Pub Date : 2023-02-10DOI: 10.1109/ICARA56516.2023.10125981
I. Menshikov, K. Orlov, V. Berestov, Alexandra Bernadotte
The paper presented a Personalized Intelligent Vascular 3D Simulator as an essential part of the Intelligent Robotic Ecosystem LevshAI for remote endovascular neurosurgery. The training LevshAI is equipped with intelligent haptic feedback and Personalized 3D Simulator. The simulator creates a unique personal vascular architecture according to the individual patient parameters obtained from the medical images. The Personalized 3D Simulator allows surgeons to practice on the simulator and choose the best tactics before the operation - personalized surgery. The feedback and simulator of the LevshAI system provide a training environment identical to what a surgeon would experience in an operating room. The simulator is based on proposed segmentation and reconstruction algorithms. The presented algorithms are fully automated and can be applied to any imaging modality. The simulator has passed a preclinical study on both Computed Tomography Angiography and Magnetic Resonance Angiography data. The Personalized Intelligent Vascular 3D Simulator can be applied to (1) personalized surgery; (2) automated screening for cerebrovascular risks in healthy people.
{"title":"Preoperative Personalized Vascular 3D Simulator of the Intelligent Robotic Ecosystem LevshAI for Endovascular Neurosurgery","authors":"I. Menshikov, K. Orlov, V. Berestov, Alexandra Bernadotte","doi":"10.1109/ICARA56516.2023.10125981","DOIUrl":"https://doi.org/10.1109/ICARA56516.2023.10125981","url":null,"abstract":"The paper presented a Personalized Intelligent Vascular 3D Simulator as an essential part of the Intelligent Robotic Ecosystem LevshAI for remote endovascular neurosurgery. The training LevshAI is equipped with intelligent haptic feedback and Personalized 3D Simulator. The simulator creates a unique personal vascular architecture according to the individual patient parameters obtained from the medical images. The Personalized 3D Simulator allows surgeons to practice on the simulator and choose the best tactics before the operation - personalized surgery. The feedback and simulator of the LevshAI system provide a training environment identical to what a surgeon would experience in an operating room. The simulator is based on proposed segmentation and reconstruction algorithms. The presented algorithms are fully automated and can be applied to any imaging modality. The simulator has passed a preclinical study on both Computed Tomography Angiography and Magnetic Resonance Angiography data. The Personalized Intelligent Vascular 3D Simulator can be applied to (1) personalized surgery; (2) automated screening for cerebrovascular risks in healthy people.","PeriodicalId":443572,"journal":{"name":"2023 9th International Conference on Automation, Robotics and Applications (ICARA)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-02-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125544916","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}
Pub Date : 2023-02-10DOI: 10.1109/ICARA56516.2023.10125871
Jiaxi Lu, Ryota Takamido, Jun Ota
In this study, an experience-based problem-solving method was developed to design robotic systems, including conveyors, bases, sensors, and robots. Experience reuse involves selecting the most “useful” experience from a dataset and reusing it to query new problems. To solve this robot system design problem, the environmental components are arranged appropriately, and the path length planned by the motion-planning algorithm is considered as the evaluation criterion. Therefore, a case-injected genetic algorithm (GA) is introduced as an experience-based optimization problem solver for robot environment design. The motion and path length of the robotic arm calculated from the experience-driven random tree (ERT) algorithm are considered performance indices in the environment arrangement of the robot system. In this study, standard and experience-based optimization methods and motion planning methods were combined to solve the proposed robot system design problem. These four combinations of methods were compared in terms of computation time and path length. Simulation results demonstrate that experience reuse in different aspects has different focuses, the optimization aspect has a more significant impact on the reduction of calculation time, and the motion planning aspect has a greater impact on path length.
