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IEEE-RAS International Conference on Humanoid Robots

作者： Sahand Shaghaghi Pourya Aliasghari Bryan Tripp Britt Anderson Kerstin Dautenhahn Chrystopher L. Nehaniv Social & Intelligent Robotics Research Lab University of Waterloo 200 University Ave. W. Waterloo Ontario Canada Dept. of Systems Design Enginering University of Waterloo 200 University Ave. W. Waterloo Ontario Canada Dept. of Electrical & Computer Engineering University of Waterloo 200 University Ave. W. Waterloo Ontario Canada Centre for Theoretical Neuroscience University of Waterloo 200 University Ave. W. Waterloo Ontario Canada Dept. of Psychology University of Waterloo 200 University Ave. W. Waterloo Ontario Canada

ISBN: (数字)9798350373578

ISBN: (纸本)9798350373585

Gaze behaviour plays a crucial role in social interactions extending to Human-Robot Interactions. Humanoid robots equipped with anthropomorphic vision systems may be expected to employ natural gaze behaviour in interactions with humans. Here, we implemented a novel first-person human gaze state detection tool on the iCub robot and assessed its gaze detection accuracy. Using this tool, we then developed two social gaze interaction architectures for the iCub robot. The Social Gaze Space theory (SGS) of Jording and colleagues was the theoretical framework for building our first architecture, SGS Base (SGS-B). Our second architecture, SGS Interaction Architecture (SGS-IA), is the extended version of SGS Base that lets the robot take on different higher-level goals in an interaction, including being attentive to the interaction partner or attempting to direct their attention to an object. These architectures support dyadic social interactions involving initiating and responding to joint attention towards objects of interest, and are expected to allow the robot to interact in a more human-like manner in social interactions. The gaze detection accuracy of the iCub robot equipped with our choice of algorithms exceeded that of previously implemented methods. System validation trials confirmed that the robot detects the social gaze states correctly in the majority of the instances, allowing for behavioural control according to the Social Gaze Space theory. Validation tests presented in this article demonstrate the functionality of the SGS Interaction Architecture and also highlight the differences in personal interaction dynamics when the humanoid robot has no particular goals as opposed to when it has interactional goals appropriate to a teaching scenario.

关键词： Accuracy Architecture Education Humanoid robots Human-robot interaction Modulation Aerospace electronics Visual systems System validation Standards

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Practical fractional-order variable-gain super-twisting control with application to wafer stages of photolithography systems

arXiv

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arXiv 2021年

作者： Kuang, Zhian Sun, Liting Gao, Huijun Tomizuka, Masayoshi Research Institute of Intelligent Control and Systems Harbin Institute of Technology Harbin150001 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China Mechanical Control System Lab Mechanical Engineering Department University of California BerkeleyCA94720 United States

In this paper, a practical fractional-order variable-gain super-twisting algorithm (PFVSTA) is proposed to improve the tracking performance of wafer stages for semiconductor manufacturing. Based on the sliding mode control (SMC), the proposed PFVSTA enhances the tracking performance from three aspects: 1) alleviating the chattering phenomenon via super-twisting algorithm and a novel fractional-order sliding surface (FSS) design, 2) improving the dynamics of states on the sliding surface with fast response and small overshoots via the designed novel FSS and 3) compensating for disturbances via variable-gain control law. Based on practical conditions, this paper analyzes the stability of the controller and illustrates the theoretical principle to compensate for the uncertainties caused by accelerations. Moreover, numerical simulations prove the effectiveness of the proposed sliding surface and control scheme, and they are in agreement with the theoretical analysis. Finally, practice-based comparative experiments are conducted. The results show that the proposed PFVSTA can achieve much better tracking performance than the conventional methods from various perspectives. Copyright © 2021, The Authors. All rights reserved.

关键词： Sliding mode control

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High-Precision 3D Printing by Deploying Expandable Microspheres

SSRN

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SSRN 2024年

作者： Xu, Yang Wang, Fucheng Zhang, Pei Lu, Chengbang Liu, Weixuan Guo, Yueying Ni, Zhipeng Wang, Jinqing Lu, Baoyang Lou, Qin Liang, Xiangyu Liu, Ji Department of Mechanical and Energy Engineering Southern University of Science and Technology Shenzhen518055 China Department of Metrology and Measurement Engineering China Jiliang University Hangzhou310018 China Agricultural Genomics Institute at Shenzhen Chinese Academy of Agricultural Sciences Shenzhen518120 China Institute of Bast Fiber Crops Center of Southern Economic Crops Chinese Academy of Agricultural Sciences Changsha410205 China Department of Mechanics and Aerospace Engineering Southern University of Science and Technology Shenzhen518055 China Yiwu Saiens Polymer Materials Co. Ltd Jinhua322099 China Jiangxi Key Lab of Flexible Electronics Flexible Electronics Innovation Institute Jiangxi Science & Technology Normal University Nanchang330013 China Shenzhen Key Laboratory of Intelligent Robotics and Flexible Manufacturing Systems Southern University of Science and Technology Shenzhen518055 China

