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IEEE International Conference on robotics and Automation

作者： Saivimal Sridar Corey J. Majeika Phillip Schaffer Matthew Bowers Seiichiro Ueda Andrew J. Barth Jon L. Sorrells Jon T. Wu Thane R. Hunt Marko Popovic Robotics Engineering Program Worcester Polytechnic Institute United States

ISBN: (纸本)9781467380270

Hydro Muscles are linear actuators resembling ordinary biological muscles in terms of active dynamic output, passive material properties and appearance. The passive and dynamic characteristics of the latex based Hydro Muscle are addressed. The control tests of modular muscles are presented together with a muscle model relating sensed quantities with net force. Hydro Muscles are discussed in the context of conventional actuators. The hypothesis that Hydro Muscles have greater efficiency than McKibben Muscles is experimentally verified. Hydro Muscle peak efficiency with (without) back flow consideration was 88% (27%). Possible uses of Hydro Muscles are illustrated by relevant robotics projects at WPI. It is proposed that Hydro Muscles can also be an excellent educational tool for moderate-budget robotics classrooms and labs;the muscles are inexpensive (in the order of standard latex tubes of comparable size), made of off-the-shelf elements in less than 10 minutes, easily customizable, lightweight, biologically inspired, efficient, compliant soft linear actuators that are adept for power-augmentation. Moreover, a single source can actuate many muscles by utilizing control of flow and/or pressure. Still further, these muscles can utilize ordinary tap water and successfully operate within a safe range of pressures not overly exceeding standard water household pressure of about 0.59 MPa (85 psi).

关键词： artificial muscle soft actuators hydraulics pneumatics control robots

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The impact of fin number on device's performance and reliability in tri-gate FinFETs

The impact of fin number on device's performance and reliabi...

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IEEE Electron Devices Technology and Manufacturing Conference (EDTM)

作者： Wen-Kuan Yeh Po-Ying Chen Chia-Hung Shih Wenqi Zhang Yi-Lin Yang National Nano Device Laboratories (NDL) National Applied Research Laboratories Taiwan Department of Electrical Engineering National University of Kaohsiung Kaohsiung Taiwan Department of Electronic Engineering National Chin-Yi University of Technology Taichung Taiwan Bachelor Program in Robotics National Pingtung University Taiwan Department of Electronic Engineering National Kaohsiung Normal University Kaohsiung Taiwan

In this paper, the impact of fin number on device performance and hot carrier induced device degradation was investigated for n-channel tri-gate multi-fin FinFET with different fin numbers. The threshold voltage (VTH) shift, transconductance, and subthreshold swing degradation were extracted to determine the degradation of device. It was found that the device with fewer fins shows better device performance, but suffer from more serious hot carrier induced device degradation. It is suggested that the existed coupling effect between the fins reduces the equivalent electric field in the multi-fins devices, thus shows better reliability than the single-fin device does after hot carrier stress.

关键词： FinFETs Degradation Stress Reliability Human computer interaction Hot carriers Performance evaluation

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SOPHIA: Soft Orthotic Physiotherapy Hand Interactive Aid

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Frontiers in Mechanical engineering 2017年 3卷

作者： McConnell, Alistair C. Vallejo, Marta Moioli, Renan Cipriano Brasil, Fabricio L. Secciani, Nicola Nemitz, Markus P. Riquart, Cecile P. Corne, David W. Vargas, Patricia A. Stokes, Adam A. Robotics Lab School of Mathematical and Computer Sciences Heriot-Watt University Edinburgh United Kingdom Stokes Research Group School of Engineering Institute for Integrated Micro and Nano Systems The University of Edinburgh Edinburgh United Kingdom Graduate Program in Neuroengineering Edmond and Lily Safra International Institute of Neuroscience Santos Dumont Institute Macaiba Brazil

This work describes the design, fabrication, and initial testing of a Soft Orthotic Physiotherapy Hand Interactive Aid (SOPHIA) for stroke rehabilitation. SOPHIA consists of (1) a soft robotic exoskeleton, (2) a microcontroller-based control system driven by a brain–machine interface (BMI), and (3) a sensorized glove for passive rehabilitation. In contrast to other rehabilitation devices, SOPHIA is the first modular prototype of a rehabilitation system that is capable of three tasks: aiding extension based assistive rehabilitation, monitoring patient exercises, and guiding passive rehabilitation. Our results show that this prototype of the device is capable of helping healthy subjects to open their hand. Finger extension is triggered by a command from the BMI, while using a variety of sensors to ensure a safe motion. All data gathered from the device will be used to guide further improvements to the prototype, aiming at developing specifications for the next generation device, which could be used in future clinical trials. © Copyright © 2017 McConnell, Vallejo, Moioli, Brasil, Secciani, Nemitz, Riquart, Corne, Vargas and Stokes.

