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IEEE International Conference on robotics and Biomimetics

作者： Junda Huang Haiwen Wu Hanwen Cao Jianshu Zhou Yunhui Liu The Department of Mechanical and Automation Engineering T Stone Robotics Institute The Chinese University of Hong Kong Hong Kong Center for Logistics Robotics (HKCLR)

Floating ROVs have extensive applications on oceanographic research, environmental monitoring, and search and rescue operations. In this work, two levels of floating ROV stabilization is realized. First, the intrinsic stability is induced by the design of center of mass and moment of inertia based on the stability analysis, such that the ROV can always keep its upwards standing configuration. Besides, an underactuated control method for this novel untethered tumbler floating (TF) ROV is introduced for stabilization, which effectively enhances the stabilization efficiency based on the attitude controller. The model considering rigid body dynamics based on Euler equations, and nonlinear controllability with one, two, or three torques are analyzed serving for the moment of inertia design and underactuated controller. Simulation experiments are conducted to validate the efficacy of our approach, and the results demonstrate its effectiveness for stabilizing the TF-ROV.

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Toolpath and Tool Design Innovations in Deformation Machining for Superior AA-7075 T6 Fins 6

Toolpath and Tool Design Innovations in Deformation Machinin...

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6th International Conference on Advancements in Materials and Manufacturing, ICAAMM 2024

作者： Ponnusamy, Prasanth Seenivasan, S. Loganathan, Ganesh Babu Magesh Babu, D. Sivalingam, A. Nanthakumar, S. Girimurugan, R. Department of Mechanical Engineering Tagore Institute of Engineering and Technology Tamilnadu Salem636 112 India Department of Mechanical Engineering Rathinam Technical Campus Tamilnadu Coimbatore641 021 India Department of Robotics and Automation Rajalakshmi Engineering College Tamilnadu Chennai602 105 India Department of Mechatronics Engineering Velammal Institute of Technology Tamilnadu Panjetty601 204 India Department of Mechatronics Engineering Sona College of Technology Tamilnadu Salem636 005 India Department of Mechanical Engineering PSG Institute of Technology and Applied Research Tamilnadu Coimbatore641 062 India Department of Mechanical Engineering Nandha College of Technology Tamilnadu Perundurai638 052 India

A hybrid manufacturing process, deformation machining (DM) combines subtractive manufacturing with incremental forming. Monolithic components with complex profiles are created through the hybridization of manufacturing technologies, which also reduces the wastage of raw materials. The properties of geometry and surface quality of the fin made from the aluminum alloy Al-7075 T6 using the DM process's bending mode was examined in this research, as were the effects of various approaches, toolpath methods, and tool design. To achieve the desired shape for the machined fin, various combinations of arcuate and slanting fin toolpath techniques were explored utilizing both top-down and bottom-up methods. The bottom-up method and the arcuate toolpath strategy were used to investigate various tool profiles. Using the best combination of toolpath strategy and tool profile, named as the T3 tool profile, which has a 0.6 mm nose radius and a circular sector, bottom-to-top (BTT)technique, and arcuate toolpath method, components with better geometrical features and surface roughness (SR) were produced. The analysis of the forming force in the bending approach of the DM progression was further carried out using this optimal combination. © Published under licence by IOP Publishing Ltd.

关键词： Bending (forming)

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Static Characteristics of Zero-Current-Switching Quasi-Resonant Boost Converter under Variation of Resonant Circuit and Load Parameters 8

Static Characteristics of Zero-Current-Switching Quasi-Reson...

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8th IEEE International Conference on Energy Smart Systems, ESS 2022

作者： Dymerets, Andrii V. Gorodny, Alexey N. Yershov, Roman D. Revko, Anatoliy S. Stepenko, Serhii A. Chernihiv Polytechnic National University Electronics Automation Robotics and Mechatronics Department Chernihiv Ukraine Chernihiv Polytechnic National University Electrical Engineering Information and Measurement Technologies Department Chernihiv Ukraine

ISBN: (数字)9798350334418

ISBN: (纸本)9798350399202

The impact of resonant circuit parameters on static characteristics of a half-wave boost quasi-resonant converter is investigated. The dependences of the converter voltage maximum conversion ratio under variation of resonant circuit time constant and characteristic impedance with different load impedance values are obtained by dint of multi-factor numeric simulation. The dependences of the ratio between the transistor current peak value and input current rms value under variation of resonant circuit time constant and characteristic impedance with different load impedance values are also obtained. Approximated laws described above dependencies are fitted. Results allow determining the allowable values for resonant inductance and capacitance, as well as the load impedance to keep within a zero-current-switching mode. © 2022 IEEE.

