检索结果-内蒙古大学图书馆

IEEE International Conference on robotics and Automation (ICRA)

作者： Marios-Nektarios Stamatopoulos Avijit Banerjee George Nikolakopoulos Department of Computer Electrical and Space Engineering Robotics and Artificial Intelligence Group Luleå University of Technology Luleå Sweden

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

This article introduces an experimental emulation of a novel chunk-based flexible multi-DoF aerial 3D printing framework. The experimental demonstration of the overall autonomy focuses on precise motion planning and task allocation for a UAV, traversing through a series of planned space-filling paths involved in the aerial 3D printing process without physically depositing the overlaying material. The flexible multi-DoF aerial 3D printing is a newly developed framework and has the potential to strategically distribute the envisioned 3D model to be printed into small, manageable chunks suitable for distributed 3D printing. Moreover, by harnessing the dexterous flexibility due to the 6 DoF motion of UAV, the framework enables the provision of integrating the overall autonomy stack, potentially opening up an entirely new frontier in additive manufacturing. However, it’s essential to note that the feasibility of this pioneering concept is still in its very early stage of development, which yet needs to be experimentally verified. Towards this direction, experimental emulation serves as the crucial stepping stone, providing a pseudo mockup scenario by virtual material deposition, helping to identify technological gaps from simulation to reality. Experimental emulation results, supported by critical analysis and discussion, lay the foundation for addressing the technological and research challenges to significantly push the boundaries of the state-of-the-art 3D printing mechanism. - Full mission video available at https://***/gfZuYCA8jAw

关键词： Solid modeling Three-dimensional displays Coordinate measuring machines Emulation Three-dimensional printing Autonomous aerial vehicles Motion measurement

来源：评论

学校读者我要写书评

暂无评论

Collision-Free Landing of Multiple UAVs on Moving Ground Vehicles Using Time-Varying Control Barrier Functions

Collision-Free Landing of Multiple UAVs on Moving Ground Veh...

引用

American Control Conference (ACC)

作者： Viswa Narayanan Sankaranarayanan Akshit Saradagi Sumeet Satpute George Nikolakopoulos Department of Computer Science Electrical and Space Engineering Robotics and Artificial Intelligence Group Luleå University of Technology Sweden

ISBN: (数字)9798350382655

ISBN: (纸本)9798350382662

In this article, we present a centralized approach for the control of multiple unmanned aerial vehicles (UAVs) for landing on moving unmanned ground vehicles (UGVs) using control barrier functions (CBFs). The proposed control framework employs two kinds of CBFs to impose safety constraints on the UAVs' motion. The first class of CBFs (LCBF) is a three-dimensional exponentially decaying function centered above the landing platform, designed to safely and precisely land UAVs on the UGVs. The second set is a spherical CBF (SCBF), defined between every pair of UAVs, which avoids collisions between them. The LCBF is time-varying and adapts to the motions of the UGVs. In the proposed CBF approach, the control input from the UAV's nominal tracking controller designed to reach the landing platform is filtered to choose a minimally-deviating control input that ensures safety (as defined by the CBFs). As the control inputs of every UAV are shared in establishing multiple CBF constraints, we prove that the control inputs are shared without conflict in rendering the safe sets forward invariant. The performance of the control framework is validated through a simulated scenario involving three UAVs landing on three moving targets.

关键词： Tracking Autonomous aerial vehicles Rendering (computer graphics) Land vehicles Safety Matlab

来源：评论

学校读者我要写书评

暂无评论

RT-Grasp: Reasoning Tuning Robotic Grasping via Multi-modal Large Language Model

RT-Grasp: Reasoning Tuning Robotic Grasping via Multi-modal ...

