25th International Symposium on Measurements and Control in Robotics

Name: 25th International Symposium on Measurements and Control in Robotics | Proceedings of ISMCR 2023
Brand: Springer
Price: 287.83 EUR
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Proceedings of ISMCR 2023

Ioan Doroftei Balint Kiss Yvan Baudoin Zafar Taqvi Simone Keller Fuchter(Herausgeber*in)

Springer (Verlag)

1. Auflage

Erschienen am 1. April 2024

XIII, 266 Seiten

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978-3-031-51085-4 (ISBN)

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Inhalt

Intro
Organization
Preface
Contents
Enhancing Human Augmentation: Analysis of Behavior Change in Highly Efficient Three-Hand Body After Motor Skill Training
1 Introduction
2 3-Arm Motor Skill Training System
2.1 Training Environment
2.2 Training on Spatial Awareness
2.3 Training on Cooperative Action
3 Experiment
3.1 Experimental Procedure
3.2 Evaluation Task
4 Result and Discussion
4.1 Change in Task Behavior
4.2 Discussion
4.3 Limitations
5 Conclusion
References
NeRF-YOLO: Detecting Occluded Objects via Multi-view Geometric Aggregation
1 Introduction
2 Related Work
2.1 Object Detection Under Occlusion
2.2 Neural Radiance Fields
3 Methodology
3.1 Feature Aggregation
3.2 Dataset Creation
4 Experimental Results
4.1 Metrics
4.2 Comparative Evaluation
5 Conclusion
References
A Fast-Acting Gripper for Aerial Vehicles
1 Introduction
2 Related Works
3 Mechanical Design
3.1 Active Claws
3.2 Passive Claws
3.3 Connection Rings
4 Results and Discussion
4.1 Materials and Fabrication
4.2 State Machine
4.3 Field Test
5 Conclusion
References
Localization of Mobile Robots. Theoretical Aspects
1 Introduction
2 Relative Localization During Navigation
3 Absolute Localization During Navigation
3.1 Modeling the Absolute Localization Process
3.2 Arrangement of Beacons in an Operating Scene
4 Conclusions
References
Design of a 3D Printer with Five-Bar Linkage
1 Introduction
2 Synthesis Method of the Symmetrical Five-Bar Linkage
3 Design of the Five-Bar Linkage for 3D Printers
4 A Design of the New 3D Printer
5 Conclusions
References
Kinematic Performance Analysis of the 3-U(RPRGR)RU Parallel Robot
1 Introduction
2 Description of the 3-U(RPRGR)RU Parallel Robot
3 Kinematic Performance Analysis
4 Results
5 Conclusion
References
Workspace Analysis of a 3 RRR Planar Mechanism
1 Introduction
2 Mechanism Workspace
3 Singularities Inside of Mechanism Workspace
4 Conclusions
References
Soft Robotics: A Numerical Evaluation of Model-Based PneuNet Simulation
1 Introduction
2 Preliminaries on the Dynamics of the Simulated Actuator
3 Methodology
4 Simulation Results
5 Conclusions and Future Work
References
An Evaluation of the Dual Vectors Based Solutions for Robot-World/Hand-Eye Calibration
1 Introduction
2 Dual Vectors Based Robot-World/hand-Eye Calibration Solution
2.1 Problem Formulation and Mathematical Preliminaries
2.2 Dual Vectors Based Solutions to AX = XB and AX = YB Calibration Problems
3 Experimental Results
3.1 State-Of-The-Art Methods Used for AX = XB Comparison
3.2 Results-AX = XB Dual Vectors Based Approach
3.3 State-Of-The-Art Approach to Solve AX = YB
3.4 Results-AX = YB Dual Vectors Based Approach
4 Conclusions and Future Work
References
Sensor Selection for Mechatronic Systems Based on Closed-Loop Control Simulations
1 Introduction
2 Analysis Tool
2.1 Reference Signal Selection
2.2 Controller Options
2.3 Plant Model
2.4 Sensor Parameter Settings
3 Analysis Scenarios
3.1 Simulation of a Single Configuration
3.2 Iterative Analysis
3.3 Further Options
4 Simulation Results
4.1 Simulated System
4.2 Results
5 Conclusions
References
On the Control Architecture and Functional Validation of the Control System for a Lower Limb Rehabilitation Robot
1 Introduction
2 RAISE-Parallel Robot for Lower Limb Rehabilitation
3 RAISE Control System Architecture and Graphical Interface
4 Experimental Validation of the Control System and User Interface
5 Conclusions
References
