Social robots have great potential to support individuals’ health and wellbeing. We did a follow up study based on previous work of a 2021 systematic review following PRISMA guidelines that identified 443 research ar...
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We are interested in studying sports with robots and starting with the problem of intercepting a projectile moving toward a robot manipulator equipped with a shield. To successfully perform this task, the robot needs ...
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ISBN:
(数字)9798350384574
ISBN:
(纸本)9798350384581
We are interested in studying sports with robots and starting with the problem of intercepting a projectile moving toward a robot manipulator equipped with a shield. To successfully perform this task, the robot needs to (i) detect the incoming projectile, (ii) predict the projectile’s future motion, (iii) plan a minimum-time rapid trajectory that can evade obstacles and intercept the projectile, and (iv) execute the planned trajectory. These four steps must be performed under the manipulator’s dynamic limits and extreme time constraints (≤ 350ms in our setting) to successfully intercept the projectile. In addition, we want these trajectories to be smooth to reduce the robot’s joint torques and the impulse on the platform on which it is mounted. To this end, we propose a kinodynamic motion planning framework that preprocesses smooth trajectories offline to allow real-time collision-free executions online. We present an end-to-end pipeline along with our planning framework, including perception, prediction, and execution modules. We evaluate our framework experimentally in simulation and show that it has a higher blocking success rate than the baselines. Further, we deploy our pipeline on a robotic system comprising an industrial arm (ABB IRB-1600) and an onboard stereo camera (ZED 2i), which achieves a 78% success rate in projectile interceptions.
Nickel is typically used as one of the main components in electrical contact devices or *** oxide(NiO)is usually formed on the surfaces of electrodes and can negatively impact system performance by introducing electri...
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Nickel is typically used as one of the main components in electrical contact devices or *** oxide(NiO)is usually formed on the surfaces of electrodes and can negatively impact system performance by introducing electrical contact *** thermal,electrical,and transport properties of NiO,as a Mott insulator or a p-type semiconductor,can be altered by operating and environmental conditions such as temperature and stress/strain by *** this study,we inves-tigate the fundamental material properties of NiO through the first-principle ***,we obtain and compare the lattice parameter,magnetic moment,and electronic structure for NiO via the WIEN2K simulations with four different poten-tials(i.e.,GGA,GGA+U,LSDA,and LSDA+U).Then,using the WIEN2K simulation results with LSDA+U potential that produces a highly accurate bandgap for NiO,we calculate the electrical conductivity and electrical part of the thermal conductivity of nickel and NiO as a function of temperature and carrier concentration through the BoltzTraP *** simulation results revealed that the electrical conductivity relative to the relaxation time for NiO increases with the carrier concentration,while it shows a slightly decreasing trend with temperature under a fixed carrier *** contrast,the electrical part of the thermal conductivity shows an increasing trend considering carrier concentration and temperature.
Daily pressure activity especially in work place or any society condition may causing stress or pressure for the people deal with that condition. This stress may causing of decreasing of work performance and achieveme...
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Neuropeptides configure the feeding network of Aplysia. For example, egestive activity is promoted by small cardioactive peptide (SCP), and ingestive activity is promoted by a combination of feeding circuit activating...
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Observing and filming a group of moving actors with a team of aerial robots is a challenging problem that combines elements of multi-robot coordination, coverage, and view planning. A single camera may observe multipl...
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ISBN:
(数字)9798350316339
ISBN:
(纸本)9798350316346
Observing and filming a group of moving actors with a team of aerial robots is a challenging problem that combines elements of multi-robot coordination, coverage, and view planning. A single camera may observe multiple actors at once, and a robot team may observe individual actors from multiple views. As actors move about, groups may split, merge, and reform, and robots filming these actors should be able to adapt smoothly to such changes in actor formations. Rather than adopt an approach based on explicit formations or assignments, we propose an approach based on optimizing views directly. We model actors as moving polyhedra and compute approximate pixel densities for each face and camera view. Then, we propose an objective that exhibits diminishing returns as pixel densities increase from repeated observation. This gives rise to a multi-robot perception planning problem that we solve via a combination of value iteration and greedy submodular maximization. We evaluate our approach on challenging scenarios modeled after various social behaviors and featuring different numbers of robots and actors and observe that robot assignments and formations arise implicitly given the movements of groups of actors. Simulation results demonstrate that our approach consistently outperforms baselines, and in addition to performing well with the planner’s approximation of pixel densities our approach also performs comparably for evaluation based on rendered views. Overall, the multi-round variant of the sequential planner we propose meets (within 1%) or exceeds formation and assignment baselines in all scenarios.
Robotic manipulators are essential for future autonomous systems, yet limited trust in their autonomy has confined them to rigid, task-specific systems. The intricate configuration space of manipulators, coupled with ...
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ISBN:
(数字)9798350384574
ISBN:
(纸本)9798350384581
Robotic manipulators are essential for future autonomous systems, yet limited trust in their autonomy has confined them to rigid, task-specific systems. The intricate configuration space of manipulators, coupled with the challenges of obstacle avoidance and constraint satisfaction, often makes motion planning the bottleneck for achieving reliable and adaptable autonomy. Recently, a class of constant-time motion planners (CTMP) was introduced. These planners employ a preprocessing phase to compute data structures that enable online planning provably guarantee the ability to generate motion plans, potentially sub-optimal, within a user defined time bound. This framework has been demonstrated to be effective in a number of time-critical tasks. However, robotic systems often have more time allotted for planning than the online portion of CTMP requires, time that can be used to improve the solution. To this end, we propose an anytime refinement approach that works in combination with CTMP algorithms. Our proposed framework, as it operates as a constant time algorithm, rapidly generates an initial solution within a user-defined time threshold. Furthermore, functioning as an anytime algorithm, it iteratively refines the solution’s quality within the allocated time budget. This enables our approach to strike a balance between guaranteed fast plan generation and the pursuit of optimization over time. We support our approach by elucidating its analytical properties, showing the convergence of the anytime component towards optimal solutions. Additionally, we provide empirical validation through simulation and real-world demonstrations on a 6 degree-of-freedom robot manipulator, applied to an assembly domain.
This research aims to construct a two-dimensional image to represent an underwater geometry map with a Side Scan Sonar (SSS) mounted on a Hybrid Autonomous Underwater Glider (HAUG). Building the underwater map has two...
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The energy control of a Wireless Sensor Network (WSN) often leads to an unbalanced state between the battery storage system, energy extraction through photovoltaic systems energy, and energy utilization in the WSN. Th...
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With the rapid development of deep learning, the increasing complexity and scale of parameters make training a new model increasingly resource-intensive. In this paper, we start from the classic convolutional neural n...
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