引用

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

作者： Jinxuan Xu Shiyu Jin Yutian Lei Yuqian Zhang Liangjun Zhang Department of Electrical and Computer Engineering Rutgers University Baidu Research Robotics and Autonomous Driving Lab (RAL) USA

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

Recent advances in Large Language Models (LLMs) have showcased their remarkable reasoning capabilities, making them influential across various fields. However, in robotics, their use has primarily been limited to manipulation planning tasks due to their inherent textual output. This paper addresses this limitation by investigating the potential of adopting the reasoning ability of LLMs for generating numerical predictions in robotics tasks, specifically for robotic grasping. We propose Reasoning Tuning, a novel method that integrates a reasoning phase before prediction during training, leveraging the extensive prior knowledge and advanced reasoning abilities of LLMs. This approach enables LLMs, notably with multi-modal capabilities, to generate accurate numerical outputs like grasp poses that are context-aware and adaptable through conversations. Additionally, we present the Reasoning Tuning VLM Grasp dataset, carefully curated to facilitate the adaptation of LLMs to robotic grasping. Extensive validation on both grasping datasets and real-world experiments underscores the adaptability of multi-modal LLMs for numerical prediction tasks in robotics. This not only expands their applicability but also bridges the gap between text-based planning and direct robot control, thereby maximizing the potential of LLMs in robotics. Our dataset will be released. More details and videos of this work are available on our project page: https://***/view/rt-grasp.

关键词： Training Large language models Robot control Grasping Oral communication Cognition Planning Robots Tuning Videos

来源：评论

学校读者我要写书评

暂无评论

Time-varying Control Barrier Function for Safe and Precise Landing of a UAV on a Moving Target

Time-varying Control Barrier Function for Safe and Precise L...

引用

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

作者： Viswa Narayanan Sankaranarayanan Akshit Saradagi Sumeet Satpute George Nikolakopoulos Robotics and Artificial Intelligence Group of the Department of Computer Science Electrical and Space Engineering at Luleå University of Technology Sweden

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

In this article, we present a control barrier function (CBF)-based control strategy for safe and precise landing of an unmanned aerial vehicle (UAV) on a moving target. The CBF is time-varying, as it depends on the velocity of the landing platform and captures three crucial safety constraints: (a) collision avoidance with the landing platform, (b) precise vertical descent on a narrow landing platform, and (c) ground clearance throughout the landing maneuver. The proposed CBF’s parameters can be adjusted to set the desired width and height of the descending cone. A quadratic programbased CBF safety filter is designed, which takes a nominal position tracking control input and yields a minimally invasive control input that enforces the safety constraints throughout the landing maneuver. The controller’s feasibility is analyzed and its performance is validated through multiple experiments using a quadrotor UAV and an unmanned ground vehicle.

关键词： Uncertainty Minimally invasive surgery Autonomous aerial vehicles Land vehicles Safety Collision avoidance Intelligent robots Quadrotors

来源：评论

学校读者我要写书评

暂无评论

Energy Management System for a Smart Green Nanogrid feeding a Research Laboratory with Autonomous Mobile Robots

引用

IFAC-PapersOnLine 2024年第2期58卷 156-161页

作者： Matteo Fresia Lorenzo De Simone Ilaria Traverso Stefano Bracco Silvia Siri Department of Electrical Electronic Telecommunication Engineering and Naval Architecture University of Genoa 16145 Genova Italy Department of Computer Science Bioengineering Robotics and Systems Engineering University of Genoa 16145 Genova Italy

This paper proposes a mixed-integer linear programming optimization model used to define an energy management system tailored for nanogrids in buildings, integrating renewable energy sources, battery energy storage systems and task-executing autonomous mobile robots. Focused on a nanogrid to be realised at the Savona Campus of the University of Genoa, the energy management system optimizes power flows and robot task scheduling in order to minimize the operating costs, the curtailment of the photovoltaic source and the number of unperformed tasks. Its novelty lies in combining energy and task planning constraints, offering significant potential for sustainable building energy management.

