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检索条件"机构=School of Robotics and Automation Engineering"

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Design and Implementation of Neuro-Fuzzy Control Approach for Robot's Trajectory Tracking 7

Design and Implementation of Neuro-Fuzzy Control Approach fo...

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7th International Conference on Electronics, Communication and Aerospace Technology, ICECA 2023

作者： Kiruba Sandou, D. Sunad Kumara, A.N. Choudhary, Binod Kumar Gurpur, Shashikala Sarishma Natrayan, L. Sivaramkumar, M. Manakula Vinayagar Institute of Technology Department of Robotics and Automation Pondicherry605107 India BGS Institute of Technology Department of Computer Science and Engineering Adichunchanagiri University Karnataka Mandya571448 India ARKA Jain University Department of Electrical and Electronics Engineering Jharkhand Jamshedpur832108 India Maharashtra Pune411014 India Graphic Era Deemed to Be University Department of Management Studies Uttarakhand Dehradun India Saveetha School of Engineering SIMATS Department of Mechanical Engineering Tamilnadu Chennai602105 India Karpagam Academy of Higher Education Department of EEE Tamiinadu Coimbatore India

ISBN: (纸本)9798350340600

Achieving precise trajectory tracking while minimizing errors, reducing settling time, and curbing overshoot presents a significant challenge in the domain of robot-manipulator control. In response, this paper proposes a novel controller design for robot manipulators, incorporating two distinct approaches: a conventional fuzzy controller and an advanced Neuro-Fuzzy controller. These controllers are tailored to elevate trajectory tracking performance by simultaneously optimizing time characteristics in robot manipulator responses. To assess their efficacy, a range of test scenarios is devised, encompassing different trajectory types, including linear and nonlinear paths. Upon comparative analysis, the results highlight an intriguing contrast: while the fuzzy controller exhibits higher maximum overshoot and longer settling times in the robot's response, the Neuro-Fuzzy controller consistently demonstrates superior performance. The comprehensive error analysis such as Integral Square Error (ISE) and Integral Absolute Error (IAE) further underscores the capability of the Neuro-Fuzzy-based robot manipulator in delivering trajectory tracking precision. This study contributes to the advancement of trajectory control techniques for robot manipulators, paving the way for enhanced automation and performance across various applications. © 2023 IEEE.

关键词： Controllers

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Gait Self-learning for Damaged Robots Combining Bionic Inspiration and Deep Reinforcement Learning

Gait Self-learning for Damaged Robots Combining Bionic Inspi...

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第40届中国控制会议

作者： Ming Zeng Yu Ma Zhijing Wang Qi Li Institute of Robotics and Automation Systems School of Electrical and Information Engineering Tianjin University

The gait self-learning for the Hexapod Robot in the damaged state is very important to improve its survivability in complex environments. Aiming at the damage of a Hexapod Robot with broken legs, this paper proposes a gait self-learning method for the damaged robot based on bionic inspiration and deep reinforcement learning. Due to various damage states of robots, it is difficult to accurately model the complex damage state. Using deep reinforcement learning can better solve this kind of model-free robot control problem. Besides, inspired by the moving gaits of the hexapod, the motion range of each leg joint of the Hexapod Robot is constrained, which further reduces the search range of the action space. The experimental results show that compared with the single deep reinforcement learning method under the same training episodes, the gaits generated by the proposed method are more adaptable and efficient.

关键词： Gait self-learning damaged robot bionic inspiration deep reinforcement learning

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Collaborative Robots Sim: A Simulation Environment Of Air-Ground Robots With Strong Physical Interactivity

Collaborative Robots Sim: A Simulation Environment Of Air-Gr...

引用

IEEE International Conference on robotics and Biomimetics

作者： Haoyuan Liu Pin Guo Xueying Jin Huaijie Zhang Huichao Deng Kun Xu Xilun Ding Robotics Institute School of Mechanical Engineering and Automation Beihang University Beijing China

ISBN: (纸本)9781665405362

The collaborative robot peers that are able to perform a variety of missions get attention. The current simulations or research platforms only focus on the information interaction between the robots leading to great limitations in the simulation of collaborative robots. In this paper, a simulation environment for collaborative robots with strong physical interaction is proposed. We analyzed the characteristics of various robot simulation platforms and built the main "control-driving-rectify" framework of the environment based on Gazebo. For a better integration of UAV, UGV, manipulators and the physical simulation framework, we modelled the dynamics simulation system of UAV by propeller dynamics and refine the definition of UAV in the physical simulation after an accurate configuration of them. In the process of environment construction, some plain but innovative and valuable physical interaction modules were created which play a major role in the success of the simulation. Finally, the efficiency of this simulation environment is illustrated and verified through the experiments and specific examples.

