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International Conference on Autonomous Robots and Agents, ICARA

作者： Nikolaos Evangeliou Dimitris Chaikalis Nikolaos Giakoumidis Anthony Tzes Electrical Engineering Program New York University Abu Dhabi United Arab Emirates Electrical & Computer Engineering Department New York University Brooklyn NY USA Kinesis Lab Core Technology Platform New York University Abu Dhabi United Arab Emirates Center for Artificial Intelligence and Robotics New York University Abu Dhabi United Arab Emirates

This paper is concerned with the mechatronic design of a tricopter drone which can move as a ground vehicle and/or as a vessel. The tricopter has three pairs of coaxial rotors and is capable of providing 100N of thrust with a 15 minute flight time using an 8S LiPo 12.5Ah battery. Three waterproof motors are attached to an isosceles triangular omniwheel configuration for operating as a ground vehicle after landing. The customized wheels allow the vehicle to move with a linear velocity up to 2 m/sec at a tilt slope up to 20°. Two submersible parallel water thrusters provide 24N collective force leading to a maximum vessel velocity of 1 m/s and a turn radius of 1.5 m. The design alternatives are highlighted and prioritized according to their weight while the overall amphibious drone is shown in several flight/omniwheel vehicle/vessel modes.

关键词： Mechatronics Navigation Force Wheels Rotors Prototypes Land vehicles

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Efficient belief space planning in high-dimensional state spaces using PIVOT: Predictive incremental variable ordering tactic

arXiv

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arXiv 2021年

作者： Elimelech, Khen Indelman, Vadim Robotics and Autonomous Systems Program Technion-Israel Institute of Technology Haifa3200003 Israel Department of Aerospace Engineering Technion-Israel Institute of Technology

In this work, we examine the problem of online decision making under uncertainty, which we formulate as planning in the belief space. Maintaining beliefs (i.e., distributions) over high-dimensional states (e.g., entire trajectories) was not only shown to significantly improve accuracy, but also allows planning with information-theoretic objectives, as required for the tasks of active SLAM and information gathering. Nonetheless, planning under this "smoothing" paradigm holds a high computational complexity, which makes it challenging for online solution. Thus, we suggest the following idea: before planning, perform a standalone state variable reordering procedure on the initial belief, and "push forwards" all the predicted loop closing variables. Since the initial variable order determines which subset of them would be affected by incoming updates, such reordering allows us to minimize the total number of affected variables, and reduce the computational complexity of candidate evaluation during planning. We call this approach PIVOT: Predictive Incremental Variable Ordering Tactic. Applying this tactic can also improve the state inference efficiency;if we maintain the PIVOT order after the planning session, then we should similarly reduce the cost of loop closures, when they actually occur. To demonstrate its effectiveness, we applied PIVOT in a realistic active SLAM simulation, where we managed to significantly reduce the computation time of both the planning and inference sessions. The approach is applicable to general distributions, and induces no loss in accuracy. Copyright © 2021, The Authors. All rights reserved.

关键词： Computational complexity

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Estimation of Wrist Chattering Angle Based on Disturbance Observer

Estimation of Wrist Chattering Angle Based on Disturbance Ob...

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International Congress on Image and Signal Processing, BioMedical engineering and Informatics (CISP-BMEI)

作者： Xinyu Zhang Zhenyu Sun Bairui Shu Hiroshi Yokoi Xu Yong Guanglin Li Xiaobei Jing Shenzhen Institute of Advanced Technology (SIAT) Chinese Academy of Sciences (CAS) and the SIAT Branch Shenzhen Institute of Artificial Intelligence and Robotics for Society Shenzhen China Joint Doctoral Program for Sustainability Research The University of Electro-Communications Tokyo Japan Department of Mechanical Engineering and Intelligent Systems The University of Electro-Communications Tokyo Japan

Due to the physiological constraints and daily habits of hand movements, the wrist chattering effect (WCE) will inadvertently cause disturbance to the accuracy of fingers’ pattern recognition, when healthy subjects or amputees undergoing mirror training control their fingers according to instructions. This paper proposes a method for estimating WCE angles using a disturbance observer. Based on the Denavit-Hartenberg (D-H) convention and inverse kinematics, the intervals of the WCE during finger flexion and extension are determined. The research objective is to eliminate disturbance terms containing redundant information referring to sliding mode anti-jittering methods, making subsequent machine learning models less susceptible to disturbances.