{"title":"Experience-based Problem Solver for Robot System Design","authors":"Jiaxi Lu, Ryota Takamido, Jun Ota","doi":"10.1109/ICARA56516.2023.10125871","DOIUrl":"https://doi.org/10.1109/ICARA56516.2023.10125871","url":null,"abstract":"In this study, an experience-based problem-solving method was developed to design robotic systems, including conveyors, bases, sensors, and robots. Experience reuse involves selecting the most “useful” experience from a dataset and reusing it to query new problems. To solve this robot system design problem, the environmental components are arranged appropriately, and the path length planned by the motion-planning algorithm is considered as the evaluation criterion. Therefore, a case-injected genetic algorithm (GA) is introduced as an experience-based optimization problem solver for robot environment design. The motion and path length of the robotic arm calculated from the experience-driven random tree (ERT) algorithm are considered performance indices in the environment arrangement of the robot system. In this study, standard and experience-based optimization methods and motion planning methods were combined to solve the proposed robot system design problem. These four combinations of methods were compared in terms of computation time and path length. Simulation results demonstrate that experience reuse in different aspects has different focuses, the optimization aspect has a more significant impact on the reduction of calculation time, and the motion planning aspect has a greater impact on path length.","PeriodicalId":443572,"journal":{"name":"2023 9th International Conference on Automation, Robotics and Applications (ICARA)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-02-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122456461","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}
Pub Date : 2023-02-10DOI: 10.1109/ICARA56516.2023.10125842
Gurpreet Kaur, Sean Banerjee, N. Banerjee
We present a study on analyzing worker perceptions of safety, autonomy, and job security in collaborative environments where human co-workers and robots are expected to offer workers varying levels of collaborative assistance. With the rise in robotization, workers in blue-collar environments face the risk of being displaced. Recent studies suggest that despite showing concern for displacement, workers do see benefits of robots in the workplace, especially ones that collaborate with humans. We survey worker perceptions toward robots that offer varying levels of collaborative assistance-fully interventional or always assistive, fully standoff or never directly assistive, and assistive on an as-needed basis. We administer questionnaire-based surveys to N=530 blue-collar workers in companies spanning construction, contract work, manufacturing, retail, transportation and delivery, and warehousing in 4 countries. To understand the impact of corobots in promoting inclusivity, we break down our analysis in terms of age and sex. Our study shows that robots that provide as-needed assistance are viewed more favorably in terms of preserving autonomy and job security than fully interventional or fully standoff robots, and viewed more positively amongst female and older workers, demonstrating their potential to promote inclusivity and alleviate job displacement concerns.
{"title":"Studying Worker Perceptions on Safety, Autonomy, and Job Security in Human-Robot Collaboration","authors":"Gurpreet Kaur, Sean Banerjee, N. Banerjee","doi":"10.1109/ICARA56516.2023.10125842","DOIUrl":"https://doi.org/10.1109/ICARA56516.2023.10125842","url":null,"abstract":"We present a study on analyzing worker perceptions of safety, autonomy, and job security in collaborative environments where human co-workers and robots are expected to offer workers varying levels of collaborative assistance. With the rise in robotization, workers in blue-collar environments face the risk of being displaced. Recent studies suggest that despite showing concern for displacement, workers do see benefits of robots in the workplace, especially ones that collaborate with humans. We survey worker perceptions toward robots that offer varying levels of collaborative assistance-fully interventional or always assistive, fully standoff or never directly assistive, and assistive on an as-needed basis. We administer questionnaire-based surveys to N=530 blue-collar workers in companies spanning construction, contract work, manufacturing, retail, transportation and delivery, and warehousing in 4 countries. To understand the impact of corobots in promoting inclusivity, we break down our analysis in terms of age and sex. Our study shows that robots that provide as-needed assistance are viewed more favorably in terms of preserving autonomy and job security than fully interventional or fully standoff robots, and viewed more positively amongst female and older workers, demonstrating their potential to promote inclusivity and alleviate job displacement concerns.","PeriodicalId":443572,"journal":{"name":"2023 9th International Conference on Automation, Robotics and Applications (ICARA)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-02-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124333591","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}
Pub Date : 2023-02-10DOI: 10.1109/ICARA56516.2023.10125627
R. Beneder, Patrick Schmitt, Clemens Környefalvy
The research and development of digital control sys-tems, embedded software and precise sensor measurement within the field of automated and autonomous robotics applications has increased significantly within the last decade. Based on these developments very complex, compute-intense tasks with real-time constraints in combination with Artificial Intelligence capabilities prepared the way for a new application field - so called “new aviation”. Within this research field various topics of robotics, embedded systems, power systems and vision systems play an important role. Moreover, the system developers and researchers within this industry need a profound knowledge in every technical discipline. This paper mainly focuses on tasks within the field of indoor navigation. This area of application can be utilized for logistics, maintenance and service tasks. The most important topic of indoor navigation tasks is the location determination and the orientation with no GPS position available. This paper introduces a model-based approach for remote development of embedded software for indoor object avoidance applications. This model-based approach helps to reduces the complexity of the implementation of multicore microcontroller applications with real-time constraints, which post-processes vision sensor data and utilizes them to automatically and au-tonomously orientate itself within an indoor environment.
