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5th RSI International Conference on robotics and Mechatronics, IcRoM 2017

作者： Mojtaba, Seyed Mousavi, Seyed Khoogar, Ahmadreza Masouleh, Mehdi Tale Mechanical Engineering Department Malek Ashtar University of Technology Tehran Iran Human and Robot Interaction Laboratory School of Electrical and Computer Engineering University of Tehran Iran

ISBN: (纸本)9781538657034

In this paper, three types of Spherical Parallel Manipulators (SPM) are compared from accuracy point of view based on joint clearances. The 3-RRR SPM is an overconstraint parallel mechanism and one can presume that it may exhibits an accurate motion. But beside the foregoing advantage, this structure has some drawbacks such as requiring high manufacturing precision and the difficulty of assembling the mechanism. Two other types, 3-RRS and 3-RSR, are non-overconstrained and do not have the above disadvantages, therefore these two types with 3- RRR are put into contrast from accuracy point of view. First, a method to obtain a model of moving platform pose (position and orientation) error is introduced which leads to a standard convex optimization problem. Since error calculation depends on the end-effector configuration, more than 1000 configurations are taken into account in order to cover SPMs workspaces. Then maximum values of six components of the pose error in each configuration are computed for each type. Finally, the three SPMs are compared based on maximum position and orientation error for given joint clearances. The obtained results revealed that the 3- RRR SPM has better position accuracy while in the case of orientation, the 3-RRS SPM has lowest maximum error between SPMs under study in the prescribed workspace. © 2017 IEEE.

关键词： Mechanisms

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Design, Development and Control of a Three Flexible-Fingers Gripper Based On Hand Gesture

Design, Development and Control of a Three Flexible-Fingers ...

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RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： Rasoul Sadeghian Pooyan Sedigh Parastoo Azizinezhad Shahrooz Shahin Mehdi Tale Masouleh Human and Robot Interaction Laboratory Tehran Iran Department of Biomedical Engineering Science and Research Branch Islamic Azad University Tehran Iran Faculty of Electrical and Computer Science Robotic Engineering Tehran North Branch Islamic Azad University Tehran Iran Human and Robot Interaction Laboratory School of Electrical and Computer Engineering University of Tehran Tehran Iran

ISBN: (纸本)9781728101286;9781728101279

In this paper, the process of design, and construction of a flexible gripper with three fingers is presented. The fingers of the proposed gripper are fabricated using a 3D printing device. The gripper is controlled remotely by an autonomous glove which is designed to help people with disability. In order to ameliorate the movement accuracy of the gripper a Fuzzy-PID controller is implemented on the system. The result of experimental tests demonstrate a decrease of the gripper movement error to less than 2 degrees in average. An ultrasonic sensor is set on the gripper's body to improve the grasping process by detecting the distance of the object to the gripper. The fabricated fingers are flexible and provides the ability of grasping the objects with irregular shapes. The experimental test approves the significant performance of the gripper in term of grasping complex shape objects.

关键词： Grippers Grasping Flexible printed circuits robot sensing systems Shape Kalman filters

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Push Recovery Methods Based on Admittance Control Strategies for a NAO-H25 humanoid

Push Recovery Methods Based on Admittance Control Strategies...

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RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： Fatemeh Sadat Mousavi Mehdi Tale Masouleh Ahmad Kalhor Payam Ghassemi Human and Robot Interaction Laboratory School of Electrical nad Computer Engineering University of Tehran Tehran Iran Faculty of New Sciences and Technologies University of Tehran Tehran Iran

ISBN: (纸本)9781728101286;9781728101279

This paper discusses two main investigations regarding push recovery of a NAO humanoid robot. The first part indicates the simulation results of different strategies retrieved from human behaviors, namely: Ankle, Hip, and Hip-ankle strategies. These methods are separately assessed and their efficiencies are discussed. To the end of converting torque parameter to robot's movement with a reasonable approximation in the aforementioned strategies' obtained models, a new approach, the so-called Virtual leg model, is introduced. The second discussion assesses the admittance control strategy, which relies on disturbances' energy absorption. Individual control algorithms are introduced for each disturbances' categories based on NAO's real conditions. This paper proposes a new strategy, which investigates the influence of admittance control coefficients against external disturbances, by considering a virtual interaction between robot's feet and the ground, and introducing a Kalman-filter-based estimator. All proposed methods are simulated in NAO-H25's simulation environment.

