Juliano A. Bogoni Thomas Bolger Timothy C. Bonebrake Erik Bonsdorff Roberta Bottarin Luke N. Brokensha Rob W. Brooker Andrew J. Brooks Helge Bruelheide Thiago Almeida Bueno Claire Laguionie Mariana Lopes Campagnoli James Cant Erica Pellegrini Caramaschi Alexandre Caron Tadhg Carroll Tancredi Caruso Juan Carvajal-Quintero Giuseppe Castaldelli Edward Castañeda-Moya Pedro V. Castilho Sonia Zanini Cechin Shahar Chaikin Uchangi Manjunatha Chandrashekara Tory J. Chase Chaolun Allen Chen Jorge José Cherem Sei-Woong Choi Erica M. Christensen Alexander V. Christianini Jackson Wing Four Chu Peter Coad Carl Van Colen Lise Comte Elisabeth J. Cooper J. Hans C. Cornelissen Eddy Cosson Unai Cotano Luc Crevecoeur Shannan Kyle Crow Graeme S. Cumming Vanessa S. Daga Gabriella Damasceno Gergana N. Daskalova Claire H. Davies Robert A. Davis Frank P. Day Sussy De-La-Zerda Amy Elizabeth Deacon Indradatta de Castro-Arrazola Steven Degraer Kharran Deonarinesingh Juan C. Diaz-Ricaurte Christopher R. Dickman Tara Dirilgen Ciaran John Dolan J. Emmet Centre for Biological Diversity School of Biology University of St Andrews Fife UK MARE—Centro de Ciências do Mar e do Ambiente Faculdade de Ciências Universidade de Lisboa Lisboa Portugal Research Centre for Ecological Change Organismal and Evolutionary Biology Research Programme Faculty of Biological and Environmental Sciences University of Helsinki Helsinki Finland Department of Biology University of Victoria Victoria British Columbia Canada German Centre for Integrative Biodiversity Research (iDiv) Halle-Jena-Leipzig Leipzig Germany Department of Computer Science Martin Luther University Halle-Wittenberg Halle (Saale) Germany Leverhulme Centre for Anthropocene Biodiversity Department of Biology University of York York UK Department of Animal Biology and Conservation Science University of Ghana Accra Ghana Philipps Universität Marburg Marburg Germany Department of Forest Ecology Silva Tarouca Research Institute Brno Czech Republic School of Life Sciences University of Technology Sydney Sydney New South Wales Australia Zoology and Animal Cell Biology Department University of the Basque Country (UPV/EHU) Leioa Spain Grupo de Oceanografía de Ecosistemas Instituto de Ciencias Marinas de Andalucía CSIC Campus Universitario de Puerto Real Puerto Real Spain National Institute of Ecology Seocheon Republic of Korea African Regional Postgraduate Programme in Insect Science University of Ghana Accra Ghana Département de Biologie Université de Sherbrooke Sherbrooke Quebec Canada Núcleo de Conservação da Biodiversidade Instituto de Pesquisas Ambientais Secretaria de Meio Ambiente Infraestrutura e Logística do Estado de São Paulo São Paulo Brazil Department of Fisheries Wildlife and Conservation Sciences Oregon State University Corvallis Oregon USA Institute for Marine and Antarctic Studies Ecology & Biodiversity Centre University of Tasmania Hobart Tasmania Australia Graduate Program in Oceanography Department of Oceanography Faculty of Natural Scienc

Motivation Here, we make available a second version of the BioTIME database, which compiles records of abundance estimates for species in sample events of ecological assemblages through time. The updated version expands version 1.0 of the database by doubling the number of studies and includes substantial additional curation to the taxonomic accuracy of the records, as well as the metadata. Moreover, we now provide an R package (BioTIMEr) to facilitate use of the database. Main Types of Variables Included The database is composed of one main data table containing the abundance records and 11 metadata tables. The data are organised in a hierarchy of scales where 11,989,233 records are nested in 1,603,067 sample events, from 553,253 sampling locations, which are nested in 708 studies. A study is defined as a sampling methodology applied to an assemblage for a minimum of 2 years. Spatial Location and Grain Sampling locations in BioTIME are distributed across the planet, including marine, terrestrial and freshwater realms. Spatial grain size and extent vary across studies depending on sampling methodology. We recommend gridding of sampling locations into areas of consistent size. Time Period and Grain The earliest time series in BioTIME start in 1874, and the most recent records are from 2023. Temporal grain and duration vary across studies. We recommend doing sample-level rarefaction to ensure consistent sampling effort through time before calculating any diversity metric. Major Taxa and Level of Measurement The database includes any eukaryotic taxa, with a combined total of 56,400 taxa. Software Format csv and. SQL.

关键词： assemblage biodiversity community database ecoinformatics species taxa time

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Development of a UAV-type jellyfish monitoring system using deep learning

Development of a UAV-type jellyfish monitoring system using ...

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International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)

作者： Hangeun Kim Donghoon Kim Sungwook Jung Jungmo Koo Jae-Uk Shin Hyun Myung Civil & Environmental Engineering Korea Advanced Institute of Science and Technology (KAIST) Daejeon Korea Urban Robotics Laboratory (URL) Robotics Program Korea Advanced Institute of Science and Technology (KAIST) Daejeon Korea Rastech Inc. Daejeon Korea

At present, unmanned aerial vehicles (UAVs) are the primary platforms widely used for environmental monitoring. The advantage of the UAV-type surveillance system is its low-cost with high observation performance. Using this system, we can extend the workable area of the jellyfish removal system. The proposed system observes jellyfish on the surface of the sea while flying, and can recognize a herd of jellyfish using deep learning. The preliminary results of the proposed system show that the proposed system improves the jellyfish removal system for efficient operation.

关键词： Robots Sea surface Surveillance Machine learning Global Positioning System Clustering algorithms

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Learning cost functions for motion planning of human-robot collaborative manipulation tasks from human -human demonstration

Learning cost functions for motion planning of human-robot c...

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2014 AAAI Fall Symposium

作者： Mainprice, Jim Berenson, Dmitry Robotics Engineering Program Worcester Polytechnic Institute United States

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Mechanism and system design of MAV (Micro Aerial Vehicle)-type wall-climbing robot for inspection of wind blades and non-flat surfaces

Mechanism and system design of MAV (Micro Aerial Vehicle)-ty...

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International Conference on Control, Automation and Systems

作者： Sungwook Jung Jae-Uk Shin Wancheol Myeong Hyun Myung Robotics Program KAIST Rastech Inc. Dept. of Civil and Environmental Engineering KAIST Dept. of Civil and Environmental Engineering Robotics Program KAIST

ISBN: (纸本)9781479999767

Wind turbines need annual inspections to investigate their states which may have damages, such as cracks, erosion, bonding defects, cavities and delamination. Wind blades inspection, however, is a difficult process which needs specialized equipment and well-trained technicians to perform it manually. In addition, most approaches to inspect require pre-installed infrastructures like ropes or other platforms, so they are not appropriate for a close investigation and has a low preference. To overcome these problems, the need for a wall-climbing robot has emerged. In this paper, we suggest a MAV (Micro Aerial Vehicle) type wall-climbing robot that has four rotors to make thrust force for flying and four wheels for wall-climbing so that it can fly, stick, and move on a vertical and non-flat surface. The overall inspection process has two parts;macro and micro inspections. The main concept was verified throughout simulations.

关键词： Micro Aerial Vehicle (MAV) Wind turbine inspection Non-destructive testing Non-flat surface

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