{"title":"A Model-Based Approach for Remote Development of Embedded Software for Object Avoidance Applications","authors":"R. Beneder, Patrick Schmitt, Clemens Környefalvy","doi":"10.1109/ICARA56516.2023.10125627","DOIUrl":"https://doi.org/10.1109/ICARA56516.2023.10125627","url":null,"abstract":"The research and development of digital control sys-tems, embedded software and precise sensor measurement within the field of automated and autonomous robotics applications has increased significantly within the last decade. Based on these developments very complex, compute-intense tasks with real-time constraints in combination with Artificial Intelligence capabilities prepared the way for a new application field - so called “new aviation”. Within this research field various topics of robotics, embedded systems, power systems and vision systems play an important role. Moreover, the system developers and researchers within this industry need a profound knowledge in every technical discipline. This paper mainly focuses on tasks within the field of indoor navigation. This area of application can be utilized for logistics, maintenance and service tasks. The most important topic of indoor navigation tasks is the location determination and the orientation with no GPS position available. This paper introduces a model-based approach for remote development of embedded software for indoor object avoidance applications. This model-based approach helps to reduces the complexity of the implementation of multicore microcontroller applications with real-time constraints, which post-processes vision sensor data and utilizes them to automatically and au-tonomously orientate itself within an indoor environment.","PeriodicalId":443572,"journal":{"name":"2023 9th International Conference on Automation, Robotics and Applications (ICARA)","volume":"7 9","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-02-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120808691","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}
Pub Date : 2023-02-10DOI: 10.1109/ICARA56516.2023.10126025
M. Folgheraiter, Sharafatdin Yessirkepov, T. Umurzakov, R. Korabay
A newly developed full-size (1.1 m), lightweight (14 kg), and low-cost (5.000 $ for components and materials) bipedal robot is presented. The entire mechanical structure is realized in aluminum, while the feet, to allow absorbing the impact forces, include elastic elements at the ankle level. The mechanical and electrical design are introduced together with the solution of the inverse kinematics based on the successive screw displacements method. Preliminary tests, conducted in a simulation environment and on the real robot prototype, show the low requirements in term of joint torques and energy consumption (408 W) while performing a static walking gate.
{"title":"NU-Biped-4 a Lightweight and Low-Power Consumption Full-Size Bipedal Robot","authors":"M. Folgheraiter, Sharafatdin Yessirkepov, T. Umurzakov, R. Korabay","doi":"10.1109/ICARA56516.2023.10126025","DOIUrl":"https://doi.org/10.1109/ICARA56516.2023.10126025","url":null,"abstract":"A newly developed full-size (1.1 m), lightweight (14 kg), and low-cost (5.000 $ for components and materials) bipedal robot is presented. The entire mechanical structure is realized in aluminum, while the feet, to allow absorbing the impact forces, include elastic elements at the ankle level. The mechanical and electrical design are introduced together with the solution of the inverse kinematics based on the successive screw displacements method. Preliminary tests, conducted in a simulation environment and on the real robot prototype, show the low requirements in term of joint torques and energy consumption (408 W) while performing a static walking gate.","PeriodicalId":443572,"journal":{"name":"2023 9th International Conference on Automation, Robotics and Applications (ICARA)","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-02-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125206967","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}
Pub Date : 2023-02-10DOI: 10.1109/ICARA56516.2023.10125819
Abdussalam A. Alajami, Lucas Damian Santa Cruz, R. Pous
The problem of increasing the operation time and extending the mobility of the limited energy capacity smallsized Unmanned Aerial Vehicles (UAVs) is studied in this paper. This paper presents a hybrid robot design and a simplified energy-efficient locomotion strategy solution that enables ground mobility locomotion for UAVs. The proposed strategy does not require installing motors for ground mobility, however, it exploits the UAV for generating taxiing locomotion. The proposed hybrid robot design, shares important characteristics of 2 heterogeneous types of robots, “Unmanned Ground Vehicles (UGVs)” and “UAVs” for the purpose of exploiting the benefits and mitigating some drawbacks that are associated with each robot type. The design consists of a quadcopter, 2 big freely rotating passive side wheels, 3 small front wheels for ground stabilization, and an autonomous custom braking system onboard.
