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International Conference on control, Automation, robotics and Vision

作者： I. Rano A. Gomez Eguiluz F. Sanfilippo Embodied Systems for Robotics and Learning Unit University of Southern Denmark Robotics Vision and Control Group University of Seville Department of Science and Industry Systems University College of Southeast Norway (USN)

Braitenberg vehicles are simple models of animal motion towards, or away from, a stimulus (light, sound, chemicals, etc). They have been widely used in robotics to implement target reaching and avoidance behaviors based on different types of sensors. While the seminal work of Braitenberg used wheeled vehicles to illustrate the principles of animal steering, few attempts have been made at combining these steering level controllers with locomotion mechanism other than actuated wheels. This paper presents the first implementation of this biologically inspired steering controller in a snake-like robot with non-actuated wheels and actuated joints. The sinusoidal gait of the snake is modulated following the principles of the Braitenberg vehicle 3α using two sensors symmetrically located on the head. The effectiveness of this bio-inspired controller is shown through simulations where the snake orients its head and body with the direction of the stimulus gradient, and reaches the stimulus maximum within some range. This paper represents one of the first steps towards connecting bio-inspired sensor-based steering mechanisms and bio-inspired locomotion, and shows that existing theoretical results of Braitenberg vehicles with actuated wheels also apply to a snake-like robot with non-actuated wheels.

关键词： Bio-inspired robots Braitenberg vehicles snake-like robots

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Recognition of patient groups with sleep related disorders using bio-signal processing and deep learning

arXiv

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arXiv 2021年

作者： Jarchi, Delaram Andreu-Perez, Javier Kiani, Mehrin Vysata, Oldrich Kuchynka, Jiri Prochazka, Ales Sanei, Saeid Smart Health Technologies Group School of Computer Science and Electronic Engineering University of Essex ColchesterCO4 3SQ United Kingdom Embedded and Intelligent Systems Laboratory School of Computer Science and Electronics University of Essex ColchesterCO4 3SQ United Kingdom Department of Computing and Control Engineering University of Chemistry and Technology in Prague Prague 6166 28 Czech Republic Department of Neurology Faculty of Medicine in Hradec Králové Charles University Hradec Králové500 05 Czech Republic Czech Institute of Informatics Robotics and Cybernetics Czech Technical University in Prague Prague 6160 00 Czech Republic School of Science and Technology Nottingham Trent University NottinghamNG11 8NS United Kingdom

Accurately diagnosing sleep disorders is essential for clinical assessments and treatments. Polysomnography (PSG) has long been used for detection of various sleep disorders. In this research, electrocardiography (ECG) and electromayography (EMG) have been used for recognition of breathing and movement-related sleep disorders. Bio-signal processing has been performed by extracting EMG features exploiting entropy and statistical moments, in addition to developing an iterative pulse peak detection algorithm using synchrosqueezed wavelet transform (SSWT) for reliable extraction of heart rate and breathing-related features from ECG. A deep learning framework has been designed to incorporate EMG and ECG features. The framework has been used to classify four groups: healthy subjects, patients with obstructive sleep apnea (OSA), patients with restless leg syndrome (RLS) and patients with both OSA and RLS. The proposed deep learning framework produced a mean accuracy of 72% and weighted F1 score of 0.57 across subjects for our formulated four-class problem. © 2021, CC BY-NC-ND.

关键词： Wavelet transforms

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Toward a Human-Machine Interface Based on Electrical Impedance Tomography for Robotic Manipulator control

Toward a Human-Machine Interface Based on Electrical Impedan...

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2019 IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Enhao Zheng Yuhua Li Qining Wang Hong Qiao The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences No. 95 of Zhongguancun East Road Beijing China School of information engineering China university of geosciences (Beijing) Beijing China The Robotics Research Group College of Engineering Peking University Beijing China

In this study, we proposed a novel human-machine interface (HMI) for robotic manipulator control. The specific target was to adjust the impedance coefficients of the robot controller in real time by measuring the human forearm muscle contractions. We firstly designed a HMI system. Different from the frequently used sEMG technologies, the interface in our study could detect muscle morphological changes within the skin by the electrical impedance tomography (EIT). The sensing front-end was a soft elastic fabric band which was compatible to different arm shapes. With the specific designed sensing hardware and the re-construction algorithms, EIT images indicating forearm muscle shapes were obtained. We then designed a hybrid positon/impedance controller on a UR5 with the impedance coefficients being tuned in real time by the grasp force estimation. A sigmoid regression algorithm was used to map the EIT images to the grasp forces. After implementation of the whole system, two experiments were carried out. The first experiment was the off-line grasp force estimation. With the 1:1 cross validation, an average R 2 of 0.83±0.04 and an average of the relative root mean square error (RRMSE) of 0.31±0.10 across 5 subjects were yielded. The second experiment was the real-time robot control. Trajectory tracking task with dynamic uncertainties were investigated and grasp forces were estimated in real-time. With higher muscle contraction levels, smaller position errors were observed and shorter time was needed to return to the expected trajectory when there were external disturbances. The results proved the feasibility of the new approach on human-robot interaction tasks. Future endeavours will be made to get more promising results.