关键词： Legged locomotion Hip Admittance robot kinematics Measurement uncertainty robot sensing systems

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A Scalable Deep Attention Mechanism of Instance Segmentation for the Investigation of Chromosome

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SLAS technology 2025年 33卷 100306页

作者： Neelam Umbreen Sara Ali Hasan Sajid Yasar Ayaz Shrooq Alsenan Yunyoung Nam So Yeon Kim Muhammad Baber Sial National University of Sciences and Technology (NUST) Islamabad Pakistan. Electronic address: neelamumbreen.phd@smme.edu.pk. National University of Sciences and Technology (NUST) Islamabad Pakistan Suzhou Industrial Park (SIP) Monash Research Institute of Science and Technology Monash University 8Q9C+R6W Suzhou Jiangsu China. School of Mechanical and Manufacturing Engineering (SMME) National University of Sciences and Technology (NUST) Islamabad NUST-COVENTRY Human-Robot Interaction (NC-HRI) Laboratory Pakistan Intelligent Field Robotics Laboratory (IFRL) National Center for Artificial Intelligence (NCAI) National University of Sciences and Technology (NUST) Islamabad Pakistan. Electronic address: sarababer@smme.nust.edu.pk. National University of Sciences and Technology (NUST) Islamabad Pakistan. Electronic address: hasan.sajid@smme.nust.edu.pk. Intelligent Field Robotics Laboratory (IFRL) National Center for Artificial Intelligence (NCAI) National University of Sciences and Technology (NUST) Islamabad Pakistan. Electronic address: yasar@smme.nust.edu.pk. Information Systems Department College of Computer and Information Sciences Princess Nourah bint Abdulrahman University P.O. Box 84428 Riyadh 11671 Saudi Arabia. Electronic address: shalsenan@pnu.edu.sa. Emotional and Intelligent Child Care Convergence Research Center Soonchunhyang University Asan 31538 Korea. Electronic address: ynam@sch.ac.kr. Department of Artificial Intelligence Department of Software and Computer Engineering Ajou University. Electronic address: jebi1771@ajou.ac.kr. School of Automation Science and Electrical Engineering Beihang University Beijing 100191 China. Electronic address: babersial@***.

Chromosome segmentation in metaphase images is a critical yet challenging task in cytogenetics and genomics due to the inherent complexity, variability in chromosome shapes, and the scarcity of high-quality annotated datasets. This study proposes a robust instance segmentation framework that integrates an automated annotation pipeline with an enhanced deep learning architecture to address these challenges. A novel dataset is introduced, comprising metaphase images and corresponding karyograms, annotated with precise instance segmentation information across 24 chromosome classes in COCO format. To overcome the labor-intensive manual annotation process, a feature-based image registration technique leveraging SIFT and homography is employed, enabling the accurate mapping of chromosomes from karyograms to metaphase images and significantly improving annotation quality and segmentation performance. The proposed framework includes a custom Mask R-CNN model enhanced with an Attention-based Feature Pyramid Network (AttFPN), spatial attention mechanisms, and a LastLevelMaxPool block for superior multi-scale feature extraction and focused attention on critical regions of the image. Experimental evaluations demonstrate the model's efficacy, achieving a mean average precision (mAP) of 0.579 at IoU = 0.50:0.95, surpassing the baseline Mask R-CNN and Mask R-CNN with AttFPN by 3.94% and 5.97% improvements in mAP and AP50, respectively. Notably, the proposed architecture excels in segmenting small and medium-sized chromosomes, addressing key limitations of existing methods. This research not only introduces a state-of-the-art segmentation framework but also provides a benchmark dataset, setting a new standard for chromosome instance segmentation in biomedical imaging. The integration of automated dataset creation with advanced model design offers a scalable and transferable solution, paving the way for tackling similar challenges in other domains of biomedical and cytogenetic imagi

关键词： Chromosome segmentation Instance segmentation, cytogenetics Mask R-CNN attention mechanism biomedical imaging multi-scale feature fusion

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Proactive conversation between multiple robots to improve the sense of human-robot conversation

Proactive conversation between multiple robots to improve th...