Stereolithography-based 3D printing (3DP) technology is widely employed in various industries, including manufacturing, healthcare, energy, biomedical, art and other fields. However, the precision issues, such as dimensional shrinkage and structural warping, significantly hinder its wide applications. In this study, we present a straightforward, efficient yet general strategy to engineer the photosensitive resins with thermally expandable microspheres, thus enabling significant improvement in structural fidelity of the 3DP constructs. Our findings demonstrate that addition of expandable microspheres substantially mitigates the volume shrinkage below 3.98%, in comparison to over 10% for commercially-available photosensitive resins. An exceptionally high precision of 0.035% in dimensional deviation could be achieved, in comparison to over 0.1% for commercial one. Furthermore, due to the low filling ratio, the improvement in 3DP precision does not sacrifice the mechanical properties, thus it does not affect the applications where those photosensitive resins are originally targeting. Our method represents an effective strategy to improve the 3D printing resolution of photosensitive resins, thus opening new directions for high precision 3D printing technology. © 2024, The Authors. All rights reserved.

关键词： Shrinkage

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A bottom-up paradigm for traffic scene graph representation 9

A bottom-up paradigm for traffic scene graph representation

引用

9th International Conference on Computing and Pattern Recognition, ICCPR 2020

作者： Zhang, Zhixuan Zhang, Chi Liu, Yuehu Su, Yuanqi Li, Ping Zheng, Jinzi School of Software Engineering Xi'An Jiaotong University Xi'an China Institute of Artificial Intelligence and Robotics Xi'An Jiaotong University Xi'an China Shaanxi Key Lab of Digital Technology and Intelligent Systems Xi'an China School of Computer Science and Technology Xi'An Jiaotong University Xi'an China China Academy of Railway Sciences Corporation Limited Beijing China

ISBN: (纸本)9781450387835

With increasing hardware computing power and model capacity, visual tasks for scene cognitive understanding have attracted more attention, such as visual relationships inference. The scene graph representation formed by a coupling of objects, attributes and relationships nodes displayed by different modalities of information, including original image, foreground things, background stuff and scene attributes, strongly promotes the progress of research area. In this paper, we address the scene graph representation of traffic scenarios for autonomous driving. It should be noted that the universal representation are the specific needs of cognitive understanding of traffic scenes: on the one hand, there is a lack of fine-grained description of key objects and attributes;on the other hand, there are redundant descriptions of objects and relationships. To tackle these problems, we take advantage of the fine-grained instance-level annotation of the traffic scene, proposing a bottom-up representation paradigm. It makes full use of the hierarchical structure of the traffic scene and the sparsity of element classes. In addition, on the basis of the existing methods, we optimize the relationship list of traffic scene graph representation. Moreover, we improve the scene graph annotation methods, proposing a "ground-vision joint location method"to better describe the spatially-distributed visual knowledge. The case analysis showed that compared with existing methods, our paradigm for scene graph can represent more abundant traffic scene information. © 2020 ACM.

关键词： Knowledge representation

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Encrypted Feedback Linearization and Motion Control for Manipulator with Somewhat Homomorphic Encryption

Encrypted Feedback Linearization and Motion Control for Mani...

引用

IEEE/ASME (AIM) International Conference on Advanced intelligent Mechatronics

作者： Kaoru Teranishi Kiminao Kogiso Jun Ueda Department of Mechanical Engineering and Intelligent Systems The University of Electro-Communications Tokyo Chofu Japan Bio-Robotics & Human Modeling Lab School of Mechanical Engineering Georgia Institute of Technology Atlanta GA USA

ISBN: (数字)9781728167947

ISBN: (纸本)9781728167954

Encrypted control is a cryptographic approach to reducing the risks of eavesdropping attacks for networked control systems. An encrypted controller determines control inputs directly from encrypted data without decryption. This study considers an implementation of an encrypted motion controller, which consists of feedback linearization and PD control, for a manipulator using somewhat homomorphic encryption. A controller reconstruction method is proposed for separating a nonlinear time-varying controller into a linear part and a nonlinear part. A plant side device supports encrypted controller operations by generating the nonlinear part in advance of encryption. Simulation results demonstrate that the proposed encrypted control system can achieve the same control performance as the one that an unencrypted control system does.