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Variable interface dynamic adjustment (VIDA) technique: A novel approach to adjust lagrangian frame and eulerian frame at flattering interface 8th

Variable interface dynamic adjustment (VIDA) technique: A no...

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8th AIAA Theoretical Fluid Mechanics Conference, 2017

作者： Zanj, Amir He, Fangpo Breedveld, Peter C. College of Science and Engineering Advanced Control Systems Research Group Flinders University Adelaide Australia Department of Mechanical engineering Robotics and Mechatronics Group University of Twente Enschede Netherlands

ISBN: (纸本)9781624104978

In the current study to address the incompatibility issue of the Eulerian and Lagrangian frame at FSI problems, a novel physical approach is proposed. According to this approach, the motion of the Lagrangian frame is physically translated to a virtual volumetric flow for the Eulerian frame. As thus, the shared spatial boundary of the two frame at the interface remains unique in spite of the motion of the interface. This capability provides the possibility of dynamic data transactions between the two frames, which guarantees the continuity of these transformation (e. g., the power interactions of the system on the interface). The obtained capability can be a desirable tool in multiple-field dynamic investigations. Also, the proposed method by elimination of mesh regeneration in FSI transient solutions can open a new window in dynamic mesh techniques which leads to reducing the time cost of the solution. © 2017, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： Lagrange multipliers

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Towards Multi-Object Detection and Tracking in Urban Scenario under Uncertainties

arXiv

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arXiv 2018年

作者： Kampker, Achim Sefati, Mohsen Abdul Rachman, Arya S. Kreisköther, Kai Campoy, Pascual Chair of Production Engineering of E-Mobility Components RWTH Aachen University Aachen Germany Delft Center for Systems and Control Delft University of Technology Delft Netherlands Computer Vision and Aerial Robotics Group Centre of Automatics and Robotics Universidad Politécnica de Madrid Madrid Spain

Urban-oriented autonomous vehicles require a reliable perception technology to tackle the high amount of uncertainties. The recently introduced compact 3D LIDAR sensor offers a surround spatial information that can be exploited to enhance the vehicle perception. We present a real-time integrated framework of multitarget object detection and tracking using 3D LIDAR geared toward urban use. Our approach combines sensor occlusion-aware detection method with computationally efficient heuristics rule-based filtering and adaptive probabilistic tracking to handle uncertainties arising from sensing limitation of 3D LIDAR and complexity of the target object movement. The evaluation results using real-world pre-recorded 3D LIDAR data and comparison with state-of-the-art works shows that our framework is capable of achieving promising tracking performance in the urban situation. Copyright © 2018, The Authors. All rights reserved.

关键词： Autonomous vehicles

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Opportunities and challenges for monitoring terrestrial biodiversity in the robotics age

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Nature Ecology and Evolution 2025年 1-12页

