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2023 International Conference on robotics and automation in Industry, ICRAI 2023

作者： Nasir, Fazal Haris, Muhammad Khan, Bilawal Tufail, Muhammad Khan, Muhammad Tahir Dong, Zhang National Center of Robotics and Automation Advanced Robotics and Automation Lab Peshawar Pakistan University of Engineering and Technology Department of Mechatronics Engineering Peshawar Pakistan Jinan China

ISBN: (纸本)9781665464727

This paper presents a vision-based selective spraying technique for an autonomous agricultural sprayer robot. In traditional methods, excessive chemical spraying cause deleterious effects on human health, environment and becomes uneconomical. In order to reduce the agrochemical wastage encounters in a broadcast spraying, a selective plant spraying method is used for crop chemical treatment. The sensor-based approach assisted with YOLOv7 model is deployed on a custom designed robot for recognizing and localizing the lettuce plants in field. The PID-based pressure controller is designed that minimizes the undesirable fluctuations cause by the opening/closing of solenoid-valve-nozzles (SVNs) during spraying. Thus the nozzle's spraying quality is maintained by keeping the pressure constant to a desired value. A visual servoing scheme for row tracking is presented that uses the detected plant's spatial features. The robustness of the visual-based navigation is validated in the real field experiments. © 2023 IEEE.

关键词： Crops

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Autonomous Water Quality Monitoring Surface Vehicle 3

Autonomous Water Quality Monitoring Surface Vehicle

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3rd IEEE International Conference on Recent Advances in Systems Science and Engineering, RASSE 2023

作者： Nambiar, Manushri Saljith Ramakrishnan, Arjun Lakshman, Anirudh Abhiram, P.V. Girish, P. Toc H Institute of Science and Technology Dept. of Robotics and Automation India

ISBN: (纸本)9798350341676

Water pollution is the contamination of water sources by contaminants that render the water unfit for drinking, cooking, cleaning, swimming, and other uses. Pollutants include chemicals, waste, bacteria, and parasites. Traditional monitoring methods entail manually collecting water samples from vari-ous water resources, followed by testing and analysis in the laboratory. This procedure is frequently ineffective because itis time-consuming and does not produce results in real-Time. Water quality should be continuously monitored to ensure a safe supply of water to end users from any water resources or water bodies. Designing and creating a cost-effective system for real-Time monitoring of water quality utilising the Internet of Thingsis now required. A water vehicle is employed here to house the water quality monitoring system. The vehicle is self-contained, and set locations for measuring water quality can be provided. Using IoT devices and a Wi-Fi module, the proposed system aids in the continuous monitoring of water quality. The Wi-Fi moduleenables internet connectivity and sends sensor data to the Cloud. Various sensors are used to measure various factors in order to assess the water quality of water resources © 2023 IEEE.

关键词： Potable water

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Leader-follower Based Formation of Unmanned Boats for Surface Waste Collection 43

Leader-follower Based Formation of Unmanned Boats for Surfac...

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43rd Chinese Control Conference, CCC 2024

作者： Jiang, Zeyu Wang, Qing Wang, Haoran Beijing Institute of Technology School of Automation Beijing China Nanyang Technological University Centre for Advanced Robotics Technology Innovation Singapore

ISBN: (纸本)9789887581581

In this paper, a set of algorithms for water waste sorting system based on unmanned boat formation is investigated with the aim of improving the efficiency of water waste sorting by unmanned boat formation system. An improved particle swarm optimization algorithm is used as the path planning method. The leader-follower control model based on sliding mode control and the artificial potential field method are used as the motion control methods of the system, respectively. The final implementation is to complete the path planning for garbage at multiple predefined target locations and maintain the formation for collection in the simulation environment. During the collection process, it is able to switch between multiple predefined formations. © 2024 Technical Committee on Control Theory, Chinese Association of automation.