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Fluid-driven traveling waves in soft robots

arXiv

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arXiv 2021年

作者： Salem, Lior Gat, Amir D. Or, Yizhar Faculty of Mechanical Engineering TASP- Technion Autonomous Systems and Robotics Program Technion - Israel Institute of Technology Technion City Haifa3200003 Israel

Many marine creatures, gastropods, and earthworms generate continuous traveling waves in their bodies for locomotion within marine environments, complex surfaces, and inside narrow gaps. In this work, we study theoretically and experimentally the use of embedded pneumatic networks as a mechanism to mimic nature and generate bi-directional traveling waves in soft robots. We apply long-wave approximation to theoretically calculate the required distribution of pneumatic network and inlet pressure oscillations needed to create desired moving wave patterns. We then fabricate soft robots with internal pneumatic network geometry based on these analytical results. The experimental results agree well with our model and demonstrate the propagation of moving waves in soft robots, along with locomotion capabilities. The presented results allow fabricating soft robots capable of continuous moving waves via the common approach of embedded pneumatic networks and requiring only two input controls. Copyright © 2021, The Authors. All rights reserved.

关键词： Fluid structure interaction

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Development of a Hybrid Actuation Hand Exoskeleton with Redundant Compliant Mechanisms

Development of a Hybrid Actuation Hand Exoskeleton with Redu...

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International Congress on Image and Signal Processing, BioMedical engineering and Informatics (CISP-BMEI)

作者： Bairui Shu Zhenyu Sun Xinyu Zhang Hiroshi Yokoi Xiaobei Jing Guanglin Li Xu Yong Shenzhen Institute of Advanced Technology (SIAT) Chinese Academy of Sciences (CAS) and the SIAT Branch Shenzhen Institute of Artificial Intelligence and Robotics for Society Shenzhen China Department of Mechanical Engineering and Intelligent Systems The University of Electro-Communications Tokyo Japan Joint Doctoral Program for Sustainability Research The University of Electro-Communications Tokyo Japan

Exoskeleton robots are currently widely used in the field of rehabilitation medicine to effectively assist patients with hand function loss in their rehabilitation training. To accommodate the physiological characteristics of the hand, particularly the deviation of the joint rotation axis, this paper proposes a hybrid-driven hand exoskeleton system with redundant compliant mechanisms and conducts motion and force analysis on it. The exoskeleton system can independently drive three fingers and drive their joints separately. To verify whether the exoskeleton system meets the rehabilitation requirements, angle verification experiments and object grasping experiments were conducted. The results showed that the maximum joint range of motion of the exoskeleton system reached 66 °, with an average joint range of motion of 55 ° , fully meeting the rehabilitation needs.

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Immediate Effect of Ankle Exoskeleton on Spatiotemporal Parameters and Center of Pressure Trajectory After Stroke

Immediate Effect of Ankle Exoskeleton on Spatiotemporal Para...

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IEEE International Conference on Rehabilitation robotics (ICORR)

作者： Mouhamed Zorkot Andrezza Luiza Silva Viana Fabricio Lima Brasil Aline Layze Pereira Da Silva Gabriel Fernandes Borges Caroline Cunha Do Espírito Santo Edgard Morya Silvestro Micera Solaiman Shokur Mohamed Bouri Translational Neural Engineering (TNE) lab and Rehabilitation and Assistive Robotics (REHAssist) lab Swiss Federal Institute of Technology (EPFL) Lausanne Switzerland Neuroengineering Program Edmond and Lily Safra International Institute of Neuroscience Santos Dumont Institute Macaíba Brazil Biorobotics Institute Scuola Superior Sant’ anna Pisa Italy