关键词： Resonant circuits

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Doppler-only Single-scan 3D Vehicle Odometry

Doppler-only Single-scan 3D Vehicle Odometry

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IEEE International Conference on robotics and automation (ICRA)

作者： Andres Galeote-Luque Vladimír Kubelka Martin Magnusson Jose-Raul Ruiz-Sarmiento Javier Gonzalez-Jimenez System Engineering and Automation Department Machine Perception and Intelligent Robotics (MAPIR) Group University of Malaga Spain Mobile Robotics & Olfaction (MRO) AASS Research Centre Örebro University Sweden

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

We present a novel 3D odometry method that recovers the full motion of a vehicle only from a Doppler-capable range sensor. It leverages the radial velocities measured from the scene, estimating the sensor’s velocity from a single scan. The vehicle’s 3D motion, defined by its linear and angular velocities, is calculated taking into consideration its kinematic model which provides a constraint between the velocity measured at the sensor frame and the vehicle *** carried out prove the viability of our single-sensor method compared to mounting an additional IMU. Our method provides a more reliable translation of the sensor, compared to the errors linked to IMUs due to noise and biases. Its short-term accuracy and fast operation (∼5ms) make it a proper candidate to supply the initialization to more complex localization algorithms or mapping pipelines. Not only does it reduce the error of the mapper, but it does so at a comparable level of accuracy as an IMU would. All without the need to mount and calibrate an extra sensor on the vehicle.

关键词： Accuracy Three-dimensional displays Roads Heuristic algorithms Pipelines Kinematics Odometry

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Exploration of Unknown Environment using Deep Reinforcement Learning

Exploration of Unknown Environment using Deep Reinforcement ...

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International Conference on robotics and Artificial Intelligence (ICRAI)

作者： Asad Ali Sarah Gul Tallat Mahmood Anayat Ullah Control Automotive and Robotics Lab National Centre of Robotics and Automation (NCRA) Rawalpindi Pakistan Department of Electrical Engineering Balochistan University of IT Engineering and Management Sciences Quetta Pakistan

Exploring the unknown environment is a very crucial task where human life is at risks like search and rescue operations, abandoned nuclear plants, covert operations and more. Autonomous robots could serve this task efficiently. The existing methods use uncertainty models for localization and map building to explore the unknown areas requiring high onboard computation and time. We propose to use Deep Reinforcement Learning (DRL) for the autonomous exploration of unknown environments. In DRL, the agent interacts with the environment and learns based on experiences (feedback/reward). We propose extrinsic and curiosity-driven reward functions to explore the environment. The curiosity-based reward function motivates the agent to explore unseen areas by predicting future states, while the extrinsic reward function avoids collisions. We train the differential drive robot in one environment and evaluate its performance in another unknown environment. We observe curiosity-driven reward function outperformed the extrinsic reward by exploring more areas in the unknown environment. The test results show the generalization capability to explore unknown environments with the proposed methods.

关键词： Deep learning Location awareness Industries Uncertainty Service robots Computational modeling Reinforcement learning

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Dynamic modeling and analysis for a differential modular robot joint with the friction model

Dynamic modeling and analysis for a differential modular rob...