关键词： Encryption Manipulators Networked control systems Quantization (signal) Feedback linearization

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Highly Efficient and Persistent Removal of Cd(II) in Aqueous Solution by Attapulgite-Loaded Amorphous Zero-Valent Iron

SSRN

引用

SSRN 2022年

作者： Lin, Zishen Liu, Fobang Zheng, Chunli Zhu, Aibin Li, Haijian Wang, Zhenxing He, Chi Department of Environmental Science and Engineering Xi’an Jiaotong University Xi’an710049 China Key Laboratory of Thermo-Fluid Science and Engineering School of Energy and Power Engineering Xi'an Jiaotong University Xi’an710049 China Institute of Robotics & Intelligent Systems Xi'an Jiaotong University Xi’an710049 China National Key Lab of Science and Technology on Combustion and Explosion Xi'an Modern Chemistry Research Institute Xi'An710065 China Environmental Protection Key Laboratory of Environmental Pollution Health Risk Assessment South China Institute of Environmental Sciences MEE Guangzhou510275 China

Amorphous zero-valent iron (AZVI) is a promising material for the treatment of heavy metal pollution due to its special crystal structure. However, little was known about their electron transport properties, and the issue of AZVI agglomeration effects was unresolved. In this study, AZVI and crystalline zero-valent iron (CZVI) were synthesized. AZVI had better electron-donating ability by in detail characterization with radial distribution function, electrochemical test, ultraviolet photo-electron spectroscopy and electronic density of states simulation. In order to alleviate the agglomeration effect of AZVI, AZVI was loaded onto attapulgite (ATP) to form ATP@AZVI composite. The results showed that when the initial concentration of Cd(II) was 30 mg/L with 30 min reaction time, the residual concentration of Cd(II) was only 0.08 mg/L, and the removal efficiency was improved by 275% compared to AZVI. The mechanism of Cd(II) removal was further investigated using XRD, XPS, and Raman spectroscopy. ATP@AZVI mainly reacted with Cd(II) through surface bound Fe(II), and then Cd(II) was removed from aqueous solution by *** was found ATP@AZVI was stable and its anti-oxidation ability was strong. After 12 months of aging in air, ATP@AZVI could still remove 86.4% of Cd(II) in 30 min. When the reaction time was extended to 100 min, the residual concentration of Cd(II) was 0.07 mg/L. Simultaneously, ATP@AZVI after 12 months of aging reacted with Cr(VI) wastewater for 90 min to meet with the emission standard (GB8978-1996, China). These findings suggested ATP@AZVI is an efficient adsorbent for heavy metal pollution control. © 2022, The Authors. All rights reserved.

关键词： Crystal structure

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Fundus-Image-Based Retinal Vascular Analysis in Myopic Eyes

Fundus-Image-Based Retinal Vascular Analysis in Myopic Eyes

引用

Chinese Control Conference (CCC)

作者： Jichen Shen Haohan Zou Yan Wang Jinchao Liu Ningbo Yu College of Artificial Intelligence Nankai University Tianjin China Clinical College of Ophthalmology Tianjin Medical University Tianjin China Tianjin Key Lab of Ophthalmology and Visual Science Tianjin Eye Institute Tianjin Eye Hospital Nankai University Affiliated Eye Hospital Tianjin China Nankai University Eye Institute Nankai University Tianjin China Tianjin Key Laboratory of Intelligent Robotics Nankai University Tianjin China Engineering Research Center of Trusted Behavior Intelligence Ministry of Education Nankai University Tianjin China Institute of Intelligence Technology and Robotic Systems Shenzhen Research Institute of Nankai University Shenzhen China

Myopia is prevalent worldwide and it is of great significance to prevent, control and intervene myopia in an early stage. The etiopathogenesis of myopia remains unclear and needs further research. Fundus photographs can show biomarkers and lesions of the retina in a non-invasive way directly. To discover some potential changes in myopic eyes, we extracted the retinal vascular features from vessel segmented results, and calculated the Spearman correlation coefficients between the retinal vascular features and the spherical refractive errors. The Kruskal-Wallis test was applied to explore the difference exists in the characteristics of retinal vessels among the mild, moderate and high myopia groups. The statistical analysis results indicated that the higher the degrees of myopia, the smaller the retinal vessels. This study found vascular changes in myopic eyes through fundus images, which could help to explain the mechanism of myopia and the damage caused by myopia.

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Peer-to-Peer Localization via On-board Sensing for Aerial Flocking

Peer-to-Peer Localization via On-board Sensing for Aerial Fl...

