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2024 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2024

作者： Chen, Ting-You Young, Kuu-Young Graduate Degree Program of Robotics National Yang Ming Chiao Tung University Hsinchu Taiwan National Yang Ming Chiao Tung University Department of Electrical Engineering Hsinchu Taiwan

ISBN: (纸本)9781665410205

As robot surgery becomes more popular these days, it consequently solicits a high demand on its training system. Currently, most of the systems are intended for personal training, while it may be more effective if an experienced expert can also be involved. It thus motivates us to propose a dual-user robotic surgical training system that can closely link the mentor and trainee together. The system is developed in a mixed-reality environment that integrates the information from both the virtual and real worlds. The haptic feedback and virtual fixtures are employed for assistance during skill transfer. The proposed system can assess the proficiency level of the trainee for the mentor to provide proper assistance during training. The experimental results demonstrate that the proposed system is capable of enhancing the trainee's ability for surgery. Especially, similar effectiveness is observed during comparative studies with direct hands-on guidance frequently adopted for skill transfer during sport training. © 2024 IEEE.

关键词： Robotic surgery

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A Computationally Efficient GNSS/INS Design of Multirotor based on Error-state Kalman Filter

A Computationally Efficient GNSS/INS Design of Multirotor ba...

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SICE Annual Conference

作者： Sheng-Wen Cheng Yi-Hsiang Huang Graduate Degree Program of Robotics National Yang Ming Chiao Tung University Taiwan

This paper presents a GNSS/INS based on an error-state Kalman filter (ESKF) to combine the global navigation satellite system (GNSS) and inertial navigation system (INS) for multirotors. The onboard sensors consist of an inertial measurement unit (IMU), a magnetometer, a GNSS receiver, and a rangefinder. The proposed system can estimate the position, velocity, quaternion, and IMU bias, where the INS design significantly improves the positioning update rate of the GNSS. In addition, to execute the algorithm on flight computers with restricted computational resources, a code generator is developed to utilize the sparse and symmetric structure of the ESKF, which can produce high-efficient C code to speed up the computation time.

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An Effective Seat Belt Detection System on the Bus

An Effective Seat Belt Detection System on the Bus

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IEEE International Conference on Consumer Electronics-Taiwan (ICCE-TW)

作者： Hsiao-Chu Cheng Chin-Chuan Chang Wen-June Wang National Central University Taiwan Graduate Degree Program of Robotics National Chiao Tung University Taiwan

ISBN: (数字)9781728173993

ISBN: (纸本)9781728174006

According to the “Regulations of the Automobile Transportation” of Taiwan, any passenger on the bus who is over 4 years old must fasten seat belts when the bus is driving on the free high way. To enforce passengers to follow the regulation, this study designs and implements a smart seat belt warning system by which the driver of the bus can detect whether each passage fastens the seat belt and the detection result will be displayed on the smart cell phone. The implemented achievement includes a new seat belt buckle which includes a WIFI module and a designed APP. It only uses one WIFI module, and rewrite the module into STA mode. As long as the seat belt buckle is locked in, the WIFI modules on all seats can be connected such that the bus driver can know the belt of the seat is fastened from the APP of the cell phone. Otherwise, if any seat belt is not fastened, the driver also can find it. The advantages of the product are that it is very cheap and the original seat structure does not need to be changed.

关键词： Belts Wireless fidelity Vehicles Joining processes Sensors Seals Regulation

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A Design for Improvement of Visual SLAM in Dynamic Environments Using Feature-Point Removal of Moving Persons

A Design for Improvement of Visual SLAM in Dynamic Environme...

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2023 International Automatic Control Conference, CACS 2023

作者： Song, Kai-Tai Meng, Ching-Hao National Yang Ming Chiao Tung University Institute of Electrical and Control Engineering College of Electrical and Computer Engineering Hsinchu886-3-5731865 Taiwan National Yang Ming Chiao Tung University Graduate Degree Program of Robotics College of Engineering Hsinchu Taiwan

ISBN: (纸本)9798350306354

This paper presents a design to improve the robustness of visual SLAM(vSLAM). A processing step of feature-removal is added to the tracking thread of the conventional ORB-SLAM2 algorithm to improve the localization accuracy of a mobile robot in an environment with moving persons. Instance segmentation and motion tracking are intergrated to identify motion state of people in an image. ORB feature points belonging to moving persons are removed for further processing of the vSLAM pipeline. The advantage of this method is that the vSLAM can remove feature points of moving people, while retain those belonging to static people in the environment, which improves the accuracy of robot pose estimation. The improved ORB-SLAM2 algorithm has been implemented in a NVIDIA Xavier embedded system, which is integrated to a mobile robot. In practical robot navigation experiments, the average positioning error of the proposed method is within 4cm for 22.4m travel distance. Compared with conventional ORB-SLAM2, the average accuracy of our vSLAM method improves 97% in a dynamic environment with moving people. © 2023 IEEE.