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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Liu, Yukun Luo, Ruiqing He, Minghui Du, Liang Bao, Sheng Yuan, Jianjun Wan, Weiwei Shanghai Key Laboratory of Intelligent Manufacturing and Robotics School of Mechatronic Engineering and Automation Shanghai University Shanghai China Shanghai Robotics Institute Shanghai University Shanghai China Department of System Innovation Graduate School of Engineering Science Osaka University Osaka Toyonaka Japan

ISBN: (纸本)9781665481090

The study of friction has long been popular with scientists. Considering the coupling characteristic of multi-input-multi-output (MIMO) system, the coupling friction model was established, which was based on Coulomb-Viscous friction model for the differential modular robot joint (DMRJ) according to the law of conservation of energy. Then, we identified the coefficients of the friction model through the experiment. In order to verify the accuracy of the established friction model, we regarded the DMRJ as a 2-DoF linkage and built the inertial dynamic model based on Lie theory, whose inertial parameters were estimated by computer aided design (CAD). Besides, we chose the trajectory based on the Fourier series, which has good performance in anti-interference ability, as the verification trajectory. From the generated trajectories, we used a trajectory that is able to change as much as possible in speed, position and acceleration to estimate the accuracy of the model comprehensively. Finally, the result indicated the model had good accuracy. © 2022 IEEE.

关键词： Modular robots

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A Parameter Identification Method for Coupled Dynamics of Robotic Manipulator with Differential Modular Joints

A Parameter Identification Method for Coupled Dynamics of Ro...

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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： He, Minghui Luo, Ruiqing Liu, Yukun Du, Liang Bao, Sheng Yuan, Jianjun Wan, Weiwei Shanghai University Shanghai Key Laboratory of Intelligent Manufacturing and Robotics School of Mechatronic Engineering and Automation Shanghai China Shanghai Robotics Institute Shanghai University Shanghai China Osaka University Graduate School of Engineering Science Department of System Innovation Osaka Toyonaka Japan

ISBN: (纸本)9781665481090

In the daily nursing care for people with disabilities, lifting is the most basic and common action. A robotic manipulator with differential modular joints (DMJ) is designed to accomplish this task. To better implement force-control applications of the robotic manipulator with DMJs, this paper proposes a coupled dynamics identification method based on the multi-input, multi-output (MIMO) feature. Considering the frictions of transmission parts and links, the dynamics of the DMJ is analyzed based on the transformation of energy, and then the parameter-linearized dynamic model of the robotic manipulator with n DMJs is proposed according to the mapping relationship between transmission part level and link level. The identification and verification experiments show that the presented method can obtain the accurate dynamic model parameters. This work lays a foundation for the force-control research of the robotic manipulator with DMJs in the future. © 2022 IEEE.

关键词： Dynamic models

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Enabling Distal Rotation in a Robotically Steerable Guidewire: An Initial Approach

Enabling Distal Rotation in a Robotically Steerable Guidewir...

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International Symposium on Medical robotics (ISMR)

作者： Revanth Konda Sharan R. Ravigopal Jaydev P. Desai Wallace H. Colter Department of Biomedical Engineering Medical Robotics and Automation (RoboMed) Laboratory Georgia Institute of Technology Atlanta GA USA

ISBN: (数字)9798331599003

ISBN: (纸本)9798331599010

Endovascular interventions encompassing highly tortuous vessels would benefit from robotically steerable guidewires, which exhibit high dexterity. Existing studies on tendon-driven robotically steerable guidewires mainly employ rotation motion of the guidewire from the proximal end in an attempt to vary the bending plane of the steerable tip. While this strategy has contributed towards enhanced steerability of the guidewire, rotation from the proximal end of the guidewire often causes issues such as snapping due to non-uniform propagation of the rotation motion. This paper introduces the design of a guidewire capable of achieving rotation motion at the distal end by utilizing a mechanism, which converts linear motion into rotation motion. The proposed robot consists of two tubes: the inner tube with a notched section capable of bending, and an outer tube with a helical guide. The two tubes are coupled together such that the linear motion of the outer tube facilitates the rotation motion of the inner tube. We present the design of the robot and experimentally investigate the effects of the design parameters on the robot behavior. Modeling of the kinematic behavior of the system to estimate the rotation and bending of the robot is presented and validated. The derived models performed satisfactorily: The bending model exhibited an RMSE-value of $2.77 ~\mathrm{m}^{-1}$ curvature, which corresponds to 8.66 % of the maximum output curvature, for the inner tube rotation angle of 150°. For the outer tube consisting of a helical guide with a pitch angle of 80°, the rotation model exhibited an RMSE-value of 9.19° inner tube rotation angle, which corresponds to 4.38 % of the maximum inner tube rotation angle.

