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IEEE International Conference on robotics and Automation (ICRA)

作者： Ravi Pandya Zhuoyuan Wang Yorie Nakahira Changliu Liu Robotics Institute Carnegie Mellon University Pittsburgh Pennsylvania Department of Electrical and Computer Engineering Carnegie Mellon University Pittsburgh Pennsylvania

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

We focus on the problem of how we can enable a robot to collaborate seamlessly with a human partner, specifically in scenarios where preexisting data is sparse. Much prior work in human-robot collaboration uses observational models of humans (i.e. models that treat the robot purely as an observer) to choose the robot’s behavior, but such models do not account for the influence the robot has on the human’s actions, which may lead to inefficient interactions. We instead formulate the problem of optimally choosing a collaborative robot’s behavior based on a conditional model of the human that depends on the robot’s future behavior. First, we propose a novel model-based formulation of conditional behavior prediction that allows the robot to infer the human’s intentions based on its future plan in data-sparse environments. We then show how to utilize a conditional model for proactive goal selection and safe trajectory generation around human collaborators. Finally, we use our proposed proactive controller in a collaborative task with real users to show that it can improve users’ interactions with a robot collaborator quantitatively and qualitatively.

关键词： Collaboration Predictive models Observers Behavioral sciences Trajectory Task analysis Robots

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A study on an applied behavior analysis-based robot-mediated listening comprehension intervention for ASD

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Paladyn 2021年第1期12卷 31-46页

作者： Geoffrey Louie, Wing-Yue Korneder, Jessica Abbas, Ibrahim Pawluk, Cristyn Intelligent Robotics Laboratory Department of Electrical and Computer Engineering Oakland University RochesterMI48307 United States Applied Behavior Analysis Clinic Department of Human Development and Child Studies Oakland University RochesterMI48307 United States Intelligent Robotics Laboratory Department of Electrical and Computer Engineering Oakland University RochesterMI48307 United States

Autism spectrum disorder (ASD) is a lifelong developmental condition that affects an individual’s ability to communicate and relate to others. Despite such challenges, early intervention during childhood development has shown to have positive long-term benefits for individuals with ASD. Namely, early childhood development of communicative speech skills has shown to improve future literacy and academic achievement. However, the delivery of such interventions is often time-consuming. Socially assistive robots (SARs) are a potential strategic technology that could help support intervention delivery for children with ASD and increase the number of individuals that healthcare professionals can positively affect. For SARs to be effectively integrated in real-world treatment for individuals with ASD, they should follow current evidence-based practices used by therapists such as Applied Behavior Analysis (ABA). In this work, we present a study that investigates the efficacy of applying well-known ABA techniques to a robot-mediated listening comprehension intervention delivered to children with ASD at a university-based ABA clinic. The interventions were delivered in place of human therapists to teach study participants a new skill as a part of their overall treatment plan. All the children participating in the intervention improved in the skill being taught by the robot and enjoyed interacting with the robot, as evident by high occurrences of positive affect as well as engagement during the sessions. One of the three participants has also reached mastery of the skill via the robot-mediated interventions. © 2021 Wing-Yue Geoffrey Louie et al., published by De Gruyter.

关键词： Human robot interaction

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Sudden Cardiac Arrest Detection Based on Temporal Features of ECG Using Support Vector Machine Classifier

Sudden Cardiac Arrest Detection Based on Temporal Features o...

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International Conference on Industrial Instrumentation and Control,ICI2C 2021

作者： Banerjee, Prakash Bhattacherjee, Saptak Dasgupta, Kousik Department of Electrical and Electronics Engineering University of Engineering and Management Kolkata India School of Mechatronics and Robotics Indian Institute of Engineering Science and Technology Howrah Shibpur India Department of Computer Science and Engineering Kalyani Government Engineering College Kalyani India

ISBN: (纸本)9789811670107

Sudden cardiac arrest (SCA) is caused due to malfunctioning in heart rhythm, and the patient needs to be hospitalized as early as possible just after the onset of SCA;otherwise, it can lead to the death of the patient. Therefore, detection of SCA with a very high accuracy and within a very short time after the onset of symptoms is very crucial for patient survival. Several approaches for detection of SCA have been made using temporal and morphological variations in the electrocardiogram (ECG). However, the existing methods suffer from low accuracy or involve long-term monitoring of ECG. Therefore, in the present work, an intelligent algorithm to detect SCA based on the extraction of temporal features like RR interval and the QT interval from ECG and subsequently classifying them using support vector machine (SVM) has been proposed. Experimental evaluation of the proposed method on five SCA and five normal subjects demonstrates a high classification accuracy of 100% which proves the superiority of the proposed algorithm as an effective method for detection of SCA. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Electrocardiograms

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Applying Radio Frequency Attenuators to Reduce the Impact of U-NII-4 Interference on DSRC Channel 180

Applying Radio Frequency Attenuators to Reduce the Impact of...