引用

International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)

作者： Fat-Hy Omar Rajab Samet Güler Jeff S. Shamma Robotics Intelligent Systems and Control (RISC) Lab Computer Electrical and Mathematical Science and Engineering Division (CEMSE) KAUST Thuwal Saudi Arabia Abdullah Gül University Kayseri Turkey

ISBN: (数字)9781728157153

ISBN: (纸本)9781728157160

The performance of mobile multi-robot systems dramatically depends on the mutual awareness of individual robots, particularly the positions of other robots. GPS and motion capture cameras are commonly used to acquire and ultimately communicate positions of robots. Such sensing schemes depend on infrastructure and restrict the capabilities of a multi-robot system, e.g., the robots cannot operate in both indoor and outdoor environments. Conversely, peer-to-peer localization algorithms can be used to free the robots from such infrastructures. In such systems, robots use on-board sensing to infer the positions of nearby robots. In this approach, it is essential to have a model of the motion of other robots. We introduce a flocking localization scheme that takes into account motion behavior exhibited by the other robots. The proposed scheme depends only on the robots' on-board sensors and computational capabilities and yields a more accurate localization solution than the peer-to-peer localization algorithms that do not take into account the flocking behavior. We verify the performance of our scheme in simulations and demonstrate experiments on two unmanned aerial vehicles.

关键词： Robot sensing systems Robot kinematics Mathematical model Drones Distance measurement

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A Bottom-up Paradigm for Traffic Scene Graph Representation 2020

A Bottom-up Paradigm for Traffic Scene Graph Representation

引用

Proceedings of the 2020 9th International Conference on Computing and Pattern Recognition

作者： Zhixuan Zhang Chi Zhang Yuehu Liu Yuanqi Su Ping Li Jinzi Zheng School of Software Engineering Xi'an Jiaotong University Xi'an China Institute of Artificial Intelligence and Robotics Xi'an Jiaotong University Xi'an China Institute of Artificial Intelligence and Robotics Xi'an Jiaotong University Xi'an China and Shaanxi Key Lab of Digital Technology and Intelligent Systems Xi'an China School of Computer Science and Technology Xi'an Jiaotong University Xi'an China China Academy of Railway Sciences Corporation Limited Beijing China

ISBN: (纸本)9781450387835

With increasing hardware computing power and model capacity, visual tasks for scene cognitive understanding have attracted more attention, such as visual relationships inference. The scene graph representation formed by a coupling of objects, attributes and relationships nodes displayed by different modalities of information, including original image, foreground things, background stuff and scene attributes, strongly promotes the progress of research area. In this paper, we address the scene graph representation of traffic scenarios for autonomous driving. It should be noted that the universal representation are the specific needs of cognitive understanding of traffic scenes: on the one hand, there is a lack of fine-grained description of key objects and attributes; on the other hand, there are redundant descriptions of objects and relationships. To tackle these problems, we take advantage of the fine-grained instance-level annotation of the traffic scene, proposing a bottom-up representation paradigm. It makes full use of the hierarchical structure of the traffic scene and the sparsity of element classes. In addition, on the basis of the existing methods, we optimize the relationship list of traffic scene graph representation. Moreover, we improve the scene graph annotation methods, proposing a "ground-vision joint location method" to better describe the spatially-distributed visual knowledge. The case analysis showed that compared with existing methods, our paradigm for scene graph can represent more abundant traffic scene information.

关键词： visual relationship description traffic knowledge representation autonomous driving Scene graph

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Improved dynamic window approach with ellipse equations for autonomous navigation of unmanned surface vehicle

引用

Journal of Institute of Control, robotics and systems 2020年第8期26卷 624-629页

作者： Kim, Hyogon Yun, Sung-Jo Choi, Young-Ho Ryu, Jae-Kwan Won, Byong-Jae Suh, Jin-Ho Korea Institute of Robotics and Technology Convergence Korea Republic of Unmanned/Intelligent Robotic Systems R&D Lab. LIG Nex1 Korea Republic of Department. of Mechanical System Engineering Pukyoung National University Korea Republic of

Autonomous navigation technology for Unmanned Surface Vehicles (USVs) has seen many recent advancements. In order for a USV to operate autonomously, the path to move from its current location to its destination must be planned, and local path planning must be applied for tracking the path and avoiding obstacles. The Dynamic Window Approach (DWA) is a well-known navigation algorithm used for local path planning. The DWA algorithm derives the linear velocity and angular velocity by evaluating the object function defined as destination direction, velocity, and distance from the obstacle. However, because DWA does not consider the velocity and direction of obstacles, USVs may be in danger when avoiding high-speed obstacles. In this paper, we propose an improved DWA algorithm that considers the velocity and direction of obstacles. Whereas the existing DWA algorithm defines the obstacle recognition area as a circle, the proposed DWA algorithm defines the obstacle recognition area as an ellipse and reflects the speed of the obstacle in the ellipse. In this study, we implemented a simulation to compare the existing DWA algorithm with the improved DWA algorithm proposed here. The results confirm that the proposed DWA algorithm can avoid dynamic obstacles more safely than the existing DWA algorithm. © ICROS 2020.

关键词： Unmanned surface vehicles

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