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IEEE International Conference on robotics and Biomimetics

作者： Guiyu Dong Ripeng Qin Liangliang Han Jiawei Chen Kun Xu Xilun Ding Robotics Institute School of Mechanical Engineering and Automation Beihang University Beijing China Institute of Aerospace System Engineering Shanghai Shanghai China

ISBN: (纸本)9781665481106

Environment sensing for legged robots can improve their mobility performance. A foot-ground contact model can be used to evaluate the properties of the robot's contact with the environment. A contact parameter estimator based on artificial neural networks was developed to guide the gait planning of a hexapod robot so that it can achieve higher mobility efficiency. This contact parameter estimator can use acceleration, velocity, and contact force data as inputs and output contact parameters. The estimator avoided using deformations as input which are difficult to measure. Meanwhile, the robot's cost of transport with different contact parameters is tested and recorded. Accordingly, the hexapod robot was guided to choose a better gait shape between cycloid and rectangular. The simulation proved that changes in the gait shape according to the contact parameters can reduce the hexapod's cost of transport.

关键词： Robot motion Costs Parameter estimation Shape Force Robot sensing systems Real-time systems

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A Regulable Linear Guidance Flexible Virtual Fixture Based on EMG in Teleoperation System 26

A Regulable Linear Guidance Flexible Virtual Fixture Based o...

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26th International Conference on automation and Computing, ICAC 2021

作者： Fan, Yuheng Luo, Jing Zuo, Lei Wang, Ning South China University of Technology College of Automation Science and Engineering Guangzhou China Wuhan University of Technology School of Automation Wuhan China Changan University School of Electronic and Control Engineering Xian China University of the West of England Bristol Robotics Laboratory Bristol United Kingdom

ISBN: (纸本)9781860435577

Current teleoperation robots still have problems such as insufficient safety and accuracy, and weak humanrobot interaction, which lead to their limited application in many aspects. Considering the operator's manual control cannot guarantee performance of teleoperation in the task, this paper proposes a linear guidance flexible virtual fixture (LGFVF) method. The LGFVF can provide force feedback for the operator and guide the operator to complete the trajectory tracking task more accurately. Additionally, in order to improve the operator's autonomy and decision-making ability in teleoperation control, this paper utilizes electromyography signals as a way to reflect the operator's intention. By adjusting the muscle activity, the human operator can autonomously decide the auxiliary degree of the virtual fixture, so as to adapt to the changes of external environment and interference factors more flexibly. Finally, the effectiveness of the proposed scheme is verified by the teleoperation experiment with obstacles and artificial interference factors. © 2021 Chinese automation and Computing Society in the UK-CACSUK.

关键词： Remote control

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A Review of Multi-Robot Collaborative Simultaneous Localization and Mapping

A Review of Multi-Robot Collaborative Simultaneous Localizat...

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IEEE International Conference on Unmanned Systems (ICUS)

作者： Xianzhe Zhao Shiliang Shao Ting Wang Chuxi Fang Jin Zhang Hai Zhao School of Computer Science And Engineering Northeastern University Shenyang China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China

Collaborative Simultaneous Localization and Mapping (C-SLAM), commonly known as multi-robot SLAM, is a prefatory technology that allows multiple robots to efficiently traverse large and intricate areas. This is possible due to the merging of maps and the recognition of shared spaces. Despite its many benefits, multi-robot systems encounter various challenges, such as communication barriers, co-localization issues, and joint optimization problems. This paper reviews the sensors and back-end optimization methods used for SLAM. Then, it summarizes existing collaborative SLAM frameworks and some novel solutions. Finally, it discusses trends and promising research directions for collaborative SLAM.

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Practical Applicability of PLA for Industrial Wireless Networks: Gaps and Directions

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IEEE Network 2025年

作者： Liang, Wei Wei, Fuyou Wang, Qi Zhan, Ming Wang, Ke Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang Institute of Automation Shenyang110016 China Chinese Academy of Sciences Key Laboratory of Networked Control System Shenyang Institute of Automation Shenyang110016 China Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Shenyang110169 China University of Chinese Academy of Sciences Beijing100049 China Shandong Normal University Jinan250014 China Taizhou University School of Electronics and Information Engineering Zhejiang Taizhou China

The rapid transformation of Industrial Cyber-Physical System (ICPS) has introduced significant cyber security challenges, particularly in the context of ICPS. Wireless networks are a critical component of these systems, but their open nature makes them vulnerable to security threats. Physical Layer Authentication (PLA) algorithms based on Channel State Information (CSI) are essential complements to existing security technologies in wireless networks. However, their practical application faces challenges such as restricted sampling rates and uneven sampling interval, which result in low-precision CSI, significant random phase offsets, and signal distortion. This study aims to explore the feasibility of deploying and applying existing representative algorithms on industrial wireless commercial devices. According to characteristics of authentication algorithms and the adopted authentication features, we selected five of the latest physical layer authentication algorithms including supervised, semi-supervised, and unsupervised algorithms and deployed them on commercial devices that comply with the WIA-FA standard. We conducted systematic experiments focusing on the motion parameters of devices, the CSI data sampling frequency, the interference caused by worker movement, the surface materials of the devices, and the types of attacks. This study explores the ability of these algorithms to resist attacks and environmental interference in commercial devices and industrial scenarios. Extensive experimental data were collected, and the results indicate that existing authentication algorithms still need improvement to meet the requirements of industrial applications. The experiment findings and the summarized application challenges of these algorithms provide significant guidance for future research and practical industrial implementations. © 1986-2012 IEEE.