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2025 IEEE SoutheastCon, SoutheastCon 2025

作者： Hatcher, Grayson Tello, Marco Kirkwood, Nathan Kihei, Billy Kennesaw State University Department of Electrical and Computer Engineering MariettaGA United States Kennesaw State University Department of Robotics and Mechatronics Engineering MariettaGA United States

ISBN: (纸本)9798331504847

In recent years, competition within Radio Frequency (RF) communication bands has led to an overlap between the U-NII-4 band used by low-cost consumer devices, and the Dedicated Short Communication Band (DSRC) used by the Georgia department of Transportation. Past research confirmed that this interference leads to drastic reduction in Packet Reception Rate (PRR) for Roadside Units (RSUs) and On-Board Units (OBUs) throughout the country, resulting in a reduction of stability between different components of the Intelligent Transportation System (ITS). Our research team set a goal to prove that a low-cost and simple modification can be made to RSUs currently in use that could increase PRR, by developing and testing RF technologies, primarily attenuators available on the market currently. These solutions could be easily adapted to infrastructure systems, and only require they run in-line with the stock antennas already in use. We were able to accomplish this goal, as well as made findings that may be beneficial within the world of RF communications for RSU devices. © 2025 IEEE.

关键词： Advanced driver assistance systems

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A Control Theoretic Study on Omnidirectional MAVs with Minimum Number of Actuators and No Internal Forces at Any Orientation

A Control Theoretic Study on Omnidirectional MAVs with Minim...

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IEEE Conference on Decision and Control

作者： Ahmed Ali Chiara Gabellieri Antonio Franchi Robotics and Mechatronics Department Electrical Engineering Mathematics and Computer Science (EEMCS) Faculty University of Twente Enschede Netherlands Department of Computer Control and Management Engineering Sapienza University of Rome Rome Italy

ISBN: (数字)9798350316339

ISBN: (纸本)9798350316346

We propose a new multirotor aerial vehicle class of designs composed of a multi-body structure in which a main body is connected by passive joints to links equipped with propellers. We have investigated some instances of such class, some of which are shown to achieve omnidirectionality while having a minimum number of inputs equal to the main body Degrees of Freedom DoF’s, only uni-directional positive thrust propellers, and no internal forces generated at steady state. After dynamics are derived following the Euler-Lagrange approach, an I/O dynamic feedback linearization strategy is then used to show the controllability of any desired pose with stable zero dynamics. We finally verify the developed controller with closed-loop simulations.

关键词： Three-dimensional displays Propellers Dynamics Controllability Regulation Steady-state Feedback linearization Control theory Closed loop systems Vehicle dynamics

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Gain Scheduling Position Control for Fully-Actuated Morphing Multi-Rotor UAVs

Gain Scheduling Position Control for Fully-Actuated Morphing...

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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Youssef Aboudorra Aaron Saini Antonio Franchi Robotics and Mechatronics Faculty of Electrical Engineering Mathematics & Computer Science University of Twente Enschede The Netherlands Department of Computer Control and Management Engineering Sapienza University of Rome Rome Italy

ISBN: (数字)9798350357882

ISBN: (纸本)9798350357899

This work presents techniques for scheduling the position controller gains for a class of fully-actuated morphing multi-rotor UAVs that use synchronized tilting to change their actuation capabilities. The feasible set of forces and torques that can be produced by the platform changes with the tilting angle, thus the tracking and disturbance rejection capabilities also change. To exploit the platform limits, two methods are proposed for gain scheduling using a simplified example, then one method is tested in simulation with an omnidirectional morphing multi-rotor (OmniMorph). The simulation results show that the developed techniques achieve consistent position tracking performance along the range of tilting angles when rejecting step disturbance forces of values close to the maximum force capabilities. The proposed methods offer a trade-off between simplicity and accuracy, that could be potentially applied for any multi-rotor with synchronized tilting capabilities. A video summary can be found in: https://***/kH-rrO8gWeU

关键词： Accuracy Processor scheduling Attitude control Simulation Force Rotors Position control

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An Experimentally Validated Model of the Propeller Force Accounting for Cross Influences on Multi-Rotor Aerial Systems

An Experimentally Validated Model of the Propeller Force Acc...