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2017 AAAI Fall Symposium

作者： Yoshikawa, Yuichiro Lio, Takamasa Arimoto, Tsunehiro Sugiyama, Hiroaki Ishiguro, Hiroshi Dept. Systems Innovation Graduate School of Engineering Osaka University Japan ISHIGURO Symbiotic Human-Robot Interaction Project JST ERATO Japan Communication Science Laboratory NTT Japan

ISBN: (纸本)9781577357940

In this position paper, we address potential merits of a novel conversational system using the group form of multiple robots that provides users with a stronger sense of conversation, with which a person can feel as if he or she is participating in a conversation. The merits can be performed by implementing the group behavior of multiple robots so that appropriate turn-taking is inserted to enhance the sense of conversation against potential conversational break-down. Through introducing the preliminary analysis of three experiments, how the sense of conversation can be enhanced and evaluated is exemplified and its limitations and potentials are argued. Copyright © 2017, Association for the Advancement of Artificial Intelligence (***). All rights reserved.

关键词： Industrial robots

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Accuracy Comparison of Spherical Parallel Manipulators Based on Joint Clearance

Accuracy Comparison of Spherical Parallel Manipulators Based...

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RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： Seyed Mojtaba Seyed Mousavi Ahmadreza Khoogar Mehdi Tale Masouleh Mechanical Engineering Department Malek Ashtar University of Technology Tehran Iran Human and Robot Interaction Laboratory University of Tehran

ISBN: (纸本)9781538657041

关键词： Manipulators Legged locomotion Fasteners Kinematics Solid modeling Electronic mail

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Influence of AC Electrothermal Flow on the Dielctrophoretic Behaviors of Micro-nano Particles

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Jixie Gongcheng Xuebao/Journal of mechanical engineering 2017年第14期53卷 202-208页

作者： Yan, Zizi Li, Shanshan Li, Minghao Zhang, Minghang Li, Tiejun Dai, Shijie School of Mechanical Engineering Hebei University of Technology Tianjin300130 China Institute of Robot and Automation Hebei University of Technology Tianjin300130 China Key Laboratory of Intelligent Sensing and Human-Machine Integration in Hebei Province Hebei University of Technology Tianjin300130 China

Taking the case of interdigital electrode array, finite element models of symmetric/asymmetric physical field and travelling wave field are established respectively to solve the distribution of electric field, flow field, temperature and dielectrophoretic forces. The influence of AC electrothermal flow and the convective mass transfer process on the dielctrophoretic behaviors of micro-nano particles are presented herein. It is shown that the convection and mass transfer are enhanced due to the vortex generated by symmetric/asymmetric interdigital electrode array. As a result, the particles far away from the electrodes are transported towards the strong dielectrophoretic regions, enlarging the effective regions of dielectrophoresis. There is no obvious vortex and convections in the travelling wave flow field, but the dissipation of dielectrophoretic force is much slower than symmetric/asymmetric array, making the particles being trapped efficiently. The particles suspended at certain height (60 times of electrode height) can be affected by dielectrophoretic forces, improving the manipulating and transporting abilities for micro-nano particles. © 2017 Journal of mechanical engineering.

关键词： Electrophoresis

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Path Planning of 3-RRR Parallel robot by Avoiding mechanical Interferences via Artificial Potential Field

Path Planning of 3-RRR Parallel Robot by Avoiding Mechanical...

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RSI/ISM International Conference on robotics and Mechatronics

作者： Hossein Kazemi Pouria Nozari Porshokouhi Mehdi Tale Masouleh Roya Sabbagh Novin Department of Mechanical Engineering Sharif University of Technology Tehran Iran Human and Robot Interaction laboratory Faculty of New Sciences and Technologies Tehran Iran

ISBN: (纸本)9781467372350

This paper deals with the collision-free path planning of planar parallel robot by avoiding mechanical interferences and obstacle within the workspace. For this purpose, an Artificial Potential Field approach is developed. As the main contribution of this paper, In order to circumvent the local minima problem of the potential fields, a novel approach is proposed which is a combination of Potential Field approach, Fuzzy Logic and also a novel algorithm consisting of Following Obstacle as well as Virtual Obstacle methods, as a hybrid method. Moreover, the inverse kinematic problem of the 3-RRR parallel robot is analyzed and then the aforementioned hybrid method is applied to this mechanism in singular-free case. It is worth mentioning that, in this paper, all the probable collisions, i.e., the collision between the mechanism and the obstacles and also among the links, are taken into accounts. Two general cases have been considered in collision-free path planning simulation;the first case considered a mobile robot in several workspaces and the second one was assigned to the 3-RRR parallel robot path planning. Results of the simulations, which are implemented in C programming language for the sake of real-time purposes. reveal that for the both cases, the newly proposed hybrid path planning method is efficient enough for the mobile robot, or the end-effector of the planar parallel robot to reach the goal without colliding with the obstacles.