关键词： Authentication

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Ant Colony Algorithm and Grey Relation Theory for Resources Optimal Allocation

SSRN

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SSRN 2024年

作者： Huang, Lang Zhuang, Mengzhen Tang, Hongtao Guo, Shunsheng Wei, Shupeng Zhang, Liang Lei, Deming Hubei Digital Manufacturing Key Laboratory School of Mechanical and Electronic Engineering Wuhan University of Technology Wuhan430070 China Hubei Provincial Engineering Research Center of Robotics and Intelligent Manufacturing Wuhan430070 China School of Automation Wuhan University of Technology China Wuhan430070 China

Optimizing enterprise resource management is crucial for enhancing production efficiency and cost reduction, especially in the building materials and equipment manufacturing industry, due to its large-scale, small-batch, multi-variety, and multi-agent *** paper uses a hybrid intelligent algorithm to solve the resource optimization problem, and successfully applies it in practical cases. By using fuzzy clustering, we first establish a multi-objective, multi-agent manufacturing equipment resource allocation model. Then we present a solution based on grey correlation and an improved ant colony algorithm. Finally, the effectiveness and feasibility of the proposed method are validated by experimental results, which show the optimized allocation system can significantly enhance production efficiency and reduce costs, for resource management in the building materials and equipment manufacturing industry. © 2024, The Authors. All rights reserved.

关键词： Production efficiency

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Intelligent Accident Recognition and Notification System using Hybrid Deep Learning and IoT 4

Intelligent Accident Recognition and Notification System usi...

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4th International Conference on Soft Computing for Security Applications, ICSCSA 2024

作者： Sathish Kumar, P. Singh Rawat, Ramesh Shrimali, Manish Parikh, Swapnil Patil, Harshal Maranan, Ramya United Institute of Technology Department of Robotics & Automation Tamil Nadu Coimbatore641020 India Graphic Era Deemed to Be University Department of Computer Science & Engineering Uttarakhand Dehradun248 002 India Department of Computer Science and IT Rajasthan Udaipur313 003 India Parul Institute of Engineering and Technology Parul University Department of Computer Science and Engineering Gujarat 391760 India Symbiosis Institute of Technology Symbiosis International Deemed University Computer Science and Engineering Maharashtra Pune412 115 India Saveetha School of Engineering SIMATS Department of Research and Innovation Tamil Nadu Chennai602105 India

ISBN: (纸本)9798331515720

Ensuring the safety of individuals should be a top priority. Everyone wants to return home safely. Many riders continue to disregard safety constraints, increasing the chance of accidents that result in death. It is critical to incorporate the latest technology into road monitoring systems to make cities smarter and to ensure rider safety. For this research, Deep Learning (DL) and the Internet of Things (IoT) were chosen for effective road surveillance and alert systems. The primary goal of the study is to detect and inform riders about accidents that occur along their path and to provide details about the location of the detected accident. Additionally, the system provides the vehicle's speed. To identify automobile accidents in the footage, a hybrid DL model that includes Convolutional Neural Network-Bidirectional Long Short-Term Memory (CNN-Bi-LSTM) is suggested. For the model's training, both accident and non-Accident data were collected. The model is evaluated using three metrics: Accuracy, loss, and execution time. The next step is to upload the recommended model to the ThingSpeak cloud. A Graphical User Interface (GUI) is being created in the ThingSpeak cloud. The GUI displays the vehicle's speed, accident images, and the precise location of the accident scene using the Raspberry Pi, speed sensor, Pi-camera, and Global Positioning System (GPS) module. An LED is also integrated into the GUI to alert the user. A real-world test is conducted on the designed system. The proposed solution has many advantages and will ensure driver safety. © 2024 IEEE.

关键词： Graphical user interfaces

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Design and Analysis of Underactuated Robotic Hands for Spacecraft Surface Attachment

Design and Analysis of Underactuated Robotic Hands for Space...

