Articleshttp://nur.nu.edu.kz:80/handle/123456789/11652024-03-19T06:46:35Z2024-03-19T06:46:35ZPERCEIVED SAFETY IN PHYSICAL HUMAN ROBOT INTERACTION - A SURVEYRubagotti, MatteoTusseyeva, InaraBaltabayeva, SaraSummers, DannaSandygulova, Anarahttp://nur.nu.edu.kz:80/handle/123456789/64932022-07-21T21:00:23Z2021-01-01T00:00:00ZPERCEIVED SAFETY IN PHYSICAL HUMAN ROBOT INTERACTION - A SURVEY
Rubagotti, Matteo; Tusseyeva, Inara; Baltabayeva, Sara; Summers, Danna; Sandygulova, Anara
This review paper focuses on different aspects of perceived safety for a number of autonomous physical systems. This is a major
aspect of robotics research, as more and more applications allow human and autonomous systems to share their space, with crucial
implications both on safety and on its perception. The alternative terms used to express related concepts (e.g., psychological
safety, trust, comfort, stress, fear, and anxiety) are listed and explained. Then, the available methods to assess perceived safety
(i.e., questionnaires, physiological measurements, behavioral assessment, and direct input devices) are described. Six categories of
autonomous systems are considered (industrial manipulators, mobile robots, mobile manipulators, humanoid robots, drones, and
autonomous vehicles), providing an overview of the main themes related to perceived safety in the specific domain, a description
of selected works, and an analysis of how motion and characteristics of the system influence the perception of safety. The survey
also discusses experimental duration and location of the reviewed papers as well as identified trends over time.
2021-01-01T00:00:00ZA Generalized Observer for Estimating Fast–Varying DisturbancesTon, Duc DoNguyen, Hoach Thehttp://nur.nu.edu.kz:80/handle/123456789/47312020-05-19T21:00:44Z2018-04-01T00:00:00ZA Generalized Observer for Estimating Fast–Varying Disturbances
Ton, Duc Do; Nguyen, Hoach The
In this paper, a generalized disturbance observer (GDO) is proposed for estimating a broad range of disturbances including fast-varying ones. The estimation error of the proposed GDO is proven to be ultimately bounded provided that an arbitrary r th time derivative of disturbance is bounded. A broader range of disturbances can be estimated by the proposed GDO in comparison with the conventional disturbance observers (DO) or even recent fast-varying disturbance observers (FVDO) because conservative assumptions such as zero time-derivatives of disturbances are avoided. Furthermore, intuitive rules for gain-tuning and selecting the weighting matrices in the observer design are systematically presented. To validate the superiority of the proposed GDO to conventional FVDOs, comprehensive studies using the linear and nonlinear systems with different types of disturbances are conducted in the MATLAB/Simulink platform. In a specific application of wind energy conversion systems, the proposed GDO is employed to precisely estimate the aerodynamic torque. Then, a completed control system with a linear quadratic regulator (LQR) is designed and implemented to verify the final performance with the proposed GDO. The proposed observer-based LQR is proved to ultimately be bounded stable with superior performances to further validate the proposed GDO.
2018-04-01T00:00:00ZGeneralized Dynamics of Stacked Tensegrity ManipulatorsFadeyev, DenisZhakatayev, AltayKuzdeuov, AksatVarol, Huseyin Atakanhttp://nur.nu.edu.kz:80/handle/123456789/44062019-12-12T21:02:20Z2019-05-14T00:00:00ZGeneralized Dynamics of Stacked Tensegrity Manipulators
Fadeyev, Denis; Zhakatayev, Altay; Kuzdeuov, Aksat; Varol, Huseyin Atakan
Tensegrity structures emerged initially as an art form, have recently gained substantial interest among engineering researchers. The distinctive attribute of these structures is using pretensioned tensile elements connected to rigid bars to establish an equilibrium of the whole structure. Thanks to these elements, tensegrity structures are lightweight and yet robust. The main challenge impeding their widespread use is the intricate constrained nonlinear dynamics caused by the tensegrity topology. In this paper, we extend the dynamics of tensegrities by adding damping forces and incorporating forces along the connected strings passing through several nodes. As an experimental platform, a two-stage stacked tensegrity manipulator was constructed. The system was actuated using six actuators and the kinematic information of the system was acquired by measuring the node coordinates using optical motion capture. Afterward, we compared the structure behavior to the simulated one using our dynamics formulation. The results of these experiments show that our dynamics formulation is capable of representing the rich nonlinear dynamics of stacked tensegrity manipulators effectively.