关键词： Analytical models Propellers Atmospheric modeling Conferences Biomimetics Biological system modeling Buildings

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An Untethered Soft Robotic Gripper with Adjustable Grasping Modes and Force Feedback

An Untethered Soft Robotic Gripper with Adjustable Grasping ...

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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Yang, Yang Zhu, Honghui Liu, Jia Li, Yingtian Zhou, Jianshu Ren, Tao Ren, Yi School of Automation Nanjing University of Information Science and Technology Jiangsu Nanjing210044 China Jiangsu Province Engineering Research Center of Intelligent Meteorological Exploration Robot China Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China The Chinese University of Hong Kong Department of Mechanical and Automation Engineering Hong Kong Hong Kong Hong Kong Center for Logistics Robotics Hong Kong Hong Kong School of Mechanical and Electrical Engineering Chengdu University of Technology Chengdu610059 China Advanced Manufacturing Lab Huawei Technologies Shenzhen China

ISBN: (纸本)9781665481090

In this paper, we propose a three-finger soft robotic gripper, which adopts an untethered and under-actuated design with simple structure and easy operation. The rotation of two servomotors is used to control the positions of the fingers, which provides the fingers with adjustable grasping modes and improves the adaptation of the gripper to objects with different shapes. A pressure sensor is integrated at the end of the finger to provide force feedback, which is used to detect the contact force when grasping the object and enables the gripper to provide the proper grasping force. The experimental section characterizes the bending of the soft robotic finger, and the gripper is integrated at the end of a collaborative robotic arm to demonstrate its adjustable grasping posture and force feedback function. The soft robotic gripper is expected to be used in a variety of scenarios, such as service robot, food industry or garbage sorting. © 2022 IEEE.

关键词： Grippers

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Flapping-Wing Robot Achieves Multi-Domain Locomotion Using Transformable Wheel Mechanism

Flapping-Wing Robot Achieves Multi-Domain Locomotion Using T...

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IEEE International Conference on robotics and Biomimetics

作者： Xiangxiao Chai Shihua Wang Erzhen Pan Wenfu Xu School of Mechanical Engineering and Automation Harbin Institute of Technology (Shenzhen) Shenzhen China Key University Laboratory of Mechanism & Machine Theory and Intelligent Unmanned Systems of Guangdong Shenzhen China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (数字)9798331509644

ISBN: (纸本)9798331509651

The difficulty of moving from aquatic to aerial environment is one of the major challenges limiting the development of trans-medium multi-domain locomotion vehicles. In this paper, the concept of the transformable wheel, a feature commonly found in autonomous land vehicles (AL V s), is introduced into the design. Additionally, a flapping-wing robot equipped with multi-domain locomotion capability, which can not only realize aerial flight and surface navigation on water, but also ascend from water to land for subsequent takeoff is presented. The paper first introduces the system design of the robot and proposes the corresponding multi-domain locomotion strategy. Subsequently, the design of the transformable wheel mechanism is described in detail and the force analysis for the water-exit is conducted. The feasibility of the proposed strategy is experimentally validated, confirming the prototype's multi-domain locomotion performance finally. This research explores the feasibility of introducing the transformable wheel mechanism into trans-medium multi-domain vehicle platforms and provides a design example.

关键词： Legged locomotion Torque Limiting Navigation Propellers Roads Wheels Prototypes Motors System analysis and design

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An FBG-based Stiffness Estimation Sensor for In-vivo Diagnostics

An FBG-based Stiffness Estimation Sensor for In-vivo Diagnos...