Equivalent Control of a 2D Crane and a 2D Drone Using Exact Linearization Based on Differential Flatness
1 Introduction
2 Background
2.1 Differential Flatness
2.2 Exact Linearization
3 Equivalence in the Mathematical Models of the Crane and the Drone
3.1 The Model of the Crane
3.2 The Model of the Drone
4 Simulations in Closed-Loop
5 Conclusion
References
LPV-Based Adaptive Control of a 2-DOF Robotic Arm
1 Introduction
2 Robotic Arm
2.1 Model Description
2.2 Polytopic LPV Model
3 Control Architecture
3.1 Unscented Kalman Filter
3.2 Problem Statement (Controller Synthesis)
3.3 LPV Controller Synthesis LMI
4 Simulation Results
5 Conclusion
References
Advances Representation of Higher-Order Kinematics of Motion. Hypercomplex Lie Groups and Lie Algebras
1 Introduction
2 Higher-Order Kinematics of Rigid Body and Instantaneous Invariants
3 Mathematical Preliminaries of Multidual Algebra, Function, Vectors, and Quaternions
3.1 HMD Vectors
3.2 HMD Euclidean Tensors
3.3 HMD Quaternions
4 Multidual Differential Transform and Higher-Order Kinematics
5 Higher-Order Analysis of Lower-Pair Kinematic Chains
6 Conclusions
References
Autonomous Shuttle for Pedestrian Zones
1 Introduction
2 Embedded Systems
2.1 Computer Architecture
2.2 Safety System
2.3 Sensor System
3 Control Concept
3.1 Autonomous Control
3.2 Social Collision Behavior
4 Interaction System
5 Discussion
References
A Simplified-Model Predictive Controller Design for a Four-Wheel Omnidirectional Robot
1 Introduction
2 Kinematics Model of the Omnidirectional Mobile Robot
3 Dynamics Model of the Omnidirectional Mobile Robot
4 Controller Design
5 Simulation Results
6 Conclusions
References
Comparative Aspects Regarding the Similarities and Differences Between Industrial and Collaborative Robots
1 Collaborative Robots
1.1 Introduction
1.2 Sparing Human Operators (HO), Forced to Work Very Close to a Cobot
1.3 The Cost-Effectiveness of Cobotic Solutions Compared to Those Based on RI
1.4 The Comparative Technological Capability of the Two Variants and the Limits of the Cobots
1.5 The Alleged "User-Friendly" Character of Cobots
1.6 Conclusions
References
Human-Machine Interfaces for Industrial Robot Control: A Comprehensive Review of the State of the Art
1 Evolution
2 Classification
3 Manual Control
3.1 Teach Pendant
3.2 Joystick Controllers
3.3 Gamepad Controllers
3.4 Smartphone
3.5 Computer Software (PC/Mac) or Custom HMIs
3.6 Web-Based Interfaces
3.7 Virtual Reality (VR) Headsets
3.8 Augmented Reality (AR) Headsets
4 Sensory Input Control
4.1 Gesture Control Devices
4.2 Voice Control Devices
4.3 Brain-Computer Interface (BCI)
5 Conclusion
References
Preliminary Functionality Tests of an Improved Ankle Rehabilitation Device
1 Introduction
2 Functionality of the Ankle Rehabilitation Device
2.1 Mechanical Design
2.2 Preliminary Test Results for the Ankle Rehabilitation Device
3 Conclusions
References
Learning Styles Identification and Implementation in Learning Processes Using Haptic Devices
1 Introduction
2 Literature Review
3 The Study
3.1 Justification of the Study
3.2 Objectives
3.3 The Purpose of the Study
3.4 The Context of the Study
4 Implementation
4.1 Considerations About the Study and How It Was Conducted
4.2 Establishing Educational Strategies in Correlation with Learning Styles and Contents
4.3 Presentation of the Implementation. Results
5 Conclusions
References
Study of the Load-Response Effect of NiTi-Based Thermal Actuators. Application to a Robotic Gripper
1 Introduction
1.1 General Notions
1.2 Thermoelastic Martensitic Transformation in Shape Memory Alloys
1.3 Robotic Applications
2 Experimental Procedure
3 Experimental Results and Discussion
4 Conclusions
References
Design of a Hybrid Locomotion Mobile Manipulator for Agricultural Application
1 Introduction
2 Developed Robots for Agricultural Applications
3 Robot Design Criteria
4 Leg-Wheel Module Design
5 Robot Design
6 Conclusions
References
Author Index

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