IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation最新文献_第10页

Discrete time reaching law based variable structure control for fast reaching with reduced chattering 基于离散时间趋近律的变结构快速趋近控制

IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation Pub Date : 2020-03-01 DOI: 10.11591/ijra.v9i1.pp51-61

P. Padmalatha, Susy Thomas

引用次数: 3

Design and development of soft robotic hand for vertical farming in spacecraft 航天器垂直农业用柔性机械手的设计与研制

IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation Pub Date : 2020-03-01 DOI: 10.11591/ijra.v9i1.pp6-16

A. Suresh, G. Udupa, Dhruv Gaba

{"title":"Design and development of soft robotic hand for vertical farming in spacecraft","authors":"A. Suresh, G. Udupa, Dhruv Gaba","doi":"10.11591/ijra.v9i1.pp6-16","DOIUrl":"https://doi.org/10.11591/ijra.v9i1.pp6-16","url":null,"abstract":"For colonization in deep space we need to explore the feasibility of a bioregenerative system in microgravity or artificial gravity environments. The process has various complexities form ranging to biological obstacles to engineering limitations of the spacecraft. Concentration of microbes in the confinements of a spacecraft can be fatal for the crew. In this paper, a solution to the elevated microbial levels by farming using robots is discussed. The soft robotic arm is made up of Asymmetric Flexible Pneumatic Actuator (AFPA). The AFPA under internal pressure will curve in the direction of the side having greater thickness as the expansion of the thinner side (outside radius) will be more than thicker side (inside radius) due to differential expansion and moment induced due to eccentricity. Simulation results demonstrate that bending based on AFPA can meet the designed requirement of application. The AFPA is used for five fingers of the robotic hand. The safe, soft touch and gentle motion of the bellow (AFPA) gives the feel of real human hand. The internal pressure of the AFPA is controlled using a solenoid valve which is interfaced using an Arduino microcontroller for hand like moves. The bending of the fingers and degree of freedom (DOF) of the joints of the hand is controlled using an IMU and flex sensor. Wireless connection of the hand and the control system is implemented using XBee pro 60mW with a range of 1 miles.The pneumatic soft robotic hand is made up of solenoid valve, Mini Compressor, AFPA bellow, and Servos. This soft robotic hand has many advantages such as good adaptability, simple structure, small size, high flexibility and less energy loss. As an extension Manual control of the robot using a virtual reality environment and well as some possible aspects of an automated farming systems can be considered as future additions.","PeriodicalId":73286,"journal":{"name":"IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation","volume":"9 1","pages":"1-12"},"PeriodicalIF":0.0,"publicationDate":"2020-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"47771724","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 4

Multi-objective optimization and linear buckling of serial chain of a medical robot tool for soft tissue surgery 一种用于软组织手术的医疗机器人工具系列链的多目标优化和线性屈曲

IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation Pub Date : 2020-03-01 DOI: 10.11591/ijra.v9i1.pp17-25

G. Ilewicz, A. Harlecki

{"title":"Multi-objective optimization and linear buckling of serial chain of a medical robot tool for soft tissue surgery","authors":"G. Ilewicz, A. Harlecki","doi":"10.11591/ijra.v9i1.pp17-25","DOIUrl":"https://doi.org/10.11591/ijra.v9i1.pp17-25","url":null,"abstract":"Received Oct 13, 2019 Revised Dec 27, 2019 Accepted Jan 12, 2020 The slender structures of a medical robot may have a tendency to buckling when a force equal to the critical Euler force and an additional disturbance will work on their structures. In this work, eigenvalue problem that describes the linear buckling is under consideration. The main goal of the article is to check when linear buckling phenomenon appears in construction of a medical robot with serial chain due to the fact that for safety reasons of a robot’s work, it is necessary to answer the question, whether the buckling may occur in the robot’s structure. For this purpose, a numerical calculation model was defined by using the finite element method. The values of load factor coefficients that are eigenvalue are determinated and also the eigenvectors that have shapes of deformation for the next eigenvalues are presented. The multi-criteria optimization model was determined to aim for the minimum mass of the effector and the buckling coefficient, from which the Euler force results, for the maximum. The solution was obtained on the basis of Pareto fronts and the MOGA genetic algorithm.","PeriodicalId":73286,"journal":{"name":"IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation","volume":"9 1","pages":"17"},"PeriodicalIF":0.0,"publicationDate":"2020-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"47041061","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 2