关键词： Mobile robots

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Trajectory Learning and Demonstration of a Robot Manipulator Based-on Sensor Fusion from a Hand-held Tool

Trajectory Learning and Demonstration of a Robot Manipulator...

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2024 International Automatic Control Conference, CACS 2024

作者： Song, Kai-Tai Ou, Szu-Chen National Yang Ming Chiao Yang Ming Chiao Tung University Institute of Electrical and Control Engineering College of Electrical and Computer Engineering Hsinchu300093 Taiwan National Yang Ming Chiao Tung University Graduate Degree Program of Robotics Hsinchu300093 Taiwan

ISBN: (纸本)9798350354904

This paper presents a programming system for a robot manipulator using a hand-held demonstration tool. In this system, a user holds the self-designed tool to demonstrate a desired motion path, and the robot arm replicates the learned trajectory. The path-demonstration tool, including optical tags (OT) and an IMU, is designed to collect trajectory data from hand motion. Sensor data fusion allows the system to track accurately the demonstrated trajectory. A calibration procedure is proposed to transform the trajectory from tool's coordinate system to robot's coordinate system. A cubic spline-based trajectory planning method is proposed to ensure smooth reproduction of the learned trajectory in both time and space. Experimental results show that the robot is able to replicate squared and curved trajectories collected from the path-demonstration tool. The average position error is within 2.435 mm in XYZ directions and the average orientation error is within 0.65 degrees. © 2024 IEEE.

关键词： Demonstrations

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Development of a Mixed-Reality Dual-User Training System for Robot Laparoscopic Surgery

Development of a Mixed-Reality Dual-User Training System for...

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IEEE International Conference on Systems, Man and Cybernetics

作者： Ting-You Chen Kuu-Young Young Graduate Degree Program of Robotics National Yang Ming Chiao Tung University Hsinchu Taiwan Department of Electrical Engineering National Yang Ming Chiao Tung University Hsinchu Taiwan

ISBN: (数字)9781665410205

ISBN: (纸本)9781665410212

关键词： Training Minimally invasive surgery Medical robotics Robot kinematics Fixtures Virtual reality Haptic interfaces Cybernetics Sports

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Robust State-Feedback $\mathbf{H}_{\infty}$ Control of Quadrotor

Robust State-Feedback $\mathbf{H}_{\infty}$ Control of Quadr...

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International Automatic Control Conference

作者： Sheng-Wen Cheng Hsin-Ai Hung Graduate Degree Program of Robotics National Yang Ming Chiao Tung University Hsinchu Taiwan Department of Mechanical Engineering National Yang Ming Chiao Tung University Hsinchu Taiwan

ISBN: (数字)9781665496469

ISBN: (纸本)9781665496476

This paper presents an $\mathbf{H}_{\infty}$ control design for quadrotors to enhance robustness against unmodeled disturbances. In optimal control, the algebraic Riccati equation (ARE) frequently arises in topics like Linear Quadratic Regulator (LQR) or $\mathbf{H}_{\infty}$ control. The $\mathbf{H}_{\infty}$ control minimizes the maximal gain between the disturbance input and the control output, which can be solved by acquiring the solution of ARE while finding the minimal $\mathbf{H}_{\infty}$ norm of the corresponding transfer function. Thus, a simple bisection algorithm is also proposed for computing the stabilizing ARE solution of the $\mathbf{H}_{\infty}$ control, which combines a state-of-the-art algorithm for the ARE called the structure-preserving doubling algorithm (SDA).

关键词： Regulators Heuristic algorithms Simulation Quaternions Riccati equations Optimal control Transfer functions

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HAGrasp: Hybrid Action Grasp Control in Cluttered Scenes using Deep Reinforcement Learning

HAGrasp: Hybrid Action Grasp Control in Cluttered Scenes usi...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Kai-Tai Song Hsiang-Hsi Chen Institute of Electrical and Control Engineering National Yang Ming Chiao Tung University Hsinchu Taiwan Graduate Degree Program of Robotics National Yang Ming Chiao Tung University Hsinchu Taiwan

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Robotic autonomous grasp requires the system to perform multiple functions such as gripper and robot control, making it a task with hybrid output nature. Existing methods based on closed-loop deep reinforcement learning rely on external models for termination evaluation. To achieve more effective grasp for novel objects, we propose a new autonomous grasp control scheme termed HAGrasp that considers the complete point cloud of the workspace. It integrates grasp pose estimation, end-effector pose evaluation, and motion planning of the robotic arm into a single model, enhancing the success rate while reducing computational load. We present a closed-loop grasp control system based on deep reinforcement learning. This control system can perform grasp tasks while dynamically adjusting to avoid end-effector collisions. The design of hybrid-action reinforcement learning module is trained with unified latent action space and further improve generalization, achieving real-time autonomous grasp control. Real robot experiments show that our method has 74.2% success rate for grasping 7 unseen objects. Comparative experiments show that the proposed HAGrasp outperforms open-loop baseline Contact-Graspnet in both success rate and inference time. It is demonstrated that with integrated multi-view input and sim-to-real training design, our method improves real-world applications of autonomous grasp.