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IEEE International Conference on robotics and Biomimetics

作者： Yang Luo Chang Wang Longfei Huang Jingya Ma Kun Xu Xilun Ding Robotics Institute School of Mechanical Engineering and Automation Beihang University Beijing China Institute of Spacecraft System Engineering CAST Beijing China

ISBN: (纸本)9781665481106

Amid rapid development of space technology, it is necessary to carry out relevant operations in space to ensure long and stable in-orbit operation of spacecraft in complex space environment. The end effector of the space manipulator is the main tool which completes the operational targets, but at present, the end effector can only deal with cooperative targets rather than non-cooperative targets. In order to solve the related problems, this paper investigates the bio-inspired dry adhesion, mechanical attachment devices and underactuated robotic hands at home and abroad, analyzes the attachment principle and application scenarios. Based on the studies, a cable-driven two-finger underactuated robotic hand with mixed attachment mode is designed. In this paper, the flexible joints of manipulators are calculated theoretically and simulated, the static characteristics analyzed, and the integrated manufacturing of joints and knuckles is achieved. The layout of flexible substrate and adhesive pad is reasonably designed to enlarge the contact area between the adhesive pad and the target object. A gripping mechanism with certain flexibility is developed to smoothly grasp objects of different shapes. According to the characteristics of different surfaces, targeted attachment control schemes are designed, a principle prototype built, and the attachment ability of the prototype to various surfaces is verified through tests.

关键词： Space vehicles Shape Space technology Prototypes End effectors Surface roughness Manufacturing

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On the Design of Human-Robot Collaboration Gestures

arXiv

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arXiv 2024年

作者： Shrinah, Anas Bahraini, Masoud S. Khan, Fahad Asif, Seemal Lohse, Niels Eder, Kerstin School of Computer Science University of Bristol Bristol United Kingdom Intelligent Automation Centre Wolfson School of Mechanical Electrical & Manufacturing Engineering Loughborough University Loughborough United Kingdom Centre for Robotics and Assembly Cranfield University Cranfield United Kingdom

Effective communication between humans and collaborative robots is essential for seamless Human-Robot Collaboration (HRC). In noisy industrial settings, nonverbal communication, such as gestures, plays a key role in conveying commands and information to robots efficiently. While existing literature has thoroughly examined gesture recognition and robots' responses to these gestures, there is a notable gap in exploring the design of these gestures. The criteria for creating efficient HRC gestures are scattered across numerous studies. This paper surveys the design principles of HRC gestures, as contained in the literature, aiming to consolidate a set of criteria for HRC gesture design. It also examines the methods used for designing and evaluating HRC gestures to highlight research gaps and present directions for future research in this area. © 2024, CC BY.

关键词： Human robot interaction

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Special Issue on Reconfigurable Robots

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Chinese Journal of Mechanical engineering 2020年第5期33卷 1-3页

作者： Jinguo Liu Yuwang Liu Guangbo Hao State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of ScienceShenyang 110016China School of Engineering University College CorkCorkIreland

Reconfigurable robots have the characteristics that structures can be changed or *** can adapt to different environments and tasks through changing configurations or structures,which is a hot research direction in recent *** researches has not yet formed a complete theoretical method system of reconfigurable ***,exploring new design theories,key technologies and typical applications is an effective way to promote the rapid development of this field.

关键词： Reconfigurable environments robots

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Gait Analysis of Quadruped Robot Using the Equivalent Mechanism Concept Based on Metamorphosis

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Chinese Journal of Mechanical engineering 2019年第1期32卷 31-41页

作者： Kun Xu Peijin Zi Xilun Ding Robotics Institute School of Mechanical Engineering & Automation Beihang University

The previous research regarding the gait planning of quadruped robot focuses on the sequence for lifting o and placing the feet, but neglects the influence of body height. However, body height a ects gait performance significantly, such as in terms of the stride length and stability margin. We herein study the performance of a quadruped robot using the equivalent mechanism concept based on metamorphosis. Assuming the constraints between standing feet and the ground with hinges, the ground, standing legs and robot body are considered as a parallel mechanism, and each swing leg is regarded as a typical serial manipulator. The equivalent mechanism varies while the robot moves on the ground. One gait cycle is divided into several periods, including step forward stages and switching stages. There exists a specific equivalent mechanism corresponding to each gait period. The robot's locomotion can be regarded as the motion of these series of equivalent mechanisms. The kinematics model and simplified model of the equivalent mechanism is established. A new definition of the multilegged robot stability margin, based on friction coe cient, is presented to evaluate the robot stability. The stable workspaces of the equivalent mechanism in the step forward stage of trotting gait under di erent friction coe cients are analyzed. The stride length of the robots is presented by analyzing the relationship between the stable workspaces of the equivalent mechanisms of two adjacent step forward stages in one gait cycle. The simulation results show that the stride length is larger with increasing friction coe cient. We herein propose a new method based on metamorphosis, and an equivalent mechanism to analyze the stability margin and stable workspace of the multilegged robot.

关键词： Quadruped robot Gait transference Metamorphosis Metamorphic mechanism Stability Stride length

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