关键词： 3-RRR Parallel mechanism Inverse kinematics Path planning Obstacle avoidance artificial potential field theory

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Dynamic Analysis of an n-Revolute Planar Serial Manipulator and Sensitivity Analysis Based on Sobol's Method

Dynamic Analysis of an n-Revolute Planar Serial Manipulator ...

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RSI/ISM International Conference on robotics and Mechatronics

作者： Behzad Mehrafrooz Mohsen Mohammadi Mehdi Tale Masouleh Dept. of Mechanical Engineering Sharif University of Technology Tehran Iran Human and Robot Interaction Laboratory Faculty of New Sciences and Technologies University of Tehran. Tehran Iran

ISBN: (纸本)9781467372350

In this paper, dynamic modeling and dynamic sensitivity analysis of an n-revolute planar serial robot are investigated First, a dynamic modeling algorithm is proposed which is based on the concept of the so-called Natural Orthogonal Complement. The main goal of this algorithm consists in deriving the corresponding dynamic equations of a planar serial manipulator systematically. As a comparison study, 3-DOF a planar serial manipulator is modeled and the results of the proposed algorithm is compared with other methods, i.e., Newton-Euler, Lagrange-Euler, Adams software and an Open Dynamics Engine, the so-called MatODE. Then, in order to develop a dynamic sensitivity analysis scheme, Sobol's method is employed By the use of inverse kinematics analysis of the robots for a predefined trajectory of end-effector, the joint coordinates, angular velocities and angular accelerations are founded for a given period of time Then the sensitivity of delivering torques to joint coordinates, angular velocities and angular accelerations are analyzed The sensitivity analysis is developed for two planar serial robots, 2-R and 3-R The results reveal that actuating torques are more sensitive to joint coordinates with respect to angular velocities and accelerations.

关键词： n-revolute planar serial manipulator Natural Orthogonal Complement Open Dynamics Engine Dynamic sensitivity analysis Sobol's method

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Collision-free Path Planning of a Novel Reconfigurable Mobile Parallel Mechanism

Collision-free Path Planning of a Novel Reconfigurable Mobil...

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RSI/ISM International Conference on robotics and Mechatronics

作者： Pouria Nozari Porshokouhi Hossein Kazemi Mehdi Tale Masouleh Roya Sabbagh Novin Department of Mechanical Engineering Sharif University of Technology Tehran Iran Human and Robot Interaction laboratory Faculty of New Sciences and Technologies Tehran Iran

ISBN: (纸本)9781467372350

This paper initially deals with the design of a new customized reconfigurable mobile parallel mechanism. This mechanism is called "Taar Reconfigurable ParaMobile (TRPM)", consisting of three mobile robots as the main actuators. Then, the kinematics and path planning for this mechanism are represented. The newly proposed mechanism is expected to circumvent some shortcomings of inspection operation in unknown environments with unexpected changes in their workspace, e.g., in a water pipe with non-uniform section area. In this paper, "Artificial Potential Field (APF)" has been assumed to be the path planning algorithm and its resulting attractive and repulsive forces are only applied to the end-effector to generate the desired path. It is worth mentioning that the obstacle considered in this paper is a wedge which models an environment with non-uniform section area along the path travelled by the end-effector. The inverse kinematics of TRPM is then developed. As a novel parallel mechanism, TRPM yields a 3-DoF kinematic redundancy. Despite the fact that this redundancy is sometimes beneficial to control procedure, solving the inverse kinematics of the TRPM would be feasible only by adding some constraints. As a result, there will be a system of equations consisting of three kinematic equations and three auxiliary equations. Results from this study reveal that by applying APF as the path planning algorithm to TRPM, it is possible to track proper paths to reach the target.

关键词： reconfigurable legged parallel mechanisms design and construction inverse kinematics path planning obstacle avoidance artificial potential field theory

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