关键词： Medical robotics Kinematics Bending Robots

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Simulation And Real Time Of VR Controlled Robotic Manipulator Using ROS 4

Simulation And Real Time Of VR Controlled Robotic Manipulato...

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4th IEEE Bombay Section Signature Conference, IBSSC 2022

作者： Vairavasamy, Sasidharan Noel Innocent, J. Hamin, M.J. Ahmed, Syed Seenu, N. Mm Dean, Ramya Hindustan Institute of Technology and Science Department of Mechatronics Engineering Chennai India Centre for Automation and Robotics Department of Mechatronics Engineering Hindustan Institute of Technology and Science Chennai India Agurchand Manmull Jain College Chennai India

ISBN: (纸本)9781665492911

This paper focuses on developing a virtually controlled robot by integrating Virtual Reality (VR) and Robot Operating System (ROS). Robots can be used in certain environments where humans cannot be physically present to undertake a task. To increase the safety of humans, controlling a robot virtually is one of the best solutions. This paper shows how the VR-controlled manipulator will help in different fields like hazardous environments, underwater research, and the medical field for surgical operations. Unity 3D is used to develop the virtual environment, and ROS is used for communication with the physical robot. A Virtual environment would be developed where an exact robot (URDF) model can be designed. The interaction with the virtual environment is done with the help of VR headsets and controllers. ROS acts as the communication bridge between virtual and physical robots. A prototype has been developed to be controlled through virtual controllers that can interact through ROS. © 2022 IEEE.

关键词： Virtual reality

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Electrospinning drug-loaded polycaprolactone/polycaprolactone-gelatin multi-functional bilayer nanofibers composite scaffold for postoperative wound healing of cutaneous squamous cell carcinoma

Biomedical Technology

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Biomedical Technology 2024年 8卷 65-80页

作者： Song, Yongteng Hu, Qingxi Liu, Suihong Yao, Guotai Zhang, Haiguang Rapid Manufacturing Engineering Center School of Mechatronic Engineering and Automation Shanghai University Shanghai 200444 China Shanghai Key Laboratory of Intelligent Manufacturing and Robotics Shanghai University Shanghai 200072 China National Demonstration Center for Experimental Engineering Training Education Shanghai University Shanghai 200444 China Department of Dermatology Shanghai Fourth People's Hospital School of Medicine Tongji University Shanghai 200434 China Engineering Science and Mechanics Department Penn State University University Park 16802 PA United States

Cutaneous squamous cell carcinoma (cSCC) tumor resection surgery poses challenges due to incomplete cancer cell removal, which increases the risk of local recurrence and micrometastasis, while large-scale surgical wounds are susceptible to severe infections. Therefore, a drug-loaded multi-functional bilayer nanofibers skin scaffold was fabricated for postoperative wound care of cSCC. Briefly, the antibacterial drug enrofloxacin (ENR) was loaded into polycaprolactone (PCL) nanofibers using electrospinning to form an antibacterial nanofiber membrane (PCL-ENR) as the outer layer of scaffold. The anticancer drug bleomycin (BLM) was loaded into PCL/Gelatin (Gel) nanofibers via electrospinning to form an anticancer nanofiber membrane (PG-BLM) as the inner layer of scaffold. ENR and BLM were successfully loaded into the scaffold. The scaffold had excellent physicochemical properties, with the outer layer exhibiting hydrophobicity and excellent antibacterial activity, and the inner layer showing hydrophilicity and outstanding anticancer activity. The elongation at break and tensile modulus of the scaffold were 26.35 ± 1.61 % and 15.25 ± 1.56 MPa, respectively. In vitro and in vivo experiments suggested that the scaffold not only has good biocompatibility to promote wound healing but also could inhibit the proliferation of A431 cells, which has great potential clinical application in postoperative wound care of cSCC. © 2024 The Authors

关键词： Antibacterial and anticancer Bilayer nanofibers skin scaffold Cutaneous squamous cell carcinoma Drug-loaded Electrospinning Postoperative wound care

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