关键词： Energy management system Optimal operation Nanogrids Prosumer building Autonomous mobile robots Renewable energy sources Battery energy storage system

来源：评论

学校读者我要写书评

暂无评论

Temporal and Semantic Evaluation Metrics for Foundation Models in Post-Hoc Analysis of Robotic Sub-tasks

arXiv

引用

arXiv 2024年

作者： Salfity, Jonathan Wanna, Selma Choi, Minkyu Pryor, Mitch Nuclear and Applied Robotics Group Department of Mechanical Engineering SWARM Lab Department of Electrical and Computer Engineering The University of Texas at Austin United States

Recent works in Task and Motion Planning (TAMP) show that training control policies on language-supervised robot trajectories with quality labeled data markedly improves agent task success rates. However, the scarcity of such data presents a significant hurdle to extending these methods to general use cases. To address this concern, we present an automated framework to decompose trajectory data into temporally bounded and natural language-based descriptive subtasks by leveraging recent prompting strategies for Foundation Models (FMs) including both Large Language Models (LLMs) and Vision Language Models (VLMs). Our framework provides both time-based and language-based descriptions for lower-level sub-tasks that comprise full trajectories. To rigorously evaluate the quality of our automatic labeling framework, we contribute an algorithm SIMILARITY to produce two novel metrics, temporal similarity and semantic similarity. The metrics measure the temporal alignment and semantic fidelity of language descriptions between two sub-task decompositions, namely an FM sub-task decomposition prediction and a ground-truth sub-task decomposition. We present scores for temporal similarity and semantic similarity above 90%, compared to 30% of a randomized baseline, for multiple robotic environments, demonstrating the effectiveness of our proposed framework. Our results enable building diverse, large-scale, language-supervised datasets for improved robotic TAMP. Copyright © 2024, The Authors. All rights reserved.

关键词： Motion planning

来源：评论

学校读者我要写书评

暂无评论

Modular Multimodal CanBot Trajectory Tracking with Optical Motion Capture System

Modular Multimodal CanBot Trajectory Tracking with Optical M...

引用

Automation, Control and robotics engineering (CACRE), International Conference on

作者： Carrington Chun Andrea Martinez Angulo M. Hassan Tanveer Sumit Chakravarty Department of Robotics and Mechatronics Engineering Kennesaw State University Marietta USA Department of Electrical and Computer Engineering Kennesaw State University Marietta USA

ISBN: (数字)9798350350302

ISBN: (纸本)9798350350319

CanSats are earth bound analogues for orbital micro and picosatellites. These devices have become increasingly relevant as small-scale satellites, such as CubeSats, have grown in popularity and accessibility. With additional robotic frontiers for the exploration of space also becoming increasingly accessible, analogous systems for researching planetary surface rovers may also be potentially relevant. This research expands on the emerging field of “CanBots”, which refers to this kind of earth-bound analogue for planetary surface exploring robots. The novel modular CanBot developed in this research represents a unique design framework whereby mobility aspects of the vehicle form discrete and interchangeable modules. Initial characterization of the locomotion capabilities of these modules were determined independently using an optical Motion Capture system. Then the modules were combined into a single multimodal system for additional mobility testing. Vehicle trajectories for an Aerial Quadrotor CanBot, Terrestrial Quadruped CanBot and the combined Multimodal CanBot have been compiled in this research. Initial results suggest that the Multimodal CanBot can successfully reproduce the locomotion techniques for the aerial and terrestrial modalities, but at the cost of lower overall movement efficiency in either modality.

关键词： Space vehicles Satellites Trajectory tracking Motion capture Space exploration Trajectory Quadrupedal robots

来源：评论

学校读者我要写书评

暂无评论

Learning-Based Joint Resource Slicing and Scheduling in Space-Terrestrial Integrated Vehicular Networks

引用

Journal of Communications and Information Networks 2021年第3期6卷 208-223页

作者： Huaqing Wu Jiayin Chen Conghao Zhou Junling Li Xuemin(Sherman)Shen Department of Electrical and Computer Engineering University of WaterlooWaterloo.ON N2L 3G1Canada Department of Electrical and Computer Engineering the University of British ColumbiaVancouverBC V6T 1Z4Canada Shenzhen Institute of Artificial Intelligence and Robotics for Society(AIRS) and the Department of Electrical and Computer EngineeringUniversity of WaterlooCanada

