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TDE based model-free control for rigid robotic manipulators under nonlinear friction

Scientia Iranica 2024年第2期31卷 137-148页

作者： Ahmed, S. Ghous, I. Mumtaz, F. Department of Mechatronics SZABIST Karachi Pakistan Department of Electrical and Computer Engineering COMSATS University Lahore Pakistan

This paper establishes a model-free finite-time tracking control of nonlinear robotic manipulator systems. The proposed controller incorporates both Time Delay Estimation (TDE) and an enhanced Terminal Sliding Mode Control (TSMC). The improved TSMC scheme is devised using Fractional-Order TSMC (FOTSMC) and Proportional- Integral-Derivative (PID) control to obtain robust tracking and high control performance. The TDE is designed to estimate the unknown nonlinear dynamics of robotic manipulators, including the Stribeck friction and the external disturbances. Due to Stribeck friction, the effect of TDE error may fail to obtain the desired error performance;thus, another TDE loop is devised to compensate for TDE error generated by non-smooth frictions. The Lyapunov criterion is used to investigate the finite-time stability to analyze the behavior of the designed approach. Finally, computer simulations of the proposed method on PUMA 560 robotic manipulators are performed in contrast with FOTSMC and Adaptive Fractional-Order Nonsingular Terminal Sliding Mode Control (AFONTSMC). © 2024 Sharif University of Technology.

关键词： Friction

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Space Partitioning and Path Planning for Mission Area Exploration Using Multiple UGVs

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Journal of Institute of Control, Robotics and Systems 2024年第3期30卷 197-205页

作者： Choi, Sang-Won Lee, Sang-Hyeon Woo, Sang-Beom Kim, Tae-Hyeong Seoul, Hyeong-Su Kim, Duksu Computer Science and Engineering Korea University of Technology and Education Korea Republic of Computer Mechanical Engineering Korea University of Technology and Education Korea Republic of Computer Mechatronics Engineering Korea University of Technology and Education Korea Republic of

We propose a method for efficient partitioning and exploring complex mission areas using multiple unmanned ground vehicles (UGVs). We introduce two area partitioning algorithms that decompose a given mission area into segments appropriate for UGV navigation. The shape of the area determines the algorithms used. Additionally, we present a path-planning algorithm for each UGV’s entry and mission paths. Consequently, our method generates a collision-free driving plan based on the path planning *** have implemented the proposed method in a simulator and conducted verification tests on various mission area shapes and UGV numbers. Our findings show that it achieves a partitioning quality comparable to a previous Voronoi diagram-based approach while improving performance by up to 15.3 times. Furthermore, the driving plan generated by our method allows all UGVs to navigate their paths safely without colliding. We also validated the effectiveness of the proposed method on a small UGV test bed. These results collectively affirm the practicality and efficacy of the proposed approach. © ICROS 2024.

关键词： Motion planning

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Minimum-Time and Minimum-Jerk Gait Planning in Joint Space for Assistive Lower Limb Exoskeleton

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Journal of Bionic engineering 2023年第5期20卷 2164-2178页

作者： Habib Mohamad Sadjaad Ozgoli Fadi Motawej Department of Electrical and Computer Engineering Tarbiat Modares UniversityTehran14117-13116Iran Department of Mechatronics Engineering Tishreen UniversityLattakia0096341Syria

Assistive lower limb exoskeleton robot has been developed to help paraplegic patients walk again.A gait planning method of this robot must be able to plan a gait based on gait parameters,which can be changed during the stride according to human intention or walking *** gait is usually planned in cartesian space,which has shortcomings such as singularities that may occur in inverse kinematics equations,and the angular velocity of the joints cannot be entered into the ***,it is vital to have a gait planning method in the joint *** this paper,a minimum-time and minimum-jerk planner is proposed for the robot *** do so,a third-order system is defined,and the cost function is introduced to minimize the jerk of the joints throughout the *** minimum time required is calculated to keep the angular velocity trajectory within the range specified by the motor’s maximum *** conditions of the joints are determined to secure backward balance and fulfill gait ***,the proposed gait planning method is tested by its implementation on the Exoped®exoskeleton.

