Магид Евгений Аркадьевич

Pilot studies on Avrora Unior car-like robot control using gestures

2022 · CHAPTER · en

An Admittance-Controlled Amplified Force Tracking Scheme for Collaborative Lumbar Puncture Surgical Robot System

2022 · ARTICLE · en

Background: The accurate sensing and display of the delicate needle-tissue interaction force to the operator is desirable for needle insertion procedures. It not only plays a significant role in the surgical treatment effect, but also has a great significance in improving surgical safety and reducing the incidence of complications. However, the direct detection of the interaction force between the tissue and needle tip by placement of a force sensor is challenging owing to the constraints of miniaturisation, cost, and sterilisation. Methods: In this study, a new position-based force-to-motion controller with magnified force feedback is presented to provide augmented force perception to the operator during needle insertion on the soft tissue. Furthermore, the demonstration to the position-based low level motion controller is more suitable for needle insertion surgical requirements in the cooperative robotic system. Results: The proposed controller was experimentally validated by a collaborative lumbar puncture robotics system. Additionally, to provide hand tremor rejection for the stable manipulation of the puncture needle, it was demonstrated that the proposed amplified feedback force controller allowed a safer object interaction with the robotic needle insertion assistance. Conclusions: The results of the experiment show that a desirable interaction force profile is perceived by the operator during the overall insertion task operation. The admittance gain for the simplified admittance controller has a significant impact on the operator's ability to accurately control the applied force.

Servosila Engineer Crawler Robot Modelling in Webots Simulator

2022 · ARTICLE · en

In robotics, a simulation is an essential stage on a way of transferring a theoretical idea into a real world application. Since each popular simulator for robotics has particular advantages and shortcomings, it could be beneficial to simulate an algorithm behavior in several modelled instances prior to its integration into a real robot control system. This paper presents a new model of the Russian crawler type robot Servosila Engineer for the Webots simulator, which extends our previous work within the Gazebo simulator. The robot control is implemented with Robot Operating System (ROS). Webots-based simulations were reproduced using our mature Servosila Engineer robot model in Gazebo and validated within real random step environments of the laboratory © 2022 Int. J. Mech. Eng. Rob. Res

Modelling mobile robot navigation in 3D environments: Camera-based stairs recognition in Gazebo

2022 · CHAPTER · en

The task of sensory-based autonomous navigation of mobile robots requires data fusion from multiple sources in order to properly detect and recognize environmental obstacles. One of important issues mobile robots deal in a typical multi-level indoor environment is a stair well detection and negotiation. This paper presents ROS-based stairs detection implementation using onboard cameras of the Russian mobile crawler robot Servosila Engineer. Virtual experiments were performed in Gazebo environment with a single camera and a stereo camera. © 2022 IEEE.

Adaptive Multi-Agent Control with Dynamic Obstacle Avoidance in a Limited Region

2022 · CHAPTER · en

This paper presents an adaptive multi-agent control strategy with dynamic obstacle avoidance. The strategy considers the limitation of the obstacle avoidance space which makes it more implementable in practical applications. Inspired by the coverage problem, the obstacle avoidance strategy is developed based on the Centroidal Voronoi Tessellation (CVT) technique with a special design of time-varying density function. The strategy is implemented by an adaptive controller, taking into account the output constraints and the time-varying system uncertainties. The controller is constructed through the function approximation technique based immersion and invariance (FATII) approach. The stability of the corresponding control system is established, and the validity of the proposed controller is tested by simulations. © 2022 American Automatic Control Council.

Modified E3 exploration algorithm for unknown environments with obstacles

2022 · CHAPTER · en

An efficient autonomous exploration of an unknown environment is an important task for mobile robots, which is required in many domains. This paper considers three existing exploration approaches: frontier exploration algorithm (FEA), greedy algorithm (GrA) and Ergodic Environmental Exploration algorithm (E3). While original E3 deals only with empty environments, we propose a new modified version of E3 (ME3A) that allows to explore environments with obstacles. FEA, GrA and ME3A were implemented in Robot Operating System and their performance was evaluated in Gazebo simulator within 18 different environments. We employed a total travelled distance and a percentage of explored environment as a comparison criteria. © 2022 ACA.

Sensors modelling for Servosila Engineer crawler robot in Webots simulator

2022 · CHAPTER · en

Simulations became a convenient, easy and safe way to interact with a robot in a virtual world in order to reproduce complex tasks and environments, preliminary evaluate new concepts and algorithms instead of directly building complicated testing field constructions in real world. Yet, a simulation requires an adequate model of a robot that corresponds well to its hardware original. This paper presents an improved Webots simulation model of the Russian crawler-type robot Servosila Engineer. We extended a previously constructed model with sensors of the real robot and added connection to the Robot Operating System (ROS), while ROS/Webots connection was also improved for a greater convenience. © 2022 IEEE.

Modelling autonomous perpendicular parking procedure for car-like robot Avrora Unior in Gazebo simulator

2022 · CHAPTER · en

This paper describes an implementation of autonomous perpendicular parking and parking spot search algorithms. A procedure of the perpendicular parking is based on geometric constraints of a parking spot and a vehicle. The procedure of perpendicular parking includes driving until a first free parking spot is found, setting a vehicle into an initial pose, performing a rear-drive parking with steering until a vehicle reaches a goal position. For the parking spot search algorithm LIDAR sensor data were used. Based on LIDAR data clusterization parked vehicles detection was performed. HDBScan, OPTICS and Gaussian mixture methods were compared for the parking spot search application effectiveness within the Gazebo simulator.

Intelligent System Concept of an IoT Cameras Network Application for an Unmanned Aerial Vehicle Control via a Graphical User Interface

2022 · CHAPTER · en

LIRS-ArtBul: Design, Modelling and Construction of an Omnidirectional Chassis for a Modular Multipurpose Robotic Platform

2022 · CHAPTER · en