关键词： Particle swarm optimization (PSO)

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Advancement in CFD and Responsive AI to Examine Cardiovascular Pulsatile Flow in Arteries:A Review

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Computer Modeling in Engineering & Sciences 2024年第12期141卷 2021-2064页

作者： Priyambada Praharaj Chandrakant R.Sonawane Arunkumar Bongale Department of Engineering Science and Humanities JSPM Rajarshi Shahu College of EngineeringPune411033India Robotics and Automation Department Symbiosis Institute of TechnologySymbiosis Institute(Deemed)UniversityPune412115India

This paper represents a detailed and systematic review of one of the most ongoing applications of computational fluid dynamics(CFD)in biomedical *** its various engineering applications,CFD has started to establish a presence in the biomedical *** abnormality,a familiar health issue,is an essential point of investigation by research *** modalities provide cardiovascular structural information but give insufficient information about the hemodynamics of *** study of hemodynamic parameters can be a potential measure for determining cardiovascular *** studies have explored the rheological behavior of blood experimentally and *** paper provides insight into how researchers have incorporated the pulsatile nature of the blood experimentally,numerically,or through various simulations over the *** focuses on how machine learning platforms derive outputs based on mass and momentum conservation to predict the velocity and pressure profile,analyzing various cardiac diseases for clinical *** will pave the way toward responsive AI in cardiac healthcare,improving productivity and quality in the healthcare *** paper shows how CFD is a vital tool for efficiently studying the flow in *** review indicates this biomedical simulation and its applications in healthcare using machine learning and *** AI-based CFD models can impact society and foster the advancement towards responsive AI.

关键词： Pulsatile flow cardiovascular CFD simulation patient-specific GPU-accelerated responsive AI

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Inflatable Metamorphic Origami

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Research 2023年第2期6卷 53-63页

作者： Sen Wang Peng Yan Hailin Huang Ning Zhang Bing Li School of Mechanical Engineering and Automation Harbin Institute of TechnologyShenzhen 518052P.R.China Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Harbin Institute of TechnologyShenzhen 518052P.R.China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001P.R.China

This study created a new type of inflatable metamorphic origami that has the advantage of being a highly simplified deployable system capable of realizing multiple sequential motion patterns with a monolithic actuation.

关键词： simplified lata system

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Promoting Smart Industry with a Smart Monodzukuri Support Team in Thailand: A Case Study 4th

Promoting Smart Industry with a Smart Monodzukuri Support Te...

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4th International Conference on Experimental and Computational Mechanics in Engineering, ICECME 2022

作者： Sriputtha, Noppadol Robotics and Lean Automation Engineering Faculty of Engineering Thai-Nichi Institute of Technology Suanluang Bangkok10250 Thailand

ISBN: (纸本)9789819974948

This work aimed to promote improvement of manufacturing through adopting smart manufacturing in Thailand. As the manufacturing industry in Thailand moves toward Industry 4.0, many SMEs are struggling to start up and invest. To help them, the Thai and Japanese governments are collaborating to provide a Smart Monodzukuri support team to assist SMEs to have more skills and be more competitive. This team will learn techniques to implement Japan's Industrial Value Chain Initiative (IVI), an organization that uses cyber-physical manufacturing, and encourages all companies to take part in a "small start" initiative. This work provides a case study using an auto parts manufacturing company. We describe how a Smart Monodzukuri team could collaborate with this company's staff following the IVI guidelines. The results show that by using the IVI idea, the team could incorporate cyber-physical manufacturing with few difficulties and low investment. This is the first simple and feasible step toward Industry 4.0 for SMEs. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Industry 4.0

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Unmanned Ground Vehicle: Design and Development Approaches

Unmanned Ground Vehicle: Design and Development Approaches

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2024 IEEE International Conference on Intelligent Systems and Advanced Applications, ICISAA 2024

作者： Shikalgar, Niyaj Patil, Yashraj Karale, Atharv Patil, Mayuresh Thadi, Vineeth Bankar, Ritesh Dr. D. Y. Patil Institute of Technology Department of Automation and Robotics Pune India

ISBN: (纸本)9798331539948

The commercial and defence applications of the use of mobile robots have escalated tremendously in the last ten years. These robots are created to perform some tasks and have been proven to be very useful in performing operations which have no requirement of a human being. Accordingly, the project's goal is to design and develop a small Unmanned Ground Vehicle (UGV) which can be fully operated through a remote control. Further, in surveillance and Logistics Operations, vehicles are used. Lidar and cameras are employed in the vision system of the robot;therefore, the robot can be manually operable. The Unmanned Ground Vehicles are equipped primarily with obstacle avoidance, the reality which can bring people closer to the objects that surround them. These types of UGV primarily rely on sensors to detect the environment or other objects around them, act autonomously, navigate through situations which cannot be predicted or whose outcome is uncertain or they use this information to convey this information through various means to the operator of UGV when the service is required. © 2024 IEEE.