Optimized Convolutional Neural Network-Based Object Recognition for Humanoid Robot 基于优化卷积神经网络的人形机器人目标识别

IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation Pub Date : 2020-02-27 DOI: 10.36959/673/363

Xiao Ming, Xiao Nanfeng, Zeng Mengjun, Yuan Qunyong

引用次数: 2

Intelligent robust control system of robotic unicycle based on the end-to-end soft computing technology 基于端到端软计算技术的机器人独轮车智能鲁棒控制系统

IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation Pub Date : 2020-02-20 DOI: 10.15406/IRATJ.2020.06.00199

Ulyanov Sergey, Ulyanov Viktor

引用次数: 0

A Simulation Model To Optimize The Painting Robots 一种优化涂装机器人的仿真模型

IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation Pub Date : 2020-02-07 DOI: 10.15226/2473-3032/4/1/00140

K. Nuntiya, C. Seksan, T. Dechathanat, W. Fasai, S. Pramot, A. Ismail

引用次数: 0

A Robotic Transportation System via Hybrid Jump-Gliding Locomotion 基于跳滑混合运动的机器人运输系统

IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation Pub Date : 2020-01-30 DOI: 10.36959/673/362

Mazhari Arash Alex, Hunter Daniel, Teodorescu Mircea

引用次数: 0

World's First Drone-Assisted Safety Inspection and Monitoring System for Confined Spaces in Cement Plants 世界上第一个无人机辅助水泥厂密闭空间安全检查和监测系统

IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation Pub Date : 2020-01-22 DOI: 10.13140/RG.2.2.12434.17608

A. Alsayed, M. Nabawy, A. Yunusa‐Kaltungo, Mark K. Quinn, F. Arvin

引用次数: 0

Optimal design and simulation of a robot hand for a robot pumpkin harvesting system 机器人南瓜收获系统机械手的优化设计与仿真

IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation Pub Date : 2020-01-21 DOI: 10.15406/iratj.2020.06.00196

Liangliang Yang, Tian Rongchang, W. Qian, Y. Hoshino, Shuming Yang, Ying Cao

引用次数: 0

Near-Optimal Reactive Synthesis Incorporating Runtime Information. 结合运行时信息的近最优反应性合成。

IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation Pub Date : 2020-01-01 Epub Date: 2020-09-15 DOI: 10.1109/icra40945.2020.9196581

Suda Bharadwaj, Abraham P Vinod, Rayna Dimitrova, Ufuk Topcu

{"title":"Near-Optimal Reactive Synthesis Incorporating Runtime Information.","authors":"Suda Bharadwaj, Abraham P Vinod, Rayna Dimitrova, Ufuk Topcu","doi":"10.1109/icra40945.2020.9196581","DOIUrl":"10.1109/icra40945.2020.9196581","url":null,"abstract":"We consider the problem of optimal reactive synthesis - compute a strategy that satisfies a mission specification in a dynamic environment, and optimizes a performance metric. We incorporate task-critical information, that is only available at runtime, into the strategy synthesis in order to improve performance. Existing approaches to utilising such time-varying information require online re-synthesis, which is not computationally feasible in real-time applications. In this paper, we pre-synthesize a set of strategies corresponding to candidate instantiations (pre-specified representative information scenarios). We then propose a novel switching mechanism to dynamically switch between the strategies at runtime while guaranteeing all safety and liveness goals are met. We also characterize bounds on the performance suboptimality. We demonstrate our approach on two examples - robotic motion planning where the likelihood of the position of the robot's goal is updated in real-time, and an air traffic management problem for urban air mobility.","PeriodicalId":73286,"journal":{"name":"IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation","volume":"2020 ","pages":"10342-10348"},"PeriodicalIF":0.0,"publicationDate":"2020-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7592699/pdf/nihms-1609575.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"38648967","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0