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TransForce: Transferable Force Prediction for Vision-based Tactile Sensors with Sequential Image Translation

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arXiv 2024年

作者： Chen, Zhuo Ou, Ni Zhang, Xuyang Luo, Shan The Robot Perception Lab Centre for Robotics Research Department of Engineering King's College London LondonWC2R 2LS United Kingdom The State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing100081 China

Vision-based tactile sensors (VBTSs) provide high-resolution tactile images crucial for robot in-hand manipulation. However, force sensing in VBTSs is underutilized due to the costly and time-intensive process of acquiring paired tactile images and force labels. In this study, we introduce a transferable force prediction model, TransForce, designed to leverage collected image-force paired data for new sensors under varying illumination colors and marker patterns while improving the accuracy of predicted forces, especially in the shear direction. Our model effectively achieves translation of tactile images from the source domain to the target domain, ensuring that the generated tactile images reflect the illumination colors and marker patterns of the new sensors while accurately aligning the elastomer deformation observed in existing sensors, which is beneficial to force prediction of new sensors. As such, a recurrent force prediction model trained with generated sequential tactile images and existing force labels is employed to estimate higher-accuracy forces for new sensors with lowest average errors of 0.69N (5.8% in full work range) in x-axis, 0.70N (5.8%) in y-axis, and 1.11N (6.9%) in z-axis compared with models trained with single images. The experimental results also reveal that pure marker modality is more helpful than the RGB modality in improving the accuracy of force in the shear direction, while the RGB modality show better performance in the normal direction. Copyright © 2024, The Authors. All rights reserved.

关键词： RGB color model

Deep Domain Adaptation Regression for Force Calibration of Optical Tactile Sensors

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arXiv 2024年

作者： Chen, Zhuo Ou, Ni Jiang, Jiaqi Luo, Shan Robot Perception Lab Centre for Robotics Research Department of Engineering King’s College London LondonWC2R 2LS United Kingdom State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing100081 China

Optical tactile sensors provide robots with rich force information for robot grasping in unstructured environments. The fast and accurate calibration of three-dimensional contact forces holds significance for new sensors and existing tactile sensors which may have incurred damage or aging. However, the conventional neural-network-based force calibration method necessitates a large volume of force-labeled tactile images to minimize force prediction errors, with the need for accurate Force/Torque measurement tools as well as a time-consuming data collection process. To address this challenge, we propose a novel deep domain-adaptation force calibration method, designed to transfer the force prediction ability from a calibrated optical tactile sensor to uncalibrated ones with various combinations of domain gaps, including marker presence, illumination condition, and elastomer modulus. Experimental results show the effectiveness of the proposed unsupervised force calibration method, with lowest force prediction errors of 0.102N (3.4% in full force range) for normal force, and 0.095N (6.3%) and 0.062N (4.1%) for shear forces along the x-axis and y-axis, respectively. This study presents a promising, general force calibration methodology for optical tactile sensors. Copyright © 2024, The Authors. All rights reserved.

关键词： Forecasting

Correlation Analysis and Predictive Factors for Building a Mathematical Model 1

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7th Computational Methods in systems and Software, CoMeSySo 2023

作者： Nelyub, V.A. Tynchenko, V.S. Gantimurov, A.P. Degtyareva, K.V. Kukartseva, O.I. Artificial Intelligence Technology Scientific and Education Center Bauman Moscow State Technical University Moscow105005 Russia Peter the Great St. Petersburg Polytechnic University Saint Petersburg Russia Information-Control Systems Department Institute of Computer Science and Telecommunications Reshetnev Siberian State University of Science and Technology Krasnoyarsk660037 Russia Department of Technological Machines and Equipment of Oil and Gas Complex School of Petroleum and Natural Gas Engineering Siberian Federal University Krasnoyarsk660041 Russia Department of Information Economic System Institute of Engineering and Economics Reshetnev Siberian State University of Science and Technology Krasnoyarsk660037 Russia Department of Systems Analysis and Operations Research Institute of Informatics and Telecommunications Reshetnev Siberian State University of Science and Technology Krasnoyarsk660037 Russia

ISBN: (数字)9783031535499

ISBN: (纸本)9783031535482

The study, published in the journal Nature Medicine, looked at data on 1,000 people from China who were tracked over an average period of six years. The participants were divided into two groups: those who lived in areas with high levels of air pollution and those who lived in areas with low levels of air pollution. The study analyzed data on patients with lung cancer, including their age, gender, exposure to air pollution, alcohol consumption, dust allergy, occupational hazards, genetic risk, chronic lung disease, balanced diet, obesity, smoking, passive smoking, chest pain, cough, hemoptysis, fatigue, weight loss, shortness of breath, wheezing, difficulty swallowing, nail thickening and snoring. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2024.