https://ieeexplore.ieee.org/document/8713969
2019-05-14T00:00:00ZA Series Elastic Tactile Sensing Array for Tactile Exploration of Deformable and Rigid ObjectsKappassov, ZhanatBaimukashev, DauletAdiyatov, OlzhasAtakan Varol, Huseyinhttp://nur.nu.edu.kz:80/handle/123456789/33842018-08-15T21:00:51Z2018-01-01T00:00:00ZA Series Elastic Tactile Sensing Array for Tactile Exploration of Deformable and Rigid Objects
Kappassov, Zhanat; Baimukashev, Daulet; Adiyatov, Olzhas; Atakan Varol, Huseyin
Tactile sensing arrays are used to detect contacts
of robotic systems with the environment. They are particularly
useful for scenarios in which vision-based sensors cannot be
used. Thanks to the presence of multiple sensing elements,
tactile arrays also provide spatial information about the contact
location. In this work, we present our series elastic tactile
array to enable tactile exploration for position-controlled robot
manipulators. Sixteen compliant sensing elements are arranged
as a 4 4 array. This allows the position-controlled robot to
explore objects via palpation. Tactile sensing was accomplished
by measuring the change of the magnetic field caused by
neodymium magnets embedded into the series elastic elements.
We demonstrate the efficacy of our sensor with two sets of
experiments involving physical interaction scenarios. Firstly, we
show that the sensor can be used to differentiate between rigid
and deformable objects. Secondly, we show that point clouds
of objects can be generated quickly with our sensor module
attached to a position-controlled robot manipulator as an endeffector
2018-01-01T00:00:00ZTactile sensing in dexterous robot hands – reviewKappassov, ZhanatCorrales, Juan-AntonioPerdereau, Véroniquehttp://nur.nu.edu.kz:80/handle/123456789/33832018-08-15T21:00:29Z2016-05-06T00:00:00ZTactile sensing in dexterous robot hands – review
Kappassov, Zhanat; Corrales, Juan-Antonio; Perdereau, Véronique
Tactile sensing is an essential element of autonomous dexterous robot hand manipulation. It provides information about
forces of interaction and surface properties at points of contact between the robot fingers and the objects. Recent
advancements in robot tactile sensing led to development of many computational techniques that exploit this important
sensory channel. This paper reviews current state-of-the-art of manipulation and grasping applications that involve
artificial sense of touch and discusses pros and cons of each technique. The main issues of artificial tactile sensing are
addressed. General requirements of a tactile sensor are briefly discussed and the main transduction technologies are
analyzed. Twenty eight various tactile sensors, each integrated into a robot hand, are classified in accordance with their
transduction types and applications. Previously issued reviews are focused on hardware part of tactile sensors, whereas
we present an overview of algorithms and tactile feedback-based control systems that exploit signals from the sensors.
The applications of these algorithms include grasp stability estimation, tactile object recognition, tactile servoing and
force control. Drawing from advancements in tactile sensing technology and taking into consideration its drawbacks,
this paper outlines possible new directions of research in dexterous manipulation
2016-05-06T00:00:00ZAn intelligent system for quality measurement of Golden Bleached raisins using two comparative machine learning algorithmsKarimi, NavabRanjbarzadeh Kondrood, RaminAlizadeh, Tohidhttp://nur.nu.edu.kz:80/handle/123456789/30502018-08-15T03:50:22Z2017-09-01T00:00:00ZAn intelligent system for quality measurement of Golden Bleached raisins using two comparative machine learning algorithms
Karimi, Navab; Ranjbarzadeh Kondrood, Ramin; Alizadeh, Tohid
Abstract In this research, an expert system is provided for measuring and recognizing the quality and purity of mixed (pure-impure) raisins using bulk raisins’ images. For this purpose, by utilizing a machine vision setup 1400 images of the raisins were captured in the several ranges of mixture (from 5 to 50%). Then, totally 146 textural features were obtained using four methods of gray-level histograms, gray level co-occurrence matrix (GLCM), gray level run-length (GLRM) matrix, and local binary pattern (LBP). Principal Components Analysis (PCA) was used in order to find the optimum features from the extracted features. Accordingly, Artificial Neural Network (ANN) and Support Vector Machine (SVM) were used for classifying the mixtures. In comparison to ANN, using top 50 features, SVM classifier had more efficient and accurate classification results (averagely 92.71%). The results of the proposed approach can be used in designing a system for purity and quality measuring of raisins.
2017-09-01T00:00:00Z