关键词： Bionic robot Gait planning Optimization Complete paraplegic Lower limb exoskeleton

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Compensating Force Imbalance Using Anchored Beam Coupling Mechanism in MEMS Tuning Fork Gyroscope (TFG) Drive Frame Structure 6

Compensating Force Imbalance Using Anchored Beam Coupling Me...

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6th International Conference on Robotics and Automation in Industry, ICRAI 2024

作者： Bashir, Uzair Bazaz, Shafaat Ahmed Javaid, Faraz Department of Electrical and Computer Engineering Islamabad Pakistan Department of Mechatronics Engineering Islamabad Pakistan

ISBN: (纸本)9798350355703

This paper presents an improved tuning fork gyroscope (TFG) structure utilizing two gyroscope drive resonator frames and a diamond-shaped coupling spring mechanism. It explores a two-degree-of-freedom system for the drive mode frame with a coupling mechanism to reduce external vibration sensitivity while keeping angular rate sensitivity. Expressions are derived to study and optimize the coupling spring structure. FEM modeling using ANSYS software validates the expressions that are derived. Simulations were performed to ensure anti-phase motion and avoid structural imbalance induced in-phase motion. Simulations demonstrate compensation for force imbalance and preservation of anti-phase motion. FEM modal analysis confirms a significant frequency separation of 10.90 kHz between in-phase and anti-phase resonant frequencies, with values at 6.81 kHz and 17.713 kHz, respectively. The improved frequency separation in TFG can ensure robustness against external environmental vibrations when fabrication imperfections occur and ensure better reliability for the measurement of angular velocity in inertial sensing applications. © 2024 IEEE.

关键词： Vibration analysis

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A smart green mashrabiyya-shutter design for residential applications in Egypt

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HBRC Journal 2023年第1期19卷 229-252页

作者： Abdel Gelil Mohamed, Nermine Hamid Abd El-Rahman, Eslam Sadek, Mohamed Giza Egypt Mechatronics and Robotics Department Cairo Higher Institute for Engineering Computer Science and Management Cairo Egypt

The revival of traditional latticework mashrabiyya is continually urged in the Middle East and North Africa to address conflicting needs since it optimally balances environmental, social, and aesthetic functions. However, its material and craftsmanship costs and inflexibility are significant barriers. This study aims to provide a preliminary design for a green, smart mashrabiyya-like shutter responsive to climatic conditions and privacy needs in Egypt, manufactured with palm midribs, a waste material available in the MENA region due to annual trimming. The simple, yet responsive and traditional design outlined in this study has a considerable potential for residential applications not only in Egypt, but also in similar socio-environmental contexts. The design generation is based on three steps: 1) constructing a static model that maintains the basic socio-environmental needs, manufactured with palm midrib patterns, 2) modeling dynamic functions, using Grasshopper/Ladybug, through standardizing slats and deciding upon visibility and adjustable parts, and 3) integrating smart controls based on comfort indexes and indoor climatic readings. Using a simple circuit fitted with sensors, actuators, and a microcontroller, the design of a latticework shutter responsive to climate and privacy was generated. The concept depends on computing indoor weather data and comparing them to thermal, daylight, and wind comfort indexes. Consequently, automated decisions could be made to regulate the shutter parts in two ways: 1) its opening angle and 2) openness between the slats. Ultimately, the operating concept of the smart shutter in a room and automated flowcharts that make decisions in daytime and nighttime modes were proposed. © 2023 The Author(s). Published by Informa UK Limited, trading as Taylor & Francis Group.