Gait impairments is a common condition in post-stroke subjects. We recently presented a wearable ankle exoskeleton called G-Exos, which showed that the device assisted in the ankle's dorsiflexion and inversion/reversion movements. The aim of the current pilot study was to explore spatiotemporal gait parameters and center of pressure trajectories associated with the use of the G-Exos in stroke participants. Three post-stroke subjects (52-63 years, 2 female/1 male) walked 160-meter using the G-Exos on the affected limb, on a protocol divided into 4 blocks of 40-meters: (I) without the exoskeleton, (II) with systems hybrid system, (III) active only and (IV) passive only. The results showed that the use of the exoskeleton improved swing and stance phases on both limbs, reduced stride width on the paretic limb, increased stance COP distances, and made single support COP distances more similar between the paretic and non-paretic limb. This suggests that all G-Exos systems contributed to improving body weight bearing on the paretic limb and symmetry in the gait cycle.

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SkinSource: A Data-Driven Toolbox for Predicting Touch-Elicited Vibrations in the Upper Limb

SkinSource: A Data-Driven Toolbox for Predicting Touch-Elici...

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International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (HAPTICS)

作者： Neeli Tummala Gregory Reardon Simone Fani Dustin Goetz Matteo Bianchi Yon Visell the Department of Electrical and Computer Engineering University of California Santa Barbara Santa Barbara CA USA the Media Arts and Technology Program University of California Santa Barbara Santa Barbara CA USA the School of Biological and Health Systems Engineering Arizona State University Tempe AZ USA the Soft Robotics for Human Cooperation and Rehabilitation Lab Instituto Italiano di Tecnologia Geneva GE Italy the Department of Mechanical Engineering University of California Santa Barbara Santa Barbara CA USA the Department of Information Engineering University of Pisa PI Italy the Department of Biological Engineering University of California Santa Barbara Santa Barbara CA USA

Vibrations transmitted throughout the hand and arm during touch contact play a central role in haptic science and engineering but are challenging to model or experimentally characterize. Here, we present SkinSource, a data-driven toolbox for predicting skin vibrations across the upper limb in response to user-specified input forces. The toolbox leverages impulse response measurements that encode the physics of vibration transmission across the hands and arms of four participants and provides software tools for analyzing the predicted skin responses. We show that the SkinSource predictions closely match experimental measurements and confirm the underlying assumption of linear vibration transmission in the skin. We also demonstrate through several usage examples how SkinSource can act as a versatile computational platform for haptic research applications, such as characterizing vibrotactile transmission in the skin, engineering haptic interfaces, and investigating touch perception.

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An Evaluation of Direct Image Based Visual Tracking System for Autonomous Manipulation* 48

An Evaluation of Direct Image Based Visual Tracking System f...

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48th Annual Conference of the IEEE Industrial Electronics Society, IECON 2022

作者： Islam, S. Saleh, A. Dias, J. Sunda-Meya, A. Xavier University of Louisiana Dual Degree Engineering Program Intelligent Robotics Mechatronics & Autonomous Systems Lab 1 Drexel Drive New OrleansLA70125 United States Khalifa University United Arab Emirates Coimbra3030-260 Portugal Khalifa University Khalifa University Autonomous Vehicles Lab United Arab Emirates Xavier University of Louisiana College of Arts & Sciences 1 Drexel Drive New OrleansLA70125 United States

ISBN: (数字)9781665480253

ISBN: (纸本)9781665480253

In this paper, we implement and evaluate a direct image-based visual tracking system for autonomous manipulation applications. The direct image-based visual tracking method is developed to relax complex image processing tasks from traditional image and position-based visual tracking methods. The visual signals are constructed by using multiresolution coefficients. The method compares the multiresolution image transformation of the current and desired images and uses the mismatch between them to drive the system. The method needs to design a multiresolution interaction matrix with half and details images. The matrix connects the multiresolution image transformation coefficients with the velocity of the manipulator and controller. To illustrate the effectiveness, the direct image-based tracking system design is implemented and evaluated to locate the position of the valve stem and set of wrenches for autonomous grasping and manipulation for fire fighting applications. © 2022 IEEE.