作者： Pringle, Stephen Dallimer, Martin Goddard, Mark A. Le Goff, Léni K. Hart, Emma Langdale, Simon J. Fisher, Jessica C. Abad, Sara-Adela Ancrenaz, Marc Angeoletto, Fabio Auat Cheein, Fernando Austen, Gail E. Bailey, Joseph J. Baldock, Katherine C. R. Banin, Lindsay F. Banks-Leite, Cristina Barau, Aliyu S. Bashyal, Reshu Bates, Adam J. Bicknell, Jake E. Bielby, Jon Bosilj, Petra Bush, Emma R. Butler, Simon J. Carpenter, Dan Clements, Christopher F. Cully, Antoine Davies, Kendi F. Deere, Nicolas J. Dodd, Michael Drinkwater, Rosie Driscoll, Don A. Dutilleux, Guillaume Dyrmann, Mads Edwards, David P. Farhadinia, Mohammad S. Faruk, Aisyah Field, Richard Fletcher, Robert J. Foster, Chris W. Fox, Richard Francksen, Richard M. Franco, Aldina M. A. Gainsbury, Alison M. Gardner, Charlie J. Giorgi, Ioanna Griffiths, Richard A. Hamaza, Salua Hanheide, Marc Hayward, Matt W. Hedblom, Marcus Helgason, Thorunn Heon, Sui P. Hughes, Kevin A. Hunt, Edmund R. Ingram, Daniel J. Jackson-Mills, George Jowett, Kelly Keitt, Timothy H. Kloepper, Laura N. Kramer-Schadt, Stephanie Labisko, Jim Labrosse, Frédéric Lawson, Jenna Lecomte, Nicolas de Lima, Ricardo F. Littlewood, Nick A. Marshall, Harry H. Masala, Giovanni L. Maskell, Lindsay C. Matechou, Eleni Mazzolai, Barbara McConnell, Alistair Melbourne, Brett A. Miriyev, Aslan Nana, Eric Djomo Ossola, Alessandro Papworth, Sarah Parr, Catherine L. Payo-Payo, Ana Perry, Gad Pettorelli, Nathalie Pillay, Rajeev Potts, Simon G. Prendergast-Miller, Miranda T. Qie, Lan Rolley-Parnell, Persie Rossiter, Stephen J. Rowcliffe, Marcus Rumble, Heather Sadler, Jon P. Sandom, Christopher J. Sanyal, Asiem Schrodt, Franziska Sethi, Sarab S. Shabrani, Adi Siddall, Robert Smith, Simón C. Snep, Robbert P. H. Soulsbury, Carl D. Stanley, Margaret C. Stephens, Philip A. Stephenson, P.J. Struebig, Matthew J. Studley, Matthew Svátek, Martin Tang, Gilbert Taylor, Nicholas K. Umbers, Kate D. L. Ward, Robert J. White, Patrick J. C. Whittingham, Mark J. Wich, Serge Williams, Christopher D. Yakubu, Ibrahim B. Yoh, Natalie Durrell Institute of Conservation and Ecology (DICE) School of Natural Sciences University of Kent Canterbury United Kingdom Centre for Environmental Policy Imperial College London London United Kingdom Department of Geography and Environmental Sciences Northumbria University Newcastle upon Tyne United Kingdom School of Computing Engineering and the Built Environment Edinburgh Napier University Edinburgh United Kingdom Synthotech Ltd Milner Court Hornbeam Square Harrogate United Kingdom Mechanical Engineering Department University College London London United Kingdom HUTAN SWD Kota Kinabalu Malaysia Programa de Pós-Graduação em Gestão e Tecnologia Ambiental da Universidade Federal de Rondonópolis Rondonópolis Brazil Department of Engineering Harper Adams University Newport United Kingdom Applied Ecology Research Group School of Life Sciences Anglia Ruskin University Cambridge United Kingdom Centre for Ecology and Hydrology Penicuik United Kingdom Department of Life Sciences Imperial College London Silwood Park Campus Ascot United Kingdom Department of Urban and Regional Planning Faculty of Earth and Environmental Sciences Bayero University Kano Nigeria Greenhood Nepal Kathmandu Nepal Animal Rural & Environmental Sciences Nottingham Trent University Nottinghamshire United Kingdom School of Biological and Environmental Sciences Liverpool John Moores University Liverpool United Kingdom Lincoln Centre for Autonomous Systems University of Lincoln Lincoln United Kingdom Royal Botanic Garden Edinburgh Edinburgh United Kingdom School of Biological Sciences University of East Anglia Norwich Research Park Norwich United Kingdom Digital Ecology Limited Bristol United Kingdom School of Biological Sciences University of Bristol Bristol United Kingdom Department of Computing Imperial College London London United Kingdom Department of Ecology and Evolutionary Biology University of Colorado Boulder CO United States Faculty of Science Technology Engineering

With biodiversity loss escalating globally, a step change is needed in our capacity to accurately monitor species populations across ecosystems. Robotic and autonomous systems (RAS) offer technological solutions that may substantially advance terrestrial biodiversity monitoring, but this potential is yet to be considered systematically. We used a modified Delphi technique to synthesize knowledge from 98 biodiversity experts and 31 RAS experts, who identified the major methodological barriers that currently hinder monitoring, and explored the opportunities and challenges that RAS offer in overcoming these barriers. Biodiversity experts identified four barrier categories: site access, species and individual identification, data handling and storage, and power and network availability. robotics experts highlighted technologies that could overcome these barriers and identified the developments needed to facilitate RAS-based autonomous biodiversity monitoring. Some existing RAS could be optimized relatively easily to survey species but would require development to be suitable for monitoring of more ‘difficult’ taxa and robust enough to work under uncontrolled conditions within ecosystems. Other nascent technologies (for instance, new sensors and biodegradable robots) need accelerated research. Overall, it was felt that RAS could lead to major progress in monitoring of terrestrial biodiversity by supplementing rather than supplanting existing methods. Transdisciplinarity needs to be fostered between biodiversity and RAS experts so that future ideas and technologies can be codeveloped effectively. © The Author(s) 2025.