关键词： Remote control

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Passive robust control for uncertain Hamiltonian systems by using operator theory

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CAAI Transactions on Intelligence technology 2022年第4期7卷 594-605页

作者： Ni Bu Yuyi Zhang Xiaoyong Li Wei Chen Changan Jiang College of Automation and Electronic Engineering Qingdao University of Science and TechnologyQingdaoChina Department of Robotics Osaka Institute of TechnologyOsakaJapan

In this study,the passivity-based robust control and tracking for Hamiltonian systems with unknown perturbations by using the operator-based robust right coprime factorisation method is *** the system with unknown perturbations,a design scheme is proposed to guarantee the uncertain non-linear systems to be robustly stable while the equivalent non-linear systems is passive,meanwhile the asymptotic tracking property of the plant output is ***,the design scheme can be also used into the general Hamiltonian systems while the simulation is used to further demonstrate the effectiveness of the proposed method.

关键词： Hamiltonian systems robust right coprime factorisation storage function

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Dynamics Modeling and Parameter Identification for a Coupled-Drive Dual-Arm Nursing Robot

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Chinese Journal of Mechanical Engineering 2024年第4期37卷 243-257页

作者： Hao Lu Zhiqiang Yang Deliang Zhu Fei Deng Shijie Guo College of Electronic Information and Automation Tianjin University of Science and TechnologyTianjin 300222China Academy for Engineering&Technology Fudan UniversityShanghai 200433China Shanghai Engineering Research Center of AI&Robotics Shanghai 200433China School of Mechanical Engineering Hebei University of TechnologyTianjin 300130China

A dual-arm nursing robot can gently lift patients and transfer them between a bed and a *** its lightweight design,high load-bearing capacity,and smooth surface,the coupled-drive joint is particularly well suited for these ***,the coupled nature of the joint disrupts the direct linear relationship between the input and output torques,posing challenges for dynamic modeling and practical *** study investigated the transmission mechanism of this joint and employed the Lagrangian method to construct a dynamic model of its internal *** on this foundation,the Newton-Euler method was used to develop a dynamic model for the entire robotic arm.A continuously differentiable friction model was incorporated to reduce the vibrations caused by speed transitions to *** experimental method was designed to compensate for gravity,inertia,and modeling errors to identify the parameters of the friction *** method establishes a mapping relationship between the friction force and motor *** addition,a Fourier series-based excitation trajectory was developed to facilitate the identification of the dynamic model parameters of the robotic *** tracking experiments were conducted during the experimental validation phase,demonstrating the high accuracy of the dynamic model and the parameter identification method for the robotic *** study presents a dynamic modeling and parameter identification method for coupled-drive joint robotic arms,thereby establishing a foundation for motion control in humanoid nursing robots.

关键词： Nursing-care robot Coupled-drive joint Dynamic modeling Parameter identification

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Tele-Operated Robotic Manipulator based Contactless Heartbeat Measurement Mechanism

Tele-Operated Robotic Manipulator based Contactless Heartbea...

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2023 International Conference on robotics and automation in Industry, ICRAI 2023

作者： Ali, Abdullah Haider Kazmi, Syed Murtazza Hassan Uddin, Riaz Haptics Human-Robotics and Condition Monitoring Lab National Center of Robotics and Automation NED University of Engineering and Technology Karachi Pakistan

ISBN: (纸本)9781665464727

Use of tele-operated robotic manipulators for performing various medical tasks have become significant due to concerns regarding the spread of contagious diseases. The area that we have specifically targeted in this paper is the frequently taken heartbeat measurements. The key to accurately measuring patient's heartbeat using a robotic manipulator is adjusting the stethoscope by exerting correct amount of force through the end-effector. In this paper, we have designed a setup using a 6-Degree of Freedom (DOF) tele-operated robotic arm coupled with a force sensor, buzzer and a stethoscope. The idea is that the robot embedded with force sensor will palpate the patient for heartbeat reading and that force signal will generate sound feedback for the doctor operating at master site. Signal from the force sensor helps to achieve appropriate exertion force and adjustment of stethoscope on patient's body so as to get accurate heartbeat waveform on doctor's mobile phone. For this, manual experiments are performed to establish baseline force range. Experiments are also performed using both pendant and haptic device at master end. As a result, Force-Time graph are obtained in all experimental configurations while the heartbeat is monitored using stethoscope's mobile application. Thus, a contactless heartbeat measurement is achieved. Results from the setup shows the validity of the proposed procedure. © 2023 IEEE.

关键词： End effectors

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