{"title":"Design of an Energy-Efficient Self-Heterogeneous Aerial-Ground Vehicle","authors":"Abdussalam A. Alajami, Lucas Damian Santa Cruz, R. Pous","doi":"10.1109/ICARA56516.2023.10125819","DOIUrl":"https://doi.org/10.1109/ICARA56516.2023.10125819","url":null,"abstract":"The problem of increasing the operation time and extending the mobility of the limited energy capacity smallsized Unmanned Aerial Vehicles (UAVs) is studied in this paper. This paper presents a hybrid robot design and a simplified energy-efficient locomotion strategy solution that enables ground mobility locomotion for UAVs. The proposed strategy does not require installing motors for ground mobility, however, it exploits the UAV for generating taxiing locomotion. The proposed hybrid robot design, shares important characteristics of 2 heterogeneous types of robots, “Unmanned Ground Vehicles (UGVs)” and “UAVs” for the purpose of exploiting the benefits and mitigating some drawbacks that are associated with each robot type. The design consists of a quadcopter, 2 big freely rotating passive side wheels, 3 small front wheels for ground stabilization, and an autonomous custom braking system onboard.","PeriodicalId":443572,"journal":{"name":"2023 9th International Conference on Automation, Robotics and Applications (ICARA)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-02-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117069204","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}
Pub Date : 2023-02-10DOI: 10.1109/ICARA56516.2023.10125818
Ashok Kumar Sivarathri, Amit Shukla, Ayush Gupta
UAV-AGV multi-agent system is attracting the mobile robotics research community due to its applications in several engineering disciplines. It's a heterogeneous combination of UAV and AGV. Collaborative kinematics between both agents is necessity of the system for better utilization of independent capabilities. Vision-based method is most focused in the literature to build the collaboration between the agents which is of great use in the GPS denied environments. One of the collaborative tasks of UAV is to approach the AGV and hover over it at certain altitude. A trajectory tracking technique in the image frame is developed for the task in the present work. UAV detects the static target/AGV in the image plane and plans 3- dimensional trajectory to reach and hover at a desired depth from it. Minimum acceleration trajectories are designed using position and apparent size of the target in the image plane. Sliding mode control theory is applied for designing the controllers for approach, depth motion of UAV and validated with the simulations. The proposed image plane-based trajectory tracking technique is further validated in the Gazebo simulation environment. Simulation results shows that the method is useful in GPS denied environments for the UAV to plan its collaborative navigation in the image frame for smoothly reaching a desired position from the target/AGV.