关键词： Training Point cloud compression Robot control Pose estimation Deep reinforcement learning End effectors Real-time systems

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How Fast Can a Robotic Drummer Beat Using Dielectric Elastomer Actuators?

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IEEE robotics and Automation Letters 2024年第3期9卷 2638-2645页

作者： Wakle, Sudhir Lin, Tse-Han Huang, Shu Basu, Sumit Lau, Gih-Keong National Yang Ming Chiao Tung University International College of Semiconductor Technology Hsinchu30010 Taiwan Indian Institute of Technology Kanpur Mechanical Engineering Department Kanpur208016 India National Yang Ming Chiao Tung University Department of Graduate Degree Program of Robotics Hsinchu30010 Taiwan Industrial Technology Research Institute Mechanical and Mechatronics System Research Labs Zhudong 31057 Taiwan National Yang Ming Chiao Tung University Department of Mechanical Engineering International College of Semiconductor Technology Hsinchu30010 Taiwan

Fast drumming presents a speed challenge to many robotic arms. To simultaneously meet the needs for speed, stroke, and force, we proposed and tested a new double-saddle dielectric elastomer actuator (DEA) as the artificial biceps for driving a lightweight robotic drummer. This work finds that fast force induction is instrumental to the fast drumming by a DEA-driven drumstick. While a pure-shear series of DEA under a large pre-stretch and lateral reinforcement can generate a large isotonic stroke, it is not fast in isometric force induction. Instead, this work found a double-saddle DEA, which is a degenerated two-segment pure-shear DEA with a middle laterally buckled beam, managed to induce a faster isometric force at a 0.5 s down time constant when its ultimate actuation tapered due to substantial strain stiffening effect. As such, this double-saddle DEA-driven drummer suffered less from the dynamic stroke decrement than the 8-segment DEA did. A 4.4 g DEA managed to swing freely a 7.8 g drumstick up to nearly 60° at 6 kV and a maximum tip speed of up to 0.45 m/s. The drumming frequency upon 5.5 kV activation was up to 2-2.5 Hz. In comparison, an 8-segment pure-shear DEA-driven drummer failed to reach the drum when pulsed at 2 Hz. Interestingly, a slower stroke excited multiple drumbeats due to secondary bounces. To achieve a faster drumming to match a human drummer, it is foreseen that a harder dielectric elastomer material will help drive a faster soft robot. © 2016 IEEE.

关键词： Dielectric materials

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Data Alignment Design for Robotic programming by Demonstration Based on IMU and Optical Tracker

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IEEE Transactions on Instrumentation and Measurement 2023年 72卷 1页

作者： Song, Kai-Tai Li, Bing-Yi Ou, Szu-Chen National Yang Ming Chiao Tung University Institute of Electrical and Control Engineering College of Electrical and Computer Engineering Hsinchu300093 Taiwan National Yang Ming Chiao Tung University Graduate Degree Program of Robotics Hsinchu300093 Taiwan

This study proposes a data alignment design for sensor fusion of an optical target (OT) and an inertial measurement unit (IMU) to track the trajectory of a handheld tool for robot programming by demonstration (PbD). A novel method is proposed for coordinate and temporal alignment between the OT and the IMU sensor to increase tracking accuracy. The IMU measurements are aligned with the corresponding angular velocities and accelerations derived from the OT to calibrate the IMU-OT relationship. Global and local optimizations are combined to reduce the computation time for the temporal alignment and coordinate calibration. Experimental results show that the proposed method provides improved calibration results with shorter calculation time compared with the two existing methods. The sensor fusion experiments verify the accuracy of trajectory tracking of 1.3 mm using the calibration result, an improvement from 1.4 mm of the data alignment using ruler measurement. Integrated PbD experiments using a 6-DOF manipulator were carried out to evaluate the proposed method. The manipulator imitated the hand motion of a bottle transfer task with a trajectory error of 0.66 mm. Practical robotic experiments demonstrate that the method is suitable for robot programming applications. © 1963-2012 IEEE.

关键词： Calibration

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