关键词： Linear transformations

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Amino-functionalized reduced graphene oxide@MoS2@CoS2 heterostructure as a high-rate anode material for ultralong lifespan sodium–sulfur batteries

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New Journal of Chemistry 2025年第24期49卷 10379-10387页

作者： Navid Aslfattahi Maryam Sadat Kiai Nilgun Baydogan Lingenthiran Samylingam Kumaran Kadirgama Chee Kuang Kok Department of Fluid Dynamics and Thermodynamics Faculty of Mechanical Engineering Czech Technical University in Prague Prague 166 07 Czech Republic Nano-Science and Nano-Engineering Program Graduate School of Science Engineering and Technology Istanbul Technical University Istanbul-34469 Turkey Energy Institute Ayazaga Campus Istanbul Technical University Maslak Istanbul Turkey Centre for Advanced Mechanical and Green Technology Center of Excellence for Robotics & Sensing Technologies Faculty of Engineering and Technology Multimedia University Jalan Ayer Keroh Lama Bukit Beruang 75450 Melaka Malaysia Faculty of Mechanical and Automotive Engineering Technology Universiti Malaysia Pahang 26600 Pekan Malaysia Centre for Research in Advanced Fluid and Process University Malaysia Pahang Al-Sultan Abdullah Lebuhraya Tun Razak Gambang Kuantan Pahang Malaysia Centre for Sustainable Materials & Surface Metamorphosis (CSMSM) Chennai Institute of Technology Chennai India

A nanocomposite comprising MoS2@CoS2 amino-functionalized graphene (En-RGO) with a two-dimensional structure has been successfully synthesized using a simple self-assembly technique. The resulting cell with a MoS2@CoS...

A nanocomposite comprising MoS₂@CoS₂ amino-functionalized graphene (En-RGO) with a two-dimensional structure has been successfully synthesized using a simple self-assembly technique. The resulting cell with a MoS₂@CoS₂@En-RGO anode and a sulfur cathode exhibits a superior hierarchical architecture that significantly facilitates ion mobility, cell conductivity, and pseudocapacitance. Consequently, this leads to improved rate performance and extended cycle stability in Na–S batteries. Micron-sized CoS₂ was synthesized by solvothermal growth of MoS₂ nanosheets on its surface. This composite material presents enhanced sodium-ion diffusion kinetics attributed to its heterogeneous interface, reduced ion diffusion pathways and increased exposure of active sites for sodium storage due to its hierarchical nanosheet structure. Additionally, amino functionalized graphene oxide with uniform nitrogen doping could improve electronic conductivity. The cell employing MoS₂@CoS₂@En-RGO with superior ion mobility and enhanced adsorption energy of Na⁺ ions achieves a cycle stability of 541.2 mA h g⁻¹ after 1800 cycles. The increased adsorption energy facilitates a more efficient sodiation process at MoS₂@CoS₂@En-RGO compared to En-RGO. Additionally, the MoS₂@CoS₂@En-RGO anode demonstrates a capacity retention of 95.8% after 1800 cycles at 1 A g⁻¹. The enhanced mobility of Na ions and the effective adsorption of polysulfide chains in MoS₂@CoS₂@En-RGO have been examined through DFT calculations, confirming its potential as a promising anode material for

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Perception-Action Coupling in Usage of Telepresence Cameras

Perception-Action Coupling in Usage of Telepresence Cameras

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IEEE International Conference on robotics and Automation (ICRA)

作者： Alexandra Valiton Zhi Li Robotics Engineering Program Worcester Polytechnic Institute Worcester MA USA

ISBN: (数字)9781728173955

ISBN: (纸本)9781728173962

Telepresence tele-action robots enable human workers to reliably perform difficult tasks in remote, cluttered, and human environments. However, the effort to control coordinated manipulation and active perception motions may exhaust and intimidate novice workers. We hypothesize that such cognitive efforts would be effectively reduced if the teleoperators are provided with autonomous camera selection and control aligned with the natural perception-action coupling of the human motor system. Thus, we conducted a user study to investigate the coordination of active perception control and manipulation motions performed with visual feedback from various wearable and standalone cameras in a telepresence scenario. Our study discovered rich information about telepresence camera selection to inform telepresence system configuration and possible teleoperation assistance design for reduced cognitive effort in robot teleoperation.

关键词： Cameras Task analysis Robot vision systems Robot kinematics Telepresence Teleoperators

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