{"title":"3-D Trajectory Tracking in the Image Frame for Autonomous Navigation of UAV in UAV-AGV Multi-Agent System","authors":"Ashok Kumar Sivarathri, Amit Shukla, Ayush Gupta","doi":"10.1109/ICARA56516.2023.10125818","DOIUrl":"https://doi.org/10.1109/ICARA56516.2023.10125818","url":null,"abstract":"UAV-AGV multi-agent system is attracting the mobile robotics research community due to its applications in several engineering disciplines. It's a heterogeneous combination of UAV and AGV. Collaborative kinematics between both agents is necessity of the system for better utilization of independent capabilities. Vision-based method is most focused in the literature to build the collaboration between the agents which is of great use in the GPS denied environments. One of the collaborative tasks of UAV is to approach the AGV and hover over it at certain altitude. A trajectory tracking technique in the image frame is developed for the task in the present work. UAV detects the static target/AGV in the image plane and plans 3- dimensional trajectory to reach and hover at a desired depth from it. Minimum acceleration trajectories are designed using position and apparent size of the target in the image plane. Sliding mode control theory is applied for designing the controllers for approach, depth motion of UAV and validated with the simulations. The proposed image plane-based trajectory tracking technique is further validated in the Gazebo simulation environment. Simulation results shows that the method is useful in GPS denied environments for the UAV to plan its collaborative navigation in the image frame for smoothly reaching a desired position from the target/AGV.","PeriodicalId":443572,"journal":{"name":"2023 9th International Conference on Automation, Robotics and Applications (ICARA)","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-02-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125881365","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}
Pub Date : 2023-02-10DOI: 10.1109/ICARA56516.2023.10125658
Abdulelah Bukhamseen, Mohammad Al-abdullah, Khaled Bin Gaufan, M. Mysorewala
In order to effectively manage logistics and the supply chain, warehouses must adapt to the rising demands of information integration, speed and precision. As a viable choice for the growth of warehouses in the future, the “smart warehouse” system, which is linked with emerging warehousing innovations, is progressively attracting the attention of technology and industry elites. In this study, we have designed an Autonomous Vehicle-based Storage and Retrieval (AVS/R) system that receive, store, retrieve, and ship items in a warehouse. The design is based on using an Autonomous Guided vehicle that navigate through the warehouse landmarks, to transport items between I/O Port and the Storage Unit. The system components communication is based on the Internet of Things publish/subscribe massaging protocol MQTT also ensuring remote monitoring and control of the process through data stored in cloud. Overall, the proposed solution provides a flexible, scalable, efficient, and integrated warehouse solution.
{"title":"A Warehouse Storage and Retrieval System Using IoT and Autonomous Vehicle","authors":"Abdulelah Bukhamseen, Mohammad Al-abdullah, Khaled Bin Gaufan, M. Mysorewala","doi":"10.1109/ICARA56516.2023.10125658","DOIUrl":"https://doi.org/10.1109/ICARA56516.2023.10125658","url":null,"abstract":"In order to effectively manage logistics and the supply chain, warehouses must adapt to the rising demands of information integration, speed and precision. As a viable choice for the growth of warehouses in the future, the “smart warehouse” system, which is linked with emerging warehousing innovations, is progressively attracting the attention of technology and industry elites. In this study, we have designed an Autonomous Vehicle-based Storage and Retrieval (AVS/R) system that receive, store, retrieve, and ship items in a warehouse. The design is based on using an Autonomous Guided vehicle that navigate through the warehouse landmarks, to transport items between I/O Port and the Storage Unit. The system components communication is based on the Internet of Things publish/subscribe massaging protocol MQTT also ensuring remote monitoring and control of the process through data stored in cloud. Overall, the proposed solution provides a flexible, scalable, efficient, and integrated warehouse solution.","PeriodicalId":443572,"journal":{"name":"2023 9th International Conference on Automation, Robotics and Applications (ICARA)","volume":"57 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-02-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132465728","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}
Pub Date : 2023-02-10DOI: 10.1109/ICARA56516.2023.10125753
Pierpaolo Palmieri, Mario Troise, Matteo Gaidano, Matteo Melchiorre, Stefano Mauro
This paper describes the latest application of the inflatable robotic manipulator called POPUP. It consists of two inflatable links, made of fibers with high elastic module, electric motors and a gripper. This architecture allows volume and weight reduction, still maintaining the same payload compared to traditional solutions if the internal pressure is set properly. This robot, specifically designed for space application, here goes into action for debris mitigation by means of a vision system. First, some of the aspects related to the physical modelling are discussed to point out the working ranges of such a system, mainly defined by wrinkling effects. Then, a debris capture procedure is simulated to investigate the possibility to catch the target despite the soft nature of the robot. The multibody model takes into account robot dynamics and contact forces with the target. A control strategy based on closed loop inverse kinematics and visual servoing is proposed. The strategy relies on joint velocity command, computed starting from signals of two camera systems, one observing from the robot base, another moving with the end-effector. This ensures the correct tracking of the target and allows to overcome potential errors deriving from a flexible kinematic chain. Results show the POPUP successfully reaching the target and dictate the next steps for a real-world application.