关键词： Air pollution

Analysis of a Data Set to Determine the Dependence of Airline Passenger Satisfaction 7th

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Analysis of a Data Set to Determine the Dependence of Airlin...

7th Computational Methods in systems and Software, CoMeSySo 2023

作者： Tynchenko, V.S. Borodulin Kleshko, I.I. Nelyub, V.A. Rukosueva Artificial Intelligence Technology Scientific and Education Center Bauman Moscow State Technical University Moscow105005 Russia Peter the Great St. Petersburg Polytechnic University Saint Petersburg Russia Department of Information Economic System Institute of Engineering and Economics Reshetnev Siberian State University of Science and Technology Krasnoyarsk660037 Russia Department of Systems Analysis and Operations Research Institute of Informatics and Telecommunications Reshetnev Siberian State University of Science and Technology Krasnoyarsk660037 Russia Information-Control Systems Department Institute of Computer Science and Telecommunications Reshetnev Siberian State University of Science and Technology Krasnoyarsk660037 Russia Department of Technological Machines and Equipment of Oil and Gas Complex School of Petroleum and Natural Gas Engineering Siberian Federal University Krasnoyarsk660041 Russia

ISBN: (纸本)9783031535512

This paper presents an analysis of a data set to determine the factors influencing airline passenger satisfaction. The study examines various criteria such as gender, customer type, age, travel type, class, and range to assess their impact on passenger satisfaction. The dataset consists of 25 columns, including attributes like Wi-Fi availability, convenience of online booking, seat comfort, in-flight entertainment, baggage handling, and overall satisfaction. The sample is relatively balanced, with equal representation of men and women, predominantly repeat customers, and a majority flying for business purposes. Key findings include a strong correlation between departure and arrival delays, higher satisfaction among passengers in business class, and positive ratings for Wi-Fi service correlating with overall satisfaction. Correlation analysis reveals interdependencies between different attributes, such as the influence of cleanliness on seat comfort and food and beverage ratings. In addition, a neural network forecasting model is used to estimate the average ratings of passengers, although with low accuracy, which was later excluded. Finally, a decision tree algorithm is utilized to identify the most significant attributes affecting passenger satisfaction words. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2024.

关键词： Baggage handling

Fast control Strategy of Grid-forming Inverter Based on Power Feedforward 42

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Fast Control Strategy of Grid-forming Inverter Based on Powe...

42nd Chinese control Conference, CCC 2023

作者： Zhang, Sheng Fang, Zhijian Liu, Qine Xiang, Muchao Huang, Dingbang School of Automation China University of Geosciences Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan430074 China State Grid Hubei Electric Power Co. Ltd Xiangyang Power Supply Company Xiangyang441021 China Electric Power Scientific Research Institute of State Grid Hubei Electric Power Co. Ltd Wuhan430072 China

ISBN: (纸本)9789887581543

Grid-forming inverter is widely used in grid-connected systems of distributed generation because of its frequency and voltage support capacity and good stability in microgrid, but its large inertia will affect the dynamic response speed of grid-forming inverter. In order to solve this problem, this paper introduces the loop that affects the dynamic response of grid-forming inverter, and carries out small signal modeling for active loop, analyzes the dynamic performance indicators and determinants of typical second-order system. Thus, a method of adding power feedforward coefficient to the forward channel of the power loop is designed, and the response speed of the system with or without feedforward coefficient under the unit step response is compared. Finally, the simulation results show that adding the power feedforward coefficient can improve the response speed of the grid-forming inverter during startup and power switching, then achieves the effect of fast control. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Dynamic response

Mesh-based Object Tracking for Dynamic Semantic 3D Scene Graphs via Ray Tracing

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arXiv 2024年

作者： Niecksch, Lennart Mock, Alexander Igelbrink, Felix Wiemann, Thomas Hertzberg, Joachim German Research Centre for Artificial Intelligence Plan-Based Robot Control Osnabrück Germany Osnabrück University Institute of Computer Science Knowledge-Based Systems Osnabrück Germany Fulda University of Applied Sciences Department of Applied Computer Science Robotics in Computer Science Fulda Germany

In this paper, we present a novel method for 3D geometric scene graph generation using range sensors and RGB cameras. We initially detect instance-wise keypoints with a YOLOv8s model to compute 6D pose estimates of known objects by solving PnP. We use a ray tracing approach to track a geometric scene graph consisting of mesh models of object instances. In contrast to classical point-to-point matching, this leads to more robust results, especially under occlusions between objects instances. We show that using this hybrid strategy leads to robust self-localization, pre-segmentation of the range sensor data and accurate pose tracking of objects using the same environmental representation. All detected objects are integrated into a semantic scene graph. This scene graph then serves as a front end to a semantic mapping framework to allow spatial reasoning. Copyright © 2024, The Authors. All rights reserved.