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International Symposium on Medical robotics (ISMR)

作者： Behnam Moradkhani Pejman Kheradmand Harshith Jella Kent K. Yamamoto Alireza Tofangchi Patrick J. Codd Yash Chitalia Healthcare Robotics and Telesurgery (HeaRT) Laboratory Speed School of Engineering University of Louisville Louisville KY USA Department of Mechanical Engineering and Materials Science Brain Tool Lab Duke University Durham NC USA Louisville Automation and Robotic Research Institution (LARRI) University of Louisville Louisville KY USA

ISBN: (数字)9798350377118

ISBN: (纸本)9798350377125

In-vivo tissue stiffness identification can be useful in pulmonary fibrosis diagnostics and minimally invasive tumor identification, among many other applications. In this work, we propose a palpation-based method for tissue stiffness estimation that uses a sensorized beam buckled onto the surface of a tissue. Fiber Bragg Gratings (FBGs) are used in our sensor as a shape-estimation modality to get realtime beam shape, even while the device is not visually monitored. A mechanical model is developed to predict the behavior of a buckling beam and is validated using finite element analysis and bench-top testing with phantom tissue samples (made of PDMS and PA-Gel). Bench-top estimations were conducted and the results were compared with the actual stiffness values. Mean RMSE and standard deviation (from the actual stiffnesses) values of 413.86 KPa and 313.82 KPa were obtained. Estimations for softer samples were relatively closer to the actual values. Ultimately, we used the stiffness sensor within a mock concentric tube robot as a demonstration of in-vivo sensor feasibility. Bench-top trials with and without the robot demonstrate the effectiveness of this unique sensing modality in in-vivo applications.

关键词： Optical fiber sensors Concentric tube robots Shape Estimation Robot sensing systems Fiber gratings Mathematical models

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Value Stream Mapping for Smart Pharmaceutical Management in a Thai Hospital 6

Value Stream Mapping for Smart Pharmaceutical Management in ...

引用

6th International Conference on Industry 4.0 and Smart Manufacturing, ISM 2024

作者： Boonsothonsatit, Ganda Silapunt, Rardchawadee Vongbunyong, Supachai Kaemarungsi, Kamol Chanpuypetch, Wirachchaya Chonsawat, Nilubon Graduate School of Management and Innovation King Mongkut's University of Technology Thonburi Thailand Electronic and Telecommunication Engineering King Mongkut's University of Technology Thonburi Thailand Hospital Automation Research Center Institute of Field Robotics King Mongkut's University of Technology Thonburi Thailand National Electronics and Computer Technology Center National Science and Technology Development Agency Thailand Faculty of Agro-Industry Chiang Mai University Thailand Department of Agricultural Economy and Developement Faculty of Agriculture Chiang Mai University Thailand

The evolution of healthcare systems worldwide necessitates continual improvement in hospital management practices, particularly pharmaceutical management. This paper explores transforming traditional pharmaceutical management systems in large and medium-sized hospitals in Thailand into smart systems using Value Stream Mapping (VSM) as a guiding tool. Traditional systems often face challenges such as inefficiencies and medication errors. VSM, rooted in lean management principles, offers a structured approach to visualize and optimize processes. Additionally, smart technologies like automated inventory systems and electronic health records enhance pharmaceutical management effectiveness. Through a comprehensive research methodology encompassing case studies, data collection, and VSM analysis, this study identifies inefficiencies and proposes evidence-based strategies for improvement. Results from a case study highlight the benefits of VSM implementation in enhancing pharmacy operations, emphasizing improved patient care and operational efficiency. The implementation of a smart medication dispensing system shows promising results in reducing workload and accommodating increased patient arrivals. Continued evaluation and refinement are crucial for maximizing benefits and addressing emerging challenges effectively. © 2025 Elsevier B.V.. All rights reserved.

关键词： Electronic health record

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High SNR Processing for Low-Light Images 4

High SNR Processing for Low-Light Images

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2021 IEEE 4th International Conference on Big Data and Artificial Intelligence, BDAI 2021

作者： Cao, Wei Wu, Shi-Qian Wang, Rui-Ping Wu, Jia-Xin Deng, Gao-Xu Wuhan University of Science and Technology School of Information Science and Engineering Wuhan China Wuhan University of Science and Technology School of Machinery and Automation Wuhan China Wuhan University of Science and Technology Institute of Robotics and Intelligent Systems Wuhan China