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Bond graph representation of convection by fluid flow along an elastic surface

Bond graph representation of convection by fluid flow along ...

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2016 International Conference on Bond Graph Modeling and Simulation, ICBGM 2016, Part of the 2016 Summer Simulation Multi-Conference, SummerSim 2016

作者： Breedveld, Peter C. Zanj, Amir Robotics and Mechatronics Group University of Twente Enschede Netherlands Advanced Control Systems Group Flinders University Adelaide Australia

ISBN: (纸本)9781510824256

This paper discusses the non-trivial extension of a generic bond graph model structure for convection by a fluid flow (gas, liquid or mixture) along a rigid surface to a generic bond graph model in which the physical fluid boundary (solid) can move in the same direction as the flow, e.g. due to elasticity. © 2016 Society for Modeling & Simulation International (SCS).

关键词： Elasticity

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Commentaries on Viewpoint: Physiology and fast marathons

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Journal of applied physiology (Bethesda, Md. : 1985) 2020年第4期128卷 1069-1085页

作者： Jordan Santos-Concejero Fernando González-Mohíno José María González-Ravé Stephane Perrey Arthur H. Dewolf Brandon A. Yates Anton Ušaj Tadej Debevec José Manuel González-Rayas Ana Lilia Rayas-Gómez José Manuel González-Yáñez Romuald Lepers Paul Stapley Julien Louis Felix Proessl P T Nikolaidis B Knechtle D Muniz-Pumares B Hunter L Bottoms Bastien Bontemps Pedro L. Valenzuela Daniel Boullosa Juan Del Coso Richard C. Blagrove Philip R. Hayes Gregoire P. Millet Davide Malatesta Yuri de Almeida Costa Campos Miller Pereira Guimarães Jeferson Macedo Vianna Sandro Fernandes da Silva Paulo Henrique Silva Marques de Azevedo Hunter L. Paris Margaret A. Leist Mast T. Lige William Malysa Alicia S. Oumsang Erin C. Sinai Rasmus K. Hansen Niels H. Secher Stefanos Volianitis Laura Hottenrott Kuno Hottenrott Thomas Gronwald Jonathon W. Senefeld Ricardo J. Fernandes João Paulo Vilas-Boas Alain Riveros-Rivera Dieter Böning Daniel H. Craighead Shalaya Kipp Rodger Kram Christoph Zinner Billy Sperlich Hans-Christer Holmberg Borja Muniz-Pardos Shaun Sutehall Konstantinos Angeloudis Fergus M. Guppy Andrew Bosch Yannis Pitsiladis David C. Andrade Rodrigo Del Rio Rodrigo Ramirez-Campillo Thiago Ribeiro Lopes Bruno Moreira Silva Stephen J. Ives Peter G. Weyand Cayque Brietzke Paulo Estevão Franco-Alvarenga Tony Meireles dos Santos Flávio Oliveira Pires Gwenael Layec Wouter Hoogkamer Christopher S. Balestrini Curtis S. Goss Mikaela C. Gabler Albaro Escalera Shane A. Bielko Robert F. Chapman Department of Physical Education and Sport University of the Basque Country UPV/EHU Vitoria-Gasteiz Spain University of Castilla-La Mancha Sport Training Lab Toledo Spain Facultad de Lenguas y Educación Universidad Nebrija Madrid Spain EuroMov Digital Health in Motion University of Montpellier IMT Mines Ales Montpellier France Department of Systems Medicine and Center of Space Biomedicine University of Rome Tor Vergata Rome Italy Department of Kinesiology Indiana University-Purdue University of Indianapolis Indianapolis Indiana Indiana Center for Musculoskeletal Health Indiana University School of Medicine Indianapolis Indiana Faculty of Sport University of Ljubljana Ljubljana Slovenia Department of Automation Biocybernetics and Robotics Jozef Stefan Institute Ljubljana Slovenia School of Medicine and Health Sciences Monterrey Institute of Technology and Higher Education Monterrey México Hospital San José de Querétaro Querétaro México INSERM UMR1093-CAPS UFR des Sciences du Sport Université Bourgogne Franche-Comté Dijon France Neural Control of Movement Laboratory School of Medicine Faculty of Science Medicine and Health Illawarra Health and Medical Research Institute University of Wollongong New South Wales Australia Research Institute for Sport and Exercise Sciences Liverpool John Moores University Liverpool United Kingdom Neuromuscular Research Laboratory University of Pittsburgh Pittsburgh Pennsylvania School of Health and Caring Sciences University of West Attica Athens Greece Institute of Primary Care University of Zurich Zurich Switzerland Department of Psychology and Sport Sciences School of Life and Medical Sciences University of Hertfordshire Hatfield United Kingdom Unité de recherche Impact de l’Activité Physique sur la Santé (UR IAPS Number 201723207F) University of Toulon Toulon France Department of Systems Biology University of Alcalá Madrid Spain Department of Sport and Health Spanish Agency for Health Protection in Sport (AEPSAD)