关键词： Visibility

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Utilization of genetic algorithm in tuning the hyper-parameters of hybrid NN-based side-slip angle estimators

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Neural Computing and Applications 2024年第30期36卷 19055-19074页

作者： Essa, Mohamed G. Elias, Catherine M. Shehata, Omar M. Research Group Cairo Egypt Mechatronics Department Faculty of Engineering and Materials Science German University in Cairo Cairo Egypt Computer Science Department Faculty of Media Engineering and Technology German University in Cairo Cairo Egypt Mechatronics Department Faculty of Engineering Ain Shams University Cairo Cairo Egypt

This paper proposes a solution to enhance and compare different neural network (NN)-based side-slip angle estimators. The feed-forward neural networks (FFNNs), recurrent neural networks, long short-term memory units (LSTMs), and gated recurrent units are investigated. However, there is a lack in the selection criteria of the architectures’ hyper-parameters. Therefore, the genetic algorithm is integrated with the NN-based estimators to find the optimal hyper-parameters for the studied architectures. The tuned hyper-parameters in this work include the number of neurons, number of layers, activation function, optimizer type, and learning rate. The objective function of the optimization problem is minimizing the root-mean-square error (RMSE) on multiple testing data. The optimal models are further included in the design of a hybrid NN estimator with Kalman filter. In the hybrid estimators, the optimal NN estimators are used as virtual sensors to correct the prediction of the side-slip angle resulting from the mathematical lateral vehicle model. Eventually, the performance of the best selected model is evaluated in terms of different metrics;mean RMSE, mean error variance, mean training time, and mean estimation time. LSTMs are found to achieve the lowest mean RMSE while being tested on highly generalized data yielding the highest training and estimation time. However, FFNNs achieve the lowest RMSE while being tested on low generalized data and the lowest training and estimation time. Meanwhile, it is observed that the hybrid estimators achieved lower RMSE with great enhancement compared to the non-hybridized ones proving the effectiveness of the proposed approach and increasing the side-slip estimation generalization ability in unknown environments with high uncertainties, which are not covered by the training dataset for the NNs estimators. © The Author(s) 2024.

关键词： Kalman filters

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Adaptive Imitation Learning for End-to-end Enhanced Control of Seven-Axis Manipulators 30

Adaptive Imitation Learning for End-to-end Enhanced Control ...

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30th International Conference on mechatronics and Machine Vision in Practice, M2VIP 2024

作者： Wang, Boran Wu, Han Department of Computer Science and Technology Shenzhen China Department of Mechatronics Engineering Shenzhen China

ISBN: (纸本)9798350391916

The rapid advancement of industrial automation has underscored the significance of sophisticated control mechanisms for robotic manipulators, especially seven-axis manipulators, known for their flexibility and capability in handling complex tasks. Traditional control methods often struggle with adaptability and managing nonlinear, uncertain environments. To address these challenges, this paper proposes an adaptive imitation learning-based control strategy for seven-axis manipulators. First, the adaptive imitation learning algorithm is introduced and its applicability to manipulator control is analyzed. Then, a reinforcement learning based model of the seven-axis manipulator is established and simulated in a virtual environment to verify the algorithm's effectiveness. Finally, the limitations of the adaptive imitation learning algorithm in the context of manipulator control are discussed, and future research directions are outlined. This study not only offers a novel control strategy for seven-axis manipulators but also serves as a reference for the broader application of adaptive imitation learning algorithms in various domains. © 2024 IEEE.

关键词： Adversarial machine learning

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Performance Evaluation of Machine Learning Models to Predict Heart Attack

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Machine Graphics and Vision 2023年第1期32卷 99-114页

作者： Khan, Majid Husnain, Ghassan Ahmad, Waqas Shaukat, Zain Jan, Latif Ul Haq, Ihtisham Ul Islam, Shahab Ishtiaq, Atif Department of Computer Science Iqra National University Peshawar25100 Pakistan Department of Mechatronics Engineering University of Engineering and Technology Peshawar25100 Pakistan