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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Barbara Bazzana Ralph Brantjes Chiara Gabellieri Antonio Franchi Robotics and Mechatronics Department Electrical Engineering Mathematics and Computer Science (EEMCS) Faculty University of Twente Enschede The Netherlands Department of Computer Control and Management Engineering Sapienza University of Rome Rome Italy

ISBN: (数字)9798350357882

ISBN: (纸本)9798350357899

In this paper, we propose a model for the thrust coefficient of propellers that can take into account cross-influence between adjacent propellers. The aerodynamic interaction between propellers in multirotor aerial vehicles reduces the thrust they can produce. The influence between propellers depends on their relative positioning and orientation, which are taken into account by the proposed model. It is validated on measurements collected by a force sensor mounted on a propeller for different configurations of the adjacent propellers in a support structure. In this work, we focus on configurations with small relative orientations. Results show that the proposed model outperforms the traditional constant model in terms of thrust prediction on the data we collected, and it performs better than other models with fewer parameters, being the only one with less than 10% maximum percentage error.

关键词： Training Adaptation models Torque Propellers Atmospheric modeling Force Velocity control

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On Experimental Emulation of Printability and Fleet Aware Generic Mesh Decomposition for Enabling Aerial 3D Printing

arXiv

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arXiv 2024年

作者： Stamatopoulos, Marios-Nektarios Banerjee, Avijit Nikolakopoulos, George The Robotics and Artificial Intelligence Group Department of Computer Electrical and Space Engineering Luleå University of Technology Luleå971 87 Sweden

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. © 2024, CC BY.

关键词： Antennas

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Direct Shear Force Measurement by a GaN Nanopillar LED Based Tactile Sensor

Direct Shear Force Measurement by a GaN Nanopillar LED Based...

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2023 Conference on Lasers and Electro-Optics, CLEO 2023

作者： Dvořák, Nathan Yi, Xili Fazeli, Nima Ku, Pei-Cheng Department of Electrical Engineering and Computer Science University of Michigan 1301 Beal Ave Ann ArborMI48109-2122 United States Department of Robotics University of Michigan 2505 Hayward St Ann ArborMI48109-2122 United States

The response of a GaN nanopillar based tactile sensor to a shear force is investigated. Two different materials were used to apply the force to understand how the tactile sensor responds to different slipping conditio... 详细信息

ISBN: (纸本)9781957171258

关键词： III-V semiconductors

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Advances in Wireless,Batteryless,Implantable Electronics for Real‑Time,Continuous Physiological Monitoring

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Nano-Micro Letters 2024年第3期16卷 254-302页

作者： Hyeonseok Kim Bruno Rigo Gabriella Wong Yoon Jae Lee Woon‑Hong Yeo IEN Center for Wearable Intelligent Systems and Healthcare Georgia Institute of TechnologyAtlantaGA 30332USA George W.Woodruff School of Mechanical Engineering Georgia Institute of TechnologyAtlantaGA 30332USA School of Electrical and Computer Engineering Georgia Institute of TechnologyAtlantaGA 30332USA Wallace H.Coulter Department of Biomedical Engineering Georgia Tech and Emory University School of MedicineAtlantaGA 30332USA Parker H.Petit Institute for Bioengineering and Biosciences Institute for MaterialsInstitute for Robotics and Intelligent MachinesGeorgia Institute of TechnologyAtlantaGA 30332USA

This review summarizes recent progress in developing wireless,batteryless,fully implantable biomedical devices for real-time continuous physiological signal monitoring,focusing on advancing human health *** considerations,such as biological constraints,energy sourcing,and wireless communication,are discussed in achieving the desired performance of the devices and enhanced interface with human *** addition,we review the recent achievements in materials used for developing implantable systems,emphasizing their importance in achieving multi-functionalities,biocompatibility,and *** wireless,batteryless devices offer minimally invasive device insertion to the body,enabling portable health monitoring and advanced disease ***,we summarize the most recent practical applications of advanced implantable devices for human health care,highlighting their potential for immediate commercialization and clinical uses.

关键词： Implantable electronics Biomedical systems Batteryless devices Wireless electronics Physiological signal monitoring

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