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control laws development for a free-flying unmanned robotic system to support interplanetary bodies prospecting and characterization missions

Control laws development for a free-flying unmanned robotic ...

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AIAA Guidance, Navigation, and control Conference, 2016

作者： Perez, Andres E. Moncayo, Hever Prazenica, Richard J. Zacny, Kris Mueller, Robert P. Ebert, Tom Dupuis, Michael Flight Dynamics and Control Research Laboratory Embry-Riddle Aeronautical University Daytona BeachFL32114 United States Aerospace Engineering Department Embry-Riddle Aeronautical University Daytona BeachFL32114 United States Exploration Technology Group Honneybee Robotics Company CA United States Exploration Research and Technology Programs Science and Technology Projects Division NASA Kennedy Space Center FL United States Autonomous Flight Systems Lead Testing and Design Branch NASA Kennedy Space Center FL United States Robotics and Autonomous Systems Testing and Design Branch NASA Kennedy Space Center FL United States

ISBN: (数字)9781624103896

ISBN: (纸本)9781624103896

In situ Resource Utilization (ISRU) facilitates planetary exploration by drawing needed resources, such as water, from the local environment. However, the extreme nature of these environments require the development of advanced unmanned space systems integrated with sample-capture devices to achieve the ultimate goal of prospecting these resources. This paper presents the design, development and Hardware-in-the-Loop (HIL) simulation testing of guidance and tracking control laws for an autonomous small marsupial free-flyer prospector system. The control laws are based on an extended non-linear dynamic inversion (NLDI) approach and its implementation is illustrated through HIL simulation using a mathematical model of an autonomous vehicle research platform developed by NASA Kennedy Space Center. This vehicle has been designed to support the development, testing and validation of algorithms for safe, reliable, and scalable control space missions with minimal need for human intervention in complex, unstructured environments. The main objective of the control laws is to minimize 3-axis distances with respect to a desired trajectory and maintain stability and adequate performance in the presence of uncertainties. The performance of the control laws is evaluated during autonomous flight in terms of trajectory tracking errors, real-time execution on board the flight computer, and control activity at nominal and dynamically-changing conditions. The results show that for all mission cases investigated the control laws approach has desirable capabilities and is reliable for in-flight testing operation as a next step towards the validation and verification of this configuration. © 2016, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： Hardware-in-the-loop simulation

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Task specific cooperative grasp planning for decentralized multi-robot systems

Task specific cooperative grasp planning for decentralized m...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Rajkumar Muthusamy Charalampos P. Bechlioulis Kostas J. Kyriakopoulos Ville Kyrki The authors are with the Intelligent Robotics Group Aalto University Finland Control Systems Laboratory National Technical University of Athens Zografou Greece

ISBN: (纸本)9781479969241

Grasp planning in multi-robot systems is usually studied in a centralized setting with all robots sharing common knowledge about the overall system. Relaxing this assumption would allow multiple mobile manipulators to cooperate even without strict and precise coordination. Moreover, most typical tasks for cooperative settings, such as transporting heavy objects, require certain forces/torques to be exerted along/around particular directions, for instance, compensating for the weight of the transported object. In this paper, we propose task specific multi-robot grasp planning strategies that allow decentralized planning. Each agent plans its own actions without precise information about the other's plans. The approach is based on analysing a task specific grasp quality metric in a probabilistic context, compensating thus for the incomplete knowledge. Results from simulation experiments demonstrate that task independent planning is clearly inferior when task characteristics are known and thus task specific quality measures should be used. Furthermore, the proposed decentralized planning approaches clearly outperform the baseline and show close to globally optimal performance.

关键词： Planning Robot kinematics Grasping Measurement Force Multi-robot systems

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