关键词： Mesh generation

All-weather,natural silent speech recognition via machine-learning-assisted tattoo-like electronics

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npj Flexible Electronics 2021年第1期5卷 183-191页

作者： Youhua Wang Tianyi Tang Yin Xu Yunzhao Bai Lang Yin Guang Li Hongmiao Zhang Huicong Liu YongAn Huang State Key Laboratory of Digital Manufacturing Equipment and Technology Huazhong University of Science and TechnologyWuhanChina Flexible Electronics Research Center Huazhong University of Science and TechnologyWuhanChina School of Mechanical and Electric Engineering Jiangsu Provincial Key Laboratory of Advanced RoboticsSoochow UniversitySuzhouChina State Key Laboratory of Industrial Control Technologyg Institute of Cyber Systems and ControlZhejiang UniversityHangzhouChina

The internal availability of silent speech serves as a translator for people with aphasia and keeps human–machine/human interactions working under various *** paper develops a silent speech strategy to achieve all-weather,natural *** strategy requires few usage specialized skills like sign language but accurately transfers high-capacity information in complicated and changeable daily *** the strategy,the tattoo-like electronics imperceptibly attached on facial skin record high-quality bio-data of various silent speech,and the machine-learning algorithm deployed on the cloud recognizes accurately the silent speech and reduces the weight of the wireless acquisition module.A series of experiments show that the silent speech recognition system(SSRS)can enduringly comply with large deformation(~45%)of faces by virtue of the electricitypreferred tattoo-like electrodes and recognize up to 110 words covering daily vocabularies with a high average accuracy of 92.64%simply by use of small-sample machine *** successfully apply the SSRS to 1-day routine life,including daily greeting,running,dining,manipulating industrial robots in deafening noise,and expressing in darkness,which shows great promotion in real-world applications.

关键词： translator weather silent

Detecting spatio-temporal Relations by Combining a Semantic Map with a Stream Processing Engine

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Detecting spatio-temporal Relations by Combining a Semantic ...

IEEE International Conference on robotics and Automation (ICRA)

作者： Lennart Niecksch Henning Deeken Thomas Wiemann German Research Center for Artificial Intelligence (DFKI) DFKI Niedersachsen Plan-based Robot Control Group Osnabrück Germany Knowledge Based Systems and Autonomous Robotics groups Institute of Computer Science Osnabrück University Osnabrück Germany

Changes in topological spatial relations of objects are often strong indicators for state transitions in the underlying processes they are involved in. While various aspects of semantic mapping have been extensively researched, the reasoning about the temporal development of spatial relations of instances is often neglected. This paper presents a concept to combine a semantic map with a stream processing framework for live analysis of the spatio-temporal relation of objects, based on the map and information inferred from sensors streams. To demonstrate the functionality of our concept, we implemented a proof-of-concept system to track everyday events in an office environment. The presented application scenario clearly demonstrates the benefits of the proposed architecture for detecting and handling complex spatio-temporal events.

关键词：

Marker or Markerless? Mode-Switchable Optical Tactile Sensing for Diverse Robot Tasks

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arXiv 2024年

作者： Ou, Ni Chen, Zhuo Luo, Shan The State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing100081 China The Robot Perception Lab. Centre for Robotics Research Department of Engineering King’s College London LondonWC2R 2LS United Kingdom

Optical tactile sensors play a pivotal role in robot perception and manipulation tasks. The membrane of these sensors can be painted with markers or remain markerless, enabling them to function in either marker or markerless mode. However, this uni-modal selection means the sensor is only suitable for either manipulation or perception tasks. While markers are vital for manipulation, they can also obstruct the camera, thereby impeding perception. The dilemma of selecting between marker and markerless modes presents a significant obstacle. To address this issue, we propose a novel mode-switchable optical tactile sensing approach that facilitates transitions between the two modes. The marker-to-markerless transition is achieved through a generative model, whereas its inverse transition is realized using a sparsely supervised regressive model. Our approach allows a single-mode optical sensor to operate effectively in both marker and markerless modes without the need for additional hardware, making it well-suited for both perception and manipulation tasks. Extensive experiments validate the effectiveness of our method. For perception tasks, our approach decreases the number of categories that include misclassified samples by 2 and improves contact area segmentation IoU by 3.53%. For manipulation tasks, our method attains a high success rate of 92.59% in slip detection. Code, dataset and demo videos are available at the project website https://***/Marker-Markerless-Transition/ Copyright © 2024, The Authors. All rights reserved.

关键词： Tactile sensors