{"title":"Inflatable Robotic Manipulator for Space Debris Mitigation by Visual Servoing","authors":"Pierpaolo Palmieri, Mario Troise, Matteo Gaidano, Matteo Melchiorre, Stefano Mauro","doi":"10.1109/ICARA56516.2023.10125753","DOIUrl":"https://doi.org/10.1109/ICARA56516.2023.10125753","url":null,"abstract":"This paper describes the latest application of the inflatable robotic manipulator called POPUP. It consists of two inflatable links, made of fibers with high elastic module, electric motors and a gripper. This architecture allows volume and weight reduction, still maintaining the same payload compared to traditional solutions if the internal pressure is set properly. This robot, specifically designed for space application, here goes into action for debris mitigation by means of a vision system. First, some of the aspects related to the physical modelling are discussed to point out the working ranges of such a system, mainly defined by wrinkling effects. Then, a debris capture procedure is simulated to investigate the possibility to catch the target despite the soft nature of the robot. The multibody model takes into account robot dynamics and contact forces with the target. A control strategy based on closed loop inverse kinematics and visual servoing is proposed. The strategy relies on joint velocity command, computed starting from signals of two camera systems, one observing from the robot base, another moving with the end-effector. This ensures the correct tracking of the target and allows to overcome potential errors deriving from a flexible kinematic chain. Results show the POPUP successfully reaching the target and dictate the next steps for a real-world application.","PeriodicalId":443572,"journal":{"name":"2023 9th International Conference on Automation, Robotics and Applications (ICARA)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-02-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132788572","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}
Pub Date : 2023-02-10DOI: 10.1109/ICARA56516.2023.10125885
Linzhi Zeng, Siyuan Feng, Jining Liu, Wenjie Song
The centralized path planning framework for multi-unmanned vehicles tends to get messy when emergency occurs, creating a series of systemic conflicts and almost impossible to return to normal spontaneously. Thus, this paper improves the Multi-UGVs Collaborative Path Planning system through emergency response planning and system recovery to eliminate the conflicts caused by emergencies. The rapid emergency response planning method is developed based on heuristic search to quickly locate a shelter with a response trajectory without disturbing other normal vehicles for each affected vehicle in real time. And then the affected vehicles can complete recovery process by introducing an asynchronous starting conflict based search (CBS) algorithm. The experiments carried out in Rviz simulation environments prove that the proposed method has good practicability and stability.
{"title":"Multi-UGVs Collaborative Path Planning and Conflicts Eliminating in Emergent Situations","authors":"Linzhi Zeng, Siyuan Feng, Jining Liu, Wenjie Song","doi":"10.1109/ICARA56516.2023.10125885","DOIUrl":"https://doi.org/10.1109/ICARA56516.2023.10125885","url":null,"abstract":"The centralized path planning framework for multi-unmanned vehicles tends to get messy when emergency occurs, creating a series of systemic conflicts and almost impossible to return to normal spontaneously. Thus, this paper improves the Multi-UGVs Collaborative Path Planning system through emergency response planning and system recovery to eliminate the conflicts caused by emergencies. The rapid emergency response planning method is developed based on heuristic search to quickly locate a shelter with a response trajectory without disturbing other normal vehicles for each affected vehicle in real time. And then the affected vehicles can complete recovery process by introducing an asynchronous starting conflict based search (CBS) algorithm. The experiments carried out in Rviz simulation environments prove that the proposed method has good practicability and stability.","PeriodicalId":443572,"journal":{"name":"2023 9th International Conference on Automation, Robotics and Applications (ICARA)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-02-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130479023","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}
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