Coronary Artery Disease is the type of cardiovascular disease (CVD) that happens when the blood vessels which stream the blood toward the heart, either become tapered or blocked. Of this, the heart is incapable to push sufficient blood to encounter its requirements. This would lead to angina (chest pain). CVDs are the leading cause of mortality worldwide. According to WHO, in the year 2019 17.9 million people deceased from CVD. Machine Learning is a type of artificial intelligence that uses algorithms to help analyse large datasets more efficiently. It can be used in medical research to help process large amounts of data quickly, such as patient records or medical images. By using Machine Learning techniques and methods, scientists can automate the analysis of complex and large datasets to gain deeper insights into the data. Machine Learning is a type of technology that helps with gathering data and understanding patterns. Recently, researchers in the healthcare industry have been using Machine Learning techniques to assist with diagnosing heart-related diseases. This means that the professionals involved in the diagnosis process can use Machine Learning to help them figure out what is wrong with a patient and provide appropriate treatment. This paper evaluates different machine learning models performances. The Supervised Learning algorithms are used commonly in Machine Learning which means that the training is done using labelled data, belonging to a particular classification. Such classification methods like Random Forest, Decision Tree, K-Nearest Neighbour, XGBoost algorithm, Naive Bayes, and Support Vector Machine will be used to assess the cardiovascular disease by Machine Learning. © 2023 Faculty of Applied Informatics and Mathematics - WZIM, Warsaw University of Life Sciences - SGGW. All rights reserved.

关键词： Large dataset

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RetinaFusion: A Comprehensive Ensemble for Diabetic Eye Care 4

RetinaFusion: A Comprehensive Ensemble for Diabetic Eye Care

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4th IEEE International Conference on Data engineering and Communication Systems, ICDECS 2024

作者： Gupta, Prayash Ujjwal Selvin Paul Peter, J. Priya Esther, B. Srmist Department of Computer Science and Engineering Chennai India Srmist Department of Mechatronics Chennai India

ISBN: (纸本)9798350393354

Given the increasing worldwide occurrence of diabetes, which is expected to affect 9.9% of the world's inhabitants by 2045, the need for efficient chronic eye treatments has become even more urgent. This unique ensemble technique tackles the complex issues posed by diabetic retinopathy (DR). By utilizing state-of-the-art equipment instruction and models using deep learning, it showcases exceptional precision in identifying indications of diabetic retinopathy (DR), such as microaneurysms, hemorrhages, and retinal edema. The system's incorporation of clinical data enhances its ability to make predictions, making it easier to implement early intervention techniques. By doing thorough validation, this tool emerges as a powerful solution that has the potential to greatly reduce the burden of retinopathy from diabetes on world health. By actively participating in the proactive handling of diabetic retinopathy (DR) and providing a source of optimism for persons who are at danger of permanent vision loss, we are leading the way in enhancing diabetic eye care. We will use plasma reports and digital retinal images to reliably assess the severity of these conditions. To accomplish this, we initially ascertain the presence or absence of diabetes in the patient. The utilization of the K Nearest Neighbors machine learning classification technique has facilitated this achievement. This offers a more positive future for those affected by this widespread consequence of diabetes. © 2024 IEEE.

关键词： Eye protection

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FaceForge: Sculpting Realistic Faces from Detailed Textual Prompts 4

FaceForge: Sculpting Realistic Faces from Detailed Textual P...

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4th International Conference on Innovative Practices in Technology and Management, ICIPTM 2024

作者： Thakur, Umang Kalantri, Raj Paul Peter, J. Selvin Esther B, Priya Srmist Department of Computer Science and Engineering Chennai India Srmist Department of Mechatronics Chennai India

ISBN: (纸本)9798350307757

Within the domain of generative adversarial networks (GANs), notable progress has been made in generating lifelike visuals based on textual stimuli. Nevertheless, the primary emphasis has centered on basic assignments such as producing visual representations of flowers using textual descriptions. This work aims to explore the unexplored field of face generation, specifically focusing on generating faces from detailed textual descriptions such as "A person with wavy hair, an oval face, and a moustache."Motivated by the potential influence on important applications such as criminal face reconstruction, we address the problem of limited datasets by developing an algorithm that automatically converts. We utilise the advanced DC-GAN with GAN-CLS loss to address the complexities arising from subtle information and varied caption lengths. In order to enhance the resilience of the training process, we propose the incorporation of label inversion for both real and synthetic images, along with the introduction of noise into the discriminator. © 2024 IEEE.

关键词： Generative adversarial networks

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