ISBN: (纸本)9781665412704

This image enhancement on a single image for better visibility and higher SNR (signal-to-noise ratio) is an under-constrained problem, which becomes more challenging as this image is under the low-light condition. In order to solve the above problems, we firstly analyze the reason that classical Retinex enhancement result has low SNR due to ignoring the influence of noise in reflectance. To this end, combined with the actual illumination-reflectance prior, a new convex optimization function is proposed to estimate noise-suppressed/detail-preserved reflectance and spatial piece-wise smoothed illumination simultaneously. Especially, although the objective of the proposed method is a hybrid non-smooth problem, by subtly decomposition of the objective, we can solve it effectively. The final low-light enhancement result with pleasant visual performance and high SNR can be effectively obtained according to recompose the adjusting illumination and reflectance. Qualitative and quantitative experiments have illustrated that the proposed method has a higher SNR and more pleasing visual effect than state-of-the-art image enhanced techniques under low-light conditions. © 2021 IEEE.

关键词： Reflection

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Automatic Saline Monitoring System Using IoT

Automatic Saline Monitoring System Using IoT

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International Carnahan Conference on Security Technology

作者： Raju Patel Manoj Singh Adhikari Manoj Kumar Shukla Mohit Payal Palvai Manoj Kumar Yogesh Kumar Verma School of Electronics Engineering SENSE Vellore Institute of Technology Chennai India School of Electronics and Electrical Engineering Lovely Professional University Punjab India Department of Robotics and Automation Symbiosis Institute of Technology Symbiosis International (Deemed University) Pune India Electronic and Communication Engineering Graphic Era Hill University Dehradun India

The need for health prevention is raising every day as the earth's population rises. Thus, everyone in our planet must take adequate care of their health. Due to technical breakthroughs in the domains medical treatment has improved fast in recent years, using sensors, microcontrollers, and computers to ensure quick patient recovery in hospitals. Every patient should receive better care, better monitoring, and the proper amount of essential nutrients at the proper time. By using an Internet of Things (IoT) to remotely monitor the saline system, the suggested method makes it possible to regulate saline drip rate using an improved technique. The suggested system includes a sensor for determining when the saline liquid level in the saline container has decreased to a risky level and a mechanism for stopping the saline flow automatically once the saline bottle is fully empty or at a specific level. The patients will benefit much from this, especially at night. Additionally, because air bubbles in blood may instantly kill a patient, this technique eliminates the deadly chance of their getting into their circulation. Such a gadget will guarantee that patients won't suffer any damage.

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Multiple Jumping and Perching of a Miniature Mobile Robot

Multiple Jumping and Perching of a Miniature Mobile Robot

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IEEE International Conference on robotics and Biomimetics

作者： Longlong Hu Lingqi Tang Hao Chen Yao Li Bing Li Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Shenzhen China Key University Laboratory of Mechanism Machine Theory and Intelligent Unmanned Systems of Guangdong Shenzhen China School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen China

ISBN: (数字)9798331509644

ISBN: (纸本)9798331509651

Many insects and miniature robots can traverse through narrow spaces via jumping motion; however, successful jumping and landing remains challenging in small-scale. No jumping robot within 90 g have yet demonstrated multiple jumping and perching successfully. Here, we demonstrate continuous jumping and perching of a miniature robot. The origami-inspired structure was manufactured by smart composite microstructure technology. A novel jumping mechanism was designed to load adjustable jump energy actuated by only one motor. A perching mechanism with two adhesive pads was designed to passively couple with the jumping mechanism, achieving perching on the ground and automatically detaching before the next jump. The jumping mechanism achieved adjustable jumping energy, corresponding to jumping height from 0.7 cm to 36.4 cm. The perching mechanism provided successful landing within a wide range (when velocity angle according to vertical direction $=18^{\circ}$ , the velocity magnitude $\leq 3.4\mathrm{m}/\mathrm{s}$ , the body angle $\leq 30^{\circ}$ ). $\text{Unlike}$ typical jumping robots performing uncontrollable landing and free-rolling, our robot kept its body up-righted during the whole movement and avoided free-rolling after landing. The self-contained prototype had 18 g of mass, 6.5 cm of body height, and 36.4 cm of maximum jumping height. Finally, an eccentric motor was integrated to perform multiple omnidirectional jumping and perching movements; this represents significant improvement of motion ability for small-scale mobile robots.

关键词： Insects Biomimetics Prototypes Motors Mobile robots Microstructure

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