关键词： Orthotics

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A Composite Soft Bending Actuation Module with Integrated Curvature Sensing

A Composite Soft Bending Actuation Module with Integrated Cu...

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IEEE International Conference on robotics and Automation

作者： Selim Ozel Erik H. Skorina Ming Luo Weijia Tao Fuchen Chen Yixiao Pan Cagdas D. Onal Mechanical Engineering Department and Robotics Engineering Program Worcester Polytechnic Institute MA 01609 USA

ISBN: (纸本)9781467380270

Soft robotics carries the promise of making robots as capable and adaptable as biological creatures, but this will not be possible without the ability to perform self-sensing and control with precision and repeatability. In this paper, we seek to address this need with the development of a new pneumatically-actuated soft bending actuation module with integrated curvature sensing. We designed and fabricated two different versions of this module: One with a commercially available resistive flex sensor and the other with a magnetic curvature sensor of our own design, and used an external motion capture system to calibrate and validate these two approaches. In addition, we used an iterative sliding mode controller to drive the modules through step curvature references to demonstrate the controllability of the modules as well as compare the usability of the two sensors. We found that the magnetic sensor returned noisy but accurate data, while the flex sensor had minor inaccuracies and it was subject to overshoot but did not exhibit notable noise. Experimental results show that this phenomenon of overshoot from the flex sensor causes active feedback control of the bending actuator to exhibit significant positioning errors. This work demonstrates that our soft bending actuator can be controlled with repeatability and precision, and that our magnetic curvature sensor represents an improvement for use in proprioception and closed-loop control of soft robotic devices.

关键词： Module Integrated Curvature

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Motion Control of a Soft-Actuated Modular Manipulator

Motion Control of a Soft-Actuated Modular Manipulator

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IEEE International Conference on robotics and Automation

作者： Erik H. Skorina Weijia Tao Fuchen Chen Ming Luo Cagdas D. Onal Mechanical Engineering Department and Robotics Engineering Program Worcester Polytechnic Institute MA 01609 USA

ISBN: (纸本)9781467380270

Soft pneumatic actuators can allow robotic manipulators to interact safely in complex environments in close proximity to humans, but work still needs to be done controlling them more effectively. We explore this area by introducing a 2-degree of freedom (DoF) universal joint module actuated by three reverse Pneumatic Artificial Muscles (rPAMs) and an associated geometric Jacobian-enhanced iterative sliding mode controller. After demonstrating the effectiveness of this controller, we combine two of these modules to form a 4-DoF soft actuated manipulator. To control this modular manipulation system, we propose two controllers: a direct inverse kinematic (IK) controller and an end-effector geometric Jacobian controller. Though both controllers were validated to function effectively, the Jacobian controller was more precise (especially under payload) while the IK controller was more accurate.

关键词： Control Soft-Actuated Modular

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Semantic segmentation of urban scenes with enhanced spatial contexts

Semantic segmentation of urban scenes with enhanced spatial ...

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International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)

作者： Jeonghyeon Wang Jinwhan Kim Robotics Program KAIST Daejeon Korea Department Of Mechanical Engineering KAIST Daejeon Korea

This paper proposes a method to solve the image segmentation problem effectively by applying local spatial relations. The proposed method is based on the conjecture that spatially neighboring objects have a higher probability of relating each other than nonadjacent objects. Using depth information from 3D lidar, spatial contextual information between image segments is obtained. This information is modeled in the framework of Conditional Random Field to penalize distant objects that are likely to have no particular relation between them. The proposed method is evaluated on the publicly available image dataset, and it shows better global and class classification rates compared to the previous state-of-the-art work.

关键词： Three-dimensional displays Encoding Buildings Robot sensing systems

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Efficient visual SLAM using selective image registration for autonomous inspection of underwater structures

Efficient visual SLAM using selective image registration for...