In this paper,we investigate the resource slicing and scheduling problem in the space-terrestrial integrated vehicular networks to support both delay-sensitive services(DSSs)and delay-tolerant services(DTSs).Resource slicing and scheduling are to allocate spectrum resources to different slices and determine user association and bandwidth allocation for individual *** accommodate the dynamic network conditions,we first formulate a joint resource slicing and scheduling(JRSS)problem to minimize the long-term system cost,including the DSS requirement violation cost,DTS delay cost,and slice reconfiguration *** resource slicing and scheduling decisions are interdependent with different timescales,we decompose the JRSS problem into a large-timescale resource slicing subproblem and a small-timescale resource scheduling *** propose a two-layered reinforcement learning(RL)-based JRSS scheme to find the solutions to the *** the resource slicing layer,spectrum resources are pre-allocated to different slices via a proximal policy optimization-based RL *** the resource scheduling layer,spectrum resources in each slice are scheduled to individual vehicles based on dynamic network conditions and service requirements via matching-based *** conduct extensive trace-driven experiments to demonstrate that the proposed scheme can effectively reduce the system cost while satisfying service quality requirements.

关键词： space-terrestrial integrated vehicular networks LEO satellite communication resource slicing and scheduling reinforcement learning matching-based optimization

来源：评论

学校读者我要写书评

暂无评论

Analysis and Design Optimization of Surface Permanent Magnet Motor to Improve Torque Density and Ripple 11

Analysis and Design Optimization of Surface Permanent Magnet...

引用

11th International Conference on Power Electronics - ECCE Asia, ICPE 2023-ECCE Asia

作者： Shakhin, Yussuf Talapiden, Kulash Minh Thao, Nguyen Gia Bagheri, Mehdi Duc Do, Ton Department of Robotics and Mechatronics AstanaZ05H0P9 Kazakhstan Toyota Technological Institute Graduate School of Engineering Japan Department of Electrical and Computer Engineering AstanaZ05H0P9 Kazakhstan

ISBN: (纸本)9788957083505

Small-scale permanent magnet motor to reach high torque density and low torque ripple is discussed in this research. To increase the torque density, meanwhile making the motor size smaller and lighter, the motor axial length within a constrained diameter is optimized in view of various pole-slot configurations. Different slot-poles are selected and various combinations are studied, and the stator windings are optimized. To compare the torque density and ripple of new designs, precise models are created and simulated through ANSYS Maxwell 2D FEA under constant operational conditions, such as rated speed, torque, and power. Over the new designs, the influence of loss and temperature distribution variations in motor elements are analyzed. The simulation results show that the proposed 20-pole 18-slot motor design will obtain superior torque density and lower torque ripple compared to the baseline design. The final design provides a 30.7 % improvement of the torque density within the same rated torque condition. © 2023 The Korean Institute of Power Electronics.

关键词： Finite element method

来源：评论

学校读者我要写书评

暂无评论

Nonlinear Model Predictive Control for Optimal Dose Administration in Radiotherapy 15th

Nonlinear Model Predictive Control for Optimal Dose Administ...

引用

15th Advanced Doctoral Conference on Computing, electrical and Industrial Systems, DoCEIS 2024

作者： Araújo, João C. G. Guerreiro, Bruno J. Oliveira, Luis B. da Silva, Filipe Ferreira CTS-UNINOVA and LASI Department of Electrical and Computer Engineering NOVA School of Science and Technology Caparica2829-516 Portugal Institute for Systems and Robotics LARSyS Lisbon1049-001 Portugal CEFITEC Department of Physics NOVA School of Science and Technology Caparica2829-516 Portugal

ISBN: (纸本)9783031638503

This work discusses the nonlinear modeling of healthy and cancer cell population growth under the influence of radiotherapy, and proposes predictive control techniques to determine the optimal dose for tumor control, while sparing surrounding healthy tissue. Radiation effects are modelled by a linear-quadratic formalism, coupled with a novel population-specific delayed dose response. Numerical simulations of the open- and closed-loop system are conducted, and robustness against model uncertainty is studied. Results illustrate the controller’s performance when dealing with imperfect information and unexpected system behavior, and how it can be tuned to produce the desired treatment outcome. However, optimal operation is conditioned by a limited prediction horizon, as well as strict adherence to treatment schedules and dose restrictions. © IFIP International Federation for Information Processing 2024.

关键词： Nonlinear systems

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：