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Symposium on Autonomous Underwater Vehicle Technology (AUV)

作者： Seonghun Hong Jinwhan Kim Robotics Program KAIST Daejeon Korea Department of Mechanical Engineering KAIST Daejeon Korea

ISBN: (纸本)9781509024438

Visual inspection of underwater structures including ship-hull inspection has been performed by human divers. It is a highly dangerous task and thus can be a potential application for unmanned underwater vehicles. This paper introduces an efficient visual simultaneous localization and mapping (SLAM) algorithm that can be applied to the autonomous inspection of underwater structures. Considering that visual features are sparsely located on the surface of typical underwater structures, the proposed visual SLAM algorithm employs a selective image registration scheme consisting of key-frame selection and key-pair selection. By using only potentially effective images and image pairs for feature-based image registration, the computational burden of the visual SLAM can be substantially reduced, compared with the conventional method. Experimental results using a hover-capable unmanned underwater vehicle verify the practical feasibility and performance of the proposed methodology.

关键词： Visualization Simultaneous localization and mapping Image registration Feature extraction Cameras Inspection Dogs

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DMQEA-FCM: An approach for preference-based decision support

DMQEA-FCM: An approach for preference-based decision support

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IEEE International Conference on Fuzzy Systems (FUZZ-IEEE)

作者： Seung-Hwan Baek Si-Jeong Ryu Jong-Hwan Kim Robotics Program KAIST Daejeon Korea Department of Electrical Engineering KAIST Daejeon Korea

ISBN: (纸本)9781509006274

This paper proposes a novel algorithm, named dual multiobjective quantum-inspired evolutionary (DMQEA) algorithm augmented fuzzy cognitive map (FCM). DMQEA was developed to help users select preferable solutions out of the non-dominated ones and has been proven to be an effective way compared to other multi-objective optimization methods, such as MQEA, MQEA-PS, etc. DMQEA, in this paper, has been coupled with decision supporting tool, fuzzy cognitive maps (FCMs) to support selecting best models which can reflect users' preferences. Even though the attempts with single optimization such as genetic algorithms (GAs) or particle swarm optimization (PSO) have been frequently carried out, there have been only few attempt to incorporate FCM with multicriteria decision making algorithm, especially to reflect user's preference. This study aims to integrate DMQEA with FCM to build models according to user's preference. In robotics field, the interaction with human operators is an important issue and DMQEA-FCM can aid robots in their decision making process in the context of the interaction.

关键词： Sociology Statistics Optimization Robots Sorting Biological system modeling Heuristic algorithms

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Deep learning of structured environments for robot search

Deep learning of structured environments for robot search

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Jeffrey A. Caley Nicholas R.J. Lawrance Geoffrey A. Hollinger Robotics Program School of Mechanical Industrial and Manufacturing Engineering Oregon State University United States

ISBN: (纸本)9781509037636

Robots often operate in built environments containing underlying structure that can be exploited to help predict future observations. In this work, we present a deep learning based approach to predict exit locations of buildings. This technique exploits the inherent structure of buildings to create a model. A convolutional neural network is trained using a database of building blueprints and used to guide a search within a building. This technique is compared to standard frontier exploration and a traditional image processing approach of extracting features through histogram of gradients (HOG) and training a support vector machine (SVM). After validation through simulation, we show that the proposed deep learning technique reduces the amount of building exploration required to find the goal by 36%.

关键词： Robots Buildings Machine learning Biological neural networks Feature extraction Training

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Ocean Deployment and Testing of a Semi-Autonomous Underwater Vehicle

Ocean Deployment and Testing of a Semi-Autonomous Underwater...

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OCEANS MTS/IEEE Monterey (Conference)

作者： Nicholas R. J. Lawrance Thane Somers Dylan Jones Seth McCammon Geoffrey A. Hollinger Robotics Program School of Mechanical Industrial and Manufacturing Engineering Oregon State University Corvallis 97331 USA

ISBN: (纸本)9781509015276

We present the design overview and navigation performance for an offshore deployment of a semi-autonomous underwater vehicle (sAUV). The system is based on a commercially-available observation class remotely operated vehicle (ROV), combined with a commercial AUV navigation system. The vehicle also has onboard visual cameras, a Doppler velocity log, and a multibeam imaging sonar. We present the integration of the various subsystems as well as a Robot Operating System (ROS)-based interface that allows researchers to visualize sensor and navigation data and send commands to the vehicle in real time. Results from an April 2016 offshore trial are presented, demonstrating the station keeping and waypoint following capabilities of the vehicle in open water.

关键词： Vehicles Sonar navigation Robot sensing systems Oceans Data visualization

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